{"id":284,"date":"2025-05-03T02:51:54","date_gmt":"2025-05-03T02:51:54","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/?page_id=284"},"modified":"2025-11-15T21:44:13","modified_gmt":"2025-11-15T21:44:13","slug":"component-testing-experiment-results","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/documents\/component-testing-experiment-results\/","title":{"rendered":"Component Testing &amp; Experiment Results"},"content":{"rendered":"\n<h2 class=\"wp-block-heading\">Spring Semester<\/h2>\n\n\n\n<p><strong>Full-System Testing<\/strong><\/p>\n\n\n\n<p>For the full system testing, we aimed to achieve<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Reach goal within drift &lt;= 5m<\/li>\n\n\n\n<li>Avoid curb of height \u2265 5cm<\/li>\n\n\n\n<li>Avoid static humans and obstacles<\/li>\n\n\n\n<li>Complete a 250m route within 5 min<\/li>\n\n\n\n<li>Number of E-STOP safety interventions &lt;= 2<\/li>\n<\/ul>\n\n\n\n<p><strong>Test route<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"1018\" height=\"870\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2.png\" alt=\"\" class=\"wp-image-287\" style=\"width:410px;height:auto\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2.png 1018w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2-300x256.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2-768x656.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2-700x598.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2-520x444.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2-360x308.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2-250x214.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/05\/image-2-100x85.png 100w\" sizes=\"auto, (max-width: 1018px) 100vw, 1018px\" \/><\/figure>\n\n\n\n<p><strong>Test time<\/strong>: Apr 24, 2025 8am<\/p>\n\n\n\n<p><strong>Result<\/strong><\/p>\n\n\n\n<figure class=\"custom-table\"><table><tbody><tr><td>Time spent<\/td><td>Number of E-STOP<\/td><td>Distance to goal<\/td><td>Number of collisions<\/td><\/tr><tr><td>8min<\/td><td>1<\/td><td>&lt; 2m<\/td><td>0<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n\n\n\n<h2 class=\"wp-block-heading\">Fall Semester<\/h2>\n\n\n\n<p><strong>Component Testing<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"563\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-1024x563.png\" alt=\"\" class=\"wp-image-386\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-1024x563.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-300x165.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-768x422.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-1536x844.png 1536w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-2048x1125.png 2048w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-700x385.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-520x286.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-360x198.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-250x137.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1-100x55.png 100w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p>Each of the following subsystems was tested individually, and all of them worked well separately.<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>Hardware<\/li>\n\n\n\n<li>Sensing<\/li>\n\n\n\n<li>Perception<\/li>\n\n\n\n<li>Planning<\/li>\n\n\n\n<li>UI<\/li>\n<\/ol>\n\n\n\n<p><strong>Full-System Testing<\/strong><\/p>\n\n\n\n<p>For the full system testing, we aimed to achieve quantitative metrics:<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Consider moving pedestrian &gt;=2, replan trajectories &lt;= 50 msec<\/li>\n\n\n\n<li>Carry payload &lt;= 200lb<\/li>\n\n\n\n<li>Traverse sidewalk \u2264 15 degrees<\/li>\n\n\n\n<li>Reach goal within drift &lt;= 5m<\/li>\n\n\n\n<li>Number of teleop intervention &lt;= 1, teleop distance &lt;= 5m<\/li>\n\n\n\n<li>Receive commands from the user, success rate &gt;=70%<\/li>\n\n\n\n<li>React to emergency stop &lt;= 50ms<\/li>\n<\/ul>\n\n\n\n<p><strong>Test route<\/strong><\/p>\n\n\n\n<figure class=\"wp-block-image size-large\"><img loading=\"lazy\" decoding=\"async\" width=\"1024\" height=\"744\" src=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1024x744.png\" alt=\"\" class=\"wp-image-384\" srcset=\"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-1024x744.png 1024w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-300x218.png 300w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-768x558.png 768w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-700x508.png 700w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-520x378.png 520w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-360x261.png 360w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-250x182.png 250w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image-100x73.png 100w, https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-content\/uploads\/sites\/83\/2025\/11\/image.png 1374w\" sizes=\"auto, (max-width: 1024px) 100vw, 1024px\" \/><\/figure>\n\n\n\n<p><strong>Result<\/strong><\/p>\n\n\n\n<figure class=\"custom-table\"><table><tbody><tr><td>Test Time<\/td><td>Time spent<\/td><td>Number of E-STOP<\/td><td>Distance to goal<\/td><td>Number of collisions<\/td><\/tr><tr><td>Nov 12, 2025 4:30PM<\/td><td>10min<\/td><td>1<\/td><td>&lt; 1m<\/td><td>0<\/td><\/tr><tr><td>Nov 13, 2025 4:00PM<\/td><td>10min<\/td><td>0<\/td><td>&lt; 1m<\/td><td>0<\/td><\/tr><tr><td>Nov 14, 2025 2:30PM<\/td><td>10min<\/td><td>0<\/td><td>&lt; 1m<\/td><td>0<\/td><\/tr><tr><td>Nov 15, 2025 10:30AM<\/td><td>10min<\/td><td>0<\/td><td>&lt; 1m<\/td><td>0<\/td><\/tr><\/tbody><\/table><\/figure>\n\n\n\n<p><\/p>\n\n\n\n<p><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Spring Semester Full-System Testing For the full system testing, we aimed to achieve Test route Test time: Apr 24, 2025 8am Result Time spent Number of E-STOP Distance to goal Number of collisions 8min 1 &lt; 2m 0 Fall Semester [&hellip;]<\/p>\n","protected":false},"author":387,"featured_media":0,"parent":59,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-templates\/page_fullwidth.php","meta":{"footnotes":""},"class_list":["post-284","page","type-page","status-publish","hentry","clearfix"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/pages\/284","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/users\/387"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/comments?post=284"}],"version-history":[{"count":6,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/pages\/284\/revisions"}],"predecessor-version":[{"id":413,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/pages\/284\/revisions\/413"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/pages\/59"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2025teama\/wp-json\/wp\/v2\/media?parent=284"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}