final tweaks

[bachelor-thesis/written-stuff.git] / Ausarbeitung / experiment1.tex

diff --git a/Ausarbeitung/experiment1.tex b/Ausarbeitung/experiment1.tex
index a413eeb..abc2a7e 100644 (file)
--- a/Ausarbeitung/experiment1.tex
+++ b/Ausarbeitung/experiment1.tex
@@ -14,25 +14,25 @@ not known to anyone except iRobot). To achieve this, the Wiselib Roomba Control
 is used to access the Roomba over the \ac{ROI}\index{Roomba Open Interface}.
 
 \section{Setup}
+The test equipment consisted of a small x86 netbook\index{netbook} which was
+mounted on an iRobot Roomba~530\index{Roomba} robot, as seen in
+Figure~\ref{fig:roombasetup}. The netbook controlled the Roomba over a
+\acs{USB}-to-serial converter plugged into the \ac{ROI}\index{Roomba
+Open Interface} port on the Roomba, and hosted as the environment for
+executing the Wiselib \index{Wiselib} code.
+
 \label{sec:exp1:setup}
-\begin{figure}[htbp]
+\begin{figure}
  \centering
  \includegraphics[width=0.45\textwidth]{./images/IMAGE_00079.jpg}
  \caption{Roomba with netbook\label{fig:roombasetup}}
 \end{figure}
-\begin{figure}[htbp]
+\begin{figure}
  \centering
  \includegraphics[width=0.6\textwidth]{./images/IMAGE_00148.jpg}
  \caption{Measuring turn angles with laser pointer\label{fig:laserpointer}}
 \end{figure}
 
-The test equipment consisted of a small x86 netbook\index{netbook} which was
-mounted on an iRobot Roomba~530\index{Roomba} robot, as seen in
-Figure~\ref{fig:roombasetup}. The netbook controlled the Roomba over a
-\acs{USB}-to-serial converter plugged into the \ac{ROI}\index{Roomba
-Open Interface} port on the Roomba, and hosted as the environment for
-executing the Wiselib \index{Wiselib} code.
-
 In this experiment, the Roomba started and stopped with the full velocity the
 movement was executed with; so there was (ideally speaking) an infinite
 acceleration and deceleration at the start and the end of the movement. As
@@ -103,7 +103,6 @@ negative values mean that the Roomba had turned or traveled less. The
 plots show multiple test runs; given are the minimum, the maximum and the
 arithmetic mean\index{arithmetic mean} of all results for a data point.
 
-\todo{clearpage, cleardoublepage?}
 \begin{figure}[p!]
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_drive_data.pdf}