07gr725 Student Report

8/4/2019 07gr725 Student Report

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Worksheet1


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APGS

UAV

Ad hoc

Vision system

Sensor server

Shared memory Control system

Shared memory

Console Visualisation

Unmanned Aerial Vehicle

Ground station

Com. client

Com. server

Other group

Graphical user interface


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. . .

. . .

. . .UAV 1 UAV 2 UAV N

AP 1 AP 2AP N

Secondary GS 1 Primary GS 1 Primary GS 2 Primary GS N

. . .

Secondary GS M


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UAV 1

AP 1

Primary GS 1 Secondary GS 1 Secondary GS 2

UAV 1

AP 1 AP 2

Secondary GS 1Primary GS 1 Primary GS 2

UAV 2


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Console>>

Send commands Controller Estimator Vision

Common data

Gyro 127.553.44

GPS0318017 E

208716 N

UAV 1

Network

Servos


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Worksheet2

Actor

Use Case

System

Module coding

Module testModule design

Module

integrationProcess design

Program designProcess

integration

Specification

requirementAcceptance test


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ProjectElement of the STD

Element of a system used by theSTD (through the root object)

Element of a system notused by the STD


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Root Object

Terminal Object

Terminal Object

Object 1 Object 2 Object 3

Object 4 Object M

Step 1

Step 2 Step 3

Step N


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Object nameObject type

Provided

operations

Internal objects

Used objects

E

Used environmental

objects


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A

A

A

X

YX

Y

Parent

Child 1

Child 2


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Worksheet3


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Set Priority of

Data

Show Data

Send Command

Secondary GS

Initialize

HandoverBroadcast Data

Com. Client

User of Primary

GS

Retrieve Data

Check LinkQuality

Monitor GS

Network

Primary GS

Primary GS

Send Command

Retrieve DataShow Data

Secondary GS

User of Secondary

GS

Set Priority of

Data


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Worksheet4


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A

A

A

System to design

Secondary GS

Primary GS

E Com. client

setpriosetref

setslip

startup basic

startup vision

startup controller

request log file

save settings

command interpreter

load settings

uavCmd

uavData

uavData uavCmd


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P

A Primary GS

P Retrieve data

P Distribute data

GUI

P Check link quality

secGsInfo uavDataAll

initScan

initHandover

linkQualityvalidUavData

uavDataAlluavCommand

validUavData

Com. clientEchar* getValidData( );

char* selectAp( );void initScan( );

int getLinkQuality( );

void sendUavData( );

void initHandover(char *apId);

C Timer

timerInterrupt

timerInterrupt

setprio

setrefsetslip

startup basic

startup vision

startup controller

request log file

save settings

command interpreter

load settings

Secondary GS

start

void startUavDataClient( );

void sendCmd(char *cmd );


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A GUI

setpriosetref

setslip

setSlipsetRefsetPrio

startup basic

startup vision

startup controller

request log file

P Set data priority P Set reference P Set SLIP

Retreive data

P

void saveSettings( );

Save settings P Load settings

P

void sendCmd(char *cmd);

Command interpretervalidUavData

char* createPrioList( );

void guiSetRef(char* ref);

char* createRef( );

void guiSetSlip(char *slip);

char* createSlip( );

void loadSettings( );

P

void sshStartUpBasic( );

Start up

void sshStartUpVision( );void sshStartUpControl( );

P

void retrieveLogFile( );

Request log file

P GUI update

void updateGuiData(QHash hTable);

save settings

command interpreter

char* createCommand( );load settings

sendCommand

void guiSetPrio(char *prioList);

P

void convToHashT(char *uavData);

Convert data


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C

A Secondary GS

GUIsetprio

setref

setslip

setSlip

setRefsetPrio

shmDataReady

Primary GS

C Receive data

uavDataValid

void connectToPrimary( );

void sendCmd(char *cmd);

setSlip

setRefsetPrio

save settings

command interpreter

load settings

setprio

setref

setslip

save settings

command interpreter

load settings


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Worksheet5


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Worksheet6


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Worksheet7

AP 1 AP 2

BSS 1 BSS 1

ESS

MN 2MN 1


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Data

Time

AP(old) AP(new)MN

Probe Request 1

Probe Response 1

Authentication Request

Authentication Response

Reassociation Response

Reassociation Request

Data

Probe Request 14

Probe Response 14ScanRequest

Association

Probe Request 1

Probe Response 1

Probe Request 14

Probe Response 14Authentication


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Worksheet8

AP 1

GS 1

UAV laptop

AP 2

GS 2


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init_listen()

!end

s=socket()bind()

close(sa)close(s)

sa=accept(s)

!end

yesno

yesno

recv(sa) store_data()

listen(s)


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init_talk()

i


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Time

ACK

FIN, AC

K

ACK

FIN, ACK

UAV GS


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Time

GS 2AP(old) AP(new)UAV

Wait1

Authentication Request

Authentication Response

Reassociation Response

Reassociation Request

GS 1

ScanRequest

Data

TCP Connection

Release

Data

TCP 3-way handshake

Probe Request 1

Probe Response 1

Probe Request 14

Probe Response 14

Probe Request 1

Probe Response 1

Probe Request 14

Probe Response 14 AuthenticationAssociation

Wait2

MACaddressandfrequencyset

X

p(x) = ex ,


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50 55 60 65 70 75 800

5

10

15

20

Time [ms]

Numberofhandovers

3070 3080 3090 3100 3110 31200

5

10

15

20

Time [ms]

Numberofhandovers

=1

.

=

1n

n1

xi1

.

xmin X X

=

1

n

ni=1

xi xmin1

= 0.213 ,

xmin

2n

P

2n

i=1 xi

2/2,2n< a .

2

X = =ni=1

xi

n= 69.07

S = n

i=1

(xi

X)2

n 1 12

= 15.98


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0 50 100 1500

0.005

0.01

0.015

0.02

0.025

x, Time [ms]

Probabilityp(x)

0 50 100 150 2000

0.005

0.01

0.015

0.02

0.025

x, Time [ms]

Probabilityp(x)

Gaussian Distr.

Upper Limit for Gaussian Distr.Lower Limit for Gaussian Distr.

P

X + t/2,n1

Sn

< < X t/2,n1S

n

= 1 .

X

(63.74, 74.40) .

F(X) = P(X x) =x

12

e

(x)2

22 dx = 0.95 ,

= 74.40 = S

100.69 ms > 73.66 ms


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0 50 100 1500

0.005

0.01

0.015

0.02

0.025

x, Time [ms]

Probabilityp(x)


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Worksheet10


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Worksheet11


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3.85 3.9 3.95 4 4.05 4.1 4.150

5

10

15

20

25

Frequency [Hz]

Numberofsam

ples

X S

X =ni=1

xi

n= 4.001

S =

ni=1

(xi X)n 1

12

= 0.0483


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3.85 3.9 3.95 4 4.05 4.1 4.150

5

10

15

20

25

Frequency [Hz]

Numberofsamples

X S

X =ni=1

xin

= 4.002

S =

ni=1

(xi X)n 1

12

= 0.0693


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Documents

07gr725 Student Report