From 557bf5764fadca508d4c746491038de2ff9e5879 Mon Sep 17 00:00:00 2001 From: Roland Hieber Date: Sat, 30 Jul 2011 14:33:25 +0200 Subject: [PATCH] final tweaks --- Ausarbeitung/experiment1.tex | 19 ++++--- Ausarbeitung/experiment2.tex | 1 - Ausarbeitung/implementation.tex | 1 - Ausarbeitung/introduction.tex | 2 +- Ausarbeitung/main.kilepr | 92 ++++++++++++++++----------------- Ausarbeitung/main.tex | 40 ++++++++++---- Ausarbeitung/wiselib.tex | 2 +- 7 files changed, 88 insertions(+), 69 deletions(-) diff --git a/Ausarbeitung/experiment1.tex b/Ausarbeitung/experiment1.tex index a413eeb..abc2a7e 100644 --- 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} diff --git a/Ausarbeitung/experiment2.tex b/Ausarbeitung/experiment2.tex index 0851f70..cb88834 100644 --- a/Ausarbeitung/experiment2.tex +++ b/Ausarbeitung/experiment2.tex @@ -1,5 +1,4 @@ \chapter{Experiment 2: Movement Behavior with Mean Correction} -\todo{} \label{sec:exp2} As presumed in Section \ref{exp1:results}, errors in the Roomba's movements diff --git a/Ausarbeitung/implementation.tex b/Ausarbeitung/implementation.tex index 2bede24..1061644 100644 --- a/Ausarbeitung/implementation.tex +++ b/Ausarbeitung/implementation.tex @@ -1,6 +1,5 @@ \chapter{Implementation} \hyphenation{im-ple-men-ta-tion im-ple-men-ta-tion-spe-ci-fic} -\todo{more?} This chapter describes the implementation that was used for the aforementioned experiments. It consists of the measuring programs themselves, which use the Wiselib Roomba Control, and are written in C++. Additionally, there are several diff --git a/Ausarbeitung/introduction.tex b/Ausarbeitung/introduction.tex index 4267a7e..5aa8409 100644 --- a/Ausarbeitung/introduction.tex +++ b/Ausarbeitung/introduction.tex @@ -55,7 +55,7 @@ In the first experiment, the Roomba's movement behaviour will be analyzed. Then, two different easy approaches for minimizing the positioning error are presented and tested for their suitability. -\chapter{Related Work} +\section{Related Work} There are already some results on the problem. Yamauchi proposes to use dead reckoning with evidence grids to represent the robot's view of the world.~\cite{yamauchi} Evidence grids are subdivisions of the Cartesian space diff --git a/Ausarbeitung/main.kilepr b/Ausarbeitung/main.kilepr index 22bdab6..721774d 100644 --- a/Ausarbeitung/main.kilepr +++ b/Ausarbeitung/main.kilepr @@ -4,7 +4,7 @@ img_extIsRegExp=false img_extensions=.eps .jpg .jpeg .png .pdf .ps .fig .gif kileprversion=2 kileversion=2.0.85 -lastDocument=wiselib.tex +lastDocument=main.tex masterDocument=main.tex name=Bachelor Thesis pkg_extIsRegExp=false @@ -137,40 +137,40 @@ order=2 [item:conclusion.tex] archive=true -column=8 +column=25 encoding=UTF-8 highlight=LaTeX -line=1 +line=0 mode=LaTeX -open=true +open=false order=4 [item:experiment1.tex] archive=true -column=69 +column=0 encoding=UTF-8 highlight=LaTeX -line=139 +line=105 mode=LaTeX -open=false -order=2 +open=true +order=0 [item:experiment2.tex] archive=true column=0 encoding=UTF-8 highlight=LaTeX -line=55 +line=19 mode=LaTeX -open=false -order=3 +open=true +order=2 [item:experiment3.tex] archive=true column=0 encoding=UTF-8 highlight=LaTeX -line=0 +line=43 mode=LaTeX open=false order=4 @@ -317,42 +317,42 @@ order=-1 [item:implementation.tex] archive=true -column=28 +column=34 encoding=UTF-8 highlight=LaTeX -line=38 +line=16 mode=LaTeX open=true -order=2 +order=3 [item:introduction.tex] archive=true -column=9 +column=8 encoding=UTF-8 highlight=LaTeX -line=10 +line=57 mode=LaTeX -open=true +open=false order=1 [item:main.tex] archive=true -column=35 +column=0 encoding=UTF-8 highlight=LaTeX -line=4 +line=45 mode=LaTeX open=true -order=0 +order=4 [item:preliminaries.tex] archive=true -column=0 +column=19 encoding=UTF-8 highlight=LaTeX -line=0 +line=4 mode=LaTeX -open=true +open=false order=3 [item:roomba.tex] @@ -360,61 +360,61 @@ archive=true column=0 encoding=UTF-8 highlight=LaTeX -line=0 +line=258 mode=LaTeX -open=true +open=false order=5 [item:wiselib.tex] archive=true -column=0 +column=8 encoding=UTF-8 highlight=LaTeX -line=10 +line=100 mode=LaTeX open=true -order=6 +order=1 [view-settings,view=0,item:biblio.bib] CursorColumn=0 CursorLine=39 [view-settings,view=0,item:conclusion.tex] -CursorColumn=8 -CursorLine=1 +CursorColumn=25 +CursorLine=0 [view-settings,view=0,item:experiment1.tex] -CursorColumn=69 -CursorLine=139 +CursorColumn=0 +CursorLine=105 [view-settings,view=0,item:experiment2.tex] CursorColumn=0 -CursorLine=55 +CursorLine=19 [view-settings,view=0,item:experiment3.tex] CursorColumn=0 -CursorLine=0 +CursorLine=43 [view-settings,view=0,item:implementation.tex] -CursorColumn=28 -CursorLine=38 +CursorColumn=34 +CursorLine=16 [view-settings,view=0,item:introduction.tex] -CursorColumn=9 -CursorLine=10 +CursorColumn=8 +CursorLine=57 [view-settings,view=0,item:main.tex] -CursorColumn=35 -CursorLine=4 +CursorColumn=0 +CursorLine=45 [view-settings,view=0,item:preliminaries.tex] -CursorColumn=0 -CursorLine=0 +CursorColumn=19 +CursorLine=4 [view-settings,view=0,item:roomba.tex] CursorColumn=0 -CursorLine=0 +CursorLine=258 [view-settings,view=0,item:wiselib.tex] -CursorColumn=0 -CursorLine=10 +CursorColumn=8 +CursorLine=100 diff --git a/Ausarbeitung/main.tex b/Ausarbeitung/main.tex index 7356abf..fb84460 100644 --- a/Ausarbeitung/main.tex +++ b/Ausarbeitung/main.tex @@ -5,12 +5,13 @@ \usepackage{ae} \usepackage[ngerman,english]{babel} \usepackage{makeidx}%,showidx} -\usepackage{hyperref,color,url,acronym,graphicx,amsfonts,amsmath} +\usepackage[colorlinks=false]{hyperref} \usepackage{sidecap} % for SCfigure environment \usepackage{todonotes} \usepackage{enumitem} -\usepackage{geometry} %% use local copy for \newgeometry -\usepackage{showframe} %% FIXME +\usepackage{geometry,color,url,acronym,graphicx,amsfonts,amsmath} +%% use local copy for \newgeometry +% \usepackage{showframe} %% FIXME \makeindex @@ -43,7 +44,8 @@ \makeatletter \hypersetup{ colorlinks=false, % FIXME turn of for printing - pdftitle={\@title}, +pdfborder={0 0 0}, +pdftitle={\@title}, pdfauthor={\@author}, pdfcreator={\@author} } @@ -77,7 +79,7 @@ % thanks? \end{titlepage} \restoregeometry -% \cleardoublepage +\cleardoublepage \selectlanguage{ngerman} \vspace*{7cm} @@ -93,11 +95,31 @@ Braunschweig, den \today % \pagestyle{headings} \cleardoublepage -% \begin{abstract} - \todo{abstract!!!} -% \end{abstract} +\vspace*{4cm} -% \cleardoublepage +\begin{center} +\begin{minipage}{0.7\textwidth} +\small +{\centering\large\textsf{\textbf{Abstract}}} \\ +\flushleft +In this bachelor thesis, an iRobot Roomba is used as an instance of +an +autonomous, mobile robot. First its movement behavior is measured, and then +two different approaches are presented to correct the accuracy of its movement, +which results in a slight improvement over the original behaviour. + +\vspace*{3cm} +{\centering\large\textsf{\textbf{Zusammenfassung}}} \\ +\flushleft +In dieser Bachelorarbeit wird ein Roomba der Firma iRobot als +Beispiel für +einen autonomen, mobilen Roboter beschrieben. Sein Bewegungsverhalten wird +gemessen, und es werden zwei verschiedenene Verfahren vorgestellt, wie die +Genauigkeit der Bewegung verbessert werden kann, was in einer leichten +Verbesserung gegenüber dem ursprünglichen Verhalten resultiert. +\end{minipage} +\end{center} +\cleardoublepage % \pagenumbering{arabic} % \pagestyle{headings} diff --git a/Ausarbeitung/wiselib.tex b/Ausarbeitung/wiselib.tex index fc331b2..8a8324a 100644 --- a/Ausarbeitung/wiselib.tex +++ b/Ausarbeitung/wiselib.tex @@ -98,7 +98,7 @@ straight, without automatic stopping. \item[\fnfont{velocity\_t}] Type for velocity measurement \item[\fnfont{angular\_velocity\_t}] Type for angular velocity measurement \end{description} - \item \todo{clearpage?} Methods: + \item Methods: \begin{description} \item[\fnfont{int turn(angular\_velocity\_t)}] turn the robot with a constant angular velocity -- 2.20.1