marsrover/document/evaluation.tex

   1 \section{Development Plan \& Evaluation}
   2 \subsection{Development Plan}
   3 The development plan is written following the spiral software development model
   4 in which all requirements are divided into small iterations. Each of the
   5 iterations will have an implementation phase, a testing phase, an analysis
   6 phase, and a design phase. Furthermore, each of the iterations will have goals
   7 and results. The iterations and their deliverables are listed in
   8 \autoref{tab:devit}. The schedule for finishing iterations are listed in
   9 \autoref{tab:deadli}. On the 6th of January the must-have should be finished
  10 and if they are we try to complete as many iterations as possible.
  11 \begin{table}[H]
  12         \centering
  13         \begin{tabu} to \linewidth{llX}
  14                 \toprule
  15                 Deadline & Iterations\\
  16                 \midrule
  17                 9 Dec 2015 & 1--2\\
  18                 16 Dec 2015 & 3--5\\
  19                 23 Dec 2015 & 6--9\\
  20                 6 Jan 2015 & 10--11\\
  21                 13 Jan 2015 & Demo\\
  22                 \bottomrule
  23         \end{tabu}
  24         \caption{Deadlines}\label{tab:deadli}
  25 \end{table}
  26 \begin{table}[H]
  27         \centering
  28         \begin{tabu} to \linewidth{rlXX}
  29                 \toprule
  30                 It. & Req. & Description & Deliverables\\
  31                 \midrule
  32                 1 & NR1 & Create a DSL for MarsRover's missions to use available
  33                         sensors and actuators. & \texttt{TaskDSL.xtext}\\
  34                 2 & ER3 & Implement diagnostic functions that print on the \emph{LCD}.
  35                         & A \emph{LCD} class that prints to the \emph{LCD} screen.\\
  36                 3 & - & Implement functions in the code generation for basic motor the
  37                         motor actions: forward, backward, measure rock, measure lake and
  38                         wait. & Code
  39                         generation for motors\\
  40                 4 & - & Implement functions in the code generation for communicating
  41                         the sensors from the slave to the master. & Functions in the master
  42                         program to read the slave's sensors.\\
  43                 5 & - & Create functionality for sensor values and determine the
  44                         treshholds manually. & Code generation for sensors and threshhold
  45                         constants.\\
  46                 6 & CR1 & Create functionality to keep the MarsRover in the planet. &
  47                         A generatable behaviour to stay on the planet.\\
  48                 7 & MR3 & Create functionality for not bumping into rocks. & A
  49                         generatable behaviour to not bump into rocks.\\
  50                 8 & MR1 & Create functionality to find lakes. & A generatable mission
  51                         to find lakes.\\
  52                 9 & MR6 & Create functionality to perform missions in sequence. & A
  53                         generatable main program that performs missions.\\
  54                 10 & MR2, MR4& Create functionality to find rocks. & A generatable
  55                         mission to find rocks.\\
  56                 11 & MR5 & Create functionality to push rocks and detect when the
  57                         robots is pushing. & A generatable behaviour for pushing.\\
  58                 12 & MR7 & Create functionality to find the parking space. & A
  59                         generatable behaviour that can find the parking space.\\
  60                 13 & MR8, ER1 & Create functionality to map the environment and to
  61                         localize. & A generatable behaviour that can map while
  62                         performing.\\
  63                 14 & ER2 & Create functionality to play sounds. & Add a generatable
  64                         function for playing sounds.\\
  65                 15 & NR3, NR4 & Create functionality to calibrate the sensor
  66                         treshholds. & A generatable function to calibrate the sensors.\\
  67                 16 & NR5 & Create functionality that when the robot encounters bugs it
  68                         can restart itself. & Functionality in the main program to do so.\\
  69                 17 & - & Speed up the behaviour of the robot within safety limits.\\
  70                 \bottomrule
  71         \end{tabu}
  72         \caption{Spiral model iterations}\label{tab:devit}
  73 \end{table}
  74
  75 \subsection{Evaluation}
  76
  77 Because of the action defined in behaviour is atomic, it makes the behaviour can be defined dinamically. It means that we can define some combination of actions to do a specific mission. The example of missions that can be supported by the DSL are the following:
  78 \begin{enumerate}
  79 \item Find lakes by color sensor
  80 \item Find rocks by front ultrasone sensor
  81 \item Push rocks
  82 \item Wander on the table forever
  83 \item Measure rocks
  84 \item Measure lakes
  85 \item Avoid rocks
  86 \item Avoid lakes
  87 \item Park in the corner of the table
  88 \end{enumerate}
  89 However the missions that cannot supported by the DSL are the following:
  90 \begin{enumerate}
  91 \item Find lakes and remember where they are after the robot found them
  92 \item Navigate with the map using SLAM (Simultaneous Locatization and Mapping)
  93 \end{enumerate}
  94
  95 From our experience, the most important think in the development process was start working from a small functionality and test it. Earlier we know something wrong with the program and earlier we can fix and test it again. That will be good for the development of the next functionality.
  96 The difficulty in the development was in the testing phase. The reason is sometimes we got an error when running the program in robot (for example: sensor error) and it took so much time for loading all sensor working to test the robot. There was a time when the robot was crashed and need to be restarted which take some time from the development time.