{"id":478,"date":"2016-05-06T15:55:00","date_gmt":"2016-05-06T19:55:00","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/?page_id=478"},"modified":"2016-05-06T17:37:10","modified_gmt":"2016-05-06T21:37:10","slug":"spring-validation-experiment-modeling-and-analysis","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/spring-validation-experiment-modeling-and-analysis\/","title":{"rendered":"Modeling and analysis for Spring Validation Experiment"},"content":{"rendered":"<p style=\"text-align: justify\"><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<ol style=\"text-align: justify\">\n<li><span style=\"color: #000000\"> Human Detection and Navigation<\/span><\/li>\n<li><span style=\"color: #000000\">Face and Expression Detection\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \u00a0\u00a0\u00a0 <\/span><\/li>\n<\/ol>\n<p style=\"text-align: justify\"><span style=\"color: #000000\"><span style=\"text-decoration: underline\"><strong>Subsystem 1: Human Detection &amp; Navigation<\/strong><\/span><\/span><\/p>\n<p style=\"text-align: justify\"><span style=\"color: #000000\">Requirements to be fulfilled<\/span><\/p>\n<ul style=\"text-align: justify\">\n<li><span style=\"color: #000000\">\u00a0Detect human in the vicinity<\/span><\/li>\n<li><span style=\"color: #000000\">\u00a0Approach the human once detected<\/span><\/li>\n<li><span style=\"color: #000000\">\u00a0Move as a flock with a speed of 15 cm\/sec<\/span><\/li>\n<li><span style=\"color: #000000\">\u00a0Stop at 1 meter away from the human<\/span><\/li>\n<li><span style=\"color: #000000\">\u00a0Align around the human at -45, 0, +45 degrees angle<\/span><\/li>\n<\/ul>\n<p style=\"text-align: justify\"><span style=\"color: #000000\">The following questions were framed as which if answered would lead to the fulfilment 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 style=\"text-align: justify\"><span style=\"color: #000000\"><strong>Testing Criteria for Human detection and navigation subsystem:<\/strong><\/span><\/p>\n<ol style=\"text-align: justify\">\n<li><span style=\"color: #000000\">Does the central robot rotate in place?<\/span><\/li>\n<li><span style=\"color: #000000\">Does the central 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 flock move toward the April tag?<\/span><\/li>\n<li><span style=\"color: #000000\">Does the central 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\">Do the robots align themselves around the human?<\/span><\/li>\n<\/ol>\n<p style=\"text-align: justify\"><span style=\"text-decoration: underline;color: #000000\"><strong><span>Subsystem 2: Face &amp; Smile Expression Detection<\/span><\/strong><\/span><\/p>\n<p style=\"text-align: justify\"><span style=\"color: #000000\">Requirements checked<\/span><\/p>\n<ul style=\"text-align: justify\">\n<li><span style=\"color: #000000\">Detect Face<\/span><\/li>\n<li><span style=\"color: #000000\">Pan tilt units tracks the face using head pose estimate from IntraFace<\/span><\/li>\n<li><span style=\"color: #000000\">Accurate smile expression detection and head pose detection<\/span><\/li>\n<li><span style=\"color: #000000\">Best photo is clicked<\/span><\/li>\n<\/ul>\n<p style=\"text-align: justify\"><span style=\"color: #000000\">Similarly for this subsystem following questions were framed as which if answered would lead to the fulfilment 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 style=\"text-align: justify\"><span style=\"color: #000000\">Testing criteria for face detection and expression detection<\/span><\/p>\n<ol style=\"text-align: justify\">\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\">Do the pan tilt units adjust themselves 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\">Is the best photo on the basis of expression and head pose clicked every time?<\/span><\/li>\n<li><span style=\"color: #000000\">Time taken to do the above task?<\/span><\/li>\n<\/ol>\n<p style=\"text-align: justify\"><span style=\"color: #000000\">\u00a0Complete System<\/span><\/p>\n<p style=\"text-align: justify\"><span style=\"color: #000000\">Requirements checked<\/span><\/p>\n<ul style=\"text-align: justify\">\n<li><span style=\"color: #000000\">All the requirements mentioned for the above sub-systems<\/span><\/li>\n<li><span style=\"color: #000000\">Face Detection starts only after the flock aligns itself around the person<\/span><\/li>\n<li><span style=\"color: #000000\">The same person is not clicked again<\/span><\/li>\n<li><span style=\"color: #000000\">The system restarts after one successful photo<\/span><\/li>\n<\/ul>\n<p style=\"text-align: justify\"><span style=\"color: #000000\">Testing criteria for the complete system<\/span><\/p>\n<ol>\n<li style=\"text-align: justify\"><span style=\"color: #000000\">Does face detection start after the robots have reached the person of interest?<\/span><\/li>\n<li style=\"text-align: justify\"><span style=\"color: #000000\">Do the pan-tilts start tracking only when the robots have stopped?<\/span><\/li>\n<li style=\"text-align: justify\"><span style=\"color: #000000\">Does the swarm not click the photo of the same person again?<\/span><\/li>\n<li style=\"text-align: justify\"><span style=\"color: #000000\">\u00a0Does the system restart autonomously after each successful run?<\/span><\/li>\n<\/ol>\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\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0 \u00a0\u00a0\u00a0 Subsystem 1: Human Detection &amp; Navigation Requirements to be fulfilled \u00a0Detect human in the vicinity \u00a0Approach the human<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/spring-validation-experiment-modeling-and-analysis\/\">+ 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-478","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/478","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=478"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/478\/revisions"}],"predecessor-version":[{"id":500,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/pages\/478\/revisions\/500"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2015teamg\/wp-json\/wp\/v2\/media?parent=478"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}