Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-SI-F-010 Mechanical strength Rationale The UWSI, shall provide a solid enough mechanical connection between bodies, allowing to hold and manipulate in water a subassembly of 5 low drag SMTs Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-SI-F-020 Mechanical compliance Rationale To facilitate the underwater assembly operations, where absolute precision among mating parts is not requested, the UWSI, shall be designed to be compliant enough at slight position errors of the arms. Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-SI-D-030 Electrical connections Rationale The UWSI, shall minimize the number of electrical links established among parts for reducing the size, simplifying the overall design and minimizing the cable routing Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-SI-F-040 Assembly and disassembly Rationale The UWCONN on the manipulator and on the satellite mockup have to allow several controlled connections and disconnections to enable the sequence of operations necessary for building the preassembly. Compliance Mandatory. Verification Test and review. The following set of requirements concerns the dISAS. PULSAR-REQ-dlSAS-HL-F-010 ESROCOS Compatibility Rationale Simulated components (sensors, actuators, etc.) must emulate real- world components, and their interface must be as common as possible to promote reuse of core components Compliance Mandatory. Verification Analysis. PULSAR-REQ-dlSAS-HL-F-020 ERGO Compatibility Rationale The simulator must be compatible with the ERGO autonomy framework, in order to enable replay of realistic demonstration scenarios Compliance Mandatory. Verification Analysis.
Compliance Mandatory. At all times during the delivery or performance of Products and Services at the Portland International Airport ("PDX"), Supplier will comply with all applicable rules and regulations governing airport security (collectively, "Airport Security Rules and Regulations"), including but not limited to the security badging, access control, and keys/locks requirements set forth in the PDX Rules (available at xxxxx://xxx.xxxxxxxxxxxxxx.xxx or from the Port Project Manager upon request), and all applicable regulations promulgated by the Transportation Security Administration ("TSA") and the Federal Aviation Administration ("FAA"). Supplier will further ensure that its partners, directors, officers, managers, members, employees, subcontractors, invitees, agents, and suppliers comply with all Airport Security Rules and Regulations when providing Services at PDX. Supplier will obtain and thoroughly review the PDX Rules and other Airport Security Rules and Regulations before commencing Services.
Compliance Mandatory. At all times during the performance of Services, Supplier will comply with all applicable security requirements for the premises, including but not limited to the Port’s Marine Terminal Security Guidelines and any other security rules maintained by the Port, its tenant in possession of the premises, or other governing authorities. Supplier will further ensure that its partners, directors, officers, managers, members, employees, subcontractors, invitees, agents, and suppliers comply with such security requirements. Supplier must obtain and review copies of applicable security requirements from the Port before commencing Services. Supplier will ensure that any security badges, access control devices, or keys provided by the Port are returned promptly to the Port Security Badging Office when badgeholders leave Supplier’s employment or no longer provide Services and will obtain a receipt for the return of such items. Supplier will submit a copy of the receipt to the Port Project Manager. Any unreturned badge or access device fees due in accordance with applicable Port rules may be deducted from any payment due under this Master Agreement.
Compliance Mandatory. Verification Test of these controllers in the simulation environment. PULSAR-REQ-dlSAS-AOCS-P-020 Robustness to system uncertainties Rationale The AOCS controller stability is ensured for a specific range of inertia values and external perturbations.
Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-dSMT-D-030 Simplified cabling Rationale In order to reduce the size of the overall structure (and therefore its drag), the dSMT design should minimize the number of electric wires running among the underwater connectors.
Compliance Mandatory. Verification Test and review. PULSAR-REQ-dPAMT- Sensors-D-040 High resolution camera field of view Rationale The camera focal length shall be chosen in accordance to the perception function behind it. For instance, a wide field of view is preferable to detect obstacles or to reconstruct large scene and a narrow one is suitable for accurate single object tracking Compliance Mandatory. Verification Test and review. PULSAR-REQ-dPAMT- Sensors-P-050 High resolution camera frame rate Rationale Fast image acquisition is necessary for tracking vision algorithms. Ideally, the image frame rate should be fast enough to capture quick object displacement while the vision algorithm is able to work at the camera frame rate. This depends also on the available bandwidth for data transfer between sensors and the ICU.
Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-S/C-F-070 Restrict Rotation Rationale For safely handling the demonstrator in air and for initial testing, it shall be possible to prevent rotation of the platform. Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-dRAS-D-010 Buoyancy neutral Rationale Each rigid element of the dRAS shall be as much as possible buoyancy neutral in order to reduce hydrostatic forces and simulate micro-gravity. Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-dRAS-F-020 Dexterity Rationale In order to provide enough agility to the manipulator, it should be characterized by at least six degrees of freedom Compliance Mandatory. Verification By construction PULSAR-REQ-dLSAFFE-dRAS-F-030 Force feedback Rationale The dRAS shall be equipped with a 6 axis force and torque sensor mounted on the wrist, for providing feedback information on the contact interactions with the SMTs and the S/C platform Compliance Mandatory. Verification By construction PULSAR-REQ-dLSAFFE-dRAS-F-040 Gripper Interface Requirement The robot arm is equipped with an actuated underwater standard interface (TBC) Rationale The interface is used to grasp the tiles to assemble Compliance Mandatory. Verification Design Review PULSAR-REQ-dLSAFFE-dSMT-D-010 Buoyancy neutral Rationale The dSMT, i.e. the structure, and potential electronics shall be buoyancy neutral in order to reduce hydrostatic forces and simulate micro-gravity. Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-dSMT-D-020 Low drag Rationale The dSMT, structure has to minimize the drag to reduce hydrodynamic forces during motions and simulate micro-gravity.
Compliance Mandatory. Verification Test to verify that the RAS is able to correctly plan and execute a trajectories to reach all working positions. PULSAR-REQ-Core-F-040 Sensor-based assembly monitoring Rationale 3D structure of the primary mirror shall be reconstructed using various sensors to verify the correctness and the accuracy of the assembly process. Compliance Optional. Verification Analysis to extract some metrics between the 3D reconstruction of the assembled mirror and the theoretical model of the assembled mirror. PULSAR-REQ-Core-F-050 Vision-based compliant RAS control Rationale In a degraded scenario, uncertainties coming from the flexibility of the large primary mirror and from possible imprecision of the various actors shall be taken into account. Control of the RAS using vision and compliant control shall be possible to perform the SMTs assembly.
Compliance Mandatory. Verification Analysis. PULSAR-REQ-dPAMT-Sensors-F-020 Stereo cameras images synchronisation Rationale For best stereo reconstruction performance, the stereo images pair must be captured at the same time. This required the use of an external triggering signal.
Compliance Mandatory. Verification Test and analysis.