Movement of the joint must be explicitly enabled and disabled by a user action (default DISABLED)įorce applied at a joint shall be proportional to the detected user intent (as determined by pressure) within maximum speed and force constraintsĪrm joints shall move no faster than 90° of arc in 1.0 s Once each engineering discipline knows (1) the interfaces to other associated engineering disciplines and (2) their specific requirements, then the discipline-specific engineering can begin in earnest. Adding discipline-specific stereotypes (such as «software» or «electronic») to the requirements works as well. Trace links, implemented with the SysML «trace» or «Satisfy» relations, are a good way. “Clone-and-own” (copy the requirement from the generic subsystem requirements package to a package specific to the discipline) is common and easy but leads to maintenance issues when problems are discovered. This can be accomplished in a number of ways. The allocation must be clear to all concerned parties and be traceable back to subsystem or system requirements and forward to the associated engineering discipline. That means, this activity is done, essentially, a use case at a time, with most use cases deferred to a different iteration. Only those requirements in the use cases currently under consideration will be addressed in any given iteration. That means that in each system engineering iteration, one or a small number of use cases will be considered at a time. Therefore, this activity is performed in the context of an iteration that includes a subsystem of the system and subsystem use cases. It is important to remember that we are doing agile systems engineering and we organize our requirements around use cases. Many, however, will require decomposition into discipline-specific derived requirements before they can be allocated. Some subsystem requirements will be realized in a single discipline, so those are easy. The last task in the handoff workflow (other than a review of the engineering data by interested stakeholders) is the allocation of subsystem requirements to the engineering disciplines. Bruce Powel Douglass Ph.D., in Agile Systems Engineering, 2016 8.8 Allocation Requirements to Engineering Disciplines
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