Glossary

Glossary

IMU (Inertial Measurement Unit): An electronic device that measures and reports a body’s specific force, angular rate, and sometimes the orientation of the body, using a combination of accelerometers, gyroscopes, and sometimes magnetometers(“Inertial Measurement Unit” 2019)

BLDC (brushless DC): Synchronous motors powered by direct current electricity via an inverter or switching power converter

Differential Drive: A two-wheeled drive system with independent actuators for each wheel. The name refers to the fact that the motion vector of the robot is sum of the independent wheel motions, something that is also true of the mechanical differential (however, this drive system does not use a mechanical differential)

RC (Remote Control): An electronic device used to operate another device from a distance, typically wirelessly

E-Stop (Emergency Stop): A safety mechanism used to shut off power in an emergency, when it cannot be shut down in the usual way. We use it in the context of both the physical switch on the robot as well as the remote halt command

FOV (Field of View): The field of view is the extent of the observable world that is seen at any given moment

SLAM (Simultaneous Localization and Mapping): A computational algorithm of constructing or updating a map of an unknown environment while simultaneously keeping track of an agent’s location within it

PWM (Pulse Width Modulation): A method of reducing the average power delivered by an electrical signal, by effectively chopping it up into discrete parts.

Dynamic Driving Task (DDT): This term encompasses all of the real-time operational and tactical functions required to operate a vehicle

Object and Event Detection and Response (OEDR): The action of detecting an object or event near the robot and responding accordingly. This specifically refers to the subtasks of the DDT that include monitoring the driving environment(A Framework for Automated Driving System Testable Cases and Scenarios, n.d.)

Operational Design Domain (ODD): Describes the operating domains in which the system is designed to function. ODD examples include speed range, lighting conditions, weather conditions, roadway types, etc.(A Framework for Automated Driving System Testable Cases and Scenarios, n.d.)

Operational Scenario: The environment in which a feature is designed to function, and it is described by a set of ODDs (A Framework for Automated Driving System Testable Cases and Scenarios, n.d.)

Point Of Interest (POI): A specific location of interest. Within the context of path-planning, a POI is a waypoint that the path must include. Within the context of propagation data collection, a POI is the point where measurements are to occur

Extended Functional/Non-functional Requirement (EFR/ENFR): Given the broad scope of the PropBot initiative and the relevance of the requirements of the initiative to the narrowed scope of our project, functional and their non-functional requirement counterparts that are out of the scope of our contributions have been renamed to "extended" functional and non-functional requirements (abbr: EFR and ENFR)

National Highway Traffic Safety Administration (NHSTA): An agency of the U.S. federal government, part of the Department of Transportation

COCO Mean Average Precision (COCO mAP): A metric used to evaluate object detection algorithms

Transistor Transistor Logic (TTL): A class of digital circuit built from transistors and resistors. It is called transistor–transistor logic because the logic function (e.g., AND) and amplification is performed by transistors. Many integrated have TTL technology. They are used in applications such as computers, industrial controls, test equipment and instrumentation, synthesizers, etc. TTL gates define a voltage below 0.5V as 0, and a voltage of 4–5V as 1.(“Transistor–Transistor Logic,” n.d.)

Plugins: Software components that add specific functionalities to a program.

Robot Pose: The position and orientation of a robot in the 3-D space.

Robot State: The position, velocity, orientation and angular velocity of the robot in 3-D space.

World Geodetic System (wgs84): The standard coordinate system referenced by Global Positioning System (GPS). (“World Geodetic System (Wgs84),” n.d.)