applying software methodologies in testing a sumo robot
TRANSCRIPT
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Adina Moldovan
Supervisor: Prof. Eng. Liviu MicleaConsultants: Prep. Eng. Iulia Stefan
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1. Short history
2. Robot Sumo
3. Waterfall methodology & V.A.S.I.L.E.
4. Scrum method & Rammstein
5. Conclusions
Summary
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Software methodologies
Early years of computer science
1980s Agile
Robot sumo
late 1980s in Japan, Hiroshi Nozawa
2010 in Romania
1. Short history
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Sport sumoBot
Challenges
Classes
2. Robot sumo
Figure 1. Robot sumo in the ringhttp://www.robotroom.com/SumoRules.html
http://www.robotroom.com/SumoRules.htmlhttp://www.robotroom.com/SumoRules.html -
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3. Waterfall methodology
Linear and sequential
Each phase completedbefore the next
Easy to manage
Small projects
Very well specified
requirements
? High amount of risk anduncertainty
Figure 2. Waterfall methodology
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3. V.A.S.I.L.E.
Figure 3. V.A.S.I.L.E. components diagram
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3. Waterfall methodology
V.A.S.I.L.E
Figure 4. Waterfall methodology applied on V.A.S.I.L.E.
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Hardware Unit testing Reflective object sensors Analog distance sensors
Digital distance sensor
Reliability testing
Stress testing Software Functional testing
System testing
3. Testing V.A.S.I.L.E.
Figure 5. V.A.S.I.L.E. sensors
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Reflective object sensors
Trial and error method:high/low, black/white
Samples from ring
Oscilloscope
Potentiometer
Bugs: soldering
3. Testing V.A.S.I.L.E.
Unit testing
Figure 6. Reflective object sensorHIGH/LOW transition
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Analog & digital distancesensors
Arduino program
Arduino debug screen
Ruler
Voltage cm
Accuracy: 2 sensors
Noise
3. Testing V.A.S.I.L.E.
Unit testing
Code 1. Analog distance sensortest program using Arduino
// set the analog input pin
int sensorPin = 0;
void setup() {
// open serial port with data rate
// to 9600 bps
Serial.begin(9600);
}
void loop() {
// read the value from the analog pin
// floatvolts = analogRead(IRpin);
// print the value of the sensor
Serial.println(volts);
// sleep 100 milis
delay(100);
}
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Environments
Search operations C1
Reliability 100%
In a collision with theopponent C1
Reliability 95%
Being pushed out of thering C2
Reliability 100%
3. Testing V.A.S.I.L.E.
Reliability testing
Checklist 1 (C1)
Components dont fall
Motors dont burn Reflective object sensors dont
scratch the floor
Checklist 2 (C2)
sumoBot can be stopped Components dont fall
Mainboard circuits dontbreak
Sensors dont break
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3. Testing V.A.S.I.L.E.
Reliability testing
Formula:
= +
100 = 5 1 0 + 1 76 1 0
100 = 5760
100 = 95%
where,
R the reliability of the system
Ip
number of passed items in the checklistIf number of failed items in the checklist
It total number of items in the checklist
Tp number of passed tests
Tt
total number of tests
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3. Testing V.A.S.I.L.E.
Stress testing
Motors
Load limit to be pushed
Metallic weights for market
Results:
5 kilos
25% usual speed 6 kilos not moving
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3. Testing V.A.S.I.L.E.
Integration testing
Interface between hardware and software
Motor software functionsmotor directives - PASS
Interface between hardware, software and hardware
BW software functionmotors - FAIL
Presence software functionmotors forward - PASS
IR software computationmotors adjustment - FAIL
US software functionmotor turn 180 - PASS
BW Reflective object sensors used for black and white detection, mounted on the 4 corners of the robotPresence Infrared digital distance sensor on a distance of 10cm, mounted in the middle front of the robot
IR Infrared analog distance sensor on a distance of 10-80cm, mounted on the front of the robot: left and rightUS Ultrasonic analog distance sensor on a distance of 500cm, mounted in the middle back of the robot
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3. Testing V.A.S.I.L.E.
Functional testing
Figure 7. Test scenarios
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3. Testing V.A.S.I.L.E.
System testing Battle with real sumoBots
Observe behavior
Bugs Battery charge level influences the motor directions
During a delay no input is read/processed
No angle blade
Battery too big and heavy
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3. Scrum method
Resource: http://www.kaeru.se/entry_8.php
Agile methodology
Iterative
Incremental
Sprint
Speed
Meetings
Communication
Figure 8. The Sprint
http://www.kaeru.se/entry_8.phphttp://www.kaeru.se/entry_8.php -
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3. Rammstein
Figure 9. Components diagram Sprint 1
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3. Scrum method
Rammstein & Sprints
Figure 10. Components diagram Sprint 2
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3. Scrum method
Rammstein
Figure 11. Components diagram Sprint 3
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Sprint 1
Unit testing
Reflective object sensors
Analog distance sensors
Digital distance sensor
Reliability testing
Sprints 2, 3 Functional testing
System testing
3. Testing Rammstein
Figure 12. Rammstein sensors
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4. Conclusions
Software methodologies identified in sumoBots
Adaptation Scrum better results
Testing high level after Sprint 2
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Thank you!
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