1(13)
Group no. 1
Course CD5360, Software Engineering
Date
20/3/2007
Proj. mgr. Vasilis Odontidis
E-mail
Vos06001@student.mdh.se
Project Description
Project R2D2
DISTRIBUTION
Steering group:
Frank Lüders
Aneta Vulgarakis
Farhang Nemati
Project group:
Vasilis Odontidis VO
Thomas Sörensen TS
Jesper Söderlund JSD
Sreedhar Danturthi SD
Ricky Stanley D’Cruze RD
Quang Tien Le QL
Jesper Simos JS
CONTENTS
1.
Background and Objectives ................................................................................ 2
2.
Organization ......................................................................................................... 3
2.1
Project Manager .......................................................................................... 3
2.2
Project Group .............................................................................................. 3
2.3
Areas of responsibility ................................................................................ 4
2.4
Steering Group ............................................................................................ 4
2.5
Customer ..................................................................................................... 5
3.
Assumptions and Constraints ............................................................................. 5
3.1
Technological ............................................................................................. 5
3.2
Environmental............................................................................................. 5
3.3
Work distribution ........................................................................................ 5
3.4
Time ............................................................................................................ 5
4.
Deliverables. ......................................................................................................... 5
5.
Inputs .................................................................................................................... 6
6.
Communication .................................................................................................... 6
6.1
Within the group ......................................................................................... 6
6.2
With Steering group .................................................................................... 6
6.3
With Customer ............................................................................................ 6
2(13)
Course CD5360, Software Engineering
Group no.
Date
1
3/6/2016
7.
Reporting Worked Hours .................................................................................... 6
8.
Quality Assurance ................................................................................................ 6
9.
Configuration Management ................................................................................ 7
9.1
Reference Documents ................................................................................. 7
9.2
Responsibility ............................................................................................. 7
9.3
Resources .................................................................................................... 7
9.4
Components, Tools and Products Used in the Project ................................ 7
9.5
SCM Structures ........................................................................................... 8
10. Project Plan .......................................................................................................... 9
10.1 Time Schedule ............................................................................................ 9
10.2 Activity Plan ............................................................................................. 10
10.3 Resource Plan ........................................................................................... 11
10.4 Project risks .............................................................................................. 12
10.5 Financial Plan ........................................................................................... 12
1.
Background and Objectives
This document provides information about project Sensor Fusion, which is also
known as R2D2. The goal of the group is to implement software that will control and
fuse the data provided by sensors embedded in robots. These robots are designed in
the Robotics Laboratory (Robolab) in Mälardalen University with the purpose of
participating in football matches and competing against other robot football teams. In
addition, the group should provide appropriate tests for the software that are going to
be used in further implementations of the robots. The software will be written in ADA
under real-time Linux.
In order to provide clear view of the group’s work below we will provide a short
list with the description of the sensors that are embedded in the robot.
1. Ball Sensor: A sensor that can identify if the ball is in front of the robot and
activates some mechanisms to control it.
2. Ultrasonic Sensors: Four sensors that send sounds and identify objects in
radius of 3m. That is done by sending low frequencies that return back to the
sensor if they hit an object. They are placed on a rotary disc.
3. Dead reckoning: These sensors to indicate the position of the robot in the
field. They are very important for orientation of the robot in the field. If the
robot fails to recognize its position on the field then any strategy that it follows
is useless and has to use the system to reestablish its position on the field.
4. Compass: A compass inside the robot that can identify the north and give a
basic orientation to the robot. This data compared with data received from
other sensors can effectively orientate the robot in the field.
3(13)
Group no.
Course CD5360, Software Engineering
Date
1
3/6/2016
5. 2 Camera disk: Two cameras are placed in a rotating disc and help the robot
see the environment around it. The tasks of the cameras are to find the ball, the
goal and the lines of the field.
6. 4 Camera disk: Four cameras are placed in a rotating disc and are constantly
looking for the lines of the field so that the robot can be helped to find its
position according to these readings.
It should be mentioned here that in the first version of the document, the sensors
provided were a little bit different, meaning that there were Line sensors in the bottom
of the robot while the implementation of the 4 Camera disc was not certain. Probably
line sensors will be included in future development of the robot. A brief description of
their functionality follows.
Line Sensors: These are lens sensors put in the bottom part on the robot and
they send a ray to the field. The ray is absorbed if it hits on the field but it
returns back when it hits the white line. In this way the robot can identify if it
is in the area of the field or not.
The group should deliver software that includes collecting data and provide correct
results from the sensors and take control of the robot in case it can’t orientate in the
field. The rest of the four groups depend in various ways in this project. Goalkeeper
and attacker strategy groups should get valid data from the robot so that the robots
react properly and the command center group needs correct information to have a clear
view of what is happening during the match. Finally, Sensor Fusion group is heavily
depending on Robolab for deliverables concerning robots software and hardware.
The main activities of the project are to provide a satisfying project plan, specify
requirements, design the software, implement and deliver it. Those main activities are
also the major milestones of the project. Therefore these are requirements
specification, design specification, implementation, test delivery, prototype and final
product delivery.
No. of requirements at project start:
2.
2.1
Organization
Project Manager
Vasilis Odontidis
2.2
Project Group
9
4(13)
Group no.
Course CD5360, Software Engineering
Date
Name
Vasilis Odontidis
Thomas Sörensen
Jesper Söderlund
Sreedhar Danturthi
Ricky Stanley
D’Cruze
Quang Tien Le
Jesper Simos
2.3
2.4
Period
2007-04-01 – 2007-06-01
2007-04-01 – 2007-06-01
2007-04-01 – 2007-06-01
2007-04-01 – 2007-06-01
2007-04-01 – 2007-06-01
Availability
50%
50%
50%
50%
50%
2007-04-01 – 2007-06-01
2007-04-01 – 2007-06-01
50%
50%
Areas of responsibility
Responsibility
Name
Project Management
Interface
SVN
VO
Web Page
Knowing Kalman Filter
Project Description
Requirements Document
Design Description
Complete Design
Design Data Handler
Design Kalman Filter
Design Worldview
Design Interface
Complete Implementation
Implementation Data Handler
Implementation Kalman Filter
Implementation Worldview
Implementation Interface
Complete Testing
Testing Kalman Filter
Testing Data Handler
Testing Worldview
Testing Interface
RD
Steering Group
Frank Lüders
Aneta Vulgarakis
Farhang Nemati
1
3/6/2016
QL, VO
JSD
VO, SD
VO, TS, JSD
SD, JSD
VO, QL , JS
VO
TS,JSD
VO,SD,JS
QL,RD
QL,RD
VO
TS,JSD
VO,SD,JS
QL,RD
QL,RD
TS
QL,RD,TS
VO,SD
JS,JSD
JS,JSD
5(13)
Group no.
Course CD5360, Software Engineering
Date
2.5
1
3/6/2016
Customer
Lars Asplund
2.6
3.
3.1
3.2
3.3
3.4
4.
Others
-
Command Center
-
Strategy Goalie Group
-
Strategy Attacker Group
Assumptions and Constraints
Technological
-
The software will be developed with the Ada programming language.
-
The position will be calculated with the Kalman filter technology.
-
SVN server should be available 24 hours 7 days per week.
-
We will try to distribute equal amount of work to all group members.
-
The project should be finished by 2007-06-01. It is important that the project not
going to be late as other projects is dependent on this project.
Environmental
Work distribution
Time
Deliverables.
To
Output
Sensor Fusion Interface
Planned
week
15
Promised
week
16
Late
+
+1
Delivered
week
16
Other
Groups
Steering
group
Steering
group
Steering
group
Steering
group
Customer
Requirement Specification
16
17
+1
17
Design Specification
18
19
+4
22
Code
21
22
+1
22
Test Delivery
21
22
+1
22
Final Product
22
22
0
22
Rem
6(13)
Group no.
Course CD5360, Software Engineering
Date
5.
Inputs
From
Required item
Lars Asplund
Project proposal
SVN server configuration
Presentation of the task.
Frank Lüders
RoboLab
Students
RoboLab
Students
RoboLab
Students
Comment:
6.
6.1
1
3/6/2016
Semi – functional robot (Dead
Reckoning, 2 Camera Disc, Ultrasonic,
Compass)
4 Camera disc
Required
week
12
13
14
Promised
week
12
13
14
Late
+
0
0
0
Received
week
12
13
14
19
20
+1
20
21
21
+1
Not
received
Rem
Required week = week when it is required by the project; Promised week indicates when the From
expects to deliver; Late + indicates a discrepancy between Required week and Promised week;
Received week is week when it was actually received; Rem is a remark index number.
Communication
Within the group
We will communicate by email and have at least one meeting per week.
The files will be committed to SVN repository regularly so everyone can access all the
files with the latest version.
6.2
With Steering group
A weekly meeting is scheduled every Monday. One of the group members will have a
presentation of the status and planned activities of the project.
6.3
With Customer
Project manager is responsible for booking meetings with customer when it is
necessary.
7.
Reporting Worked Hours
Each project member shall report worked hours. That is going to be done by sending the report at Monday before
8 o clock and then a summary is going to be made.
8.
Quality Assurance
We will breakdown the project into smaller parts. Each part will be tested separately.
The programmer that writes the code will not be responsible for doing the tests. We
will let another person be responsible for that and also reading the code and checking
for errors. The way we plan this minimizes the risk of not finding errors in the code.
7(13)
Course CD5360, Software Engineering
Group no.
Date
9.
9.1
1
3/6/2016
Configuration Management
Reference Documents
Link to the subversionbook.
http://svnbook.red-bean.com/nightly/en/svn-book.html
9.2
Responsibility
Jesper Söderlund has the overall responsibility for the SCM.
The SCM group members are:
Tasks of the SCM group:
9.3

Creation and management of the project's software baseline library
Responsible: Jesper Söderlund

Management of the access to the software baseline library
Responsible: Jesper Söderlund

Updates of the software baselines
Responsible: Jesper Söderlund

Creation of products from the software baseline library
Responsible: Jesper Söderlund

Collection of SCM measurements

Freezing of software baselines
Responsible: Jesper Söderlund
Resources
Planned resources for SCM activities: 1 man-weeks.
Additional resources: All members will use the SCM system and that time is included
in the planned resources.
9.4
Components, Tools and Products Used in the Project
The following SCM tools are used in the project:

SVN 1.4.3
The following development platforms are used in the project:

Windows XP
The following tools are used in the project:

StarUML
8(13)
Group no.
Course CD5360, Software Engineering
Date
9.5

GanttProject 2.0.4

Microsoft Office

GNAT Programming Studio 3.1.3
1
3/6/2016
SCM Structures
The following intermediate and final software baselines will be created:
-
Version 1.0
-
Version 2.0
-
Final Version
-
One baseline will be made each week.
The following intermediate and final software products/components will be
created:
-
Version 1.0
-
Version 2.0
-
Final Version
The project documentation is saved in the following structures:
Trunk
source
release
www
Presentations
doc
Final Documents
test
Misc
design
Week Reports
9(13)
Group no.
Course CD5360, Software Engineering
Date
1
3/6/2016
10. Project Plan
10.1
Id
1
2
3
3
4
5
6
Time Schedule
Milestone
Description
Responsible
Dept./Initials
Plan
Project Description
Requirement
Prototype
Design Description
Implementation
Testing
Final Product
VO
JSD
TS
QL
JS
SD
RD
15
16
17
18
21
22
22
Comment:
Finished week
Forecast
Week +/16
+1
17
+1
18
+1
22
+4
22
+1
22
0
22
0
Metr
Rem
Actual
16
17
18
22
22
22
22
+1
+1
+1
+4
+1
+1
+1
Finished week: Plan = original plan; Actual = week when it was actually available; Forecast Week
indicates the estimated finished week; Forecast +/- indicates changes in the estimation compared
to the previous project report; Metr is the difference between Plan and Actual, that is if Plan is
w604 and Actual is w606, then Metr will be -2. To be filled in when the milestone is reported as
completed; Rem is a remark index number.
10(13)
Course CD5360, Software Engineering
Group no.
Date
10.2
Activity Plan
1
3/6/2016
11(13)
Course CD5360, Software Engineering
Group no.
Date
10.3
Resource Plan
1
3/6/2016
12(13)
Group no.
Course CD5360, Software Engineering
Date
10.4
1
3/6/2016
Project risks
Risk
Potential Effect
Preventive / Corrective Action
Insufficient communication with
customer
Insufficient communication with
steering group
Delivered product not accepted by
customer
Project runs inefficiently
Insufficient internal
communication
Delay in deliverables
A project member is sick
Some tasks are not done in time
A project member leaves the
project
Project scope must be decreased /
some tasks need to be re-distributed
to members
Have enough meetings so that the
customer is satisfied
Have enough meetings so that both
sides are satisfied with the
communication
A lot of meetings. We will work as a
democratic team and try to keep
everyone satisfied. Talk about
problems and find solutions.
Replacements- more work. Tasks are
not depending on one person
Replacements- more work. Tasks are
not depending on one person
A project member has insufficient
skills for the task
Problems with tools and
technology
10.5
Some tasks are not done in time
Replacements- more work. Tasks are
not depending on one person
Consult steering group for a solution
Financial Plan
Planned cost (100%) = SEK 700,000
Planned effort = 10 * 7 * 50% mw = 35 mw.
1 man-week(mw) = 20,000 Sek.
Activity
Collect Knowledge
Project management
Requirement
management
Configuration
management
Design
Implementation
Testing
QA
TOTALS:
Volume
(mw)
3.35
5.45
1
Cost
Comments
67,000 kr
109,000 kr
20,000 kr
ADA and Kalman filter
0,5
10,000 kr
4.9
6.5
9.1
4.2
35
98,000 kr
130,000 kr
182,000 kr
84,000 kr
700,000 kr
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Group no.
Course CD5360, Software Engineering
Date
REVISION
Rev. Page (P)
ind. Chapt.(C)
V0.1
9
V1.0
13
V1.5
13
V 2.0
13
V 2.1
13
V 2.2
13
V 3.0
13
Description
Initial Version
Filled in missning parts with data.
Filled in Section 9.1, 9.5
Updated 2.6 ,4 , 10.1
Uppdated the Milestones
Uppdated the Milestones
General Paper Update and Finalization
1
3/6/2016
Date
Initials
03/20/2007
04/09/2007
04/15/2007
04/16/2007
04/23/2007
05/02/2007
06/01/2007