Verification Test Procedures Report

Date:  
Project: Orion Project
Place:  
Verified by:  

Introduction

The aim of this document is to document results of performed tests found in VTP document

Acronyms

Acronym matrix
Acronym Full form Description
AR Acceptance Review A phase in which the product is verified on customer’s infrastructure
COTS Commercial, Off-The-Shelf A product that can be purchased/obtained freely in the market and utilized in a project
CDR Critical Design Review A development phase in which the project is reviewed critically, ideally by the external entity. It is to check compilance with requirements and test a so-far developed device.
FOV Field of View An area that is perceived by a camera
HMI Human-Machine Interface Any interface that facilitates sending/receiving commands to/from software or hardware
SW Software A set of commands to be executed on a computer, expressed in a human-readable format
SFR Simple Fetching Rover A type of a Mars rover that supposed to quickly transport an object, e.g. a boxed specimen, to the ground control

Terms and definitions

Terms and definitions
Term Definition
Ground control A place where a team can send commands to the rover and receive feedback data.
Rover A remotely controlled robotic platform.

Applicable documents

Applicable documents
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
[VTP2019] Verification Test Procedures A set of tests that must be performed once the rover is integrated

Procedures

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 Passed?
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  
Performed by:  
Comments:  
Final result:  

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 Passed?
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  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 first command issued The rover moves  
TST-SAFE-03/05 The lamp blinks while the rover stays operational The lamp blinks  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 backwards The rover reaches the destination  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 two more times Each test is successfull  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 does not loose the balance The rover reaches the destination  
TST-CHSS-02/04 Drive back backwards The rover reaches the destination  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 the hill diagonally N/A  
TST-CHSS-04/04 Climb the hill, watch if the rover keeps its balance The rover reaches the destination  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 wheels faces the obstacle N/A  
TST-CHSS-05/04 Drive forward and drive over the obstacle. Observe if there is any change in a heading of the rover. in a heading of the rover. The rover drives over successfully. The heading stays the same +/- 5deg.  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 wheels faces the pit N/A  
TST-CHSS-06/04 Drive forward through the pit. Observe if there is any change in a heading of of the rover. in a heading of the rover. The rover drives thru successfully. The heading stays the same +/- 5deg.  
Performed by:  
Comments:  
Final result:  

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   Passed?
Code Test description Pass criterion  
TST-CHSS-07/01 Physically disconnect power cables from one of the wheels. Start the rover N/A N/A  
TST-CHSS-07/02 Wait until the system boots up N/A  
TST-CHSS-07/03 Drive forward 50m. Compensate the drag manually The rover reaches the destination  
TST-CHSS-07/04 Drive back to the start location backwards. Compensate the drag manually The rover reaches the destination  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 10 minutes The rover sends the telemetry info  
TST-CHSS-08/04 Stop the vibrator The rover stays functional  
Performed by:  
Comments:  
Final result:  

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 Passed?
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 destination The rover stays functional  
TST-CHSS-09/05 Drive 10m forward, perform in-place 360deg turns left and right, drive back The rover stays functional  
Performed by:  
Comments:  
Final result: