applying software methodologies in testing a sumo robot

7/31/2019 Applying Software Methodologies in Testing a Sumo Robot

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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


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


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%


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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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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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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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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Functional testing

Figure 7. Test scenarios


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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



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3. Scrum method

Rammstein



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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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applying software methodologies in testing a sumo robot

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