The overall system performance compared to the system requirements is shown below. The system was run for 20 trials to obtain the results.
| [M.P.#] | M.P. Description | Desired | Actual |
|---|---|---|---|
| [M.P.1] | Receive testing locations within 5 minutes | 70% | 100% |
| [M.P.2.1] | Maintain a lateral path error of less than 15 cm over 5 m | ± 15 cm | ± 3 cm |
| [M.P.2.2] | Reach testing locations within 2.5 m | 70% | 95% |
| [M.P.3.1] | Identify suitable cornstalk 50% of the time | 50% | 85% |
| [M.P.3.2] | Identify maximum width insertion angle 50% of the time | 50% | 65% |
| [M.P.4.2] | Success rate is 75%. | 75% | 95% |
| [M.P.5] | Calibrate the nitrate sensor 80% of the time. | 80% | 95% |
| [M.P.6.1] | Grip the selected cornstalk of suitable width 75% of the time. | 75% | 90% |
| [M.P.6.2] [M.P.6.3] | Grip within 10 cm of the ground 80% of the time. | 80% | 90% |
| [M.P.7] | Insert the nitrate sensor 9mm into the cornstalk of suitable width 50% of the time. | 50% | 80% |
| [M.P.9] | Success rate of removing the nitrate sensor from the cornstalk is 90%. | 90% | 95% |
| [M.P.10] | Return nitrate readings within 5 minutes of completion | 70% | 100% |
The results for the Spring Validation Demonstration and Spring Validation Demonstration Encore are shown in the table below.
| M.P. Description | Desired | Actual |
|---|---|---|
| At least 50% of suitable cornstalks within the workspace of the xArm are detected. | 50% | 100% |
| The cleaning solution makes contact with the sensor for 15 seconds. | 15s | 15s |
| The calibration solutions make contact with the sensor for 15 seconds each. | 15s | 15s |
| The robot grips the cornstalk within 10 cm of the ground. | 10cm | <<10 cm |
| The nitrate sensor is inserted properly at least 50% of the time. | 50% | 72% |
The results for the Fall Validation Demonstration and Spring Validation Demonstration Encore are shown in the table below.
| M.P. Description | Desired | Actual |
|---|---|---|
| The robot receives the testing locations within 5 minutes | 70% | 100% |
| The Amiga base maintains a lateral path error of 15 cm at most over 5 m to stay within row | 70% | 62.5% |
| The Amiga robot reaches testing locations within 2.5 m | 70% | 62.5% |
| At least 50% of suitable (width is between 17 and 45 mm) cornstalks within the workspace of the xArm are detected | 50% | 100% |
| The robot grips the cornstalk within 10 cm of the ground | 75% | 100% |
| The robot returns nitrate readings within 5 minutes of completion | 70% | 100% |