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Wireless Controlled Toxic Gas Detecting Robot Final Presentation & Demo

Wireless Controlled Toxic Gas Detecting Robot Final Presentation & Demo. Amrinder Chawla , Anurag Kadasne , Saurabh Pandey , Enkuang “Daniel” Wang, Gowtham Tamilselvan , Robert “Kyle” Brown ECE 4007 L03: Prof. Erick Maxwell 7 th December, 2010. Agenda. Project Overview

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Wireless Controlled Toxic Gas Detecting Robot Final Presentation & Demo

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  1. Wireless Controlled Toxic Gas Detecting RobotFinal Presentation & Demo AmrinderChawla, AnuragKadasne, SaurabhPandey, Enkuang “Daniel” Wang, GowthamTamilselvan, Robert “Kyle” BrownECE 4007 L03: Prof. Erick Maxwell 7th December, 2010

  2. Agenda • Project Overview • Design and Cost Objectives • Hardware and Software • Results • Challenges • Schedule and Future Work • Project Demonstration

  3. Project Overview • Combines wireless robot navigation and live video • Detects and provides feedback of CO concentration in ppm • Allows emergency teams to respond to gas leaks • Reduces human exposure to CO gas • Provides relief materials to the affected • Costs $142.98

  4. Gasbot Setup

  5. Gasbot Setup mbed microcontroller Parallax CO Sensor eBox iRobot Remote Computer Webcam Safety Kit

  6. Design Objectives

  7. Proposed and Actual Design eBox CO Sensor Camera Safety Kit Gas Mask

  8. Front View of Gasbot Camera CO Sensor eBox iRobot

  9. Project Costs

  10. Battery Pack • iRobot’s battery provides 16 V input voltage • Input voltage stepped down to 5 V using 78HT305 regulator • Stepped down voltage provides power to eBox

  11. eBox OS • Windows CE 6.0 • Learning challenges • Failed hard disk • TA and Dr. Hamblen helped

  12. Remote Control GUI • Based on the work of Dr Hamblen • Can control Robot using WASD keys and P&L for speed • Keyboard based for easy operation

  13. Camera Integration • Camera drivers were not compatible initially • When it started working, the camera broke (internal circuitry broke off) • New camera and compatible software

  14. Serial Port Integration/Exporting View • Serial port – receive data from CO sensor • Character buffer • View exported using a built-in OS feature.  • Export view feature: main factor for system choice

  15. CO Sensor and VR3 Value • VR3 increases as CO level increases • VR3 is read from pin TP1 • Value is transmitted to mbed microcontroller VR3

  16. Transferring Data from Sensor to mbed

  17. PPM Plot

  18. Equation Used to Generate PPM Values

  19. Sending PPM Value to eBox Serial Breakout Board • Calculated PPM is sent from pin 28 • Value to sent to eBox via serial breakout board

  20. Sensor Calibration • Room temperature condition • Set voltage of potentiometer R4 & R3 to approximately 0.8 V • R3 – voltage divider (buffered output of sensor) • R4 – threshold voltage R4 R3

  21. Sensor Testing Methods • Butane hair curler – output varies from 50 ppm to few hundreds of ppm • CO canister – most accurate method, output ppm closely matches listed ppm (+/- 3 ppm) • Butane lighter – smaller range from 30 to 80 ppm • Car exhaust pipe – output fluctuates from 60 to 150 ppm

  22. Result and Accuracy • CO canister is best method to measure accuracy • When tested with other methods, the ppm value fluctuates • Other methods only allow detection of change in ppm

  23. Safety Kit • Designed to maximize space and functionality • Used sign foam to build safety kit • Used acrylic cover for the back • Can hold a full size gas mask with filter and walkie-talkie

  24. Problems and Solutions

  25. Schedule Late November – Early December Mid September – Mid November Late August – Early September

  26. Future Work • More toxic gas sensors • More accurate sensor • Different testing modules • Rotating platform for camera • Netbook instead of eBox • Faster Car

  27. Questions?

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