Project Plan Autonomous Trucks - Linköping University · Autonomous Trucks 1 Project Plan Version...

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Project PlanAutonomous Trucks

Version 1.0

Author: Amy RankkaDate: September 24, 2014

Status

Reviewed Air 140922Approved

Course name: Control Project E-mail: [email protected] group: GrpName Document responsible: Amy RankkaCourse code: TSRT10 Author’s E-mail: [email protected]: Autonomous Trucks Document name: projplan.pdf

Project Identity

Group E-mail: [email protected]: http://www.notyetexisting.seOrderer: Erik Frisk, Linkoping University

Phone: +46 (0)13 - 28 5714, E-mail: [email protected]: Per Sahlholm, Scania

Phone: +46 (0)8 553 891 29 , E-mail: [email protected] Responsible: Daniel Axehill, Linkoping University

Phone: +46 13 284042, E-mail: [email protected] Manager: ScaniaAdvisors: Chih Feng Lee , Linkoping University

Phone: +46 (0)13 - 28 4620 , E-mail: [email protected]

Group Members

Bus Group

Amy Rankka (AR) Projekt Leader 0708305289 amyra281Adam Lundmark (AL) Bus Responsible 0706189894 adalu838

Mapping Group

Olle Sjoblom (OS) Document Responsible 0722000847 ollsj047Mikael Bengtsson (MBe) - 0736293663 mikbe683

Vehicle Group

Mathias Brischetto (MBr) Test Responsible 0768021446 matbr612Peter Karlsson (PK) - 0706595260 petka454

Planning Group

Johan Hogdahl (JH) Design Responsible 0738498167 johho091Rasmus Mehler (RM) - 0738518292 rasme879Srdjan Jovanovic (SJ) - 0737320773 srdjo099

III

Document History

Version Date Changes made Sign Reviewer

0.1 140919 First draft All All1.0 140922 First version JH, Mbe, SJ AR


Contents

1 Who is the Orderer? 1

2 An Overview of the System 1

2.1 Purposes and Goals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2.2 Deliverables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

2.3 What is not Included . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

3 Project Plan 2

3.1 Before start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

3.2 During the project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

3.3 After the project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

4 Organization 3

4.1 Resposibilities of Project Members . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

4.2 Organization Plan for each Project Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

5 Document Plan 3

6 Development Method 4

7 Training Plan 4

7.1 Training of the Project Members . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

7.2 Training of the Customer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

8 Report Plan 4

9 Meeting Plan 5

10 Resource Plan 6

10.1 Persons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

10.2 Material and Tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

10.3 Work Rooms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

10.4 Economy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

11 Milestones and Tollgates 7

11.1 Milestones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

11.2 Tollgates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

12 Activities 8

13 Time Table 11

14 Plan for Changes 11

15 Quality Plan 11

15.1 Reviews . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

15.2 Test Plan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

16 Risk Analysis 11

V

17 Priorities 12

18 Project Closing 12

A Time Table 13


Autonomous Trucks1

Project PlanVersion 1.0

1 Who is the Orderer?

The orderer is Erik Frisk, division of Vehicular Systems, ISY, Linkoping University. Thebudget and magnitude of the project is set by him.

2 An Overview of the System

2.1 Purposes and Goals

The goal of the project is to deliver a simulation environment in PreScan1 where youcan simulate autonomous trucks executing missions. Depending on how fast our work isprogressing, the missions it will be able to simulate will be more or less complex.The purpose is also to get used to work with the Lips (Linoping Interactive ProjectSteering) project model and learn how to plan a full scale project from scratch.

2.2 Deliverables

The deliverables consist of a series of documents and the simulation environment accordingto the requirement specification. These are the deliverables:

• Requirement specification, system layout, project plan and time plan, shall behanded in to customer no later than September 24th at tollgate 2

• Design layout and test plan, to be delivered at tollgate 3

• The final product, i.e. the simulation environment, to be delivered shortly aftertollgate 5

• Technical documentation, YouTube-clip, project homepage, poster presentation andproject reflection, to be delivered at tollgate 6

2.3 What is not Included

The simulation environment is customised to fulfil the requirement specification. Usageoutside these specifications is not guaranteed to work in an appropriate way.

1https://www.tassinternational.com/prescan


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3 Project Plan

This section contains a brief description of what will be executed during the three differentphases of the project.

3.1 Before start

Before the start of the project, a plan of implementation will be developed by writing arequirement specification, a timetable and a project plan.Also, knowledge in the simulationtool PreScan will be acquired.

3.2 During the project

The first task to be done during this phase is to write a design specification and a testplan. The activities defined in the time table will be then executed according to the designspecification with the aim of fulfilling the requirements in the requirement specification.Tests of the system will be held throughout this phase.

3.3 After the project

After the project is finished, a project reflection document will be written, i.e. the projectprocess will be evaluated - what went well, what could have been done differently etc.


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4 Organization

The organization of the project consists of the project group with nine members, theorderer, the advisor, the customer and the technical expert.

4.1 Resposibilities of Project Members

There are five main responsible areas, which each will be assigned to one of the members:project leader, document responsible, design responsible, test responsible and bus respon-sible. Besides, four sub groups, each containing two or three members, will be formed:bus group (responsible for bus communication), mapping group (situational awareness),planning group (behaviour layer, mission planner and local planner) and vehicle group(low-level controller and vehicle modelling).

4.2 Organization Plan for each Project Phase

Each subgroup is responsible for its own area during both before (design specification),during (development and implementation) and after (technical report) the project. If itturns out that the extents of the different areas were miss-calculated, the groups can bereshaped.

5 Document Plan

The documents in this project will follow the LIPS standard and will be written usingShareLatex2. One project member will be assigned the responsibility of the documents. Asummary table of all the documents that are intended to be produced during this projectis presented in Table 1.

Document Language Aim Target FormatRequirementsSpecification

English Determines the demands and re-quirements for project delivery.

Orderer PDF

System Lay-out

English Illustrates a simple layout off thecomplete system.

Orderer PDF

Project Plan English Describes the plan of how theproject will be completed.

Orderer PDF

Timetable English Plan of the use of time. Orderer PDFTime Report English A follow up of time use. Orderer PDFDesign Spec-ification

English Well-detailed description of thesystem.

Orderer PDF

TechnicalDocumenta-tion

English Technical description of the fin-ished product.

Orderer PDF

Project Re-flection

English An evaluation of the project afterdelivery.

Orderer PDF

Table 1: Documents in the project.

2https://www.sharelatex.com


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6 Development Method

The group will be split into sub groups and each sub group will be working on differentfields. All code and technical material will be uploaded to a svn repository when somethingis updated so that each member always has access to the latest version. All documentsare on either sharelatex.com or Google Drive during development, depending on type ofdocument. When a new version of a document is written, it should be uploaded to thesvn repository and Google Drive.

7 Training Plan

This sections describes the training the project members and the customer need to fulfilthe requirements of this project.

7.1 Training of the Project Members

The project members need training in the PreScan software. Not all project members willuse PreScan in their work. However it is a good idea to make sure everyone understandsthe basics of the tool when it is such an important part of the project.

The expert has taken a course in the use of PreScan. He will send the course material tothe project group. Each project member is then responsible of acquiring the knowledgecontained in this material.

There may also be other areas that the project members need to be trained in. If theknowledge is available within the group, the member in possession of the knowledge willtrain the project members in need of the knowledge. If the knowledge is not containedwithin the project group the advisor or the expert will be consulted.

7.2 Training of the Customer

When the project is finished the customer may need training in using the developedsoftware. A user guide document will be written and delivered together with the rest ofthe product.

8 Report Plan

Each group member shall fill in their time used during the week on Sunday each week.The project leader will then send this to the customer on the following Monday. Duringmeetings, a meeting protocol will be written for future reference.


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9 Meeting Plan

Meetings will be held once a week, and will be scheduled on the same time each week ineach schedule period. These meetings will always be held, regardless on the amount ofthings needed to be discussed and attendance is compulsory. An agenda will be sent outto every member by the project leader, at most 12 hours before the meeting. The meetingwill also be added as a post in the project calender. The group members are expected toattend the meeting well-prepared, based on the agenda.

Extra meetings can be arranged if it is considered necessary. If so, attendance cannotbe considered compulsory, but each member is expected to attend if nothing else is onhis/her schedule.


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10 Resource Plan

In this sections the resources available in the project will be discussed. This involves bothmaterial and human resources.

10.1 Persons

The human resources available in the project is preliminary the nine project members.An advisor stationed at the university and an expert resource who is stationed at anotherlocation is also available.

10.2 Material and Tools

Two computers lend by the university are available. A powerful computer able to runPreScan is also available in the project room (see section 10.3).

10.3 Work Rooms

A project room possessed by Fordonssystem is available to the project group with 24 hoursa day access. The room has numerous computers that can be used in the project. One ofthese is dedicated for this project only and is configured so that PreScan can be used onit. The other computers are shared between this and other projects on the institution.

10.4 Economy

The economical aspects of the project is only measured in the hours certain resources canbe used. Each project member can be used for 240 hours and the advisor can be used for40 hours.


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11 Milestones and Tollgates

11.1 Milestones

This section lists the project milestones.

No. Description Week1 First draft of Design Specification finished 412 Design Specification and Test Plan finished 413 Basic functionality for vehicle controller 424 Subsystems can communicate via LCM 435 Grid map updates in real-time while driving 446 Local planner is integrated with vehicle model 447 Local planner can follow a road 448 Local planner can send reference signals 449 Mission planner has access to map 4510 Vehicle able to go from A to B on roads 4511 Vehicle able to go from A to B on freespace 4612 Mission planner can compute a route 4613 Behaviour layer can determine if the vehicle is on road or

on free-space46

14 Local planner can choose a path on free-space 4615 Vehicle able to go from A to B with obstacles 4716 Local planner can choose a way through a junction 4717 SLAM is integrated. 4718 Behaviour layer can identify an obstacle 4819 Local planner can choose a path to overtake obstacles in

road48

20 Technical Report Finished. 5021 Poster, Youtube-clip and presentation ready for tollgate 6. 50

11.2 Tollgates

This section describes the project tollgates.

No. Description Date2 Requirement specification, project plan (including

timetable) and system layout shall be delivered.14-09-24

3 Design specification and test plan shall be delivered. TBD5 All functionality, test protocol, user guide shall be pre-

sented. Also it shall be presented that the Requirementspecification is full filled.

TBD

6 Technical Report, Project Reflection, Poster Presentation,Project Webbpage and Descriptive YouTube-clip of theproject shall be delivered.

TBD


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12 Activities

Description of each of the project activities.

No. Activity Description Est.Time1 Project Meetings Strategic meet up of the project group. 2112 Requirement

SpecificationCompose a specification of all the project de-mands.

100

3 System Layout Compose a descriptive overview of the sys-tem.

70

4 Time Plan Compose a plan of the use of time. 95 Project Plan Compose a plan of the project implementa-

tion.18

6 Education Research of information needed for theproject.

50

7 Design Specifica-tion

Compose a descriptive specification of thesystem.

200

8 Test Plan Compose a plan for project testing. 189 Technical Report Compose a technical report of the final prod-

uct.50

10 User Guide Compose a users guide of the final product. 511 Project Manag-

mentManagment of the project. 14

12 Document For-mating

Formatting of project documents. 3

13 Reserve Reserve time for the hole project 255Mission Planer14 Integrate with

LCMGet the mission planner to publish the datait should to the LCM bus.

10

15 Implement searchalgorithm

Evaluate different search algorithms and im-plement one for use when planning missions.

60

16 Implement way-points

Implement the data type that will representthe waypoints and implement functions con-nected to the use of them.

15

Situational Awareness17 Grip map Implement functionality for plotting grid

map based on inputs from sensor fusion data.90

18 Sensors Implement sensors on vehicle. 2019 Sensor fusion Implement sensor fusion to estimate position

of obstacles30

20 SLAM Implement SLAM algorithm 80Behaviour Layer21 Functionality in

the behaviourlayer

Implement the basic functionality for the be-haviour layer

15

22 Modes Implement the functionality for the modes inbehaviour layer

30

Local Planner23 Algorithm for

drivning throughjunctions

Develop and implement an algorithm fordriving trough junctions

40


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24 Algorithm forovertaking obsta-cles

Develop and implement an algorithm forovertaking obstacles on road

40

25 Integrate free-space driving

Integrate the code written by Niclas Evestedtfor free-space driving

40

26 Algorithm fortransforming atrajectory intoreference signals

Implement an algorithm that transforms tra-jectories into reference signals

40

27 Integrate LCM Integrate the local planner with LCM 25Vehicle Control and Modeling28 Develop simple

control algo-rithms

Develop control systems for yaw-rate, speed,brake

15

29 Integrate andevaluate withRVR, trans-mit/receive

Make it possible to control the real vehiclewith the controllers

35

30 Develop bicyclemodel

Develop a simple model to be used togetherwith local planner and possibly controllers

40

31 Integration withlocal planner

Integrate the bicycle model with local plan-ner

30

32 Rollover withhard coded massdata

Develop algorithms for dealing with rollovercondition, at first without mass estimationalgorithms

40

33 Sensors for massestimation

Integrate sensors for estimating mass andcentre of gravity into the vehicle model

10

34 Implementationof mass andCG estimationalgorithms

Implement algorithms for estimating massand centre of gravity of the vehicle model

30

35 Develop fourwheel vehiclemodel

Implement a four wheel model. 20

36 Implement alter-native controllers

Expand the existing controllers with morecomplex ones, possibly with feed forward.

40

System communication37 LCM training Gain knowledge of the LCM-protocol. 1038 Design of commu-

nication protocolSpecify the means of which the subsystemswill communicate.

15

39 Integration ofcommunicationprotocol

Realise the communication protocol. 30

40 Communicationmaintenance

Follow up and maintenance of the communi-cation protocol.

20

PreScan41 Build scenarios Build environments in PreScan that tests dif-

ferent behaviors of the vehicle20

42 Investigate builtin functionality

Investigate e.g. sensors and vehicle models 15


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43 Integrate subsys-tems

Integrate all subsystems with the PreScansimulation environment

10

Tests44 LCM communica-

tion testing- 4

45 System integra-tion testing

- 60

46 Basic scenariotesting

- 20

47 Controller testing - 048 Mission planner

testing- 20

49 Behaviour layertesting

- 20

50 Local plannertesting

- 70

Presentation51 Website Design a project webbsite. 1052 Poster Design a poster presentation of the final

project.10

53 Youtube-clip Make a video presentation of the project. 254 Oral Presentation Preperation and execution of the final pre-

sentation.18

55 Project Reflec-tion

Compose a document of feedback on theproject.

10


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13 Time Table

See Appendix A.

14 Plan for Changes

The time table will be followed-up continuously during the project, by each member fillingin the report of time used for each activity. If something needs to be changed, it will bediscussed within the group and adjusted if decided so.

If a requirement specified in the requirement specification needs to be re-negotiated, thishas to be done in consultation with the orderer, well before the delivery date of the partof the product involving the requirement.

If a project member wants to switch task during the project this will be done after dis-cussion with the project leader and other involved project members.

15 Quality Plan

This section describes how the project intends to sustain a high quality of the mate-rial produced during the project. Both documents and developed software is taken intoaccount.

15.1 Reviews

The documents written during this project are going to be kept short enough for almostevery member of the project to have time to read them trough. The benefit of this isthat many different opinions on the content can be collected during the writing processand thereby make sure the quality is satisfying before each document is handed in. Thesecond step in the process of the documents is a hand-in to the advisor who will hand itback with comments.

Regarding code, the way to sustain a high quality is to keeping it readable and usecomments in a smart way. This will be assured by reviewing other project members codeand asking questions of parts not being easy to understand.

15.2 Test Plan

Tests will be performed continuously during the development of the subsystems beforeintegrating them with each other. An official test plan will be made so that each test canbe ticked off before the project is handed in to the orderer. Official tests are designed tocorrespond to one or more requirements to determine if the requirement specification isfulfilled. All level one requirements have to be tested and fulfilled before delivery.

16 Risk Analysis

There is a risk that the project takes more time than expected. If so, the requirements inthe requirement plan needs to be re-negotiated with the orderer. There is a risk that oneor several group member(s) get ill. If so, this member will have to talk to the examiner


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and the group in order to decide how the project shall continue for this specific member.Meanwhile, the sub groups will re-shape if necessery. The computer with PreScan mightfail - if so, the orderer needs to make sure it gets fixed as soon as possible.

17 Priorities

The requirements noted with priority 1 are the ones that will be done first. These re-quirements are of the type that are needed to get a basic functionality of the system. Ifthere is time remanaining after that, requirements with priority 2 will be tried to fulfil.

18 Project Closing

The project is closed when the client has approved the work and a project reflection hasbeen handed in. The project will also be presented at a conference before approval.

At the closing of the project as part of the presentation, a web page containing an overviewof the project including video demo, staff list and all documents will be available online.

When all deliveries are made, the project group will be dispersed.


Base PlanProject:Project Group: Autonoma lastbilar Date: 9/22/2014 Reviewed:Orderer: Erik Frisk Version: 1.0Course: TSRT10 Issuer:

ACTIVITIES TIME WHO TIMEPLAN WEEK NUMBERNo Description Hours Initials 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -

1Project Meetings 211All 18 18 36 18 18 18 18 2 2 9 9 9 9 9 9 9 211

2Requirement Specification 100All 10 90 100

3System Layout 70All 70 70

4Time Plan 9All 9 9

5Project Plan 18All 9 9 18

6Education 50All 25 25 50

7Design Specification 200All 50 75 75 200

8Test Plan 18MBr 6 6 6 0 0 18

9Technical Report 50All 25 25 50

10User Guide 5All 5 5

11Project Managment 14AR 1 1 1 1 1 1 1 1 1 1 1 1 1 1 14

12Document Formating 3OS 0,5 0,5 0,5 0,5 0,5 0,5 3

13Reserve 255All 0

Misson Planner 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -13Integrate with LCM 10JH,SJ,RM 10 10

14Implement search algorithm 60JH,SJ,RM 40 20 60

15Implement waypoints 15JH,SJ,RM 15 15

Situational Awareness 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -16Grid map 90OS, MBe 30 10 20 15 10 5 90

17Sensors 20OS, MBe 10 10 20

18Sensor fusion 30OS, MBe 20 10 30

19SLAM 80OS, MBe 20 40 20 80

Behaviour Layer 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -20Basic functinallity 15JH,SJ,RM 5 10 15

21Determine mode. 30JH,SJ,RM 20 10 30

Local Planner 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -22Algorithm for drivning through junctions 40JH,SJ,RM 30 10 40

23Algorithm for overtaking obstacles 40JH,SJ,RM 30 10 40

24Integrate planner 40JH,SJ,RM 30 10 40

25Algorithm for transforming a trajectory into reference sig 40JH,SJ,RM 10 30 40

26Integrate LCM 25JH,SJ,RM 5 5 5 5 5 25

Vehicle Control and modeling 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -

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27Develop simple control algorithms 15PK,MBr 10 5 15

28Integrate and evaluate with RVR, transmit/recieve. 35PK,MBr 15 20 35

29Develop bicycel model. 45PK,MBr 15 20 10 45

30Integration with local planner. 30PK,MBr 10 20 30

31Rollover with hard coded mass data. 40PK,MBr 35 5 40

32Sensors for mass estimation. 10PK,MBr 5 5 10

33Implementation of mass and CG estimation algorithms. 30PK,MBr 30 30

34Develope four wheel vehicle model. 25PK,MBr 25 25

35Implement alternative controllers (feed foreward) 20PK,MBr 20 20

System communication 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -36LCM training 10AL 10 10

37Design of communication protocol 25AL, AR 15 10 25

38Integration of communication protocol 30AL, AR 20 10 30

39Communication maintenance 5AL 5 5

PreScan 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -40Build scenarios 20AR 10 5 5 20

41Investigate built in functionality 20AR 5 5 10 20

42Integrate subsystems 10AR 10 10

Tests 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -43LCM communication 4AL, AR 4 4

44System integration 60AL, AR 10 30 20 60

45Basic scenario 20AL, AR 20 20

46Controller testing 0PK, MBr 0

47Mission planner testing 20JH,SJ,RM 20 20

48Behaviour layer testing 20JH,SJ,RM 20 20

49Local planner testing 70JH,SJ,RM 10 20 40 70

Presentation 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 - - - - - -50Website 10AR 5 5 0 10

51Poster 10OS 5 5 10

52Youtube-clip 10SJ 5 5 10

53Oral Presentation 18All 18 18

54Project Reflection 10All 5 5 10

BP2 WeBP3 FrBP5 MoBP6 Mo

Milestone 1 TuMilestone 2 FrMilestone 3 x

Milestone 4 xMilestone 5 MoMilestone 6 xMilestone 7 xMilestone 8 xMilestone 9 xMilestone 10 xMilestone 11 xMilestone 12 xMilestone 13 xMilestone 14 xMilestone 15 x xMilestone 16 xMilestone 17 xMilestone 18 xMilestone 19 xMilestone 20 FrMilestone 21 Fr

Total Hours: 2160 18 38 215, 100, 125, 155, 168 78 78 235 200 230 120 20 55 49,5 18,5 0 0 0 0 0 0 1905

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