Performance Evaluation

Fall Semester Final Demonstration

Table: Performance evaluation matrix

The fall semester performance evaluation is illustrated in the above table. The jumping system was powered by a 100g portable Li ion battery which validates the mandatory non-functional requirement, MNFR – PPS. The spring release mechanism created glitches due to improper connection between the servo arm and the clutch release pin. Hence, the robot could only jump 3 inches and the mandatory functional requirement MFR – Jump was not met. Other weaknesses and refinements are discussed in subsequent sections. The user had to input not more than two commands to execute an action, which validated the mandatory non-functional requirement, MNFR – UIEI. Also, the all input parameters on the wireless controller were in a linearly abstract format (jumping power – Min. to Max.). The passive mandatory non-functional requirement of simple parameters on user interface, MNFR - UISP was met.

2 Strengths and Weaknesses

This section discusses the strengths and weaknesses of the developed system in detail. The arguments presented are derived from the analysis of functioning individual sub-systems. Section 8.5 discusses system refinements in detail.

1) Strengths

Compact, simple design -

The design of the jumping system is discussed in Appendix D. This compact and elegant design allows for a very efficient use of space.

Robust sensing capability -

The flex sensor and the rotary encoder used in the system return very precise sensor values. The hardware and software filters implemented for perception works well and hence allows the microprocessor to change the system state with great consistency.

2) Weaknesses

Unreliable spring-release mechanism –

The servo used to actuate the spring-release was not properly linked to the release pin of the spring clutch used in the system.

Weak traction base –

The system currently lacks a jumping base and the fiberglass spring foot is used as the traction base. A larger area will provide greater traction and increased ground contact during jumping.

Weight issues -

The system currently weighs 370g, which is too heavy for the system make a jump onto a surface 30 inches high based on chosen spring parameters.

Size of electronics -

The power distribution board has a lot of extra functionality that can be removed. The refinement of the power distribution board is discussed in section 8.5. Also, the hardware circuitry attached to the power distribution board and the microprocessor can be optimized.

Offset center of mass –

The force exerted by the fiberglass spring should pass through the center of mass of the robot. Although the system has the capability of manually adjusting the spring’s horizontal placement inside the chassis, the mounting points will require more optimization.

Spring Semester Final Demonstration

The system requirements of RooBot is listed in the following tables, with its status indicated.

Mandaotory Functional Requirements

Mandatory Non-Functional Requirements