D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification learning outcomes at one point become part of the reflexive capability Reason / Comments: Indicative priority Desirable Output Requirement No.: URLAF6 Name: Output of Runtime responsive adaptation Description: Recommendations on adjusting the level of intervention and control by the system to user’s preferences dynamically in response to user-indications Reason / Comments: Indicative priority Mandatory 7.7.1.2 Interfaces Requirement No.: URLAF7 Name: Data acquisition from SAWBB Description: URLAF needs to interface with SAWBB for information about user preferences, profiling etc. Reason / Comments: Indicative priority Mandatory Requirement No.: URLAF8 Name: Adaptive recommendation to FPGA reflexive capability Description: URLAF needs to interface with FPGA to provide outcomes of reflective capability i.e. recommendations on adaptation as informed by the learning, so that this becomes part of the reflexive capability of the system Reason / Comments: Indicative priority Desirable 7.7.2 Non Functional Requirements 7.7.2.1 Performance Requirement No.: URLAF9 Name: Latency Description: The reflexive capability enabled adaptive response recommendation needs to be communicated by the system in a timely fashion Reason / Comments: Indicative priority Desirable 7.8 Cognitive adaptation of low level controllers (Task 5.6, UB) Relevant task: � Cognitive adaptation of low level controllers (Task 5.6, UB) The goal of research is short-term and long-term adaptation of control parameters of real-time controllers based on online measurement of interaction of the robot with its environment. Adapting control parameters has for an outcome the change in the robot behaviour during the interaction with the environment. 82
D2.1 Requirements and Specification 7.8.1 Functional Requirements 7.8.1.1 Processes Inputs: Requirement No. CAL1 Name: Self-awareness modules Description: MATLAB, Program Code, Documentation Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Requirement No. CAL2 Name: SOIAA architecture Description: MATLAB, Program Code, Documentation Reason / Comments: The form of the input will be determined in discussion with the partner responsible Indicative priority Mandatory Requirement No. CAL3 Name: Low level control algorithms Description: MATLAB, Program Code, Documentation Reason / Comments: The form of the input will be determined in discussion with the partner responsible. Indicative priority Mandatory Outputs: Requirement No. CAL4 Name: Adaptation sub-system layer Description: The layer that will be interface between low-level control modules and cognitive modules. The module should take care of real time requirements of low level control modules. Reason / Comments: Indicative priority Mandatory Processing: Requirement No. CAL5 Name: Adaptation of control parameters Description: In the CORBYS rehabilitation system adaptation of control parameters has the advantage that assistance of the system to the user can be automatically tuned to the patient’s changing needs in the short term or long term period. Moreover, since several different control laws will be used for controlling the different robotic sub-systems of the CORBYS demonstrator, the transition in between the different control laws based on anticipation of the environment will be researched. Reason / Comments: Indicative priority Mandatory Data flow: Requirement No. CAL6 Name: Adaptation layer data flow Description: The sub-system is intermediate layer between real-time control modules and cognitive 83
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CORBYS Cognitive Control Framework
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D2.1 Requirements and Specification
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D2.1 Requirements and Specification - CORBYS

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