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System Test Plan - cse services - The University of Texas at Arlington

1. Light and sound activation Verify that Status signal translates into correct colors and sound activation High April 8 2015 30 Ground Control System Test Plan Sherpa Drone 3 4 Integration Tests Table 3 4 Integration Tests Test ID Layer Input Output Test Priority Il Client User or JavaFX Scene Pass user Critical Presentation administrator appropriate to command to touch events request search for a specified object Verify that system searches for item and reports status Command the system to launch the drone and verify that the command is sent D Client Processing Requests from Items Paths and As administrator Critical user or status codes for command the administrator to user and drone system to add a access data or new location Add request drone a new item at this location Log out of administrator As user search for that item and send the drone April 8 2015 31 Ground Control System Test Plan Sherpa Drone I3 Data Storage Requests from Client Processing for data Query data with status updates As administrator command the system to add a new location Add a new item at this location Through independent SQL verify that the location its path and its object all exist in the database High I4 Sensor Input Physical environment Distance orientation and power information Manipulate th
2. High April 8 2015 34 Ground Control System Test Plan Sherpa Drone S6 Follow Drone A search command from the kiosk Drone will launch and navigate to the item Initiate drone guidance Follow the drone at a walking pace Verify that the drone navigates the store such that the user has full sight of the drone and does not need to make any detours to follow Critical S7 Drone Return Completion of guidance Drone returns on its own to the kiosk and lands Initiate drone guidance At completion verify that drone returns with no user prompting to the kiosk and successfully lands Verify that the drone is now available for new user commands Critical April 8 2015 35 Ground Control System Test Plan 4 Risks Sherpa Drone This section discusses the potential risks that the team may encounter during the testing phase of the Sherpa Drone The risks are split between three categories High Medium and Low Controlling for risk is a major priority for this phase since a setback can cost the team weeks of work 4 1 Risks Table Table 4 1 Risks Table Risk ID Risk Impact Severity Mitigation Strategy RI E REER The drone S Inotors burn Low Buy multiple spares of out during testing the motors Raspberry Pi is Make the program Raspb P t R2 unable to run EAN HR un High multithreaded to fully the softwa
3. ears through the speaker 1 Critical 6 5 Drone Avoids Collisions The drone shall fly in such a manner to avoid pedestrians or objects 1 Critical 6 6 Altitude Control The system shall control its flight altitude to avoid hazards to customers or the environment The flight altitude shall be set in the initial configuration of the product for a store At this time the altitude shall be limited to a single level i e a store with two floors would require separate drones for each floor 1 Critical 6 7 Down Draft The system shall be designed so that rotor down draft does not cause damage or harm to person or property 1 Critical 6 8 Damage Avoidance The system shall be designed to fail safely Damaged parts shall not pose an immediate hazard to person or property 1 Critical April 8 2015 Ground Control System Test Plan 2 1 5 Maintenance and Support Requirements Table 2 5 Maintenance and Support Requirements SRS Requirement Description 7 1 Source Code and Documentation Availability All source code developed by Ground Control will be made available to the maintenance team and future development teams This source code will include adequate comments to document its functionality The team will make available all schematics and technical documentation including System Requirements Specification Architectural Design
4. The drone will be a small aerial drone with an LED light and speakers so customers are able to keep track of the drone Infrared receivers will be installed throughout the store These receivers will determine the location of the drone as it moves in the store The drone will also be armed with proximity sensors and an inertial measurement unit IMU to assist with navigation April 8 2015 1 Ground Control System Test Plan Sherpa Drone 1 3 Testing Scope Testing of the Sherpa Drone will not take place inside of a live store environment Instead the system shall be tested in the UT Arlington CSE Senior Design Lab The team will set up the layout of three cubicles in the lab inside of the kiosk adding several locations who will be marked with tape inside the cubicles The infrared sensors will be placed up on the lighting fixtures in order to create the RPS The team will then run any of the tests that require the drone to be launched from within the lab which should be a safe environment if any issues do occur The team will take every precaution to ensure that no property of the university or other teams is damaged While this will not be a live store environment 1t does contain aisles and blocked spaces that should make it a good substitute for a real store April 8 2015 2 Ground Control System Test Plan 2 References Sherpa Drone This section provides references to the other documentation that was used in creating the System Test
5. The core functionality of the Sherpa Drone system is as follows Search for item by name Search for item by category Follow drone to item Add item to store Update item in store Set up store with size and locations April 8 2015 49 Ground Control System Test Plan Sherpa Drone 7 4 Test Metrics The metrics used to determine if a requirement has passed vary based on the priority level of the requirement as seen below Table 7 1 Metrics by Priority Priorit Description SE Failure y P Criteria Criteria Critical FUBOHONS that are necessary for the system to be 100 lt 100 considered complete High TUBCHOHS that are expected functions of Hi System gt 90 lt 90 that provide basic improvements to functionality Medium Functions that are mice aione to the system but S 75 lt 75 not necessary for functionality Functi that t ted to b lete but Ps unc tons at are not expected to be complete bu 250 lt 50 would improve the system April 8 2015 50 Ground Control System Test Plan Sherpa Drone S Item Pass Fail Criteria This section lays out the criteria necessary to determine pass and failure on tests It clearly defines the success or failure of each test 8 1 Hardware Tests Table 8 1 Hardware Tests Test ID Hardware Pass Criteria Failure Criteria HI Raspberry Pi 2 Turns on when power Fails to turn on when supplied power supplied Runs Ground Control Fails to start software
6. software on start up H2 Raspberry Pi LCD Touch Turns on when power Fails to turn on when Screen Display supplied power is supplied Detects and relays all touch Does not detect any touch events event H3 Electronic Speed Moderates speed Does not moderate speed Controllers H4 3S LiPo battery Supplies sufficient power Does not provide sufficient for drone flight power for full drone flight H5 Ultrasonic sensors Detect objects within range Does not detect objects and relay signal within range or does not relay signal H6 5V to 3 3V D2C converter Transforms voltage from Does not translate to 3 3 V 5V to 3 3V April 8 2015 51 Ground Control System Test Plan Sherpa Drone H7 6 axis IMU Detects change to Fails to detect change in acceleration in X Y and Z acceleration in any directions direction H8 WiFi Transceiver Transmits WiFi frequency Does not transmit WiFi signal frequency signal Accepts WiFi frequency Does not receive WiFi signal frequency signal H9 Infrared Emitter Detects relative location to Does not detect location of infrared receiver infrared receiver H10 RGB LED Flashes R G or B for Fails to flash any light for specified duration on the correct duration command H11 2212 930KV Brushless Maintains correct motor Fails to maintain correct Motor motion for entire flight motor motion H12 Raspberry Pi Model B Turns on when power Fails to turn on
7. 2 1 6 Other Requirements Table 2 6 Other Requirements SRS Requirement Description Priority 8 1 Configuration of Store The system will allow the installation team to input the layout of the store into its memory This will include where the aisles and other locations tables racks etc where items are located in the store 2 High 8 2 Data Storage The system will store inventory information in a database This database will include the location data necessary for drone path finding It will also include category of each item to assist in user searches Critical ES Console Protected Administrator The system will hide the administrator console from access by the customer by using a special code or sequence to bring up the log in page 5 Future April 8 2015 10 Ground Control System Test Plan Sherpa Drone 2 2 Architecture Design Specification 2 2 1 Architecture Design Diagram Measurement Unit IMU Proximity Sensor Object Avoidance Flight Dynamics Drone Control foar Em Figure 2 1 Architectural Layer Overview 2 2 2 Data Flow Definitions Table 2 7 Data Flow Definitions Element Description EOI The presence of objects external to the system result in surfaces that reflect ultrasonic sound waves back to the Proximity Sensors resulting in a reading DMV1 The physical movement seen as accelerations of the dron
8. Six axis orientation Six axis orientation Verify that orientation is passed to Flight Dynamics without error Critical C10 Infrared Sensors Relative position Relative position Verify that drone position information is passed to the Navigation and integrated Critical April 8 2015 29 Ground Control System Test Plan Sherpa Drone Cll Power Sensor Current power level Current power level Verify that drone battery information is relayed to Status without error High C12 Object Avoidance Object proximity Flight Dynamics override Given an object in near proximity verify that Object Avoidance fires the override to assume control of drone flight High C13 Flight Dynamics Six axis orientation object avoidance navigation and VTOL Motor flight vectors Verify that module correctly shifts flight procedure by signals from object avoidance navigation and VTOL Critical C14 Drone Control Infrared position waypoints power level Waypoint command to Flight Dynamics Verify that Infrared waypoint and power data meld to form correct command to Flight Dynamics Critical C15 Motor Control Motor control vectors Motor movement Verify that motor vectors translate into correct rotation and speed of each motor Critical C16 Light Sound Light and sound command
9. 1 Customer Requirements 3 5 2 2 Packaging Requirements 5 6 2 3 Performance Requirements 6 7 2 4 Safety Requirements 8 2 5 Maintenance and Support Requirements 9 10 2 6 Other Requirements 10 2 7 Data Flow Definitions 11 13 2 8 Requirements Traceability Matrix 18 3 1 Hardware Tests 21 22 3 2 Unit Tests 23 27 3 3 Component Tests 28 30 3 4 Integration Tests 31 33 3 5 System Validation 33 35 4 Risks Table 36 7 1 Metrics by Priority 50 8 1 Hardware Tests 51 52 8 2 Unit Tests 52 56 8 3 Component Tests 56 59 8 4 Integration Tests 59 60 8 5 System Validation 60 61 10 1 System Test Phase Schedule 64 65 April 8 2015 vil Ground Control System Test Plan Sherpa Drone 1 Introduction The System Test Plan will constitute the complete process for testing the Sherpa Drone system This document will cover the different types of testing that will be used to ensure the system meets specifications It will also detail the different tests that will be performed to ensure the system meets the requirements and fulfills the design as outlined in the Architecture Design Specification and Detailed Design Specification 1 1 Product Concept The purpose of the Sherpa Drone is automated guidance through a retail or warehouse environment Users will interact with the Sherpa Drone through a touch screen kiosk They will specify their product of interest at the kiosk through the search interfaces The drone will launch from a base station adjacent to the kiosk a
10. Console Admin action Store update Log in as admin and request update of item Verify that request is made of item management Critical C3 Display Data from Client Processing modules JavaFX Scene output to kiosk screen Feed predetermined search result data to module and verify the correct Scene result Critical C4 User Interaction User request string Request result Make a user request through the touchscreen Verify that request reaches database and that database returns the correct tuples Critical April 8 2015 28 Ground Control System Test Plan Sherpa Drone 5 Admin Interaction Admin request string Request result Make an admin request Verify that request reaches database and that database updates state Critical C6 Path Finding Layout file and location Path sequence from kiosk to location Request a Path item for a location and layout Verify that the series of Waypoints is viable High C7 Data Storage Database state request Set of tuples or update flag Accept a search request and verify that tuples comply Accept an update request and verify that state updates High C8 Proximity Sensor Object distance Object distance Verify that object distance is transmitted to object avoidance module without error High C9 Inertial Measurement Unit
11. Specifications Detailed Design Specifications and System Test Plan 71 2 User Manual The User Manual will contain instructions for operation of the system It will instruct administrators in maintaining an accurate layout of their store and inventory of the items in the store Another section will instruct customers on how to use the kiosk which will be accessible from the kiosk itself 7 3 Drone Maintenance Standard maintenance of the drone such as checking for damaged parts will be included in the User Manual The Ground Control team will train technicians to take over maintaining the system after completion of the project If a software update is needed for the drone the trained technicians will complete installation Sherpa Drone Priority 3 Moderate 3 Moderate 4 Low April 8 2015 Ground Control System Test Plan Sherpa Drone 7 4 Kiosk Maintenance Standard maintenance of kiosk will be included in User Manual The Ground Control team will train technicians to take over maintaining the system after completion of the project For software updates administrators will be able to download the update onto a flash drive and install it on the kiosk 4 Low 7 5 Troubleshooting Guide The troubleshooting guide will include solutions to commonly detected problems discovered during system testing and from users of the Sherpa Drone 4 Low
12. We want to ensure that the project will perform exactly as specified in this document To ensure that this is the case the team will produce several test cases that will test that each module functions in the expected way These test cases will be expanded upon in the System Test Plan document 10 1 MS Project Plan System Test Plan Phase Table 10 1 System Test Phase Schedule Planned Planned WBS Task Name Resource Names Wed Th mee oa System Test Phase 49 days Wed Fr 3 5 1 1 Unit tests for Presentation Frank Robinson 1 day Wed Fr Frank Robinson 4 1 15 4 17 15 3 5 12 Unit tests for Client Processing Matthew Leonard day Wed Fri 3 5 1 3 Unit tests for Data Storage Matthew Leonard 2 days LIEN Unit tests and hardware tests for 4 1 15 4 19 15 Aaron Windham Wed Sun Unit tests and hardware tests for Dakota Slay Justin 4 1 15 4 19 15 3 5 1 5 Drone Processing Crist 3 days Wed Sun Lesser EE 3 5 1 6 Hardware Output Justin Crist 2 days April 8 2015 64 Ground Control u 3 5 Wed Mon 4 1 15 4 20 15 3 5 1 System Test Phase I 15 days i i System Test Plan Sherpa Drone Aaron Windham Matthew Leonard Fri Mon Dakota Slay Frank 4 10 15 4 20 15 Robinson Justin 3 5 1 7 Modify parts and software Crist 3 days Fri Sat D INN System Test Phase IT 19 days MM EE Frank Robinson 4 17 15 4 24 15 3 5 2 1 Component tests for Presentation Matthew Leonard 3 days kl EIA Component tests for Client Frank Robinson 4 17 1
13. be in before running the test case Post Conditions Any various condition the system can be in after running the test case Test Steps Steps to run the test case including any necessary inputs outputs needed Comments Any extra comments or special conditions needed to run test case 9 3 Test Case Results Each test case result will include the following April 8 2015 Test Case Result ID Unique ID number for test case result Test Case ID Associate ID for test case ran Tester Name of the team member that performed the test Date Time When the test case was performed Result Description of what result occurred when the test was performed Verdict Whether the test passed or failed 62 Ground Control System Test Plan Sherpa Drone e Defect ID If the test failed it will be given an associated defect ID and a new defect will be created e Comments Any extra comments the team would like to include in the result 9 4 Defects A defect will be created if the test fails and will include the following e Defect ID Unique ID number for Defect e Test Case Result ID Associated ID for test case result e Severity How important the defect is e Status Current status of test case e Error Log Information related to the test case such as error message or stack trace e Comments Any extra comments the team would like to include in the defect report April 8 2015 63 Ground Control System Test Plan Sherpa Drone 10 Test Schedule
14. central control board 2 High 4 5 Drone Circuitry Drone circuitry including the control board will be housed entirely out of sight of the customer 4 Low 4 6 Drone Wires Drone will enclose most wires from customer vision The only acceptable exposed wires are those to the motors and from the batteries 3 Moderate April 8 2015 Ground Control System Test Plan Sherpa Drone 4 7 Drone Sensors The drone will include ultrasonic sensors for the detection of objects in its vicinity 2 High 4 8 System Installation The system designers will install the necessary product pieces at the retail environment 2 High 2 1 3 Performance Requirements Table 2 3 Performance Requirements SRS Requirement Description Priority 5 1 Drone Response Time The drone will demonstrate responsive behavior through a light that turns on to indicate a message received Messages from the base station to the drone will be delivered in an interval of under a second to allow prompt drone response 1 Critical 3 2 Drone Wake Time The system will respond to a new item selection and wake the drone from a dormant state on the base station within fifteen seconds Total time to calculate route communicate with the drone and begin travel must fall within this time 3 Moderate 5 3 Drone Travel Time The dr
15. drone maintains The drone travels too fast suitable speed to follow S7 Drone Return The drone returns to the The drone fails to return to kiosk and lands after guiding a customer the kiosk The drone fails to land on the kiosk April 8 2015 61 Ground Control System Test Plan Sherpa Drone 9 Test Deliverables This section will detail the deliverables that the team will have upon completion of the testing process The following subsections will describe what will be documented for each test case All of these documents will be made available at the end of the project The test cases test case results and defects log will exist as Excel spreadsheets within the source controlled folder for the team When possible a member other than the developer will generate and run the test cases Automated unit tests will be summarized as a single test case for each module component etc under test 9 1 System Test Plan The System Test Plan will provide an overview of what will be tested how these tests will be performed and the pass fail criteria dependent upon the expected results of the test 9 2 Test Cases Each test case will include the following Test Case ID Unique ID number for test case Test Case Result ID Associate ID for the result of the test case Author The team member that created the test case Description a general description of the test case Preconditions Any conditions the system needs to
16. not cause damage or harm to person or property Testing Approach The team will set the drone to hover and measure the force generated by the rotors 5 5 Maintenance and Support Requirements 5 5 1 5 5 2 April 8 2015 Source Code and Documentation Availability Description All source code developed by Ground Control will be made available to the maintenance team and future development teams This source code will include adequate comments to document its functionality The team will make available all schematics and technical documentation including System Requirements Specification Architectural Design Specifications Detailed Design Specifications and System Test Plan Testing Approach The team will ensure that all source code is properly documented and will make sure that all the documentation is available online User Manual Description The User Manual will contain instructions for operation of the system It will instruct administrators in maintaining an accurate layout of their store and inventory of the items in the store Another section will instruct customers on how to use the kiosk which will be accessible from the kiosk itself Testing Approach The team will write a user manual for the drone then have people unfamiliar with the project set up the kiosk and the drone 43 Ground Control System Test Plan Sherpa Drone 5 6 Other Requirements 5 6 1 5 6 2 April 8 2015 Configuration of Store Descr
17. when supplied power supplied Runs Ground Control Fails to start software software on start up 8 2 Unit Tests Table 8 2 Unit Tests Test ID Module Pass Criteria Failure Criteria Ul Search Event Handler Accepts user input to Fails to accept user input generate a search event Incorrectly packages Packages the search request request for processing April 8 2015 52 Ground Control System Test Plan Sherpa Drone U2 Admin Event Handler Accepts admin input to Fails to accept admin generate a command command Accepts admin log in Fails to transmit login Packages the command for Fails to package the processing command U3 Scene Generator Translate data into scene Fail to generate correct on the touch screen data to scene U4 Item Location Translate request into a Fail to query data storage query to data storage for item information Transmit waypoint data to Fail to transmit correct drone status waypoints to drone status U5 Search Management Translate search request Fail to query data storage into a query for data for search storage Fail to transmit result to Return results of query to scene generator scene generator U6 Admin Login Menu Verify given password Fail to verify correct f SEN password Forbid authorization for incorrect password Allow access for incorrect password U7 Item Management Accept admin command Fail to accept command or for item changes and
18. will match pace with the customer slowing as necessary If the customer falls behind the drone must stop to wait The drone must wait for the customer until the customer approaches again or thirty seconds have passed when the customer will be informed to start moving and if an additional fifteen seconds pass the system will cancel the search Reasoning Future requirement never expected to be tested 6 1 3 Track Inventory Changes Description The system shall allow an administrator to update the locations of items automatically using RFID or other inventory tracking technology Reasoning Future requirement never expected to be tested April 8 2015 45 Ground Control System Test Plan Sherpa Drone 6 1 4 Mobile App Access Description The system shall include a mobile app that allows customers to request the service of a drone while within the store Reasoning Future requirement never expected to be tested 6 2 Packaging Requirements 6 2 1 6 2 2 6 2 3 6 2 4 April 8 2015 Kiosk circuitry Description Kiosk enclosure will house all required circuitry wires and components out of sight from the customer Reasoning Prototype is not expected to fully meet this requirement Kiosk Power Source Description Kiosk will utilize a single external power cable This cable will provide the correct DC power to components from an AC plug Reasoning Future requirement never expected to be tested Drone Circuitry Descrip
19. 3 11 Mobile App Access The system shall include a mobile app that allows customers to request the service of a drone while within the store 5 Future April 8 2015 Ground Control System Test Plan Sherpa Drone 3 12 Service Drone The system shall allow an administrator or service personnel to perform maintenance on the drone including charging the battery Critical 3 13 Drone Automated Charge The system will automatically charge the drone while it is not currently helping customers so that it will consistently have a full or near full battery 3 Moderate 2 1 2 Packaging Requirements Table 2 2 Packaging Requirements SRS Requirement Description Priority 4 1 Kiosk Packaging The kiosk will be enclosed in a soft edged metal box with a 7 inch touch screen on the front a flat landing zone on top and a power connection in the back 2 High 4 2 Kiosk Circuitry Kiosk enclosure will house all required circuitry wires and components out of sight from the customer 4 Low 4 3 Kiosk Power Source Kiosk will utilize a single external power cable This cable will provide the correct DC power to components from an AC plug 5 Future 44 Drone Packaging The Drone will be a quad copter style drone consisting of four rotors a small frame an RGB LED a small speaker a Styrofoam cover and a
20. 5 4 24 15 3 5 2 2 Processing Matthew Leonard 3 days WW ims ians Frank Robinson 4 17 15 4 24 15 3 5 2 3 Component tests for Data Storage Matthew Leonard 3 days Sun Sun A E e 3 5 2 4 Component tests for Sensor Input Windham 3 days Sun Sun Component tests for Hardware Aaron Windham 4 19 15 4 26 15 5 2 6 Output Justin Crist 3 days Sun Sat Frank Robinson 4 19 15 5 2 15 3 3 2 1 Integration tests for client side Matthew Leonard 3 days Dakota Slay Justin 4 26 15 5 2 15 3 5 2 8 Integration tests for drone side Crist 3 days Sat Thu 5 2 15 5 7 15 System Test Phase III 15 days Sat Tue ro NN 3 5 3 1 Drone testing Team 5 days Tue Thu Ground Control 5 5 15 5 7 15 3 5 3 2 System Validation Testing Team 10 days 3 3 3 5 2 Aaron Windham Sun Sun Component tests for Drone Dakota Slay Justin 4 19 15 4 26 15 3 5 2 5 Processing Crist 4 days 5 3 April 8 2015 65 Ground Control System Test Plan Sherpa Drone 11 Approval Name Role Signature Date Mike O Dell Program Director Frank Robinson Project Manager Justin Crist Team Member Matthew Leonard Team Member Dakota Slay Team Member Aaron Windham Team Member Paul Beaulieu Project Sponsor April 8 2015 66 Ground Control
21. Measuerment Unit J f T J Infrared Sensors J TJ jPowerSensor Search Event Handler Admin Event Handler Scene Generator ObjectAvoidance Flight Dynamics Navigation VII Status O an sp fqo euje1x3 Producers ath Finding Figure 2 3 Producer Consumer Matrix April 8 2015 17 Ground Control System Test Plan Sherpa Drone 2 4 1 Requirements Traceability Table 2 8 Requirements Traceability Matrix g SG t 2 OH xo T Pn en S E S o a T M A So w i 2 a E S as CB 2 E sc S 2 22 28 elel T 2 9 8 S 5 2 8S8 o S E S3 9 8 E c lt oO o c o c o0 c n S Pus o o c o c vls Sj ES c o E E Oo 7 2 0 2 0 o 2 895 o o 2 5 A E S elei E g2 Ela s S See ela D E LC LL 4 Req AMI 213 gt S Pigilgig S s a2 o E E Sue E 9 2 8 z 2 8 8 9 9 9g 8 R S 5Et 2 9 S5g u Requirement Name Alelaja 2 Ele ela Si la z S Ol Jo S al 3 3 1 Search By Name D D D D x X 3 3 Search By Category D D D D Xx Xx 3 4 Follow Drone D D D D D D D D D x X X x X X 3 6 Open Administrator Console D X 3 7 Manage Items in Inventory X X x X 3 10 Make Drone Visible Audible X X X 3 12 Service Drone X 5 1 Drone Response Time X x 5 3 Drone Travel Time x x x X D D D x x Ret
22. Plan The documents referenced here are the System Requirements Specification SRS Architecture Design Specification ADS and Detailed Design Specification DDS The following subsections will contain the key information from each of these documents respectively 2 1 System Requirements Specification 2 1 1 Customer Requirements Table 2 1 Customer Requirements SRS Requirement Description Priority The system shall allow a customer to type in 3 1 Search By Name the name of an item to search for at the kiosk 1 Critical The system shall suggest possible items to 3 2 Auto Fill Search Bar the customer as the customer types into the search bar at the kiosk 3 Moderate The system shall allow a customer to select an item from the search list based on 3 3 Search By Category category at the kiosk This will provide them with a list of all items in the store in that category that they can browse to select 2 High The system shall allow a customer to follow a drone around the store towards the desired 3 4 Follow Drone item location The drone must fly at a reasonable pace and travel a path that the customer can follow without difficulty 1 Critical April 8 2015 3 Ground Control System Test Plan Sherpa Drone 3 5 Stay with Customer The drone will match pace with the customer slowing as necessary If the customer falls behind the drone must stop to wait The dr
23. System Test Plan Sherpa Drone Department of Computer Science and Engineering The University of Texas at Arlington System Test Plan Team Ground Control Project Sherpa Drone Team Members Justin Crist Matthew Leonard Frank Robinson Dakota Slay Aaron Windham Last Updated April 8 2015 10 55 AM April 8 2015 1 Ground Control System Test Plan Sherpa Drone Table of Contents le ii A E 1 T4L a A 1 1 7 A EE 1 e eg A A css ewe se nsec Pasa 2 2v RA o eu 3 2 1 System Requirements Specie ON li a 3 2 2 Architecture Design EIERE Ee 11 2 Detailed Design Specific AON tii tii 16 3 CLOSPIOIIS uet Aegis ce enc a a a e E E ie Dent E E ete 19 3d Hardware Tests ea Eu cos Sa eel eg o ee nns 21 Dede TUDE ON 23 So Component dE 28 A ERE EN EE ee 31 EX dM ev cic liit EEA SA E E E 33 MEE SIC m TER 36 AT Risks Table D 36 3 Beatures To Be Tested 58 un il illa cs 37 5 1 Customer Requirements a a ee Urna E EE E R EEEE A Ne 37 5 2 Packaging Requirements ud diia 39 5 9 Performance Requirements ir 40 5 1 Safety Requirements cali i PRAE e a a iia 42 April 8 2015 ii Ground Control System Test Plan Sherpa Drone 5 5 Maintenance and Support Requirements coa is 43 5 07 Other R o OS 44 6 Teatures Not To Be Tested a dE E A a 45 Dk EELER ee 45 6 2 Packaging Requirements ia idad 46 6 3 Performance Requirements irinn nesese iira di ee SE 47 6 44 Safety Requirements tus 47 6 5 Maintenance and Support Require
24. Testing Approach The team will turn on the system and send the signal to the drone to look up an item then to fly to it The team will measure the time it takes for the drone to go from the item to the base station 40 Ground Control System Test Plan Sherpa Drone 5 3 5 5 3 6 5 3 7 5 3 8 April 8 2015 Base Landing Upon Completion Description The drone will execute a landing on the base station when guidance is complete If the drone loses connectivity with the base station it will land in a designated safe zone in the store Testing Approach The team will turn on the system and send the signal to the drone to look up an item then to fly to it When the drone returns the team will ensure that the drone properly lands on the base station without falling or crashing Minimum Operational Time Description The drone will be able to maintain operational flight time of at least thirty minutes from a fully charged state Testing Approach The team will have the drone run a continuous series of item look ups after ensuring that it is fully charged then will measure the time it for the battery to be unable to operate Note the team does not expect in this prototype to meet this requirement and is optimistically hoping for 15 minutes of flight time Single Drone Supported Description The system will support the full operation of a single drone at a time This drone will be responsible for guiding all customers Testing Appr
25. Tests Test ID Layer Pass Criteria Failure Criteria Il Client Presentation Accept user input and Fail to read user input create requests Fail to display system Display system updates to updates or scenes user Fail to accept either user or Accept both user and administrator actions admin interaction D Client Processing Translates client Fails to translate requests presentation requests into to database requests database requests Fails to return database Returns database results to results to presentation presentation Incorrectly calculates paths Calculates path to locations Fails to send correct Sends waypoint data to waypoint data to drone drone I3 Data Storage Maintain store state in Corrupt or lose store state database format Respond to data requests with correct set of results information Respond with incorrect or null results April 8 2015 59 Ground Control System Test Plan Sherpa Drone 14 Sensor Input Detect changes in objects Fail to detect objects or around the drone hazards Detect changes in drone Fail to correctly detect location drone location Accurately monitor power Fail to correctly monitor level power level I5 Drone Processing Calculate flight data Calculate incorrect flight necessary for trip coordinates Calculate movement Calculate incorrect vectors movement vectors Trigger object avoidance Fail to trigger object when object detected avoida
26. active It drives the individual motors on the drone and activates lights and sounds The Drone Hardware Output Layer accepts instructions from the Drone Processing Layer Its outputs are physical responses such as flashing lights or a turn during flight April 8 2015 15 Ground Control System Test Plan Sherpa Drone 2 3 Detailed Design Specification 2 3 1 Module Decomposition Diagram External D Infrared Objects Q Beacons D Custo Administrator CI Search Event Admin Event Scene Handler Handler Generator E Ml ALL ny Power Sensor Sensor Modul Module PS2 Is Pl IMUL Pst an NY Object Ae eg Flight vus Module E FD1 Speaker AE ur Location Management Management n Module N2 1 Status Figure 2 2 Module Decomposition Chart April 8 2015 16 Ground Control System Test Plan Sherpa Drone 2 3 2 Producer Consumer Matrix Consumers yun qua uuansea A e au juaujaAO A JUIG suooeag paJeJJu Josuas JLUIXO Jg sJosuas paJeJJu JOSUIS Ja Mod Ja pueH us 3 up4eas Ja pueH JUaA UILUpYy 1032 9490 BUadS aoueploay palqo sowed 143113 u01 e307 US juauua eue A up1ess nue Aj uld07 UlLUpy yu w Beue y w yu w Jeue Aj uore o1 103409 3487 101 u09 Jaxeads Ja 3eue aseqejeg External Objects Drone Movement Infrared Beacons Customer T Aden TI NEN 0 Proximity sensor linertial
27. administrator as part of system 3 Moderate The drone will be able to maintain operational flight time of at least thirty minutes from a fully charged state 2 High The system will support the full operation of a single drone at a time This drone will be responsible for guiding all customers Critical 58 Minimum Operational Time 5 9 Single Drones Supported 5 10 Operational Range The drone will maintain operational contact with the base station at all times through a wireless signal Any drone that loses contact with the base station through exceeding the operational range or interference will immediately land and power down in the designated safe zone 2 High April 8 2015 Ground Control System Test Plan 2 1 4 Safety Requirements Table 2 4 Safety Requirements Sherpa Drone SRS Requirement Description Priority 6 1 Drone Rotors The drone rotors shall not harm a person or damage property 1 Critical 6 2 Drone Weight The system shall be light enough to avoid damage to person or property if it were to fail 1 Critical 6 3 Property Damage The system shall be designed so that it does not cause property damage A collision with another object does not cause property damage 1 Critical 6 4 Eye and Ear Protection The system shall not cause damage to peoples eyes through its LED or to peoples
28. ail to activate sound Activate sound at incorrect decibel level U23 Drone Launch Drone launches from the Drone fails to launch from base station and achieves base station stable flight at altitude Drone launches but does not maintain stable flight April 8 2015 55 Ground Control System Test Plan Sherpa Drone U24 Drone Forward Flight Drone moves a single store square forward in a straight line Drone does not move forward Drone moves forward but zigzags Drone moves forward but alters altitude more than six inches U25 Drone Turn Drone turns left or right ninety degrees as ordered Drone does not execute turn Drone executes turn at the wrong angle Drone executes turn but alters altitude Drone executes turn but drifts U26 Drone Land Drone lands on the base station and comes to a stable complete stop Drone fails to attempt a landing Drone lands on a surface other than the base station Drone lands but then shifts or falls from the base station 8 3 Component Tests Table 8 3 Component Tests Test ID Subsystem Pass Criteria Failure Criteria Cl Search User string passed to User string is altered or lost search management C2 Admin Console Admin string passed to Admin string is altered or admin menu lost April 8 2015 56 Ground Control System Test Plan Sherpa Drone C3 Displa
29. ccessible square Check that path and location objects correspond U9 Path Finding Location object Path object to Send a Location Critical kiosk location Location object object to module and store layout and verify the Path object returns a shortest path U10 Database Query command Status result and Input database High Manager optional object commands through bridge interface Verify through independent SQL April 8 2015 24 commands that the changes are reflected in the storage Ground Control System Test Plan Sherpa Drone UI Proximity Sensor External objects Float representing Manually place High distance to any object in front of object in inches proximity sensor and verify reported distance U12 Inertial Change to Array of float Adjust X Y Z Critical Measurement physical accelerations in orientation of the Unit orientation of X Y Zand the IMU at differing sensor or its speed gyroscope reading accelerations and observe output U13 Infrared Sensors Infrared data Distance from Place emitter and High emitter to infrared receiver at known receiver distances and verify the output of the emitter Ul4 Power Sensor Power charge Battery power Charge battery to Medium full and test voltage and duration of power U15 Object Avoidance Proximity sensor Override Verify that object Critical distance data command for avoidance sends Flight Dynamics
30. e distance of obstructions around the drone between one inch and ten feet Verify that drone orientation is correct during a banked turn Verify that drone recognizes a low battery condition Critical I5 Drone Processing Distance orientation power and waypoint information Motor vectors and light sound commands Command the drone to fly to an item location Verify that the drone makes correct navigational choices to arrive at specified location Critical April 8 2015 32 Ground Control System Test Plan Sherpa Drone 16 Drone Hardware Motor vectors and Movement of Verify that drone Critical Output light sound drone with light maintains altitude commands and sound orientation and activation speed during flight I7 Drone Flight Control Physical drone The drone moves Critical statements movement when commands are issued from a console 3 5 System Validation Table 3 5 System Validation Test ID Validation Input Output Test Priority S1 Customer can Input to the kiosk Sequence of Use the kiosk Critical search for an item touchscreen and screens to find the interface to find search of screens item Drone will an item of launch and navigate store interest Select the item Verify that drone launches within thirty seconds and navigates at walking pace to the object It must activate light and sound at t
31. e are detected by the Inertial Measurement Unit IMU April 8 2015 11 Ground Control System Test Plan Sherpa Drone IBI The beacon mounted on the drone is observed by the two infrared sensors in the room and the beacon on the base station is observed by the drone mounted sensor Bl The battery s voltage and current are detected by the Power Sensor Cl The customer taps on the console s touch screen to send signals to the Search GUI objects Al The administrator taps on the console s touch screen to send signals to the Admin Console GUI objects PXS1 The Proximity Sensors produce a structure of data containing the integer distance to any objects in inches both ahead of and underneath the drone and sends this to the Object Avoidance subsystem PXS2 The Proximity Sensors send the distance to the ceiling to the Infrared Sensors subsystem to give it the Z position of the drone IMUI The IMU produces a structure of data containing the float accelerations in the X Y and Z axes to the Flight Dynamics subsystem IS1 The Infrared Sensors produce a structure of data containing the integer X Y amp Z position values representing the current location of the drone to the Drone Control subsystem PSI The Power Sensor sends an integer value of the remaining battery percentage to the Drone Control subsystem S1 The Search subsystem sends string and integer values representing customer select
32. econd to allow prompt drone response Testing Approach The team will turn on the system and verify that the connection from the base station to the kiosk is working properly The team will then send the drone messages and measure the response time of the drone reacting to those messages Drone Wake Time Description The system will respond to a new item selection and wake the drone from a dormant state on the base station within fifteen seconds Total time to calculate route communicate with the drone and begin travel must fall within this time Testing Approach The team will turn on the system and send the signal to the drone to look up an item Then the team will measure the time it takes the drone to go from a dormant state to preparing to take off Drone Travel Time Description The drone will complete its travel in a reasonable time span as appropriate to the size of the store and the maximum number of items allowed in a single trip Testing Approach The team will turn on the system and send the signal to the drone to look up the shortest path to an item then to fly to it The team will measure the time it takes for the drone to go to the item and return to the base station Return After Completion of Guidance Description The drone will return to the base station once travel has been executed for the customer The drone will not be expected to wait on customer input It may follow a path that is not appropriate to customers
33. h event User input as Java Use kiosk Critical Handler data touchscreen to create touch events and verify the Java output U2 Admin Event Admin touch Admin input as Use kiosk Critical Handler event Java data touchscreen while logged in as admin to create touch events and verify the Java output U3 Scene Generator Data from Client JavaFX Scene Feed Critical Processing output to kiosk predetermined modules screen search result data to module and verify the correct Scene result U4 Item Location ID of Item Path object with Compose a valid Critical Waypoints for Item ID and Drone Status verify integrity of Path object result U5 Search Search string Command to Compose a search Critical Management Database manager string and verify the correct command for the database manager April 8 2015 23 Ground Control System Test Plan Sherpa Drone U6 Admin String password Command to Input the hard Critical Login Menu Scene Generator coded admin to show admin password and menu verify the administrator menu appears U7 Item Management Item ID and Update to item or Create an item Critical method call to status to display update the item insert update on scene and delete the delete generator item Check that each step has the appropriate status report U8 Location Store layout Path and Location Modify the store High Management information to save in the layout with an database ina
34. he location April 8 2015 33 Ground Control System Test Plan Sherpa Drone S2 Administrator can add an item to the store Input to the kiosk touchscreen to log in and add item Sequence of screens to add an item Use the kiosk interface to select the add item option and enter details Exit administrator mode Verify that item exists for customer use Critical S3 Administrator can update an item in the store Input to the kiosk touchscreen to log in and update item Sequence of screens to update the item Use the kiosk interface to select the update item option and enter details Exit administrator mode Verify that item has updated for customer use High S4 Administrator can initially set up the store Input to the kiosk touchscreen to log in and set up store Sequence of screens to set up the initial store Use the kiosk interface to select the set up store option and enter details Select the add item option and verify that the store has locations such that items may now be added Medium S5 Administrator can add a location to the store Input to the kiosk touchscreen to log in and add location Sequence of screens to adjust store layout Use the kiosk interface to select the update store option and enter details Select the add item option and verify that the store locations have changed as desired
35. her design has ruled that a metal box is a poor choice and the final construction will be a different material Drone Packaging Description The Drone will be a quad copter style drone consisting of four rotors a small frame an RGB LED a small speaker a Styrofoam cover and a central control board Testing Approach The team will ensure that the drone will be a quad copter by building it as such with a small frame and RGB LED a small speaker a Styrofoam cover and a central control board Drone Sensors Description The drone will include ultrasonic sensors for the detection of objects in its vicinity Testing Approach The team will test the ultrasonic sensors by placing objects in front of the sensor and ensuring that the sensors detect the objects and the distance from those objects System Installation Description The system designers will install the necessary product pieces at the retail environment Testing Approach The team will test the system installation by installing the system ourselves and ensuring that the kiosk and drone are as modular as possible 39 Ground Control System Test Plan Sherpa Drone 5 3 Performance Requirements 5 3 1 5 3 2 5 3 3 5 3 4 April 8 2015 Drone Response Time Description The drone will demonstrate responsive behavior through a light that turns on to indicate a message received Messages from the base station to the drone will be delivered in an interval of under a s
36. ight activation Send the module a character and visually verify the activation of the hardware Medium April 8 2015 26 Ground Control System Test Plan Sherpa Drone U22 Speaker Control Byte to cause Physical Verify that a byte Medium activation activation of the of zero does not speaker activate and that a byte of one activates the speaker Verify that volume is within acceptable limits U23 Drone Launch Command to Drone movement Drone lifts off Critical launch from base from base station station and maintains stable flight U24 Drone Forward Command to Drone movement Drone moves a Critical Flight move one square square unit unit forward forward in a straight line at stable altitude U25 Drone Turn Command to turn Drone movement Drone turns to left Critical ninety degrees left or right by ninety or right degrees without loss of altitude or lateral movement U26 Drone Land Command to land Drone movement Drone execute High on base station landing on base station and comes to a complete stop April 8 2015 27 Ground Control System Test Plan 3 3 Component Tests Table 3 3 Component Tests Sherpa Drone Test ID Subsystem Input Output Test Priority Cl Search User action Search request Input a search through the touchscreen and verify that sends correct request to search management Critical C2 Admin
37. ion Path Finding i Data Storage Proximity Sensor Infrared Sensors Power Sensor Object Avoidance Sherpa Drone System ocessing A Data Storage Proximity Sensor d Lesch Flight Dynamics Navigation E Motor Control Drone Processing Drone Hardware Output Object Avoidance zi Flight Dynamics pg l Drone Control Motor Control Light Control Speaker Control a April 8 2015 Figure 3 1 Testing Composition Diagram 20 Sherpa Drone Ground Control System Test Plan Sherpa Drone 3 1 Hardware Tests Table 3 1 Hardware Tests Test ID Hardware Input Output Test Priority HI Raspberry Pi 2 Power System boots and Apply power to Critical runs startup the system and software Observe response through monitor interface H2 Raspberry Pi Power System boots and Apply power to Critical LCD Touch awaits user the system and Screen Display interaction observe response through monitor interface H3 Electronic Speed Electric signal Speed command Input speed signal Critical Controllers and verify that controller modulates H4 3S LiPo Battery Power charge Battery power Charge battery to High full and test voltage and duration of power H5 Ultrasonic Object at some Distance to the Place objects a High Sensors distance object in inches known distance from the sensor and corroborate the reading with dis
38. ions to the User Interaction subsystem to process based on the called method ACI The Admin Console subsystem sends string integer and Item object values representing administrator selections to the Admin Interaction subsystem to process based on the called method D1 The Display subsystem sends a visual representation of the current GUI screen to the touch screen to be seen by the customer D2 The Display subsystem sends a visual representation of the current GUI screen to the touch screen to be seen by the administrator OAI The Object Avoidance subsystem sends a structure of data indicating the direction of the object that needs to be avoided and the distance to it to the Flight Dynamics subsystem FD1 The Flight Dynamics subsystem sends a structure of data indicating the power level for each motor to Motor Control April 8 2015 12 Ground Control System Test Plan Sherpa Drone DCI The Drone Control subsystem sends a structure of data indicating how the drone should move to the Flight Dynamics subsystem DC2 The Drone Control subsystem sends an integer value representing a color and sound to the Light Sound subsystem DC3 The Drone Control subsystem sends a status message back to the User Interaction subsystem Un The User Interaction subsystem sends data for queries to the Database Manager subsystem to pull or store from the database based on the method call UD The User Interac
39. iption The system will allow the installation team to input the layout of the store into its memory This will include where the aisles and other locations tables racks etc where items are located in the store Testing Approach The system be turned on and the team will open the administer console Then the team will then input the layout of the store and will ensure that the system has verified that 1t has been updated Data Storage Description The system will store inventory information in a database This database will include the location data necessary for drone path finding It will also include category of each item to assist in user searches Testing Approach The system be turned on and the team will open the administer console The team will then input the item into the database by filling out the proper information Then the team will insure that the system has verified that it has been updated 44 Ground Control System Test Plan Sherpa Drone 6 Features Not To Be Tested This section describes the features that will not be included in the final product and the reasoning behind the decision 6 1 Customer Requirements 6 1 1 Auto Fill Search Bar Description The system shall suggest possible items to the customer as the customer types into the search bar at the kiosk Reasoning Concerns about processing power on prototype machine and development time constraints 6 1 2 Stay with Customer Description The drone
40. items remove items and manipulate items by name category and location The team will then verify that the system has saved those changes Make Drone Visible Audible Description The drone will use an LED light and sound cues to announce its activity to surrounding customers The LED will support multiple colors so that if the drone is helping a customer and another approaches the kiosk and searches for an item it will inform them that when the drone will lead them it will have a different color Testing Approach The team will turn on the system type in an item and have the drone go to the item The team will then see if the drone s LED lights and speakers are flashing and beeping respectively Service Drone Description The system shall allow an administrator or service personnel to perform maintenance on the drone including charging the battery Testing Approach The team will change the battery on the drone and ensure parts are available to modify 38 Ground Control System Test Plan Sherpa Drone 5 2 Packaging Requirements 5 2 1 5 2 2 5 2 3 5 2 4 April 8 2015 Kiosk Packaging Description The kiosk will be enclosed in a soft edged metal box with a 7 inch touch screen on the front a flat landing zone on top and a power connection in the back Testing Approach The team will ensure that that kiosk is enclosed by building the enclosure placing the touch screen in it then plugging the system in Note furt
41. ments essent 47 6 6 Other Requirements iii teres ra pra Y anton NEUESTEN EAR URS niendo 48 Tee PUES AIT PROACHES A da 49 E We E EE 49 Dads Ke I DE 49 ac Core Functional id A atch ae ead aie a de Oa ncaa at 49 TA EE 50 diem Pass Bar DC eria esce tomi EE 51 SL Hardware eegent 51 8 2 d Dt KEEN 32 8 3 Component Tests costes nido 56 o Ate EE 59 Boks AV SLT VAIOdUOD rds ai eo Dele MN DU Quercus sut ipae ase urs tse estu LE 60 9 TestDeliverables sedie hiuc teil us ba acca cubile yo OU tials toed En 62 9 L y ca West Blah ue oH aia ba Iu tes ec 62 92 RCSL C He eh 62 9 3 KE itd doe oa Se de ge ftis eae a 62 m MENU C OPE PS 63 IO Test Schedule EE 64 April 8 2015 iii Ground Control System Test Plan Sherpa Drone 10 1 MS Project Plan System Test Plan Ph a tias 64 O RE 66 April 8 2015 iv Ground Control System Test Plan Sherpa Drone Document Revision History Revision Revision 3 23 2015 Initial version for Rough Draft 3 30 2015 Review version Added breakdown E and cleaned up document 4 8 2015 Made changes based on review feedback April 8 2015 v Ground Control System Test Plan Sherpa Drone List of Figures Figure Title Page 2 1 Architecture Layer Overview 11 2 2 Module Decomposition Chart 16 2 3 Producer Consumer Matrix 17 3 1 Testing Composition Diagram 20 April 8 2015 vi Ground Control System Test Plan Sherpa Drone List of Tables Table Title Page 2
42. nce 16 Drone Hardware Output Output correct motor Fail to output correct actions for flight actions for any of the motors Output light and sound signals Incorrect or null output for light and sound I7 Drone Flight Commands are obeyed Drone does not accept with drone moving as expected commands Drone does not move as commanded 8 5 System Validation Table 8 5 System Validation Test ID Validation Pass Criteria Failure Criteria S1 Customer can search for an The user is able to search The user is not able to item for an item search for an item S2 Administrator can add an Administrator may add The system fails to accept item to the store April 8 2015 items to the store 60 and maintain item information Ground Control System Test Plan Sherpa Drone KE Administrator can update Administrator can update The system fails to accept an item in the store any item in the store and maintain item information S4 Administrator can initially Administrator can set up The system fails to accept set up the store the store with an arbitrary and maintain location and layout path information S5 Administrator can add a Administrator can add a The system fails to accept location to the store location to the store and maintain location information S6 Follow Drone The user is able to follow The drone takes a path that the drone through the store a customer cannot follow The
43. nd fly through the store guiding the user to the location of their item Once the drone has completed its mission it will return to the base station If more users wish to use the system the drone will launch again Otherwise it will charge while waiting on interaction 1 2 Product Scope The Sherpa Drone will consist of a drone base station kiosk database and infrared receivers The kiosk will be constructed using a raspberry pi and a touch screen monitor The touch screen will be the exclusive means of interaction for both users and administrators Customers will search for items they wish to locate via its interface Administrators will use their own interface to maintain and update information about the store and products All data will tie into the database The database can be broken up into two different parts the store layout and items database The store layout will contain the location of aisles display tables and obstacles such as pillars that the system will need to know to be able to navigate the store The items database will contain all the items in the store and their locations The base station will provide a place to house the drone charge the drone and transmit signals The base station will also handle calculating the path to the items and sending instructions to the drone on navigating the store For the initial prototype the kiosk and base station will be merged together However they do not need to be a single unit
44. oach The team will build only a single drone and ensure that the signal from the drone to the base station does not interfere with any other signal that could be used by other drones to communicate with other base stations Operational Range Description The drone will maintain operational contact with the base station at all times through a wireless signal Any drone that loses contact with the base station through exceeding the operational range or interference will immediately land and power down in the designated safe zone Testing Approach The team will send the drone to look up an item then cut the signal from the base station The team will then observe if the drone follows its programming and returns to the base station 41 Ground Control System Test Plan Sherpa Drone 5 4 Safety Requirements 5 4 1 5 4 2 5 4 3 5 4 4 5 4 5 April 8 2015 Drone Rotors Description The drone rotors shall not harm a person or damage property Testing Approach The team will test this function by having the rotors spin at takeoff speed and measure the force they generate Drone Weight Description The system shall be light enough to avoid damage to person or property if it were to fail Testing Approach The team will measure the weight of the drone Property Damage Description The system shall be designed so that it does not cause property damage A collision with another object does not cause property damage Testing A
45. one must wait for the customer until the customer approaches again or thirty seconds have passed when the customer will be informed to start moving and if an additional fifteen seconds pass the system will cancel the search 5 Future 3 6 Open Administrator Console The system shall allow an administrator to log in with a password to a special menu at the kiosk in order to add remove and move items in the store 1 Critical 3 7 Manage Items in Inventory The system shall allow an administrator to add and modify items to the store with their name category and location at the kiosk This will include adding a new category if none exists that works for this item 1 Critical 3 8 Change Store Layout The system shall allow an administrator to change the layout of aisles and shelves within the store at the kiosk 4 Low 3 9 Track Inventory Changes The system shall allow an administrator to update the locations of items automatically using RFID or other inventory tracking technology 5 Future 3 10 Make Drone Visible Audible The drone will use an LED light and sound cues to announce its activity to surrounding customers The LED will support multiple colors so that if the drone is helping a customer and another approaches the kiosk and searches for an item it will inform them that when the drone will lead them it will have a different color 2 High
46. one will complete its travel in a reasonable time span as appropriate to the size of the store and the maximum number of items allowed in a single trip 1 Critical 5 4 Return After Completion of Guidance The drone will return to the base station once travel has been executed for the customer The drone will not be expected to wait on customer input It may follow a path that is not appropriate to customers 2 High 5 5 Base Landing Upon Completion The drone will execute a landing on the base station when guidance is complete If the drone loses connectivity with the base station it will land in a designated safe zone in the store 1 Critical April 8 2015 Ground Control System Test Plan Sherpa Drone 5 6 Base Station Charging base station in the correct orientation to second landing If this landing fails the drone will land on the base station and notify the administrator The drone will execute a landing on the charge If unable to charge it will attempt a 3 Moderate 5 7 Max Items Per Trip The system will require that users specify no more than an allotted number of items per guidance operation This number will set up Customers who wish to follow the drone to more items must return to the base station and complete another request This limit will prevent a single customer request from monopolizing the use of the drone be set by the
47. pproach The team will ensure that force generated by drone in flight or while following is low enough to not hurt objects or people Eye and Ear Protection Description The system shall not cause damage to peoples eyes through its LED or to peoples ears through the speaker Testing Approach The team will test the LED and ensure that its maximum brightness does not exceed the pain threshold The team will test the speaker and ensure that its maximum volume does not exceed the pain threshold Drone Avoids Collisions Description The drone shall fly in such a manner to avoid pedestrians or objects Testing Approach The team will send the drone to look up and item and have obstacles preplaced The team will see if the drone follows its programming and avoids the obstacles to go to its objective 42 Ground Control System Test Plan Sherpa Drone 5 4 6 5 4 7 Altitude Control Description The system shall control its flight altitude to avoid hazards to customers or the environment The flight altitude shall be set in the initial configuration of the product for a store At this time the altitude shall be limited to a single level i e a store with two floors would require separate drones for each floor Testing Approach The team will ensure that the drone stays on a single level by sending it to look up an item and measuring any variance in height Down Draft Description The system shall be designed so that rotor down draft does
48. r console from access by the customer by using a special code or sequence to bring up the log in page Reasoning Future requirement never expected to be tested 48 Ground Control System Test Plan Sherpa Drone 7 Testing Approaches This section details the methodologies the team will use to test the Sherpa Drone This includes the strategies and tools the team will use for testing as well as the core functionality that must function to deliver the system and the metrics the team will use to determine if a test has passed 7 1 Strategy The testing phase of the system will take place both during and immediately after development unit tests will be performed while writing code or shortly after it is complete and will be used to iron out immediately apparent issues with the code Towards the end of development additional testing will be performed to catch integration bugs or other subtle bugs not found during development Hardware items will be tested as they arrive from our suppliers Some components will have to be combined in order to test that they function as expected This process will be done as soon as the parts become available to catch hardware that does not perform as expected so that other hardware can be ordered as replacements 7 2 Tools The team will use a variety of tools for testing the system including JUnit SQLUnit Excel spreadsheets Manual integration test cases SciPy simulations 7 3 Core Functionality
49. ranslating appropriate requests into specific queries Sensor Input The Sensor Input Layer is responsible for monitoring and communicating the status of system sensors Some sensors are mounted on the drone and others are placed around the store One set of store sensors use Infrared to detect the drone s position based on its onboard Infrared emitter Another set of onboard sensors use ultrasonic to monitor proximity while the drone is in flight One sensor on the drone and one sensor on the base station coordinate to line up landings after a mission Another drone sensor monitors its power level All of these sensors will have standardized input based on manufacturer specifications This layer will mediate the standard inputs and send appropriate status reports to Drone Processing Drone Processing The Drone Processing Layer controls the navigation and control of the drone as it navigates the store It uses input from the Sensor Input Layer to monitor the drone s location and activate obstacle avoidance if necessary It uses instructions from the Client Processing Layer about where to go and sends back simple data about the status of the drone Navigation commands call to the Drone Hardware Output Layer to tell it to activate the drone s hardware components April 8 2015 14 Ground Control System Test Plan Sherpa Drone 2 2 8 Drone Hardware Output The Drone Hardware Output Layer is responsible for the physical systems that keep the drone
50. re fast enough ER software utilize the Pi R3 Mise domes los The vining comes lose ae Ensure the wiring is during testing secure Th llers b B Itipl f R4 Propellers break e i S Ge Low SE during the testing the propellers f The signal from the Come up with an S Nodes fail t R5 Ke Ge SE nodes fails to reach the High alternate way for the communicate base station node to communicate Base Station fails to The drone fails to receive The drone goes to the R6 communicate with any information from the Medium designated safe zone Drone base station April 8 2015 36 Ground Control System Test Plan Sherpa Drone 5 Features To Be Tested This section details the requirements and features that will be implemented in the final project and the Testing criteria that will be used to ensure full usability 5 1 Customer Requirements 5 1 1 5 1 2 5 1 3 April 8 2015 Search By Name Description The system shall allow a customer to type in the name of an item to search for at the kiosk Testing Approach The team will turn on the system and input names of items located in the database The team will check the results against the actual contents of the database and test if it will return all the proper results Search By Category Description The system shall allow a customer to select an item from the search list based on category at the kiosk This will provide them with a list of all items in the store in that ca
51. s user input through the touchpad and updates the display as necessary The Client Presentation Layer is responsible for search functionality standard output for all users and administration interfaces The graphical user interface will mediate all functionality of this layer acting as the public interface of the system It sends any processing tasks to the next layer down the Client Processing Layer Client Processing The Client Processing Layer handles all requests from the Client Presentation Layer It has specific calls that can be made to set off processes for most of the use cases of the system These include searching for items adding items to the store and adding shelves to the layout In addition it will handle the initial set up of the store It needs to talk to the Data Storage Layer for information on the items and store and has to send requests to Drone Processing to start drone navigation It also listens for messages from Drone Processing such as when the drone completes a search or runs out of power Data Storage The Data Storage Layer maintains the information on stores item locations and paths necessary for efficient system execution Information on item locations captures data such as location price category and stock Information on the store includes exact layout This layer stores a path to each item as a series of waypoints All information functions in this layer are controlled by a database manager responsible for t
52. se an immediate hazard to person or property Reasoning Time and cost constrains do not allow testing of this feature 6 5 Maintenance and Support Requirements 6 5 1 April 8 2015 Drone Maintenance Description Standard maintenance of the drone such as checking for damaged parts will be included in the User Manual The Ground Control team will train technicians to take over maintaining the system after completion of the project If a software update is needed for the drone the trained technicians will complete installation Reasoning No team of technicians will take over for the project 47 Ground Control System Test Plan Sherpa Drone 6 5 2 6 5 3 Kiosk Maintenance Description Standard maintenance of kiosk will be included in User Manual The Ground Control team will train technicians to take over maintaining the system after completion of the project For software updates administrators will be able to download the update onto a flash drive and install it on the kiosk Reasoning No team of technicians will take over for the project Trouble shooting Guide Description The troubleshooting guide will include solutions to commonly detected problems discovered during system testing and from users of the Sherpa Drone Reasoning No team of technicians will take over for the project 6 6 Other Requirements 6 6 1 April 8 2015 Protected Administrator Console Description The system will hide the administrato
53. send send to data storage to data storage i Fail to transmit result to Return results of changes scene generator to scene generator U8 Location Management Accept admin command Fail to accept command or for location changes and send to data storage Request path object of path finding for new locations Return results of changes to scene generator send to data storage Fail to request new path or supply information Fail to transmit result to scene generator April 8 2015 53 Ground Control System Test Plan Sherpa Drone U9 Path Finding Accept path request Fail to parse request Return path object with Fail to return a path object waypoints for location with waypoints U10 Database Manager Accept requests for store Fail to accept requests for state information state information Return objects with result Fail to return correct result Update state as Fail to update state commanded UI Proximity Sensor Detect objects within range Does not detect objects and relay signal within range or does not relay signal U12 Inertial Measurement Unit Detects change to Fails to detect change in acceleration in X Y and Z acceleration in any directions direction U13 Infrared Sensors Detects relative position of Detect incorrect or null drone in store position of drone in store Ul4 Power Sensor Take accurate reading of Fail to accurately monitor power remaining in battery ba
54. t to corrupted orientation Flight Dynamics without ertor Fails to transmit data to Flight Dynamics C10 Infrared Sensors Transmits drone position Transmits incorrect or measurements to Flight corrupted position Dynamics without error Fails to transmit position Cll Power Sensor Transmits accurate data on Transmits incorrect battery remaining battery life to life to Status Status Fails to transmit battery life C12 Object Avoidance When given the object Fires interrupt when object avoidance requirement distance is greater than fires interrupt to the Flight specification Dynamics to assume control Fails to fire interrupt when an object is within distance C13 Flight Dynamics Integrates signals from Fails to accept any signal object avoidance from other modules navigation VTOL Fails to accept interrupts from other modules C14 Drone Control Integrates signals from Fails to integrate any signal infrared sensors and power Fails to provide a waypoint Interprets waypoint data to to Flight Dynamics find next flight waypoint Provides incorrect waypoint to Flight Dynamics C15 Motor Control Accepts motor vectors Fails to accept motor from Flight Dynamics vectors April 8 2015 58 Ground Control System Test Plan Sherpa Drone C16 Light Sound Accepts Status signal for activation Fails to accept signal for activation Maintains activation beyond specification 8 4 Integration Tests Table 8 4 Integration
55. tance H6 5V to 3 3V DC 5 volts 3 3 volts Test voltage Medium Converter levels on either side of converter while active April 8 2015 21 Ground Control System Test Plan Sherpa Drone H7 6 axis IMU Change to Array of float Adjust X Y Z Critical physical accelerations in orientation of the orientation of X Y Z and the IMU at differing sensor or its gyroscope accelerations and speed reading observe output H8 WiFi Transceiver Signal to transmit Radio frequency Transmit a Medium over WiFi signal predetermined frequency signal across the transceiver and verify integrity at the other end H9 Infrared Emitter Positional signal Distance from Place emitter and Medium emitter to receiver at known infrared receiver distances and verify the output of the emitter H10 RGB LED Signal directing Light activation Send signal for Low which lights to light activation activate and verify that such occurs H11 2212 930KV Input speed Rotation at speed Input signals for Critical Brushless Motor command various speeds and verify motor activates as commanded H12 Raspberry Pi Power System boots and Apply power to Critical Model B runs startup the system and software observe response through monitor interface April 8 2015 22 Ground Control System Test Plan Sherpa Drone 3 2 Unit Tests Table 3 2 Unit Tests Test ID Module Input Output Test Priority Ul Search Event User touc
56. tegory that they can browse to select Testing Approach The team will turn on the system and input a category into the search bar The team will test all the categories available in the system Follow Drone Description The system shall allow a customer to follow a drone around the store towards the desired item location The drone must fly at a reasonable pace and travel a path that the customer can follow without difficulty Testing Approach The team will input the name of an item into the kiosk and send the drone out to find the item The team will then follow the drone to ensure that it is flying at an appropriate speed 37 Ground Control System Test Plan Sherpa Drone 5 1 4 5 1 5 5 1 6 5 1 7 April 8 2015 Open Administrator Console Description The system shall allow an administrator to log in with a password to a special menu at the kiosk in order to add remove and move items in the store Testing Approach The team will turn on the system and log into the administrator console If there is no response the test will be considered a failure Manage Items in Inventory Description The system shall allow an administrator to add and modify items to the store with their name category and location at the kiosk This will include adding a new category if none exists that works for this item Testing Approach The team will turn on the system and log into the administrator console Then the team will try to add
57. the override command to Flight Dynamics when an object is placed closer than the critical threshold before the drone U16 Flight Dynamics IMU and Motor speed Supply the Critical positional vectors vectors module with virtual IMU and positional vectors Verify that the motor speed vectors reflect appropriate flight April 8 2015 25 Ground Control System Test Plan Sherpa Drone U17 Navigation Current waypoint from Status and current position from Infrared sensors Speed and direction to travel Supply a waypoint and position to module Verify that speed and direction are consistent with safe travel to that waypoint Critical U18 VTOL Infrared sensor landing distance Direction and speed to travel Supply the module with distance to landing and verify its directions for landing High U19 Status Waypoints from kiosk and power level of battery Current waypoint to travel to Supply the module with waypoint and power level data Verify that waypoints are sent in appropriate order and integrity Critical U20 Motor Control Float array of Cartesian direction and speed Pulse width Modulation signal to motor Given the Cartesian direction and speed test that the PWM signal remains within safety tolerance and coordinates action between the four motors Critical U21 Light Control Character representation Physical l
58. tion Drone circuitry including the control board will be housed entirely out of sight of the customer Reasoning Prototype is not expected to fully meet this requirement Drone Wires Description Drone will enclose most wires from customer vision The only acceptable exposed wires are those to the motors and from the batteries Reasoning Prototype is not expected to fully meet this requirement 46 Ground Control System Test Plan Sherpa Drone 6 3 Performance Requirements 6 3 1 Max Items Per Trip 6 3 2 Description The system will require that users specify no more than an allotted number of items per guidance operation This number will be set by the administrator as part of system set up Customers who wish to follow the drone to more items must return to the base station and complete another request This limit will prevent a single customer request from monopolizing the use of the drone Reasoning Time constrains do not allow testing of this feature Base Station Charging Description The drone will execute a landing on the base station in the correct orientation to charge If unable to charge it will attempt a second landing If this landing fails the drone will land on the base station and notify the administrator Reasoning Time constrains do not allow testing of this feature 6 4 Safety Requirements 6 4 1 Damage Avoidance Description The system shall be designed to fail safely Damaged parts shall not po
59. tion subsystem sends data to show in the GUI to the Display subsystem UI3 The User Interaction subsystem sends a series of X Y coordinate waypoints that the drone would need to follow to reach the desired position to the Drone Control subsystem All The Admin Interaction subsystem sends a new point to navigate to with X and Y values to the Path Finding subsystem AR The Admin Interaction subsystem sends data to show in the GUI to the Display subsystem AI3 The Admin Interaction subsystem sends data for queries to the Database Manager subsystem to pull or store from the database based on the method call PF1 The Path Finding subsystem sends a series of X Y coordinate waypoints that the drone would need to follow to reach the desired position to the Admin Interaction subsystem DM1 The Database Manager subsystem sends objects containing the information requested to the Admin Interaction subsystem DM2 The Database Manager subsystem sends a formatted query to the physical Data Storage DM3 The Database Manager subsystem sends objects containing the information requested to the User Interaction subsystem DS1 The physical Database Storage returns data from the request to the Database Manager subsystem April 8 2015 13 Ground Control System Test Plan Sherpa Drone 2 2 3 2 2 4 2 2 5 2 2 6 2 2 7 Client Presentation The Client Presentation Layer controls the appearance and execution of code on the user kiosk It accept
60. ttery level U15 Object Avoidance Trigger object avoidance Fail to trigger object override when signal avoidance override received for object U16 Flight Dynamics Receive command for Create incorrect or null movement and create flight vector for flight vectors U17 Navigation Combine data from Fail to correctly combine infrared sensors and waypoints from status Calculate discrete steps for drone flight data from sensors and status Fail to calculate correct discrete steps for flight April 8 2015 54 Ground Control System Test Plan Sherpa Drone U18 VTOL Send signal to flight Fail to take control of flight dynamics module for dynamics during landing control Fail to supply correct Supply flight dynamics landing or take off with landing or take off information data U19 Status Accept waypoints from Fail to receive waypoints Client Processing from Client processing Monitor signal from Power Fail to monitor power level Sensor and prohibit flight when low Notify navigation to begin flight Fail to notify navigation to begin fly Return status to client processing Fail to relay drone status in flight U20 Motor Control Accept flight vectors Fail to receive flight vectors Activate all four motors as commanded Fail to activate any motor as specified U21 Light Control Translate signal into Fail to activate lights for flashing lights duration U22 Speaker Control Translate signal into sound F
61. urn After Completion of e 3 7 y S S 5 4 Guidance Base Landing Upon x D D 5 5 Completion 8 1 Configuration of Store D D D D X 8 2 Date Storage X X x April 8 2015 18 Ground Control System Test Plan Sherpa Drone 3 Test Items This section covers the steps necessary to test the product from unit to system levels Testing begins with individual hardware components for the drone Next the team unit tests each module within the system on both client and drone sides These aggregate into the component tests at the module level Modules combine during integration testing at the layer level Finally the team completes overall system validation April 8 2015 19 Ground Control System Test Plan Hardware Testing Raspberry Pi2 M Unit Testing Drone Launch Component Testing Integration Testing System Validation Raspberry Pi Touch Screen Electronic Speed Controllers LiPo Battery Ultrasonic Sensors 5V to 3 3V Converter 6 axis IMU WiFi Transceiver Infrared Recievers RGBLED Brushless Motor Raspberry Pi B Drone Land Drone Turn Drone Forward Flight Search Event Handler Admin Event Handler item Location Search Management Admin Login Menu item Management Location Management Path Finding Database Manager Drone Flight Client Presentation Pr Admin Console Display BECH Admin Interact
62. y Displayed result matches Displayed result is the database result or status corrupted update Scene activates with null or Scene activates with result incorrect results C4 User Interaction User request transmits to Request fails to reach database manager database manager Database manager returns Database manager returns correct tuples corrupted or null tuple c5 Admin Interaction Admin request transmits to Request fails to reach database manager database manager Database manager returns Database manager returns correct state corrupted or null tuple C6 Path Finding Path item consists of Path item does not specify waypoints that use open each step of path store space and customer cai follow Path item returns null Path item traverses a blocked location C7 Data Storage Database manager Database manager fails to implements changes to maintain state database state as requested Manager fails to commit Database manager returns changes to state status message or result Database returns incorrect tuple status or tuples C8 Proximity Sensor Transmits object distance Transmits incorrect or measurement to Object Avoidance without error corrupted object distance measurement Fails to transmit data to Object Avoidance April 8 2015 57 Ground Control System Test Plan Sherpa Drone C9 Inertial Measurement Unit Transmits drone Transmits incorrect or orientation measuremen

System Test Plan - cse services - The University of Texas at Arlington

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