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                "This is a small repair droid similar to the MSE-6 used on death star 1.\n",
                "\n",
                "This structure of the system architecture is loosely based on arc42.\n",
                "The software architecture in chapter D0019#id follows more exactly the arc42.org template\n",
                "proposed by Gernot Starke and Peter Hruschka.\n",
                "\n",
                "Copyright 2020-2025 Andreas Warnke\n",
                "License:\n",
                "Choose either Apache-2.0\n",
                "or Creative Commons Attribution (BY) Licence"
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                "These are deployed onto the logic boards shown in D0018#name.\n",
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                "In this section, this view is further detailed to software elements, their relations and interactions."
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                "This section shows the goals of the software development for the MoD5G (Problem Space, Software Level)\n",
                "\n",
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        "description": [
                "Limp Home is a critical functionality of the system.\n",
                "Dis diagram lists the system elements that are needed for its execution."
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        "description": [
                "This section explains the used terms. (Domain and Solution Space, System Level)\n",
                "\n",
                "See also D0034#name for software terms."
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        "type": "UMLProfileDiagram",
        "name": "Stereotypes on \"What to build\"",
        "description": [
                "Stereotypes allow a classification of elements into project-specific categories.\n",
                "\n",
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                "The mouse droid is a repair droid.\n",
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                "replaces damaged parts, re-configures program logic if needed and\n",
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                "The Mouse Droid (MoD5G) is a repair droid that can be instructed to perform a mission and which then autonomously selects tactics to achieve the mission goals."
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                "- The commander programs a mission\n",
                "- The mouse droid drives to the first location\n",
                "- The mouse droid uses tools to remove a defective part\n",
                "- The mouse droid installs a spare part\n",
                "- Above steps are repeated for further mission objectives\n",
                "- The mouse droid returns to its base location (see D0013#name)"
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                "\n",
                "- The mouse droid explores its environment\n",
                "- The mouse droid enriches an internally memorized map\n",
                "- The mouse droid calculates a route\n",
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                "- The mouse droid re-caclulates the route in case of new environment data\n",
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                "\n",
                "- The mouse droid uses a screw diver to untighten damaged parts\n",
                "- The mouse droid uses a gripper to move the damaged part out of the way\n",
                "- The mouse droid uses a gripper to put a spare part from its internal cargo bin to the target place\n",
                "- The mouse droid uses a screw diver to tighten replaced parts\n",
                "- The mouse droid uses a gripper to move the damaged part into its internal cargo bin.\n",
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                "The MoD5 hardware parts shall be exchangeable\n",
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                "The MoD5G shall allow to analyze faults\n",
                "that occurred during operation."
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        "description": [
                "At the maintenance booth, \n",
                "the MoD5G shall provide an error log.\n",
                "This error log contains detected errors from operation\n",
                "and related environment conditions.\n",
                "It also lists possible causes(faults)."
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    {
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        "main_type": 101,
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        "description": [
                "pre-condition:\n",
                "- the MoD5G is performing a 1-day mission autonomously\n",
                "\n",
                "trigger:\n",
                "- a motor fails to operate\n",
                "- the goals of the 1-day mission cannot be accomplished anymore\n",
                "\n",
                "scenario:\n",
                "- the MoD5G cancels the mission and returns to the service point\n",
                "- a service mechanic reads out the error log\n",
                "- the MoD5G proposes to replace the suspicious motor\n",
                "- the service mechanic replaces the motor"
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        "description": [
                "pre-condition:\n",
                "- the stock of MoD5G spare parts is empty\n",
                "\n",
                "trigger:\n",
                "- 20 years after production, \n",
                "  a MoD5G needs a spare part that is not available anymore\n",
                "\n",
                "scenario:\n",
                "- a service mechanic orders a batch of parts\n",
                "- a factory creates the parts that fit in form, function and quality to the MoD5G\n",
                "- spare parts are delivered"
        ],
        "x_order": 1829101533,
        "y_order": 764961525,
        "list_order": -786906725,
        "uuid": "9d4af7da-01ca-4f39-a1e8-4bb44062f07d",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 18,
        "main_type": 90,
        "type": "Block",
        "stereotype": "HW",
        "name": "Mechanical Parts",
        "description": [
                "The mechanical parts encompass all parts of which the mouse droid consists.\n",
                "From outside, the chassis and wheels are the most obvious parts.\n",
                "Inside, a skeleton frame provides stability of the assembly.\n",
                "\n",
                "Important charactereistics are weight, operating temperature range, durability, stability."
        ],
        "x_order": -498449590,
        "y_order": -1721520797,
        "list_order": -1067603612,
        "uuid": "2f324056-c955-4a38-9b47-b3a64b19072c",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 19,
        "main_type": 90,
        "type": "Block",
        "stereotype": "EE",
        "name": "Electrical Parts and Electronics",
        "description": [
                "The main components of the electric parts are:\n",
                "- a set of cables and connectors\n",
                "- a set of sensors and actuators\n",
                "- the energy cell\n",
                "- two printed circuit boards (PCB) containing the electronic parts"
        ],
        "x_order": -855507639,
        "y_order": -1168769568,
        "list_order": -1161718484,
        "uuid": "c1419268-c407-4e91-a9de-386c65b7459b",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 20,
        "main_type": 124,
        "type": "Package",
        "stereotype": "SW",
        "name": "Main Logic Software",
        "description": [
                "The software consists of control logic, initial data that was integrated at the factory and learned data that is aggregated during operation.\n",
                "\n",
                "These software items are split over two logical boards and subdivided into independent execution partitions."
        ],
        "x_order": -1044323579,
        "y_order": -1886953723,
        "list_order": -1157712888,
        "uuid": "4165e459-348c-4ed7-990e-673bb9c0d3b4",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 21,
        "main_type": 112,
        "type": "InteractionUse",
        "name": "Power States",
        "description": [
                "refers to D0020#name"
        ],
        "x_order": -418684660,
        "y_order": -808409892,
        "list_order": -808409892,
        "uuid": "9e2fedc7-9bfe-42d3-a614-4430cf2f22ed",
        "features":
        [
          {
            "id": 16,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "9813878d-d7a7-4045-ab91-93b2b18e916b"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 22,
        "main_type": 112,
        "type": "InteractionUse",
        "name": "Health States",
        "description": [
                "refers to D0021#name"
        ],
        "x_order": 1340279551,
        "y_order": -914544445,
        "list_order": -914544445,
        "uuid": "2dac33c1-0fdb-4a5f-80b2-3789f935a700",
        "features":
        [
          {
            "id": 17,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "972434aa-e165-4a40-b79d-e01d495fc4b7"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 23,
        "main_type": 151,
        "type": "InitialNode",
        "name": "power::startup",
        "description": [
                "The startup pseudo-state indicates where the transitions start when powered on."
        ],
        "x_order": -1435114084,
        "y_order": -1789882235,
        "list_order": 631833351,
        "uuid": "1d589448-3619-46f2-9ce5-59a227a1f329",
        "features":
        [
          {
            "id": 22,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "836b7e7a-9f82-4194-b786-a8d1abba049f"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 24,
        "main_type": 110,
        "type": "Activity",
        "name": "power::booting",
        "description": [
                "While the MoD5G is in booting state, the MoD5G can not yet react on input data; input signals from sensors are queued for later processing."
        ],
        "x_order": 1513277740,
        "y_order": -1659012173,
        "list_order": -1226921159,
        "uuid": "b6e14925-4440-4700-b154-d33db39a5949",
        "features":
        [
          {
            "id": 23,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "40697816-a89d-417e-a194-62aaa0262f65"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 25,
        "main_type": 110,
        "type": "Activity",
        "name": "power::full_operation",
        "description": [
                "While the MoD5G is in full_operation state, all software parts are running and able to react on input data."
        ],
        "x_order": 805953490,
        "y_order": -1583691534,
        "list_order": -1321681193,
        "uuid": "e1199457-1249-4585-9dc2-85d7dff7e2b4",
        "features":
        [
          {
            "id": 21,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "31f09b53-bb0e-4bf5-b3ef-63a3a2c02071"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 26,
        "main_type": 110,
        "type": "Activity",
        "name": "power::energy_saving",
        "description": [
                "While the MoD5G is in energy saving state, the MoD5G does not react on input data. Only few wakeup mechanisms can caus a transition to full operation."
        ],
        "x_order": 1139012495,
        "y_order": -1194731099,
        "list_order": -607336322,
        "uuid": "6af446f7-9194-4af4-aace-cf49c4abe994",
        "features":
        [
          {
            "id": 24,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "5e4e496f-db00-4592-a7d8-a2f8f5e94845"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 27,
        "main_type": 152,
        "type": "ActivityFinalNode",
        "name": "power::off",
        "description": [
                "The off pseudo-state indicates where the transition logic ends when powered off."
        ],
        "x_order": -1435114084,
        "y_order": -1194731099,
        "list_order": 865088819,
        "uuid": "49ac163f-507a-4691-a7cf-fc219bef2a90",
        "features":
        [
          {
            "id": 20,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "e88532af-2b15-4e59-be68-757c62d7c351"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 28,
        "main_type": 151,
        "type": "InitialNode",
        "name": "health::factory",
        "description": [
                ""
        ],
        "x_order": -1408053593,
        "y_order": -1547710079,
        "list_order": -1544459240,
        "uuid": "325755c3-e9e8-4f9f-8391-d7dc155e7ed5",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 29,
        "main_type": 152,
        "type": "ActivityFinalNode",
        "name": "health::disposal",
        "description": [
                ""
        ],
        "x_order": 557710743,
        "y_order": -316525372,
        "list_order": -316525372,
        "uuid": "4f2dd295-be68-415b-8210-686c2d3b9125",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 30,
        "main_type": 111,
        "type": "StateMachine",
        "name": "health::healthy",
        "description": [
                ""
        ],
        "x_order": 388228871,
        "y_order": -1547710079,
        "list_order": -1819488490,
        "uuid": "7c8b5091-abcd-4886-8309-52114d18b35c",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 31,
        "main_type": 111,
        "type": "StateMachine",
        "name": "health::slightly_damaged",
        "description": [
                ""
        ],
        "x_order": 557710743,
        "y_order": -1547710079,
        "list_order": -1595072604,
        "uuid": "00a46df1-c0b7-40ab-8363-08d12041357b",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 32,
        "main_type": 111,
        "type": "StateMachine",
        "name": "health::limp_home",
        "description": [
                "In case the full operation is not possible anymore, the MoD5G shall drive back to the home charging station."
        ],
        "x_order": 452796978,
        "y_order": -1494769192,
        "list_order": -1547890631,
        "uuid": "f8d4abb9-dc1f-44cc-96f9-c5e7c40e2613",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 33,
        "main_type": 111,
        "type": "StateMachine",
        "name": "health::damaged",
        "description": [
                ""
        ],
        "x_order": 388228871,
        "y_order": -1317410890,
        "list_order": -1446714493,
        "uuid": "8f316599-0438-461d-a03c-720192b86a33",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 34,
        "main_type": 111,
        "type": "StateMachine",
        "name": "health::operation",
        "description": [
                ""
        ],
        "x_order": 452796978,
        "y_order": -1544459240,
        "list_order": -1544459240,
        "uuid": "79cf3abc-cb16-4e68-8b2d-aff55d6ae108",
        "features":
        [
          {
            "id": 18,
            "main_type": 9,
            "type": "Pseudostate",
            "key": "no_op",
            "description": [
                ""
            ],
            "list_order": 1116559325,
            "uuid": "4da1d8ce-2ba5-48c1-8d4d-8194b0b0bc4d"
          },
          {
            "id": 19,
            "main_type": 8,
            "type": "Pseudostate",
            "key": "op_start",
            "description": [
                ""
            ],
            "list_order": 44134258,
            "uuid": "56d84592-786a-4c2a-827a-cabe45a074a5"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 35,
        "main_type": 90,
        "type": "Block",
        "stereotype": "mouse-droid",
        "name": "Chassis",
        "description": [
                ""
        ],
        "x_order": -1042125167,
        "y_order": -1054017037,
        "list_order": -1009293162,
        "uuid": "be342de8-62c6-456f-b09a-5160c670dc04",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 36,
        "main_type": 90,
        "type": "Block",
        "name": "Cargo Bin",
        "description": [
                "A cargo bin allows to transport replacement parts to repair remote systems."
        ],
        "x_order": 645157058,
        "y_order": -1080714627,
        "list_order": -1054051627,
        "uuid": "fb814893-cb03-454a-96aa-6ae8c313096d",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 37,
        "main_type": 90,
        "type": "Block",
        "name": "Screw Driver",
        "description": [
                "A screw driver can rotate screws. It is one of several tools fixed on top of the Tool-Arm."
        ],
        "x_order": 645157058,
        "y_order": -1412570674,
        "list_order": -1051609196,
        "uuid": "848376fc-1475-4adc-b35f-200e17103025",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 38,
        "main_type": 90,
        "type": "Block",
        "name": "Wheels (4)",
        "description": [
                "The functionality of wheels is to transform a torque force into movement of the MoD5G."
        ],
        "x_order": 645157058,
        "y_order": -1053978658,
        "list_order": -1053905027,
        "uuid": "04cb61e7-d4ba-4d16-b6c2-56e595b238af",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 39,
        "main_type": 90,
        "type": "Block",
        "name": "Fan",
        "description": [
                "A fan prevents overheating in hot environment conditions."
        ],
        "x_order": -855507639,
        "y_order": -1053978658,
        "list_order": -1051813110,
        "uuid": "5e00054a-23a4-4e74-8029-628d165a7c3d",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 40,
        "main_type": 90,
        "type": "Block",
        "name": "Motors",
        "description": [
                "There are two motors to drive and steer and further motors to control the movement of a tool-arm."
        ],
        "x_order": -203135287,
        "y_order": -1053978658,
        "list_order": -1053978658,
        "uuid": "df5a9168-c8b7-4926-a479-cde71d3d1b57",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 41,
        "main_type": 90,
        "type": "Block",
        "stereotype": "env-perception",
        "name": "Camera",
        "description": [
                "A camera records the video signal of the environment."
        ],
        "x_order": -1130653626,
        "y_order": -1168769568,
        "list_order": -1053965549,
        "uuid": "fb66c906-d06a-4518-8701-229af4169a30",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 42,
        "main_type": 90,
        "type": "Block",
        "stereotype": "env-perception",
        "name": "Microphone",
        "description": [
                "A microphone records the audio signal of the environment."
        ],
        "x_order": -1130653626,
        "y_order": -1412570674,
        "list_order": -1054017037,
        "uuid": "9b8074dd-bb9a-4540-86d5-a1bdf90bf1b7",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 43,
        "main_type": 90,
        "type": "Block",
        "name": "Loud Speaker",
        "description": [
                "A loud speaker allows to produce single-frequency audio signals."
        ],
        "x_order": -920059638,
        "y_order": -1053978658,
        "list_order": -1053973790,
        "uuid": "a0389bb7-689b-4a48-bb56-08038f4db4fc",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 44,
        "main_type": 90,
        "type": "Block",
        "name": "Programming and Diagnostic Connector",
        "description": [
                "A connector allows to attach a cable. Via this cable, self diagnosis and re-programming can be performed."
        ],
        "x_order": -1130653626,
        "y_order": -1080714627,
        "list_order": -1054003895,
        "uuid": "4247b2e1-f3da-4356-81c5-160af47f3e11",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 45,
        "main_type": 90,
        "type": "Block",
        "name": "Charging Connector",
        "description": [
                "A connector allows to attach a cable. Via this cable, the energy cell can be re-charged."
        ],
        "x_order": -858822106,
        "y_order": -1053978658,
        "list_order": -1053968664,
        "uuid": "c066d6a7-1959-4300-9aad-a75cb496da36",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 46,
        "main_type": 90,
        "type": "Block",
        "name": "Energy Cell",
        "description": [
                "An energy cell provides power sufficient for one 1-day mission."
        ],
        "x_order": -1044323579,
        "y_order": -1053978658,
        "list_order": -1054007896,
        "uuid": "a4d4ef8c-8379-4048-820d-37c61d72894e",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 47,
        "main_type": 90,
        "type": "Block",
        "name": "Main Logic Board",
        "description": [
                "The main logic board consists of several electronic parts shown in D0022#name."
        ],
        "x_order": -1044323579,
        "y_order": -1137259057,
        "list_order": -1127573923,
        "uuid": "ff9e0b80-c92f-4986-9bfe-b2b4cd81d47a",
        "features":
        [
          {
            "id": 1,
            "main_type": 6,
            "type": "Port",
            "key": "camera connector",
            "description": [
                ""
            ],
            "list_order": 523433152,
            "uuid": "c4e66459-04e8-45c7-9ab9-e0fde6b2ead9"
          },
          {
            "id": 2,
            "main_type": 6,
            "type": "Port",
            "key": "microphone connector",
            "description": [
                ""
            ],
            "list_order": -371352641,
            "uuid": "168231f5-4ca5-4ae2-92a1-96da722d4bdd"
          },
          {
            "id": 8,
            "main_type": 2,
            "type": "Port",
            "key": "base board connector",
            "description": [
                ""
            ],
            "list_order": -1505737656,
            "uuid": "46bf6bfc-fb70-4850-b07e-3e5a0745cbe2"
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        ]
      }
    },
    {
      "classifier": {
        "id": 48,
        "main_type": 90,
        "type": "Block",
        "name": "Base Logic Board",
        "description": [
                "The base logic board consists of several electronic parts shown in D0035#name.\n",
                "\n",
                "It provides functionality to detect health status of MoD5G components, it steers motors."
        ],
        "x_order": -790789043,
        "y_order": -1137259057,
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        "uuid": "544ce34e-748c-4962-94cd-24f4c6f0ea72",
        "features":
        [
          {
            "id": 31,
            "main_type": 2,
            "type": "Port",
            "key": "main board connector",
            "description": [
                ""
            ],
            "list_order": 268225099,
            "uuid": "9a17d951-dd65-4a2b-bf5e-c1bb6db4563b"
          },
          {
            "id": 49,
            "main_type": 7,
            "type": "Port",
            "key": "speaker connector",
            "description": [
                ""
            ],
            "list_order": 915814031,
            "uuid": "a538b940-007d-4236-991f-b2e674e0c275"
          },
          {
            "id": 50,
            "main_type": 7,
            "type": "Port",
            "key": "motor connector",
            "description": [
                ""
            ],
            "list_order": 1495737960,
            "uuid": "926d9611-b320-4fa4-abaf-d39b0927bcc9"
          },
          {
            "id": 51,
            "main_type": 2,
            "type": "Port",
            "key": "diagnostic connector",
            "description": [
                ""
            ],
            "list_order": 1250395623,
            "uuid": "21c590d1-efac-448e-b28d-dd2565b86d99"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 49,
        "main_type": 90,
        "type": "Block",
        "name": "PMIC",
        "description": [
                "Power Management Integrated Circuit"
        ],
        "x_order": -855793269,
        "y_order": -1081426715,
        "list_order": -1133597166,
        "uuid": "0b05d10e-67ac-4c11-9995-146a103d2ff2",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 51,
        "main_type": 90,
        "type": "Block",
        "name": "Base Micro Controller",
        "description": [
                "The base micro controller consists of\n",
                "- logic unit\n",
                "- data storage\n",
                "- persistent data+logic storage\n",
                "- self supervision (by ECC and lockstep-cores)\n",
                "- HW watchdog\n",
                "- clock\n",
                "- temperature sensor\n",
                "- io ports\n",
                "\n",
                "This block is optimized for providing a reliable execution of algorithms, see D0011#name."
        ],
        "x_order": -858822106,
        "y_order": -1137259057,
        "list_order": -1134806008,
        "uuid": "d505e906-e1bb-4d07-9a3a-76052334bf16",
        "features":
        [
          {
            "id": 3,
            "main_type": 7,
            "type": "Port",
            "key": "motor control",
            "description": [
                ""
            ],
            "list_order": 1602391937,
            "uuid": "001ecb64-b47f-4387-b256-2f50e99c203c"
          },
          {
            "id": 4,
            "main_type": 7,
            "type": "Port",
            "key": "speaker",
            "description": [
                ""
            ],
            "list_order": 889345449,
            "uuid": "0c7cc002-e769-4914-ac08-cb08a480273b"
          },
          {
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        "list_order": -539740535,
        "uuid": "cd72d494-8752-47a5-b059-bf119e7a477b",
        "features":
        [
          {
            "id": 72,
            "main_type": 2,
            "type": "Port",
            "key": "charge connector",
            "description": [
                ""
            ],
            "list_order": 736858111,
            "uuid": "d19c9719-423c-435d-a8c9-281dd9695bf3"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 98,
        "main_type": 120,
        "type": "Node",
        "name": "Maintenance Booth",
        "description": [
                "A thie booth, a mechanic analyzes the health of the MoD5G and replaces parts if damaged."
        ],
        "x_order": 399546593,
        "y_order": 514857488,
        "list_order": -501102168,
        "uuid": "23cf0561-9d20-41fb-a1dc-63ea57de52f3",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 99,
        "main_type": 130,
        "type": "Comment",
        "name": "Motor Type",
        "description": [
                "All motors are electrical step motors.\n",
                "\n",
                "Step motors can be controlled\n",
                "to move a defined number of steps\n",
                "forward or backwards.\n",
                "\n",
                "Note that there are conditions\n",
                "when the actual number of steps\n",
                "is not equal to the previously requested \n",
                "number of steps, e.g. when accellerating\n",
                "or slowing down too fast."
        ],
        "x_order": -708080557,
        "y_order": -1267273974,
        "list_order": -1267273974,
        "uuid": "17e88f00-df0e-4c0a-a400-a2ead53b9265",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 100,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "rejected_alternative",
        "name": "2 of 3 Voter",
        "description": [
                "In order to support integrity of the system, the logic boards and the data storages are deployed three times as three identical parts.\n",
                "\n",
                "All three parts shall produce the same outcomes given the same input.\n",
                "\n",
                "If one deviates, it's result is ignored and the part is rebooted."
        ],
        "x_order": 1616040324,
        "y_order": -1072059302,
        "list_order": -1198108703,
        "uuid": "d08d2864-7bfb-40b8-aadf-7d7e195bc9e2",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 101,
        "main_type": 130,
        "type": "Comment",
        "name": "Cosmic Rays Information",
        "description": [
                "When a cosmic ray interferes with the system, \n",
                "the logic or the processed data gets corrupted."
        ],
        "x_order": 1319115506,
        "y_order": -1292579796,
        "list_order": 998414534,
        "uuid": "e8222fca-a1d1-4ba4-a1e7-b24e0dd92b30",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 102,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "chosen_alternative",
        "name": "Watchdog Supervision",
        "description": [
                "In order to support integrity of the logic and data,\n",
                "a multi-stage hierarchy supervision shall be implemented.\n",
                "\n",
                "Software watchdogs shall supervise the running software parts\n",
                "in a way that logic errors and corrupted data can be detected.\n",
                "\n",
                "A hardware watchdog shall supervise the software watchdogs.\n",
                "\n",
                "In case of a failure in the supervised logic/data, the system shall reboot.\n",
                "In case of a failure in the monitors, the system may reboot\n",
                "or it shall fall back to a valid supervision mode.\n",
                "\n",
                ""
        ],
        "x_order": 1616040324,
        "y_order": 1042392306,
        "list_order": -466042240,
        "uuid": "f60c61af-4533-43df-a957-e8df8638e4d8",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 103,
        "main_type": 130,
        "type": "Comment",
        "stereotype": "decision",
        "name": "Decision: Watchdog",
        "description": [
                "Arguments:\n",
                "\n",
                "- The 2 of 3 voter is easier to implement but causes higher hardware costs.\n",
                "- The watchdog supervision requires higher engineering efforts but is cheaper in production.\n",
                "\n",
                "The watchdog supervision shall be implemented."
        ],
        "x_order": 1337529257,
        "y_order": 1572987452,
        "list_order": 1572987452,
        "uuid": "2d660d61-d795-4421-823d-32f81de44f8a",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 104,
        "main_type": 130,
        "type": "Comment",
        "name": "Maintenance booth",
        "description": [
                "A room in a star ship or on a planet\n",
                "where the following tasks are performed:\n",
                "- check operability of droids\n",
                "- oil refill service\n",
                "- repair of droids\n",
                "- disintegration of old droids"
        ],
        "x_order": -1039660097,
        "y_order": 0,
        "list_order": 0,
        "uuid": "c5028436-9986-438b-a493-d1c5b404d1fa",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 106,
        "main_type": 121,
        "type": "Component",
        "stereotype": "env-perception",
        "name": "Video Capture",
        "description": [
                ""
        ],
        "x_order": -2013418888,
        "y_order": -1399038054,
        "list_order": -902947928,
        "uuid": "b2aa2f14-3a18-4561-8d48-a530bb10b0f0",
        "features":
        [
          {
            "id": 15,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "6a4b3169-b5d8-4d44-87ed-79057d1653f9"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 107,
        "main_type": 121,
        "type": "Component",
        "stereotype": "env-perception",
        "name": "Audio Capture",
        "description": [
                ""
        ],
        "x_order": -1693475552,
        "y_order": -1399038054,
        "list_order": -1610217844,
        "uuid": "b0df744b-cc68-4bc2-9faa-773b248a9e1a",
        "features":
        [
          {
            "id": 14,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "b27df345-c804-4482-b0db-63feb48d11d6"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 108,
        "main_type": 121,
        "type": "Component",
        "stereotype": "main_logic",
        "name": "Tactics Calculator",
        "description": [
                "Calculate tactics based on given strategy and current situation model"
        ],
        "x_order": -1335010474,
        "y_order": -1229662522,
        "list_order": 470202357,
        "uuid": "683c4a3d-e049-4411-9def-9d46674b3de4",
        "features":
        [
          {
            "id": 12,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "e12195e1-14a6-4cb4-8982-2b29a62f622e"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 109,
        "main_type": 121,
        "type": "Component",
        "name": "Motor Controller",
        "description": [
                "Move motors according to calculated tactics"
        ],
        "x_order": -377673688,
        "y_order": -1289206389,
        "list_order": 1020826245,
        "uuid": "fb990bd5-8607-4c2f-adac-47ffcd5c4cac",
        "features":
        [
          {
            "id": 11,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "61d0bfc9-9f7f-49a0-a8be-edc3d60ce878"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 110,
        "main_type": 125,
        "type": "Class",
        "stereotype": "data",
        "name": "Situation Model",
        "description": [
                "The situation model refers to the (limited/erroneous) knowledge of the software on environment and status."
        ],
        "x_order": -730047271,
        "y_order": -1529639812,
        "list_order": -1325864954,
        "uuid": "05605867-3b88-4e38-935d-719cb370309e",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 111,
        "main_type": 125,
        "type": "Class",
        "stereotype": "data",
        "name": "Environment Model",
        "description": [
                "The enironment model refers to the (limited) knowledge of the software on the real environment."
        ],
        "x_order": 1163634552,
        "y_order": -1289206389,
        "list_order": -314934184,
        "uuid": "708764c9-b3ee-4a12-8aa8-b0071793a47d",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 112,
        "main_type": 125,
        "type": "Class",
        "stereotype": "data",
        "name": "MoD5G-Status Model",
        "description": [
                "The status model refers to the (limited) knowledge of the software on the real status."
        ],
        "x_order": -474535909,
        "y_order": 1055531420,
        "list_order": 773928833,
        "uuid": "d00c46f5-7f79-4f5e-bd07-5f3f955e716a",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 113,
        "main_type": 125,
        "type": "Class",
        "name": "Real Situation",
        "description": [
                "The real situation refers to the reality of system status and environment."
        ],
        "x_order": 1447454445,
        "y_order": -1529639812,
        "list_order": -1529639812,
        "uuid": "0d8a7e7a-b589-4387-88e9-34f62a438589",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 114,
        "main_type": 125,
        "type": "Class",
        "name": "Real Environment",
        "description": [
                "The real environment refers to the physical environment of the system."
        ],
        "x_order": 1690871009,
        "y_order": -1289206389,
        "list_order": -100641476,
        "uuid": "59fc1a69-283e-480c-a90c-6567fee4296e",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 115,
        "main_type": 125,
        "type": "Class",
        "name": "MoD5G Real Status",
        "description": [
                "The real status refers to the real system status of the MoD5G. This may differ from what the sensors report."
        ],
        "x_order": 1564903573,
        "y_order": 1055531420,
        "list_order": 1055531420,
        "uuid": "11f55c66-ff62-4fe2-b170-06399fd665d2",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 116,
        "main_type": 130,
        "type": "Comment",
        "stereotype": "mouse-droid",
        "name": "Guiding Main Principles",
        "description": [
                "The functions of the MoD5G are divided onto two logic boards.\n",
                "The main logic\n",
                "gets sensor data of the environment and \n",
                "calculates movement actions to efficiently fulfill the mission (that was programmed before).\n",
                "The base logic\n",
                "gets local sensor information and \n",
                "controls things within the system boundary of the MoD5G."
        ],
        "x_order": -908657191,
        "y_order": -186501372,
        "list_order": 442776994,
        "uuid": "1eba76f4-44e6-4eb0-ae3c-7d409912ab90",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 117,
        "main_type": 130,
        "type": "Comment",
        "stereotype": "locigal_form",
        "name": "Inner World",
        "description": [
                "The base logic addresses the following tasks:\n",
                "- charging\n",
                "- programming\n",
                "- steering the motors\n",
                "- self-check\n",
                "If a list of actions is available,\n",
                "this logic board can steer the MoD5G\n",
                "without further help of the main logic board."
        ],
        "x_order": 1135692642,
        "y_order": -55146692,
        "list_order": 807995528,
        "uuid": "23a8bba8-37f9-40ed-94fb-565c77ca5fb8",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 118,
        "main_type": 124,
        "type": "Package",
        "stereotype": "main_logic",
        "name": "Environment Capture",
        "description": [
                ""
        ],
        "x_order": -1691444121,
        "y_order": -1408399590,
        "list_order": -1446246466,
        "uuid": "19f96158-ec8a-41ea-b22c-d4c975b41370",
        "features":
        [
        ]
      }
    },
    {
      "classifier": {
        "id": 119,
        "main_type": 124,
        "type": "Package",
        "stereotype": "base_logic",
        "name": "System Control",
        "description": [
                ""
        ],
        "x_order": -385315366,
        "y_order": -1408399590,
        "list_order": -1408399590,
        "uuid": "4ba4c91a-d296-437f-b1db-4edf72b348ac",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 120,
        "main_type": 121,
        "type": "Component",
        "stereotype": "env-perception",
        "name": "Environment Model Composer",
        "description": [
                ""
        ],
        "x_order": -1693475552,
        "y_order": -1289206389,
        "list_order": -185818802,
        "uuid": "fd29096d-7e2f-40e5-a111-c204d77d9024",
        "features":
        [
          {
            "id": 13,
            "main_type": 3,
            "type": "Lifeline",
            "key": "",
            "description": [
                ""
            ],
            "list_order": 0,
            "uuid": "4e804abc-7686-4527-834f-699e8d185e43"
          }
        ]
      }
    },
    {
      "classifier": {
        "id": 121,
        "main_type": 130,
        "type": "Comment",
        "name": "Base Software Structure",
        "description": [
                "The software is basically structured into three parts:\n",
                "- environment model generation\n",
                "- calculating actions\n",
                "- controlling execution of actions"
        ],
        "x_order": -1600853608,
        "y_order": -1809863767,
        "list_order": -1809863767,
        "uuid": "67c09369-4e0b-4ec3-b7e3-7c1fcda308e3",
        "features":
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      }
    },
    {
      "classifier": {
        "id": 122,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "quality_characteristic",
        "name": "Compatibility",
        "description": [
                "Compatibility defines a set of attributes that measures how well data and messages can be exchanged with other programs and/or versions."
        ],
        "x_order": -416937143,
        "y_order": -1394625593,
        "list_order": -1394625593,
        "uuid": "f928ad3b-73f0-400e-9cc1-3ef1af6634f2",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 123,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "SW-subcharacterisitc",
        "name": "Interoperability",
        "description": [
                "The programming and charging interfaces\n",
                "of the MoD5G shall be compatible  to\n",
                "- old republic terminals\n",
                "- imperial terminals"
        ],
        "x_order": 640302492,
        "y_order": 1011161293,
        "list_order": 1011161293,
        "uuid": "be378b0a-025f-425c-a046-c25ff452e7d8",
        "features":
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      }
    },
    {
      "classifier": {
        "id": 124,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "SW-attribute",
        "name": "Old Republic Programming IF",
        "description": [
                "The old republic protocol\n",
                "for programming a droid\n",
                "shall be supported."
        ],
        "x_order": 1513335297,
        "y_order": -1344261574,
        "list_order": -628211907,
        "uuid": "ec82be00-93a7-42eb-a240-e5f2f73c958f",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 125,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "SW-attribute",
        "name": "Imperial Programming IF",
        "description": [
                "The imperial protocol\n",
                "for programming a droid\n",
                "shall be supported."
        ],
        "x_order": 1522696665,
        "y_order": 1164672649,
        "list_order": 1164672649,
        "uuid": "1f827014-6814-42b3-8e92-f0550b149d34",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 126,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "SW-attribute",
        "name": "Universial Charging IF",
        "description": [
                "The intergalactic standard protocol for power charging\n",
                "shall be supported."
        ],
        "x_order": 1140363657,
        "y_order": 1240386038,
        "list_order": 1240386038,
        "uuid": "49173762-e41f-4356-a6a3-20a40868c6bb",
        "features":
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      }
    },
    {
      "classifier": {
        "id": 127,
        "main_type": 130,
        "type": "Comment",
        "name": "Fault Detection (main logic)",
        "description": [
                "Logic and data is supervised\n",
                "by the SW Watchdog\n",
                "located on the Base Micro Controller.\n",
                "\n",
                "Every software component\n",
                "on the Main Logic Board\n",
                "shall check processed data\n",
                "and report its health to the SW Watchdog\n",
                "as well as passed checkpoints in the logic.\n",
                "\n",
                "see D0010#name"
        ],
        "x_order": -1894895201,
        "y_order": -1229662522,
        "list_order": -1227993822,
        "uuid": "a2f86f8a-7e4a-4de7-b100-4a701db41595",
        "features":
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      }
    },
    {
      "classifier": {
        "id": 128,
        "main_type": 130,
        "type": "Comment",
        "name": "Fault Detection (base logic)",
        "description": [
                "The hardware of the Base Micro Controller\n",
                "enables logic and data supervision.\n",
                "Therefore no extra software solution\n",
                "is implemented to monitor the base logic."
        ],
        "x_order": -1420158760,
        "y_order": -1939648434,
        "list_order": -1939648434,
        "uuid": "4a86e419-4afe-42f3-8846-51e7f81c61c3",
        "features":
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      }
    },
    {
      "classifier": {
        "id": 129,
        "main_type": 121,
        "type": "Component",
        "name": "SW Watchdog",
        "description": [
                "The SW Watchdog shall check\n",
                "\n",
                "- validity of data as well as\n",
                "- validity of sequence of checkpoints\n",
                "\n",
                "received from software components\n",
                "on the Main Logic Board.\n",
                "\n",
                "See also D0030#name."
        ],
        "x_order": -377673688,
        "y_order": -1032462109,
        "list_order": -528333121,
        "uuid": "3fdba187-2a96-4f85-ae03-aaaa33c4abbf",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 130,
        "main_type": 130,
        "type": "Comment",
        "name": "Fault Detection Strategy may fail",
        "description": [
                "The fault detection strategy for \n",
                "logic and data on the Main Logic Board\n",
                "allows for unnoticed faults:\n",
                "\n",
                "Not every error in logic can be detected\n",
                "by checkpoints only."
        ],
        "x_order": -1894895201,
        "y_order": -1705946834,
        "list_order": -1153151192,
        "uuid": "8ce065ad-ac5f-4ba7-af0e-6bdd9ef320f2",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 131,
        "main_type": 130,
        "type": "Comment",
        "stereotype": "decision",
        "name": "Wookiee Detection",
        "description": [
                "Challenge: Detect presense of a Wookiee\n",
                "\n",
                "Alt-1: Detect a growling wookie only by\n",
                "analyzing the audio spectrum \n",
                "recorded from the microphone.\n",
                "- pro: simple to implement\n",
                "- con: may produce false alarms\n",
                "\n",
                "Alt-2: Combine the Video and the Audio\n",
                "sensor data to better distinguish\n",
                "a growling wookie from a shouting officer.\n",
                "- pro: better recognize wookiees\n",
                "- con: dependency on video processing\n",
                "\n",
                "Decision: Alt-1\n",
                "\n",
                "Rationale: Reacting on a false alarm\n",
                "is not mission-critical."
        ],
        "x_order": -1146913401,
        "y_order": -1486293621,
        "list_order": -1445037450,
        "uuid": "1b626973-c1cb-4234-a2cb-16a21e42e4f1",
        "features":
        [
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      }
    },
    {
      "classifier": {
        "id": 133,
        "main_type": 99,
        "type": "Requirement",
        "stereotype": "Risk",
        "name": "Risk: MoD5G does not drive back (logic board)",
        "description": [
                "- cause/fault: the base logic board is damaged\n",
                "- risk/failure: the MoD5G cannot drive anymore"
        ],
        "x_order": -1151499283,
        "y_order": -1647070633,
        "list_order": -1531045812,
        "uuid": "74903d54-6d51-4e5f-984a-539cb62006a6",
        "features":
        [
          {
            "id": 48,
            "main_type": 10,
            "type": "Tag",
            "key": "Cause",
            "value": "Programming mistake",
            "description": [
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}
