Department of Computer Science and Engineering The University of Texas at Arlington. Team: PAINTeK. Project: Sentinel

Transcription

1 Department of Computer Science and Engineering The University of Texas at Arlington Team: PAINTeK Project: Team Members: Ryan Bell Eric Cleveland Sean Pierce Robert Wunderlich Last Updated: June 14, 2012 at 12:47 PM

2 Table of Contents Table of Contents... ii Document Revision History... vi List of Figures... vii List of Tables... viii 1. Product Concept Purpose and Use Intended Audience Product Description and Functional Overview Features and Functions External Inputs and Outputs Product Interfaces Customer Requirements Automated Aiming Automated Firing Target Tracking Standby Mode Test Mode Battle Mode Remote Mode Base Station Base Station GUI Initialization Base Station GUI Shutdown Base Station Mode Selection Base Station Durability Station Portability Remote Wireless Video Output... 8 June 14, 2012 ii PAINTeK

3 3.15 Remote Wireless GUI Mode Selection Remote Wireless GUI Control Remote Wireless GUI Shut Down Packaging Requirements Fully Assembled Preloaded Software Easily Accessible on a Mobile Device Base Station Logo Mobile User Interface Logo Professional Looking System Performance Requirements Quick Response Outdoor Friendly Range Field of View Battery Life Must Change modes quickly Safety Requirements Physical Shutoff Switch Remote Emergency Shutoff Non-Lethal No Exposed Wiring Clearly Display Mode Warning Label Instructions to Switch Modes Users Must be Age 16 or Older Timed Shutoff June 14, 2012 iii PAINTeK

4 6.10 No Sharp or Protruding Edges Maintenance and Support Requirements Code Documentation Software Field Maintenance Hardware Field Maintenance Other Requirements DC Power Surrender Accuracy feedback Turret Stability Documentation in English Acceptance Criteria Field of view will be at least 20 on the vertical axis and 90 on the horizontal axis Field of view will be 4 meters to 15 meters Distinguish target from background noise Targets must be focused upon in under 0.5 sec Use Cases Turret is in Standby mode Turret is in Test mode Turret is in Battle Mode Turret is in Remote Mode Feasibility Assessment Scope Analysis Research Technical Analysis Cost Analysis Resource Analysis June 14, 2012 iv PAINTeK

5 11.6 Schedule Analysis Future Items Other Requirement 8.2 Surrender Other Requirement 8.3 Active feedback June 14, 2012 v PAINTeK

6 Document Revision History Revision Number Revision Date Description Rationale 0.1 3/14/2012 First Compiled Draft Compile all sub-sections 0.2 3/18/2012 Rough Draft Use Cases and Feasibility section revision and document formatting 0.3 4/1/2012 Second Draft Revised requirements and document based on feedback from professor and TA. Prepared for review by AudioTek /7/2012 SRS Gate Review Revised Use Cases and entire document based on feedback from team AudioTek. Final revision before Gate Review /18/2012 SRS Baseline Revised based on Gate Review feedback, added battery and stability requirement and updated feasibility /11/2012 SRS Baseline Revision Corrected Customer Requirement formatting June 14, 2012 vi PAINTeK

7 List of Figures Figure 1-1: Product Concept... 1 Figure 2-1: Interface Mockup... 4 Figure 2-2: Mobile Interface Mockup... 4 Figure 9-1: Standby Mode Figure 9-2: Test Mode Figure 9-3: Battle Mode Figure 9-4: Remote Mode June 14, 2012 vii PAINTeK

8 List of Tables Table 2-1: Inputs... 3 Table 2-2: Outputs... 3 Table 11-1: Cost Analysis Table 11-2: Function Point Analysis June 14, 2012 viii PAINTeK

9 1. Product Concept This section will describe the intended purpose and user audience of the PAINTeK Turret. 1.1 Purpose and Use The purpose of this product is to be an autonomous paintball turret. The turret will consist of a base station to which the sensors and other devices needed to operate the system will be attached. will track targets in its field of view and fire upon them. This turret will be able to do this with little to no input from the operator. The intent is that this product is for use on paintball courses with paintball players. The turret will be placed on the course and will act as a hazard to either all participants on the field or to one team specifically. The product will also have controls to start and stop on the turret and via a mobile application as well. 1.2 Intended Audience The intended customers of this product will be paintball course managers or paintball players who are at least 16 years old. Figure 1-1: Product Concept

10 2. Product Description and Functional Overview This section is intended to provide a general, non-technical overview of the product. 2.1 Features and Functions can be deployed in a location to autonomously track, target, and engage targets with non-lethal paintballs. The system will contain sensors, motors, and the necessary elements of a paintball gun to be able to engage targets. Camera and sensory input will be utilized to identify potential targets. will include the following modes: Standby (off), Test, Battle, and Remote. While in standby, the system will not respond to input. In Test mode, the system will process input and identify targets and aim the gun, but will not fire paintballs. In Battle mode, the system will process input, identify targets, and fire paintballs at the targets. Remote mode will allow the user to manually aim and fire the gun. The system will remain stationary once it is deployed. The system will track a range of 90 degrees and will contain markings to show which direction is at the center of its field of view. will operate at a range of 4-15 meters and will quickly identify and target humans so that they can be engaged effectively. will not include an actual mobile device. The system will output a user interface that can be controlled by any device with an internet connection. June 14, PAINTeK

11 2.2 External Inputs and Outputs The tables below represent the system inputs and outputs as defined by PAINTeK: Name Description Use Power Switch Physical switch on the turret Will toggle the system on/off. Camera(s) Range Finder(s) User Interface Live video feed(s) received from one or more cameras A steady feed of the range of the closest object in the direction that the gun is facing System will have a user interface that is wirelessly accessible by devices within range. Raw data that will be processed to determine if there are any targets to track/engage. Information will be used to accurately target the object to determine if it is too close. Allows the user to change the system mode between Standby, Test, Battle, and Remote. Table 2-1: Inputs Name Description Use Aim Gun Laser Pointer Fire Gun User Interface Motors used to position the gun, range finder(s), laser pointer Laser target identifying where gun is aimed Non-lethal paintballs will be fired from the gun Interface will contain visual feedback that shows the turret s field of view and what it is targeting. Will also allow the user to manipulate the turret. Gun, range finder(s), and laser pointer will be positioned to aim at an object determined to be a target Used to paint an object that is identified to be a target Paintballs to be fired when an object is identified to be a target, the gun has aimed at the target, and is not too close User can view the turret s status and change the mode. Table 2-2: Outputs June 14, PAINTeK

12 2.3 Product Interfaces The ability to interface will be extremely limited because the system is intended to operate autonomously. Once is deployed, its field of view and targeting can be viewed remotely and the mode can be switched via a web interface. The turret itself will have a physical switch to power it on/off. A mockup of the user interface has been provided below: Figure 2-1: Interface Mockup Figure 2-2: Mobile Interface Mockup June 14, PAINTeK

13 3. Customer Requirements The following are the customer requirements as given by a potential consumer of the paintball turret. These are what the consumer should expect the product to do and not to do. These requirements are associated with specific requirements that the customer wants in order to be satisfied with the product. 3.1 Automated Aiming Description: The system shall automate the aiming of a paintball gun Source: Bryan Fretwell Constraints: None Standards: None Priority: 1 - Critical 3.2 Automated Firing Description: The system shall automate the firing of a paintball gun Source: Bryan Fretwell Constraints: None Standards: None Priority: 1 - Critical 3.3 Target Tracking Description: The system shall use sensors in conjunction with image processing techniques to identity and track targets Source: Bryan Fretwell Constraints: None Standards: None June 14, PAINTeK

14 3.3.5 Priority: 1 - Critical 3.4 Standby Mode Description: The system shall have a standby mode where the turret is idle and takes no actions Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.5 Test Mode Description: The system shall have a track mode where the turret gun moves to point at targets but does not fire Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.6 Battle Mode Description: The system shall have a battle mode where the turret gun moves to point at targets and fires Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.7 Remote Mode Description: The system shall have a manual mode where a user on the mobile application can control the movement and firing of the turret. June 14, PAINTeK

15 3.7.2 Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.8 Base Station Description: The system shall have a base station to which all components, motors, gun, computational unit, and sensors will be attached Source: Bryan Fretwell Constraints: The base station should be able to support up to 15 lbs. of weight Standards: None Priority: 2 - High 3.9 Base Station GUI Initialization Description: The base station shall have a GUI that can turn on and initialize the turret Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.10 Base Station GUI Shutdown Description: The base station shall have a GUI that can shut down the turret Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.11 Base Station Mode Selection June 14, PAINTeK

16 Description: The base station shall have a GUI that can let the user change to mode of the system to Standby, Test, Battle, or Remote Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.12 Base Station Durability Description: The system shall be able to withstand a paintball shot from a distance of 2 or more meters Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.13 Station Portability Description: The system shall be at most 15 lbs. and compact enough to enable two people to easily move it Source: Bryan Fretwell Constraints: None Standards: None Priority: 2 - High 3.14 Remote Wireless Video Output Description: The system shall have a remote GUI that is able to be able to display visual input received from the base Source: Bryan Fretwell Constraints: The physical distance that the mobile device can be from the turret will vary depending on the wireless router used. June 14, PAINTeK

17 Standards: IEEE Priority: 2 - High 3.15 Remote Wireless GUI Mode Selection Description: The system shall have a remote GUI that is able to change the mode of the turret to Standby, Test, Battle, or Remote Source: Bryan Fretwell Constraints: The physical distance that the mobile device can be from the turret will vary depending on the wireless router used Standards: IEEE Priority: 2 - High 3.16 Remote Wireless GUI Control Description: The system shall have a remote GUI that is able to, when in manual mode, be able to manually control the aiming of the gun as well as the firing Source: Bryan Fretwell Constraints: The physical distance that the mobile device can be from the turret will vary depending on the wireless router used Standards: IEEE Priority: 2 - High 3.17 Remote Wireless GUI Shut Down Description: The system shall have a remote GUI that is able to shut down the system Source: Bryan Fretwell Constraints: The physical distance that the mobile device can be from the turret will vary depending on the wireless router used Standards: IEEE Priority: 2 - High June 14, PAINTeK

18 4. Packaging Requirements This section defines how will be delivered to the end user. 4.1 Fully Assembled Description: Turret shall be delivered fully assembled with no assembly required by the user Source: PAINTeK Constraints: None Standards: None Priority: 3 - Moderate 4.2 Preloaded Software Description: The Targeting and Firing software shall be loaded on the system prior to delivery to the end user. The end user will not be required to perform any software installation on the embedded system Source: PAINTeK Constraints: None Standards: None Priority: 2 - High 4.3 Easily Accessible on a Mobile Device Description: The Mobile application shall be easily installable on any mobile device with networking capabilities Source: PAINTeK Constraints: None June 14, PAINTeK

19 4.3.4 Standards: None Priority: 4 - Low 4.4 Base Station Logo Description: The Turret shall have the team logo located on it Source: PAINTeK Constraints: None Standards: None Priority: 3 - Moderate 4.5 Mobile User Interface Logo Description: The mobile user interface shall display the Team Logo Source: PAINTeK Constraints: None Standards: None Priority: 3 - Moderate 4.6 Professional Looking System Description: The turret shall look professional which includes but is not limited to: No exposed wires No exposed electrical components Must look clean in its appearance Source: PAINTeK Constraints: None Standards: None Priority: 2 - High June 14, PAINTeK

20 5. Performance Requirements This section lists the performance requirements for the turret that are needed to satisfy customer needs. These performance requirements focus on the placement, range, system response speed and processing methods. 5.1 Quick Response Description: The system shall be able to process and aim the gun on a target within 0.5 seconds from when it enters the field of view Source: PAINTeK Constraints: Arm Torque, image processing speed Standards: None Priority: 3 - Moderate 5.2 Outdoor Friendly Description: The system will function outside in natural sunlight and with the outdoor elements Source: PAINTeK Constraints: The cameras must be able to process in natural light and minimal damage due to dirt and wind. The system will not be expected to operate in the dark or in the rain Standards: None Priority: 3 - Moderate 5.3 Range Description: The turret will be able to identify if a target is too close to fire upon Source: PAINTeK Constraints: The minimum distance will be defined in the range of 4-5 meters. June 14, PAINTeK

21 5.3.4 Standards: None Priority: 1 - Critical 5.4 Field of View Description: horizontal and 2 vertical field of view Source: PAINTeK Constraints: None Standards: None Priority: 2 - High 5.5 Battery Life Description: The system will run on a battery that will last at least 30 minutes on a charge Source: PAINTeK Constraints: Size and capacity of batteries. The voltage of the batteries and the amp/hours Standards: None Priority: 2 High 5.6 Must Change modes quickly Description: System shall change from any to mode to another in under.5 seconds Source: PAINTeK Constraints: None Standards: None Priority: 3 - Moderate June 14, PAINTeK

22 6. Safety Requirements This section defines the requirements to be implemented to protect the safety of users and targets of the. 6.1 Physical Shutoff Switch Description: The system will contain a physical switch that will cause it to cease fire and power off Source: PAINTeK Constraints: None Standards: None Priority: 1 - Critical 6.2 Remote Emergency Shutoff Description: The system will contain a button in the remote access tool that will cause it to cease fire and return to standby mode Source: PAINTeK Constraints: Web access must be established with the turret Standards: None Priority: 1 - Critical 6.3 Non-Lethal Description: x v f when engaging a target to prevent injury Source: PAINTeK Constraints: The force at which a paintball is fired is pre-determined by the gun manufacturers. Team PAINTeK does not intend to modify any components that would June 14, PAINTeK

23 alter the force at which a paintball is to be fired, however the system will be tested to ensure that it is within acceptable standards Standards: ATSM F Standard Specification for Paintball Markers, ASTM F Standard Specification for Paintballs Used in the Sport of Paintball Priority: 1 - Critical 6.4 No Exposed Wiring Description: All wiring and electronic components will be contained and insulated to prevent shock to users and/or targets Source: PAINTeK Constraints: None Standards: None Priority: 2 - High 6.5 Clearly Display Mode Description: The system will contain an LED that will illuminate when it is in Battle or Remote Mode. The LED should be positioned so that it can be seen from anywhere f d f v Source: PAINTeK Constraints: None Standards: None Priority: 2 - High 6.6 Warning Label Description: The system will contain a label identifying that it will automatically target and fire projectiles at objects determined to be humans. Warning label will clearly define f d f v Source: PAINTeK Constraints: None June 14, PAINTeK

24 6.6.4 Standards: ASTM F Standard Specification for Warnings on Paintball Marker Accessories Used in the Sport of Paintball Priority: 4 - Low 6.7 Instructions to Switch Modes Description: The instructions that are included with the turret will describe how to safely use the turret and how to switch modes in the event of an emergency Source: PAINTeK Constraints: None Standards: None Priority: 4 - Low 6.8 Users Must be Age 16 or Older Description: System shall not be used in proximity of individuals under the age of 16 unless there is adult supervision Source: PAINTeK Constraints: Team PAINTeK should not be expected to enforce this requirement. We can attempt to do so by only authorizing sale of this system to someone defined to be an adult Standards: None Priority: 3 - Moderate 6.9 Timed Shutoff Description: The system will require that the user define an amount of time when entering Battle mode. When the set amount of time has passed, the turret will return to Standby mode Source: PAINTeK Constraints: None Standards: None Priority: 2 - High June 14, PAINTeK

25 6.10 No Sharp or Protruding Edges Description: The system will not contain any sharp edges that could injure the user or a target Source: PAINTeK Constraints: None Standards: None Priority: 3 - Moderate June 14, PAINTeK

26 7. Maintenance and Support Requirements This section covers the items specific to the maintenance and support of the System. These are important to maintain the quality of a system after the product release. 7.1 Code Documentation Description: The system code will contain sufficient documentation so as to be readable and understandable by users with programming background Source: PAINTeK Constraints: None Standards: None Priority: 2 - High 7.2 Software Field Maintenance Description: The system will provide debugging information on the turret GUI to diagnose software problems Source: PAINTeK Constraints: None Standards: None Priority: 4 - Low 7.3 Hardware Field Maintenance Description: Mechanical components of the system should be easily accessible and replaceable to allow for hardware field maintenance Source: PAINTeK Constraints: None Standards: None June 14, PAINTeK

27 7.3.5 Priority: 3 - Medium June 14, PAINTeK

28 8. Other Requirements This section includes requirements that were not identified as customer, packaging, performance, safety, or maintenance requirements. 8.1 DC Power Description: The system shall operate using direct current (DC) power to ensure safety and to enable mobility using batteries Source: PAINTeK Constraints: Power requirements will vary based on the types of motors/sensors used Standards: Standards will vary based on the power needed to control motors/sensors Priority: 2 - High 8.2 Surrender Description: The system shall recognize a surrender gesture such as a white flag and will cease fire Source: PAINTeK Constraints: None Standards: None Priority: 5 - Future 8.3 Accuracy feedback Description: The system will recognize when a target has been hit Source: PAINTeK Constraints: None Standards: None June 14, PAINTeK

29 8.3.5 Priority: 5 - Future 8.4 Turret Stability Description: The base station will ensure that the turret does not tilt or rotate when the gun is moved or under moderate wind conditions (15-20 mph) Source: PAINTeK Constraints: Weight of the station versus the torque of the gun Standards: None Priority: 2 - High 8.5 Documentation in English Description: All documentation for project will be written in English Source: PAINTeK Constraints: None Standards: Merriam-W E D Priority: 2 High June 14, PAINTeK

30 9. Acceptance Criteria The acceptance criteria listed below will identify whether or not the project has been successfully completed. 9.1 Field of view will be at least 20 on the vertical axis and 90 on the horizontal axis Requirement(s) addressed: Requirement 3.1 Field of Fire: the product must be able to track the target within its field of view Verification Procedure: While the product is in Test Mode have a test target move f d f view. The turret will track the target. 9.2 Field of view will be 4 meters to 15 meters Requirement(s) addressed: Requirement 3.1 Firing Range: the product must be able to fire upon a target entering the field of view Verification Procedure: While the product is in Testing Mode have a test target move field of view. GUI d d. 9.3 Distinguish target from background noise Requirement(s) addressed: Requirement 3.1 Distinguish target from background noise: the product must be able to identify target from background Verification Procedure: While the product is in Testing Mode have a test target move acros f d f view. GUI d. 9.4 Targets must be focused upon in under 0.5 sec Requirement(s) addressed: Requirement 5.1 Targets must be focused upon in under 0.5 sec: the product must be able to point the paintball gun at the target after the target has been identified Verification Procedure: While the product is in Testing Mode have a test target move f d f view. GUI d d direct the paintball at the target. June 14, PAINTeK

31 10. Use Cases Use cases illustrate how users and Project will interact. These will also show how systems are d d p f d. UCBW d f d UCEW d f d Turret is in Standby mode Scenario: In Standby mode, the turret will not track or fire upon any targets. The User will have the option to switch to Test, Battle, or Remote mode using the user interface. Any Targets will be ignored Actor(s): User TUCBW: U S d f interface TUCEW: The User switches the system off or chooses another mode in the user interface. Figure 10-1: Standby Mode June 14, PAINTeK

32 10.2 Turret is in Test mode Scenario: In Test mode, the turret will track any potential targets but will not fire upon them. The User will have the option to switch to Standby, Battle, or Remote mode in the user interface Actor(s): User and Target TUCBW: The User chooses Test mode from the user interface TUCEW: The User chooses another mode from the user interface or switches the turret off. Figure 10-2: Test Mode June 14, PAINTeK

33 10.3 Turret is in Battle Mode Scenario: In Battle mode, the turret will track and fire upon any potential targets. When entering Battle mode, the User will be required to set an amount of time that the turret will remain in Battle mode. The turret will return to Standby mode when the timer expires, or the User can choose another mode from the user interface before the timer expires Actor(s): User and Target TUCBW: The User chooses Battle mode from the user interface TUCEW: The timer expires, the User chooses another mode from the user interface, or switches the turret off, whichever occurs first. Figure 10-3: Battle Mode June 14, PAINTeK

34 10.4 Turret is in Remote Mode Scenario: I R d, v d p d d U will be able to aim the gun, fire paintballs, or switch to another mode from the user interface Actor(s): User and Target TUCBW: The User chooses Remote mode from the user interface TUCEW: The User chooses another mode from the user interface or switches the turret off. Figure 10-4: Remote Mode June 14, PAINTeK

35 11. Feasibility Assessment Feasibility analysis, as used here, consists of an assessment of the following six components: scope analysis, research completed/remaining; technical analysis; cost analysis, resource analysis; and schedule analysis Scope Analysis When looking at the scope of work to be done for the project, it is clear that not all of the requirements may be met for the first prototype. Therefore all requirements are given a priority. Critical and High priority requirements must be completed for this prototype. Moderate and Low priority requirements have been planned on being implemented for this prototype, however the project will not fail if they are not implemented. Lastly, Future requirement will only be considered if there are ample resources to complete them after high priority requirements have been completed. When looking at just the critical and high priority requirements, it is clear that the project is feasible to do. All of the requirements of these priorities fall under three areas: Computer Vision, Robotics, and Mobile Applications. By designing the system in such a way that the requirements of the three areas have minimal dependencies on each other, it will enable the team to work in the requirements of the three areas concurrently. This will greatly aid the feasibility of the project Research The research done for this project falls into two groups. The team first reviewed previous projects to see what they accomplished to determine feasibility. Project Defender by Team and the Unmanned Fighting Object from Team UFO were examined. These projects have a lot of similar aspects to ours and looking at them indicates that this project should be close to them in feasibility. The second type of research that was done was into the specific areas that this project will cover, including machine vision, robotics, and wireless networking. This team has little experience in some of the areas so active research into them will greatly aid in the feasibility of this project. The primary research topic was computer vision. Finding a suitable technique to meet our requirements is crucial to the success and feasibility of this project. Research was done into stereoscopic vision, autofocusing technologies, and other range fining technologies. After doing this research and deciding on some techniques that are most likely to be used, the overall feasibility of this project increased significantly due to this area being one the most important. June 14, PAINTeK

36 Preliminary research into robotics confirms initial expectations that, due to the team having two computer engineers, this component is feasible. Of the two types of robotic motors researched, USB interfacing with feedback or five pin interfaces, the team is confident that it will be able to complete the robotics subsystem. Initial research into streaming video technologies shows that there are a small number of services available. Most of them are propriety and do not meet our needs. The primary concern is due to the streaming of live video. More research will need to be done to improve the feasibility of this component Technical Analysis There are four main components to the Turret: the computer vision, Artificial Intelligence, the robotic controller, and the mobile application. The computer vision component will be two cameras to make a stereoscopic vision system, which will transform the streams of data into a usable form for the other systems. The computer vision component incorporates change recognition through frame differencing, analyzing image thresholds, and rough human figure recognition. The artificial intelligence system will take input from the computer vision component and based on the t mode, the AI will generate commands for the robotic controller system. The main area of this system is decision making which will not be difficult based on the limited number of variables in the system. The robotic controller will take in commands from the artificial intelligence system and translate them into movements for the turret gun motors. Depending on the motors that are chosen, this system will use microcontrollers to control them or a direct interface to the computer. Two of the team members have experience with microcontroller programming. The robotics in this system will not be difficult to implement due to the nature of the project (two motors for left/right and up/down and one for firing). The mobile application system will receive a stream of video from the computer vision and will give commands to the artificial intelligence system. The mobile application system will use mobile programming and networking. There are two team members who are familiar with mobile programming that indicated the proposed requirements are feasible. More research is required to determine the feasibility of stream video to a mobile application Cost Analysis For this project the main materials are: the paintball gun, sensors, a computer, motors, and a base to mount it all on. A paintball gun that will meet our needs will cost on average $200. We estimate that the computer that we will use will cost around $200, although we suspect that one should be available to use for free from the senior design lab. A wireless router will cost around $40. The motors, of which three will be needed, cost from $25 - $50(we will need two of the more expensive ones for turning the gun and one of the cheaper ones for firing.). The sensors that we will be using are a camera and an acoustic rangefinder that will cost about $30 each. If a wooden base is used then the maximum that it June 14, PAINTeK

37 would cost is around $100. So the projected maximum cost is around $725. This puts us within our budget of $800, making this project financially feasible. Item Cost Paintball gun $200 Computer $200 Wireless Router $40 Motors $125 Sensors $60 Frame $ Resource Analysis Total $725 Table 11-1: Cost Analysis Our team is comprised of two Computer Science Engineers, one Computer Scientist, and one Software Engineer. The high priority tasks in this project are computer vision and robotics. While the computer vision aspect will be difficult, it is estimated that the robotic control will be relatively simple. Given k d p v p z f p j p d Schedule Analysis Using Function Point Analysis, the project breaks down into inputs, outputs, inquires, logical internal files, and external interface files of various difficulty levels. This project has the following attributes: Inputs: Outputs: Inquiries: On/Off: 3 Emergency Stop from app: 4 Mode Select buttons: 4 Video data from 2 cameras: 2 * 6 Commands to the motors: 3 * 7 Video to the mobile app: 7 None June 14, PAINTeK

38 Logical Internal Files: Map of current background: 10 X, Y, Z map of targets: 10 External Interface Files: Mobile app interface: 10 This gives us a function point count of 78. Then this is adjusted based on these factors: System will use distributed processing System must have real time performance System will require a lot of configuration System must be end user efficient System will use complex processing System must be easy to install System must be easy to operate System must be useable on multiple sites System will have data communications with another application This will give us a function multiplier of This together gives an adjusted function point total of Using Jon f d E f v d p j, p j has a range of months to 8.47 months. Original Function Point Count 78 Adjusted function Point Count 85.8 Jones's First-Order Estimation Exponents 0.45 (average systems project) 0.48 (worst case systems project) Project Estimation Months 8.47 Months Table 11-2: Function Point Analysis June 14, PAINTeK

39 Based on these estimations we believe that it is feasible to complete the project by the deadline of August June 14, PAINTeK

40 12. Future Items In this last section, we will reiterate all requirements that are listed as priority 5. This is repetitive, but necessary as a concise statement of features/functions that were considered/discussed and documented herein, but will NOT be addressed in the prototype version of the product due to constraints of budget, time, skills, technology, feasibility analysis, etc Other Requirement 8.2 Surrender Requirement Description: The system shall recognize a surrender gesture such as a white flag and will cease fire Constraint: Schedule: Additional video processing to complete this requirement will take too long for a 4 person team to complete within the time frame of this project Other Requirement 8.3 Active feedback Requirement Description: The system will recognize when a target has been hit Constraint: Schedule: Additional video processing to complete this requirement along with the key project components will exceed the amount of time given for this project. June 14, PAINTeK