{"id":195,"date":"2019-02-22T19:31:00","date_gmt":"2019-02-22T19:31:00","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/?page_id=195"},"modified":"2019-05-07T03:26:01","modified_gmt":"2019-05-07T03:26:01","slug":"test-plan","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/project-management\/test-plan\/","title":{"rendered":"Test Plan"},"content":{"rendered":"
\n

Spring Validation Experiments<\/span><\/h1>\n

Test 1: Master Computer Subsystem Validation Experiment<\/b><\/p>\n\n\n\n\n\n\n\n
Objective<\/span><\/td>\nTo validate the correctness of the modeling and sampling algorithm.<\/span><\/td>\n<\/tr>\n
Location<\/span><\/td>\nNo specific requirement.<\/span><\/td>\n<\/tr>\n
Equipment<\/span><\/td>\nMaster Computer, Intel Lab Data [9]<\/span><\/td>\n<\/tr>\n
Procedure <\/span><\/td>\n\n
    \n
  1. Master computer updates temperature model.<\/span><\/li>\n
  2. Master computer determines next interest points.<\/span><\/li>\n
  3. Master computer allocates corresponding interest point to each robot.<\/span><\/li>\n
  4. Directly return temperature data from Intel data set.<\/span><\/li>\n
  5. Loop through procedure 1 – 4 until temperature model converges.<\/span><\/li>\n
  6. Computer root mean square error between the generated model and ground truth temperature distribution.<\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n
Requirements<\/td>\n\n
    \n
  1. The root mean square error is less than 1 \u2103.<\/span><\/li>\n
  2. UGV and UAV are never allocated to the same point.<\/span><\/li>\n
  3. Temperature model converges within 50 loops.<\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

     <\/p>\n

    Test 2 & 3: UGV\/UAV Subsystem Validation Experiment<\/b><\/p>\n

    Note: <\/b>The test design is the same for UGV and UAV. We will perform one test for each robot.<\/span><\/p>\n\n\n\n\n\n\n\n
    Objective<\/span><\/td>\nTo validate the correctness of UGV\/UAV subsystem.<\/span><\/td>\n<\/tr>\n
    Location<\/span><\/td>\nA 20m x 20m x 5m outdoor area behind the NSH hall<\/span><\/td>\n<\/tr>\n
    Equipment<\/span><\/td>\nJackal UGV\/ AscTec Pelican UAV, Tape measure, Temperature sensor, Stopwatch<\/span><\/td>\n<\/tr>\n
    Procedure <\/span><\/td>\n\n
      \n
    1. Power on Jackal UGV\/ AscTec Pelican UAV.<\/span><\/li>\n
    2. Assign a target location within the test field to Jackal UGV\/AscTec Pelican UAV.<\/span><\/li>\n
    3. Jackal UGV\/AscTec Pelican UAV autonomously moves to the target location.<\/span><\/li>\n
    4. Jackal UGV\/AscTec Pelican UAV stops when it localizes itself close enough to the target location.<\/span><\/li>\n
    5. Jackal UGV\/AscTec Pelican UAV takes and reports temperature sample.<\/span><\/li>\n
    6. Loop step 2 – 5 ten times and measure location error between Jackal reached position and the target position, and temperature error between Jackal\u2019s measurement and ground truth temperature at each time. <\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n
    Requirements<\/td>\n\n
      \n
    1. Mean location error is less than 2 meters.<\/span><\/li>\n
    2. Mean temperature error is less than 2 \u2103.<\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      \u00a0<\/b><\/p>\n

      \n

      Fall Validation Experiments<\/span><\/h1>\n

      Integrated System Validation Experiment<\/strong><\/p>\n\n\n\n\n\n\n\n
      Objective<\/span><\/td>\nTo validate the correctness of the whole system.<\/span><\/td>\n<\/tr>\n
      Location<\/span><\/td>\nA 20m x 20m x 5m outdoor area behind the NSH hall<\/span><\/td>\n<\/tr>\n
      Test Field<\/td>\nA 20m x 20m x 5m area with designed obstacles randomly placed. 3 – 5 heat sources are also placed within the test field to increase temperature distribution variation.<\/span><\/td>\n<\/tr>\n
      Equipment\u00a0<\/span><\/td>\nMaster Computer, Jackal UGV, AscTec Pelican UAV, Tape measure, Temperature sensor, Stopwatch, Heat source.<\/span><\/td>\n<\/tr>\n
      Procedure <\/span><\/td>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
      1<\/b><\/td>\nManually collect 100 temperature samples within the test fields to build a ground truth temperature distribution.<\/td>\n<\/tr>\n
      2<\/b><\/td>\nMaster computer updates temperature model<\/td>\n<\/tr>\n
      3<\/b><\/td>\nJackal UGV asks master computer for the location of next interest point.<\/td>\nAscTec Pelican UAV asks master computer for the location of next interest point.<\/td>\n<\/tr>\n
      4<\/b><\/td>\nMaster determines the next interest point for Jackal UGV.<\/td>\nMaster determines the next interest point for AscTec Pelican UAV.<\/td>\n<\/tr>\n
      5<\/b><\/td>\nMaster computer sends the next interest point to Jackal UGV.<\/td>\nMaster computer sends the next interest point to AscTec Pelican UAV.<\/td>\n<\/tr>\n
      6<\/b><\/td>\nJackal UGV autonomously moves to the target location.<\/td>\nAscTec Pelican UAV autonomously moves to the target location.<\/td>\n<\/tr>\n
      7<\/b><\/td>\nJackal UGV stops when it localizes itself close enough to the target location.<\/td>\nAscTec Pelican UAV stops when it localizes itself close enough to the target location.<\/td>\n<\/tr>\n
      8<\/b><\/td>\nJackal UGV measures temperature and report it to master computer.<\/td>\nAscTec Pelican UAV measures temperature and report it to master computer.<\/td>\n<\/tr>\n
      9<\/b><\/td>\nLoop through procedure 3 – 8 simultaneously for Jackal UGV and AscTec Pelican UAV until the temperature model converges.<\/td>\n<\/tr>\n
      10<\/b><\/td>\nComputer root mean square error between the generated model and ground truth temperature distribution.<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<\/td>\n<\/tr>\n
      Requirements<\/td>\n\n
        \n
      1. The root mean square error is less than 3 \u2103.<\/span><\/li>\n
      2. UGV and UAV never collides with obstacles or each other.<\/span><\/li>\n
      3. Temperature model converges within 50 loops.<\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n","protected":false},"excerpt":{"rendered":"

        Spring Validation Experiments Test 1: Master Computer Subsystem Validation Experiment Objective To validate the correctness of the modeling and sampling algorithm. Location No specific requirement. Equipment Master Computer, Intel Lab Data [9] Procedure Master computer updates temperature model. Master computer […]<\/p>\n","protected":false},"author":163,"featured_media":0,"parent":180,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-195","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/pages\/195","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/users\/163"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/comments?post=195"}],"version-history":[{"count":6,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/pages\/195\/revisions"}],"predecessor-version":[{"id":383,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/pages\/195\/revisions\/383"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/pages\/180"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2018teamg\/wp-json\/wp\/v2\/media?parent=195"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}