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Capstone Project Requirements

Functional Requirements​

FR-001: Voice Command Processing​

Requirement: The system MUST accurately interpret voice commands and convert them into executable robot actions.

  • Priority: High
  • Acceptance Criteria:
    • Achieve >80% accuracy in command interpretation in quiet environments
    • Support at least 20 different command types
    • Respond to commands within 3 seconds of completion
    • Handle ambiguous commands with clarification requests

FR-002: Navigation System​

Requirement: The robot MUST navigate safely and accurately to specified locations.

  • Priority: High
  • Acceptance Criteria:
    • Navigate to destinations within 0.5m accuracy
    • Avoid static and dynamic obstacles
    • Plan paths in real-time with changing conditions
    • Operate in environments up to 100m²

FR-003: Manipulation Capabilities​

Requirement: The robot MUST manipulate objects as specified in voice commands.

  • Priority: High
  • Acceptance Criteria:
    • Successfully grasp objects with 80% success rate
    • Handle objects weighing up to 1kg
    • Place objects at specified locations with 5cm accuracy
    • Operate in unstructured environments

FR-004: Human-Robot Interaction​

Requirement: The system MUST provide natural and intuitive interaction with humans.

  • Priority: Medium
  • Acceptance Criteria:
    • Respond appropriately to social cues
    • Maintain appropriate social distance
    • Provide clear feedback during interactions
    • Handle multiple users in the environment

FR-005: System Integration​

Requirement: All subsystems MUST work together seamlessly.

  • Priority: High
  • Acceptance Criteria:
    • ROS 2 communication between all components
    • Coordinated execution of multi-step tasks
    • Proper error handling and recovery
    • Real-time performance requirements met

Non-Functional Requirements​

NFR-001: Performance​

Requirement: The system MUST meet specified performance benchmarks.

  • Response Time: System responds to commands within 3 seconds
  • Throughput: Process up to 10 commands per minute
  • Concurrent Users: Support interaction with up to 3 simultaneous users
  • Task Completion: Complete simple tasks within 2 minutes

NFR-002: Reliability​

Requirement: The system MUST operate reliably with minimal failures.

  • Uptime: 95% operational time during testing
  • Mean Time Between Failures: At least 2 hours
  • Recovery Time: System recovers from failures within 30 seconds
  • Error Rate: Less than 5% command misinterpretation rate

NFR-003: Safety​

Requirement: The system MUST operate safely in human environments.

  • Collision Avoidance: Never collide with humans or fragile objects
  • Force Limiting: Apply no more than 50N of force during interactions
  • Emergency Stop: Respond to emergency stop commands immediately
  • Safe States: Return to safe configuration upon error detection

NFR-004: Usability​

Requirement: The system MUST be intuitive for users to interact with.

  • Learning Time: Users can operate system after 10-minute tutorial
  • Task Success Rate: 80% of user tasks completed successfully
  • User Satisfaction: Average rating of 4/5 stars from users
  • Error Recovery: System handles user errors gracefully

NFR-005: Scalability​

Requirement: The system architecture MUST support future enhancements.

  • Modular Design: Components can be updated independently
  • Extensibility: New commands can be added without core changes
  • Hardware Independence: Software can run on different robot platforms
  • Performance Scaling: System performance degrades gracefully with load

System Requirements​

Hardware Requirements​

  • Robot Platform: Humanoid robot with 2 arms, mobile base, and head
  • Sensors: RGB-D camera, IMU, force/torque sensors, microphones
  • Computing: Onboard computer with NVIDIA GPU (minimum RTX 2070)
  • Actuators: Joint motors with position and torque control
  • Communication: WiFi and Ethernet connectivity

Software Requirements​

  • Operating System: Ubuntu 22.04 LTS
  • Middleware: ROS 2 Humble Hawksbill
  • Simulation: Gazebo Garden or NVIDIA Isaac Sim
  • AI Frameworks: TensorFlow/PyTorch for VLA models
  • Speech Recognition: Speech recognition engine (e.g., Vosk, Google Speech API)

Network Requirements​

  • Bandwidth: Minimum 10 Mbps for video streaming
  • Latency: Less than 100ms for real-time control
  • Reliability: 99% packet delivery rate
  • Security: Encrypted communication for sensitive data

Interface Requirements​

User Interface​

  • Voice Interface: Natural language command input
  • Visual Interface: LED indicators and screen feedback
  • Gesture Interface: Recognition of simple hand gestures
  • Mobile Interface: Optional app for advanced control

System Interfaces​

  • ROS 2 Topics: Standard message types for communication
  • ROS 2 Services: Synchronous request-response operations
  • ROS 2 Actions: Long-running task interfaces
  • External APIs: Integration with cloud services if needed

Environmental Requirements​

Operating Environment​

  • Temperature: 15°C to 30°C
  • Humidity: 20% to 80% non-condensing
  • Lighting: Normal indoor lighting conditions
  • Space: Minimum 3m x 3m operational area

Safety Environment​

  • Obstacles: Handle static and moving obstacles up to 10kg
  • Humans: Operate safely around adults and children
  • Fragile Objects: Avoid damage to furniture and equipment
  • Emergency Situations: Detect and respond to emergency conditions

Quality Assurance Requirements​

Testing Requirements​

  • Unit Testing: 80% code coverage for critical components
  • Integration Testing: All subsystem interactions tested
  • System Testing: End-to-end functionality validation
  • User Testing: Evaluation with target user group

Validation Requirements​

  • Simulation Testing: All behaviors validated in simulation first
  • Real-World Testing: Performance validated in real environments
  • Safety Testing: Comprehensive safety validation required
  • Performance Testing: Benchmark performance validation

Milestone Requirements​

Milestone 1: Basic Voice Command Recognition​

  • System can recognize and respond to 5 basic voice commands
  • Simple navigation to fixed locations
  • Basic safety behaviors implemented
  • Simulation validation completed

Milestone 2: Object Manipulation​

  • Robot can grasp and move simple objects
  • Navigation with obstacle avoidance
  • Voice command processing improved
  • Multi-step task execution

Milestone 3: Advanced Interaction​

  • Complex voice command processing
  • Social interaction behaviors
  • Improved manipulation capabilities
  • Integration of all subsystems

Milestone 4: Capstone Demonstration​

  • Full system integration
  • Comprehensive task execution
  • Safety and reliability validation
  • Final demonstration and evaluation

Constraints​

Technical Constraints​

  • Real-time Requirements: Control loops at 50Hz minimum
  • Memory Usage: System memory usage under 80% during operation
  • Power Consumption: Battery life of at least 1 hour of operation
  • Development Time: Project completion within 6 weeks

Business Constraints​

  • Budget: Total project cost under specified budget
  • Team Size: Development by 1-3 team members
  • Documentation: Complete documentation required
  • Maintainability: Code maintainable by future developers

Regulatory Constraints​

  • Safety Standards: Compliance with robotic safety standards
  • Privacy: Protection of user privacy and data
  • Accessibility: Compliance with accessibility guidelines
  • Export Control: Compliance with technology export regulations

Success Criteria​

Primary Success Criteria​

  • Demonstrate complete system functionality
  • Achieve minimum performance benchmarks
  • Pass safety validation tests
  • Receive positive user feedback

Secondary Success Criteria​

  • Demonstrate extensibility for future development
  • Show potential for real-world deployment
  • Document lessons learned for future projects
  • Create reusable components for other applications

These requirements provide a comprehensive framework for developing the autonomous humanoid robot capstone project, ensuring all aspects of functionality, performance, and safety are properly addressed.