Common use of System Requirement Addressed by the Scenario Clause in Contracts

System Requirement Addressed by the Scenario. ‌ The system requirements verified by this scenario are listed hereafter: SR Id SR Title SR Description PULSAR-REQ-Core-F-100 Autonomy Assembly operations and sequencing shall be controlled autonomously PULSAR-REQ-dPAMT-HL-O-010 Autonomous assembly process The autonomous assembly process shall be demonstrated PULSAR-REQ-dPAMT-Perception-F-010 SMT pose estimation for grasping task Pose of the SMT with respect to the camera frame shall be estimated. PULSAR-REQ-dPAMT-Perception-F-020 Assembly structure pose estimation for positioning task Pose of the assembly structure with respect to the camera frame shall be estimated. PULSAR-REQ-dPAMT-SI-020 SI connected to RAS The RAS end-effector shall provide a mechanical connection to the SI and support mechanical loads of the application PULSAR-REQ-dPAMT-SI-030 SI connected to SMT The SMT shall provide several mechanical connections to the SI and support mechanical loads of the application PULSAR-REQ-dPAMT-SI-040 SI approach angle The SI shall allow an approach angle of minimum 65 degrees PULSAR-REQ-dPAMT-SI-050 SI Mechanical Guidance The SI shall provide mechanical guidance PULSAR-REQ-dPAMT-SI-060 SI Symmetry The SI shall provide a design symmetry PULSAR-REQ-dPAMT-SI-070 SI alignment The two SI shall be correctly aligned before starting their mating process and the information shall be confirmed to the OBC PULSAR-REQ-dPAMT-SI-080 SI connection monitoring and confirmation The connection process shall be monitored and the good connection of the SI shall be confirmed to the OBC. PULSAR-REQ-dPAMT-SI-100 SI mechanical load capacity The SI mechanical interface shall support the mechanical loads applied during demonstration operations PULSAR-REQ-dPAMT-SI-120 SI power transfer The SI power interface shall support the electrical power rating transfer between tiles as required by the application PULSAR-REQ-dPAMT-SI-160 SI CAN interface The SMT controller shall interface the SI CAN bus controller to transfer SI TM/TC received from the OBC

System Requirement Addressed by the Scenario. ‌ The system requirements verified by this scenario are listed hereafter: SR Id SR Title SR Description PULSAR-REQ-User-010 Automatically deploy the RAS in the best position The RAS shall be able, after deployment, to reach the spacecraft tiles and assemble them on the first ring. PULSAR-REQ-User-020 Assembly plan of the primary mirror The Manipulator shall follow an assembly plan of the primary mirror which is autonomously generated from the specification of the desired assembly. PULSAR-REQ-User-030 Assembly of mirror tiles by RAS The RAS shall be able to autonomously grasp, remove and manipulate the tiles into the required position. PULSAR-REQ-User-040 Use of standard connectors Standard interconnectors shall permit a latch and functional connection with neighbouring tiles or the base unit. PULSAR-REQ-User-050 RAS extended mobility RAS should be able to traverse across the mirror tiles to reach the outer ring. PULSAR-REQ-User-060 Reuse of building blocks The demonstrator shall reuse the available SRC building blocks. PULSAR-REQ-Core-F-100 Autonomy Assembly F-010 RAS start-up calibration / initialisation When the RAS is powered-up, a calibration routine shall be executed in order to calibrate the internal sensors. PULSAR-REQ-Core-F-020 Stowage position for the robotic manipulator The RAS shall have a stowage position, and move to home position before beginning of operations and sequencing PULSAR-REQ-Core-F-030 RAS Coarse Approach The RAS planner shall be able to generate feasible trajectories to automatically move the arm to achieve a coarse approach between each assembly location. PULSAR-REQ-Core-F-050 Vision-based compliant RAS control SMTs assembly shall be demonstrated using vision sensors integrated within the RAS compliant control. PULSAR-REQ-Core-F-060 Compliant RAS control The robotic arm shall be controlled autonomously in a compliant mode when it is in contact with the assembled structure. PULSAR-REQ-Core-F-070 Object pose estimation with fiducial markers Position and orientation of the object of interest shall be estimated with respect to the camera frame. The approach is based on fiducial markers to easily detect and compute the tag pose. SR Id SR Title SR Description PULSAR-REQ-Core-O-090 Sensors calibration Various sensors shall be calibrated, both intrinsically and extrinsically. PULSAR-REQ-Core-F-110 On-board Computer The system shall feature an on-board computer on which all software functions will be deployed PULSAR-REQ-Core-F-120 OBC Data Exchange The on-board computer shall be able to communicate with: the sensors ICU, the RAS, each individual SMT and their standard interfaces PULSAR-REQ-dPAMT-HL-O-010 Autonomous assembly process The autonomous assembly process shall be demonstrated PULSAR-REQ-dPAMT-HL-V-020 Verification of Assembly The assembly of the mirror tiles will be verified PULSAR-REQ-dPAMT-Perception-F-010 SMT pose estimation for grasping task Pose of the SMT with respect to the camera frame shall be estimated. PULSAR-REQ-dPAMT-Perception-F-020 Assembly structure pose estimation for positioning task Pose of the assembly structure with respect to the camera frame shall be estimated. PULSAR-REQ-dPAMT-SI-020 SI connected to RAS The RAS endPerception-effector shall provide a mechanical connection to the SI and support mechanical loads F-030 3D reconstruction of the application PULSAR-REQ-dPAMT-SI-030 SI connected to SMT The SMT shall provide several mechanical connections to the SI and support mechanical loads assembled mirror Dense 3D reconstruction of the application PULSAR-REQ-dPAMT-SI-040 SI approach angle The SI shall allow an approach angle of minimum 65 degrees PULSAR-REQ-dPAMT-SI-050 SI Mechanical Guidance The SI shall provide mechanical guidance PULSAR-REQ-dPAMT-SI-060 SI Symmetry The SI shall provide a design symmetry PULSAR-REQ-dPAMT-SI-070 SI alignment The two SI assembled mirror shall be correctly aligned before starting their mating process and the information shall be confirmed to the OBC PULSAR-REQ-dPAMT-SI-080 SI connection monitoring and confirmation The connection process shall be monitored and the good connection of the SI shall be confirmed to the OBCperformed. PULSAR-REQ-dPAMT-SI-100 SI mechanical load capacity The SI mechanical interface Sensors-D-010 Stereo cameras baseline distance Baseline distance for the stereo cameras shall support be adapted for the mechanical loads applied during demonstration operations current scenario. PULSAR-REQ-dPAMT-SI-120 SI power transfer The SI power interface Sensors-F-020 Stereo cameras images synchronisation Stereo images pair acquisition shall support the electrical power rating transfer between tiles as required by the application be precisely synchronised. PULSAR-REQ-dPAMT-SI-160 SI CAN interface Sensors-F-030 High resolution camera exposure settings Manual setting of parameters influencing the exposure shall be possible. Automatic exposure mode shall be available. PULSAR-REQ-dPAMT-Sensors-D-040 High resolution camera field of view Camera lens shall be selected for best perception performance. PULSAR-REQ-dPAMT-Sensors-P-050 High resolution camera frame rate Camera images shall be acquired at an appropriate (TBD) frame rate. PULSAR-REQ-dPAMT-Sensors-D-060 Sensors location Adequate sensors location for best perception performance and according to the available space. PULSAR-REQ-dPAMT-S/C-D-020 Work place for Assembly Free working space for robotized assembly PULSAR-REQ-dPAMT-S/C-D-030 Planar Work Place The SMT controller shall interface workplace should be planar PULSAR-REQ-dPAMT-dRAS-F-050 RAS Mobility RAS should provide mobility to demonstrate the SI CAN bus controller to transfer SI TMpotential of building very large structures PULSAR-REQ-dPAMT-dRAS-F-080 Robot Arm Joint Control Modes The joints of the manipulator should provide the following modes: · Position · Force/TC received from torque PULSAR-REQ-dPAMT-dRAS-F-090 RAS Control Modes The manipulator should provide the OBCfollowing modes: · Cartesian position · Cartesian Force/torque

System Requirement Addressed by the Scenario. ‌ The system requirements verified by this scenario are listed hereafter: SR Id SR Title SR Description PULSAR-REQ-User-010 Automatically deploy the RAS in the best position The RAS shall be able, after deployment, to reach the spacecraft tiles and assemble them on the first ring. PULSAR-REQ-User-030 Assembly of mirror tiles by RAS The RAS shall be able to autonomously grasp, remove and manipulate the tiles into the required position. PULSAR-REQ-User-050 RAS extended mobility RAS should be able to traverse across the mirror tiles to reach the outer ring. PULSAR-REQ-User-060 Reuse of building blocks The demonstrator shall reuse the available SRC building blocks. PULSAR-REQ-Core-F-010 RAS start-up calibration / initialisation When the RAS is powered-up, a calibration routine shall be executed in order to calibrate the internal sensors. PULSAR-REQ-Core-F-020 Stowage position for the robotic manipulator The RAS shall have a stowage position, and move to home position before beginning of operations PULSAR-REQ-Core-F-030 RAS Coarse Approach The RAS planner shall be able to generate feasible trajectories to automatically move the arm to achieve a coarse approach between each assembly location. PULSAR-REQ-Core-F-050 Vision-based compliant RAS control SMTs assembly shall be demonstrated using vision sensors integrated within the RAS compliant control. PULSAR-REQ-Core-F-060 Compliant RAS control The robotic arm shall be controlled in a compliant mode when it is in contact with the assembled structure. PULSAR-REQ-Core-F-070 Object pose estimation with fiducial markers Position and orientation of the object of interest shall be estimated with respect to the camera frame. The approach is based on fiducial markers to easily detect and compute the tag pose. PULSAR-REQ-Core-O-090 Sensors calibration Various sensors shall be calibrated, both intrinsically and extrinsically. PULSAR-REQ-Core-F-100 Autonomy Assembly operations and sequencing shall be controlled autonomously PULSAR-REQ-dPAMTCore-F-110 On-board Computer The system shall feature an on-board computer on which all software functions will be deployed PULSAR-REQ-Core-F-120 OBC Data Exchange The on-board computer shall be able to communicate with: the sensors ICU, the RAS, each individual SMT and their standard interfaces PULSAR-REQ-dLSAFFE-HL-O-010 Autonomous assembly process The autonomous assembly process shall be demonstrated PULSAR-REQ-dPAMTdLSAFFE-PerceptionHL-F-010 SMT pose estimation for grasping task Pose of the SMT F-020 Handling Demonstrator with respect to the camera frame Crane It shall be estimatedpossible to handle the demonstrator with the existing overhead crane system PULSAR-REQ-dLSAFFE-Sensors-D-020 Simplified set of sensors The underwater demonstrator design shall use a simplified set of sensors to reduce implementation complexity PULSAR-REQ-dLSAFFE-Sensors-D-030 Underwater camera adaptation Cameras chosen for underwater use shall be protected against water ingress, and calibrated underwater. PULSAR-REQ-dPAMTdLSAFFE-PerceptionS/C-F-020 Assembly structure pose estimation dSMT Container The platform shall provide a container for positioning task Pose of the assembly structure with respect to the camera frame shall be estimatedstoring dSMTs. PULSAR-REQ-dPAMTdLSAFFE-SI-020 SI connected to RAS S/C-F-030 Pre-Assembly Site The RAS end-effector platform shall provide a mechanical connection to dedicated location for the SI and support mechanical loads of the application mirror pre-assembly PULSAR-REQ-dPAMTdLSAFFE-SI-030 SI connected to SMT dRAS-F-020 Dexterity The SMT dRAS shall provide several mechanical connections to the SI and support mechanical loads have at least 6 degrees of the application freedom PULSAR-REQ-dPAMTdLSAFFE-SI-040 SI approach angle dRAS-F-030 Force feedback The SI dRAS shall allow an approach angle of minimum 65 degrees provide a force/torque feedback PULSAR-REQ-dPAMTdLSAFFE-SI-050 SI Mechanical Guidance dRAS-F-040 Gripper Interface The SI shall provide mechanical guidance robot arm is equipped with an actuated underwater standard interface (TBC) PULSAR-REQ-dPAMTdLSAFFE-SI-060 SI Symmetry dSMT-D-020 Low drag The SI dSMTs shall provide a design symmetry be characterized by low drag PULSAR-REQ-dPAMTdLSAFFE-SI-070 SI alignment dSMT-D-030 Simplified cabling The two SI dSMTs shall be correctly aligned before starting their mating process and minimize the information shall be confirmed to the OBC number of electric wires SR Id SR Title SR Description PULSAR-REQ-dPAMTdLSAFFE-SI-080 SI SI-F-010 Mechanical strength The underwater standard interface shall provide solid mechanical connection monitoring and confirmation The connection process shall be monitored and the good connection of the SI shall be confirmed to the OBC. PULSAR-REQ-dPAMTdLSAFFE-SI-100 SI mechanical load capacity SI-F-020 Mechanical compliance The SI mechanical interface shall support the mechanical loads applied during demonstration operations underwater connector must be compliant to slight position errors PULSAR-REQ-dPAMTdLSAFFE-SI-120 SI power transfer SI-D-030 Electrical connections The SI power interface underwater connector shall support minimize the electrical power rating transfer between tiles as required by the application connections PULSAR-REQ-dPAMTdLSAFFE-SI-160 SI CAN interface SI-F-040 Assembly and disassembly The SMT controller underwater connectors on dRAS and on S/C platform shall interface the SI CAN bus controller to transfer SI TM/TC received from the OBCallow disconnections

System Requirement Addressed by the Scenario. ‌ The system requirements verified by this scenario are listed hereafter: SR Id SR Title SR Description PULSAR-REQ-User-010 Automatically deploy the RAS in the best position The RAS shall be able, after deployment, to reach the spacecraft tiles and assemble them on the first ring. PULSAR-REQ-User-030 Assembly of mirror tiles by RAS The RAS shall be able to autonomously grasp, remove and manipulate the tiles into the required position. PULSAR-REQ-User-050 RAS extended mobility RAS should be able to traverse across the mirror tiles to reach the outer ring. PULSAR-REQ-User-060 Reuse of building blocks The demonstrator shall reuse the available SRC building blocks. PULSAR-REQ-Core-F-010 RAS start-up calibration / initialisation When the RAS is powered-up, a calibration routine shall be executed in order to calibrate the internal sensors. PULSAR-REQ-Core-F-020 Stowage position for the robotic manipulator The RAS shall have a stowage position, and move to home position before beginning of operations PULSAR-REQ-Core-F-030 RAS Coarse Approach The RAS planner shall be able to generate feasible trajectories to automatically move the arm to achieve a coarse approach between each assembly location. PULSAR-REQ-Core-F-050 Vision-based compliant RAS control SMTs assembly shall be demonstrated using vision sensors integrated within the RAS compliant control. PULSAR-REQ-Core-F-060 Compliant RAS control The robotic arm shall be controlled in a compliant mode when it is in contact with the assembled structure. PULSAR-REQ-Core-F-070 Object pose estimation with fiducial markers Position and orientation of the object of interest shall be estimated with respect to the camera frame. The approach is based on fiducial markers to easily detect and compute the tag pose. PULSAR-REQ-Core-O-090 Sensors calibration Various sensors shall be calibrated, both intrinsically and extrinsically. PULSAR-REQ-Core-F-100 Autonomy Assembly operations and sequencing shall be controlled autonomously SR Id SR Title SR Description PULSAR-REQ-dPAMTCore-F-110 On-board Computer The system shall feature an on-board computer on which all software functions will be deployed PULSAR-REQ-Core-F-120 OBC Data Exchange The on-board computer shall be able to communicate with: the sensors ICU, the RAS, each individual SMT and their standard interfaces PULSAR-REQ-dLSAFFE-HL-O-010 Autonomous assembly process The autonomous assembly process shall be demonstrated PULSAR-REQ-dPAMTdLSAFFE-PerceptionHL-F-010 SMT pose estimation for grasping task Pose of the SMT F-020 Handling Demonstrator with respect to the camera frame Crane It shall be estimatedpossible to handle the demonstrator with the existing overhead crane system PULSAR-REQ-dLSAFFE-Sensors-D-020 Simplified set of sensors The underwater demonstrator design shall use a simplified set of sensors to reduce implementation complexity PULSAR-REQ-dLSAFFE-Sensors-D-030 Underwater camera adaptation Cameras chosen for underwater use shall be protected against water ingress, and calibrated underwater. PULSAR-REQ-dPAMTdLSAFFE-PerceptionS/C-F-020 Assembly structure pose estimation dSMT Container The platform shall provide a container for positioning task Pose of the assembly structure with respect to the camera frame shall be estimatedstoring dSMTs. PULSAR-REQ-dPAMTdLSAFFE-SI-020 SI connected to RAS S/C-F-030 Pre-Assembly Site The RAS end-effector platform shall provide a mechanical connection to dedicated location for the SI and support mechanical loads of the application mirror pre-assembly PULSAR-REQ-dPAMTdLSAFFE-SI-030 SI connected to SMT dRAS-F-020 Dexterity The SMT dRAS shall provide several mechanical connections to the SI and support mechanical loads have at least 6 degrees of the application freedom PULSAR-REQ-dPAMTdLSAFFE-SI-040 SI approach angle dRAS-F-030 Force feedback The SI dRAS shall allow an approach angle of minimum 65 degrees provide a force/torque feedback PULSAR-REQ-dPAMTdLSAFFE-SI-050 SI Mechanical Guidance dRAS-F-040 Gripper Interface The SI shall provide mechanical guidance robot arm is equipped with an actuated underwater standard interface (TBC) PULSAR-REQ-dPAMTdLSAFFE-SI-060 SI Symmetry dSMT-D-020 Low drag The SI dSMTs shall provide a design symmetry be characterized by low drag PULSAR-REQ-dPAMTdLSAFFE-SI-070 SI alignment dSMT-D-030 Simplified cabling The two SI dSMTs shall be correctly aligned before starting their mating process and minimize the information shall be confirmed to the OBC number of electric wires PULSAR-REQ-dPAMTdLSAFFE-SI-080 SI SI-F-010 Mechanical strength The underwater standard interface shall provide solid mechanical connection monitoring and confirmation The connection process shall be monitored and the good connection of the SI shall be confirmed to the OBC. PULSAR-REQ-dPAMTdLSAFFE-SI-100 SI mechanical load capacity SI-F-020 Mechanical compliance The SI mechanical interface shall support the mechanical loads applied during demonstration operations underwater connector must be compliant to slight position errors PULSAR-REQ-dPAMTdLSAFFE-SI-120 SI power transfer SI-D-030 Electrical connections The SI power interface underwater connector shall support minimize the electrical power rating transfer between tiles as required by the application connections PULSAR-REQ-dPAMTdLSAFFE-SI-160 SI CAN interface SI-F-040 Assembly and disassembly The SMT controller underwater connectors on dRAS and on S/C platform shall interface the SI CAN bus controller to transfer SI TM/TC received from the OBCallow disconnections