Project Plan - Linköping University · MD Reflections on how the project was executed. Examiner....
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Project Plan Editor: Martin Drangel Version 1.0 Status Reviewed Martin Drangel 2018-09-27 Approved Fredrik Ljungberg 2018-09-27 TSRT10 - Control System Project Course Project Plan ROV [email protected]
Transcript of Project Plan - Linköping University · MD Reflections on how the project was executed. Examiner....
Project PlanEditor: Martin Drangel
Version 1.0
StatusReviewed Martin Drangel 2018-09-27Approved Fredrik Ljungberg 2018-09-27
TSRT10 - Control System Project CourseProject Plan
Project Identity2018/HT, ROV
Linköping University, Department of Electrical Engineering (ISY)
Project Email: [email protected]
Web site: www.isy.liu.se/edu/projekt/reglerteknik/2018/rov/
Client: Fredrik Ljungberg, Linköping University
Phone: +46 73 05 14 895,
E-mail: [email protected]
Customer: Rikard Hagman, Combine Control Systems AB
Phone: +46 72 964 70 59,
E-mail: [email protected]
Course Responsible: Daniel Axehill, Linköping University
Phone: +46 13 28 40 42,
E-mail: [email protected]
Group members:
Name Responsibility Phone E-mail (@stu-dent.liu.se)
Kristian Ericsson Project Leader (PL) 070 64 38 923 krier714Martin Drangel Documentation (DOC) 076 765 83 65 mardr222Casper Johansson Hardware (HW) 073 07 30 858 casjo385Tommy Karlsson Design 073 07 32 095 tomka260Philip Öhrn Software 073 07 59 759 phioh654Victor Petersson Testing 073 03 30 126 vicpe520Mikael Nådin Information 073 43 49 157 mikna029
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Document historyVersion Date Changes Sign Reviewed0.1 2018-09-20 First draft. All MD0.2 2018-09-24 Minor changes upon request from
clientAll MD
0.3 2018-09-26 Minor changes upon request fromclient
All MD
1.0 2018-09-27 First version. All MD
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Contents
Document history 3
1 Client 1
2 Project Overview 12.1 Purpose and goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2.2 Deliverables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
2.3 Exclusions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
3 Project Phases 1
4 Organization Plan 24.1 Conditions for cooperation in the project group . . . . . . . . . . . . . 2
4.2 Definition of project roles and responsibilties . . . . . . . . . . . . . . 2
5 Document Plan 3
6 Development Method 5
7 Education Plan 57.1 Education within the project group . . . . . . . . . . . . . . . . . . . . 5
7.2 Education of the customer . . . . . . . . . . . . . . . . . . . . . . . . 6
8 Report Plan 6
9 Meeting Plan 6
10 Resource Plan 610.1 Project group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
10.2 Material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
10.3 Facilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
10.4 Economy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
11 Milestones and Decision Points 711.1 Milestones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
11.2 Decision points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
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12 Activities 9
12.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
12.2 Administrative . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
12.3 Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
12.4 Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
12.5 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
12.6 Sensor fusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
12.7 Control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
12.8 Vision system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
12.9 Autonomy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
12.10GUI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
13 Time Plan 14
14 Quality Assurance Plan 14
15 Quality 15
15.1 Reviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
15.2 Test plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
15.3 Test plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
16 Risk Analysis 16
17 Priorities 18
18 Project Closing 18
19 Appendix A 19
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Notations
ESC Electronic Speed ControllerIMU Inertial Measurement UnitROV Remotely Operated Underwater Vehicle
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1 Client
The client of the project is the institution of ISY at Linköping University via FredrikLjungberg. The customer of the project is Combine Control Systems AB through RikardHagman. Financing of the project is supplied in collaboration by both ISY and CombineControl Systems AB.
2 Project Overview
In this section an overview of the purpose and goals of the project is presented. Further-more a description of the deliverables and limitations of the project is given.
2.1 Purpose and goals
The purpose of the project is to further develop the BlueROV supplied by Combine Con-trol Systems AB. Basic functionality for the BlueROV has already been implementedat the project start by similar projects conducted in previous years. The goals of theproject is to improve the navigation and control performance of the BlueROV, createautonomous behavior in a known pool environment and further develop modelling forpositioning of the BlueROV in a known environment.
2.2 Deliverables
What is to be delivered and when is stated in the requirement specification. The finaldelivery of the complete product is set to 2018-12-03. All documents and requirementsshall be completed and approved by 2018-12-17.
2.3 Exclusions
In agreement with the customer, the environment where the BlueROV-system is to bedeveloped and used is in a pool with calm waters. No regard will be taken during thedevelopment to fulfill the requirements in environments with high disturbance, like openwater or similar outdoors environments.
3 Project Phases
The project consists of three different phases, before, during and after. The differentphases are used to create a good structure for the project, according to the LIPS-model.
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In the before phase a plan for how the project is to be conducted and requirementsfor the project are formulated in agreement with the client and customer. When allparties agree, the during phase begins where the project group performs the agreed uponactivities from the before phase. During the after phase the results from the project arepresented and commented on by the project group and finally the group is dissolved.
4 Organization Plan
The client has in joint consultation with the project group agreed on a requirementspecification for the product. An overview of the organization is shown in figure 1.
Figure 1: Overview of the organization.
4.1 Conditions for cooperation in the project group
The project group has together worked out a group contract that has been signed, detail-ing how the members shall work together.
4.2 Definition of project roles and responsibilties
The different roles in the project are listed below.
• Project manager: The project manager leads the project. The project manager isresponsible for leading meetings, directing the group towards the goal, planningthe project and encouraging the project group to ensure the cooperation works asplanned. The project manager acts as the project group’s contact person with theclient and the customer.
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• Document manager: The document manager is responsible for planning the doc-uments and the document templates as well as version managing the differentdocuments. The document manager is also responsible for making sure that thedocuments are completed in time and that they hold a high quality.
• Design manager: The design manager is responsible for weaving the differentmodules together, creating guidelines for system designs and making sure thatthe assembly of all different modules goes smoothly.
• Test manager: It is the test managers task to plan and synchronize the tests. Thetest managers responsibilities include the test plan, test protocols and keepingtrack of when the tests should be done. He is also responsible for booking of thebigger swimming pool in Ljungsbro.
• Hardware manager: The hardware manager is tasked with purchasing new hard-ware as well as leading the work with all hardware and mechanics.
• Software manager: The software manager is tasked with making sure that allcode keeps the required standard, is correctly commented and version controlled.
• Information manager: The information manager leads the work with the pre-sentations, the poster, the presentation video and the website. The informationmanager is responsible for making sure that all related deadlines are met and thatthe quality is good.
5 Document Plan
The table below presents all documents to be delivered during the project. It detailsdocument names, who is responsible for each document, the purpose of the documents,who the target audiences are, and when the documents delivery dates are. All docu-ments to audiences outside of the project group are to be written in formal English andthey are shared to all project members via Overleaf and Google Drive.
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Document Responsible Purpose Distributedto
Deadline
MeetingProtocols
MD Protocols of meetings heldthroughout the project.
ProjectGroup andClient.
Weekly
GroupContract
KE A contract defining rules andexpectations regarding theproject as agreed upon by theproject group.
ProjectGroup
2018-09-20
Requirementspecifica-tion
MD Specifies all project related re-quirements.
ProjectGroup,Client andCustomer.
2018-09-27
Projectplan withtime plan
MD A plan describing how theproject is to be conducted anda time plan for when and bywho certain activities shouldbe carried out.
Projectgroup, Su-pervisor andclient.
2018-09-27
Test Plan VP Describes how to test and ver-ify requirements.
ProjectGroup andClient
BP3
Designspecifica-tion
MD A detailed description of thesystem and its interface
ProjectGroup, Su-pervisor andCustomer
BP3
User man-ual
MD A document describing how tooperate the product.
Customer andClient
BP5
Test Pro-tocol
VP Keeps protocol of performedtests and their results.
ProjectGroup, Clientand Supervi-sor.
BP5
Technicaldocumen-tation
MD Describes the project from atechnical aspect.
ProjectGroup,Client, Su-pervisor andCustomer.
BP6
Poststudy andreflection
MD Reflections on how the projectwas executed.
Examiner. BP6
Poster MN An appealing poster as to pro-mote the product and informon the project.
Customer andGeneral Pub-lic
BP6
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Document Responsible Purpose Distributedto
Deadline
Web Page MN A web page to reach a largeraudience. Informs on theproject, who the project mem-bers are and presents docu-mentation.
Customer,Client andGeneralPublic
BP6
VideoPresenta-tion
MN A video to demonstrate the fin-ished product and project re-sults.
Customer,Client andGeneralPublic
BP6
6 Development Method
This project is part 4 in a series of projects which aim is to step by step, part by partdevelop an autonomous underwater vehicle which can carry out different tasks given.The vehicle is module based for flexible and easy development of the different parts. Allmodules have milestones and goals predefined by the client and extended by the projectmembers.
Although the development occurs in modules they are strongly related. Communicationis critical to ensure all modules come together and work as intended. To keep all projectmembers updated the work will be reported according to the LIPS project model. In-ternally the work will be conducted with a SCRUM inspired model to keep the projectagile.
7 Education Plan
All members of the project need to gather information and educate themselves duringthe project. The gathering of information will be most intense during the installationof the project. Furthermore the education will occur intermittently when going intodifferent sprints of the project. The customer will receive education during the end ofproject.
7.1 Education within the project group
The members of the project will receive a demonstration of the ROV and what earlierprojects have generated. To better understand the previous work the project memberswill read through the reports from former projects.
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7.2 Education of the customer
A presentation will be held for the customer at the end of the project. During thispresentation all new functions implemented and how the already existing product hasbeen developed are to be illustrated. A user manual, documentation containing all thedetails related to the project, how to operate the ROV and its functions will also beprovided to the customer.
8 Report Plan
A time plan for the project will be established. Each project member have a responsi-bility to report their time spent working every week. The project leader will update thetime and project plan based on the project progress, according to the fixed meeting onThursdays.
A status report will be sent to the client every week. The report will conclude theweekly progress made, problems encountered as well as problems solved. A weeklystatus update and time report should be submitted.
9 Meeting Plan
The project members have agreed upon a fixed meeting every Thursday from 12.15-15.00. Meetings beyond this time are to be announced and called upon in the declaredcommunication channels. The project leader is responsible for the daily agenda and toupdate the scrum board in agreement with the project members weekly result.
10 Resource Plan
The available resources of the project are listed and described in this section.
10.1 Project group
The project group consists of seven members:
• Kristian Ericsson
• Martin Drangel
• Casper Johansson
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• Tommy Karlsson
• Philip Öhrn
• Victor Petersson
• Mikael Nådin
All members contribute with 240 hours each, which will be distributed over the total 16weeks of the project.
10.2 Material
The available hardware required, including the ROV and a PC is provided by Com-bine. The group has access to transportation in order to reach the swimming pool inLjungsbro.
10.3 Facilities
At Linköping University the group has access to a small pool that can be used for minortests. When performing bigger tests it is possible to reserve a large swimming pool inLjungsbro.
10.4 Economy
Each project member shall spend 240 hours on the project. In this time the requirementsof the project are to be fulfilled. All purchases will be discussed with the CustomerRikard Hagman at Combine Control Systems AB that will cover the purchases.
11 Milestones and Decision Points
This section presents milestones and decision points related to the project.
11.1 Milestones
The project is divided into milestones which are to be fulfilled as the project is movingforward. The purpose of the milestones is to have a way to measure whether or not theproject is making progress as planned.
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No. Description Date
1. First dive with the ROV in the larger pool. 2018-09-24
2. Raspberry Pi 3 installed. 2018-10-12
3. Attitude estimation in the sensor fusion module has been implemented. 2018-10-12
4. New sensors for distance measuring has been selected and ordered. 2018-10-12
5. An object can be detected by the vision system. 2018-10-19
6. Depth estimation in the sensor fusion module has been implemented. 2018-10-19
7. Angle-velocity control in the control module has been implemented. 2018-11-09
8. Linear-velocity control in the control module has been implemented. 2018-11-09
9. Collision detection has been implemented in the vision system. 2018-11-09
10. A headlamp is mounted and working. 2018-11-09
11. Position estimation in the sensor fusion module has been implemented. 2018-11-23
12. Velocity estimation in the sensor fusion module has been implemented. 2018-11-23
13. Position control in the controller module has been implemented. 2018-11-23
14. A controller with functionality to follow a wall at a set distance has been implemented. 2018-11-23
15. The vision system is able to track a moving object. 2018-11-23
16. A controller for controlling hover mode has been implemented. 2018-11-23
17. The new sensors are mounted, working and can publish measurements to ROS topics. 2018-11-23
18. A return to home function has been implemented. 2018-11-29
19. The ROV is capable of autonomous movement to a predefined place in the pool. 2018-11-29
20. The ROV autonomously brakes when collision is detected. 2018-11-29
21. The project is ready to be delivered. 2018-12-03
22. Project conference. 2018-12-17
11.2 Decision points
Throughout the project there are several decision points (BP) where a decision is madewhether or not the project shall proceed.
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Decision Description Date
BP2. Requirement specification and project plan (including timeplan) are approved by client. A presentation of a draft for thedesign specification is held by the project members.
2018-09-27
BP3. Design specification and test plan is approved by client. 2018-10-12
BP4. Raspberry Pi 2 has been replaced with Raspberry Pi 3. 2018-11-09
BP5. All functionality is ready for delivery as well as test protocoland a user manual. A presentation is to be held, where it isshown that all requirements in the requirement specificationhave been verified.
2018-12-03
FinalDelivery
A presentation shall be held for the customer to demonstratethat all requirements are fulfilled.
2018-12-12
BP6. A technical report, an after study (with follow-up on timespent and obtained result), poster presentation, web page, andmovie shall be delivered prior to the project conference.
2018-12-17
12 Activities
The following table lists the activities that are to be performed in the project. Eachactivity has a short description and a planned time consumption attached to it. Theactivities have been split in to several categories.
12.1 General
General activities are listed in the table below.
Nr. Activity Description Time [h]
1 Meetings Weekly group meetings. 145
2 Movie Producing a movie showcasing theROV.
10
3 Technical documentation Writing a document describing thefull system.
80
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4 Website Setting up a website describing theproject.
5
5 Presentation to customer Presenting the finished product. 25
6 Poster Designing a poster describing theproject.
10
7 User manual Writing a manual on how to prop-erly set up and use the system.
20
8 Design specification Writing a document describinghow the new functionality is to beimplemented.
140
9 Reserve time Time that can be distributed whereit is needed.
376
10 Research Research and gather informationabout each section
100
11 Work before BP2 Project plan, requirement specifi-cation and time plane
154
12 Test plan Writing a plan for how testing ofrequirements are to be conducted.
30
12.2 Administrative
Administrative activities are listed in the table below.
Nr. Activity Description Time [h]
13 Preparation for meetings Writing agendas. 10
14 Update time plan Revising time plan as the projectgoes along.
15
12.3 Test
Test activities are listed in the table below.
Nr. Activity Description Time [h]
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15 Writing test protocol The test protocol describes the re-sults from conducted tests.
10
16 Perform tests Performing of tests to ensure thatrequirements are fulfilled.
60
12.4 Hardware
Hardware activities are listed in the table below.
Nr. Activity Description Time [h]
17 Install and waterproof the new sen-sors
Sensors are yet to be decided. 20
18 Test of new sensors Perform measurements and mak-ing sure they are correct.
15
19 Installation of raspberry pi 3 Installing OS and ROS on the RPI. 20
20 Research and installation of head-light
The headlight might have to be wa-terproofed and some mounting hasto be developed.
5
21 Setup ROS communication withnew sensors
Creating topics 10
22 Research of new sensors Evaluating the performance of can-didates for new sensors.
10
12.5 Software
Software activities are listed in the table below.
Nr. Activity Description Time [h]
23 Move control system node to rasp-berry pi
Setting up ROS-communicationand migrating code from the work-station to the RPI.
10
24 Learn how to work the simulationenvironment
Getting familiar with old code andsimulink models.
10
25 Code review Making sure newly written codefollows the set coding standard.
5
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12.6 Sensor fusion
Sensor fusion activities are listed in the table below.
Nr. Activity Description Time [h]
26 Attitude estimation Implementing a sensor fusionmodel for attitude estimation
20
27 Depth estimation Implementing a sensor fusionmodel for depth estimation
30
28 Velocity estimation Implementing a sensor fusionmodel for linear and angularvelocity estimation
30
29 Position estimation Implementing a sensor fusionmodel for position estimation
45
12.7 Control system
Control system activities are listed in the table below.
Nr. Activity Description Time [h]
30 Linear velocity control Implementing the linear velocitycontroller.
15
31 Angular velocity control Implementing the angular velocitycontroller.
20
32 Depth control system Implementing the depth controller. 25
33 Position control system Implementing the position con-troller
50
34 Follow wall function Implementing a controller for fol-lowing a wall
15
35 Hover-mode function Implementing a controller for hov-ering
20
12.8 Vision system
Vision system activities are listed in the table below.
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Nr. Activity Description Time [h]
36 Collision detection The camera shall detect the wall ofthe pool to avoid collision.
20
37 Detect an object with the camera The camera is able to detect an ob-ject like a tag or a ball under water.
20
38 Tune the camera Perform camera calibration for us-age under water and detecting ob-jects.
15
39 Follow object with the camera The camera is able to detect a mov-ing object like a tag or a ball underwater.
10
12.9 Autonomy
Autonomy activities are listed in the table below.
Nr. Activity Description Time [h]
40 Move to predefined posi-tion/coordinate
The ROV shall autonomouslymove to a user specified location.
10
41 Return to home function A function to make the ROV returnto where it started
10
42 Automatic brake The ROV shall autonomouslybrake when a potential collision isdetected.
10
12.10 GUI
GUI activities are listed in the table below.
Nr. Activity Description Time [h]
43 Update GUI with new functions Add buttons and sliders for newfunctionality.
20
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13 Time Plan
In the document Time Plan it is specified what each group-member shall work with un-der what period of time, see appendix A. As the project progresses there will be a needto update the time plan, which will be done by the project manager. In the project thereare a multiple activities which will be divided into the following categories:
General Activities that are of a more general nature for the project like meeting and thehandling of different documents.
Hardware Activities that concern the hardware of the ROV, such as replacing raspberrypi 2 to raspberry pi 3.
GUI Work concerning the interface (GUI) of the workstation, work such as the graphi-cal representation of the ROV in simulation and on a map during trials in the pool.
Control System Work regarding the implementation and development of the controlsystem.
Sensor Fusion Activities related to the sensor fusion. The sensor fusion module will bemoved to the on-board computer and a new positioning filter will be implemented.
Modelling and Simulation Activities related to modelling and simulation of the ROV.
Administrative Activities related to administrative work around the project, such asplanning for meetings and compiling status reports.
Autonomy Activities that concerns the work to make the ROV automated.
14 Quality Assurance Plan
As the project progresses there may emerge a need to change the requirements of theROV, and if that happens a well motivated case will be brought to the client and customerto be approved. After the change of requirements specification have been approved thetime plan and project plan may be updated.
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15 Quality
To guarantee the quality of the product the group will work and act according to what isstated in the following sections.
15.1 Reviews
To thoroughly check each document it will be reviewed by at least one person beforedelivery as this method will decrease the amount of errors.
15.2 Test plan
To fulfill the requirements a document named Test Plan will be compiled which ad-dresses the different tests needed to verify each of the requirements. The tests will bedesigned to easily confirm that each and every requirement is fulfilled. The documentshall contain information on how and when the tests are to be performed.
Comments At the beginning of each file, respectively, the method forexplaining its purposes. Even as a possible clarification of,for example, variables and special lines of code.
Indent General style
Naming Explanatory names without abbreviations except in caseswhere it is well-founded.
Classes UpperCamelCase
Methods lowerCamelCase
Variables lowerCamelCase
Constants CAPITALIZED_WITH_UNDERSCORES
15.3 Test plan
Testing takes place in connection with each activity’s completion. An activity is com-pleted when its main functionality has been tested and the test has been documented.A test document must contain the date of the test, a brief description of what has beentested and the activity to which the test belongs. Information on relevant conditionsand parameters as well as the results achieved should also be included. The personresponsible for testing will compile all test-documents.
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16 Risk Analysis
During the project, incidents might happen that will affect the project in a negative way.The group members have together analyzed some of the possible incidents that mightoccur and how the members, individually, can minimize the risks according to the fail-ure modes and effects analysis (FMEA) model. Events are graded on their probabilityto occur and what consequence they cause. Risk factor is the product of consequenceand probability. Table 12 display the numbers meanings for consequences and table 11show the same thing for probability.
Table 11: Probability number representation together with a brief description.
Probabilitynumber repre-sentation
Description
1 Unlikely (Most likely never going to occur)
2 Remote (Relatively small chance of occurrence)
3 Occasional
4 Possible (Will likely occur repeatedly)
5 Frequent (Occurrence inevitable)
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Table 12: Consequence number representation together with a brief description.
Consequencenumber repre-sentation
Description
1 No consequence.
2 Little consequence. Illness, batteries not charged, etc. Slowsdown progress by maximum 1 day.
3 Medium consequence. Long-term illness. Damaged or oth-erwise failing cables. Pushes SCRUM deadlines or causesredistribution of work/ work overload.
4 Critical consequence. Failing thrusters or sonars / otherwisecritical hardware components or loss of project member dueto whatever reason. Severely impairs project progress / re-versing progress.
5 Catastrophic consequence. Leakage into acrylic tube. Colli-sion severely damaging hardware performance or otherwiseloss of functionality.
The analysis also includes how much the occurrence of an incident would affect theproject and what actions to take to minimize risk and consequence.
Event Probab-ilitylevel
How to mini-mize risk
Consequence How to min-imize theconsequence
Risknum-ber
Illness (singlemember)
4 Eat healthy andwork out.
2 Sleep and Rest 6
Illness (part ofgroup)
1 At times of ill-ness, stay home.
3 Continuousupdate on eachothers work,good communi-cation.
3
School networknot working
2 Always save acopy of the work.
2 Save all files togoogle drive.
4
Hardware failure 3 Read instructionsand handle withcaution.
4 Extra parts 12
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17 Priorities
This project will focus on functionality of the ROV. In case of delays and deadlinescertain functionality marked with priority 1 in the requirement specification will be pri-oritized. If the time budget is predicted to be exceeded the demands in the requirementsspecification shall be renegotiated well ahead of the deadline.
18 Project Closing
When all deliveries are approved by the customer the project can end. At the end ofthe project the ROV, PC and keys to the project room shall be returned and all produceddocumentation shall be available on the web page. Thereafter the project group will bedissolved.
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19 Appendix A
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