Compliance Mandatory. Verification Test and review. PULSAR-REQ-dLSAFFE-S/C-F-070 Restrict Rotation Requirement A mechanism for preventing rotation of the platform 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. dRAS PULSAR-REQ-dLSAFFE-dRAS-D-010 Buoyancy neutral Requirement The dRAS shall be 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 Requirement The dRAS shall have at least 6 degrees of freedom 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 Requirement The dRAS shall provide a force/torque 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 dSMT PULSAR-REQ-dLSAFFE-dSMT-D-010 Buoyancy neutral Requirement The dSMTs shall be 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 Requirement The dSMTs shall be characterized by low drag Rationale The dSMT, structure has to minimize the drag to reduce hydrodynamic forces during motions and simulate micro-gravity.
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 PULSAR-REQ-dPAMT-SI-050 SI Mechanical Guidance Requirement The SI shall provide mechanical guidance Rationale To support the process of alignment between two SI and enable compliance control. Compliance Desirable Verification Test PULSAR-REQ-dPAMT-SI-060 SI Symmetry Requirement The SI shall provide a design symmetry Rationale Design symmetry of the standard interface could relax the constraint on the relative positions of the SMT in the container, in regards to the achievable workspace of the robot. Compliance Desirable Verification Test PULSAR-REQ-dPAMT-SI-70 SI alignment Requirement The two SI shall be correctly aligned before starting their mating process and the information shall be confirmed to the OBC Rationale We need to ensure that both SI are well aligned before starting the mating process to ensure good connections of the data and power pins. This need to be supported either by the SI itself (form-fit guidance with compliant manipulator) or external components (e.g. visual servoing). The SI needs to be able to detect this alignment Compliance Mandatory Verification Test PULSAR-REQ-dPAMT-SI-080 SI connection monitoring and confirmation Requirement The connection process shall be monitored and the good connection of the SI shall be confirmed to the OBC. Rationale The connection process of the SI needs to be monitored in order to be able to react in case of failure. Once the good connection is detected, the information is sent to the OBC to follow-up the process Compliance Mandatory Verification Test PULSAR-REQ-dPAMT-SI-090 SI design configuration Requirement The SI design shall allow active, passive and mechanical configuration Rationale Different configuration of the SI design (compatible with the demonstration purpose) allow to reduce costs and weight of the components. Compliance Mandatory Verification Review of design PULSAR-REQ-dPAMT-SI-100 SI mechanical load capacity Requirement The SI mechanical interface shall support the mechanical loads applied during demonstration operations Rationale We currently envisage two different load cases: • Manipulation and connection of a tile by the robotic manipulator (Axial/Transversal Force > 84N and Bending moment > 35Nm) • Structural integrity of the telescope under gravity conditions (loads TBC) Compliance Mandatory Verification Test PULSAR-REQ-dPAMT-SI-110 SI tile powering Requirement The SI power interface shall support powering of its own controller and the payload of the SMT Ration...
Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-030 Assembly of mirror tiles by XXX Requirement The RAS shall be able to autonomously grasp, remove and manipulate the tiles into the required position. Rationale The robot must be able to execute the assembly plan. This includes the reachability of all planned positions. It has also to be guaranteed sufficient free space for the moved tiles in case of assembly or disassembly. Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-040 Use of standard connectors Requirement Standard interconnectors shall permit a latch and functional connection with neighbouring tiles or the base unit. Rationale This use of a standard interface between components ensure interoperability and simplification of the design process. Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-050 RAS extended mobility Requirement RAS should be able to traverse across the mirror tiles to reach the outer ring. Rationale RAS may be a walking robotic arm, a monorail system, etc… Additional SIROM may facilitate the traverse of the robot. Compliance Mandatory. Verification Analysis. PULSAR-REQ-User-060 Reuse of building blocks Requirement The demonstrator shall reuse the available SRC building blocks. Rationale The ESROCOS framework, the ERGO framework, sensors based on I3DS, perception functions from InFuse, and the SIROM interface must be reused whenever possible to implement the demonstrator.
Compliance Mandatory. Verification Analysis. PULSAR-REQ-dPAMT-Sensors-F-020 Stereo cameras images synchronisation Requirement Stereo images pair acquisition shall be precisely synchronised. 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 Design Review PULSAR-REQ-dPAMT-S/C-D-020 Work place for Assembly Requirement Free working space for robotized assembly Rationale The design of the work space must allow a collision free robotized assembly of all single tiles. Structural sub-components like antennas or solar panels may not limit the workspace of the RAS. Alternative assembly strategies not known before launch must be possible. Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-S/C-D-030 Planar Work Place Requirement The workplace should be planar Rationale Mobility of RAS will be established either as a linear guide or as mobile robot base.
Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-SI-020 SI connected to RAS Requirement The RAS end-effector shall provide a mechanical connection to the SI and support mechanical loads of the application Rationale The SI needs to be attached mechanically on the end-effector of the RAS Compliance Mandatory. Verification Test PULSAR-REQ-dPAMT-SI-030 SI connected to SMT Requirement The SMT shall provide several mechanical connections to the SI and support mechanical loads of the application Rationale One or several SI shall be connected to each SMT Compliance Mandatory. Verification Test PULSAR-REQ-dPAMT-SI-040 SI approach angle Requirement The SI shall allow an approach angle of minimum 65 degrees Rationale For mirror assembly, simultaneous approach and connection will be required (0 for single connection (vertical), 30 deg for double and 60 for triple), with 5 deg of margin.
Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS-F-060 Robot Control Unit (RCU) Requirement RAS should have a dedicated control computer Rationale The manipulator is to be deterministically controlled every 1ms.
Compliance Mandatory. Verification Design Review dRAS PULSAR-REQ-dPAMT-dRAS-F-010 Manipulator Requirement The manipulator shall have a redundant kinematics with at least 7-dof Rationale Robotized assembly requires high dexterity during the mounting operations. This can be achieved either by a redundant robot arm or by multiple robot arms Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS-D-020 Joints of Manipulator Requirement Each joint of the manipulator contains following components at least: • drive • gear box • control unit • internal position and force/torque sensors internal power supply Rationale / Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS0-P-030 Performance of Manipulator Requirement The payload of the RAS should not be higher than 7kg. The inner diameter of the hexagonal shape should not be larger than 30 cm (TBD) Rationale Axis 6 of the KUKA iiwa robot arm is limited to 40Nm. The center of mass of a tile determines the relationship between weight and size of the tile. Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS-F-040 Gripper Interface Requirement The robot arm is equipped with an actuated SIROM interface (TBC) Rationale The robot should grasp the tiles at the SIROM interfaces Compliance Mandatory. Verification Design Review PULSAR-REQ-dPAMT-dRAS-F-050 RAS Mobilty Requirement RAS should provide mobility to demonstrate the potential of building very large structures Rationale The maximal workspace of the iiwa is within a sphere of 1.8m diameter. Larger structures can only be assembled when the manipulator is mobile.
