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Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

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Page 1: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Matthew Davison Bobby HarkreaderDavid Mackey Dhivya Padmanbhan

Artificial IntelliscentsRobotic Chemotaxis

Page 2: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Contents

ProblemGoalDesignAnalysisResults

Page 3: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

People that work near volatile chemicals need to be alerted to the presence of high concentration levels

Long response time in locating chemical spills

Human sense of smell inadequate Difficult and expensive to use

detection animals

Problem Statement

Page 4: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Need Statement

There is a lack of an affordable, effective, autonomous system to detect and contain chemical spills with a minimum response time and damage.

Page 5: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Objectives

Chemical sensor will direct the robot towards contaminant

Good response time defined as less than 12 minutes

It will navigate within 60 cm of the spill location and activate alerts

Able to navigate a laboratory environment

Meet safety standardsQuickly deployable defined as 30

seconds

Page 6: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Requirements

Create an autonomous system for chemical detection

System should track toward higher concentration levels

Page 7: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Chemotaxis

Positive Chemotaxis defined as tracking towards higher chemical concentrations

Performed by an autonomous robot with chemical sensor

Page 8: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Alternative Solutions

Chemical Sensor: PID, MOSOrientation – Anemometer vs Internal

MappingPlume Tracking – Gradient, Insect

inspired approaches, geometric approaches

Source Identification – Geometric, Surge and Cast

Page 9: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

System Level Design

iRobot PlatformChemotaxis Algorithms

Chemical Sensor

Page 10: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Functionality of PID sensorPID characteristicsPID interfacing

Chemical Sensor: Photo Ionization Detector

Page 11: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Plume Tracking: Gradient

Page 12: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Plume Tracking: Spiral Surge

Page 13: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Chemotaxis: Source Identification

Activated by plume tracking algorithm when high threshold concentration reached

Page 14: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

iRobot with AtMega 168 microcontroller

Bumper Detection SystemAlert system activated by

Chemotaxis algorithmsAlerts: Audio tones and Visual LEDs

Robot Platform

Page 15: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Plume Mapping: 1D

Page 16: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Demonstration Environment

Page 17: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Plume Mapping: 2D No fan

Vertical Mapping Horizontal Mapping

Page 18: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Test Results

Time To First Source Location

0

1

2

3

4

5

6

7

8

9

Algorithms

Tim

e (m

inut

es)

Spiral

Gradient

Time Lapsed

0

2

4

6

8

10

12

14

Algorithm

Tim

e (m

inui

tes)

Spiral

Gradient

Stop Distance From Souce

0

5

10

15

20

25

30

Algorithms

Dis

tanc

e (In

ches

)

Spiral

Gradient

Success of Algorithms

0

2

4

6

8

10

12

spiral surge gradient

Algorithms

Num

ber

of R

uns

Success

Failure

Page 19: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Matthew: Robot controls, Alert system, Documentation videos

Bobby: Gradient based plume tracking, Obstacle avoidance with plume tracking

David: Obstacle avoidance, Plume mapping algorithms, Building test environment and PID mount

Dhivya: PID sensor interfacing, Spiral surge plume tracking, Source identification

Team Artificial Intelliscents: Testing and validation

Teamwork

Page 20: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Societal, Safety and Environmental Analysis

Meet or exceed OSHA standardsAlert systems prevent monetary loss

and bodily harmUse rechargeable batteries and

promote proper disposal of batteries

Page 21: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Concerns and Economics

Enabling safety at chemical spill sites

Avoiding moral issues for using sniffer animals

ManufacturabilitySustainabilityEconomic viability

Page 22: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Overview

Goal and ObjectivesProject DesignDesign ValidationProject Management

Page 23: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Demonstration Video

Page 24: Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

Questions