"hacked" version, now with graphics

diff --git a/Ausarbeitung/biblio.bib b/Ausarbeitung/biblio.bib
index 6099fa6..5b47e6b 100644 (file)
--- a/Ausarbeitung/biblio.bib
+++ b/Ausarbeitung/biblio.bib
@@ -15,7 +15,7 @@
   year=2010,
 }
 
   year=2010,
 }
 

-@INPROCEEDINGS{506902,
+@INPROCEEDINGS{yamauchi,

 author={Yamauchi, B.},
 booktitle={Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on}, title={Mobile robot localization in dynamic environments using dead reckoning and evidence grids},
 year={1996},
 author={Yamauchi, B.},
 booktitle={Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on}, title={Mobile robot localization in dynamic environments using dead reckoning and evidence grids},
 year={1996},


@@ -27,7 +27,7 @@ keywords={ELDEN learning system;adaptive place network;dead reckoning;dynamic en
 doi={10.1109/ROBOT.1996.506902},
 ISSN={1050-4729},}
 
 doi={10.1109/ROBOT.1996.506902},
 ISSN={1050-4729},}
 

-@INPROCEEDINGS{351095,
+@INPROCEEDINGS{borenstein,

 author={Borenstein, J.},
 booktitle={Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on}, title={The CLAPPER: a dual-drive mobile robot with internal correction of dead-reckoning errors},
 year={1994},
 author={Borenstein, J.},
 booktitle={Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on}, title={The CLAPPER: a dual-drive mobile robot with internal correction of dead-reckoning errors},
 year={1994},


@@ -45,7 +45,7 @@ ISSN={},}
     year = {1994}
 }
 
     year = {1994}
 }
 

-@INPROCEEDINGS{606708,
+@INPROCEEDINGS{chongkleeman,

 author={Kok Seng Chong and Kleeman, L.},
 booktitle={Robotics and Automation, 1997. Proceedings., 1997 IEEE International
 Conference on}, title={Accurate odometry and error modelling for a mobile
 author={Kok Seng Chong and Kleeman, L.},
 booktitle={Robotics and Automation, 1997. Proceedings., 1997 IEEE International
 Conference on}, title={Accurate odometry and error modelling for a mobile

diff --git a/Ausarbeitung/conclusion.tex b/Ausarbeitung/conclusion.tex
new file mode 100644 (file)
index 0000000..550809b
--- /dev/null
+++ b/Ausarbeitung/conclusion.tex
@@ -0,0 +1,2 @@
+\chapter{Conclusions}
+\todo

diff --git a/Ausarbeitung/experiment1.tex b/Ausarbeitung/experiment1.tex
new file mode 100644 (file)
index 0000000..bea1dc6
--- /dev/null
+++ b/Ausarbeitung/experiment1.tex
@@ -0,0 +1,57 @@
+\chapter{Experiment 1: Original Movement Behaviour}
+\todo
+\section{Setup}
+
+\begin{figure}[htp]
+ \centering
+ \includegraphics[width=0.45\textwidth]{./images/IMAGE_00079.jpg}
+ \caption{Roomba with netbook}
+\end{figure}
+\begin{figure}[htp]
+ \centering
+ \includegraphics[width=0.6\textwidth]{./images/IMAGE_00148.jpg}
+ \caption{Measuring turn angles with laser pointer}
+\end{figure}
+
+Description of experiment setup: netbook on Roomba, application
+"`roomba\_tests"' started which took care of the input values, user was asked
+to measure \& input the data. there were Turn tests and straight drive tests,
+different floor types: laminate and carpet floor.
+
+drive tests: measuring was done with measuring tape. error perpendicular to
+roomba's viewing direction was too small to be measured.
+
+velocities =  20, 50, 70, 100, 150, 200, 300, 400 mm/s \\
+distances =  20, 50, 100, 200, 500, 1000, 2000, 4000 mm
+
+turn tests: measuring with polar coordinate system of about 1~m diameter, roomba
+in the center, laser pointer points to measured value.
+
+velocities =  20, 50, 70, 100, 150, 200, 300, 400  mm/s\\
+turn angles =  5, 15, 30, 45, 90, 120, 180, 360, 530, 720 degree
+
+\section{Results}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_drive_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_turn_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_drive_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_turn_data.pdf}
+ \caption{foo}
+\end{figure}
+
+Absolute error becomes greater with increasing velocity and input value, but
+error is smaller on carpet floor.
+\todo{statistical values, stddev?}

diff --git a/Ausarbeitung/experiment2.tex b/Ausarbeitung/experiment2.tex
new file mode 100644 (file)
index 0000000..c575e4d
--- /dev/null
+++ b/Ausarbeitung/experiment2.tex
@@ -0,0 +1,35 @@
+\chapter{Experiment 2: Movement Behaviour with Mean Correction}
+\todo
+
+\section{Setup}
+Fit function from data in experiment 1; algorithm determined target value for
+distance from fit function and input distance and input velocity.
+
+Setup was the same as in experiment 1. Application on netbook was
+"`mean\_correction\_test"', same procedure as in first experiment.
+
+\section{Results}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_drive-mean_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_turn-mean_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_drive-mean_data.pdf}
+ \caption{foo}
+\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.
+\todo{statistical values, stddev?}

diff --git a/Ausarbeitung/experiment3.tex b/Ausarbeitung/experiment3.tex
new file mode 100644 (file)
index 0000000..aceee64
--- /dev/null
+++ b/Ausarbeitung/experiment3.tex
@@ -0,0 +1,35 @@
+\chapter{Experiment 3: Movement Behaviour with Constant Start/Stop
+Acceleration}
+\todo
+
+\section{Setup}
+algorithm: slowly accelerate at start over a time of 1 second, deaccelerate at
+stop. no mean correction.
+
+setup same as in experiment 1 and 2, application on netbook was
+"`soft\_start\_test"'.
+
+\section{Results}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_drive-soft_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/iz250flur_turn-soft_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_drive-soft_data.pdf}
+ \caption{foo}
+\end{figure}
+\begin{figure}
+ \centering
+ \includegraphics[width=\textwidth]{images/seminarraum_drive-soft_data.pdf}
+ \caption{foo}
+\end{figure}
+
+same or even worse deviation as in original behaviour...
+\todo{statistical values, stddev?}

diff --git a/Ausarbeitung/images/IMAGE_00079.jpg b/Ausarbeitung/images/IMAGE_00079.jpg
new file mode 100644 (file)
index 0000000..cdc43c7
Binary files /dev/null and b/Ausarbeitung/images/IMAGE_00079.jpg differ

diff --git a/Ausarbeitung/images/IMAGE_00148.jpg b/Ausarbeitung/images/IMAGE_00148.jpg
new file mode 100644 (file)
index 0000000..8e4b82e
Binary files /dev/null and b/Ausarbeitung/images/IMAGE_00148.jpg differ

diff --git a/Ausarbeitung/images/iz250flur_drive-mean_data.pdf b/Ausarbeitung/images/iz250flur_drive-mean_data.pdf
new file mode 100644 (file)
index 0000000..5200c27
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diff --git a/Ausarbeitung/images/iz250flur_drive-soft_data.pdf b/Ausarbeitung/images/iz250flur_drive-soft_data.pdf
new file mode 100644 (file)
index 0000000..0c8f573
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diff --git a/Ausarbeitung/images/iz250flur_drive_data.pdf b/Ausarbeitung/images/iz250flur_drive_data.pdf
new file mode 100644 (file)
index 0000000..f263e6d
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diff --git a/Ausarbeitung/images/iz250flur_turn-mean_data.pdf b/Ausarbeitung/images/iz250flur_turn-mean_data.pdf
new file mode 100644 (file)
index 0000000..e6e2a81
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diff --git a/Ausarbeitung/images/iz250flur_turn-soft_data.pdf b/Ausarbeitung/images/iz250flur_turn-soft_data.pdf
new file mode 100644 (file)
index 0000000..e52cd32
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diff --git a/Ausarbeitung/images/iz250flur_turn_data.pdf b/Ausarbeitung/images/iz250flur_turn_data.pdf
new file mode 100644 (file)
index 0000000..276fb7d
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diff --git a/Ausarbeitung/images/seminarraum_drive-mean_data.pdf b/Ausarbeitung/images/seminarraum_drive-mean_data.pdf
new file mode 100644 (file)
index 0000000..eafcb05
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diff --git a/Ausarbeitung/images/seminarraum_drive-soft_data.pdf b/Ausarbeitung/images/seminarraum_drive-soft_data.pdf
new file mode 100644 (file)
index 0000000..59df0a0
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diff --git a/Ausarbeitung/images/seminarraum_drive_data.pdf b/Ausarbeitung/images/seminarraum_drive_data.pdf
new file mode 100644 (file)
index 0000000..089c42f
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diff --git a/Ausarbeitung/images/seminarraum_turn-mean_data.pdf b/Ausarbeitung/images/seminarraum_turn-mean_data.pdf
new file mode 100644 (file)
index 0000000..e69de29

diff --git a/Ausarbeitung/images/seminarraum_turn-soft_data.pdf b/Ausarbeitung/images/seminarraum_turn-soft_data.pdf
new file mode 100644 (file)
index 0000000..e69de29

diff --git a/Ausarbeitung/images/seminarraum_turn_data.pdf b/Ausarbeitung/images/seminarraum_turn_data.pdf
new file mode 100644 (file)
index 0000000..825e1b9
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diff --git a/Ausarbeitung/implementation.tex b/Ausarbeitung/implementation.tex
new file mode 100644 (file)
index 0000000..0d2c768
--- /dev/null
+++ b/Ausarbeitung/implementation.tex
@@ -0,0 +1,58 @@
+\chapter{Description of Implementation}
+\section{Measuring}
+\todo
+
+C++ code in wiselib/trunk/pc\_apps/roomba\_tests
+
+three single applications with same base: roomba\_test (main.cc),
+mean\_correction\_test (mean\_correction.cc), soft\_start\_test
+(soft\_start.cc).
+
+user interface: Qt.
+
+manual tests (user is asked for new values every time) or automated tests (user
+only asked for measured values).
+
+1) open UART connection
+
+2) register state callback for getting roomba sensor data
+
+3) while(input values or cancel) { drive() / turn() }
+
+4) drive() / turn() use wiselib::ControlledMotion<OsModel,
+wiselib::RoombaModel> for moving specified angle/distance; and ask for measured
+values and write to external log file, including battery status, roomba/wiselib
+internal angles/distances (ticks), svn revision, floor type, roomba ID
+
+additionally, mean correction test uses
+CorrectedMeanMotion from corrected\_mean\_motion.h, implements same concept like
+wiselib::ControlledMotion and takes care of target value by using the
+calculated fit function .
+
+additionally, soft start/stop test uses
+SoftStartMotion from soft\_start\_motion.h, implements same
+concept like wiselib::ControlledMotion and takes care of increasing/decreasing
+velocity via timer.
+
+\section{Evaluation}
+\todo
+
+bash/perl scripts in wiselib/trunk/pc\_apps/roomba\_tests/logs, using gnuplot
+
+graph.sh: create 3d plots (input value, input velocity, measured value) from
+original behvaiour data, including fit function calculated by GNU R statistics
+software, for {carpet floor, laminate floor} $\times$ {drive straight, turn on
+spot}
+
+graph-mean.sh: do the same for mean correction data, including fit function from
+original data
+
+graph-soft.sh: do the same for soft start/stop data, including fit function from
+original data
+
+graph-mean-soft.sh: 3d plot with mean correction and soft start/stop data, for
+comparison of both
+
+graph-errorlines.sh: create 2d plots input value -> measured value, with
+multiple velocities in each graph. also split graphs up for {carpet floor,
+laminate floor} $\times$ {drive straight, turn on spot}. no fit function.

diff --git a/Ausarbeitung/introduction.tex b/Ausarbeitung/introduction.tex
index fe7fc6f..0b7b036 100644 (file)
--- a/Ausarbeitung/introduction.tex
+++ b/Ausarbeitung/introduction.tex
@@ -1,2 +1,11 @@
 \chapter{Introduction}
 \todo{motivation, importance of dead reckoning, what was done?}
 \chapter{Introduction}
 \todo{motivation, importance of dead reckoning, what was done?}

+
+\chapter{Related work}
+Borenstein, Feng \cite{umbmark}: Benchmark for mobile robots
+
+Yamauchi \cite{yamauchi}: Dead-reckoning with Evidence Grids
+
+Chong, Kleeman \cite{chongkleeman}: High-precision odometry
+
+\todo
\ No newline at end of file

diff --git a/Ausarbeitung/main.kilepr b/Ausarbeitung/main.kilepr
index 0c8be1b..0d3af10 100644 (file)
--- a/Ausarbeitung/main.kilepr
+++ b/Ausarbeitung/main.kilepr
@@ -1,5 +1,20 @@
 [General]
 [General]

+def_graphic_ext=
+img_extIsRegExp=false
+img_extensions=.eps .jpg .jpeg .png .pdf .ps .fig .gif
+kileprversion=2
+kileversion=2.0.85

 lastDocument=main.tex
 lastDocument=main.tex

+masterDocument=
+name=Project
+pkg_extIsRegExp=false
+pkg_extensions=.cls .sty .bbx .cbx .lbx
+src_extIsRegExp=false
+src_extensions=.tex .ltx .latex .dtx .ins
+
+[Tools]
+MakeIndex=
+QuickBuild=

 
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 Bookmarks=
 
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@@ -9,6 +24,46 @@ Indentation Mode=normal
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+Bookmarks=
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+
+[document-settings,item:introduction.tex]
+Bookmarks=
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+Highlighting=LaTeX
+Indentation Mode=normal
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+ReadWrite=true
+

 [document-settings,item:main.tex]
 Bookmarks=
 Encoding=UTF-8
 [document-settings,item:main.tex]
 Bookmarks=
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@@ -19,28 +74,248 @@ ReadWrite=true
 
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 archive=true
 
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diff --git a/Ausarbeitung/main.tex b/Ausarbeitung/main.tex
index 935b53b..35f51c1 100644 (file)
--- a/Ausarbeitung/main.tex
+++ b/Ausarbeitung/main.tex
@@ -2,7 +2,7 @@
 \usepackage[utf8x]{inputenc}
 \usepackage[T1]{fontenc}
 \usepackage[ngerman,english]{babel}
 \usepackage[utf8x]{inputenc}
 \usepackage[T1]{fontenc}
 \usepackage[ngerman,english]{babel}

-\usepackage{hyperref,color,url,acronym}
+\usepackage{hyperref,color,url,acronym,graphicx}

 
 % FIXME hyperref setup
 
 
 % FIXME hyperref setup
 


@@ -47,8 +47,10 @@
 \vspace*{1cm}
 Ich versichere, die vorliegende Arbeit selbstständig und nur unter Benutzung
 der angegebenen Hilfsmittel angefertigt zu haben.
 \vspace*{1cm}
 Ich versichere, die vorliegende Arbeit selbstständig und nur unter Benutzung
 der angegebenen Hilfsmittel angefertigt zu haben.

+

 \vspace*{3cm}
 \vspace*{3cm}

-Braunschweig, den \today%
+Braunschweig, den \today
+

 \selectlanguage{english}
 \pagestyle{headings}
 \cleardoublepage
 \selectlanguage{english}
 \pagestyle{headings}
 \cleardoublepage


@@ -64,23 +66,14 @@ Braunschweig, den \today%
 \pagenumbering{arabic}
 \pagestyle{headings}
 
 \pagenumbering{arabic}
 \pagestyle{headings}
 

+% chapters

 \input{introduction}
 \input{preliminaries}
 \input{introduction}
 \input{preliminaries}

-
-\chapter{Experiment 1: Original Movement Behaviour}
-\section{Setup}
-\section{Results}
-\todo
-\chapter{Experiment 2: Movement Behaviour with Mean Correction}
-\section{Setup}
-\section{Results}
-\todo
-\chapter{Experiment 3: Movement Behaviour with Constant Starting Accelleration}
-\section{Setup}
-\section{Results}
-\todo
-\chapter{Conclusions}
-\todo
+\input{experiment1}
+\input{experiment2}
+\input{experiment3}
+\input{conclusion}
+\input{implementation}

 
 \bibliographystyle{plain}
 \bibliography{biblio}
 
 \bibliographystyle{plain}
 \bibliography{biblio}

diff --git a/Ausarbeitung/preliminaries.tex b/Ausarbeitung/preliminaries.tex
index 64b8e4f..06701fd 100644 (file)
--- a/Ausarbeitung/preliminaries.tex
+++ b/Ausarbeitung/preliminaries.tex
@@ -34,8 +34,6 @@ mobile robot to conduct the experiments described afterwards. For that, the
 Open Interface is used to control the Roomba's movements from a netbook which is
 running Wiselib code.
 
 Open Interface is used to control the Roomba's movements from a netbook which is
 running Wiselib code.
 

-\todo{picture of Roomba/netbook setup}
-

 \section{Wiselib}
 The \definition{Wiselib}\cite{wiselib} is a C++ algorithm library for sensor
 networks, containing for example algorithms for routing, localization and time
 \section{Wiselib}
 The \definition{Wiselib}\cite{wiselib} is a C++ algorithm library for sensor
 networks, containing for example algorithms for routing, localization and time