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Artificial Intelliscents Robot Chemotaxi

Mathew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan. Artificial Intelliscents Robot Chemotaxi. Contents. Problem Goal Design Analysis Project Management. Problem. Chemical spills have proven fatal

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Artificial Intelliscents Robot Chemotaxi

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  1. Mathew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial IntelliscentsRobot Chemotaxi

  2. Contents • Problem • Goal • Design • Analysis • Project Management

  3. Problem • Chemical spills have proven fatal • Long response time in locating chemical spills • Human sense of smell inadequate • Difficult and expensive to use detection animals

  4. Need Statement There is a lack of affordable, effective, autonomous systems to detect and contain chemical spills with minimum response time and damage

  5. Objectives • Build an autonomous robot • Chemical sensor will direct the robot towards contaminant • Good response time in the controlled demonstration environment which has dimensions of 5x5 m. • It will navigate within 50cm of the spill location

  6. Objectives • Signal alert system including audio and visual components • Able to navigate a laboratory environment • Meet safety requirements • Quickly deployable defined as 1 minute

  7. Testable Requirements • Autonomous system • Deployed within 1 minute • Function in a laboratory environment • Alert systems being activated within 50 cm of source • Measure response time of Chemotaxis

  8. Alternative Solutions • Orientation – Anemometer vs Internal Mapping • Plume Tracking – Gradient, Insect inspired approaches, geometric approaches • Plume Localization – Random Walk, Markov Chain, Viterbi • Source Identification – Geometric, Surge and Cast

  9. System level design • Chemotaxis: Plume finding; plume tracking; source identification • PID interfacing • Obstacle avoidance: Sonar; Wall following; Bumper detection • Alert system

  10. Chemotaxis: Plume Finding • Activated when low concentration readings detected • Scan a wide area by navigating in an increasing pentagonal pattern

  11. Chemotaxis: Plume Tracking

  12. Chemotaxis: Source Identification • Activated by plume tracking algorithm when high threshold concentration reached

  13. PID Interfacing • 3 pin interface with iRobot Command module ePort • Open Analog channel and record data into pre-defined 16-bit register ADC • Signal voltage converted to digital representation between 0 and 1024.

  14. Obstacle avoidance • Sonar device, bumper detection • Obstacle avoidance algorithm • Customized obstacle avoidance for each Chemotaxis algorithm

  15. Alert System • Activated by source identification algorithm • Audible alert via speaker • Visual alert via LEDs on command module and iRobot create

  16. Validation Plan • Plume finding test • Plume tracking test • Source identification test • Chemotaxis algorithms test • Obstacle avoidance test

  17. Project Demonstration • 5x5 m demonstration grid • Chemical spill generated by actively diffusing chemical with heating device, air pump • Generate plume with low-speed fan • Place grid against a wall with 1 obstacle in the plume

  18. Team Task Distribution • Matthew: Testing and Validation, Robot controls, Alert Systems • Bobby: Chemical plume tracking, Obstacle avoidance with plume tracking • David: Sonar device, Obstacle avoidance algorithm • Dhivya: PID sensor interfacing, plume finding, source identification

  19. Project Timeline • March 13 • Mathew :Robotic Navigation; PID Plume Testing • Dhivya: Port Source Identification to Robot • Bobby:Robot-Sonar Interface Port Gradient Algorithm to Robot • David: Implement Sonar Algorithm • March 29 • Mathew: Environmental Tests • Dhivya: Spiral Source Finding Algorithm • Bobby: Robot-Sonar Interface Port Gradient Algorithm to Robot • David: Optimize Chemotaxic Algorithms for Space • April 5 • Mathew: Audio -Visual Alert Integration • Dhivya: Testing-derived Simulations • April 12 • Mathew: Alert - System Integration – April 1 • Dhivya: Obstacle - Plume Finding Algorithm Integration • Bobby: Obstacle – Plume Tracking Integration • David: Obstacle – Source Identification Integration

  20. Societal, Safety and Environmental Analysis • Meet or exceed OSHA standards • Alert systems prevent monetary loss and bodily harm • Promote rechargeable batteries

  21. Concerns and Economics • Enabling safety at chemical spill sites • Avoiding moral issues for using sniffer animals • Manufacturability • Sustainability • Economic viability

  22. Overview • Goal and Objectives • Project design • Design Validation • Project Management

  23. Questions?

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