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University of Southern CaliforniaCenter for Software EngineeringC S E
USC
477 Class Project – HazMat
(Hazardous materials)
Spring 2003
Feb. 4
Feb. 04/03 2
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Topics• MBASE model (help students
understand the purpose of docs provided.)
• HazMat overview (introducing the project context)
• HazMat OCD
• HazMat SSRD
• Grading Criteria
• Questions
Feb. 04/03 3
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Ingredients of a project
project mgmt
Product Const.Delivery & Maint.
concept commitment
schematic/blueprint
plan
project mgmt
Feb. 04/03 4
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
MBASE Artifacts
• OCD (Operational Concept Description)
• SSRD (System and Software Requirements Description)
• SSAD (System and Software Architecture Description)
• LCP (Life Cycle Plan)
• FRD (Feasibility Rational Description)
Feb. 04/03 5
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Purpose of OCD
• Describe context of system. What do we have now? why build a new system?
• Describe stakeholders of the system: how the system will work when deployed.
• Describe evolution from current to new operational concept. Clarify the value of new system.
Feb. 04/03 6
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Purpose of SSRD
• Describe Capability Requirements
• Describe Project, Level of Service, and Evolutionary (non-functional) Requirements:
• Describe Global Constraints
• Mandates (“must”, “shall”, “will”) / prioritizing.
Feb. 04/03 7
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
HazMat Project
• Objective
– To explore a set of requirements, design, and code to the HDCP testbed by developing a scout (rover) prototype.
– To gain tacit knowledge about the application of the MBASE guidelines to robotic development.
Feb. 04/03 8
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
The problem
Feb. 04/03 9
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
How about…
Feb. 04/03 10
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Key Stakeholders
477 InstructorHazMat Project
Client
RobotOperator
HazMat
Represented by - Prof. Medvidovic
Represented by - Prof. Brown - Prof. Colbert - Alex - Eric - Jesal - Yue.
Represented by - 477 teams - The grader
Developer
Represented by - 477 Teams
Feb. 04/03 11
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Scout (Rover) Movement
• Go ahead• Change moving
direction
Battery: 78%
Wireless: connected
Behavior: follow path
Messages:
Feb. 04/03 12
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Camera Control
• Document the interested objects.
Capture
Feb. 04/03 13
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Environment Map Display
Feb. 04/03 14
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
A more complex scenario
Feb. 04/03 15
University of Southern CaliforniaCenter for Software EngineeringC S E
USC
©USC-CSE
Project Requirement
Use Laser Range Finder Data
Rescan Area
Turn
Drive Straight
Detect Color BlobsAvoid Undocumented Obstacles with
Laser RangeFinder (Stop)
Compensate for Imperfect Motion
Input Path
Read (Perfect) Map
Follow Path
Path PlanningPath Finding