{"id":307,"date":"2015-12-18T17:29:08","date_gmt":"2015-12-18T22:29:08","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/?page_id=307"},"modified":"2016-02-17T13:19:54","modified_gmt":"2016-02-17T18:19:54","slug":"modelling-analysis-and-testing-for-fall-validation-experiment","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/modelling-analysis-and-testing-for-fall-validation-experiment\/","title":{"rendered":"Modelling Analysis and Testing for Fall Validation Experiment"},"content":{"rendered":"<p><span style=\"color: #000000\">The analysis and testing was done keeping the requirements in mind. We rewrite the requirements again. Since the major two subsystems that we were to be verified were<\/span><\/p>\n<ul>\n<li><span style=\"color: #000000\">Human Detection and Navigation<\/span><\/li>\n<li><span style=\"color: #000000\">Face and Expression Detection<\/span><\/li>\n<\/ul>\n<p><span style=\"color: #000000\"><strong>Subsystem 1: Human Detection &amp; Navigation<\/strong><\/span><\/p>\n<p><span style=\"color: #000000\"><strong>Requirements to be\u00a0fulfilled <\/strong><\/span><\/p>\n<ul>\n<li><span style=\"color: #000000\">Detect human in the vicinity<\/span><\/li>\n<li><span style=\"color: #000000\">Approach the human once detected<\/span><\/li>\n<li><span style=\"color: #000000\">Move with a speed of 15 cm\/sec<\/span><\/li>\n<li><span style=\"color: #000000\">Stop at 1 meter away from the human<\/span><\/li>\n<\/ul>\n<p><span style=\"color: #000000\">The following questions were framed as which if answered would lead to the fulfillment of the above mentioned requirements. If all of these questions are answered \u201cyes\u201d (in performance) by the subsystem then we could confidently say that the subsystem works.<\/span><\/p>\n<p><span style=\"color: #000000\"><strong>Testing Criteria for Human detection and navigation subsystem:<\/strong><\/span><\/p>\n<ul>\n<li><span style=\"color: #000000\">Does the robot rotate in place?<\/span><\/li>\n<li><span style=\"color: #000000\">Does the robot stop rotating in place instantly if April tag is detected for at least 70 percent of the times?<\/span><\/li>\n<li><span style=\"color: #000000\">Does the robot move toward the April tag?<\/span><\/li>\n<li><span style=\"color: #000000\">Does the robot stop at 1 meter away from the Human?<\/span><\/li>\n<li><span style=\"color: #000000\">How much does the final distance deviate from 1m?<\/span><\/li>\n<li><span style=\"color: #000000\">Does the robot stop when it is face to face with the human ?(no relative orientation difference)<\/span><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p><span style=\"color: #000000\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-308 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-3-300x225.jpg\" alt=\"website temp 3\" width=\"544\" height=\"408\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-3-300x225.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-3-768x576.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-3-1024x768.jpg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-3.jpg 1600w\" sizes=\"auto, (max-width: 544px) 100vw, 544px\" \/><\/span><\/p>\n<blockquote>\n<p style=\"text-align: center\"><span style=\"color: #000000\">\u00a0 Figure 1: Jimit testing out the Navigation subsystem on the requirements<\/span><\/p>\n<\/blockquote>\n<p><span style=\"color: #000000\"><img loading=\"lazy\" decoding=\"async\" class=\" wp-image-310 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp2-300x212.png\" alt=\"website temp2\" width=\"535\" height=\"378\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp2-300x212.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp2.png 634w\" sizes=\"auto, (max-width: 535px) 100vw, 535px\" \/><\/span><\/p>\n<blockquote><p><span style=\"color: #000000\">\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <span>Figure 2: values show that turtle bot stops at 1 meter from human with no\u00a0<\/span>more than 10 percent error<\/span><\/p><\/blockquote>\n<p><span style=\"color: #000000\"><strong>Subsystem 2: Face &amp; Smile Expression Detection<\/strong><\/span><\/p>\n<p><span style=\"color: #000000\"><strong>Requirements checked<\/strong><\/span><\/p>\n<ul>\n<li><span style=\"color: #000000\">Detect Face<\/span><\/li>\n<li><span style=\"color: #000000\">Pan tilt unit tracks the face using head pose estimate from IntraFace<\/span><\/li>\n<li><span style=\"color: #000000\">Accurate smile expression detection<\/span><\/li>\n<\/ul>\n<p><span style=\"color: #000000\">Similarly for this subsystem following questions were framed as which if answered would lead to the fulfillment of the above mentioned requirements. If all of these questions are answered \u201cyes\u201d (in performance) by the subsystem then we could confidently say that the sub-system works.<\/span><\/p>\n<p><span style=\"color: #000000\"><strong>Testing criteria for face detection and expression detection<\/strong><\/span><\/p>\n<ul>\n<li><span style=\"color: #000000\">Does IntraFace detect face at least 80 percent of the time<\/span><\/li>\n<li><span style=\"color: #000000\">Does the pan tilt unit adjust itself such that face is in center of the frame?<\/span><\/li>\n<li><span style=\"color: #000000\">Do we get expression output every time?<\/span><\/li>\n<li><span style=\"color: #000000\">Time taken to do the above task?<\/span><\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: center\"><span style=\"color: #000000\"><a style=\"color: #000000\" href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Pan-Tilt8.png\" rel=\"attachment wp-att-269\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-269 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/11\/Pan-Tilt8-300x168.png\" alt=\"Pan Tilt\" width=\"658\" height=\"368\" \/><\/a><\/span>Figure 3 : Output of Intraface showing 49 Interest points of a face<\/p>\n<p>&nbsp;<\/p>\n<p style=\"text-align: center\"><span style=\"color: #000000\"><a style=\"color: #000000\" href=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-4.jpg\" rel=\"attachment wp-att-309\"><img loading=\"lazy\" decoding=\"async\" class=\"wp-image-309 aligncenter\" src=\"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-4-300x169.jpg\" alt=\"website temp 4\" width=\"611\" height=\"344\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-4-300x169.jpg 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-4-768x434.jpg 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-4-1024x578.jpg 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-content\/uploads\/sites\/8\/2015\/12\/website-temp-4.jpg 1107w\" sizes=\"auto, (max-width: 611px) 100vw, 611px\" \/><\/a>\u00a0 Figure 4: Intraface Expression Output shows the probability that subject (Jimit) smiles<\/span><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>The analysis and testing was done keeping the requirements in mind. We rewrite the requirements again. Since the major two subsystems that we were to be verified were Human Detection and Navigation Face and Expression Detection Subsystem 1: Human Detection &amp; Navigation Requirements to be\u00a0fulfilled Detect human in the vicinity Approach the human once detected<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/modelling-analysis-and-testing-for-fall-validation-experiment\/\">+ Read More<\/a><\/p>\n","protected":false},"author":38,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-307","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/307","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/users\/38"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/comments?post=307"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/307\/revisions"}],"predecessor-version":[{"id":339,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/307\/revisions\/339"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/media?parent=307"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}