{"id":43,"date":"2017-09-27T06:25:27","date_gmt":"2017-09-27T06:25:27","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/?page_id=43"},"modified":"2018-05-10T20:11:14","modified_gmt":"2018-05-10T20:11:14","slug":"system-performance","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/system-performance\/","title":{"rendered":"System Performance"},"content":{"rendered":"

Spring Performance Metrics<\/h2>\n\n\n\n\n\t\n\n\t\n\t\n\t\n\t
Requirement<\/th>Performance Measure<\/th>Result<\/th>Notes<\/th>\n<\/tr>\n<\/thead>\n
CaBot avoids obstacles<\/td>CaBot stops or avoids obstacles that are no smaller than 2 ft. tall, 1 ft. wide, 0.5 ft. deep (placed on the ground) that are 4 meters or less from CaBot<\/td>CaBot avoided all obstacles, but sometimes took time to replan<\/td>A faster laptop would help decrease replanning time<\/td>\n<\/tr>\n
CaBot detects pedestrians and alerts user<\/td>CaBot will announce the number of pedestrians in front of it at a range of 2 meters. CaBot will stop for stationary pedestrians less than 1 meter away and will decrease its speed for pedestrians with distance of 2 meters or greater. <\/td>CaBot identified pedestrians sucessfully, but gave some false positives and was sometimes slow to identify pedestrians<\/td>A faster laptop with a GPU would help decrease detection speed<\/td>\n<\/tr>\n
CaBot localizes itself sucessfully<\/td>CaBot localizes itself with an error of 0.5 meters or less.<\/td>CaBot did it!<\/td>N\/A<\/td>\n<\/tr>\n
CaBot notifies the user of upcoming turns<\/td>While navigating, CaBot will notify the user of upcoming turns. <\/td>CaBot did it!<\/td>N\/A<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n

Fall Performance Metrics<\/h2>\n\n\n\n\n\t\n\n\t\n\t\n\t\n\t
Requirement Description<\/th>Performance Measure<\/th>Result<\/th>Notes<\/th>\n<\/tr>\n<\/thead>\n
CaBot starts navigation, leading one of the CaBot
\nteammates with an iPhone<\/td>		CaBot autonomously traverses through
\nthe waypoints established without
\nrunning into a wall<\/td>		CaBot occasionally ran into the walls during testing and FVE<\/td>The collisions with the walls were caused by sensitivity in the starting position, and a buildup of error in encoder measurements. We plan to fuse encoder data with LIDAR for localization to increase accuracy<\/td>\n<\/tr>\n
CaBot's estimated position at each waypoint is accurate<\/td>Distance between CaBot and waypoint is less than 1.5 meters<\/td>During FVE, CaBot was less than 0.5 meters away from the waypoint<\/td>N\/A<\/td>\n<\/tr>\n
CaBot provides voice feedback to the user <\/td>CaBot alerts the user 2 meters before a turn and 0.5 meters after the turn. Error is +\/- 0.5 meters<\/td>CaBot consistently met the performance measures in testing and FVE<\/td>We plan to add vibrational feedback to CaBot in the Spring<\/td>\n<\/tr>\n
<\/td><\/td><\/td><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n\n

 <\/p>\n","protected":false},"excerpt":{"rendered":"

Spring Performance Metrics Fall Performance Metrics  <\/p>\n","protected":false},"author":126,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-43","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/pages\/43","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/users\/126"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/comments?post=43"}],"version-history":[{"count":5,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/pages\/43\/revisions"}],"predecessor-version":[{"id":249,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/pages\/43\/revisions\/249"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2017teamg\/wp-json\/wp\/v2\/media?parent=43"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}