System Performance

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. DescriptionDesiredActual
[M.P.3]Identify suitable cornstalk 50% of the time50%85%
[M.P.3]Identify maximum width insertion angle 50% of the time50%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%95%
[M.P.6.2]
[M.P.6.3]
Grip within 10 cm of the ground 80% of the time.80%95%
[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%

The results for the Spring Validation Demonstration and Spring Validation Demonstration Encore are shown in the table below.

M.P. DescriptionDesiredActual
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.15s15s
The calibration solutions make contact with the sensor for 15 seconds each.15s15s
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%