2011

Data Analysis Laboratory Report

MMAN3210
8/25/2011

Contents
Description of Purpose And Background.......................................................................................... 3
Theoretical Basis of Data Analysis .................................................................................................... 4
Results ................................................................................................................................................... 6
Conclusion ............................................................................................................................................. 8
Discussion ............................................................................................................................................. 9
Appendix .............................................................................................................................................. 10

Description of Purpose And Background

The aim of this experiment is to analyse the data produced during reception of laser
light from an emitter to a receiver via a reflector. The time difference between pulse
emission and reception is recorded in the computer system. This time difference is
directly proportional to the distance between the receiver and object(time of flight).

Figure 1 Laser Scanner Operation

A full scan covers 1800. A reading is taken every 0.50 giving a total number of 361 counts
per frame. Each of the 361 counts consist of 13 effective bits of integer. If there is no
reflection, then the value provided by the laser is R = 213 -1. This represents an infinite
distance and is the maximum vale the laser can return. The normal values lie between 0
and 213-2 giving a maximum range of 8190 Centimetres. The data is then converted into a
Cartesian coordinate system. The conversion equation are

Figure 2 Laser Scanner- Coordinate System

Theoretical Basis of Data Analysis

Given a data set obtained under fixed conditions, random scatter will occur in the data
values. There exist a number of statistical techniques for the analysis of such a data set.
These techniques provide an effective model for the interpretation of the data.
The first step in analysing the data is too conduct a Least-Squares Regression Analysis.
This allows a polynomial to be plotted against the data set. The regression analysis for a
single variable function is given by the equation :

(3)
The a0 value is determined by the equation

(4)
The a1 value is determined by the equation

(5)
xi = independent variable (input data)
yi = dependent variable (function of x)

A histogram is needed to supply a graphical representation of the discrete set of data. This
can then be characterized by a probability density function.
To plot the histogram of the data set, we must first calculate the number of bins (K).
(4)

A Gaussian distribution is plotted on the same graph with equal standard deviation and
mean values. This is used to compare and contrast between the Normal Gaussian
distribution and the histogram obtained from the dataset.
The Gaussian distribution is given according to the equation:

(5)

Results
1 M 0 DEGREES
95% interval = 1.1014 to 1.1495
Estimated mean = 1.1254 to 1.1256
Estimated variance = 0.000142 <= 0.000145 <= 0.000148
Chi-sq test = 65.126825 < 99.911613 < 117.437499 <---- ACCEPT

Regression : y= 1.13 + 0.01x

8

700

600

count

500

400
300

0
-4

-3

-2

-1

200
100
0
1.04

1.06

1.08

1.1

1.12
y(m)

1.14

1.16

1.18

1.2

1 M 15 DEGREES
95% interval = 1.0291 to 1.2600
Estimated mean = 1.1441 to 1.1450
Estimated variance = 0.003259 <= 0.003333 <= 0.003408
Chi-sq test = 64.348866 < 3365.299316 < 116.390890 <---- REJECT

Regression : y= 1.15 + 0.25x

8

350

300

count

250

200

0
-4

150

-3

-2

-1

100
50
0

1.05

1.1

1.15

1.2
y(m)

1.25

1.3

1.35

1.4

2 M 0 DEGREES
95% interval = 2.0895 to 2.1766
Estimated mean = 2.1328 to 2.1333
Estimated variance = 0.000461 <= 0.000475 <= 0.000489
Chi-sq test = 49.368235 < 49.854332 < 95.876269 <---- ACCEPT

Regression : y= 2.13 + -0.03x

8

400

350

4
300

count

250

200

0
-4

150
100
50
0

2.05

2.1

2.15

2.2

2.25

y(m)

2 M 15 DEGREES

-3

-2

-1

95% interval = 2.0203 to 2.2430

Estimated mean = 2.1311 to 2.1323
Estimated variance = 0.003008 <= 0.003100 <= 0.003196
Chi-sq test = 48.280443 < 688.578857 < 94.355596 <---- REJECT

Regression : y= 2.12 + 0.23x

8

300

250

4
200
count

2
150

0
-4

-3

-2

-1

100

50

0
1.95

2.05

2.1

2.15
y(m)

2.2

2.25

2.3

2.35

4 M 0 DEGREES
95% interval = 4.0689 to 4.2438
Estimated mean = 4.1557 to 4.1570
Estimated variance = 0.001835 <= 0.001911 <= 0.001992
Chi-sq test = 36.044044 < 92.856232 < 76.862645 <---- REJECT

Regression : y= 4.16 + -0.00x

8

300

250

4
200
count

2
150

0
-4

-3

-2

-1

100

50

4.05

4.1

4.15

4.2

4.25

4.3

4.35

y(m)

4 M 15 DEGREES
95% interval = 4.0203 to 4.3187
Estimated mean = 4.1684 to 4.1706
Estimated variance = 0.005340 <= 0.005566 <= 0.005806
Chi-sq test = 35.263962 < 145.414154 < 75.718892 <---- REJECT

Regression : y= 4.15 + 0.25x

8

250

150

100

0
-4

count

200

50

0
3.95

4.05

4.1

4.15

4.2
y(m)

4.25

4.3

4.35

4.4

4.45

-3

-2

-1

Conclusion

Discussion

Appendix
%%
%Giving a choice to select a file from a list
[fn,pn,bn] = uigetfile('*.mat');
% Checking if a file is selected and loads it
if bn>0
load(fn);
end
%%
%Angles in radians
[h,w] = size(X.Scans);
q = linspace(0,pi,w);

%Conversion to cartesian
for k = 1:h
x(k,:) = X.Scans(k,:).* cos(q);
y(k,:) = X.Scans(k,:).* sin(q);
end
%%
% Plotting of the data scans
fig(1) = figure('units','normalized','position',[rand*0.1+0.4 rand*0.1+0.4
0.35 0.35],'color','w');
plot(x,y,'b.');xlabel('x(m)');ylabel('y(m)');
axis([-4 4 0 8]);
%%
z1 = find(fn=='m');
z2 = find(fn=='d');
deg = fn(z1(1) + 1:z2(1) - 1);
set(gcf, 'name', sprintf('Object Inclination = %s(deg)', deg));
%% Make the data select option
waitforbuttonpress;
p1 = get(gca,'CurrentPoint');
finalRect = rbbox;
p2 = get(gca,'CurrentPoint');
title('');
p1=p1(1,1:2);
p2=p2(1,1:2);
if sum(p1==p2)>1,%no selection
title('No data selected');
return
end;
x1
y1
x2
y2

=
=
=
=

p1(1,1);
p1(1,2);
p2(1,1);
p2(1,2);

%selects the min and max x n y

x2min = min(x1,x2);
x2max = max(x1,x2);
y2min = min(y1,y2);
y2max = max(y1,y2);
% Indices for the point inside the selection
z= find((x>x2min & x<x2max) & (y>y2min & y<y2max));
% Plots the regression in different color
xss = x(z);
yss = y(z);
P = polyfit(xss,yss,1);
Py = polyval(P,xss);
plot(x,y,'b.',xss,yss,'r.',xss, Py, 'k-');
title(sprintf('Regression : y= %4.2f + %4.2fx',P(2), P(1)),'color','k');
axis([-4 4 0 8]);
%Histogram part where N is the number of datapoints
figure(2);
[N, t] = size(yss);

K = 1.87 * ((N-1)^0.4) + 1;
% Limits of the data to be plotted
y2min = min(yss);
y2max = max(yss);
zy = linspace(y2min,y2max,K);
%Plots the histogram and Stairs
[hy,iy] = hist(yss,zy); hold on;
stairs(iy,hy);
%Selected data mean
y2mean = mean(yss);
%Selected data Standard Deviation
y2stdev= std(yss);
%Normal distribution of the selected data
Gy = normpdf(iy,y2mean,y2stdev); Gy= Gy/sum(Gy) * N;
%Plotting normal distribution
plot(iy,Gy,'r');
xlabel('y(m)');ylabel('count');

%Generate t tables
Pr = 0.95; t = 1- (1-Pr)/2; v = N-1; tt=tinv(t,v);
% Sxbar Defined here
Sxbar = y2stdev/ sqrt(N);
% High low pair of confidence interval
Conf_intev1 = y2mean + 2 *y2stdev;
Conf_intev2 = y2mean - 2* y2stdev;
% range of the estimated means
Rmean1 = y2mean + t* Sxbar;
Rmean2 = y2mean - t* Sxbar;
% Generating the vertical axis indices from norm distribution
[xx ind]= min(abs(iy-Rmean1));
[xx2 ind2]= min(abs(iy-Rmean2));
% Plotting the estimated mean and confidence interval
plot(Conf_intev1,0,'bd',Conf_intev2,0,'bd','MarkerFaceColor','b');
plot(Rmean1,Gy(ind),'b^',Rmean2,Gy(ind2),'b^','MarkerFaceColor','r');
% Interval of variance
climit_1 = (1-Pr)/2; climit_1 = chi2inv(climit_1,K-1);
climit_2 = 1 - (1-Pr)/2 ; climit_2 = chi2inv(climit_2,K-1);
% Goodness Fit
chi = sum((hy-Gy).^2./Gy);
cfit_1 = (1-Pr)/2; cfit_1 = chi2inv(cfit_1,N-1);
cfit_2 = 1 - (1-Pr)/2; cfit_2 = chi2inv(cfit_2,N-1);
% Estimated range of variance
cv_1 = ((N-1) * (y2stdev^2)) / cfit_1;
cv_2 = y2stdev^2;
cv_3 = ((N-1) * (y2stdev^2)) / cfit_2;
%checking chi of the datapoints to be within chi values with 95% confidence
if chi < climit_1 || chi > climit_2
answer = 'REJECT';

else
answer = 'ACCEPT';
end
% Sorting for printing on the screen
Conf_intmin = min(Conf_intev1,Conf_intev2);
Conf_intmax = max(Conf_intev1,Conf_intev2);
Rmean_min = min(Rmean1,Rmean2);
Rmean_max = max(Rmean1,Rmean2);
A = [cv_1, cv_2, cv_3];
RVar = sort(A);
title(sprintf('95%% interval = %2.4f to %2.4f \n Estimated mean = %2.4f ...
to %2.4f\n Estimated variance = %2.6f <= %2.6f <= %2.6f \n Chi-sq test ...
= %2.6f < %2.6f < %2.6f <---...
%s',Conf_intmin,Conf_intmax,Rmean_min,Rmean_max,RVar(1),RVar(2),RVar(3) ...
,climit_1,chi,climit_2,answer),'color','k');msgbox(answer,'Verify');