Commit f2372f6c authored by mirgita.frasheri's avatar mirgita.frasheri Committed by overleaf
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Update on Overleaf.

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......@@ -41,7 +41,7 @@ For this basic safety check the robot calculates its position and reports it. Th
** Step 1:
\subsubsection{Step 1}
This case is to show that the safety monitor on the DT is able to send an emergency stop to the PT-controller, when the PT violates the safety distance.
This means that the DT is aware of an obstacle, which the PT is not.
The PT cannot see it because of i.e. a faulty proximity sensor or something "hidden" in the grass, i.e. a small animal or something else.
......@@ -49,50 +49,52 @@ The PT cannot see it because of i.e. a faulty proximity sensor or something "hid
This test works without any changes carried out to the desktop robotti and the controller of the desktop robotti.
\begin{enumerate}
\item Implement a controller on the robot with:
\item Implement a Safety Monitor (SM) PT MOCK component that:
\begin{itemize}
\item Basic safety (i.e. stop when seeing an obstacle within X cm)
\item Capability of receiving instructions
\item Has the same interface as the to-be-realised SMPT
\item Relays information to and from RabbitMQ.
\end{itemize}
\item Set up a physical test environment with NO obstacle
\item Create a virtual environment where the DT safety monitor is notified of an obstacle
\item Start both systems
\item Send an instruction to the PT to drive forward (which, in time, will make it hit the virtual obstacle)
\item Verify that the DS detects that the robot FAILED the safety
\item Implement a PT-controller on the robot that:
\begin{itemize}
\item EXTENSION: The DS can sent a STOP command to the PT when it fails the safety check.
\item{Receive instructions}
\item Sends obstacle and location data to SMPT.
\item Receives commands from SMPT
\end{itemize}
\item Implement a SMDT that receives input from RabbitMQFMU and outputs to RabbitMQFMU.
\item Set up a physical test environment with ONE obstacle
\item Verify that the Robot STOPS according the obstacle.
\end{enumerate}
** Step 2:
\subsubsection{Step 2}
HARDWARE-IN-THE-LOOP - FAULTY SAFETY SOFTWARE
OBSERVE THAT THE ROBOT HITS THE OBSTACLE
\begin{enumerate}
\item Implement a Safety Monitor (SM) MOCK component that:
\begin{itemize}
\item Has the same interface as the to-be-realised SM
\item Relays information to and from RabbitMQ.
\end{itemize}
\item Implement a PT-controller on the robot that:
\begin{itemize}
\item Sends obstacle and location data to SM.
\item Receives commands from SM
\end{itemize}
\item Implement a Safety Monitor on the DT that receives input from RabbitMQFMU and outputs to RabbitMQFMU.
\item Use the FI framework to tamper with the input to the DS-controller, such that the obstacle seems FURTHER away
\item Use the FI framework to tamper with the output of the SMDT, such that it has incorrect outputs.
\item Set up a physical test environment with ONE obstacle
\item Start both systems
\item Send an instruction to the PT to drive forward (which, in time, will make it hit the virtual obstacle)
\item Send an instruction to the PT to drive forward (which, in time, will make it hit the obstacle)
\item Observe that the Robot HITS the obstacle
\end{enumerate}
FINAL STEP/SCENARIO
\subsubsection{Step 3}
\begin{enumerate}
\item Create a Supervisory Monitor DT (SDT)
\item Use the FI framework to tamper with the output of the SMDT, such that it has incorrect outputs.
\item Set up a physical test environment with ONE obstacle
\item Start both systems
\item Send an instruction to the PT to drive forward (which, in time, will make it hit the obstacle)
\item Verify that the robot STOPS according to the obstacle because of the SDT.
\end{enumerate}
\subsubsection{Step 4}
\begin{enumerate}
\item Implement the DT-safety monitor
\item Repeat 5 and 6 from above and observe that the DT-safety monitor sends an EMERGENCY STOP
\item Use the FI Framwork to tamper with the output of the RMQFMU, such that it gives wrong location outputs
\item Create a "correctInformationFMU" that gives the correct location
\item Given that it has wrong info, the SM DT will not send an emergency stop to the robot. The S DT gets correct info from the "correctInformationFMU", and sends the emergency stop to the robot.
\end{enumerate}
\subsection{Collision zones scenario - under refinement}
In this case we will use both Desktop Robottis. The robots will be given paths that intersect.
Two different cases can be evaluated: (i) the robots will not be in a collision zone, therefore they will continue going along the path, (ii) the robots are in a collision zone.
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