{"id":11,"date":"2021-11-08T08:57:41","date_gmt":"2021-11-08T08:57:41","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/?page_id=11"},"modified":"2022-12-12T04:25:09","modified_gmt":"2022-12-12T04:25:09","slug":"performance","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/performance\/","title":{"rendered":"PERFORMANCE"},"content":{"rendered":"\n

FVD RESULTS<\/h2>\n\n\n\n
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SVD RESULTS<\/h2>\n\n\n\n
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Spring validation demonstration<\/p>\n\n\n\n

<\/td>Action<\/td>Demonstration<\/td>Requirements validated<\/td><\/tr>
1<\/td>User starts the TouRI robot app and selects a location to tour<\/td>Demonstrate user interaction with the app and the capability to receive location input from user within 5 seconds and generate the goal waypoint 
Condition for operation :  > 100mbps broadband connectivity<\/td>		MP3, MNF1<\/td><\/tr>
2<\/td>Based on the waypoint input, the navigation module generates a global path to the goal location<\/td>Demonstrate capability of the navigation module to generate the global path within 3 minutes<\/td>MP4<\/td><\/tr>
3<\/td>The robot detects static and dynamic obstacles and avoids them by following the obstacle avoidance trajectory genereated by the local planner<\/td>Demonstrate obstacle detection and avoidance by the robot with an mAP of 60%<\/strong>
Condition for operation: For obstacles lying in the FOV of sensing modalities<\/td>		MP5<\/td><\/tr>
4<\/td>Robot reaches the goal location<\/td>Demonstrate ability of the robot to reach the desired location with a speed of 0.4m\/s during the traversal
Condition for operation: Limited obstacles are present in the surroundings and a path exists for the robot to avoid obstacles and traverse ahead<\/td>		MP1<\/td><\/tr>
5<\/td>The robot detects the object to grasp and estimates its grab point<\/td>Demonstrate object detecion with a precision of 70% <\/em>and recall of 60%<\/em>
Condition for operation: For predefined set of objects in the environment and appropriate lighting<\/td>		MP6<\/td><\/tr>
6<\/td>Based on the grab point input, the manipulation module plans the trajectory to grasp the object<\/td>Demonstrate the motion planning capability of the manipulation module to generate the trajectory within 3 minutes<\/td>MP7<\/td><\/tr>
7<\/td>The manipulator executes the planned trajectory<\/td>Demonstrate manipulator motion to grasp\/pick up object<\/td> MP8<\/td><\/tr>
8<\/td>The manipulator grasps\/places the object<\/td>Demonstrate manipulator capability to grasp\/place object within 5 minutes, with 67% success rate<\/td>MP9<\/td><\/tr>
8<\/td>The standalone gimbal mount rotates the display device to view the surroundings<\/td>Demonstrate gimbal motion of 60 degree pitch and 120 degree yaw for display device<\/td>MP10<\/td><\/tr>
9<\/td>The app provides the video call interface between user and surroundings<\/td>Demonstrate 1080*720 resolution video call with a lag less than 2 seconds<\/td>MP11<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Fall validation demonstration<\/p>\n\n\n\n

<\/td>Action<\/td>Demonstration<\/td>Requirements validated<\/td><\/tr>
1<\/td>User starts the TouRI robot app<\/td>Demonstrate user-friendly app interface<\/td>MNF2<\/td><\/tr>
2<\/td>Based on the location input entered by the user in the app, goal waypoint for the location is generated and sent to the robot<\/td>Demonstrate integration between user interface and navigation modules<\/td> <\/td><\/tr>
3<\/td>During autonomous traversal, the robot detects static and dynamic obstacles and avoids them by following the obstacle avoidance trajectory generated by the local planner<\/td>Demonstrate obstacle detection and avoidance by the robot with an mAP of 80%<\/strong>
Condition for operation: For obstacles lying in the FOV of sensing modalities during autonomous traversal<\/td>		MP5<\/td><\/tr>
4<\/td>The robot detects the object on reaching the desired location and estimates its grab point<\/td>Demonstrate object detection and the grab point estimation with a precision of 60% <\/strong>and recall of 70%
<\/strong>Demonstrate integration between navigation and perception modules
Condition for operation: For a predefined set of objects in the environment and appropriate lighting<\/td>		MP6<\/td><\/tr>
5<\/td>The manipulator executes the planned trajectory to grasp\/place the object<\/td>Demonstrate integration between perception and manipulation modules
Demonstrate manipulator motion to grasp\/place objects within 5 minutes with a 67% success rate<\/em>\u200b (2 successful trails out of 3)<\/td>		MP9<\/td><\/tr>
6<\/td>Robot successfully enters the desired room location<\/td>Demonstrate integration between user-interface, navigation, perception and manipulation modules for task execution in 30 minutes
Condition for operation: Goal location in the operating area and 100m away from start location of the robot<\/td>		MP2<\/td><\/tr>
7<\/td>On entering the desired room, robot accepts inputs from user for teleoperated traversal<\/td>Demonstrate integration between user interface and navigation modules<\/td> MP1<\/td><\/tr>
8<\/td>The robot retracts teleoperation control from user when obstacles are detected and transitions to autonomous mode . The robot detects and avoids static and dynamic obstacles by following the obstacle avoidance trajectory generated by the local planner<\/td>Demonstrate situational awareness
Demonstrate obstacle detection and avoidance by the robot with an mAP of 80%
Condition for operation: For obstacles lying in the FOV of sensing modalities during teleoperated traversal<\/td>		MP5,MNF4<\/td><\/tr>
9<\/td>The gimbal mount integrated on the robot rotates the display device for user to view the surroundings<\/td>Demonstrate integration of gimbal platform with the robot
Demonstrate natural interaction<\/td>		MNF5<\/td><\/tr>
10<\/td>System level requirements<\/td>Demonstrate sub-system modularity with APIs<\/td>MNF3<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n

Spring Validation Demonstration<\/strong><\/h1>\n\n\n\n

Location:<\/strong> NSH Basement<\/p>\n\n\n\n

Equipment:<\/strong> <\/strong>Hello Robot\u2019s Stretch, gimbal mount, a display device, user device, operator computer, Wi-Fi network, objects for grasping, dynamic obstacles in the environment<\/p>\n\n\n\n

Objective:<\/strong> Demonstrate that the user can teleoperate the robot and send location to the robot for the tour, autonomous navigation to the location, detection of pre-defined objects, autonomous grasping\/placement of pre-defined objects, manually controlled gimbal motion.<\/p>\n\n\n\n

  1. Teleoperated and Autonomous Navigation and Manipulation test<\/strong>
    1. Procedure:<\/strong>
      1. Teleoperate the robot to navigate to the desired location using the user interface.<\/li>
      2. Teleoperate manipulator to grab\/release pre-defined objects from defined locations. <\/li>
      3. Place the robot at the start location on the map and observe robot localization.<\/li>
      4. Send goal to the robot through the user interface and observe robot plan paths.<\/li>
      5. Observe the robot autonomously navigate to the goal while avoiding obstacles.<\/li>
      6. Set pre-defined goal poses for the manipulator to pick and place a pre-defined object. <\/li>
      7. Observe the robot plan trajectories for the manipulator to reach goal poses. <\/li>
      8. Observe the manipulator pick and place the object.<\/li><\/ol><\/li>
      9. Validation:<\/strong>
        1. User is able to navigate the robot to a location and grab\/place an object with end-effector. (M.P.R-1, M.P.R-3, M.P.R-9)<\/strong><\/li>
        2. Robot is able to localize within the map and plan global and local paths to the goal. (M.P.R-2, M.P.R-4)<\/strong><\/li>
        3. Robot can autonomously navigate to the goal with obstacle avoidance. (M.P.R-5)<\/strong><\/li>
        4. Manipulator is able to plan trajectories and grab\/release the object stably. (M.P.R-8, M.P.R-3, M.P.R-9)<\/strong><\/li><\/ol><\/li><\/ol><\/li>
        5. Object Detection Test<\/strong>
          1. Procedure:<\/strong>
            1. Place the robot such that the predefined object(s) to be detected are visible.<\/li>
            2. Observe the bounding boxes of the detected objects.<\/li>
            3. Repeat steps with variations in object pose, ambient lighting and distance from the robot.<\/li><\/ol><\/li>
            4. Validation:<\/strong>
              1. Pre-defined objects are detected in varying conditions. (M.P.R-6, M.P.R-7)<\/strong><\/li><\/ol><\/li><\/ol><\/li>
              2. Hardware Gimbal Test<\/strong>
                1. Procedure:<\/strong>
                  1. Check the stability of the robot at maximum velocity with the gimbal and display mounted.<\/li>
                  2. Setup the gimbal and display workbench and manually send commands for motion.<\/li>
                  3. Observe the stability of the display during the gimbal motion.<\/li>
                  4. Observe gimbal actuation cut off when power supplied to it is insufficient.<\/li><\/ol><\/li>
                  5. Validation:<\/strong>
                    1. Robot remains stable after the gimbal and the display have been mounted. <\/li>
                    2. The gimbal actuates as per the commands and display remains stable during motion. (M.P.R-10)<\/strong><\/li>
                    3. Gimbal is not actuated when it receives low power.<\/li><\/ol><\/li><\/ol><\/li><\/ol>\n\n\n\n

                      Fall Validation Demonstration<\/strong><\/h1>\n\n\n\n

                      Location:<\/strong> NSH Basement<\/p>\n\n\n\n

                      Equipment:<\/strong> <\/strong>Hello Robot\u2019s Stretch, gimbal mount, a display device, user device, operator computer, Wi-Fi network, objects for grasping, dynamic obstacles in the environment<\/p>\n\n\n\n

                      Objective:<\/strong> Demonstrate that the user can teleoperate the robot and command the robot to autonomously navigate to the desired locations, detect and autonomously pick and place pre-defined objects, and manually control gimbal motion.<\/p>\n\n\n\n

                      1. Navigation (autonomous and tele-operational) and gimbal control via the interface<\/strong>
                        1. Procedure:<\/strong>
                          1. Place the robot at the start location on the map and observe robot localization.<\/li>
                          2. Send goal to the robot through the user interface and observe robot plan path.<\/li>
                          3. Observe the robot autonomously navigating to the goal while avoiding obstacles.<\/li>
                          4. Teleoperate the robot\u2019s gimbal to the desired pitch and yaw using the user interface while the robot is navigating. <\/li>
                          5. Teleoperate the robot to navigate within the room using the user interface.<\/li><\/ol><\/li>
                          6. Validation:<\/strong>
                            1. User can send commands to the robot and gimbal remotely. (M.P.R-3)<\/strong> <\/li>
                            2. Robot is able to localize within the map and plan global and local paths to the goal. (M.P.R-2, M.P.R-4)<\/strong><\/li>
                            3. Robot is able to autonomously navigate to the goal with obstacle avoidance. (M.P.R-5)<\/strong><\/li>
                            4. User is able to tele-operate the robot within the room and concurrently control the gimbal’s orientation. (M.P.R-1, M.P.R-10)<\/strong><\/li><\/ol><\/li><\/ol><\/li>
                            5. Autonomous and tele-operational pick and place of objects<\/strong>
                              1. Procedure:<\/strong>
                                1. Teleoperate the robot to the location such that objects to be picked are in the field of view. <\/li>
                                2. Observe the robot detect the pickable objects in its field of view.<\/li>
                                3. Select an object to pick up from the table using the interface. <\/li>
                                4. Observe the robot map the environment with the objects in the field of view and localize itself in the map. <\/li>
                                5. Observe the robot detect the grab points of the selected object.<\/li>
                                6. Observe the robot plan a navigation and manipulation path to the desired object.<\/li>
                                7. Observe the robot autonomously pick-up the object from the table. <\/li>
                                8. Tele-operate the robot to desired drop location and select the drop location using the interface. <\/li>
                                9. Observe the robot detect the surface to place the object and autonomously place the object on the surface.<\/li><\/ol><\/li>
                                10. Validation:<\/strong>
                                  1. User can send commands to the robot remotely. (M.P.R-3)<\/strong><\/li>
                                  2. Robot is able to send a list of detected objects to the user. (M.P.R-6)<\/strong><\/li>
                                  3. Robot is able to estimate the grab points of the selected objects. (M.P.R-7)<\/strong><\/li>
                                  4. Robot is able to localize in 3D map and plan a path to the selected object. (M.P.R-8)<\/strong><\/li>
                                  5. Robot is able to successfully pick the object. (M.P.R-9)<\/strong><\/li><\/ol><\/li><\/ol><\/li><\/ol>\n\n\n\n

                                    Robot is able to detect the flat surface and place the object on it. (M.P.R-9)<\/strong><\/p>\n","protected":false},"excerpt":{"rendered":"

                                    FVD RESULTS SVD RESULTS Spring validation demonstration Action Demonstration Requirements […]<\/p>\n","protected":false},"author":286,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-11","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/pages\/11","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/users\/286"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/comments?post=11"}],"version-history":[{"count":17,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/pages\/11\/revisions"}],"predecessor-version":[{"id":632,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/pages\/11\/revisions\/632"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teamh\/wp-json\/wp\/v2\/media?parent=11"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}