{"id":239,"date":"2022-02-19T03:09:35","date_gmt":"2022-02-19T03:09:35","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/?page_id=239"},"modified":"2022-10-08T04:37:44","modified_gmt":"2022-10-08T04:37:44","slug":"test-plan","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/project-management\/test-plan\/","title":{"rendered":"Test Plan"},"content":{"rendered":"\n<h2 class=\"has-text-align-center wp-block-heading\">Spring Validation Demonstration (SVD)<\/h2>\n\n\n\n<p class=\"has-medium-font-size\"><strong>Logistics<\/strong>:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li><strong>Location<\/strong>: NSH B506<\/li><li><strong>Equipment<\/strong>: Master workstation, Client workstation, Platform representing Zamboni (if Zamboni is not available), Intel RealSense D435i, Printed ArUco marker Board<\/li><\/ul>\n\n\n\n<p class=\"has-medium-font-size\"><strong>Objective<\/strong>: <\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Demonstrate the functionality of the autonomous convoy software stack in simulation,<\/li><li>Demonstrate the detection and pose estimation algorithm on the physical leader vehicle platform and physical sensors<\/li><\/ul>\n\n\n\n<p class=\"has-medium-font-size\"><strong>Demonstration<\/strong>: <\/p>\n\n\n\n<ol class=\"wp-block-list\" style=\"font-size:18px\"><li><strong>Autonomous Leader Follower Convoy System in Simulation<\/strong><\/li><\/ol>\n\n\n\n<figure class=\"wp-block-table is-style-regular\"><table><tbody><tr><td><strong>#<\/strong><\/td><td><strong>Procedure<\/strong><\/td><td><strong>Success Criteria<\/strong><\/td><\/tr><tr><td>1<\/td><td>In the simulation, place the leader Zamboni, attached with a board of ArUco markers, 5 meters in front of the follower Zamboni with all sensors (IMU, encoders, camera, lidar) equipped<\/td><td>&#8211; Follower will estimate the relative&nbsp; position of the leader within 0.1 m accuracy<\/td><\/tr><tr><td>2<\/td><td>Launch the leader Zamboni in Gazebo and teleoperate it along a predefined resurfacing path with a maximum velocity of 2.5 m\/s<\/td><td>&#8211; Follower will localize itself relative to leader with accuracy in x direction of 0.1m, accuracy in y direction of 0.1m and estimate the yaw angle with 1 deg accuracy.- Follower will estimate the velocity of the leader to anaccuracy of 0.2 m\/s<\/td><\/tr><tr><td>3<\/td><td>Command the follower Zamboni to start following the leader autonomously and stop the leader Zamboni using keyboard control after moving 2 laps in the ice rink<\/td><td>&#8211; Follower will follow the leader and maintain a constant distance of 2m- The system will maintain a lateral offset with the leader of 1.98 m to an accuracy of \u00b10.15m<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<ol class=\"wp-block-list\" start=\"2\" style=\"font-size:18px\"><li><strong>Leader Follower Autonomy Subsystem Validation on Hardware Platform<\/strong><\/li><\/ol>\n\n\n\n<figure class=\"wp-block-table is-style-regular\"><table><tbody><tr><td><strong>#<\/strong><\/td><td><strong>Procedure<\/strong><\/td><td><strong>Success Criteria<\/strong><\/td><\/tr><tr><td>1<\/td><td>&#8211; Place a manual-driven vehicle, e.g. a mobility scooter or remotely controlled RC Car, as a leader with an ArUco marker board attached at the rear- Place a Zamboni backup platform (e.g. F1\/10 Platform), equipped with the same set of sensors we will use on the follower Zamboni, on the back of the leader with a longitudinal distance of 5 meters and a lateral offset of one body width<\/td><td>&#8211; Follower will estimate the relative position of the leader within 0.1 m accuracy<\/td><\/tr><tr><td>2<\/td><td>Start driving the leader with a maximum velocity of 2.5 m\/s<\/td><td>&#8211; Follower will localize itself relative to leader with accuracy in x direction of 0.1m, accuracy in y direction of 0.1m and estimate the yaw angle with 1 deg accuracy.- Follower will estimate the velocity of the leader to anaccuracy of 0.2 m\/s<\/td><\/tr><tr><td>3<\/td><td>The RC is commanded to autonomously follow a leader based on the ArUco marker board<\/td><td>&#8211; Follower will follow the leader and maintain a constant distance of 2m<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<hr class=\"wp-block-separator is-style-dots\" \/>\n\n\n\n<h2 class=\"has-text-align-center wp-block-heading\">Fall Validation Demonstration (FVD)<\/h2>\n\n\n\n<p class=\"has-medium-font-size\"><strong>Logistics<\/strong>:<\/p>\n\n\n\n<ul class=\"wp-block-list\"><li><strong>Location<\/strong>: The FVD will be demonstrated at the Hunt Armory Ice Rink in Shadyside, Pittsburgh or, if the ice rink is unavailable, at a back-up ice rink (Baeirl Ice Complex, UPMC Lemieux Sports Complex), or in a spacious parking lot. To demonstrate some of the functionalities, we will have to drive a Zamboni, or a vehicle of a similar size if the Zamboni is unavailable, in the location specified above. Tests involving only software will be conducted in the MRSD Lab in NSH B506.<\/li><li><strong>Personnel<\/strong>: We will need one driver to drive the vehicle and others to set up the required system to demonstrate the validation plan. The team members in Team I are sufficient to conduct all the tests. One team member will document the test results, while another operates the leading vehicle.&nbsp; A third team member will remain seated on the follower as a safety driver.&nbsp; In the event that members of the team are not allowed to drive the vehicle, an operator provided by the ice rink will be required for tests involving the Zamboni.<\/li><li><strong>Equipment<\/strong>: For all tests involving hardware, the vehicle (Zamboni ice resurfacer or ATV) and the operator computer will be used. The start-up procedure involves powering on the units separately, connecting each unit to the dedicated router, and launching processes on the follower platform\/robot via the operator computer. Once the start-up processes are launched on the robot\/follower zamboni, the visualizer is launched on the operator computer.<\/li><\/ul>\n\n\n\n<p class=\"has-medium-font-size\"><strong>Objective<\/strong>: <\/p>\n\n\n\n<ul class=\"wp-block-list\"><li>Demonstrate drive-by-wire, autonomous leader-following capabilities, and obstacle detection on a Zamboni ice resurfacer.<\/li><\/ul>\n\n\n\n<p class=\"has-medium-font-size\"> <strong>Demonstration<\/strong>:<\/p>\n\n\n\n<figure class=\"wp-block-table is-style-regular\"><table><thead><tr><th>#<\/th><th><strong>Procedure<\/strong><\/th><th><strong>Success Criteria<\/strong><\/th><\/tr><\/thead><tbody><tr><td>1<\/td><td>&#8211; Place a human-driven Zamboni machine as a leader fitted with ArUco markers;<br>&#8211; Place the follower Zamboni equipped with drive-by-wire and follower autonomy capability;<br>&#8211; Maintain head-to-tail longitudinal offset of 6.00 m and center-to-center lateral offset of 0.98 m \u00b10.50 m between leader and follower. <\/td><td>&#8211; The follower platform should detect the leader in \u226595% of the frames<\/td><\/tr><tr><td>2<\/td><td>&#8211; Launch the perception sub-system, follower autonomy sub-system and the drive-by-wire subsystem on the follower Zamboni machine<br>&#8211; Start driving the leader and maintain a velocity of 2.5 m\/s<br>&#8211; Complete 1 full loop on the ice rink using autonomous Zamboni convoy<\/td><td>&#8211; The follower will estimate the relative pose of the leader within 0.1 m accuracy<br>&#8211; The follower will estimate leader\u2019s velocity to an accuracy of 0.1 m\/s<br>&#8211; The follower will localize itself within 0.1 m accuracy<br>&#8211; The follower will follow the leader with a head-to-tail longitudinal distance of 6.00 m \u00b11.00 m<br>&#8211; The follower will follow the leader with a center-to-center lateral offset of 0.98 m \u00b10.50 m<\/td><\/tr><tr><td>3<\/td><td>Repeat steps 1-2 but place an obstacle in the path of the follower after it completes half loop on the ice rink<\/td><td>&#8211; The follower will detect the obstacle kept in its path and stop before it hits the obstacle<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p>Note: In case we cannot get the follower zamboni within the project timeline from the sponsor, we will demonstrate the same autonomous leader following convoy validation on a surrogate platform (Yamaha ATV) on Ice Rink or at Gascola facility depending upon where it is feasible and allowed. We will use a manual driven mid size SUV as a leader if we don&#8217;t get a Zamboni machine and a driver on the FVD from the sponsors.&nbsp;<\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Spring Validation Demonstration (SVD) Logistics: Location: NSH B506 Equipment: Master workstation, Client workstation, Platform representing Zamboni (if Zamboni is not available), Intel RealSense D435i, Printed ArUco marker Board Objective: Demonstrate the functionality of the autonomous convoy software stack in simulation, Demonstrate the detection and pose estimation algorithm on the physical leader vehicle platform and physical<br \/><a class=\"moretag\" href=\"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/project-management\/test-plan\/\">+ Read More<\/a><\/p>\n","protected":false},"author":292,"featured_media":646,"parent":220,"menu_order":2,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-239","page","type-page","status-publish","has-post-thumbnail","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/239","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/users\/292"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/comments?post=239"}],"version-history":[{"count":12,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/239\/revisions"}],"predecessor-version":[{"id":715,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/239\/revisions\/715"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/pages\/220"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/media\/646"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2022teami\/wp-json\/wp\/v2\/media?parent=239"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}