{"id":16,"date":"2019-12-18T03:37:27","date_gmt":"2019-12-18T03:37:27","guid":{"rendered":"http:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/?page_id=16"},"modified":"2020-12-15T03:20:50","modified_gmt":"2020-12-15T03:20:50","slug":"project-management","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/project-management\/","title":{"rendered":"Project Management"},"content":{"rendered":"

Schedule<\/h1>\n

Schedule for Spring Semester<\/h3>\n

Gantt Chart for Project Schedule<\/strong><\/p>\n

\"\"<\/p>\n

<\/h2>\n

\"\"<\/p>\n

<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n
Date<\/b><\/td>\nMilestones for Spring Semester<\/b><\/td>\n<\/tr>\n
1\/20<\/span><\/td>\nAutoware Environment Setup<\/span><\/td>\n<\/tr>\n
2\/15<\/span><\/td>\nWebsite Deployed\u00a0<\/span><\/td>\n<\/tr>\n
2\/19<\/span><\/td>\nSimulation Platform Setup on CARLA-Autoware\u00a0<\/span><\/td>\n<\/tr>\n
3\/4<\/span><\/td>\nNavigation subsystem design & Simulation setup for docking ready<\/span><\/td>\n<\/tr>\n
3\/25<\/span><\/td>\nNavigation subsystem components tested<\/span><\/td>\n<\/tr>\n
4\/8<\/span><\/td>\n1. Navigation subsystem developed<\/span><\/p>\n

2. Docking subsystem components tested in in Simulation\u00a0<\/span><\/p>\n

3. Safety subsystem components Object Detection and Behaviour Prediction developed<\/span><\/td>\n<\/tr>\n

4\/15<\/span><\/td>\nHealth Monitoring Design Ready, Navigation Subsystem and Docking subsystem Software Integration done.<\/span><\/td>\n<\/tr>\n
4\/22<\/span><\/td>\nSVD<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

<\/h3>\n

Schedule for Fall Semester<\/h3>\n

Gantt Chart for Project Schedule<\/strong><\/p>\n

\"\"<\/p>\n

\"\"<\/p>\n

<\/h2>\n\n\n\n\n\n\n\n\n\n\n
Date<\/b><\/td>\nFall Milestone<\/b><\/td>\n<\/tr>\n
9\/1<\/span><\/td>\nGap Analysis, Navigation Subsystem<\/span><\/td>\n<\/tr>\n
9\/16<\/span><\/td>\nDocking subsystem designs completed<\/span><\/td>\n<\/tr>\n
09\/30<\/span><\/td>\nVehicle models ready, Simulation merged<\/span><\/td>\n<\/tr>\n
10\/14<\/span><\/td>\nDocking system completed and tested in simulation.<\/span><\/p>\n

sim2real test setup ready<\/span><\/td>\n<\/tr>\n

10\/28<\/span><\/td>\nDocking, Navigation and Safety Subsystem integrated in simulation,\u00a0<\/span><\/td>\n<\/tr>\n
11\/11<\/span><\/td>\nAll subsystems finished and unit tested, sim2real test setup ready<\/span><\/td>\n<\/tr>\n
11\/18<\/span><\/td>\nFVD<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

<\/h2>\n
\n

Presentation Order for Progress Reviews:<\/h2>\n

For spring and fall semester: <\/span>Rohan -> Sanil -> Poorva -> Uma -> Sachit<\/strong><\/p>\n

\n

Test Plan<\/h2>\n

Detailed Experiment for the full system validation can be found here<\/a><\/p>\n

Spring Validation Demonstration<\/h3>\n

Note: <\/b><\/span>Tests will be performed in <\/span>Simulation <\/b><\/span><\/p>\n

Equipment: <\/b><\/span>Laptop with Autoware and Gazebo, and a precomputed map of the Gazebo world.<\/span><\/p>\n\n\n\n\n\n\n\n
\n

Validation Experiment Description<\/b><\/span><\/p>\n<\/td>\n

\n

Procedure<\/b><\/span><\/p>\n<\/td>\n

\n

Validation Criteria<\/b><\/span><\/p>\n<\/td>\n<\/tr>\n

\n
    \n
  1. \n
      \n
    1. Navigation<\/b><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n

      The system will navigate from one end of the designated area<\/span> in simulation<\/b><\/span> to a distance of 2m from the payload handling zone entry point, without any obstacles in the way.<\/span><\/p>\n<\/td>\n

\n
    \n
  • \n
      \n
    • Use Autoware to ask the vehicle to go to PHZ coordinates in the Gazebo world.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
        \n
      • \n
          \n
        • Check logs to see if PHZ reached.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
            \n
          • \n
              \n
            • Use AprilTag detection and Pod leg detection to locate Pod and refine PHZ<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/td>\n
\n
    \n
  1. Path to the destination point is planned and executed <\/span>(M.P.2)<\/b><\/span><\/li>\n
  2. After reaching the 2m proximity of the point the vehicle identities the payload handling zone entry point usinng localization data. <\/span>(M.P.4)<\/b><\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n
\n
    \n
  1. \n
      \n
    1. Safety<\/b><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n

      The system will stop at a distance of more than 30 cm from the detected obstacle (dynamic and static). The minimum dimensions of said obstacles will be 30×30 cm 2 (height and width).<\/span><\/p>\n

      System to demonstrate its safety behaviors if some node crashes.<\/span><\/p>\n<\/td>\n

\n
    \n
  • \n
      \n
    • Vehicle will be asked to go from point A to point B in the simulated Gazebo world.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
        \n
      • \n
          \n
        • Obstacles will be placed in the path while Vehicle is traversing it.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
            \n
          • \n
              \n
            • A sensor node will be crashed manually and response will be noted.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/td>\n
\n
    \n
  1. Failures will be diagnosed within 2000 ms from occurrence and reported on dashboard <\/span>(M.P.8)<\/b><\/span><\/li>\n
  2. Vehicle will detect object location with an accuracy of \u00b1 5 cm <\/span>(M.P.9)<\/b><\/span><\/li>\n
  3. Vehicle will maintain a minimum distance of 30 cm from obstacles <\/span>(M.P.10)<\/b><\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n
\n
    \n
  1. \n
      \n
    1. Alignment and Docking<\/b><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n

      Once it has reached the payload handling zone, the system will plan a path for aligning with the payload handling zone and execute it. The system will verify the accuracy of the docking (and relay the output to the user). Done in Gazebo Simulation.<\/span><\/p>\n<\/td>\n

\n
    \n
  • \n
      \n
    • Place the chassis in front of the Pod and give docking command with pod id<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
        \n
      • \n
          \n
        • The chassis will identify the pod and get a relative pose.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
            \n
          • \n
              \n
            • The chassis will execute the docking command, align with the pod and reach directly under the pod.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/td>\n
\n
    \n
  1. \n
      \n
    1. The chassis will align with the pod and have an error margin of \u00b15 cm in (x,y) and 5.54 degree in theta from the center <\/span>(M.P.6)<\/b><\/span><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<\/td>\n<\/tr>\n
\n
    \n
  1. \n
      \n
    1. Retracing<\/b><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n

      We will introduce a slight misalignment between the pod and chassis manually and check if the system detects this and re-performs the docking alignment process.<\/span><\/p>\n<\/td>\n

\n
    \n
  • \n
      \n
    • Introduce misalignment in pods orientation docking procedure.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n
        \n
      • \n
          \n
        • The system should recognize this misalignment and retrace the path and follow the corrected path to align correctly and dock.<\/span><\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/td>\n
\n
    \n
  1. Docking will be done within 120s (partially fulfilled). <\/span>(M.P.5)<\/b><\/span><\/li>\n
  2. The chassis will align with the pod and have an error margin of \u00b15 cm <\/span>(M.P.6)<\/b><\/span><\/li>\n<\/ol>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
    \n

    Fall Validation Demonstration<\/h3>\n

    Objective: <\/b>To validate the subsystems and meet mandatory performance requirements<\/span><\/p>\n

    Location and Conditions: <\/b>NSH Basement (B level) and Simulation World<\/span><\/p>\n

    Equipment: <\/b>Sensor jig, a pod with fiducial markers, laptop with Autoware and dependencies, and a precomputed map of the testing environment<\/span><\/p>\n

    Procedure<\/b><\/h3>\n

    Simulation<\/b><\/p>\n

      \n
    1. Launch the simulation, place the chassis in the pre-mapped environment, and instruct it to go to a pod location to demonstrate point-to-point navigation.<\/span><\/li>\n
    2. Place an obstacle in the planned path. Verify that the Health Monitoring System (HMS) transmits an error message to the system and the chassis stops as a result. Remove the obstacle and verify that the chassis continues on its planned path.<\/span><\/li>\n
    3. After the chassis reaches the Payload Handling Zone (PHZ), verify that the PHZ and pod are identified.<\/span><\/li>\n
    4. Verify that the docking command has been issued by the state machine.<\/span><\/li>\n
    5. Issue a command to the chassis to transport the pod to the drop-off location and then undock with it.<\/span><\/li>\n
    6. Sensor nodes will be crashed to observe system behavior.<\/span><\/li>\n
    7. Repeat the Approach Navigation step multiple times. For one trial introduce misalignment after the chassis achieves docking position to demonstrate retracing.<\/span><\/li>\n
    8. Monitor the system states and logs during the whole process.<\/span><\/li>\n<\/ol>\n

      Hardware<\/b><\/p>\n

        \n
      1. Test 1<\/span>: Setup the hardware jig and make a pedestrian walk in front of it. Demonstrate pedestrian detection and trajectory prediction and compare to ground-truth positions.<\/span><\/li>\n
      2. Test 2<\/span>: Place the jig in front of the pod and demonstrate relative localization by localizing the pod and comparing it against ground truth values. Demonstrate the docking verification check by placing the jig under the pod and comparing the predicted docking pose error with the actual (ground-truth) pose error.<\/span><\/li>\n<\/ol>\n

        Validation Criteria<\/b><\/p>\n

          \n
        1. Simulation<\/b>: <\/b>The chassis will plan a path to the desired pod, identify it, and dock with it. It will then drop the pod off at a predefined undocking location.<\/span> State transitions happen only when the last action has been completed. The logs will show the system health, states, and results in an easily readable format. The metrics that will be met are:<\/span>\n
            \n
          1. Docking will be done within <\/span>120s<\/b>. (<\/span>M.P.2<\/b>).<\/span><\/li>\n
          2. The simulation should be successful <\/span>85%<\/b> of the time. The success criterion subsumes\u00a0 <\/span>M.P.1<\/b> (chassis will identify pod when it is within <\/span>2m<\/b> of the PHZ),<\/span> M.P.3<\/b> (chassis will achieve docking pose with an error margin of\u00a0 <\/span>\u00b15 cm<\/b> in position and <\/span>\u00b15.54<\/b> degrees in orientation), and <\/span>M.P.8<\/b> (chassis will identify PHZ <\/span>90%<\/b> of the time).<\/span><\/li>\n<\/ol>\n<\/li>\n
          3. Hardware:<\/b> Validate algorithms with real-world data and show that the same accuracy criteria are met. The metrics that will be met are:\u00a0<\/span>\n
              \n
            1. Test 1: Object locations are detected with an accuracy of <\/span>\u00b1 5 cm<\/b> (<\/span>M.P.6<\/b>).<\/span><\/li>\n
            2. Test 2: Predicted pod position (x,y) for relative localization is within <\/span>20 cm<\/b> of the ground-truth, and the orientation (yaw) is within <\/span>\u00b111.80 <\/b>degrees of the ground-truth. The same margins hold for the predicted docking pose (x,y, yaw) error and actual error.\u00a0<\/span><\/li>\n<\/ol>\n<\/li>\n<\/ol>\n
              \n

              Updated Risks<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n\n\n
              Risk<\/span> ID<\/span><\/td>\nRisk<\/span><\/td>\nRequirement<\/span><\/td>\nType<\/span><\/td>\nL<\/span><\/td>\nC<\/span><\/td>\nMitigation<\/span><\/td>\n<\/tr>\n
              R1<\/span><\/td>\nIssues with legacy system<\/span><\/td>\nAll MPs<\/span><\/td>\nTechnical<\/span><\/p>\n

              Schedule<\/span><\/td>\n

              		5<\/span><\/td>\n5<\/span><\/td>\n– Develop plan to test chassis<\/span><\/p>\n

              – Continue developing and testing algorithms in simulation\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><\/td>\n<\/tr>\n

              R2<\/span><\/td>\nUnable to assemble chassis<\/span><\/td>\nAll MPs<\/span><\/td>\nTechnical<\/span><\/p>\n

              Cost<\/span><\/p>\n

              Schedule<\/span><\/p>\n

              Programmatic<\/span><\/td>\n

              		5<\/span><\/td>\n5<\/span><\/td>\n– Develop plan to assemble chassis\u00a0\u00a0\u00a0\u00a0\u00a0<\/span><\/p>\n

              – Test subsystems in simulation<\/span><\/p>\n

              – Move FVD to simulation<\/span><\/td>\n<\/tr>\n

              R3<\/span><\/td>\nSensors stop working<\/span><\/td>\nMPs 2, 3, 4, 7, 8, 9<\/span><\/td>\nTechnical<\/span><\/p>\n

              Cost<\/span><\/td>\n

              		2<\/span><\/td>\n3<\/span><\/td>\n– Formulate sensor test plans and safeguarding procedures<\/span><\/p>\n

              – Use hardware abstraction layer<\/span><\/td>\n<\/tr>\n

              R4<\/span><\/td>\nTesting infeasible due to weather conditions<\/span><\/td>\nAll MPs<\/span><\/td>\nTechnical<\/span><\/p>\n

              Schedule<\/span><\/td>\n

              		3<\/span><\/td>\n3<\/span><\/td>\n– Test subsystems in NSH B-level<\/span><\/td>\n<\/tr>\n
              R5<\/span><\/td>\nCommunication gap with sponsor<\/span><\/td>\nAll MPs<\/span><\/td>\nSchedule<\/span><\/td>\n4<\/span><\/td>\n4<\/span><\/td>\n– Document work<\/span><\/p>\n

              – Provide regular updates<\/span><\/td>\n<\/tr>\n

              R6<\/span><\/td>\nIssues in Subsystem Integration<\/span><\/td>\nMPs 5, 6, 8<\/span><\/td>\nTechnical<\/span><\/p>\n

              Schedule<\/span><\/td>\n

              		4<\/span><\/td>\n4<\/span><\/td>\n– Perform testing on individual subsystems<\/span><\/p>\n

              – Develop integration test plan initially<\/span><\/td>\n<\/tr>\n

              R7<\/span><\/td>\nOverambitious requirements<\/span><\/td>\nMPs 2, 3, 4<\/span><\/td>\nTechnical<\/span><\/p>\n

              Schedule<\/span><\/td>\n

              		3<\/span><\/td>\n3<\/span><\/td>\n– Refine requirements and descope system if necessary<\/span><\/td>\n<\/tr>\n
              R8<\/span><\/td>\nIntegration issues<\/span><\/p>\n

              with code<\/span><\/td>\n

              		All MPs<\/span><\/td>\nTechnical<\/span><\/p>\n

              Schedule<\/span><\/td>\n

              		2<\/span><\/td>\n3<\/span><\/td>\n– Document work with changes implemented<\/span><\/p>\n

              – Perform unit testing at each level possible<\/span><\/p>\n

              – Use a common framework to develop code<\/span><\/td>\n<\/tr>\n

              R9<\/span><\/td>\nGlobal pandemic occurs, causing campus shutdown<\/span><\/td>\nAll MPs<\/span><\/td>\nProgrammatic<\/span><\/td>\n1<\/span><\/td>\n3<\/span><\/td>\n– Continue working simulation<\/span><\/p>\n

              – Follow government and university guidelines regarding health and working conditions<\/span><\/p>\n

              – Develop schedules and have regular follow ups with team members<\/span><\/td>\n<\/tr>\n

              R10<\/span><\/td>\nAlgorithms do not pan out in real-life<\/span><\/td>\nAll MPs<\/span><\/td>\nTechnical Schedule<\/span><\/td>\n3<\/span><\/td>\n4<\/span><\/td>\n– Test subsystems individually to assess if problem lies in software or is actually due to conversion from sim2real<\/span><\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
              \n

              Parts List<\/a><\/span><\/h2>\n

              Can be Found here<\/a><\/p>\n

              \n

              Issues Log<\/a><\/span><\/h2>\n

              Can be found here<\/a><\/p>\n

              \n","protected":false},"excerpt":{"rendered":"

              Schedule Schedule for Spring Semester Gantt Chart for Project Schedule Date Milestones for Spring Semester 1\/20 Autoware Environment Setup 2\/15 Website Deployed\u00a0 2\/19 Simulation Platform Setup on CARLA-Autoware\u00a0 3\/4 Navigation subsystem design & Simulation setup for docking ready 3\/25 Navigation subsystem components tested 4\/8 1. Navigation subsystem developed 2. Docking subsystem components tested in in
              + Read More<\/a><\/p>\n","protected":false},"author":224,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-16","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/pages\/16","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/users\/224"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/comments?post=16"}],"version-history":[{"count":29,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/pages\/16\/revisions"}],"predecessor-version":[{"id":397,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/pages\/16\/revisions\/397"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2020teamj\/wp-json\/wp\/v2\/media?parent=16"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}