final tweaks

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}
 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}
 \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}
  \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}
 
  \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
 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.
 
 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}
 \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 (file)
--- a/Ausarbeitung/experiment2.tex
+++ b/Ausarbeitung/experiment2.tex
@@ -1,5 +1,4 @@
 \chapter{Experiment 2: Movement Behavior with Mean Correction}
 \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
 \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 (file)
--- 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}
 \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
 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 (file)
--- 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.
 
 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
 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 (file)
--- 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
 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
 masterDocument=main.tex
 name=Bachelor Thesis
 pkg_extIsRegExp=false


@@ -137,40 +137,40 @@ order=2
 
 [item:conclusion.tex]
 archive=true
 
 [item:conclusion.tex]
 archive=true

-column=8
+column=25

 encoding=UTF-8
 highlight=LaTeX
 encoding=UTF-8
 highlight=LaTeX

-line=1
+line=0

 mode=LaTeX
 mode=LaTeX

-open=true
+open=false

 order=4
 
 [item:experiment1.tex]
 archive=true
 order=4
 
 [item:experiment1.tex]
 archive=true

-column=69
+column=0

 encoding=UTF-8
 highlight=LaTeX
 encoding=UTF-8
 highlight=LaTeX

-line=139
+line=105

 mode=LaTeX
 mode=LaTeX

-open=false
-order=2
+open=true
+order=0

 
 [item:experiment2.tex]
 archive=true
 column=0
 encoding=UTF-8
 highlight=LaTeX
 
 [item:experiment2.tex]
 archive=true
 column=0
 encoding=UTF-8
 highlight=LaTeX

-line=55
+line=19

 mode=LaTeX
 mode=LaTeX

-open=false
-order=3
+open=true
+order=2

 
 [item:experiment3.tex]
 archive=true
 column=0
 encoding=UTF-8
 highlight=LaTeX
 
 [item:experiment3.tex]
 archive=true
 column=0
 encoding=UTF-8
 highlight=LaTeX

-line=0
+line=43

 mode=LaTeX
 open=false
 order=4
 mode=LaTeX
 open=false
 order=4


@@ -317,42 +317,42 @@ order=-1
 
 [item:implementation.tex]
 archive=true
 
 [item:implementation.tex]
 archive=true

-column=28
+column=34

 encoding=UTF-8
 highlight=LaTeX
 encoding=UTF-8
 highlight=LaTeX

-line=38
+line=16

 mode=LaTeX
 open=true
 mode=LaTeX
 open=true

-order=2
+order=3

 
 [item:introduction.tex]
 archive=true
 
 [item:introduction.tex]
 archive=true

-column=9
+column=8

 encoding=UTF-8
 highlight=LaTeX
 encoding=UTF-8
 highlight=LaTeX

-line=10
+line=57

 mode=LaTeX
 mode=LaTeX

-open=true
+open=false

 order=1
 
 [item:main.tex]
 archive=true
 order=1
 
 [item:main.tex]
 archive=true

-column=35
+column=0

 encoding=UTF-8
 highlight=LaTeX
 encoding=UTF-8
 highlight=LaTeX

-line=4
+line=45

 mode=LaTeX
 open=true
 mode=LaTeX
 open=true

-order=0
+order=4

 
 [item:preliminaries.tex]
 archive=true
 
 [item:preliminaries.tex]
 archive=true

-column=0
+column=19

 encoding=UTF-8
 highlight=LaTeX
 encoding=UTF-8
 highlight=LaTeX

-line=0
+line=4

 mode=LaTeX
 mode=LaTeX

-open=true
+open=false

 order=3
 
 [item:roomba.tex]
 order=3
 
 [item:roomba.tex]


@@ -360,61 +360,61 @@ archive=true
 column=0
 encoding=UTF-8
 highlight=LaTeX
 column=0
 encoding=UTF-8
 highlight=LaTeX

-line=0
+line=258

 mode=LaTeX
 mode=LaTeX

-open=true
+open=false

 order=5
 
 [item:wiselib.tex]
 archive=true
 order=5
 
 [item:wiselib.tex]
 archive=true

-column=0
+column=8

 encoding=UTF-8
 highlight=LaTeX
 encoding=UTF-8
 highlight=LaTeX

-line=10
+line=100

 mode=LaTeX
 open=true
 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]
 
 [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]
 
 [view-settings,view=0,item:experiment1.tex]

-CursorColumn=69
-CursorLine=139
+CursorColumn=0
+CursorLine=105

 
 [view-settings,view=0,item:experiment2.tex]
 CursorColumn=0
 
 [view-settings,view=0,item:experiment2.tex]
 CursorColumn=0

-CursorLine=55
+CursorLine=19

 
 [view-settings,view=0,item:experiment3.tex]
 CursorColumn=0
 
 [view-settings,view=0,item:experiment3.tex]
 CursorColumn=0

-CursorLine=0
+CursorLine=43

 
 [view-settings,view=0,item:implementation.tex]
 
 [view-settings,view=0,item:implementation.tex]

-CursorColumn=28
-CursorLine=38
+CursorColumn=34
+CursorLine=16

 
 [view-settings,view=0,item:introduction.tex]
 
 [view-settings,view=0,item:introduction.tex]

-CursorColumn=9
-CursorLine=10
+CursorColumn=8
+CursorLine=57

 
 [view-settings,view=0,item:main.tex]
 
 [view-settings,view=0,item:main.tex]

-CursorColumn=35
-CursorLine=4
+CursorColumn=0
+CursorLine=45

 
 [view-settings,view=0,item:preliminaries.tex]
 
 [view-settings,view=0,item:preliminaries.tex]

-CursorColumn=0
-CursorLine=0
+CursorColumn=19
+CursorLine=4

 
 [view-settings,view=0,item:roomba.tex]
 CursorColumn=0
 
 [view-settings,view=0,item:roomba.tex]
 CursorColumn=0

-CursorLine=0
+CursorLine=258

 
 [view-settings,view=0,item:wiselib.tex]
 
 [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 (file)
--- a/Ausarbeitung/main.tex
+++ b/Ausarbeitung/main.tex
@@ -5,12 +5,13 @@
 \usepackage{ae}
 \usepackage[ngerman,english]{babel}
 \usepackage{makeidx}%,showidx}
 \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{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
 
 
 \makeindex
 


@@ -43,7 +44,8 @@
 \makeatletter
 \hypersetup{
   colorlinks=false, % FIXME turn of for printing
 \makeatletter
 \hypersetup{
   colorlinks=false, % FIXME turn of for printing

-  pdftitle={\@title},
+pdfborder={0 0 0},
+pdftitle={\@title},

   pdfauthor={\@author},
   pdfcreator={\@author}
 }
   pdfauthor={\@author},
   pdfcreator={\@author}
 }


@@ -77,7 +79,7 @@
   % thanks?
 \end{titlepage}
 \restoregeometry
   % thanks?
 \end{titlepage}
 \restoregeometry

-% \cleardoublepage
+\cleardoublepage

 
 \selectlanguage{ngerman}
 \vspace*{7cm}
 
 \selectlanguage{ngerman}
 \vspace*{7cm}


@@ -93,11 +95,31 @@ Braunschweig, den \today
 % \pagestyle{headings}
 \cleardoublepage
 
 % \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}
 
 % \pagenumbering{arabic}
 % \pagestyle{headings}

diff --git a/Ausarbeitung/wiselib.tex b/Ausarbeitung/wiselib.tex
index fc331b2..8a8324a 100644 (file)
--- 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[\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
     \begin{description}
       \item[\fnfont{int turn(angular\_velocity\_t)}] turn the robot with a
         constant angular velocity