<?xml version="1.0" encoding="UTF-8"?>
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    <REQ-IF-HEADER IDENTIFIER="header-se-precision-ag-drone">
      <CREATION-TIME>2026-04-24T20:19:22.366Z</CREATION-TIME>
      <REQ-IF-TOOL-ID>AIRGen</REQ-IF-TOOL-ID>
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      <SOURCE-TOOL-ID>AIRGen</SOURCE-TOOL-ID>
      <TITLE>se-precision-ag-drone</TITLE>
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              <TYPE><DATATYPE-DEFINITION-STRING-REF>string-type</DATATYPE-DEFINITION-STRING-REF></TYPE>
            </ATTRIBUTE-DEFINITION-STRING>
          </SPEC-ATTRIBUTES>
        </SPECIFICATION-TYPE>
        <RELATION-GROUP-TYPE IDENTIFIER="linkset-type" LAST-CHANGE="2026-04-24T20:19:22.366Z" LONG-NAME="Document Linkset"/>
      </SPEC-TYPES>
      <SPEC-OBJECTS>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:ARC-DECISIONS-001" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="ARC-DECISIONS-001">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="ARC: Navigation and Flight Control — Centralised flight controller with star-topology sensor architecture. All navigation sensors (GNSS, IMU, barometer, magnetometer, radar altimeter, obstacle sensor) connect directly to a single flight controller processor rather than a distributed sensor fusion network. This topology was chosen because: (1) agricultural UAVs at 25kg MTOW do not have the weight or power budget for redundant processing nodes; (2) a single EKF instance avoids the cross-node synchronisation problem that plagues distributed architectures at 400Hz; (3) PX4/ArduPilot ecosystem maturity provides flight-proven sensor fusion; (4) the obstacle detection sensor is separate from navigation sensors because it requires forward-mounting and a fundamentally different processing pipeline (spatial rather than temporal fusion). CAN bus was selected for the spray controller interface over UART due to superior EMI immunity near the ESC and pump motor noise sources. DShot600 was selected over PWM for motor control to eliminate calibration drift in field conditions.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Star topology chosen over distributed processing to minimize inter-processor communication latency for the 400 Hz attitude control loop. Centralised EKF fusion avoids the complexity and timing uncertainty of distributed sensor fusion across multiple compute nodes on a weight-constrained UAV platform.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="architecture; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:ARC-DECISIONS-002" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="ARC-DECISIONS-002">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="ARC: Imaging and Remote Sensing — Centralised trigger architecture with shared gimbal mount and dedicated storage. All cameras share a single 2-axis gimbal rather than individual stabilisation, driven by payload weight constraint (800g total). The Image Capture Triggering Controller acts as a synchronisation hub receiving position from the flight controller and distributing hardware trigger pulses to all cameras, rather than each camera self-triggering on GPS distance. This ensures sub-millisecond inter-band synchronisation critical for co-registered vegetation index computation. Removable NVMe SSD was chosen over wireless downlink for imagery because the 125 MB/s sustained data rate exceeds the practical throughput of any UAV-class datalink. Alternative considered: per-camera SD storage — rejected because it prevents the trigger controller from monitoring write completion and detecting missed frames in flight.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Shared gimbal reduces payload weight by approximately 400 g versus per-camera stabilisation, directly extending flight endurance. Centralised trigger with hardware GPIO ensures sub-millisecond inter-camera synchronisation that would be difficult to achieve with distributed USB-triggered capture.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Analysis">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="architecture; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:ARC-DECISIONS-003" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="ARC-DECISIONS-003">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="ARC: Power and Battery Management — Centralised BMS with ground-based swap station rather than onboard redundant power. The subsystem separates battery intelligence (BMS controller) from power routing (PDB) and voltage conversion (DC-DC) as physically distinct modules rather than integrating them onto a single board. This was chosen because: (1) the BMS must remain powered during battery swap to maintain SOC state, so it is embedded in the battery pack itself, not the airframe; (2) the PDB handles 150A continuous where thermal management dominates the PCB design, making co-location with sensitive BMS measurement circuits impractical due to thermal gradient-induced measurement drift; (3) the DC-DC converters are isolated to prevent switching noise from coupling into BMS cell voltage measurements. The ground-based charging and swap station was included as a subsystem component rather than external infrastructure because it is the primary availability enabler — without automated swap capability, the 85% fleet availability target (SYS-REQS-015) is unachievable with manual battery swap workflows. Hall-effect current sensing was chosen over shunt resistors to avoid adding resistance to the main power bus, which at 150A would dissipate 22.5W through even a 1-milliohm shunt.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="architecture; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-001" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-001">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Multi-Constellation GNSS Receiver and the Flight Controller Processor SHALL carry NMEA 0183 GGA and VTG sentences and UBX-NAV-PVT binary messages at 10Hz over UART at 115200 baud, 8N1, with message latency not exceeding 50ms from time-of-fix to availability at the flight controller.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="10 Hz PVT updates match the navigation EKF prediction rate. 115200 baud provides margin for combined NMEA and UBX message volume per epoch. 50 ms message latency is acceptable for the 50 Hz EKF, which extrapolates between GNSS fixes using IMU data.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-002" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-002">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the MEMS Inertial Measurement Unit and the Flight Controller Processor SHALL deliver 6-axis inertial data (3-axis angular rate, 3-axis specific force) at 400Hz over SPI bus at 8MHz clock rate, with data-ready interrupt latency not exceeding 100 microseconds.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="400 Hz sample rate matches the inner-loop attitude control rate. SPI bus chosen over UART for deterministic low-latency data delivery, critical for control loop jitter. 100 microsecond interrupt latency ensures IMU data is available before each control cycle deadline.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-003" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-003">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Millimetre-Wave Radar Altimeter and the Flight Controller Processor SHALL deliver AGL height measurements at 20Hz over UART at 57600 baud, with measurement range 0.3 to 30 metres and accuracy of 2cm within 0.3 to 10 metre range.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="20 Hz measurement rate oversamples the 10 Hz spray control loop, enabling median filtering of noisy AGL returns over vegetation. 2 cm accuracy within 10 m directly supports the plus or minus 0.3 m AGL spray height requirement (SUB-REQS-008).">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-004" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-004">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Flight Controller Processor and the Airframe ESCs SHALL carry individual motor speed commands via DShot600 protocol at the attitude control loop rate of 400Hz, with command-to-thrust response time not exceeding 50ms for a 0-to-80-percent throttle step.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="DShot600 is a bidirectional digital protocol providing motor RPM telemetry alongside commands. 400 Hz command rate matches the attitude control loop. 50 ms thrust response is characteristic of agricultural-class propulsion with large propellers and high inertia.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; nav-flight-control; airframe; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-005" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-005">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Flight Controller Processor and the Spray Application Subsystem SHALL carry spray-enable signal, current ground speed, and current AGL height at 10Hz over CAN bus (250kbps, CAN 2.0B extended frame), with end-to-end message latency not exceeding 20ms.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="CAN bus chosen for robustness in the high-EMI environment near propulsion motors. 10 Hz provides adequate ground speed and AGL updates for nozzle flow rate adjustment. 20 ms end-to-end latency keeps spray actuation within the 200 ms shutoff budget (SYS-REQS-004).">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; nav-flight-control; spray-application; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-006" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-006">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Flight Controller Processor and the Communication Datalink SHALL carry MAVLink v2 messages bidirectionally at a minimum sustained throughput of 5 kbps uplink (commands, waypoints, RTK corrections) and 10 kbps downlink (telemetry, position, status) over UART at 57600 baud, with heartbeat messages at 1Hz for link health monitoring.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="MAVLink v2 is the de facto open UAS command and control protocol. 5 kbps uplink supports waypoint upload and RTK correction streaming. 10 kbps downlink supports position, attitude, and system status telemetry. 1 Hz heartbeat enables the 5-second link loss detection (SYS-REQS-011).">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; nav-flight-control; communication; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-007" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-007">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Forward-Looking Obstacle Detection Sensor and the Flight Controller Processor SHALL deliver obstacle distance reports (minimum 8 range bins across 60-degree horizontal FOV) at 10Hz over UART at 115200 baud, with each report timestamped to the sensor internal clock with 1ms resolution.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="8 range bins across 60 degrees provide 7.5-degree angular resolution, sufficient for path-planning obstacle avoidance. 10 Hz measurement rate at 8 m/s gives an obstacle position update every 0.8 m of travel, supporting the 500 ms avoidance response requirement (SUB-REQS-006).">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-008" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-008">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Image Capture Triggering Controller and each camera (Multispectral, Thermal, RGB) SHALL carry a hardware trigger pulse via 3.3V GPIO with rising-edge activation, maximum latency of 100 microseconds from pulse to exposure start, and a feedback signal from each camera confirming capture completion within 50 milliseconds.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Hardware GPIO trigger avoids USB protocol scheduling latency which can exceed 1 ms. 100 microsecond trigger-to-exposure ensures cross-band spatial alignment within 1.2 mm at maximum ground speed, critical for vegetation index computation from co-registered multi-band imagery.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-009" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-009">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Downwelling Light Sensor and the Multispectral Camera SHALL deliver per-band irradiance values (watts per square metre per nanometre) over I2C at 1 Hz with 16-bit resolution, synchronised to the multispectral capture trigger via shared timestamp from the Triggering Controller.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="I2C is adequate for 1 Hz low-bandwidth irradiance data. 1 Hz sampling matches the slowly varying solar irradiance cycle. Shared timestamp from the Triggering Controller ensures radiometric calibration pairs each irradiance measurement with its corresponding multispectral exposure.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-010" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-010">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between each camera and the Onboard Image Storage Module SHALL carry image data over USB 3.0 SuperSpeed (5 Gbps) with guaranteed sustained throughput of 50 megabytes per second per camera channel, using a USB hub with dedicated bandwidth allocation per port to prevent contention.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="USB 3.0 SuperSpeed provides 5 Gbps aggregate bandwidth. Per-port bandwidth allocation prevents camera data contention during burst captures. 50 MB/s per channel accommodates the highest data rate camera (multispectral at 80 MB/s burst, 50 MB/s sustained) with margin.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-011" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-011">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Flight Controller Processor and the Image Capture Triggering Controller SHALL carry aircraft position (latitude, longitude, altitude), velocity (north, east, down), and attitude (roll, pitch, yaw) at 10 Hz minimum over UART at 115200 baud using MAVLink v2 GLOBAL_POSITION_INT and ATTITUDE messages.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Position and attitude at 10 Hz provides geolocation metadata for each captured image at typical trigger rates of 1 to 2 Hz. MAVLink v2 GLOBAL_POSITION_INT and ATTITUDE messages are standard ArduPilot outputs requiring no custom firmware modification.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-012" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-012">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Flight Controller Processor and the Camera Gimbal SHALL carry gimbal attitude commands and IMU feedback over CAN 2.0B at 1 Mbps, with commanded pointing angle updates at 100 Hz and measured gimbal attitude feedback at 100 Hz for closed-loop stabilization.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="100 Hz command and feedback rate exceeds the airframe vibration band of 50 to 100 Hz, enabling active vibration rejection. CAN 2.0B at 1 Mbps provides deterministic timing for closed-loop gimbal stabilization. Dual-direction telemetry enables the flight controller to monitor gimbal health.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-013" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-013">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Onboard Image Storage Module and the Data Processing and Analytics Subsystem SHALL deliver the complete flight image dataset as a removable NVMe SSD containing images in standard formats (TIFF for multispectral and thermal, JPEG plus DNG for RGB) with an accompanying JSON flight log mapping each image to its geolocation, attitude, and DLS irradiance record.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Removable NVMe SSD avoids multi-hour wireless transfer of 50+ GB flight datasets. Standard image formats (TIFF, JPEG, DNG) ensure compatibility with Pix4Dfields, Agisoft Metashape, and QGIS. JSON flight log provides a machine-readable geolocation index for batch processing pipelines.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Inspection">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-014" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-014">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Battery Pack Assembly and the Battery Management System Controller SHALL provide individual cell voltage measurement for all 12 series groups via dedicated sense wires with plus or minus 5 millivolt accuracy, and pack current measurement via a hall-effect sensor on the main bus with plus or minus 0.5 ampere accuracy at up to 150 amperes.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-015" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-015">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Battery Management System Controller and the Flight Controller Processor SHALL use CAN 2.0B at 1 Mbps, transmitting battery status messages (SOC, SOH, pack voltage, pack current, minimum cell voltage, maximum cell temperature, fault flags) at 10 Hz with a maximum message latency of 5 milliseconds.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-016" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-016">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Battery Pack Assembly and the Power Distribution Board SHALL deliver 33.6 to 50.4 volts DC at up to 150 amperes continuous through the main contactor, with a maximum contact resistance of 2 milliohms and voltage drop not exceeding 0.3 volts at rated current.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-017" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-017">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Power Distribution Board and the DC-DC Voltage Regulator Module SHALL provide filtered battery voltage (33.6 to 50.4V) through a dedicated trace rated for 15 amperes continuous, with input EMI filtering providing at least 40 dB common-mode rejection above 100 kHz.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-018" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-018">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Battery Quick-Release Mechanism and the Battery Pack Assembly SHALL provide positive mechanical retention rated for 6G shock load in any axis, with an XT90-S anti-spark power connector engaging before the CAN bus data connector, and total insertion-to-locked time not exceeding 5 seconds.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-019" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-019">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Battery Charging and Swap Station and the Battery Pack Assembly SHALL implement CC-CV charging at a maximum charge current of 10 amperes (0.6C rate) with constant-voltage phase at 50.4 volts, and SHALL read BMS status over the CAN bus data pins of the quick-release connector to verify cell health before and during charging.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:IFC-DEFS-020" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="IFC-DEFS-020">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The interface between the Flight Controller Processor and the Power Distribution Board SHALL provide a 3.3V logic-level arm/disarm signal controlling the master power MOSFET, with the disarm state as the default (fail-safe off) requiring continuous assertion to maintain the armed state.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="interface; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-001" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-001">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL enable a single operator to survey and treat a minimum of 200 hectares per 8-hour operational day.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Derived from typical medium-scale US farm operational requirement. Below 200 hectares per day, cost per hectare makes drone application uncompetitive with ground sprayer rigs, undermining the economic case for the fleet.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Demonstration">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-002" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-002">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL produce georeferenced crop health maps with a ground sample distance of 3 cm per pixel or finer, enabling identification of individual management zones of 0.1 hectare or smaller.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="3 cm GSD resolves individual crop rows and enables vegetation index computation at sub-management-zone granularity. 0.1 ha zone resolution matches the spatial precision of variable-rate application equipment.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-003" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-003">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL comply with FAA Part 107 and applicable BVLOS waiver conditions, including Remote ID broadcast, throughout all flight operations.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Mandatory regulatory requirement for commercial UAS operations in US national airspace. FAA Part 107 BVLOS waiver conditions require continuous Remote ID broadcast. Non-compliance grounds the fleet and invalidates the operators certificate.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Inspection">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-004" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-004">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL prevent off-target chemical drift beyond the treated field boundary under all approved operating conditions.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="EPA label restrictions and state department of agriculture regulations require containment of pesticide applications within treated areas. Off-target drift creates liability exposure from damage to neighbouring crops, waterways, and sensitive habitats.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-005" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-005">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL not operate over or within 30 metres of occupied structures, public roads, or neighbouring properties without explicit authorisation.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Derived from FAA Part 107 waiver conditions and agricultural chemical label buffer zone requirements. 30-metre exclusion zone provides safety margin for people and property in the event of chemical exposure or UAV malfunction.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Inspection">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-006" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-006">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL support field-level maintenance and battery swap by a single technician without specialised tooling, with mean time to repair not exceeding 30 minutes for any line-replaceable unit.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Field operations at remote agricultural sites lack specialised tooling and depot-level maintenance capability. 30-minute MTTR ensures a single technician can maintain operational tempo without excessive fleet downtime during time-critical spray windows.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Demonstration">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-007" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-007">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL import prescription maps from and export as-applied records to the farm's existing Farm Management Information System using standard agricultural data formats.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Farms operate existing precision agriculture data infrastructure such as John Deere Operations Center and Climate FieldView. Manual data re-entry between drone outputs and FMIS is error-prone and operationally unacceptable for time-critical variable-rate applications.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Demonstration">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:STK-NEEDS-008" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="STK-NEEDS-008">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL maintain complete records of all chemical applications including product, rate, location, time, and weather conditions at time of application, retained for a minimum of 3 years.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="EPA FIFRA recordkeeping requirements mandate retention of restricted-use pesticide application records including product, rate, location, and conditions. 3-year minimum aligns with federal and most state retention mandates. Incomplete records expose the operator to regulatory enforcement action.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Inspection">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="stakeholder; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-001" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-001">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Flight Controller Processor SHALL compute a fused navigation solution via extended Kalman filter at 50Hz minimum, combining GNSS PVT, IMU angular rates and accelerations, barometric altitude, radar altimeter AGL, and magnetometer heading, achieving horizontal position accuracy of 10cm CEP95 when RTK corrections are available and 1.5m CEP95 in standalone GNSS mode.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="50 Hz EKF rate provides 20 ms navigation updates, adequate for 400 Hz attitude control inner loop which interpolates between fixes. 10 cm CEP95 with RTK derives from SYS-REQS-002 spray track accuracy. 1.5 m standalone accuracy provides safe RTH capability when RTK corrections are unavailable.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-002" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-002">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Flight Controller Processor SHALL execute inner-loop attitude control at 400Hz with attitude tracking error not exceeding 2 degrees RMS in roll and pitch during straight-line spray passes in winds up to 15 knots sustained with 20-knot gusts.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="400 Hz matches DShot600 ESC command rate for synchronous motor control. 2 degree RMS tracking error at 15 kt wind keeps spray pattern centre within plus or minus 5 percent of design application rate. Higher tracking error causes swath misalignment and uneven chemical distribution.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-003" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-003">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="When the computed navigation position approaches within 5 metres of a geofence boundary, the Flight Controller Processor SHALL initiate a deceleration manoeuvre such that the UAV does not exceed the boundary by more than 3 metres at ground speeds up to 8 m/s.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="5 m warning threshold provides 0.6 seconds to decelerate from 8 m/s, matching the multi-rotor deceleration capability with 25 kg mass. 3 m maximum overshoot traces directly to SYS-REQS-005 geofence requirement.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-004" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-004">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="When command-and-control datalink is lost for more than 5 seconds, the Flight Controller Processor SHALL transition to the pre-programmed failsafe sequence (loiter for 30 seconds, then return-to-home at 15m AGL and land) within 500ms of failsafe trigger, while maintaining obstacle avoidance.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Direct derivation from SYS-REQS-011 C2 loss failsafe. 500 ms transition time to failsafe mode ensures the UAV travels no more than 4 m before entering safe state. Loiter-then-RTH at 15 m AGL provides terrain clearance during autonomous return.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Demonstration">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-005" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-005">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="While multiple UAVs are airborne, the Flight Controller Processor SHALL maintain a minimum separation distance of 20 metres from all other fleet members by exchanging position reports at 5Hz via the fleet mesh network and commanding avoidance manoeuvres when separation decreases below 30 metres.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Direct derivation from SYS-REQS-012 fleet separation. 5 Hz position broadcast provides 200 ms position freshness, adequate for maintaining 20 m separation at typical closing rates below 10 m/s. 30 m alert threshold gives 2 seconds of manoeuvre time.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-006" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-006">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="When the Forward-Looking Obstacle Detection Sensor reports an obstacle within 15 metres of the flight path, the Flight Controller Processor SHALL execute an avoidance manoeuvre (climb, lateral offset, or hover-and-alert) within 500ms of detection, clearing the obstacle by at least 5 metres.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="15 m detection range at 8 m/s gives 1.9 seconds total reaction window. 500 ms response time is achievable with the flight controller compute budget. 5 m clearance margin accounts for obstacle geometry uncertainty and position error.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Demonstration">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; safety; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-007" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-007">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Multi-Constellation GNSS Receiver SHALL provide position integrity monitoring with a protection level computation, and the Flight Controller Processor SHALL reject GNSS fixes where the horizontal protection level exceeds 2 metres, falling back to IMU dead-reckoning for up to 10 seconds before triggering return-to-home.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="GNSS integrity monitoring with 2 m horizontal protection level ensures the navigation solution supports the 3 m geofence overshoot requirement with margin. 10-second dead-reckoning window bridges typical short-duration GNSS outages from terrain masking in hilly agricultural terrain.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; safety; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-008" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-008">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="While executing spray passes, the Flight Controller Processor SHALL maintain AGL height within plus or minus 0.3 metres of the commanded spray altitude by fusing radar altimeter measurements with barometric altitude, compensating for terrain slope up to 15 degrees.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Spray nozzle pattern and droplet spectrum are designed for a specific AGL height. Plus or minus 0.3 m deviation keeps application rate within the plus or minus 5 percent tolerance (SYS-REQS-004). 15-degree terrain slope compensation covers typical agricultural terrain gradients.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-009" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-009">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Flight Controller Processor SHALL detect sensor faults (stuck value, out-of-range, excessive noise) on all navigation sensors within 500ms and reconfigure the navigation filter to exclude the faulty sensor, providing degraded-but-safe navigation with at least 2m horizontal accuracy for return-to-home.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="500 ms fault detection limits navigation drift during sensor failure to under 0.5 m at typical flight speed. 2 m degraded accuracy is sufficient for safe return-to-home without violating geofence boundaries (3 m margin). Filter reconfiguration preserves navigation continuity without full system reset.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; safety; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-010" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-010">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="While executing spray flight paths, the Flight Controller Processor SHALL generate lateral guidance commands to maintain cross-track error of 0.5 metres or less at ground speeds between 3 and 8 m/s, using L1 or equivalent path-following guidance law.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="0.5 m cross-track error traces to SYS-REQS-016. L1 guidance law provides predictable tracking performance with well-characterised tuning parameters for multi-rotor UAS. Speed range of 3 to 8 m/s extends the system requirement to cover repositioning between spray passes.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-011" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-011">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Multispectral Camera SHALL capture 5-band narrowband imagery (Blue 475nm±10nm, Green 560nm±10nm, Red 668nm±5nm, Red Edge 717nm±5nm, NIR 842nm±10nm) with a minimum resolution of 3.2 megapixels per band and global shutter synchronization across all bands within 1 microsecond.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Band selection covers NDVI (Red/NIR), NDRE (Red Edge/NIR), and chlorophyll content index (Green/Red Edge), the standard spectral indices for crop health assessment. 3.2 MP per band provides 3 cm GSD at 50 m AGL with typical 8.8 mm focal length. 1 microsecond inter-band sync eliminates registration error at 12 m/s.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-012" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-012">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Thermal Infrared Camera SHALL measure crop canopy temperature with absolute accuracy of plus or minus 2 degrees Celsius and noise-equivalent temperature difference (NETD) of 0.05 degrees Celsius or better at 30 degrees Celsius scene temperature, across the 8 to 14 micrometre LWIR band.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Plus or minus 2 degrees Celsius absolute accuracy is sufficient for crop water stress index (CWSI) computation where the stressed-unstressed canopy temperature differential is typically 3 to 8 degrees Celsius. 0.05 degrees Celsius NETD detects early-stage irrigation deficits before visible stress symptoms.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-013" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-013">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Image Capture Triggering Controller SHALL synchronise trigger pulses to all cameras with inter-camera timing skew of less than 500 microseconds, and SHALL compute trigger intervals from real-time aircraft ground speed to maintain 75 percent forward overlap and 65 percent side overlap at the planned ground sample distance.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="500 microsecond timing skew at 12 m/s maximum ground speed causes less than 6 mm spatial offset between bands, negligible at 3 cm GSD. 75 percent forward and 65 percent side overlap ensures sufficient tie points for photogrammetric bundle adjustment and orthomosaic generation.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-014" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-014">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Camera Gimbal and Stabilization Mount SHALL maintain nadir pointing within plus or minus 0.5 degrees in pitch and roll during survey flight at ground speeds up to 12 metres per second and in wind gusts up to 25 knots, with a stabilization bandwidth of at least 50 Hz to reject airframe vibration from propulsion at 50 to 100 Hz.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="0.5-degree nadir pointing error causes less than 0.5 percent GSD degradation at 50 m AGL, acceptable for vegetation index accuracy. 50 Hz stabilization bandwidth is required to actively reject propulsion vibration in the 50 to 100 Hz frequency band transmitted through the airframe.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-015" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-015">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Onboard Image Storage Module SHALL sustain a continuous write throughput of at least 125 megabytes per second to accommodate simultaneous data streams from multispectral (80 MB/s), thermal (20 MB/s), and RGB (25 MB/s) cameras without frame drops over a full 30-minute flight.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="125 MB/s is the sum of sustained data rates from all three camera systems: multispectral at 80 MB/s, thermal at 20 MB/s, and RGB at 25 MB/s. Insufficient write throughput causes frame drops, creating gaps in survey coverage that require re-flight.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-016" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-016">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Downwelling Light Sensor SHALL measure incoming solar spectral irradiance in the same five bands as the Multispectral Camera with cosine-corrected response within 5 percent of ideal cosine for incidence angles up to 75 degrees, and SHALL timestamp each measurement to within 10 milliseconds of the corresponding multispectral image capture.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="5 percent cosine correction accuracy is required for radiometric calibration at oblique sun angles up to 75 degrees, which occur during early morning and late afternoon survey windows. 10 ms synchronization matches the multispectral exposure window, ensuring irradiance and reflectance are temporally co-registered.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-017" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-017">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The High-Resolution RGB Camera SHALL capture images at 20 megapixels or greater with a mechanical global shutter, achieving a ground sample distance of 2.5 centimetres per pixel or finer at 120 metres AGL, with geometric distortion less than 0.5 percent at the image edge after lens calibration.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="20 MP resolution at 120 m AGL provides 2.5 cm GSD for high-altitude RGB mapping used for field boundary delineation and stand counts. Mechanical global shutter eliminates rolling shutter distortion during flight. 0.5 percent edge distortion ensures photogrammetric orthomosaic geometric accuracy.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-018" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-018">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Onboard Image Storage Module SHALL embed EXIF-compatible geolocation metadata in each stored image, including WGS84 latitude, longitude, ellipsoidal altitude, aircraft roll, pitch, yaw, and capture timestamp with resolution of 1 millisecond or better, sourced from the Flight Controller navigation solution.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="EXIF-compatible geolocation metadata enables direct georeferencing in standard photogrammetry software without ground control points, reducing post-processing time. 1 ms timestamp resolution prevents greater than 1 cm position error at 12 m/s maximum flight speed.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Inspection">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-019" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-019">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="While operating in ambient temperatures from 0 to 45 degrees Celsius, the Multispectral Camera and Thermal Infrared Camera SHALL maintain their specified accuracy without recalibration, with the Thermal Infrared Camera performing automatic non-uniformity correction at intervals not exceeding 60 seconds.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Operating temperature range traces to SYS-REQS-014 system environmental requirement. 60-second NUC interval is standard for uncooled microbolometer thermal cameras to maintain NETD specification across varying scene and ambient temperatures.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-020" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-020">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Battery Pack Assembly SHALL provide a minimum usable energy capacity of 600 Wh at 25 degrees Celsius, measured from full charge (50.4V) to under-voltage cutoff (33.6V) at a continuous 80A discharge rate.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-021" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-021">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Battery Management System Controller SHALL report state-of-charge with an accuracy of plus or minus 3 percent of actual capacity across the full operating temperature range of 0 to 45 degrees Celsius.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-022" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-022">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="When any cell voltage exceeds 4.25V or falls below 2.8V, the Battery Management System Controller SHALL open the main contactor within 50 milliseconds, disconnecting the battery pack from the power distribution bus.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-023" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-023">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Power Distribution Board SHALL sustain 150 amperes continuous current on the main bus and 120 amperes burst for 10 seconds without exceeding a PCB temperature rise of 40 degrees Celsius above ambient.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-024" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-024">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The DC-DC Voltage Regulator Module SHALL maintain output voltage within plus or minus 2 percent of nominal on all rails (5V avionics, 12V payload, 5V auxiliary) across the full battery voltage range of 33.6V to 50.4V and load range of 10 to 100 percent rated current.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-025" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-025">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Battery Quick-Release Mechanism SHALL withstand a minimum of 10000 insertion and extraction cycles without degradation of mechanical retention force below 90 percent of initial value or electrical contact resistance exceeding 5 milliohms per contact.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-026" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-026">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Battery Charging and Swap Station SHALL charge a depleted battery pack (20 percent SOC) to 95 percent SOC within 90 minutes while maintaining cell temperature below 45 degrees Celsius throughout the charge cycle.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-027" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-027">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="When any battery thermistor zone exceeds 60 degrees Celsius, the Battery Management System Controller SHALL reduce maximum discharge current to 50 percent of rated value within 100 milliseconds, and when any zone exceeds 70 degrees Celsius SHALL open the main contactor immediately.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-028" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-028">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Battery Charging and Swap Station SHALL reject any battery pack reporting state-of-health below 80 percent or cell voltage imbalance greater than 50 millivolts, and SHALL flag the rejected pack for maintenance via an audible alert and log entry.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-029" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-029">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Power Distribution Board SHALL protect each low-power branch (gimbal, spray pump, auxiliary) with independently resettable overcurrent protection that trips within 100 milliseconds at 150 percent of rated branch current, preventing a fault on one branch from affecting other branches or the main bus.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-030" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-030">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The DC-DC Voltage Regulator Module SHALL limit conducted emissions on the 5V avionics rail to less than 10 millivolts peak-to-peak ripple measured at the flight controller input across the switching frequency range of 100 kHz to 2 MHz.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SUB-REQS-031" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SUB-REQS-031">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Battery Management System Controller SHALL implement a hardware watchdog timer with a maximum timeout of 500 milliseconds. When the BMS firmware fails to reset the watchdog within this period, the watchdog SHALL open the main contactor and assert a dedicated fault output to the flight controller, triggering an immediate forced landing sequence.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="subsystem; power-battery; cross-domain; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-001" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-001">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL achieve a sustained fleet spray throughput of at least 25 hectares per hour with a minimum of 4 drones operating simultaneously.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Derived from STK-NEEDS-001: 200 ha / 8 hr = 25 ha/hr. Four simultaneous drones provides N+1 redundancy for a three-drone minimum coverage rate and allows staggered battery swaps without throughput loss.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-002" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-002">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL achieve horizontal positioning accuracy of 10 cm CEP95 or better during all survey and spray flight operations using RTK-corrected GNSS.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="10 cm CEP95 required for precision application within 0.1 ha management zones (STK-NEEDS-002). At 5 m swath width, 10 cm cross-track error keeps spray overlap within design tolerance. RTK-corrected GNSS is the only positioning technology meeting this accuracy at UAS cost points.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-003" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-003">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Each UAV in the fleet SHALL broadcast FAA Standard Remote ID messages at 1 Hz or greater, including serial number, position, altitude, velocity, and control station location, on both Bluetooth 5.0 and Wi-Fi Aware channels.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="FAA Part 107 BVLOS waiver mandates Standard Remote ID broadcast (STK-NEEDS-003). 1 Hz minimum is the FAA-specified broadcast rate. Dual channel (BLE 5.0 + Wi-Fi Aware) ensures detectability by both FAA-approved receivers and law enforcement smartphone apps.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-004" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-004">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Spray Application Subsystem SHALL deliver the prescribed application rate within plus or minus 5 percent across each management zone, with automatic nozzle shutoff within 200 milliseconds of crossing a geofence boundary.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Plus or minus 5 percent rate accuracy is the agronomic standard for variable-rate application to avoid under-dosing (efficacy loss) or over-dosing (phytotoxicity and cost). 200 ms nozzle shutoff at 6 m/s ground speed produces 1.2 m overshoot, acceptable within the 3 m geofence margin.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-005" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-005">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Navigation and Flight Control Subsystem SHALL enforce geofence boundaries with a maximum overshoot of 3 metres under all wind conditions up to 25 knots, and SHALL prevent flight initiation if geofence data is not loaded.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="3 m geofence overshoot at maximum speed in 25 kt wind is physics-constrained by UAV deceleration capability. This value keeps the aircraft within the 30 m buffer zone required by STK-NEEDS-005 even in worst-case wind conditions.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-006" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-006">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Power and Battery Management Subsystem SHALL support battery pack replacement in 90 seconds or less per drone, either manually by a single operator or via the automated battery swap station.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="90-second battery swap derived from operational tempo analysis: at 30-minute endurance and 4-drone fleet, one drone lands every 7.5 minutes. 90 s swap time keeps turnaround below the inter-landing interval, preventing fleet idle time. Traces to STK-NEEDS-006.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Demonstration">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-007" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-007">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Data Processing and Analytics Subsystem SHALL import prescription maps in ISO-XML (ISO 11783-10) and ESRI Shapefile formats, and SHALL export as-applied records and vegetation index maps in both formats.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="ISO-XML (ISO 11783-10) is the ISOBUS task controller data standard used by virtually all precision agriculture equipment. ESRI Shapefile is the de facto GIS interchange format. Supporting both ensures interoperability with existing FMIS without custom adapters (STK-NEEDS-007).">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-008" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-008">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL automatically log each spray application with GPS track at 1 Hz, nozzle state, flow rate, product identity, ambient temperature, wind speed, wind direction, and relative humidity, stored in tamper-evident format for a minimum retention of 3 years.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="1 Hz GPS track logging captures application geometry at sub-metre resolution at typical spray speeds. Tamper-evident format with 3-year retention satisfies EPA FIFRA recordkeeping requirements and provides legal defensibility of application records (STK-NEEDS-008).">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-009" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-009">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL maintain stable flight and spray operations in sustained winds up to 15 knots, and SHALL maintain stable flight without spray in winds up to 25 knots with automatic spray suspension above 15 knots.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="15 kt sustained wind is the agronomic threshold above which spray drift becomes uncontrollable for medium-droplet nozzles. 25 kt flight-only limit is the structural wind tolerance for this class of multi-rotor UAV. Auto-suspend prevents drift violation of STK-NEEDS-004.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; safety; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-010" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-010">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Each UAV in the fleet SHALL achieve a minimum flight endurance of 30 minutes at maximum takeoff weight of 25 kg, including spray payload, in standard atmospheric conditions at sea level.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="30 minutes at 25 kg MTOW is the minimum viable sortie duration for agricultural operations. At 5 m/s ground speed and 5 m swath, a 30-min sortie covers approximately 4.5 ha. Shorter endurance makes battery turnaround dominate the operational day.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-011" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-011">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="When command-and-control link is lost for more than 5 seconds, each UAV SHALL execute the pre-programmed failsafe action (loiter for 30 seconds then return-to-home) with spray system automatically disabled.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="5-second C2 loss threshold filters transient link interruptions caused by terrain masking or interference without triggering premature failsafe. 30-second loiter provides time for link re-establishment before committing to RTH. Spray disable prevents uncontrolled chemical release during autonomous failsafe.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; safety; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-012" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-012">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL maintain a minimum separation distance of 20 metres between all UAVs during simultaneous operations, with automatic deconfliction commanding altitude separation or hold when separation cannot be maintained.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="20 m separation provides a 4x margin over RTK position uncertainty of 5 m. 30 m alert threshold at 5 m/s closing rate gives 2 seconds of manoeuvre time. These values balance collision avoidance safety with operational efficiency in adjacent-swath spray passes.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; safety; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-013" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-013">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Imaging and Remote Sensing Subsystem SHALL capture multispectral imagery at a ground sample distance of 3 cm per pixel or finer from a flight altitude of 50 metres AGL, across Blue, Green, Red, Red Edge, and Near-Infrared bands.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="3 cm GSD at 50 m AGL resolves individual crop rows for vegetation index computation. Five bands (Blue, Green, Red, Red Edge, NIR) cover NDVI, NDRE, and chlorophyll content index, which are the standard spectral indices for crop health assessment in precision agriculture.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-014" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-014">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL operate in ambient temperatures from 0 to 45 degrees Celsius, relative humidity from 20 to 95 percent non-condensing, and light rain up to 2 mm per hour with spray operations suspended during precipitation.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="0 to 45 degrees Celsius and 20 to 95 percent RH covers the growing season operating envelope across US agricultural regions from northern plains to southern states. Rain limit of 2 mm/hr protects spray efficacy (wash-off) and avionics (ingress), with spray suspension during precipitation.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-015" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-015">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="The Precision Agriculture Drone Fleet SHALL achieve a fleet-level operational availability of 85 percent or greater during planned operational days, with individual UAV MTBF of at least 500 flight hours.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="85 percent operational availability ensures profitable operations over a growing season where spray windows are limited. 500-hour MTBF per UAV, combined with 4-unit fleet and field-swappable LRUs, supports fleet scheduling without requiring excessive spare airframes.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Analysis">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:SYS-REQS-016" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SYS-REQS-016">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="While executing spray flight paths, each UAV SHALL maintain cross-track error of 0.5 metres or less at ground speeds between 3 and 6 metres per second in winds up to 15 knots.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="0.5 m cross-track error at 3 to 6 m/s maintains spray overlap within 10 percent of design overlap, preventing missed strips (under-application) or double-application (phytotoxicity and cost). Speed range of 3 to 6 m/s matches typical spray application ground speed for agricultural drones.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="system; session-216">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-001" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-001">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-001: Capture UART traffic between GNSS receiver and flight controller using logic analyser. Confirm 10Hz message rate, correct NMEA/UBX framing, and measure time from PPS edge to message arrival. Pass: all messages arrive within 50ms, no framing errors over 60-minute test.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Logic analyser verification provides bus-level evidence of protocol compliance and timing. PPS-to-message latency measurement confirms navigation filter timeliness assumptions.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-002" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-002">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-002: Configure oscilloscope on SPI clock and data-ready lines. Measure sample rate, clock frequency, and interrupt-to-read latency over 10-minute flight. Pass: 400Hz rate sustained within 1 percent, interrupt latency below 100 microseconds for 99.9 percent of samples.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="SPI bus timing must be verified under flight vibration conditions that can cause connector intermittency. Oscilloscope measurement provides direct evidence of data-ready interrupt latency.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-003" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-003">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-003: Position UAV at known AGL heights (0.5m, 1m, 2m, 5m, 10m) using surveyed ground truth. Compare radar altimeter readings against truth. Verify 20Hz output rate. Pass: measurements within 2cm of truth at each test height, 20Hz rate sustained.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Ground truth AGL comparison at multiple heights validates the radar altimeter accuracy across its operating range. Surveyed positions eliminate measurement uncertainty in the reference.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-004" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-004">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-004: Command a 0-to-80-percent throttle step on test stand with thrust cell. Measure time from DShot command transmission to 90-percent thrust achieved. Verify 400Hz command rate on oscilloscope. Pass: response time under 50ms, 400Hz rate sustained.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test stand with thrust cell provides a controlled environment to measure command-to-thrust response, isolating propulsion dynamics from flight controller effects.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-005" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-005">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-005: Inject known ground speed and AGL values from flight controller. Capture CAN frames at spray controller input. Verify 10Hz rate, correct frame IDs, and measure injection-to-receipt latency. Pass: all messages received within 20ms, correct decoding of speed and height fields.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="CAN bus verification with known injected values confirms end-to-end message integrity and latency from flight controller to spray controller input.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-006" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-006">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-006: Establish MAVLink connection between flight controller and ground station via datalink at range. Measure sustained throughput in both directions, verify heartbeat rate, inject RTK corrections and confirm receipt. Pass: uplink 5kbps and downlink 10kbps sustained over 30-minute flight, heartbeat at 1Hz.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Range testing verifies datalink throughput under realistic propagation conditions including path loss and interference that bench testing cannot replicate.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-007" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-007">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-007: Place known obstacles at calibrated distances (5m, 10m, 15m, 25m) across the sensor FOV. Capture UART output and verify 10Hz rate, correct range bin values, and timestamp consistency. Pass: all obstacles detected at correct range bins, 10Hz sustained, timestamps monotonically increasing.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Calibrated obstacles at known distances provide ground truth for obstacle detection accuracy, range bin correctness, and FOV coverage verification.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-217">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-008" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-008">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-008: Connect oscilloscope probes to trigger GPIO lines of all three cameras and the Triggering Controller output. Issue 100 trigger commands at 1Hz. Measure rising-edge-to-exposure-start latency per camera. Pass criteria: all latencies less than 100 microseconds, inter-camera skew less than 500 microseconds, 100 percent capture confirmation signals received within 50ms.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Oscilloscope probes on all trigger lines provide nanosecond-resolution measurement of inter-camera timing skew, directly verifying the 100 microsecond synchronisation requirement.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-009" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-009">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-009: Place DLS under calibrated integrating sphere at known irradiance levels (200, 500, 1000 W/m2/nm). Trigger multispectral capture and read I2C irradiance values. Pass criteria: irradiance values within 5 percent of reference, timestamp alignment within 10ms of corresponding image EXIF timestamp, all 5 bands reporting.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Integrating sphere provides NIST-traceable irradiance reference for DLS calibration verification. Multiple irradiance levels test linearity across the operating range.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-010" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-010">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-010: Trigger all cameras simultaneously at maximum capture rate for 30 minutes continuous. Monitor USB bus utilisation and storage write queue depth. Pass criteria: zero dropped frames across all cameras, sustained write throughput at or above 125 MB/s, no USB bus errors in host controller log.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="30-minute continuous capture at maximum rate simulates a full survey sortie. USB bus utilisation monitoring detects contention that intermittent testing misses.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-011" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-011">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-011: Simulate flight controller MAVLink stream at 10Hz with known position sequence. Verify trigger controller receives all messages, computes correct trigger intervals for 75 percent overlap at 8m/s ground speed and 3cm GSD. Pass criteria: trigger interval error less than 2 percent from computed ideal, zero dropped MAVLink messages over 1000-message test.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Simulated MAVLink stream with known position sequence allows deterministic verification of trigger interval computation against expected overlap geometry.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-012" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-012">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-012: Mount gimbal on vibration table simulating flight conditions (50-100Hz, 2g amplitude). Command nadir pointing via CAN at 100Hz while measuring gimbal attitude feedback. Pass criteria: pointing error within 0.5 degrees, CAN bus utilisation below 50 percent, zero CAN error frames over 10-minute test.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Vibration table simulating flight conditions verifies gimbal stabilisation under realistic disturbance spectra. CAN bus measurement confirms closed-loop pointing performance.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-013" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-013">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-013: After a complete survey flight, remove SSD and ingest into Pix4Dfields and QGIS. Pass criteria: all multispectral TIFF files open with correct band metadata, RGB DNG files process in standard RAW workflow, JSON flight log parses without error, and direct georeferencing produces orthomosaic with less than 10cm absolute positional error against ground control points.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="End-to-end ingest into production photogrammetry software verifies the complete data chain from capture to processing, including metadata compatibility that unit tests cannot validate.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-rationale</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Demonstration">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; imaging; session-218">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-014" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-014">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify SUB-REQS-001: Fly repeated survey passes over a field with 20 RTK-surveyed ground control points. Log EKF output at 50 Hz. Post-process to compute CEP95 against GCP truth. Pass: 50 Hz sustained, 10 cm CEP95 with RTK, 1.5 m CEP95 when RTK corrections deliberately withheld for 60-second intervals.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-220">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-015" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-015">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify SUB-REQS-002: Fly straight-line passes at spray speed in 15 kt wind with 20 kt gusts. Log attitude setpoint and measured attitude at 400 Hz from flight controller. Compute RMS tracking error over each pass. Pass: roll and pitch tracking error below 2 degrees RMS across 10 consecutive passes.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-220">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-016" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-016">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify SUB-REQS-005: Deploy 4 UAVs on adjacent spray passes with 5 m swath overlap geometry that brings planned tracks within 25 m. Monitor mesh network position exchange rate and inter-vehicle separation throughout. Inject simulated GPS anomaly on one vehicle to test deconfliction. Pass: 5 Hz position exchange sustained, separation never below 20 m, avoidance manoeuvre triggers at 30 m threshold.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-220">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-017" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-017">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify SUB-REQS-009: Inject simulated sensor faults (stuck GNSS fix, IMU noise spike, barometer drift) during hover flight. Monitor flight controller fault detection latency, filter reconfiguration time, and degraded navigation accuracy against RTK truth. Pass: all faults detected within 500 ms, navigation accuracy remains within 2 m during single-sensor exclusion, return-to-home initiated if multiple sensors fail.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; nav-flight-control; session-220">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-018" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-018">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify SUB-REQS-015: Stream synthetic image data at 125 MB/s aggregate (80+20+25 MB/s from three sources) to the NVMe SSD for 30 minutes. Monitor write queue depth, SSD temperature, and sustained throughput. Pass: zero dropped frames, sustained throughput at or above 125 MB/s, SSD temperature below thermal throttle threshold throughout.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; imaging; session-220">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-019" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-019">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-014: Connect calibrated precision voltage source to each cell sense input. Inject known voltages from 2.5V to 4.3V in 100mV steps while simultaneously applying known currents from 0 to 150A via electronic load. BMS reported values shall match reference within specified tolerances for all 12 channels across 0-45°C chamber temperature range. Pass criteria: all channels within plus or minus 5mV voltage and plus or minus 0.5A current.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-020" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-020">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-015: Connect CAN bus analyser between BMS and flight controller. Verify message rate of 10 Hz plus or minus 1 Hz over a 60-second window. Inject BMS fault conditions and verify message latency from fault detection to CAN frame transmission does not exceed 5 ms. Verify all specified data fields (SOC, SOH, pack voltage, pack current, min cell voltage, max cell temp, fault flags) are present in the message payload. Pass criteria: 10 Hz rate, less than 5 ms latency, all fields populated.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-021" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-021">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-016: Apply rated current of 150A through contactor using programmable electronic load. Measure contact resistance via 4-wire Kelvin method at 10A, 80A, and 150A. Measure voltage drop across contactor at 150A continuous for 5 minutes. Verify contact resistance below 2 milliohms and voltage drop below 0.3V at all measurement points. Monitor contactor temperature with thermocouple.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-022" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-022">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-017: Inject common-mode noise at 100kHz, 500kHz, 1MHz, and 2MHz on the battery bus using a coupling transformer while measuring noise at the DC-DC input using a spectrum analyser. Verify at least 40dB attenuation at each frequency. Measure DC-DC input trace temperature at 15A continuous for 10 minutes. Pass criteria: 40dB CM rejection at all test frequencies, trace temperature rise below 20°C.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-023" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-023">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-018: Mount battery pack in quick-release mechanism on vibration table. Apply 6G shock in each of 3 axes (6 directions total). Verify battery remains retained and no mechanical deformation of latch pins or rail. Measure insertion time for 10 consecutive cycles; all shall complete in under 5 seconds. Verify power connector engages before data connector using oscilloscope on both circuits during insertion. Pass criteria: retention at 6G, insertion under 5s, correct engagement sequence.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-024" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-024">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-019: Charge a battery pack from 20% to 95% SOC while monitoring charge current, voltage, and cell temperatures via independent instrumentation. Verify CC phase current does not exceed 10A, CV phase voltage is 50.4V plus or minus 0.1V, and maximum cell temperature remains below 45°C throughout. Verify station reads and displays BMS SOH and cell balance data during charging. Pass criteria: charge within spec, temperature below limit, BMS data correctly read.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      <SPEC-OBJECT IDENTIFIER="uht-bot:se-precision-ag-drone:VER-METHODS-025" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="VER-METHODS-025">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-ref</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Verify IFC-DEFS-020: With system armed and motors spinning at 30% throttle, disconnect the arm signal wire. Verify motors stop within 100 milliseconds. Remove power from flight controller while armed; verify motors stop within 100 milliseconds. Verify that with arm signal disconnected, applying throttle commands produces no motor response. Pass criteria: motors stop within 100ms in all failure modes, no response when disarmed.">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-text</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="Test">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-verification</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verification; power-battery; session-221">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-tags</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-OBJECT-TYPE-REF>req-type</SPEC-OBJECT-TYPE-REF></TYPE>
      </SPEC-OBJECT>
      </SPEC-OBJECTS>
      <SPEC-RELATIONS>
      <SPEC-RELATION IDENTIFIER="rel-0" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <SOURCE><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:SYS-REQS-011</SPEC-OBJECT-REF></SOURCE>
        <TARGET><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:SUB-REQS-031</SPEC-OBJECT-REF></TARGET>
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="derives">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-linkType</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-RELATION-TYPE-REF>trace-link-type</SPEC-RELATION-TYPE-REF></TYPE>
      </SPEC-RELATION>
      <SPEC-RELATION IDENTIFIER="rel-1" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <SOURCE><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:IFC-DEFS-020</SPEC-OBJECT-REF></SOURCE>
        <TARGET><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:VER-METHODS-025</SPEC-OBJECT-REF></TARGET>
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verifies">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-linkType</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-RELATION-TYPE-REF>trace-link-type</SPEC-RELATION-TYPE-REF></TYPE>
      </SPEC-RELATION>
      <SPEC-RELATION IDENTIFIER="rel-2" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <SOURCE><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:IFC-DEFS-019</SPEC-OBJECT-REF></SOURCE>
        <TARGET><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:VER-METHODS-024</SPEC-OBJECT-REF></TARGET>
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verifies">
            <DEFINITION><ATTRIBUTE-DEFINITION-STRING-REF>attr-linkType</ATTRIBUTE-DEFINITION-STRING-REF></DEFINITION>
          </ATTRIBUTE-VALUE-STRING>
        </VALUES>
        <TYPE><SPEC-RELATION-TYPE-REF>trace-link-type</SPEC-RELATION-TYPE-REF></TYPE>
      </SPEC-RELATION>
      <SPEC-RELATION IDENTIFIER="rel-3" LAST-CHANGE="2026-04-24T20:19:22.366Z">
        <SOURCE><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:IFC-DEFS-018</SPEC-OBJECT-REF></SOURCE>
        <TARGET><SPEC-OBJECT-REF>uht-bot:se-precision-ag-drone:VER-METHODS-023</SPEC-OBJECT-REF></TARGET>
        <VALUES>
          <ATTRIBUTE-VALUE-STRING THE-VALUE="verifies">
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