Software Requirements

Specification

for
Robotic Floor Cleaner for Smart Buildings

Version 1.0

Prepared by
Maaz Ali
Sp12-bcs-102

M. Ikram Ellahi
Sp12-bcs-134

M. Irfan
Sp12-bcs-136

Supervised by
Mr. Muhammad Tariq
Department of Computer Science,
CIIT, Islamabad

June 1st, 2015

Software Requirements Specification for Robotic Floor Cleaner Page ii

Table of Contents
Revision History ........................................................................................................................... iii
1. Introduction ..............................................................................................................................1
1.1 Purpose ........................................................................................................................................ 1
1.2 Scope ........................................................................................................................................... 1
1.3 Definitions, Acronyms and Abbreviations .................................................................................. 1
1.4 References ................................................................................................................................... 2
1.5 Overview ..................................................................................................................................... 2
2. Overall Description ..................................................................................................................2
3. Use Case(s) ................................................................................................................................4
4. Specific Requirements ...........................................................................................................22
4.1 Functionality.............................................................................................................................. 22
4.2 Usability .................................................................................................................................... 28
4.3 Reliability .................................................................................................................................. 28
4.4 Performance............................................................................................................................... 28
4.5 Design Constraints .................................................................................................................... 29
4.6 Purchased Components ............................................................................................................. 29
4.7 Interfaces ................................................................................................................................... 30
4.8 Legal, Copyright, and Other Notices ......................................................................................... 30
Software Requirements Specification for Robotic Floor Cleaner Page iii

Revision History
Name Date Reason For Changes Version
Software Requirements Specification for Robotic Floor Cleaner Page 1

1. Introduction

1.1 Purpose

Buildings like campuses, train stations, hospitals and airports pay huge amounts in terms of
janitorial services to maintain cleanliness and pleasant occupant experience. Despite this
spending occupants usually complain about suboptimal performance of the janitorial staff.
Janitor roosting/scheduling in practice is not adaptive to spatiotemporal cleaning needs of the
building (e.g. near the coffee shop in a train station at 7:00 AM).On the other hand domestic
cleaning robots like Scooba (iRobot) are successfully being deployed at homes to mop the
floors. We believe that cleaning and specifically litter picking and mopping the floor is an
optimization problem in which the optimization objective is a function of occupant density
(spatiotemporal) at a location/facility in a building.

1.2 Scope

This System can be divided into two sub systems i.e. (1) Smart Building server (master) and (2)
Robots (slave). Smart building infrastructure will be responsible for sensing, model/pattern
learning and intelligent Task planning. The robots will obey smart building in a slave mode
while having some low level onboard sensing and control.

1.3 Definitions, Acronyms and Abbreviations

Acronyms Abbreviations
SRS Software Requirement Specification
AI Artificial Intelligent
GB Garbage detector
HDE Human Density Estimator
VS Visual Serving
SBS Smart Building Server

Terms Definition
Interface
Platform through which user communicates with the any system.

Functional Defines a function of a software system or its component. A function is

Requirement described as a set of inputs, the behavior, and outputs.
Software Requirements Specification for Robotic Floor Cleaner Page 2

Non-
Functional A non-functional requirement is a requirement that specifies criteria that can be
Requirement used to judge the operation of a system, rather than specific behaviors.

Blob Binary learn Object is a collection of binary data store as a single entity.

1.4 References

 [IEEE830-1998] standards for SRS documentation.

 URL : https://www.crcpress.com/product/isbn/9781482205374
Accessed: May 27th, 2015, (1430 hours)
 URL : http://en.wikipedia.org/wiki/Foreground_detection
Accessed: May 25th, 2015, (1530 hours)

1.5 Overview

This SRS is organized in a way that any user of the system can easily understand and use the Here
Data Business Solutions. In other words it is a guideline to understand the requirements of the
system.

Basically, this document starts with a brief explanation of the purpose of this document. Later on, it
continues with a problem in a system and then detailed solution we proposed. Also describes
specific functional requirements, interface requirements and constraints that may be confronted
during development.

2. Overall Description

• Product perspective
This project is aimed to robotize the task of floor mopping and garbage/litter picking in
smart building.
These tasks will be planned and executed in a crowd aware fashion and optimized for the
following three objectives:
Obj1: Maximize over all occupants’ space/floor cleanliness experience
Obj2: Lesser hindrance to human occupants and their activities
Obj3: Minimize robot tour lengths and repetition to save energy and cost

• Product functions
o Learn background model
o Detect foreground
Software Requirements Specification for Robotic Floor Cleaner Page 3

o Update background model

o Relearn background model
o Blob pruning
o Blob detection
o Detect human
o Find Projection on the floor
o Accumulate human trajectories
o Learn uncertain region
o Find projection of the garbage on the floor
o Calculate edge lengths
o Recalculate edge length for uncertain region
o Find shortest root
o Track robot
o Feedback control
o Connect to controller
o Calculate motor velocity

• User characteristics
There are no user characteristics in our project.

• Constraints
System has to be calibrated after maintenance.

• Assumptions and dependencies

o Plain surface
o No Electricity issues
o Smart building
Software Requirements Specification for Robotic Floor Cleaner Page 4

3. Use Case(s)

Use Case ID: UC-1.1

Use Case Name: Learn background model

Actors: Visual Servoing

We propose a framework for observing scenes that can be used to

Description: detect unknown objects as well as objects that were removed or
changed.

Trigger: Program Flow

Preconditions: None

Learn background model by detecting the objects using proposed

Post conditions:
framework.

1. Involves calculating a reference image.

Normal Flow: 2. Binary segmentation of image, which highlights the non-
stationary object.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 5

Use Case ID: UC-1.2

Use Case Name: Detect foreground

Actors: Visual Servoing

Detect foreground compares the colours and grey scale video to a

Description: background model to determine whether the individual pixel is part of
background model or foreground.

Trigger: Program Flow

Detect unknown objects as well as objects that were removed or

Preconditions:
changed.

Post conditions: Detect foreground.

1. Detect change in image sequence.

Normal Flow: 2. Analyze the video sequence in real time that are recorded with
IP camera.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: Image sequence are taken by IP camera.

Software Requirements Specification for Robotic Floor Cleaner Page 6

Use Case ID: UC-1.3

Use Case Name: Update background model

Actors: Visual Servoing

Some scene or environment can change after some time; these changes
Description:
should be used to update the background model.

Trigger: Program Flow

The Object that are unascertained and removed or change ,must be

Preconditions:
detected

Post conditions: Updated the background model.

1. Handle dynamic of changes.

Normal Flow: 2. They forget the old background model gradually and absorb the
new background changes.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: Pixel resulted from particular surface under particular lighting.

Software Requirements Specification for Robotic Floor Cleaner Page 7

Use Case ID: UC-1.4

Use Case Name: Relearn background model

Actors: Visual Servoing

The new colors can be incorporated by relearning the background

Description:
model according to all pixels, which lie inside the bounding contour.

Trigger: Program Flow

Preconditions: None

Post conditions: New colors can incorporate by relearning.

Normal Flow: 1. Relearn with respect to pixel for new colors.

2. Preserving intensity component and saving computational cost.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 8

Use Case ID: UC-1.5

Use Case Name: Blob pruning

Actors: Visual Servoing

Description: Blob pruning expunction the waste that gets from blob detection.

Trigger: Program Flow

Preconditions: Detect the blob.

Post conditions: Blob pruning.

1. Detect regions in scaled version of same image.

Normal Flow: 2. Selection mechanism for finding region size, which is covariant
with image transformation.
3. Scale normalization.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 9

Use Case ID: UC-1.6

Use Case Name: Blob detection

Actors: Visual Serving & control

Blob basically is a set of pixel that’s not match with background. “Blob
Description:
detection “detects such blob.

Trigger: Program Flow

Preconditions: None

Post conditions: Blob will detect.

1. Detecting region in digital image.

Normal Flow: 2. That differs in properties.
3. Compare to surrounding region.

Alternative Flow None

Exceptions: None

Special None.
Requirements:

Assumptions: Blob is dark on bright region in an image...

Software Requirements Specification for Robotic Floor Cleaner Page 10

Use Case ID: UC-2.1

Use Case Name: Detect human

Actors: Visual Servoing

Description: Identify moving object from the scene,

Trigger: Program Flow

Preconditions: All cameras are turned ON.

Post conditions: Projection on the floor captured.

Normal Flow: 1. To identify the human density.

2. To capture scene of every moving object.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: IP cameras knows IP address of the system.

Software Requirements Specification for Robotic Floor Cleaner Page 11

Use Case ID: UC-2.2

Use Case Name: Find Projection on the floor

Actors: Visual Servoing

Description: To make rectangular frame so vertical projection on the floor is shown.

Trigger: Program Flow

Preconditions: To check the human density in the distribution area.

Post conditions: None

1. Checking the projection.

Normal Flow: 2. To make rectangular frame.
3. Easy to capture the image along vertical.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: IP cameras knows IP address of the system.

Software Requirements Specification for Robotic Floor Cleaner Page 12

Use Case ID: UC-2.3

Use Case Name: Accumulate human trajectories

Actors: Visual Servoing

The robot revisits the perimeter around the human density so it will
Description: compare the method in term of total trajectory including the distance
transformation.

Trigger: Program Flow

Preconditions: Vertical projection on the floor

Post conditions: Reducing uncertainty region to make a pattern along human density.

Normal Flow: 1. To avoid the human density area

2. To transform the distance along trajectory.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 13

Use Case ID: UC-2.4

Use Case Name: Learn uncertain region

Actors: Visual Servoing

Robot covers each region using boustrophedon pattern to uncover area

Description:
within the region while keeping track of its position uncertainty.

Trigger: Program Flow

Preconditions: All cameras and systems are turned ON.

Post conditions: None

1. To learn the uncertain region

Normal Flow: 2. IP cameras Visualize the pattern
3. To track the uncover region

Alternative Flow None

Exceptions: None

Special
None
Requirements:

Assumptions: IP cameras knows IP address of the system

Software Requirements Specification for Robotic Floor Cleaner Page 14

Use Case ID: UC-3.1

Use Case Name: Find projection of the garbage on the floor

Actors: Visual Servoing

Description: Detect garbage of the floor and make nodes accordingly.

Trigger: Program Flow

The master server should be up and running. It should also be

Preconditions: connected to the IP camera’s, planted at various points of the smart
building.

Post conditions: The garbage nodes location will be forwarded to the UC-12.

1. IP camera (planted at the ceiling) will perform real time

servoing.
Normal Flow:
2. Detect garbage of the floor.
3. Form nodes.

Alternative Flow None

Exceptions: None

Special Server and IP camera.

Requirements:

Assumptions: Connection between SBS and IP camera’s is stable.

Software Requirements Specification for Robotic Floor Cleaner Page 15

Use Case ID: UC-3.2

Use Case Name: Calculate edge lengths

Actors: Visual Servoing

Description: Compute the edge length of nodes created in UC-11.

Trigger: Program Flow

Preconditions: Garbage nodes information i.e. UC-11

Post conditions: The path cost from each node to every other node will be estimated.

1. Input two nodes

Normal Flow: 2. Estimate the cost between these two nodes
3. Go to step 1, until all nodes are visited.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 16

Use Case ID: UC-3.3

Use Case Name: Recalculate edge length for uncertain region

Actors: Visual Servoing

Estimating path cost for nodes which have uncertain region between
Description:
them.

Trigger: Program Flow

Preconditions: Normal path calculation should be performed, i.e. UC-12

Path cost for disordered regions will be made available to the following
Post conditions: processes.

1. Input two nodes.

Normal Flow: 2. The process will compute the path cost between nodes
accordingly.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 17

Use Case ID: UC-3.4

Use Case Name: Find shortest root

Actors: Visual Servoing

The path costs will be compared and the edge with minimum path cost
Description:
will be stored.

Trigger: Program Flow

Path cost of a particular node to every other node should be made

Preconditions:
estimated.

Post conditions: Cheapest path cost from source node to destination node.

1. Input path cost along with nodes.

2. Nodes and their path costs are compared.
Normal Flow:
3. The edge having minimum value will be stored.
4. Go to step 1, until all nodes are visited.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: Each edge cost is optimal.

Software Requirements Specification for Robotic Floor Cleaner Page 18

Use Case ID: UC-3.5

Use Case Name: Track robot

Actors: Robot

The path should be well defined and the slave i.e. robot, should follow
Description:
it consequently. Current position of the robot will be tracked.

Trigger: Program Flow

Shortest path cost from root node to leaf node should have been
Preconditions:
calculated.

Post conditions: Robot current location should be known.

1. Determine the coordinates.

Normal Flow:
2. Return its current location (coordinates) to master.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: The robot is on the move.

Software Requirements Specification for Robotic Floor Cleaner Page 19

Use Case ID: UC-3.6

Use Case Name: Feedback control

Actors: Robot

Do not allow the robot to deviate from its actual path. Keep track if the
Description:
robot is moving according the path defined earlier.

Trigger: Program Flow

Preconditions: The current location of the robot should be known to this process.

Post conditions: The system should know if it is working as defined.

1. Send feedback to the control.

Normal Flow: 2. The controller then will check whether if the robot is moving as
advised or not.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 20

Use Case ID: UC-3.7

Use Case Name: Connect to controller

Actors: Robot

Description: The robot performs handshake with motor controller.

Trigger: Program Flow

Preconditions: The robot should be moving towards its target (garbage).

Post conditions: The connection between robot and the controller should be established.

1. The robot sends request to the motor controller.

2. The motor controller will send an ok message, indicating that
Normal Flow: the connection request has been accepted.
3. The robot will then transmit the ok message to the motor
controller.

Alternative Flow None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 21

Use Case ID: UC-3.8

Use Case Name: Calculate motor velocity

Actors: Robot

Estimate the current velocity of the motor and if it is not moving

Description: according to the plan, correct it by moving it, with a required value in
degree.

Trigger: Program Flow

Preconditions: The robot should be trying to move towards the node (garbage).

Post conditions: The robot should be corrected if it is not traveling on its specified path.

1. The motor velocity feature checks if the robot is not moving

according to the path specified.
Normal Flow:
2. If the robot is not moving on the edge than it is moved towards
the edge.

Alternative
Flow: None

Exceptions: None

Special None
Requirements:

Assumptions: None
Software Requirements Specification for Robotic Floor Cleaner Page 22

4. Specific Requirements

4.1 Functionality

4.1.1 Object Detection

Capture Gestures R-01

Title Object Detection.
Identify the moving object from video sequence
Requirement Frame differencing and adaptive medium filtering.
Source Supervisor
Rationale Establish a framework for cognitive task, such as vision
Restrictions and Risk System to detect and match any object from IP camera.
Dependencies None
Priority High

4.1.2 Check Individual pixel

Send Video R-02

Title Check Individual pixel.
Compare grey scale video and color, to check whether the
Requirement individual pixel is part of background model or foreground.
Source Supervisor
Video are analyze the sequence in real time, that are recorded
Rationale with IP camera

Restrictions and Risk Detect unknown object.

Dependencies R-01
Priority High

4.1.3 Change or Remove Object

Connect to laptop R-03

Title Change or Remove Object.
The Object that are unascertained and removed/change
Requirement must be detected.
Source Supervisor
Rationale Handle the ambiguous dynamics of changes.
Restrictions and Risk None
Dependencies R-01
Priority High
Software Requirements Specification for Robotic Floor Cleaner Page 23

4.1.4 Detection regions in digital image

Android app R-04

Title Detection regions in digital image.
Define as a function of position on image, which based on
Requirement derivatives of function with respect to position.
Source Supervisor
Its provided the complementary information ,that’s not get
Rationale from edge detector or corner detector
All the point is consider in some sense to be similar to each
Restrictions and Risk other.
Dependencies R-01,R-03
Priority High

4.1.5 Scale normalization

Send app data R-05

Title Scale normalization.
Find local image structures in a repeatable fashion and
Requirement encoded to representation that invariant to range of image
transformation.
Source Supervisor
Rationale Reduce the effect of illumination’s differences.
Restrictions and Risk Depend upon particular individual and its environment.
Dependencies R-04
Priority High

4.1.6 Select region

Select region R-06

Title Select region
On the basis of visual and sensory data robot should select
Requirement region to clean.
Source Supervisor
Rationale Robot should know which region to clean.
Restrictions and Risk None
Dependencies R-10
Priority High
Software Requirements Specification for Robotic Floor Cleaner Page 24

4.1.7 Path planner

Path planner R-07

Title Path planner
Once Robot recognizes the given command, robot should
Requirement move to that selected region to fulfill the given command.
Source Supervisor
Shortest path should be provided to robot for the selected
Rationale region.
Restrictions and Risk None
Dependencies R-10
Priority High

4.1.8 Avoid collisions with humans

Avoid collisions R-08

Title Avoid collisions with humans.
Robot should not collide with any human. It should be
Requirement aware of the environment such that no collision occurs
between robot and any human.
Source Supervisor
If not specified to the robot it can lead to some serious
Rationale damage to the human or robot.
Restrictions and Risk None
Dependencies R-07
Priority High

4.1.9 Master Server

Server R-09
Title Master Server
A server is needed which shall be able to listen all the time
Requirement for any kind of data from each sensor, camera and other
devices.
Source Supervisor
Rationale Data plays a vital role for making decisions
Restrictions and Risk If server is not responding it may result in failure
Dependencies R-03.
Priority High

4.1.10 Find projection of the garbage on the floor

Select region R-10

Title Find projection of the garbage on the floor
Requirement Detect garbage of the floor and make nodes accordingly...
Source SBS
Rationale IP cameras should recognize the region.
Restrictions and Risk None
Dependencies None
Priority High
Software Requirements Specification for Robotic Floor Cleaner Page 25

4.1.11 Calculate edge lengths

Select region R-11

Title Calculate edge lengths
Requirement Estimate the path cost of nodes.
Source Visual Servoing
Rationale Edge Length must be optimal.
Restrictions and Risk None
Dependencies R-10
Priority High

4.1.12 Recalculate edge length for uncertain region

Select region R-12

Title Recalculate edge length for uncertain region
Compute path cost of nodes with disordered region
Requirement between them.
Source Visual Servoing
Rationale Edge Length must be optimal.
Restrictions and Risk None
Dependencies R-11
Priority High

4.1.13 Find shortest root

Select region R-13

Title Find shortest root
Using heuristic methodology, path with minimum cost will
Requirement be selected.
Source Visual Servoing
Rationale Select optimal path cost.
Restrictions and Risk None
Dependencies R-12
Priority High

4.1.14 Track robot

Select region R-14

Title Track robot
Requirement Current position of the robot should be tracked.
Source Robot
Rationale The path should be well defined for the slave.
Restrictions and Risk R-13
Dependencies None
Priority High
Software Requirements Specification for Robotic Floor Cleaner Page 26

4.1.15 Feedback control

Select region R-15

Title Feedback control
Keep track if the robot is moving according the path
Requirement defined earlier.
Source Robot
Rationale Do not allow the robot to deviate from its actual path.
Restrictions and Risk None
Dependencies R-14
Priority High

4.1.16 Connect to controller

Select region R-16

Title Connect to controller
Requirement The robot performs handshake with motor controller.
Source Robot
Rationale Stable connection between motor controller and robot.
Restrictions and Risk None
Dependencies R-15
Priority High

4.1.17 Calculate motor velocity

Select region R-17

Title Calculate motor velocity
If it is not moving according to the path specified, correct
Requirement its path by moving it, with a required value in degree.
Source Robot
Rationale Estimate the current velocity of the motor
Restrictions and Risk None
Dependencies R-16
Priority High

4.1.18 Find projection of the garbage on the floor

Select region R-18

Title Find projection of the garbage on the floor
Requirement Detect garbage of the floor and make nodes accordingly...
Source SBS
Rationale IP cameras should recognize the region.
Restrictions and Risk None
Dependencies R-17
Priority High
Software Requirements Specification for Robotic Floor Cleaner Page 27

4.1.19 Recognize the projection

Server R-19
Title Recognize the projection
Requirement A server is needed to know the influence of projection.
Source Supervisor
Rationale Vertical projection gives better view of object on the floor.
Restrictions and Risk System must connect with the IP cameras.
Dependencies None
Priority High

4.1.20 Uncovered region

Server R-20
Title Uncovered region
Requirement Robot visits the area where less human density.
Source Supervisor
Robot revisits the region following the instruction from
Rationale server.
Restrictions and Risk If server is not responding it may result in failure
Dependencies R-09.
Priority High

4.1.21 Record environment uncertainty

Server R-21
Title Record environment uncertainty
Master server learns uncertainty of changing environment
Requirement patterns.
Source Supervisor
Rationale Data plays a vital role for making decision.
Restrictions and Risk Server must connected to the IP cameras
Dependencies None
Priority High

4.1.22 Detect scene edges

Server R-22
Title Detect scene edges
Process the learn data to acquire data needed to trigger
Requirement events.
Source Supervisor
Rationale Suitable data acquired to trigger events.
Restrictions and Risk Data should not be erroneous.
Dependencies None
Priority High
Software Requirements Specification for Robotic Floor Cleaner Page 28

4.2 Usability

4.2.1 Usability Requirement

Identifier UR1
Title Training time
Requirement The cumulative training time will be at least 5 hours.
Source Supervisor
Priority High

4.3 Reliability

4.3.1 Reliability Requirement

Identifier RR1
Title Accuracy

Requirement The system will calculate the accurate distance. And its
accuracy will be tested by the accuracy testing report.
Source Supervisor
Dependencies Motor controller, IP camera
Priority High
Identifier RR2
Title Bugs or Defect Rate

Requirement It will be calculated after go through the accuracy

testing report.
Source Supervisor
Dependencies RR1
Priority High

4.4 Performance

4.4.1 Performance Requirement One

Identifier PR1
Title Resource utilization
Beagleboard-xM, Raspberry Pi 2 Model-B ,Audnio ,Kinect
Requirement , IP camera, Irobotcrete-2
Source Supervisor
Priority High
Software Requirements Specification for Robotic Floor Cleaner Page 29

Identifier PR2
Title Response time
Requirement Time required moving the robot should be less than 0.5 s.
Source Supervisor
Priority High

4.5 Design Constraints

4.5.1 Design Constraint One

Identifier DC1
Title Limitation of Kinect
Requirement Kinect calculates the motion accurately within 6 feet.
Source Supervisor
Priority High

Identifier DC2
Title Tools used

Software Tools: Kinect, OpenNI, OpenCV, Python,

C++,Node.js,NPM,NAN
Requirement
Hardware Tools : Kinect, motion sensor, Arduino card,
Raspberri Pi, Beagle Bone and irobotcreate-2
Source Supervisor
Priority High

Identifier DC3
Title Limitation of Camera
Requirement Video result would be camera dependent.
Source Supervisor
Priority High

4.6 Purchased Components

Kinect, motion sensor, Arduino card, Raspberri Pi, Beagle Bone, and irobotcreate-2.
Software Requirements Specification for Robotic Floor Cleaner Page 30

4.7 Interfaces

4.7.1 User Interfaces

No user interfaces will be provided.

4.7.2 Hardware Interfaces

Kinect used for objects detection, Arduino is used as motor controller, Beagleboard and
raspberry pi to make it efficient.

4.7.3 Software Interfaces

Sockets and Ports are used for data connectivity while streams for saving the videos.

4.7.4 Communications Interfaces

We are using Linux OS (Angstrom, NOOBS, Debian) and UDP, Wi-Fi required for internet
connectivity.

4.8 Legal, Copyright, and Other Notices

We have signed a work-for-hire contract with the representative of our foreign client and we
have transferred all ownerships and copyrights of the hardware and software we will make;
moreover we have waved all developer moral rights with respect to this project in favor of the
representative of our clients.