# NOVA Mobility Assistive System: Developed and Remotely Controlled with IOPT-Tools
## 6 Tests and Results
In the complete mode, on tests at 100 km/h, with and without a password, the success rate was 80% and 93.3%, respectively (the communication failed in two of the ten tests with a password and failed in one of the fifteen tests without password). In the simple mode, the success rate was always 100%, regardless of the vehicle speed. Figure 16: Results from tests in real road. Subsequently, the NWB prototype implemented in RPi2 was compared with the prototype implemented in RPi3, with regard to their interaction with vehicles. Fifteen tests were made with each prototype. The results are presented in Figure 18. With the RPi2, the average time to search for networks, connect, exchange messages, and disconnect (complete mode without including the time to obtain the GPS coordinates) was 6.101 s; whereas, the average time with RPi3 was 5.759 s. The minimum, maximum, and median times are also presented. The prototypes implemented in RPi3 had better results, as expected. The presented communication times and success rates are acceptable for low-speed vehicles, such as wheelchairs, and even for high-speed vehicles, such as cars, given that: (1) in urban areas at 50 km/h (13.9 m/s) the vehicle travels about 80 m during the communication with RPi3, which is less than the usual outdoor range of a typical Wi-Fi network operating on the 2.4 GHz band [76]; and, (2) roads signs are able to share their data with their neighbors that may provide data to vehicles at a greater distance from the point of interest. However, these results can be significantly improved if high-performance hardware platforms are used, instead of the current ones. The NWB was designed to handle 100 simultaneous connections from vehicles, as shown Petri net place _available_connections_i2v_ from Figure 5; however, the maximum number of simultaneous connections that each NWB (for example a road sign) can handle, changes with the NWB  
Figure 17: Test results of NOVA-WiFi-Beacons (NWBs) interacting with NWCs moving at different speeds. Figure 18: Statistical results of the complete mode tests in RPi2 and RPi3. implementation platform. The ESP8622-01 supports a maximum of four connections at a time; whereas, Raspberry Pi 3 can handle about 15 simultaneous connections. In the NOVA-MAS deployment, more powerful Wi-Fi access points should be used, handling dozens of simultaneous connections, such as usual in Wi-Fi equipment [76]. The interaction between NWBs was also tested with success. Three NWB prototypes (NWB1, NWB2, and NWB3) were used in the tests. The NWB1 and NWB3 could find the NWB2 network and vice-versa, but the NWB1 could not find the NWB3 network, or the opposite. In the performed tests, all of the NWBs were able to directly (for instance NWB3 to NWB2) or indirectly (for instance NWB1 to NWB3 through NWB2) interact. Finally, it is important to note that, during the tests, the NWBs were monitored and controlled though the debugger tool of the IOPT-Tools [34; 35]. The debugger tool is a web-based tool that runs directly on common web browsers. The Petri net models from Figures 13 and 14 are snapshots taken from the browser during the tests. The debugger tool is not only for testing purposes, but also to remotely monitor and control systems execution.