a collaboration between the uwm’s school of freshwater sciences and metro milwaukee sewer district...
TRANSCRIPT
A Collaboration between the UWM’s School of Freshwater Sciences and Metro Milwaukee Sewer District
Buoyancy Controlled Drifter Robot
Goal: Track Combined Sewage Overflow(CSO) plumes of pollution dumped into Lake Michigan from Milwaukee’s sewer system.
Project: Create a vehicle with the ability to track these plumes via external drag force, sensors, and control over
its buoyancy.
Combined Sewage Overflow Plume from Milwaukee Harbor
Researcher/Designer: Jud RigginsAdvisor: Tom Consi
• Use Archimedes’ Principle to control buoyancy
Drag Force for lateral mobility•
Depth From Pressure Readingsg
The Drifter
Proof of Concept Vehicle
Prototype Field Vehicle
• PID Controller• P: Proportional• I: Integral• D: Derivative
CONTROLLER DESIGN/MODELLING