final tweaks

[bachelor-thesis/written-stuff.git] / Ausarbeitung / experiment3.tex

diff --git a/Ausarbeitung/experiment3.tex b/Ausarbeitung/experiment3.tex
index 9855b54..bedcb0e 100644 (file)
--- a/Ausarbeitung/experiment3.tex
+++ b/Ausarbeitung/experiment3.tex
@@ -1,45 +1,47 @@
-\chapter{Experiment 3: Movement Behaviour with Constant Start/Stop
+\chapter{Experiment 3: Movement Behavior with Constant Start/Stop

 Acceleration}
 \label{sec:exp3}
 Acceleration}
 \label{sec:exp3}

-\todo{}

 
 

-\section{Setup}
-algorithm: slowly accelerate at start over a time of 1 second, decelerate at
-stop. no mean correction.
-
-approach: correct slippage on the floor
+The third experiment tried to correct the slippage of the wheels on the floor
+that possibly occurred in Experiment~1 when the Roomba suddenly started or
+stopped. Due to inertia, the Roomba's movements are delayed and the influence
+of that effect could be large enough to be measurable.

 
 

-setup same as in experiment 1 and 2, application on netbook was
-\prog{soft\_start\_test}.
+To achieve that, the Roomba's velocity was not changed abruptly, as in
+Experiment~1, but it was increased and decreased at a constant rate over a
+time interval of 1~second. No mean correction was involved as in Experiment~2.

 
 

-expectations \& were they fulfilled?
+\section{Setup}
+Again, the hardware setup was the same as already in the other two
+experiments. The application used for measuring data was
+\prog{soft\_start\_test}, which is described in Section~\ref{sec:impl:soft}.

 
 \section{Results}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_drive-soft_data.pdf}
 
 \section{Results}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_drive-soft_data.pdf}

- \caption{Behaviour with constant start/stop acceleration, laminated floor,
+ \caption{Behavior with constant start/stop acceleration, laminated floor,

 straight drive movements}
 \end{figure}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_turn-soft_data.pdf}
 straight drive movements}
 \end{figure}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/iz250flur_turn-soft_data.pdf}

- \caption{Behaviour with constant start/stop acceleration, laminated floor,
+ \caption{Behavior with constant start/stop acceleration, laminated floor,

 turn movements}
 \end{figure}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_drive-soft_data.pdf}
 turn movements}
 \end{figure}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_drive-soft_data.pdf}

- \caption{Behaviour with constant start/stop acceleration, carpet floor,
+ \caption{Behavior with constant start/stop acceleration, carpet floor,

 straight drive movements}
 \end{figure}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_turn-soft_data.pdf}
 straight drive movements}
 \end{figure}
 \begin{figure}
  \centering
  \includegraphics[width=\textwidth]{images/seminarraum_turn-soft_data.pdf}

- \caption{Behaviour with constant start/stop acceleration, carpet floor,
+ \caption{Behavior with constant start/stop acceleration, carpet floor,

 turn movements}
 \end{figure}
 
 turn movements}
 \end{figure}
 

-same or even worse deviation as in original behaviour...
-
-\todo{statistical values, stddev?}
+The data shows mostly no difference to the original behavior from
+Experiment~1. Apparently inertia and slippage do not influence the accuracy of
+the movement.
\ No newline at end of file