checkpoint, including makeindex stylefile for index section headers

[bachelor-thesis/written-stuff.git] / Ausarbeitung / experiment2.tex

diff --git a/Ausarbeitung/experiment2.tex b/Ausarbeitung/experiment2.tex
index 1dbe336..807b9f5 100644 (file)
--- a/Ausarbeitung/experiment2.tex
+++ b/Ausarbeitung/experiment2.tex
@@ -1,7 +1,8 @@
 \chapter{Experiment 2: Movement Behaviour with Mean Correction}
 \todo{}
 \chapter{Experiment 2: Movement Behaviour with Mean Correction}
 \todo{}

+\label{sec:exp2}

 
 

-As presumed in section \ref{exp1:results}, errors in the Roomba's movements
+As presumed in Section \ref{exp1:results}, errors in the Roomba's movements

 could originate from imprecise measurement of the Roomba's internal sensors or
 in the Wiselib implementation. So a natural approach to correct this sort of
 errors would be to average the results for each data point from Experiment 1,
 could originate from imprecise measurement of the Roomba's internal sensors or
 in the Wiselib implementation. So a natural approach to correct this sort of
 errors would be to average the results for each data point from Experiment 1,


@@ -13,45 +14,43 @@ the target distance resp. the target angle was adjusted, while the velocity
 remained unadjusted.
 
 Fitting the function\index{fit function} was done with \acs{GNU} R\index{GNU R}
 remained unadjusted.
 
 Fitting the function\index{fit function} was done with \acs{GNU} R\index{GNU R}

-through a wrapper script which is explained in section~\ref{sec:impl:eval}. In
-this experiment, a linear fit of the form $o = a*v+b*i+c$ was used, with $o$
-being the measured value, $v$ the input velocity, $i$ the target distance or
-angle, and $a,b,c \in \mathbb{R}$. The fitted values \todo{how? least
-square?} for $a, b, c$ were then used in the algorithm to calculate the adapted
-target distance or angle.
+through the wrapper script \prog{graph.sh} which is explained in
+section~\ref{sec:impl:eval}. In this experiment, a 2-dimensional linear fit for
+the measured value was determined by the method of least squares, with target
+value (angle or distance) and velocity as input parameters. The fit function was
+then used in the algorithm to calculate the adapted target distance or angle.

 
 \section{Setup}
 The hardware setup was exactly the same as in Experiment 1. However, in this
 
 \section{Setup}
 The hardware setup was exactly the same as in Experiment 1. However, in this

-experiment the application \cmd{mean\_correction\_test} was used to measure
+experiment the application \prog{mean\_correction\_test} was used to measure

 data. It did exactly the same as the application from Experiment 1, except that
 data. It did exactly the same as the application from Experiment 1, except that

-it adapted the target distance resp. target angle according to the algorithm
-described above.
+it adapted the target value according to the method described above.

 
 \section{Results}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_drive-mean_data.pdf}
  \caption{Behaviour with mean correction on laminated floor, straight drive
 
 \section{Results}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_drive-mean_data.pdf}
  \caption{Behaviour with mean correction on laminated floor, straight drive

-tests}
+movements}

 \end{figure}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_turn-mean_data.pdf}
 \end{figure}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_turn-mean_data.pdf}

- \caption{Behaviour with mean correction on laminated floor, turn tests}
+ \caption{Behaviour with mean correction on laminated floor, turn movements}

 \end{figure}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}
  \caption{Behaviour with mean correction on carpet floor, straight drive
 \end{figure}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}
  \caption{Behaviour with mean correction on carpet floor, straight drive

-tests}
+movements}

 \end{figure}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}
 \end{figure}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}

- \caption{Behaviour with mean correction on carpet floor, turn tests}
+ \caption{Behaviour with mean correction on carpet floor, turn movements}

 \end{figure}
 
 results better than in experiment 1, very accurate for laminate floor, carpet
 floor more spread but still kind of in the middle and less deviation from ideal
 value.
 \end{figure}
 
 results better than in experiment 1, very accurate for laminate floor, carpet
 floor more spread but still kind of in the middle and less deviation from ideal
 value.

-\todo{statistical values, stddev?}
+\todo{!!!}
\ No newline at end of file