D2.1 Requirements and Specification - CORBYS

D2.1 Requirements and Specification
and the environment as it works with human(s) to accomplish critical tasks (Bruemmer et al. 2002). With this
system communication dropouts no longer resulted in the robot stopping dead in its tracks or, worse,
continuing rampant until it has recognised that communications have failed. Instead, the robot may simply
shift into a fully autonomous mode. Also in a remote situation, the robot is usually in a much better position
than the human to react to the local environment, and consequently the robot may take the leadership role
regarding navigation. As leader, the robot can then “veto” dangerous human commands to avoid running into
obstacles or tipping itself over. For this the robot has to provide the operator with the situational awareness
required for controlling a robot (Valero et al., 2011).
The CORBYS will build on state-of-the-art robotic systems for examination of hazardous environment
endowing them with cognitive capabilities to support autonomous sampling in two experimental scenarios.
One of the most fascinating areas of future work is the need for the robot to be imbued (to be filled) with an
ability to understand and predict human behaviour. The robot’s theory of human behaviour may be a rule set
at a very simple level, or it may be a learned expectation developed through practiced evolutions with its
human counterpart. Interaction between the robot and human may be through direct communications (verbal,
gesture, touch, radio communications link) or indirect observation (physically struggling, erratic behaviour,
unexpected procedural deviation). Interaction may also be triggered by the observation of environmental
factors (rising radiation levels, the approach of additional humans, etc.)
18 Conclusion
In this document, the domain of robotic cognitive systems and their application in two demonstrators is
introduced. Knowledge and requirements elicitation process, interaction with clinical and robotic experts (for
gait rehabilitation systems and autonomous robotic systems respectively), and prioritised collection of
requirements for CORBYS systems are presented in detail. The requirements engineering analysis base
reports the requirements engineering methodology (UI-REF), followed by the procedure and findings of
knowledge elicitation from clinical partners regarding the first demonstrator, entailing important discussions
on end-user demographics, gait biomechanics in normal and pathological walking.
Finalised requirements for the first and second demonstrator are then presented, followed state-of-the-market
in light of CORBYS solutions. In total, 345 requirements have been gathered, out of which 309 are classed as
mandatory, 22 as desirable, and 14 as optional requirements. All the requirements are detailed under the
mechatronic control systems of CORBYS, human control system of CORBYS, and the Robohumatic systems.
Requirements for system integration and functional testing for the CORBYS solutions as well as evaluation
are also reported in this document. The requirements prioritisation process has used a number of prioritisation
filters as reported in chapter 4, leading to a final sub set of 44 main requirements for the CORBYS project
falling under three main categories: Cognitive systems, Demonstrator I specific, Demonstrator II specific.
Lastly, detailed state-of-the-art reviews are presented in the various relevant areas as applicable to and in
scope of the project. These include sensors and perception, situation assessment, anticipation and initiation,
cognitive robot control architectures, smart integrated actuators, non-invasive BCI, gait rehabilitation systems
and hazardous area examining robots.
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