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3		-<h2>UC001: User distracted from going out with other activity</h2>
4		-<table width='100%'>
5		-<tr>
6		-<td style="font-size:16px">
7		-<table border='1px'>
8		-<tr border='1px'><td bgcolor='gainsboro'>
9		- <b>Objective</b>
10		-</td><td>
11		- OB01.3: Prevent user from going out by providing an indoor activty instead
12		-</td></tr>
13		-<tr><td bgcolor='gainsboro'>
14		- <b>TDP</b>
15		-</td><td>
16		- TDP: TITLE
17		-</td></tr>
18		-<tr><td bgcolor='gainsboro'>
19		- <b>Actors</b>
20		-</td><td>
21		- <ul>
22		- <li>Pepper</li>
23		- <li>Person with Dementia</li>
24		- </ul>
25		-</td></tr>
26		-<tr><td bgcolor='gainsboro'>
27		- <b>Pre-condition</b>
28		-</td><td>
29		- User is restless and wants to take a walk
30		-</td></tr>
31		-<tr><td bgcolor='gainsboro'>
32		- <b>Post-condition</b>
33		-</td><td>
34		- User stays home
35		-</td></tr>
36		-<tr><td bgcolor='gainsboro'>
37		- <b>Action sequence</b>
38		-</td><td>
39		- Figure<br><br>
40		- UC steps:<br>
41		- 1. User walks to door to go out<br>
42		- 2. Robot navigates to door<br>
43		- 3. Robot asks user what they are doing<br>
44		- 4. User responds to robot they are restless and want to take a walk<br>
45		- 5. Robot invites user to calm down by doing a puzzle<br>
46		- 6. User complies<br>
47		-</td></tr>
48		-</table>
49		-</td>
50		-</tr>
	3	+<h2>UC001: User distracted from going out</h2>
	4	+ <table border='1px'>
	5	+ <colgroup>
	6	+ <col>
	7	+ <col style="width: 70%">
	8	+ </colgroup>
	9	+ <tr border='1px'>
	10	+ <td bgcolor='gainsboro'>
	11	+ <b>Objective</b>
	12	+ </td><td>
	13	+ OB01.1: Remove user's incentive for going out<br>
	14	+ OB01.3: Keep user occupied inside
	15	+ </td>
	16	+ </tr><tr>
	17	+ <td bgcolor='gainsboro'>
	18	+ <b>TDP</b>
	19	+ </td><td>
	20	+ TDP: scene A
	21	+ </td>
	22	+ </tr><tr>
	23	+ <td bgcolor='gainsboro'>
	24	+ <b>Actors</b>
	25	+ </td><td>
	26	+ <ul>
	27	+ <li>Person with dementia</li>
	28	+ <li>Pepper</li>
	29	+ </ul>
	30	+ </td>
	31	+ </tr><tr>
	32	+ <td bgcolor='gainsboro'>
	33	+ <b>Pre-condition</b>
	34	+ </td><td>
	35	+ User is bored and wants to go shopping
	36	+ </td>
	37	+ </tr><tr>
	38	+ <td bgcolor='gainsboro'>
	39	+ <b>Post-condition</b>
	40	+ </td><td>
	41	+ User entertains themselves inside
	42	+ </td>
	43	+ </tr><tr>
	44	+ <td bgcolor='gainsboro'>
	45	+ <b>Action sequence</b>
	46	+ </td><td>
	47	+ UC steps:<br>
	48	+ 1. User walks to door to go out<br>
	49	+ 2. Robot asks user what they are doing<br>
	50	+ 3. User responds that they are bored and want to go to the mall<br>
	51	+ 4. Robot suggests user entertains themselves with a puzzle instead<br>
	52	+ 5. User complies<br>
	53	+ </td>
	54	+ </tr>
	55	+ </table>
51	51
52		-<td width='50%' style="font-size:16px">
53		-<table border='1px' width='50%'>
54		-<tr><td bgcolor='gainsboro'>
55		- <b>UC step<b>
56		-</td><td bgcolor='gainsboro'>
57		- <b>Requirements</b>
58		-</td><td bgcolor='gainsboro'>
59		-<b>Claims</b>
60		-</td><td bgcolor='gainsboro'>
61		-<b>IDP</b>
62		-</td></tr>
63		-<tr><td>1</td><td>RQ001: Detect movement towards door</td><td>-</td><td>-</td></tr>
64		-<tr><td>2</td><td>-</td><td>-</td><td>-</td></tr>
65		-<tr><td>3</td><td>RQ003: Speak in a human-like way, (RQ002: Recognize people in the care home)</td><td>-</td><td>-</td></tr>
66		-<tr><td>4</td><td>RQ004: Process spoken natural language</td><td>-</td><td>-</td></tr>
67		-<tr><td>5</td><td>RQ005: Associate certain concepts with related concepts, RQ003: Speak in a human-like way, (RQ008: Use gestures for non-verbal communication)</td><td>CL02: PwD's mood is improved</td><td>-</td></tr>
68		-<tr><td>6</td><td>-</td><td>CL01: The PwD does not leave the care home, CL05: No caretaker is needed to prevent PwD from wandering
69		-</td><td>-</td></tr>
70		-</table>
	57	+ <table border='1px'>
	58	+ <colgroup>
	59	+ <col style="width: 5%">
	60	+ <col>
	61	+ <col>
	62	+ <col style="width: 10%">
	63	+ </colgroup>
	64	+ <tr>
	65	+ <td bgcolor='gainsboro'>
	66	+ <b>UC step<b>
	67	+ </td><td bgcolor='gainsboro'>
	68	+ <b>Requirements</b>
	69	+ </td><td bgcolor='gainsboro'>
	70	+ <b>Claims</b>
	71	+ </td><td bgcolor='gainsboro'>
	72	+ <b>IDP</b>
	73	+ </td>
	74	+ </tr>
	75	+ <tr>
	76	+ <td>1</td>
	77	+ <td>RQ001: Detect movement towards door</td>
	78	+ <td>-</td>
	79	+ <td>-</td>
	80	+ </tr>
	81	+ <tr>
	82	+ <td>2</td>
	83	+ <td>RQ003: Speak in a human-like way, (RQ002: Recognize people in the care home), (RQ008: Use gestures for non-verbal communication)</td>
	84	+ <td>CL07: The user notices the system</td>
	85	+ <td>IDP1</td>
	86	+ </tr>
	87	+ <tr>
	88	+ <td>3</td>
	89	+ <td>RQ004: Process spoken natural language</td>
	90	+ <td>-</td>
	91	+ <td>IDP1</td>
	92	+ </tr>
	93	+ <tr>
	94	+ <td>4</td>
	95	+ <td>RQ005: Associate certain concepts with related concepts, RQ003: Speak in a human-like way, (RQ008: Use gestures for non-verbal communication)</td>
	96	+ <td>-</td>
	97	+ <td>IDP1</td>
	98	+ </tr>
	99	+ <tr>
	100	+ <td>5</td>
	101	+ <td>-</td>
	102	+ <td>CL06: The user entertains themselves inside, CL01: The user is prevented from getting lost, (CL11, CL12, CL15)</td>
	103	+ <td>IDP1</td>
	104	+ </tr>
	105	+ </table>
71	71
72	72	<h2>UC002: User not prevented from going out</h2>
73		-<table width='100%'>
74		-<tr>
75		-<td width='30%' style="font-size:16px">
76		-<table border='1px' width='50%'>
77		-<tr border='1px' width='30%'><td bgcolor='gainsboro'>
78		- <b>Objective</b>
79		-</td><td width='70%'>
80		- OB01.4: Alert caretakers of user that user has gone out
81		-</td></tr>
82		-<tr><td bgcolor='gainsboro'>
83		- <b>TDP</b>
84		-</td><td>
85		- TDP: TITLE
86		-</td></tr>
87		-<tr><td bgcolor='gainsboro'>
88		- <b>Actors</b>
89		-</td><td>
90		-</td></tr>
91		-<tr><td bgcolor='gainsboro'>
92		- <b>Pre-condition</b>
93		-</td><td>
94		- User is restless and wants to take a walk
95		-</td></tr>
96		-<tr><td bgcolor='gainsboro'>
97		- <b>Post-condition</b>
98		-</td><td>
99		- Caretakers are alerted of the fact that the user has left
100		-</td></tr>
101		-<tr><td bgcolor='gainsboro'>
102		- <b>Action sequence</b>
103		-</td><td>
104		- Figure<br><br>
105		- UC steps:<br>
106		- 1. User walks to door to go out<br>
107		- 2. Robot navigates to door<br>
108		- 3. Robot asks user what they are doing<br>
109		- 4. User ignores robot and walks outside<br>
110		- 5. Robot alerts caretakers that the user has done so<br>
111		- 6. Caretakers take actions necessary to protect and/or locate user<br>
112		-</td></tr>
113		-</table>
114		-</td>
115		-<td width='50%' style="font-size:16px">
116		-<table border='1px' width='50%'>
117		-<tr><td bgcolor='gainsboro'>
118		- <b>UC step<b>
119		-</td><td bgcolor='gainsboro'>
120		- <b>Requirements</b>
121		-</td><td bgcolor='gainsboro'>
122		-<b>Claims</b>
123		-</td><td bgcolor='gainsboro'>
124		-<b>IDP</b>
125		-</td></tr>
126		-<tr><td>1</td><td>RQ001: Detect movement towards door</td><td>-</td><td>-</td></tr>
127		-<tr><td>2</td><td>-</td><td>-</td><td>-</td></tr>
128		-<tr><td>3</td><td>RQ003: Speak in a human-like way, (RQ002: Recognize people in the care home)</td><td>-</td><td>-</td></tr>
129		-<tr><td>4</td><td>-</td><td>-</td><td>-</td></tr>
130		-<tr><td>5</td><td>RQ007: Alert caretakers</td><td>-</td><td>-</td></tr>
131		-<tr><td>6</td><td>-</td><td>-</td><td>-</td></tr>
132		-</table>
133		-</td></tr>
134		-</table>
	108	+ <table border='1px'>
	109	+ <colgroup>
	110	+ <col>
	111	+ <col style="width: 70%">
	112	+ </colgroup>
	113	+ <tr border='1px'>
	114	+ <td bgcolor='gainsboro'>
	115	+ <b>Objective</b>
	116	+ </td><td width='70%'>
	117	+ OB01.4: Allow for quick intervention from the caretaker
	118	+ </td>
	119	+ </tr><tr>
	120	+ <td bgcolor='gainsboro'>
	121	+ <b>TDP</b>
	122	+ </td><td>
	123	+ TDP: scene A, scene B
	124	+ </td>
	125	+ </tr><tr>
	126	+ <td bgcolor='gainsboro'>
	127	+ <b>Actors</b>
	128	+ </td><td>
	129	+ <ul>
	130	+ <li>Person with dementia</li>
	131	+ <li>Pepper</li>
	132	+ <li>(Caretaker)</li>
	133	+ </ul>
	134	+ </td>
	135	+ </tr><tr>
	136	+ <td bgcolor='gainsboro'>
	137	+ <b>Pre-condition</b>
	138	+ </td><td>
	139	+ User is restless and wants to take a walk
	140	+ </td>
	141	+ </tr><tr>
	142	+ <td bgcolor='gainsboro'>
	143	+ <b>Post-condition</b>
	144	+ </td><td>
	145	+ Caretakers are alerted of the fact that the user has left
	146	+ </td>
	147	+ </tr><tr>
	148	+ <td bgcolor='gainsboro'>
	149	+ <b>Action sequence</b>
	150	+ </td><td>
	151	+ UC steps:<br>
	152	+ 1. User walks to door to go out<br>
	153	+ 2. Robot asks user what they are doing<br>
	154	+ 3. User ignores robot and walks outside<br>
	155	+ 4. Robot alerts caretakers that the user has done so<br>
	156	+ 5. Caretakers take actions necessary to protect and/or locate user<br>
	157	+ </td>
	158	+ </tr>
	159	+ </table>
135	135
	161	+ <table border='1px'>
	162	+ <colgroup>
	163	+ <col style="width: 5%">
	164	+ <col>
	165	+ <col>
	166	+ <col style="width: 10%">
	167	+ </colgroup>
	168	+ <tr>
	169	+ <td bgcolor='gainsboro'>
	170	+ <b>UC step<b>
	171	+ </td><td bgcolor='gainsboro'>
	172	+ <b>Requirements</b>
	173	+ </td><td bgcolor='gainsboro'>
	174	+ <b>Claims</b>
	175	+ </td><td bgcolor='gainsboro'>
	176	+ <b>IDP</b>
	177	+ </td>
	178	+ </tr>
	179	+ <tr>
	180	+ <td>1</td>
	181	+ <td>RQ001: Detect movement towards door</td>
	182	+ <td>-</td>
	183	+ <td>-</td>
	184	+ </tr>
	185	+ <tr>
	186	+ <td>2</td>
	187	+ <td>RQ003: Speak in a human-like way, (RQ002: Recognize people in the care home), (RQ008: Use gestures for non-verbal communication)</td>
	188	+ <td>-</td>
	189	+ <td>IDP3</td>
	190	+ </tr>
	191	+ <tr>
	192	+ <td>3</td>
	193	+ <td>-</td>
	194	+ <td>-</td>
	195	+ <td>IDP3</td>
	196	+ </tr>
	197	+ <tr>
	198	+ <td>4</td>
	199	+ <td>RQ007: Alert caretakers</td>
	200	+ <td>CL14: Caretakers are alerted once a user leaves the home</td>
	201	+ <td>IDP3</td>
	202	+ </tr>
	203	+ <tr>
	204	+ <td>5</td>
	205	+ <td>-</td>
	206	+ <td>-</td>
	207	+ <td>-</td>
	208	+ </tr>
	209	+ </table>
136	136
	211	+<h2>UC003: User is reminded of their current situation</h2>
	212	+ <table border='1px'>
	213	+ <colgroup>
	214	+ <col>
	215	+ <col style="width: 70%">
	216	+ </colgroup>
	217	+ <tr border='1px'>
	218	+ <td bgcolor='gainsboro'>
	219	+ <b>Objective</b>
	220	+ </td><td width='70%'>
	221	+ OB01.2: Bring user back to reality
	222	+ </td>
	223	+ </tr><tr>
	224	+ <td bgcolor='gainsboro'>
	225	+ <b>TDP</b>
	226	+ </td><td>
	227	+ TDP: scene A
	228	+ </td>
	229	+ </tr><tr>
	230	+ <td bgcolor='gainsboro'>
	231	+ <b>Actors</b>
	232	+ </td><td>
	233	+ <ul>
	234	+ <li>Person with dementia</li>
	235	+ <li>Pepper</li>
	236	+ </ul>
	237	+ </td>
	238	+ </tr><tr>
	239	+ <td bgcolor='gainsboro'>
	240	+ <b>Pre-condition</b>
	241	+ </td><td>
	242	+ User thinks they need to get to work quickly
	243	+ </td>
	244	+ </tr><tr>
	245	+ <td bgcolor='gainsboro'>
	246	+ <b>Post-condition</b>
	247	+ </td><td>
	248	+ User remembers they are retired and in a care home
	249	+ </td>
	250	+ </tr><tr>
	251	+ <td bgcolor='gainsboro'>
	252	+ <b>Action sequence</b>
	253	+ </td><td>
	254	+ Figure<br><br>
	255	+ UC steps:<br>
	256	+ 1. User walks to door to go out<br>
	257	+ 2. Robot asks user what they are doing<br>
	258	+ 3. User argues they need to go to work and they are already late<br>
	259	+ 4. Robot tries to convince the user they are free today<br>
	260	+ 5. User feels agitated and insist on their idea<br>
	261	+ 6. Robot sings or plays a song associated with retirement<br>
	262	+ 7. User is reminded of their retirement and realises they do not have to go to work, deciding to stay in<br>
	263	+ </td>
	264	+ </tr>
	265	+ </table>
137	137
	267	+ <table border='1px'>
	268	+ <colgroup>
	269	+ <col>
	270	+ <col style="width: 70%">
	271	+ </colgroup>
	272	+<tr>
	273	+ <td bgcolor='gainsboro'>
	274	+ <b>UC step<b>
	275	+ </td><td bgcolor='gainsboro'>
	276	+ <b>Requirements</b>
	277	+ </td><td bgcolor='gainsboro'>
	278	+ <b>Claims</b>
	279	+ </td><td bgcolor='gainsboro'>
	280	+ <b>IDP</b>
	281	+ </td>
	282	+ </tr>
	283	+ <tr>
	284	+ <td>1</td>
	285	+ <td>RQ001: Detect movement towards door</td>
	286	+ <td>-</td>
	287	+ <td>-</td>
	288	+ </tr>
	289	+ <tr>
	290	+ <td>2</td>
	291	+ <td>RQ003: Speak in a human-like way, (RQ002: Recognize people in the care home), (RQ008: Use gestures for non-verbal communication)</td>
	292	+ <td>CL07: The user notices the system</td>
	293	+ <td>IDP2</td>
	294	+ </tr>
	295	+ <tr>
	296	+ <td>3</td>
	297	+ <td>RQ004: Process spoken natural language</td>
	298	+ <td>-</td>
	299	+ <td>IDP2</td>
	300	+ </tr>
	301	+ <tr>
	302	+ <td>4</td>
	303	+ <td>RQ005: Associate certain concepts with related concepts, RQ003: Speak in a human-like way, (RQ008: Use gestures for non-verbal communication)</td>
	304	+ <td>-</td>
	305	+ <td>IDP2</td>
	306	+ </tr>
	307	+ <tr>
	308	+ <td>5</td>
	309	+ <td>RQ009: Recognize emotions, RQ004: Process spoken natural language</td>
	310	+ <td>CL09: The user feels they are losing their freedom, CL13: The user gets annoyed by the robot</td>
	311	+ <td>IDP2</td>
	312	+ </tr>
	313	+ <tr>
	314	+ <td>6</td>
	315	+ <td>RQ006: Play music</td>
	316	+ <td>CL02: The user's mood is improved, CL04: The music fits the situation or place, CL08: The user is subtly brought back to reality</td>
	317	+ <td>IDP2</td>
	318	+ </tr>
	319	+ <tr>
	320	+ <td>7</td>
	321	+ <td>-</td>
	322	+ <td>CL01: The user is prevented from getting lost, (CL11, CL12, CL15)</td>
	323	+ <td>IDP2</td>
	324	+ </tr>
	325	+ </table>
138	138
139		-<h2>UC003: Guide user when going out</h2>
140		-<table border='1px' width='50%'>
141		-<tr border='1px' width='30%'><td bgcolor='gainsboro'>
142		- <b>Objective</b>
143		-</td><td width='70%'>
144		- OB02: Alert caretakers when user wants to take a walk
145		-</td></tr>
146		-<tr><td bgcolor='gainsboro'>
147		- <b>TDP</b>
148		-</td><td>
149		- TDP: TITLE
150		-</td></tr>
151		-<tr><td bgcolor='gainsboro'>
152		- <b>Actors</b>
153		-</td><td>
154		-</td></tr>
155		-<tr><td bgcolor='gainsboro'>
156		- <b>Pre-condition</b>
157		-</td><td>
158		- User is restless and wants to take a walk
159		-</td></tr>
160		-<tr><td bgcolor='gainsboro'>
161		- <b>Post-condition</b>
162		-</td><td>
163		- Robot alerts caretaker and caretaker accompanies the user to a familiar location
164		-</td></tr>
165		-<tr><td bgcolor='gainsboro'>
166		- <b>Action sequence</b>
167		-</td><td>
168		- Figure<br><br>
169		- UC steps:<br>
170		- 1. User walks to door to go out<br>
171		- 2. Robot asks user what they are doing<br>
172		- 3. User responds to robot they are restless and want to take a walk<br>
173		- 4. Robot starts to play some sounds corresponding to a familiar location<br>
174		- 5. Robot alerts caretaker that the user wants to go out<br>
175		- 6. User listens and recognizes to sound and remembers the route to that location<br>
176		- 7. Caretaker arrives.<br>
177		- 8. Caretaker accompanies the user on his/her stroll<br>
178		-</td></tr>
	327	+<h2>UC004: User is not convinced by robot</h2>
	328	+ <table border='1px'>
	329	+ <colgroup>
	330	+ <col>
	331	+ <col style="width: 70%">
	332	+ </colgroup>
	333	+<tr border='1px'>
	334	+ <td bgcolor='gainsboro'>
	335	+ <b>Objective</b>
	336	+ </td><td width='70%'>
	337	+ OB01.4: Allow for quick intervention from the caretaker
	338	+ </td>
	339	+ </tr><tr>
	340	+ <td bgcolor='gainsboro'>
	341	+ <b>TDP</b>
	342	+ </td><td>
	343	+ TDP: scene A, scene B
	344	+ </td>
	345	+ </tr><tr>
	346	+ <td bgcolor='gainsboro'>
	347	+ <b>Actors</b>
	348	+ </td><td>
	349	+ <ul>
	350	+ <li>Person with dementia</li>
	351	+ <li>Pepper</li>
	352	+ <li>Caretaker</li>
	353	+ </ul>
	354	+ </td>
	355	+ </tr><tr>
	356	+ <td bgcolor='gainsboro'>
	357	+ <b>Pre-condition</b>
	358	+ </td><td>
	359	+ User thinks they need to get to work quickly
	360	+ </td>
	361	+ </tr><tr>
	362	+ <td bgcolor='gainsboro'>
	363	+ <b>Post-condition</b>
	364	+ </td><td>
	365	+ User is calmed down by caretaker
	366	+ </td>
	367	+ </tr><tr>
	368	+ <td bgcolor='gainsboro'>
	369	+ <b>Action sequence</b>
	370	+ </td><td>
	371	+ Figure<br><br>
	372	+ UC steps:<br>
	373	+ 1. User walks to door to go out<br>
	374	+ 2. Robot asks user what they are doing<br>
	375	+ 3. User argues they need to go to work and they are already late<br>
	376	+ 4. Robot tries to convince the user they are free today<br>
	377	+ 5. User feels agitated and insist on their idea<br>
	378	+ 6. Robot sings or plays a song associated with retirement<br>
	379	+ 7. User does not respond to music and insists on going out<br>
	380	+ 8. Robot calls caretaker and requests user to wait for them<br>
	381	+ 9. Caretaker takes over and calms the user
	382	+ </td>
	383	+ </tr>
	384	+ </table>
179	179
180		-</table>
181		-
182		-</table>
183		-</td>
184		-<td width='50%' style="font-size:16px">
185		-<table border='1px' width='50%'>
186		-<tr><td bgcolor='gainsboro'>
187		- <b>UC step<b>
188		-</td><td bgcolor='gainsboro'>
189		- <b>Requirements</b>
190		-</td><td bgcolor='gainsboro'>
191		-<b>Claims</b>
192		-</td><td bgcolor='gainsboro'>
193		-<b>IDP</b>
194		-</td></tr>
195		-<tr><td>1</td><td>RQ001: Detect movement towards door, (RQ002: Recognize people in the care home)</td><td>-</td><td>-</td></tr>
196		-<tr><td>2</td><td>RQ003: Speak in a human-like way</td><td>-</td><td>-</td></tr>
197		-<tr><td>3</td><td>RQ004: Process spoken natural language</td><td>-</td><td>-</td></tr>
198		-<tr><td>4</td><td>RQ006: Play music</td><td>CL04: The music reminds the PwD of the intended situation or place</td><td>-</td></tr>
199		-<tr><td>5</td><td>RQ007: Alert caretakers</td><td>-</td><td>-</td></tr>
200		-<tr><td>6</td><td>-</td><td>-</td><td>-</td></tr>
201		-<tr><td>7</td><td>RQ002: Recognize people in the care home</td><td>-</td></tr>
202		-<tr><td>8</td><td>-</td><td>CL02: PwD's mood is improved, CL06: PwD leaves care home with caretaker/td><td>-</td></tr>
203		-</table>
204		-</td></tr>
205		-</table>
206		-</tr>
207		-
208		-</table>
209		-
210		-
211		-<h2>UC004: User is reminded of their current situation</h2>
212		-<table width='100%'>
	386	+ <table border='1px'>
	387	+ <colgroup>
	388	+ <col>
	389	+ <col style="width: 70%">
	390	+ </colgroup>
213	213	<tr>
214		-<td style="font-size:16px">
215		-<table border='1px'>
216		-<tr border='1px'><td bgcolor='gainsboro'>
217		- <b>Objective</b>
218		-</td><td>
219		- OB01.1: Prevent user from going out by objecting to their reason for going out
220		-</td></tr>
221		-<tr><td bgcolor='gainsboro'>
222		- <b>TDP</b>
223		-</td><td>
224		- TDP: TITLE
225		-</td></tr>
226		-<tr><td bgcolor='gainsboro'>
227		- <b>Actors</b>
228		-</td><td>
229		-</td></tr>
230		-<tr><td bgcolor='gainsboro'>
231		- <b>Pre-condition</b>
232		-</td><td>
233		- User is under the impression they need to be somewhere and intends to go there
234		-</td></tr>
235		-<tr><td bgcolor='gainsboro'>
236		- <b>Post-condition</b>
237		-</td><td>
238		- User remembers they need to stay here
239		-</td></tr>
240		-<tr><td bgcolor='gainsboro'>
241		- <b>Action sequence</b>
242		-</td><td>
243		- Figure<br><br>
244		- UC steps:<br>
245		- 1. User walks to door to go out<br>
246		- 2. Robot navigates to door<br>
247		- 3. Robot asks user what they are doing<br>
248		- 4. User argues they need to go to work and they are already late<br>
249		- 5. Robot tries to convince the user you are already retired<br>
250		- 6. User feels agitated and insist on his idea<br>
251		- 7. Robot sings or plays a song associated with retirement<br>
252		- 8. User is reminded of his retirement and realises he does not have to go to work<br>
253		- 9. Robot invites user to stay home and user complies<br>
254		-</td></tr>
255		-</table>
256		-</td>
257		-<td width='50%' style="font-size:16px">
258		-<table border='1px' width='50%'>
259		-<tr><td bgcolor='gainsboro'>
260		- <b>UC step<b>
261		-</td><td bgcolor='gainsboro'>
262		- <b>Requirements</b>
263		-</td><td bgcolor='gainsboro'>
264		-<b>Claims</b>
265		-</td><td bgcolor='gainsboro'>
266		-<b>IDP</b>
267		-</td></tr>
268		-<tr><td>1</td><td>RQ001: Detect movement towards door, (RQ002: Recognize people in the care home)</td><td>-</td><td>-</td></tr>
269		-<tr><td>2</td><td>-</td><td>-</td><td>-</td></tr>
270		-<tr><td>3</td><td>RQ003: Speak in a human-like way</td><td>-</td><td>-</td></tr>
271		-<tr><td>4</td><td>RQ004: Process spoken natural language</td><td>-</td><td>-</td></tr>
272		-<tr><td>5</td><td>RQ005: Associate certain concepts with related concepts, RQ003: Speak in a human-like way, (RQ008: Use gestures for non-verbal communication)</td><td>-</td><td>-</td></tr>
273		-<tr><td>6</td><td>RQ009: Recognize emotions</td><td>-</td><td>-</td></tr>
274		-<tr><td>7</td><td>RQ006: Play music</td><td>CL02: PwD's mood is improved</td><td>-</td></tr>
275		-<tr><td>8</td><td>-</td><td>CL04: The music reminds the PwD of the intended situation or place</td><td>-</td></tr>
276		-<tr><td>9</td><td>RQ003: Speak in a human-like way</td><td>CL01: The PwD does not leave the care home</td><td>-</td></tr>
277		-</table>
278		-</td></tr>
279		-</table>
280		-</tr>
	392	+ <td bgcolor='gainsboro'>
	393	+ <b>UC step<b>
	394	+ </td><td bgcolor='gainsboro'>
	395	+ <b>Requirements</b>
	396	+ </td><td bgcolor='gainsboro'>
	397	+ <b>Claims</b>
	398	+ </td><td bgcolor='gainsboro'>
	399	+ <b>IDP</b>
	400	+ </td>
	401	+ </tr>
	402	+ <tr>
	403	+ <td>1</td>
	404	+ <td>RQ001: Detect movement towards door</td>
	405	+ <td>-</td>
	406	+ <td>-</td>
	407	+ </tr>
	408	+ <tr>
	409	+ <td>2</td>
	410	+ <td>RQ003: Speak in a human-like way, (RQ002: Recognize people in the care home), (RQ008: Use gestures for non-verbal communication)</td>
	411	+ <td>CL07: The user notices the system</td>
	412	+ <td>IDP2</td>
	413	+ </tr>
	414	+ <tr>
	415	+ <td>3</td>
	416	+ <td>RQ004: Process spoken natural language</td>
	417	+ <td>-</td>
	418	+ <td>IDP2</td>
	419	+ </tr>
	420	+ <tr>
	421	+ <td>4</td>
	422	+ <td>RQ005: Associate certain concepts with related concepts, RQ003: Speak in a human-like way, (RQ008: Use gestures for non-verbal communication)</td>
	423	+ <td>-</td>
	424	+ <td>IDP2</td>
	425	+ </tr>
	426	+ <tr>
	427	+ <td>5</td>
	428	+ <td>RQ009: Recognize emotions, RQ004: Process spoken natural language</td>
	429	+ <td>CL09: The user feels they are losing their freedom, CL13: The user gets annoyed by the robot</td>
	430	+ <td>IDP2</td>
	431	+ </tr>
	432	+ <tr>
	433	+ <td>6</td>
	434	+ <td>RQ006: Play music</td>
	435	+ <td>CL04: The music fits the situation or place</td>
	436	+ <td>IDP2</td>
	437	+ </tr>
	438	+ <tr>
	439	+ <td>7</td>
	440	+ <td>-</td>
	441	+ <td>CL09: The user feels they are losing their freedom, CL13: The user gets annoyed by the robot</td>
	442	+ <td>IDP2</td>
	443	+ </tr>
	444	+ <tr>
	445	+ <td>8</td>
	446	+ <td>RQ007: Alert caretakers</td>
	447	+ <td>CL05: The user is willing to wait for the caretaker, CL14: Caretakers are alerted once a user leaves the home</td>
	448	+ <td>IDP2</td>
	449	+ </tr>
	450	+ <tr>
	451	+ <td>9</td>
	452	+ <td></td>
	453	+ <td>CL01: The user is prevented from getting lost, (CL11, CL12, CL15)</td>
	454	+ <td>-</td>
	455	+ </tr>
	456	+ </table>
281	281
282		-</table>
	458	+<h2>UC005: User takes a supervised walk</h2>
	459	+ <table border='1px'>
	460	+ <colgroup>
	461	+ <col>
	462	+ <col style="width: 70%">
	463	+ </colgroup>
	464	+<tr border='1px'>
	465	+ <td bgcolor='gainsboro'>
	466	+ <b>Objective</b>
	467	+ </td><td width='70%'>
	468	+ OB02: Allow user to take supervised walks
	469	+ </td>
	470	+ </tr><tr>
	471	+ <td bgcolor='gainsboro'>
	472	+ <b>TDP</b>
	473	+ </td><td>
	474	+ TDP: scene A, scene C
	475	+ </td>
	476	+ </tr><tr>
	477	+ <td bgcolor='gainsboro'>
	478	+ <b>Actors</b>
	479	+ </td><td>
	480	+ <ul>
	481	+ <li>Person with dementia</li>
	482	+ <li>Pepper</li>
	483	+ <li>Caretaker</li>
	484	+ </ul>
	485	+ </td>
	486	+ </tr><tr>
	487	+ <td bgcolor='gainsboro'>
	488	+ <b>Pre-condition</b>
	489	+ </td><td>
	490	+ User is restless and wants to take a walk
	491	+ </td>
	492	+ </tr><tr>
	493	+ <td bgcolor='gainsboro'>
	494	+ <b>Post-condition</b>
	495	+ </td><td>
	496	+ User is accompanied by caretaker
	497	+ </td>
	498	+ </tr><tr>
	499	+ <td bgcolor='gainsboro'>
	500	+ <b>Action sequence</b>
	501	+ </td><td>
	502	+ Figure<br><br>
	503	+ UC steps:<br>
	504	+ 1. User walks to door to go out<br>
	505	+ 2. Robot asks user what they are doing<br>
	506	+ 3. User requests to take a walk<br>
	507	+ 4. Robot calls the caretaker and requests the user to wait<br>
	508	+ 5. Caretaker arrives and takes a walk with the user<br>
	509	+ </td>
	510	+ </tr>
	511	+ </table>
283	283
	513	+ <table border='1px'>
	514	+ <colgroup>
	515	+ <col>
	516	+ <col style="width: 70%">
	517	+ </colgroup>
	518	+<tr>
	519	+ <td bgcolor='gainsboro'>
	520	+ <b>UC step<b>
	521	+ </td><td bgcolor='gainsboro'>
	522	+ <b>Requirements</b>
	523	+ </td><td bgcolor='gainsboro'>
	524	+ <b>Claims</b>
	525	+ </td><td bgcolor='gainsboro'>
	526	+ <b>IDP</b>
	527	+ </td>
	528	+ </tr>
	529	+ <tr>
	530	+ <td>1</td>
	531	+ <td>RQ001: Detect movement towards door</td>
	532	+ <td>-</td>
	533	+ <td>-</td>
	534	+ </tr>
	535	+ <tr>
	536	+ <td>2</td>
	537	+ <td>RQ003: Speak in a human-like way, (RQ002: Recognize people in the care home), (RQ008: Use gestures for non-verbal communication)</td>
	538	+ <td>CL07: The user notices the system</td>
	539	+ <td>IDP4</td>
	540	+ </tr>
	541	+ <tr>
	542	+ <td>3</td>
	543	+ <td>RQ004: Process spoken natural language</td>
	544	+ <td>-</td>
	545	+ <td>IDP4</td>
	546	+ </tr>
	547	+ <tr>
	548	+ <td>4</td>
	549	+ <td>RQ007: Alert caretakers, RQ003: Speak in a human-like way, (RQ008: Use gestures for non-verbal communication)</td>
	550	+ <td>CL05: The user is willing to wait for the caretaker, CL10: The user feels dependent on others, (CL12, CL15)</td>
	551	+ <td>IDP4</td>
	552	+ </tr>
	553	+ <tr>
	554	+ <td>5</td>
	555	+ <td></td>
	556	+ <td>CL02: The user's mood is improved</td>
	557	+ <td></td>
	558	+ </tr>
	559	+ </table>
284	284	{{/html}}
285	285