.. This is a template for the Minutes of Meeting document that should be created during each offical meeting -------------------------------------------------------------------------------- Verification Test Prodcedures -------------------------------------------------------------------------------- +------------------------+-----------------------------------------------------+ | Date: | 2019-05-02 | +------------------------+-----------------------------------------------------+ | Project: | Orion Project | +------------------------+-----------------------------------------------------+ | Place: | Lublin HQ, Nadbystrzycka | +------------------------+-----------------------------------------------------+ | Prepared by: | Krzysztof K. | +------------------------+-----------------------------------------------------+ Introduction ================================================================================ The aim of this document is to provide a set of integration tests. The set of test is a framework necessary to verify the following: * The rover fulfills all stated requirements * The rover is assembled in a reliable way * The rover itself is reliable * All possible defects are found before the ERC so no in-field fixes will be required Acronyms ================================================================================ .. A list of acronyms. If you have to add a new one, please add it into the included table .. include:: /common/acronyms/acronyms_table.rst Terms and definitions ================================================================================ .. A list of terms that require explanation to the reader. .. include:: /common/terms/terms_table.rst Applicable documents ================================================================================ .. A list of applicable documents to be placed as a reference to the project. For some of the documents this part is non-mandatory. .. list-table:: Applicable documents :header-rows: 1 * - Reference ID - Title - Short document description * - [ERC-2018] - European Rover Challenge 2018 - STUDENT Rules - Rules and formula of ERC2018 * - [ERC-2019] - European Rover Challenge 2019 - STUDENT Rules - Rules and formula of ERC2019 Procedures ================================================================================ This chapter defines a set of tests the rover must pass in order to be considered reliable enough to participate in ERC. Even though a strict Verification Test Procedures document is not required by ERC, the Orion Team publishes it to follow standards found in the industry. Template -------------------------------------------------------------------------------- A template defines a test algorithm. A Table below provides an example. +---------------------------+--------------------------------------------------+ | Test Code: TST-ELEC-01 | Short description | +---------------------------+--------------------------------------------------+ | Initial conditions | Fully charged batteries | +---------------------------+--------------------------------------------------+ | Environmental conditions | Any | +---------------------------+--------------------------------------------------+ | Test goals | Win it all! | +---------------------------+--------------------------------------------------+ | Corresponding requirements| REQ-SAFE-0010 | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-ELEC-01/01 | Connect the batteries | N/A | +----------------+-----------------------------------------+-------------------+ | TST-ELEC-01/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-ELEC-01/03 | Drive | N/A | +----------------+-----------------------------------------+-------------------+ | TST-ELEC-01/04 | Hit the emergency button | The rover stops, | | | | Network conn dies | +----------------+-----------------------------------------+-------------------+ Safety tests -------------------------------------------------------------------------------- TST-SAFE-01 - Emergency Button: stop a vehicle ................................................................................ +---------------------------+--------------------------------------------------+ | TST-SAFE-01 | Test the Emergency Button by stopping a vehicle | +---------------------------+--------------------------------------------------+ | Initial conditions | Fully charged batteries | +---------------------------+--------------------------------------------------+ | Environmental conditions | Any | +---------------------------+--------------------------------------------------+ | Test goals | Prove the rover is safe for crowds | +---------------------------+--------------------------------------------------+ | Corresponding requirements| REQ-SAFE-0010 to REQ-SAFE-0015 | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-01/01 | Connect the batteries | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-01/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-01/03 | Drive | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-01/04 | Hit the emergency button | The rover stops, | | | | Network conn dies | +----------------+-----------------------------------------+-------------------+ TST-SAFE-02 - Emergency Button: stop a manipulator ................................................................................ +---------------------------+--------------------------------------------------+ | TST-SAFE-02 | Test the emergency button by stopping the | | | manipulator | +---------------------------+--------------------------------------------------+ | Initial conditions | Fully charged batteries | +---------------------------+--------------------------------------------------+ | Environmental conditions | Any | +---------------------------+--------------------------------------------------+ | Test goals | Prove the rover is safe for crowds | +---------------------------+--------------------------------------------------+ | Corresponding requirements| REQ-SAFE-0010 to REQ-SAFE-0015 | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-02/01 | Connect the batteries | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-02/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-02/03 | Order actuators to move | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-02/04 | Hit the emergency button | The rover stops, | | | | Network conn dies | +----------------+-----------------------------------------+-------------------+ TST-SAFE-03 - Activity indicator: delay rover operation ................................................................................ +---------------------------+--------------------------------------------------+ | TST-SAFE-03 | Verify assumptions of the activity indicator | +---------------------------+--------------------------------------------------+ | Initial conditions | Fully charged batteries | +---------------------------+--------------------------------------------------+ | Environmental conditions | Any | +---------------------------+--------------------------------------------------+ | Test goals | Prove the rover is safe for crowds | +---------------------------+--------------------------------------------------+ | Corresponding requirements| REQ-SAFE-0020 to REQ-SAFE-0025 | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-03/01 | Connect the batteries | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-03/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-03/03 | Order the rover to drive forward | The lamp blinks, | | | | The rover does not| | | | move | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-03/04 | The rover moves after ~3 seconds after | The rover moves | | | the first command issued | | +----------------+-----------------------------------------+-------------------+ | TST-SAFE-03/05 | The lamp blinks while the rover stays | The lamp blinks | | | operational | | +----------------+-----------------------------------------+-------------------+ Chassis and traversing tests -------------------------------------------------------------------------------- TST-CHSS-01 - Drive at full speed ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-01 | Check reliability of the integrated chassis | +---------------------------+--------------------------------------------------+ | Initial conditions | Fully charged batteries & connected | +---------------------------+--------------------------------------------------+ | Environmental conditions | Dry;grass/loose soil field;at least 200m of space| +---------------------------+--------------------------------------------------+ | Test goals | * Prove the driving capabilities are reliable | | | * Test the robustness of H-bridges | +---------------------------+--------------------------------------------------+ | Corresponding requirements| REQ-SAFE-0020 to REQ-SAFE-0025 | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-01/01 | Start rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-01/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-01/03 | Drive 200m forward at full speed | The rover reaches | | | | the destination | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-01/04 | Drive back 200m to the start site | The rover reaches | | | backwards | the destination | +----------------+-----------------------------------------+-------------------+ TST-CHSS-02 - Climb a 30 degree hill ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-02 | Climb a 30 degree hill | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * The rover is headed towards a hill | +---------------------------+--------------------------------------------------+ | Environmental conditions | Dry;grass/loose soil filed;30deg inclination hill| +---------------------------+--------------------------------------------------+ | Test goals | * Prove the driving capabilities are reliable | | | * Test the robustness of H-bridges | | | * Test stability of the chassis | | | * Test suspension limits | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/01 | Start rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/03 | Climb up the hill | The rover reaches | | | | the destination | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/04 | Climb down the hill | The rover reaches | | | | the destination | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/05 | Repeat TST-CHSS-02/03 and TST-CHSS-02/04| Each test is | | | two more times | successfull | +----------------+-----------------------------------------+-------------------+ TST-CHSS-03 - Parallel traverse to a 30 degrees slope ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-03 | Test stability of the chassis by traversing | | | a hill parallel to the slope | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * A side of the rover is headed towards a hill | +---------------------------+--------------------------------------------------+ | Environmental conditions | Dry;grass/loose soil filed;30deg inclination hill| +---------------------------+--------------------------------------------------+ | Test goals | * Prove the driving capabilities are reliable | | | * Test the robustness of H-bridges | | | * Test stability of the chassis | | | * Test suspension limits | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/01 | Start rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/03 | Drive towards the hill 15m and watch if | The rover reaches | | | the rover does not loose the balance | the destination | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-02/04 | Drive back backwards | The rover reaches | | | | the destination | +----------------+-----------------------------------------+-------------------+ TST-CHSS-04 - Diagonally climb a 30 degrees slope ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-04 | Diagonally climb a 30 degrees slope | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * A side of the rover is headed towards a hill | +---------------------------+--------------------------------------------------+ | Environmental conditions | Dry;grass/loose soil filed;30deg inclination hill| +---------------------------+--------------------------------------------------+ | Test goals | * Prove the driving capabilities are reliable | | | * Test the robustness of H-bridges | | | * Test stability of the chassis | | | * Test suspension limits | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-04/01 | Start rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-04/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-04/03 | Turn 15 degrees left or right to climb | N/A | | | the hill diagonally | | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-04/04 | Climb the hill, watch if the rover keeps| The rover reaches | | | its balance | the destination | +----------------+-----------------------------------------+-------------------+ TST-CHSS-05 - Drive over an obstacle ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-05 | Drive over an obstacle | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * The rover faces a 15cm high obstacle | +---------------------------+--------------------------------------------------+ | Environmental conditions | Dry;grass/loose soil filed;15cm high obstacle | +---------------------------+--------------------------------------------------+ | Test goals | * Prove the driving capabilities are reliable | | | * Test the robustness of H-bridges | | | * Test stability of the chassis | | | * Test suspension limits | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-05/01 | Start rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-05/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-05/03 | Align the rover in a way one of its | N/A | | | wheels faces the obstacle | | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-05/04 | Drive forward and drive over the | The rover drives | | | obstacle. Observe if there is any change| over successfully.| | | in a heading of the rover. | The heading stays | | | in a heading of the rover. | the same +/- 5deg.| +----------------+-----------------------------------------+-------------------+ TST-CHSS-06 - Drive through a pit ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-06 | Drive through a pit | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * The rover faces a wheel size pit | +---------------------------+--------------------------------------------------+ | Environmental conditions | Dry;grass/loose soil filed;wheel size pit | +---------------------------+--------------------------------------------------+ | Test goals | * Prove the driving capabilities are reliable | | | * Test the robustness of H-bridges | | | * Test stability of the chassis | | | * Test suspension limits | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-06/01 | Start rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-06/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-06/03 | Align the rover in a way one of its | N/A | | | wheels faces the pit | | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-06/04 | Drive forward through the pit. Observe | The rover drives | | | if there is any change in a heading of | thru successfully.| | | of the rover. | The heading stays | | | in a heading of the rover. | the same +/- 5deg.| +----------------+-----------------------------------------+-------------------+ TST-CHSS-07 - Wheel failure ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-07 | Simulate a wheel failure | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * The rover faces a wheel size pit | +---------------------------+--------------------------------------------------+ | Environmental conditions | Dry;grass/loose soil filed; | +---------------------------+--------------------------------------------------+ | Test goals | * Prove the driving capabilities are reliable | | | * Test the robustness of H-bridges | | | * Test stability of the chassis | | | * Test suspension limits | | | * Test if the rover can continue a mission in | | | case of failure | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-07/01 | Physically disconnect power cables from | N/A | | | one of the wheels. Start the rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-07/02 | Wait until the system boots up | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-07/03 | Drive forward 50m. Compensate the drag | The rover reaches | | | manually | the destination | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-07/04 | Drive back to the start location | The rover reaches | | | backwards. Compensate the drag manually | the destination | +----------------+-----------------------------------------+-------------------+ TST-CHSS-08 - Lab: Vibration resilience ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-08 | Test if the rover can endure exosure to | | | vibrations in a lab environment | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * A vibrator is connected to the chassis | +---------------------------+--------------------------------------------------+ | Environmental conditions | Lab; attached vibration motor | +---------------------------+--------------------------------------------------+ | Test goals | * Prove all cable connections are made well | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-08/01 | Start the rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-08/02 | Start the vibrator | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-08/03 | Observe telemetry, especially IMU for | The rover sends | | | 10 minutes | the telemetry info| +----------------+-----------------------------------------+-------------------+ | TST-CHSS-08/04 | Stop the vibrator | The rover stays | | | | functional | +----------------+-----------------------------------------+-------------------+ TST-CHSS-09 - Vibration resilience in real environment ................................................................................ +---------------------------+--------------------------------------------------+ | TST-CHSS-09 | Test if the rover can endure exosure to | | | vibrations in a real environment. A staircase | | | test | +---------------------------+--------------------------------------------------+ | Initial conditions | * Fully charged batteries & connected | | | * A top floor of the 4-floor building | +---------------------------+--------------------------------------------------+ | Environmental conditions | Four wheel building | +---------------------------+--------------------------------------------------+ | Test goals | * Prove all cable connections are made well | +---------------------------+--------------------------------------------------+ | Corresponding requirements| | +----------------+----------+------------------------------+-------------------+ | Code | Test description | Pass criterion | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-09/01 | Start the rover | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-09/02 | Drive down a staircase | N/A | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-09/03 | Observe telemetry | The rover sends | | | | the telemetry info| +----------------+-----------------------------------------+-------------------+ | TST-CHSS-09/04 | Check telemetry once the rover reaches | The rover stays | | | the destination | functional | +----------------+-----------------------------------------+-------------------+ | TST-CHSS-09/05 | Drive 10m forward, perform in-place | The rover stays | | | 360deg turns left and right, drive back | functional | +----------------+-----------------------------------------+-------------------+