System Introspection for System Analysis on Mobile Devices

7 EvaluationIn the previous chapters a system was described <strong>for</strong> system introspection, observingand analyzing log files. The system was successfully attached to thesoftware of the ToBI plat<strong>for</strong>m and allows a deeper insight of the internal processof different components at runtime. To proof the capabilities of the systemand to check if the requirements concerning the influence on the robot and thequality of the data are fulfilled, two different evaluations were per<strong>for</strong>med.Requirement two (see chapter 3) was to exchange data with a minimal delaybetween the time of sending and the time of receiving. The first part of theevaluation deals with the latency occurring between sending data from theprobe and receiving it on the client side. The goal was to measure if differentfrequencies of sending the data will influence the latency or even result in aconnection loss. Also the influence of different payloads is checked (e.g. acomponent presenting its data by an array of 5000 elements).The second part of the evaluation was per<strong>for</strong>med to check requirement 8: Minimuminfluence on the robot (see chapter 3). The evaluation measures theadditional load on the system when the probe is attached and active. Thegoal is to check if observing the different components result in influence onthe normal per<strong>for</strong>mance of the robot (e.g. robot is interrupted while planningto navigate). For this evaluation the robot runs a predefined course with andwithout the probe attached. Each run measures the load on the CPU of themain laptops controlling the robot.7.1 Preconditions <strong>for</strong> the EvaluationThe designed test series were executed on the ToBI plat<strong>for</strong>m (see chapter 4.1).The probe is installed on a third laptop which is additionally attached to therobot and connected to the network on the plat<strong>for</strong>m. Installed on the thirdlaptop the Openfire-Server (see chapter 4.4) is and used as communicationserver. The client application is installed on a mobile phone and anotherseparate laptop. Both clients are connected wireless to the router of the robot.To assure that all devices are using the same time, all devices synchronized54