System Requirements Addressed by the Scenario Sample Clauses

System Requirements 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-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-040 Sensor-based assembly monitoring Assembly monitoring shall be possible to ensure that the assembly process is correct. 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-dlSAS-HL-F-010 ESROCOS Compatibility The simulator shall provide an interface with ESROCOS. PULSAR-REQ-dlSAS-HL-F-020 ERGO Compatibility The simulator shall support an interface with the ERGO autonomy framework PULSAR-REQ-dlSAS-Engine-F-010 User interface The user shall be able to interact with the rendering engine as well as visualise the ongoing simulation PULSAR-REQ-dlSAS-Engine-F...
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