Test Plan

Test Plan (FVE)


Test 1: Navigate within boundary using GPS data Subsystem being tested: Navigation, App, Server
Location: The Cut/Outside Wean Hall (Depends on weather conditions/number of students in the area) (30ft x 30ft area) Equipment: Mell-E, Laptop, Ropes and cones for boundary
Test Process:

1.      Switch on Mell-E.

a.      Check connections to WiFi and internet

2.      The path will be in a triangle pattern containing 3 points.

3.      Preset the boundary.

4.      Once user connects the Mell-E Base app, Mell-E starts moving in boundary.

5.      Show waypoints on laptop.

 Success Criteria

1.      Show that Mell-E remains within rope boundary for visual inspection.

2.      Show that Mell-E remains within the GPS boundary provided through GPS messages received.

3.      If any deviation occurs it should not go out of the boundary by more than 10ft.

4.      While moving mark waypoints as covered.

5.      While moving we see the diagnostic data being sent and displayed on the Android phone app.
Test 2: Litter detection Subsystem being tested: Litter detection and classification
Location: The Cut/Outside Wean Hall (Same conditions as test #1) Equipment: Laptop/Odroid, Webcam, Soda can of different colors, Mell-E
Test Process:

1.      Place the soda cans randomly in front of Mell-E (Away from its direction of motion but within the camera frame.)

2.      Start Mell-E and make Mell-E move in one straight line (will be teleoperated).

3.      No other potentially confusing objects will be placed in the area.

 Success Criteria

1.      Show camera feed on laptop.

2.      Show the objects of interest being picked up in the camera frame. It detects at least ¾ objects of interest placed on its path.

3.      Show the angle (degrees) to turn to reach the litter. Mount a protractor on the camera and measure the angle by extending a rope from the camera’s center line to the can. The angle tolerance will be 20 degrees.
Test 3: Arm path planning Subsystem being tested: Arm
Location: Wean Hall Equipment: Laptop/Odroid, Arm, test base (with grid pattern)
Test Process:

1.      The arm will be placed on a grid test base.

2.      An input position will be provided to the arm in the form of (x,y) coordinates. Z will be fixed

 Success Criteria

1.      Arm will move the end effector towards the input location to a pick-up position within 3cm in either direction.

2.      If the location is not reachable, the software should report this. The work plane will be about ¼ of an annulus with a major radius of about 509mm and a minor radius of about 60 mm
Test 4: Obstacle Avoidance Subsystem being tested: Obstacle avoidance
Location: The Cut/Outside Wean Hall (Depends on weather conditions/number of students in the area) (30ft x 30ft area) Equipment: Mell E, Team members (Obstacles)
Test Process:

1.     Switch on Mell-E.

2.     Mell E will start moving in a straight line and change path when it encounters an obstacle.

 

 Success Criteria

1.      While moving Mell-E finds an obstacle in path of motion 75% of the time.

2.      Mell-E moves around the obstacle in the direction of least resistance 75% of the time.

3.      Visually inspect whether Mell-E successfully passed the obstacle without damaging itself or the obstacle.

Test Plan (SVE)

 

Test 1 Full System Functionality Subsystem Being Tested: All Subsystems
Location The Mall, Outside Wean Hall (Depends on weather and number of students in the area) Equipment: MellE (with all back-up parts), Android phone with MellE app installed, 2 cans, 2 bottles, 2 stones, 4 cardboard box obstacles, 200 feet of rope

 

Test Process Success Criteria
  1. Indicate the 20’ x 20’ inner boundary area and 40’ x 40’ outer boundary area by rope.
  2. Place MellE at the bottom left corner of the inner-boundary area.
  3. Place two cans, two bottles, two stones and four obstacles inside the boundary area (an example setup shown below).
  1. Turn on MellE and ensure it has a stable Internet connection.
  2. Start the Android app and send the pre-set 30’ x 30’ boundary data.
  3. Monitor location and diagnostic data via the app.
  1. MellE shall cover the given 20’ x 20’ boundary area in 30 minutes.
  2. MellE shall not deviate from the boundary area by more than 10 feet.
  3. MellE shall pick up 3 of the 4 litter objects (cans, bottles) and shall not pick up any of the stones.
  4. MellE shall avoid all cardboard box obstacles.
  5. MellE shall only attempt to pick-up an object a maximum of five times with its arm.
  6. MellE’s location and diagnostic information shall be updated on the Android app with at most a ten second latency delay.