Merge branch 'iss8/feature_definition' into 'master'

Iss8/feature definition

Closes #8, #9, #10, and #11

See merge request horlingsw/mahd!3

.gitignore

@@ -1,2 +1,5 @@
 specifications/system/document.pdf
 specifications/system/preamble.tex
+features/feature_definition.pdf
+features/graphics/*.pdf
+*.rro

.gitlab-ci.yml

@@ -3,6 +3,10 @@
 stages:
   - typeset
 
+variables:
+  GIT_SUBMODULE_STRATEGY: recursive
+
+
 design_specifications:
   stage: typeset
   image: registry.gitlab.com/silkeh/latex:latest
@@ -41,3 +45,22 @@ initial_design:
       - tags
     changes:
       - initial_design/*
+
+feature_definition:
+  stage: typeset
+  image: registry.gitlab.com/silkeh/latex:latest
+  script:
+    - apk update; apk add make
+    - cd features/
+    - make
+    - mv feature_definition.pdf ../feature_definition.pdf
+  artifacts:
+    paths:
+      - feature_definition.pdf
+  only:
+    refs:
+      - web
+      - branches
+      - tags
+    changes:
+      - features/*

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "features/common"]
+	path = features/common
+	url = ../mac.git

features/Makefile

@@ -0,0 +1,38 @@
+SOURCE ?= feature_definition.tex
+TARGET ?= $(subst .tex,.pdf,$(SOURCE))
+GRPH_DIR ?= graphics
+GRPH_SOURCE ?= $(wildcard $(GRPH_DIR)/*.tex)
+GRPH_TARGET ?= $(subst .tex,.pdf,$(GRPH_SOURCE))
+
+JOBNAME = $(subst .pdf,,$(TARGET))
+
+# build configuration
+
+LATEXMK ?= latexmk
+# for pdflatex: LATEXMK_TARGET = -pdf
+# for latex -> dvi -> pdf: LATEXMK_TARGET = -pdfdvi
+LATEXMK_TARGET += -xelatex
+LATEXMK_OPTS += -recorder -use-make -latexoption="-interaction=nonstopmode -synctex=1" 
+LATEXMK_ARTIFACTS += *.bbl
+LATEXMK_ARTIFACTS += *.synctex.gz
+LATEXMK_ARTIFACTS += *-converted-to.pdf
+LATEXMK_ARTIFACTS += *.synctex.gz\(busy\)
+LATEXMK_ARTIFACTS += *.rro
+LATEXMK_ARTIFACTS += *.aux
+LATEXMK_ARTIFACTS += *.run.xml
+
+$(TARGET): $(SOURCE) $(GRPH_TARGET)
+	$(LATEXMK) $(LATEXMK_OPTS) $(LATEXMK_TARGET) $<
+
+$(GRPH_DIR)/%.pdf: $(GRPH_DIR)/%.tex
+	$(LATEXMK) -lualatex -outdir=$(GRPH_DIR) $(LATEXMK_OPTS) $<
+
+.PHONY: clean Clean
+clean: 
+	$(LATEXMK) $(SOURCE) -c
+
+Clean:
+	$(LATEXMK) $(SOURCE) -C
+	$(LATEXMK) -outdir=$(GRPH_DIR) $(GRPH_SOURCE) -C
+	rm -f $(LATEXMK_ARTIFACTS)
+

features/common

@@ -0,0 +1 @@
+Subproject commit 9824d626fd1bf2cdc4d03c4109500629ffe16a20

features/content/definition.tex

@@ -0,0 +1,24 @@
+\chapter{Definition}
+
+
+In the initial design step we decided on combining two motion systems.
+One is the suspended cable system, this can easily cover the large board.
+However it lacks precision and this is where a small SCARA comes in to action.
+This arm provides speed and accuracy. 
+And if the next bit of whiteboard is out of reach, the cable bot will move the arm to a new position.
+
+These two features are easy to define.
+Thus we have the SCARA and the cable system.
+So at this point we would just attach a marker to the arm and write on the board.
+However, now we cannot wipe text of the board.
+So another feature would be some toolchanger that can switch to the wiper.
+And, offcourse, later back to the marker, posibly with a different color.
+
+
+This brings us to the following features:
+\begin{itemize}
+\item SCARA
+\item Cable system
+\item Toolchange
+\item Wiper
+\end{itemize}

features/content/introduction.tex

@@ -0,0 +1,108 @@
+\chapter{Introduction}
+This document will describe the feature and test specification step.
+The original plan was to specify features and give these features there own specifications.
+Together these feature specifications have to ensure that the system specifications are met.
+And eventually for each feature a set of tests is designed so that the feature specifications can be monitored.
+
+However, during this step it became clear that this method was not feasible in the limited amount of time.
+Spending more time on this step would not result in a better test of the method.
+It might even have a negative effect as other steps would be overshadowed by this step.
+Eventhough the step has not been finished we still managed to learn some valuable lessons.
+
+One of the lessons was to use RobMoSys for the feature specifications.
+This will be explained in \autoref{chap:robmosys}.
+The feature specifications were very difficult as it turned out that a lot of this depended on the level of detail in the system specifications.
+We will explain this part in \autoref{chap:specifications}.
+
+\chapter{RobMoSys}
+\label{chap:robmosys}
+The original method was to just look at the features of the system and describe them.
+This turned out to be impossible as there are a lot of features at different levels with different dependencies.
+For example \textcite{broenink_variable_2018} defines three features on his segway.
+However, the hardware already exist.
+Therefore, features like wheels, motors, sensors, powerpack, etc. do not have to be considered.
+We underestimated the amount of features if you do not have pre-existing hardware.
+A problem was that, for example, a motor did not fit in our original idea of feature.
+However, taking a high-level feature defeated the purpose of this method with multiple steps of implementation.
+As this high-level feature would then include motors, control, sensors etc.
+
+Eventually we used RobMoSys to separate the features in a way that made sense.
+We started with a mission, which is in this case the 'tweet on a whiteboard' and broke it up in to tasks.
+So what tasks are required to fulfill the mission.
+These tasks required certain skills, which required then functions.
+\autoref{fig:robmosys} shows the resulting graph of the separation into different levels.
+The figure also shows our fifth layer as subsystem.
+A full Robmosys would even separate this in to 4 additional layers but we decided on keeping it simpler.
+The simplification was done as this was mainly in middle- and software which was not the focus of this thesis.
+Furthermore, because we did not see any additional value but it would cost a lot of extra time.
+
+\begin{figure*}
+    \centering
+    \includegraphics[width=0.8\paperwidth]{graphics/robmosys.pdf}
+    \caption{Separation of the mission into tasks, skills, functions and subsystems based on a simplification of RobMoSys.}
+    \label{fig:robmosys}
+\end{figure*}
+
+In the end the graph gives us a lot of sub-features.
+We will not implement every single node as a feature because 15 small features would only create loads of overhead.
+But what we can do is group sub-features.
+This also brings another advantage because we include a higher-level feature that can be used as test.
+For example, the SCARA can be tested by successfully moving the marker on the board.
+
+In the later step where we will select one of the features we will use this graph as a basis.
+We can group features from this graph such that they can be implemented in about a week.
+This way we reduce the overhead of implementation and keep an eye on the progress.
+
+\chapter{Specifications}
+\label{chap:specifications}
+The following step was to distribute the system specifications between the features.
+The problem we ran in to is that neither the system specification nor the RobMoSys was implemented with enough detail that they could work together.
+Parts of the specifications lacked in detail, even with the use the EARS-method \autocite{mavin_easy_2009}.
+This resulted that some specification where valid for all sub-features as the specifications where to broad.
+However, improving the specifications would sometimes result in that it did not fit on one of the sub-features.
+This is because the RobMoSys misses sub-features which would specifically implement the control system.
+
+While we were working on this step we updated the system specifications.
+This was done because we found that some of the specification did not make any sense in for this research.
+While others were really easy to expand.
+Therefore, these following list represents the updated specifications:
+\begin{itemize}
+\item The Writer shall be able to write at least 50 characters per line.
+\item The Writer shall be able to write at least 5 lines of text.
+\item The Writer shall plot characters with a size that is readable from 4 meters for a person with good eyesight.
+\item The Writer shall plot in a regular used font with corresponding character spacing.
+\item When a new tweet is send to the Writer, the Writer, shall wipe the existing tweet and write down a new tweet.
+\item If the Writer is not wiping or writing then the Writer shall not obstruct the view of the whiteboard.
+\item While writing, the Writer shall have a writing speed of at least 1 character per second.
+\item If the Writer is tasked to wipe the tweet, the Writer shall wipe the tweet within 60 seconds
+\item When a reset-signal is send to the Writer, the Writer shall re-calibrate its position on the board.
+\item When a wipe-signal is send to the Writer, the Writer shall wipe the board clean.
+\item The Writer shall not damage itself.
+\item While writing, the SCARA shall have a writing speed of at least 1.5 characters per second.
+\item When the Carriage/base of the SCARA is at a static position, the SCARA shall be able to write at least 3 characters at that position.
+\item When the SCARA finished writing at their current position, the Carriage shall move the SCARA to it's next position where it can write the subsequent characters.
+\item When the SCARA has to be moved to a new position, the Carriage shall perform this movement within 1 second.
+\end{itemize}
+
+\chapter{Decision}
+In the end we decided that a it was better to stop the current step.
+We have some specific points that require improvement in a follow up.
+The steps system specifications, initial design, feature separation and feature specifications have to be merged in to a kind of spiral model.
+Where the process would start with a global description of the system and some initial designs.
+This initial design can then be expanded with some course system specifications.
+This would be followed by a RobMoSys-type of analysis.
+The RobMoSys gives a brief interpretation of the different subsystems required.
+For each subsystems we have to assign specifications, if it seems that this is difficult we can choose to review the specifications.
+We can add more detail to the specifications for example, or split them in to multiple separate specifications.
+
+For now, we have enough information to test the next steps.
+At the beginning of each feature-implementation we will write the test specifications.
+And during the selection we have to keep the list of specifications in mind.
+We think that this is possible as the list of specifications and the set of systems is manageable.
+
+
+
+
+
+
+

features/content/separation.tex

@@ -0,0 +1,91 @@
+\chapter{Separation of Concerns}
+\label{chap:separation}
+We have an initial design and in this step we will define features and subsystems.
+To structure this process we will use a tiny bit of the RobMoSys approach.
+With that we will define the mission, tasks, skills, functions and subsystems.
+The subsystem combines some layers of RobMoSys as they are to specific for the scope of this thesis.
+
+\section{RobMoSys}
+The mission is clear and has already been stated before.
+The system shall be able to write a tweet on a whiteboard.
+\autoref{fig:robmosys} shows how the mission organized.
+This separation is not created to be the most optimal as it is based on our initial design.
+The three skills of move marker, move wiper and move carriage are redundant as they all have movement in the same plane.
+One could say that this overcomplicates the design.
+However, we chose for some complexity in the design, which creates dependency between subsystems, such that the design method can be tested.
+
+\begin{figure*}
+    \centering
+    \includegraphics[width=0.8\paperwidth]{graphics/robmosys.pdf}
+    \caption{Separation of the mission into tasks, skills, functions and subsystems based on a simplification of RobMoSys.}
+    \label{fig:robmosys}
+\end{figure*}
+
+RobMoSys creates a top-down approach which results in the different subsystems.
+The design method specifies that we want to implement feature by feature.
+From \autoref{fig:robmosys} we can conclude that each step in the graph represents a sub-feature.
+It might be a piece of hardware, control law or interface, they can all be classified as features of some sort.
+Furthermore, it automatically generates the dependency tree as well.
+As we cannot write a character somewhere on the board if we cannot move the marker.
+
+\section{Feature Definition and Dependencies}
+In the previous section we discussed that we have loads of sub-features.
+We could implement all these features one by one.
+But as some of them have single dependencies they could be combined.
+The function 'Move wiper on board' is directly linked to the skill 'Wipe area' and could easily combined.
+Especially as the skill is a direct test case for the function and as test cases are already required this is a valid optimization.
+
+\section{Feature specifications}
+The specifications that are listed in the system specifications document have to be distributed among the features.
+We have grouped some specifications as they influence the same feature-group.
+
+\subsection{Reach}
+The first grouping is for the reach of the robot.
+From the specifications document we find three specifications which influence the possible position of the carriage:
+\begin{itemize}
+    \item The Writer shall be able to write at least 50 characters per line.
+    \item The Writer shall be able to write at least 5 lines of text.
+    \item If the Writer is not wiping or writing then the Writer shall not obstruct the view of the whiteboard.
+\end{itemize}
+The first two specify the minimum reach of the carriage.
+The third specifies that the carriage has to move out of the way.
+
+\autoref{fig:reach} shows the sub-features that cover the behavior of the carriage.
+We have to take these three into account when we will develop these sub-features.
+
+\begin{marginfigure}
+    \includegraphics[width=0.8\linewidth]{graphics/reach.pdf}
+    \caption{Sub-features that are responsible for reach related specifications}
+    \label{fig:reach}
+\end{marginfigure}
+
+\subsection{Character Writing}
+The sub-systems shown in \autoref{fig:char} are responsible for getting the characters on the board.
+The character writing specifications are given as:
+\begin{itemize}
+    \item The Writer shall plot characters with a size that is readable from 4 meters for a person with good eyesight.
+    \item The Writer shall plot in a regular used font with corresponding character spacing.
+    \item While writing, the Writer shall have a writing speed of at least 1 character per second.
+\end{itemize}
+The later one covers the writing speed.
+The speed does not only depend on the time required for a single char.
+It also depends on moving to the position of the next character.
+This is overlaps with the grouping for the reach specification as described in the previous subsection and can be seen in \autoref{fig:reach}
+So we will split this into the following sub-specifications:
+\begin{itemize}
+    \item While writing, the SCARA shall have a writing speed of at least 1.5 characters per second.
+    \item When the Carriage/base of the SCARA is at a static position, the SCARA shall be able to write at least 3 characters at that position.
+    \item When the SCARA finished writing at their current position, the Carriage shall move the SCARA to it's next position where it can write the subsequent characters.
+    \item When the SCARA has to be moved to a new position, the Carriage shall perform this movement within 1 second.
+\end{itemize}
+
+\begin{marginfigure}
+    \includegraphics[width=0.8\linewidth]{graphics/char.pdf}
+    \caption{Sub-features that are responisible for character writing specifications}
+    \label{fig:char}
+\end{marginfigure}
+
+\subsection{Tooling}
+For the system to be able to switch from writing to wiping, there must be some toolchanging.
+The general idea is that the end-effector can hold a tool and for a marker it shall be able to press it on the board.
+

features/content/specification.tex

@@ -0,0 +1,2 @@
+\chapter{Specifications}
+This chapter will specify each feature more precisely 

features/feature_definition.tex

@@ -0,0 +1,29 @@
+\documentclass[final,english,titlepage,nomath]{siltex-report}
+\include{common/texfiles/preamble}
+
+\title{Feature Definition}
+%\subtitle{Thesis Proposal}
+\course{}
+\faculty{\large Electrical Engineering, Mathematics and Computer Science}
+%\supervisor{%
+%	Dr. ir. J.F. Broenink \\
+%	Ir. T.G. Broenink
+%}
+\author{%
+    Wouter Horlings
+}
+
+\begin{document}
+\maketitle
+\makerro
+
+\tableofcontents
+
+\include{common/texfiles/acronyms}
+
+\include{introduction}
+%\include{separation}
+%\include{definition}
+
+\printbibliography
+\end{document}

features/graphics/char.tex

@@ -0,0 +1,24 @@
+\documentclass{standalone}
+\usepackage{tikz}
+\usetikzlibrary {arrows.meta,graphs,graphdrawing} \usegdlibrary {layered}
+
+\begin{document}
+
+\begin{tikzpicture}[nodes={text height=.7em, text width=1.8cm, align=center,
+draw=black!20, thick, fill=white, font=\footnotesize},
+>={Stealth[round,sep]}, rounded corners, semithick]
+
+\graph [layered layout, level distance=1.5cm, sibling sep=.5em, sibling distance=1.5cm, sweep crossing minimization] {
+
+    "Write a char at position" -> { "Move marker on board", "Lift Marker" };
+    {"Lift Marker", "Move marker on board"} -> "SCARA";
+};
+
+ %   \graph [layered layout] {
+ %       1 -> 2 -> 3 -> 4;
+ %   };
+
+
+
+\end{tikzpicture}
+\end{document}

features/graphics/reach.tex

@@ -0,0 +1,16 @@
+\documentclass{standalone}
+\usepackage{tikz}
+\usetikzlibrary {arrows.meta,graphs,graphdrawing} \usegdlibrary {layered}
+
+\begin{document}
+
+\begin{tikzpicture}[nodes={text height=.7em, text width=2.5cm, align=center,
+draw=black!20, thick, fill=white, font=\footnotesize},
+>={Stealth[round,sep]}, rounded corners, semithick]
+
+\graph [layered layout, level distance=1.5cm, sibling sep=.5em, sibling distance=1.5cm, sweep crossing minimization] {
+    "Move to position" -> "Move carriage" -> "Carriage";
+};
+
+\end{tikzpicture}
+\end{document}

features/graphics/robmosys.tex

@@ -0,0 +1,38 @@
+\documentclass{standalone}
+\usepackage{tikz}
+\usetikzlibrary {arrows.meta,graphs,graphdrawing} \usegdlibrary {layered}
+
+\begin{document}
+
+\begin{tikzpicture}[nodes={text height=.7em, text width=1.8cm, align=center,
+draw=black!20, thick, fill=white, font=\footnotesize},
+>={Stealth[round,sep]}, rounded corners, semithick]
+
+\graph [layered layout, level distance=1.5cm, sibling sep=.5em, sibling distance=1.5cm, sweep crossing minimization] {
+    "Mission" -> "Task" -> "Skill" -> "Function" -> "Subsystem";
+
+    "Draw a tweet on a board" -> "Writing";
+    "Writing" -> { "Write a char at position", "Hold Marker", "Move to position" };
+    "Write a char at position" -> { "Move marker on board", "Lift Marker" };
+    "Hold Marker" -> "Switch Tools";
+    "Move marker on board" -> "SCARA";
+    "Lift Marker" -> "End-effector";
+
+    "Draw a tweet on a board" -> "Wiping";
+    "Wiping" -> { "Wipe Area", "Hold Wiper", "Move to position" };
+    "Hold Wiper" -> "Switch Tools";
+    "Move Wiper on Board" -> SCARA;
+    "Wipe Area" -> "Move Wiper on Board";
+
+    "Move to position" -> "Move carriage" -> "Carriage";
+    "Switch Tools" -> {"End-effector", "SCARA"};
+};
+
+ %   \graph [layered layout] {
+ %       1 -> 2 -> 3 -> 4;
+ %   };
+
+
+
+\end{tikzpicture}
+\end{document}