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  1. 1. Senior Design Documentation Library System Requirements Definition Department of Computer Science and Engineering The University of Texas at Arlington <team name> Eagle Eye Team Members: Berkins, Nicholas Sanders, Baron (TL) Shrestha, Amit Tran, Nguyen Last Updated: Copy Printed: d MMMM yyyy 39204.6340277778 h:mm:ss am/pm System Requirements Definition
  2. 2. Senior Design Documentation Library System Requirements Definition Table of Contents 1 Product Services and Summary................................................................................................1 1.1 Purpose.....................................................................................................................................1 1.2 Document Overview.................................................................................................................1 1.3 Scope........................................................................................................................................2 1.4 Definitions, Acronyms, and Abbreviations...............................................................................2 1.5 References................................................................................................................................3 1.6 Overall Description...................................................................................................................3 1.7 Product Perspectives.................................................................................................................3 2 Environments..............................................................................................................................4 2.1 Development Environment.......................................................................................................4 2.2 Operations Environment...........................................................................................................4 2.3 Maintenance Environment........................................................................................................4 3 External Interface and Data Flows...........................................................................................5 3.1 Hardware Interfaces..................................................................................................................5 3.2 Software Interfaces...................................................................................................................5 3.3 High-Level Data Flow Datagram..............................................................................................7 . . .7 3.4 Logical Data Sources and Sinks................................................................................................7 4 Customer Requirements.............................................................................................................9 4.1 General......................................................................................................................................9 4.2 Requirements............................................................................................................................9 5 Localization Requirements......................................................................................................18 5.1 General....................................................................................................................................18 5.2 Requirements .........................................................................................................................18 6 Marketing and Sales Requirements........................................................................................20 6.1 General....................................................................................................................................20 6.2 Requirements..........................................................................................................................20 7 Administrative Requirements..................................................................................................22 7.1 General....................................................................................................................................22 7.2 Requirements..........................................................................................................................22 8 Development Requirements.....................................................................................................24 8.1 General....................................................................................................................................24 8.2 Requirements..........................................................................................................................24 9 Quality Assurance Requirements............................................................................................26 9.1 General....................................................................................................................................26 i Table of Contents
  3. 3. Senior Design Documentation Library System Requirements Definition 9.2 Requirements..........................................................................................................................26 10 Safety Requirements...............................................................................................................27 10.1 General..................................................................................................................................27 10.2 Requirements........................................................................................................................27 11 Standards Compliance...........................................................................................................28 11.1 General..................................................................................................................................28 11.2 Standards...............................................................................................................................28 12 Maintenance Requirements ..................................................................................................29 12.1 General..................................................................................................................................29 12.2 Requirements........................................................................................................................29 13 Support Requirements............................................................................................................31 13.1 General..................................................................................................................................31 13.2 Requirements........................................................................................................................31 14 Performance Requirements...................................................................................................32 14.1 General..................................................................................................................................32 14.2 Requirements........................................................................................................................32 15 System Constraint Requirements..........................................................................................34 15.1 General..................................................................................................................................34 15.2 Requirements........................................................................................................................34 16 Exception Conditions and Handling.....................................................................................35 16.1 General..................................................................................................................................35 16.2 Exceptions.............................................................................................................................35 17 Early Subsets and Implementation Priorities......................................................................36 17.1 General..................................................................................................................................36 18 Foreseeable Modifications and Enhancements....................................................................38 18.1 General..................................................................................................................................38 18.2 Enhancements.......................................................................................................................38 19 Acceptance Criteria................................................................................................................39 19.1 General..................................................................................................................................39 19.2 Criteria..................................................................................................................................39 20 Design Guidelines....................................................................................................................41 20.1 General..................................................................................................................................41 20.2 Guidelines.............................................................................................................................41 21 Assumptions............................................................................................................................44 21.1 The system will be used during day time..............................................................................44 21.2 The system will not be affected by temperatures..................................................................44 21.3 The system will be used in area with no other tall objects or obstacles in its way; such as buildings, trees and etc.....................................................................................................44 21.4 The helicopter already comes with autonomous software built in and is user ready.............44 21.5 That the helicopter is already built to handle a camera of no more than ten pounds.............44 21.6 The AV Team will be responsible for the HC.......................................................................44 ii Table of Contents
  4. 4. Senior Design Documentation Library System Requirements Definition 21.7 The targets will be distributed throughout the search area....................................................44 21.8 Targets will be constructed of plywood and given a size, basic Geometric shape and color. 44 21.9 There will be targets at different angles in the video stream.................................................44 21.10 The HC will be at a maximum height of 500ft (+/- 100ft) from the desired target at any time..................................................................................................................................44 22 Sources of Information...........................................................................................................45 23 Use Cases..................................................................................................................................46 23.1 General .................................................................................................................................46 23.2 Use Cases..............................................................................................................................46 24 Glossary of Terms...................................................................................................................57 iii Table of Contents
  5. 5. Senior Design Documentation Library 1 Product Services and Summary 1.1 Purpose The purpose of this project is to write software on the ground control station to receive the telemetry and the live video stream from the camera mounted on the HC. The software on the ground station will identify the target from the live stream and also locate the target using telemetry data. After the identification of the targets, they will be printed in AV specified format. This system will be called Eagle Eye. 1.2 Document Overview This document is to provide specific requirements that the project must meet. Chapter 1 Product Services and Summary Provides an overview of the project and this document. Chapter 2 Environments Provides a description of each environment in which this product will be developed, used or maintained. Chapter 3 External Interface and Data Flows Provides the definitions of all external data items and data flows. Does not contain internal data items or data flows. Chapter 4 Customer Requirements Requirements originated by customers. Chapter 5 Localization Requirements Requirements to adapt the product for specific language or cultural usage. Chapter 6 Marketing and Sales Requirements Requirements originated or in support of Marketing and Sales Chapter 7 Administrative Requirements Requirements imposed by the organization’s administrative procedures. Chapter 7.2.1 Team shall have weekly meeting with its sponsor. Requirements originated by the development team. Chapter 9 Quality Assurance Requirements Requirements originated by or in support of Quality Assurance. Chapter 10 Safety Requirements Requirements imposed by law, regulation or common sense whose primary purpose is the assurance of product safety. Chapter 11 Standards Compliance A compendium of standards (ANSI, ISO, CCITT, etc.) and regulations to which the 1 Glossary of Terms
  6. 6. Senior Design Documentation Library product must conform. Conformance is stated as a requirement. Chapter 12 Maintenance Requirements Requirements aimed at increasing maintainability. Chapter 13 Support Requirements Requirements that are necessary for the required level of support. Chapter 14 Performance Requirements Requirements constraining reliability, speed, etc. Includes most constraints. Chapter 17 Early Subsets and Implementation Priorities Skeleton incremental development plan Chapter 18 Foreseeable Modifications and Enhancements Prognostications on the future of the product. Chapter 19 Acceptance Criteria Details of criteria to be met for the product to be acceptable Chapter 20 Design Guidelines Ideas, general information about design of the product. Chapter 21 Assumptions Chapter 22 Sources of Information Sources, human and written, of information that applies to this product. Chapter 22 Mike O’Dell – Overall scope, constraints, and guidelines to follow during the development process of the product. Also suggestions and opinions on development process. Use cases for all externals. Chapter 24 Glossary of Terms An aggregation of each chapter’s terms. 1.3 Scope A Company of US Marines is conducting a Patrol. Our Unmanned Aerial System will support their sweep with intelligence, surveillance and reconnaissance. In order to support them, our UAS must comply with Air Tasking Order special Instructions for departure and arrival procedures, and then remain with the assigned airspace. It will be tasked to search a large area for typical targets, and may be tasked to conduct an immediate route reconnaissance for convoy support or a point reconnaissance if requested. Our software will be the crucial link to identifying the ground targets. The project scope is to design a system that assists the UAS in mission completion. The system will recognize targets based on the live video stream provided to the user. The system hardware will be a computer as a ground station. The system software will detect targets in the WC’s field of view and the user will manually control the camera to get the best quality pictures. The system output will be a form based on recognized targets. 1.4 Definitions, Acronyms, and Abbreviations HC Helicopter 2 Glossary of Terms
  7. 7. Senior Design Documentation Library WC Webcam/Camera CSE Computer Science and Engineering UTA University of Texas at Arlington AVL Autonomous Vehicle lab AUVSI Unmanned Vehicle Systems International UAS Unmanned Aerial System ISR Intelligence, Surveillance and Reconnaissance 1.5 References Mr. O’Dell, Manager (Class instructor) Dr. Arthur Reyes (Sponsor) Umair Sadiq (Teacher assistant) 1.6 Overall Description The project shall be to use a video stream to recognize targets, determine the targets attributes, and to output that information to the user. 1.7 Product Perspectives The system is designed to compete in the Association for AUVSI. This system can also be beneficial, if it is used in the senior design lab. The system is designed to recognize basic shapes, alphanumeric characters and colors. . 3 Glossary of Terms
  8. 8. Senior Design Documentation Library 2 Environments 2.1 Development Environment The development of the system will be done at the UTA campus. Our sponsor, Dr. Reyes, will provide the video stream and the telemetry data. Early project requirements and development will occur in the CSE Senior Design lab. Part of the development and testing will require test flight video and telemetry data. The ground station will be a standard laptop. 2.2 Operations Environment Eagle Eye will be composed of a telemetry data, video component and a ground component that will have both hardware and software. • The telemetry data will come from the HC and the WC. • The video component will consist of a video stream from the WC. • The ground component will be a standard laptop with a wireless communicator. 2.3 Maintenance Environment The maintenance environment will be the same as the development environment. Some maintenance may be required at the AUVSI contest site. 4 Glossary of Terms
  9. 9. Senior Design Documentation Library 3 External Interface and Data Flows 3.1 Hardware Interfaces 3.1.1 General Requirements The system’s interface should be simple and easy to follow. 3.1.2 User Displays and Outputs The laptop LCD panel will be used as output. 3.1.3 User Input The user will manually control the movement of the WC. The laptop’s keyboard and track pad will allow the user to interact with the software. 3.1.4 Control Interface None 3.2 Software Interfaces The software must interface with the WC and the HC to receive a video stream and telemetry data. There will be a ground station, where the video stream will be displayed. See GUI interface illustration below. The system will notify the user when new objects have been identified, and will provide the user with a snapshot of the object. The user will be able to digitally zoom in and out of the snapshot through an interface. 5 Glossary of Terms
  10. 10. Senior Design Documentation Library 6 Glossary of Terms
  11. 11. Senior Design Documentation Library 3.3 High-Level Data Flow Datagram 3.4 Logical Data Sources and Sinks The sources of data for this system will be the WC, the HC and the storage device. The camera will capture live video, which will be sent to the system. The HC will send telemetry data to the system. The video and telemetry data will be processed and the system will identify object from the processed data. The system will prompt the user. The sinks of this system will be the user and the storage device. Snapshots and the name of the identified objects will be saved on the storage device. The user will receive messages right when the system identifies an object. 7 Glossary of Terms
  12. 12. Senior Design Documentation Library 8 Glossary of Terms
  13. 13. Senior Design Documentation Library 4 Customer Requirements 4.1 General Customer requirements are particular characteristics and specifications of a good or service as determined by a customer. In this project, the list of customer requirements originates with Dr. Reyes and other sources such as AV-challenge documentation. These requirements are the most visible and the most closely measured over the life of the product that we are developing. These requirements may or may not be the most critical, but they deal with the appearance, usability, and primary functionality of the product. 4.2 Requirements 4.2.1 Eagle Eye system shall accept video stream 4.2.1.1 Description The system will take video as an input from the WC on the HC. 4.2.1.2 Source: AV-Competition Rules 2009 4.2.1.3 Applicable Constraints Video must be of at least 800 x 600 resolutions 4.2.1.4 Applicable Standards N/A 9 Glossary of Terms
  14. 14. Senior Design Documentation Library 4.2.2 Eagle Eye system shall accept telemetry data from the HC 4.2.2.1 Description The system will receive telemetry data from the HC, which will be used to calculate the location of the target. 4.2.2.2 Source: Dr. Reyes 4.2.2.3 Applicable Constraints Wireless connections must be strong enough to send the telemetry data to the ground station. 4.2.2.4 Applicable Standards This will be determined by the HC API 4.2.3 Eagle Eye system shall accept telemetry data from the WC 4.2.3.1 Description The system will receive telemetry data from the WC, which will be used to calculate the location of the target. 4.2.3.2 Source: Dr. Reyes 4.2.3.3 Applicable Constraints Wireless connections must be strong enough to send the data to the ground station. 4.2.3.4 Applicable Standards This will be determined by the HC API 4.2.4 Eagle Eye system shall recognize targets 4.2.4.1 Description The system will recognize the targets using a video stream. 4.2.4.2 Source: AV-Competition Rules 2009 4.2.4.3 Applicable Constraints Video must be of at least 800 x 600 resolutions 4.2.4.4 Applicable Standards AV Competition Rules 2009 10 Glossary of Terms
  15. 15. Senior Design Documentation Library 4.2.5 Eagle Eye system shall find the target location 4.2.5.1 Description The system will calculate target location based on the telemetry data from the HC and the WC. 4.2.5.2 Source: AV-Competition Rule 4.2.5.3 Applicable Constraints N/A 4.2.5.4 Applicable Standards GPS coordinate system 4.2.6 Eagle Eye system shall be able to distinguish target’s geometric shapes 4.2.6.1 Description The system will be able to distinguish the target. The basic geometric shapes can be triangle, rectangle, square, circle, etc. 4.2.6.2 Source: AV-Competition Rule 4.2.6.3 Applicable Constraints Target will be 4ft x 4ft up to 8ft x 8ft. 4.2.6.4 Applicable Standards N/A 4.2.7 Eagle Eye system shall be able to distinguish target’s alphanumeric character 4.2.7.1 Description The system will be able to distinguish the target’s alphanumeric character. The character will be embedded inside the basic geometric shape. 4.2.7.2 Source: AV-Competition Rules 2009 4.2.7.3 Applicable Constraints Target must be 4ft x 4ft up to 8ft x 8ft 4.2.7.4 Applicable Standards Must be in English Characters/numbers 11 Glossary of Terms
  16. 16. Senior Design Documentation Library 4.2.8 Eagle Eye system shall be able to distinguish target’s background color 4.2.8.1 Description The system will be able to distinguish the target’s background color. 4.2.8.2 Source: AV-Competition Rules 2009 4.2.8.3 Applicable Constraints N/A 4.2.8.4 Applicable Standards AV Competition Rules 2009 4.2.9 Eagle Eye system shall be able to distinguish target’s alphanumeric color 4.2.9.1 Description The system will be able to distinguish the target’s alphanumeric color. 4.2.9.2 Source: AV-Competition Rules 2009 4.2.9.3 Applicable Constraints N/A 4.2.9.4 Applicable Standards AV Competition Rules 2009 4.2.10 Eagle Eye system shall have a GUI interface 4.2.10.1Description The system will have a GUI interface for user interaction. 4.2.10.2Source: Dr. Reyes 4.2.10.3Applicable Constraints N/A 4.2.10.4Applicable Standards N/A 12 Glossary of Terms
  17. 17. Senior Design Documentation Library 4.2.11 Eagle Eye system GUI interface shall display the target location 4.2.11.1Description The system will display the target location in the GUI interface. 4.2.11.2Source: Dr. Reyes 4.2.11.3Applicable Constraints N/A 4.2.11.4Applicable Standards GPS coordinate system 4.2.12 Eagle Eye system GUI interface shall display target’s geometric shapes 4.2.12.1Description The system will be display target’s geometric shapes in English in the GUI interface. 4.2.12.2Source: Dr. Reyes 4.2.12.3Applicable Constraints Targets are recognized 4.2.12.4Applicable Standards N/A 4.2.13 Eagle Eye system GUI interface shall display target’s alphanumeric characters 4.2.13.1Description The system will be display target’s alphanumeric characters in English in the GUI interface. 4.2.13.2Source: Dr. Reyes 4.2.13.3Applicable Constraints Targets are recognized 4.2.13.4Applicable Standards N/A 13 Glossary of Terms
  18. 18. Senior Design Documentation Library 4.2.14 Eagle Eye system GUI interface shall display target’s alphanumeric color 4.2.14.1Description The system will be display target’s alphanumeric color. 4.2.14.2Source: Dr. Reyes 4.2.14.3Applicable Constraints Targets are recognized 4.2.14.4Applicable Standards AV Competition Rules 2009 4.2.15 Eagle Eye system GUI interface shall display target’s background color 4.2.15.1Description The system will be display target’s background color. 4.2.15.2Source: Dr. Reyes 4.2.15.3Applicable Constraints Targets are recognized 4.2.15.4Applicable Standards AV Competition Rules 2009 4.2.16 Eagle Eye system GUI interface shall display video stream from the WC 4.2.16.1Description The system will display video stream from the WC. 4.2.16.2Source: Dr. Reyes 4.2.16.3Applicable Constraints The video has to be received by Eagle Eye system 4.2.16.4Applicable Standards N/A 14 Glossary of Terms
  19. 19. Senior Design Documentation Library 4.2.17 Eagle Eye system GUI interface shall display still frame from the video stream 4.2.17.1Description The system will display a still frame for use of recognition of the target. 4.2.17.2Source: Dr. Reyes 4.2.17.3Applicable Constraints The video has to be received by Eagle Eye system 4.2.17.4Applicable Standards N/A 4.2.18 Eagle Eye system shall allow user interaction with the GUI for target recognition 4.2.18.1Description The system will allow user interaction for target recognition. The user will be allowed to accept a target or decline based on a snap shot from the video stream and the telemetry data provided by the HC. 4.2.18.2Source: Dr. Reyes 4.2.18.3Applicable Constraints N/A 4.2.18.4Applicable Standards N/A 4.2.19 Eagle Eye system shall store target information into a file 4.2.19.1Description The system will store all targets and their individual attributes. 4.2.19.2Source: AV-Competition Rules 2009 15 Glossary of Terms
  20. 20. Senior Design Documentation Library 4.2.19.3Applicable Constraints The format of the file should be specified on certain format type. 4.2.19.4Applicable Standards N/A 4.2.20 Eagle Eye system shall allow a user to retrieve all accepted targets and their individual attributes 4.2.20.1Description The system will load the targets and their individual attributes from a file and make it available to the users at the ground station. 4.2.20.2Source: AV-Competition Rules 2009 4.2.20.3Applicable Constraints N/A 4.2.20.4Applicable Standards The format of the file should be specified by the AV-Competition’s rules 4.2.21 The system shall have playback mode for all the recorded video. 4.2.21.1Description The system will have interface which allows users to playback the recorded video on the system. 4.2.21.2Source: Dr. Reyes 4.2.21.3Applicable Constraints The recorded video must of specific format. 4.2.21.4Applicable Standards N/A 4.2.22 Eagle Eye shall allow for later versions to send camera correction information, i.e. ZOOM and focus to the camera 4.2.22.1Description The system will allow for later versions to send camera correction information such as zoom and focus to the camera. 16 Glossary of Terms
  21. 21. Senior Design Documentation Library 4.2.22.2Source: Dr. Reyes 4.2.22.3Applicable Constraints Camera must have zoom feature and API to automatically update. 4.2.22.4Applicable Standards N/A 4.2.23 Eagle Eye shall have a user ZOOM and focus on a target in early versions 4.2.23.1Description In early versions, the system will have a user zoom and focus on a target. 4.2.23.2Source: Dr. Reyes 4.2.23.3Applicable Constraints Camera must have zoom feature and API to automatically update. 4.2.23.4Applicable Standards N/A 4.2.24 Eagle Eye shall send HC target location or course correction in later versions 4.2.24.1Description In later version, the system will send HC target location/course correction functionality 4.2.24.2Source: Dr. Reyes 4.2.24.3Applicable Constraints HC must have a course correction API and wireless to accept. 4.2.24.4Applicable Standards N/A 17 Glossary of Terms
  22. 22. Senior Design Documentation Library 5 Localization Requirements 5.1 General These requirements may originate from a variety of sources, but this chapter contains all requirements related to making the product work in multiple international locations, including, but not limited to, display language and fonts, monetary conventions, date and time conventions, etc. 5.2 Requirements 5.2.1 All text displayed for Eagle Eye shall be in the English language as used in the United States of America. 5.2.1.1 Description All text content in the user interface will be written in United States English language. 5.2.1.2 Source Flyin’ Circuits 5.2.1.3 Applicable Constraints The tone of the language shall be appropriate. 5.2.1.4 Applicable Standards Standard American English 5.2.2 Time shall be displayed to the local time zone. 5.2.2.1 Description The timestamp displayed will be localized to the local time zone, Central time (GMT -6:00). 5.2.2.2 Source Flyin’ Circuits 5.2.2.3 Applicable Constraints N/A 5.2.2.4 Applicable Standards N/A 18 Glossary of Terms
  23. 23. Senior Design Documentation Library 5.2.3 Standard units shall be used, i.e. distances will be measured in feet (standard units) 5.2.3.1 Description The system will use standard units while measuring distance. 5.2.3.2 Source Flyin’ Circuits 5.2.3.3 Applicable Constraints N/A 5.2.3.4 Applicable Standards N/A 5.2.4 Geographic coordinate system will be used in determining locations. 5.2.4.1 Description The system will use longitude and latitude. • DMS Degrees:Minutes:Seconds (49°30'00"N, 123°30'00"W) 5.2.4.2 Source Flyin’ Circuits 5.2.4.3 Applicable Constraints N/A 5.2.4.4 Applicable Standards N/A 19 Glossary of Terms
  24. 24. Senior Design Documentation Library 6 Marketing and Sales Requirements 6.1 General Marketing and Sales requirements originate from and primarily benefit the marketing and sales of the products. 6.2 Requirements 6.2.1 The Eagle Eye shall not be commercialized. 6.2.1.1 Description The system will not be commercialized but there may contain logo of CSE department or UTA. 6.2.1.2 Source Dr. Reyes 6.2.1.3 Applicable Constraints N/A 6.2.1.4 Applicable Standards N/A 6.2.2 The Eagle Eye shall be used for CSE department’s outreach program. 6.2.2.1 Description The system will be used to attract potential UTA students interested in Computer Science. 6.2.2.2 Source Dr. Reyes 6.2.2.3 Applicable Constraints N/A 6.2.2.4 Applicable Standards N/A 20 Glossary of Terms
  25. 25. Senior Design Documentation Library 6.2.3 The Eagle Eye shall be used for AVL’s recruitment 6.2.3.1 Description The system will be used to attract students for the AVL. 6.2.3.2 Source Dr. Reyes 6.2.3.3 Applicable Constraints N/A 6.2.3.4 Applicable Standards N/A 21 Glossary of Terms
  26. 26. Senior Design Documentation Library 7 Administrative Requirements 7.1 General Administrative requirements are those that primarily benefit the administration of the company itself. This may be in the form of required tracking capabilities such as bar codes or RFID tags, or may be in the form of more specific procedural requirements. 7.2 Requirements 7.2.1 Team shall have weekly meeting with its sponsor. 7.2.1.1 Description The team will be meeting with the sponsor (Dr. Reyes) weekly discussing about the team’s progress and other constraints involved in the project. 7.2.1.2 Source Flyin’ Circuits 7.2.1.3 Applicable Constraints When sponsor is available 7.2.1.4 Applicable Standards N/A 7.2.2 Team status report presentation shall be held bi-weekly. 7.2.2.1 Description The oral presentation will be held on lab period where the team will discuss about its progress. 7.2.2.2 Source Mr. O’Dell 7.2.2.3 Applicable Constraints N/A 7.2.2.4 Applicable Standards N/A 22 Glossary of Terms
  27. 27. Senior Design Documentation Library 7.2.3 Each team member shall give their individual status report bi-weekly 7.2.3.1 Description Each individual on the team will give their individual status report bi-weekly on Fridays. 7.2.3.2 Source Mr. O’Dell 7.2.3.3 Applicable Constraints N/A 7.2.3.4 Applicable Standards CSE Senior Design Form 7.2.4 Team meetings shall be held after every senior design class period 7.2.4.1 Description The team meetings will be held after every class. 7.2.4.2 Source Flyin’ Circuits 7.2.4.3 Applicable Constraints N/A 7.2.4.4 Applicable Standards N/A 7.2.5 The team shall use Google Groups email, text messaging and phone in order to keep each other updated when they are working separately. 7.2.5.1 Description Each individual on the team will communicate to the team members through, Google Groups, email, phone or text messaging. 7.2.5.2 Source Flyin’ Circuits 7.2.5.3 Applicable Constraints N/A 7.2.5.4 Applicable Standards N/A 23 Glossary of Terms
  28. 28. Senior Design Documentation Library 8 Development Requirements 8.1 General Development requirements benefit the development team itself. They often take the form of development standards, frequency of archives or other items not covered by SOP/SOGs and the Project Charter (project plan). 8.2 Requirements 8.2.1 The development team shall use source control software and applications. 8.2.1.1 Description Source control software (i.e. git, source safe) will be used in this project in order to facilitate and ease the management. 8.2.1.2 Source Flyin’ Circuits 8.2.1.3 Applicable Constraints N/A 8.2.1.4 Applicable Standards N/A 8.2.2 The development team shall use a coding standard. 8.2.2.1 Description The Team will use a coding standard that will be established by Nguyen Tran. He will decide the coding standard based on the programming language that will be used. 8.2.2.2 Source Flyin’ Circuits 8.2.2.3 Applicable Constraints N/A 8.2.2.4 Applicable Standards N/A 24 Glossary of Terms
  29. 29. Senior Design Documentation Library 25 Glossary of Terms
  30. 30. Senior Design Documentation Library 9 Quality Assurance Requirements 9.1 General Quality assurance requirements are those that either set the quality levels to be met by the product or that demand specific features to facility quality testing. 9.2 Requirements 9.2.1 The development team shall routinely perform the test on the product. 9.2.1.1 Description The team will perform the test on the product (Eagle Eye) periodically with live video and recorded video. 9.2.1.2 Source Flyin’ Circuits 9.2.1.3 Applicable Constraints If live is not available then we will use recorded video 9.2.1.4 Applicable Standards N/A 9.2.2 The development team shall keep track the bugs in order to minimize the error and possible failure. 9.2.2.1 Description The team will keep log files for all the errors and bugs found in the system. 9.2.2.2 Source Flyin’ Circuits 9.2.2.3 Applicable Constraints N/A 9.2.2.4 Applicable Standards N/A 26 Glossary of Terms
  31. 31. Senior Design Documentation Library 10Safety Requirements 10.1General Safety requirements are those that affect the user’s safety (or the maintainer’s) in any way. Often these consist of adherence to internal or external standards, but they may also be constraints on the system to keep its characteristics within safe limits. In some cases, they may require warning labels or active devices, such as visible or audible alarms. 10.2Requirements 10.2.1 The operation of the Eagle Eye system shall not interfere with the mission. 10.2.1.1Description The transmission or reception of data will not interfere with the normal operations of the helicopter or the ground station during the mission. 10.2.1.2Source Flyin’ Circuits 10.2.1.3Applicable Constraints N/A 10.2.1.4Applicable Standards AV Competition Rules 27 Glossary of Terms
  32. 32. Senior Design Documentation Library 11Standards Compliance 11.1General This section contains a summary of all standards with which the product must comply. Each standard is listed as a specific requirement. 11.2Standards 11.2.1 The product shall comply with the Senior Design project standard. 11.2.1.1Description The dimension of the product as discussed by Mr. O’Dell must not exceed 3 x 3 x 3 ft. The project will cost less than $800. The project will be completed before the end of senior design 2. 11.2.1.2Source: Mr. O’Dell 11.2.1.3Related Constraints N/A 11.2.1.4Related Standards N/A 11.2.2 The product shall comply with the sponsor requirement. 11.2.2.1Description The product will accept a video stream and telemetry data from camera and HC. 11.2.2.2Source: Dr. Reyes 11.2.2.3Related Constraints N/A 11.2.2.4Related Standards N/A 28 Glossary of Terms
  33. 33. Senior Design Documentation Library 12Maintenance Requirements 12.1General Maintenance requirements are those that facilitate maintenance of the product. These may be in the form of test points (even in software), resident debug code, etc. Maintenance, in this sense, includes later upgrading of the product 12.2Requirements 12.2.1 The camera shall be upgraded in future for better performance 12.2.1.1Description The camera will be upgraded in future in order to provide more functionality; which could include new updates to work with the firm ware updates for the camera or other systems. 12.2.1.2Source: Dr. Reyes 12.2.1.3Related Constraints N/A 12.2.1.4Related Standards N/A 12.2.2 The system software shall include more functionality 12.2.2.1Description The software will be able to automatically zoom on targets. The software will be able to work with less user involvement. 12.2.2.2Source: Dr. Reyes 12.2.2.3Related Constraints N/A 12.2.2.4Related Standards N/A 29 Glossary of Terms
  34. 34. Senior Design Documentation Library 12.2.3 Developer manuals will be written for hardware and software 12.2.3.1Description All design, API, and reference documents will be compiled into manuals for usage by future development teams. These documents will cover all areas within the software and hardware of the project. 12.2.3.2Source Flyin’ Circuits 12.2.3.3Applicable Constraints N/A 12.2.3.4Applicable Standards N/A 30 Glossary of Terms
  35. 35. Senior Design Documentation Library 13Support Requirements 13.1General This section contains requirements that enable the Support department to do their job. Some of these requirements may also be maintenance requirements. Those are listed in only one place. 13.2Requirements 13.2.1 The product shall include a user manual that describes the product's functions. 13.2.1.1Description The user manual will include screenshots, diagrams and instructions on how to operate the Eagle Eye system. 13.2.1.2Source Flyin’ Circuits 13.2.1.3Constraints N/A 13.2.1.4Applicable Standards N/A 31 Glossary of Terms
  36. 36. Senior Design Documentation Library 14Performance Requirements 14.1General Most products have performance requirements that must be explicitly stated, and for this product, they are listed here. 14.2Requirements 14.2.1 The system shall be able to identify the target before the target leaves the video stream. 14.2.1.1Description The system will identify the target’s attributes before it leaves the video stream. 14.2.1.2Source Flyin’ Circuits 14.2.1.3Constraints Eagle Eye must be receiving video stream. 14.2.1.4Applicable Standards N/A 14.2.2 The video will be at a minimum of 15 frames per second. 14.2.2.1Description The capture rate of 15 frames per second is necessary in order to identify the target object. 14.2.2.2Source Flyin’ Circuits 14.2.2.3Applicable Constraints N/A 14.2.2.4Applicable Standards N/A 32 Glossary of Terms
  37. 37. Senior Design Documentation Library 14.2.3 The video resolution should be of at least 800x600 pixels. 14.2.3.1Description The resolution of 800x600 (minimum) is required to identify the target within that distance. 14.2.3.2Source Flyin’ Circuits 14.2.3.3Applicable Constraints N/A 14.2.3.4Applicable Standards N/A 33 Glossary of Terms
  38. 38. Senior Design Documentation Library 15System Constraint Requirements 15.1General Certain non-functional requirements act to constrain, or limit, the entire system in some way. 15.2Requirements 15.2.1 The product's components shall use only standard API’s when interfacing with HC and WC. 15.2.1.1Description The system will be able to interface with the HC and WC. 15.2.1.2Source Flyin’ Circuits 15.2.1.3Related Constraints N/A 15.2.1.4Applicable Standards N/A 15.2.2 The system shall use the third party wireless connection. 15.2.2.1Description The system will use third party wireless connection to receive video and telemetry data from the HC and the WC on the ground station. 15.2.2.2Source Flyin’ Circuits 15.2.2.3Related Constraints N/A 15.2.2.4Applicable Standards N/A 34 Glossary of Terms
  39. 39. Senior Design Documentation Library 16Exception Conditions and Handling 16.1General All known external exceptions are detailed here. 16.2Exceptions 16.2.1 Eagle Eye cannot recognize the target that it is viewing 16.2.1.1Description The target enters and exits the video stream and is not recognized. 16.2.1.2Handling The user will use the provided joystick or controls to zoom and focus the camera in on the given target. 16.2.2 The wireless connection is disconnected 16.2.2.1Description For reasons unknown the wireless connection is disconnected. 16.2.2.2Handling The GUI will send a message to the user letting them know that the connection has been lost and needs attention. 16.2.3 The telemetry data from the HC or camera is incorrect. 16.2.3.1Description The telemetry data, which is based off the location of the target, is sent back to the ground station is incorrect. 16.2.3.2Handling In early versions the user will be able to send a recalibration function to the HC to recalculate the telemetry data. 35 Glossary of Terms
  40. 40. Senior Design Documentation Library 17Early Subsets and Implementation Priorities 17.1General This section details the order of implementation of the external requirements. They are grouped into groups that are logical from both development and other stakeholders views and are the result of consultation and negotiation with all stakeholders. Subsets 17.1.1 Highest Priority 17.1.1.1The system must accept a video stream. (Requirement: 4.2.1) 17.1.1.2The system shall recognize targets using the video stream (Requirement: 4.2.4). 17.1.1.3The system shall accept telemetry data from HC (Requirements: 4.2.2). 17.1.1.4The system shall accept telemetry data from the camera (Requirement: 4.2.3). 17.1.1.5The system shall be able to recognize the geometric shape of the target (Requirement: 4.2.6). 17.1.1.6The system shall be able to recognize the targets alphanumeric character (Requirement: 4.2.7). 17.1.1.7The system shall be able to recognize the background color of the target (Requirement: 4.2.8). 17.1.1.8The system shall be able to recognize the target’s alphanumeric color (Requirement: 4.2.9). 17.1.1.9The system shall be able to store target information into a file (Requirement: 4.2.19). 17.1.1.10Eagle Eye system shall allow a user to retrieve all accepted targets and their individual attributes (Requirement: 4.2.20). 36 Glossary of Terms
  41. 41. Senior Design Documentation Library 17.1.1.11The system shall have playback mode for all the recorded video (Requirement: 4.2.21). 17.1.1.12The system shall find the target location (Requirement: 4.2.5). 17.1.2 Intermediate Priority 17.1.2.1The system shall have a GUI interface (Requirement: 4.2.10). 17.1.2.2The system shall allow for user interaction for target recognition (Requirement: 4.2.18). 17.1.2.3The system shall have user zoom and focus on a target in early versions (Requirement: 4.2.23). 17.1.3 Low Priority 17.1.3.1The system shall send camera correction information; zoom, focus, and etc (Requirement: 4.2.22). 17.1.3.2The system shall send HC target location or course correction information (Requirements: 4.2.24). 37 Glossary of Terms
  42. 42. Senior Design Documentation Library 18Foreseeable Modifications and Enhancements 18.1General All projects general requirements that cannot be implements in the time allotted. Rather than reject good requirement, they are listed here for use in the next generation of the product. 18.2Enhancements 18.2.1 Zoom and focus on the camera will be automated Instead of the user being able to control the zoom and focus of the camera, the camera will be automated to move to different angles, zoom and focus on targets on its own. 18.2.2 Recognition of Multiple Objects The product could be enhanced to not only to recognize colors, shapes, and letters but it could be advanced to recognize humans, animals, trees, buildings etc. 18.2.3 Different Settings The product is being developed now assuming that it will be used during the day time, but with some additional infrared or night vision modes, the product would be able to function at night and other weather conditions. 18.2.4 Obstacle Avoidance By adding some functionality using sensors for instance the helicopter would be able to avoid objects in its way or maybe the camera could used to be able to tell if an object was in its path. 18.2.5 Course correction If the helicopter happened to be off course from the direction of the target, there could be a functionality built in to correct the path of the helicopter. 38 Glossary of Terms
  43. 43. Senior Design Documentation Library 19Acceptance Criteria 19.1General This section describes the conditions under which the final product will be deemed acceptable by the stakeholders. 19.2Criteria 19.2.1 The Eagle Eye system shall accept a video stream 19.2.1.1Description The system will take video as an input from the video recorder on autonomous helicopter. 19.2.1.2Source: AV-Competition Rules 2009 19.2.1.3Applicable Constraints Video must be of a least 800x600 resolutions. 19.2.1.4Applicable Standards N/A 19.2.2 The Eagle Eye system shall recognize the characteristics of a target with a given video stream and other data from the HC. 19.2.2.1Description The system will be able to recognize targets alphanumeric characters, colors, and geometric shapes from a given video stream and other given data. 19.2.2.2Source: Dr. Reyes and the AV-challenge documentation 19.2.2.3Applicable Constraints Object is no bigger than 8 square feet, colors used must be from the standard color chart, and the video must be of a least 800x600 resolutions. 19.2.2.4Applicable Standards N/A 39 Glossary of Terms
  44. 44. Senior Design Documentation Library 19.2.3 The Eagle Eye system shall output the targets and their attributes. 19.2.3.1Description All recognized targets and their attributes will be given to the user in accordance with the AV Competition Rules. 19.2.3.2Source: AV-Competition Rules 2009 19.2.3.3Applicable Constraints The format of the file should be specified on certain format type. 19.2.3.4Applicable Standards AV Competition Rules 2009 40 Glossary of Terms
  45. 45. Senior Design Documentation Library 20Design Guidelines 20.1General This section details any general design guidelines. These are to be considered guidelines, and not requirements. 20.2Guidelines 20.2.1 All work will be documented and dated. 20.2.1.1Description All work: coding, ideas, designs, architecture will be written down and recorded and the date these events took place. 20.2.1.2Source: Flyin’ Circuits 20.2.1.3Applicable Constraints N/A 20.2.1.4Applicable Standards N/A 20.2.2 The life cycle process of this project will be a modified waterfall process. 20.2.2.1Description Throughout the production of this product our team will be following a waterfall process. 20.2.2.2Source: Mr. O’Dell 20.2.2.3Applicable Constraints N/A 20.2.2.4Applicable Standards N/A 41 Glossary of Terms
  46. 46. Senior Design Documentation Library 20.2.3 All final decisions will be made as a team. 20.2.3.1Description All major decisions that made far as detail requirements, and design will be made as team and not by one person. 20.2.3.2Source: Flyin’ Circuits 20.2.3.3Applicable Constraints All decisions will be based requirements, feasibility, and feedback from our sponsor. 20.2.3.4Applicable Standards N/A 20.2.4 All documents and code will be reviewed by at least two people in the team. 20.2.4.1Description All code and document versions will be reviewed by at least two people of the team before moving on. 20.2.4.2Source: Flyin’ Circuits 20.2.4.3Applicable Constraints Depending on schedules it may be difficult for two people to review everything every step and phase of the project. 20.2.4.4Applicable Standards N/A 20.2.5 Different versions of code will be kept in a repository. 20.2.5.1Description At each step and phase of code revision will be kept in a repository to be reference to later. 20.2.5.2Source: Flyin’ Circuits 20.2.5.3Applicable Constraints N/A 42 Glossary of Terms
  47. 47. Senior Design Documentation Library 20.2.5.4Applicable Standards N/A 20.2.6 All documents and different versions of deliverables will be kept on Google groups. 20.2.6.1Description All documents and different versions that are created will be kept on Google group with the version number, draft number, and the number of the person who created that document or version. 20.2.6.2Source: Flyin’ Circuits 20.2.6.3Applicable Constraints Google server could be down at anytime. 20.2.6.4Applicable Standards N/A 43 Glossary of Terms
  48. 48. Senior Design Documentation Library 21Assumptions 21.1 The system will be used during day time. 21.2 The system will not be affected by temperatures. 21.3The system will be used in area with no other tall objects or obstacles in its way; such as buildings, trees and etc. 21.4 The helicopter already comes with autonomous software built in and is user ready. 21.5 That the helicopter is already built to handle a camera of no more than ten pounds. 21.6The AV Team will be responsible for the HC. 21.7 The targets will be distributed throughout the search area. 21.8 Targets will be constructed of plywood and given a size, basic Geometric shape and color. 21.9There will be targets at different angles in the video stream. 21.10The HC will be at a maximum height of 500ft (+/- 100ft) from the desired target at any time. 44 Glossary of Terms
  49. 49. Senior Design Documentation Library 22Sources of Information • Mike O’Dell – Overall scope, constraints, and guidelines to follow during the development process of the product. Also suggestions and opinions on development process. • Team Flyin’ Circuits (Nicholas Berkins, Baron Sanders, Amit Shrestha, and Nguyen Tran) – Provides some requirements, constraints, designs, and other details of the production of the product. • Dr. Arthur Reyes – Provides requirements, constraints, detailed information on the helicopter and camera, and what makes the product acceptable or not. • AV – challenge rules and documentation- Provides requirements, constraints, and rules and regulations that directly affect the way we design our product to work. • Hawkeye Project (from Senior Design Fall 2005 - Spring 2006) – Provided some exception conditions and handling. 45 Glossary of Terms
  50. 50. Senior Design Documentation Library 23Use Cases 23.1General Use cases are included for all major external functions. These are the result of analysis of the requirements and represent the workings of the product externals. 23.2Use Cases 23.2.1 Use Case: The User installs Eagle Eye on Ground Station. 23.2.1.1General Actors: User Preconditions: Ground station computer must be on and running. Eagle Eye must not be installed on ground station Description: User inserts Eagle Eye CD into ground station and accepts auto installer. Post Conditions Applying to All Paths: Eagle Eye is installed onto ground station. 23.2.1.2Primary Path Summary Installing the Eagle Eye Disk will start the Eagle Eye installer. User will accept auto-install. Requirements Timing, structure, control or inferential: N/A Post Conditions: User will be able to start Eagle Eye GUI on ground station. The user can receive target information from Eagle Eye. Special Requirements: N/A 46 Glossary of Terms
  51. 51. Senior Design Documentation Library Frequency of Occurrence: Single 23.2.1.3Alternate path(s) N/A Requirements Timing, structure, control or inferential: N/A Post Conditions: N/A Special Requirements: N/A Frequency of Occurrence: N/A 23.2.1.4Outstanding Issues N/A 23.2.2 Use Case: The User Starts Eagle Eye GUI interfaces on ground station. 23.2.2.1General Actors: User Preconditions: Ground station computer must be on and running. Description: User will click Eagle Eye Icon on desktop. Post Conditions Applying to All Paths: Eagle Eye must be installed on ground station. 23.2.2.2Primary Path Summary The Eagle Eye GUI will be turned on by clicking the icon on the desktop. Requirements Timing, structure, control or inferential: N/A Post Conditions: The user can receive target information from Eagle Eye. 47 Glossary of Terms
  52. 52. Senior Design Documentation Library Special Requirements: The HC and WC should be turned on and the HC is flying a mission. Frequency of Occurrence: Single 23.2.2.3Alternate path(s) N/A Requirements Timing, structure, control or inferential: N/A Post Conditions: N/A Special Requirements: N/A Frequency of Occurrence: N/A 23.2.2.4Outstanding Issues N/A 23.2.3 Use Case: User Views Target Attributes 23.2.3.1General Actors User Preconditions A Target must be present in video stream or an accepted target must be selected. Eagle Eye System must be on and operating. Description The user will be able to see the target attributes Identified by Eagle Eye. Post Conditions Applying to All Paths N/A 23.2.3.2Primary Path Summary The user will be at the ground station, after Eagle Eye determines background color, geometric shape, an alphanumeric, an alphanumeric color and location. Eagle Eye will then display the target attributes to the user via the GUI. Requirements Timing, structure, control or inferential N/A 48 Glossary of Terms
  53. 53. Senior Design Documentation Library Post Conditions Accept/decline buttons will be usable. Special Requirements There must be targets to identify. The targets will be composed of shapes and colors. They will not be more than 500 ft away from the helicopters path. Frequency of Occurrence Multiple 23.2.3.3Alternate path(s) N/A Requirements Timing, structure, control or inferential N/A Post Conditions N/A Special Requirements N/A Frequency of Occurrence N/A 23.2.3.4Outstanding Issues N/A 23.2.4 Use Case: User Accepts Target 23.2.4.1General Actors User Preconditions Target must have been recognized by Eagle Eye. Description As the target enters the video stream Eagle Eye System will identify the target based on color, geometric shape and alphanumeric shape. The user will review the attributes and then press the accept button for this target. Post Conditions Applying to All Paths N/A 49 Glossary of Terms
  54. 54. Senior Design Documentation Library 23.2.4.2Primary Path Summary The user will be at the ground station, as the target passes into view of the WC, Eagle Eye will determine color, geometric shape, an alphanumeric, and location. Eagle Eye will then display the target attributes to the user. The user will be allowed to view the attributes and to press the accept button. Requirements Timing, structure, control or inferential N/A Post Conditions The target attributes will be saved into a file for later retrieval. Special Requirements There must be targets to identify. The targets will be composed of shapes and colors. They will not be more than 500 ft away from the WC. Frequency of Occurrence Multiple 23.2.4.3Alternate path(s) User declines target. Requirements Timing, structure, control or inferential N/A Post Conditions See 23.2.5 Special Requirements N/A Frequency of Occurrence N/A 23.2.4.4Outstanding Issues N/A 23.2.5 Use Case: User Declines Target 23.2.5.1General Actors User Preconditions Target must have been recognized by Eagle Eye. 50 Glossary of Terms
  55. 55. Senior Design Documentation Library Description As the target enters the video stream Eagle Eye System will identify the target based on color, geometric shape and alphanumeric shape. The user will review the attributes and then press the Decline button for this target. Post Conditions Applying to All Paths N/A 23.2.5.2Primary Path Summary The user will be at the ground station, as the target passes into view of the WC, Eagle Eye will determine color, geometric shape, an alphanumeric, and location. Eagle Eye will then display the target attributes to the user. The user will be allowed to view the attributes and to press the Decline button. Requirements Timing, structure, control or inferential N/A Post Conditions The target attributes will be deleted and Eagle Eye will try to recognize another target in the video stream. Special Requirements There must be targets to identify. The targets will be composed of shapes and colors. They will not be more than 500 ft away from the WC. Frequency of Occurrence Multiple 23.2.5.3Alternate path(s) User accepts target. Requirements Timing, structure, control or inferential N/A Post Conditions See 23.2.4 Special Requirements N/A Frequency of Occurrence N/A 23.2.5.4Outstanding Issues N/A 51 Glossary of Terms
  56. 56. Senior Design Documentation Library 23.2.6 Use Case: User Capture’s Target 23.2.6.1General Actors User Preconditions Target must be in video stream. Description As the target enters the video stream user will press Capture button located on the GUI. The video stream will be broken into frames and a single frame will be processed for a target. Post Conditions Applying to All Paths N/A 23.2.6.2Primary Path Summary The user will be at the ground station, as the target passes into view of the WC, the user will press the Capture button and then Eagle Eye will determine color, geometric shape, an alphanumeric, and location. Eagle Eye will then display the target attributes to the user. Requirements Timing, structure, control or inferential N/A Post Conditions The target will be detected and the attributes will be distinguished and Eagle Eye will display results to user. Special Requirements There must be targets to identify. The targets will be composed of shapes and colors. They will not be more than 500 ft away from the WC. Frequency of Occurrence Multiple 23.2.6.3Alternate path(s) Target not found. Requirements Timing, structure, control or inferential N/A Post Conditions Capture another picture of target 52 Glossary of Terms
  57. 57. Senior Design Documentation Library Special Requirements N/A Frequency of Occurrence Multiple 23.2.6.4Outstanding Issues N/A 23.2.7 Use Case: User Plays Back Video 23.2.7.1General Actors User Preconditions Eagle must have a saved video. Description The user will be able to play back the video. Post Conditions Applying to All Paths N/A 23.2.7.2Primary Path Summary The user will be using the Eagle Eye GUI. The user will select the play back video option. There will be a box of videos to select from if more than one. The user will select one video and then playback will occur on the Eagle Eye GUI. Requirements Timing, structure, control or inferential N/A Post Conditions N/A Special Requirements There must be a video saved by the Eagle Eye system. Frequency of Occurrence Single 23.2.7.3Alternate path(s) Video not found. Requirements Timing, structure, control or inferential N/A 53 Glossary of Terms
  58. 58. Senior Design Documentation Library Post Conditions Will have to choose another video Special Requirements N/A Frequency of Occurrence Single 23.2.7.4Outstanding Issues N/A 23.2.8 User Outputs Accepted Targets 23.2.8.1General Actors User Preconditions A target must be have been accepted and saved to file. Description The user will be able to see the targets that were accepted and all attributes Identified by Eagle Eye. Post Conditions Applying to All Paths N/A 23.2.8.2Primary Path Summary The user will be at the ground station. The user will choose the Output Accepted Targets option located on the GUI. The user will be shown a form with all the targets accepted and their attributes. Requirements Timing, structure, control or inferential N/A Post Conditions N/A Special Requirements There must be accepted targets and their attributes saved to a file. Frequency of Occurrence Multiple 23.2.8.3Alternate path(s) N/A 54 Glossary of Terms
  59. 59. Senior Design Documentation Library Requirements Timing, structure, control or inferential N/A Post Conditions N/A Special Requirements N/A Frequency of Occurrence N/A 23.2.8.4Outstanding Issues N/A 23.2.9 Use Case: The user turns Eagle Eye off. 23.2.9.1General Actors: User Preconditions: Eagle Eye is on. Description: The user will close the Eagle Eye GUI. Post Conditions Applying to All Paths N/A 23.2.9.2Primary Path Summary: The user will turn the system off. Requirements Timing, structure, control or inferential: N/A Post Conditions: Eagle Eye will be shut off. Special Requirements: N/A 55 Glossary of Terms
  60. 60. Senior Design Documentation Library Frequency of Occurrence: Single 23.2.9.3Alternate path(s) N/A Requirements Timing, structure, control or inferential: N/A Post Conditions: N/A Special Requirements: N/A Frequency of Occurrence: N/A 23.2.9.4Outstanding Issues N/A 56 Glossary of Terms
  61. 61. Senior Design Documentation Library 24Glossary of Terms • Helicopter S30 57 Glossary of Terms
  62. 62. Senior Design Documentation Library • Helicopter S20 58 Glossary of Terms
  63. 63. Senior Design Documentation Library • Eagle Eye GUI • Ground Station 59 Glossary of Terms

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