Our full spring test plan documentation is available here: Spring Test Plan
T01: Teleoperation Test
Date: 01/03/2025 (with Grader), 03/04/2025 (with Dozer)
Result: Satisfies verification criteria
T02: IMU Interfacing and Connectivity Test
Date: 02/08/2025
Result: Satisfies verification criteria. However, IMU after bias-correction is still noisy.
T03: Depth Camera Connectivity Test
Date: 01/16/2025 (with Laptop), 03/04/2025 (with Jetson)
Result: Satisfies verification criteria.
T04: Dozer Assembly Test
Date: 01/18/2025 (first iteration), 03/04/2025 (second iteration)
Result: Minor iterations and refinement in dozer placement.
T05: External Infrastructure Test
Date: 02/24/2025
Result: Satisfies verification criteria.
T06: Wheel Tests
Date: 01/30/2025 (first iteration), 03/04/2025 (second iteration)
Result: Satisfactory wheel slip and sinkage. Going ahead with design.
T07: Complete Hardware Test
Date: 04/13/2025
Result: Satisfies verification criteria. Complete hardware integration for SVD. Risk plan developed for potential points of hardware failure.
T08: Mapping the Moon Yard
Date: 01/16/2025 (first test), 02/24/2025 (second test), 03/03/2025 (third test)
Result: Satisfies verification criteria. Minor adjustments in occupancy grid parameters to remove noise.
T09: Localization Test
Date: 03/21/2025
Result: Satisfies verification criteria. Minor tuning for yaw mismatch and drift.
T10: Optimal Mast Depth Camera Placement Test
Date: 03/04/2025
Result: Satisfies verification criteria. Optimal placement calculated to be {X, Y, Z, R, P, Y} = {0.5, 0, 0.6, 0, -30, 0} from rover’s center of mass.
T11: Autonomous Navigation Validation Test
Date: 04/13/2025
Result: Satisfies verification criteria. Minor fine-tuning of Nav2 parameters and config files.
T12: Tool Planner Test
Date: 04/10/2025
Result: Satisfies verification criteria. Minor fine-tuning of the number of transport assignments.
T13: Integration Test
Date: 04/13/2025
Result: Satisfies verification criteria.
T14: Maintenance, Reliability and Quality Assurance Test
Date: 04/15/2025
Result: Satisfies verification criteria. Drilled into motor shaft and attached pinions. Replaced all jumper wires on the rover ahead of SVD.
T15: Spring Validation Demo Test
Date: 04/15/2025 (first test), 04/16/2025 (second test)
Result: Satisfies verification criteria. Did multiple SVD test runs for repeatability.
