matthew davison bobby harkreader david mackey dhivya padmanbhan artificial intelliscents robotic...
TRANSCRIPT
Matthew Davison Bobby HarkreaderDavid Mackey Dhivya Padmanbhan
Artificial IntelliscentsRobotic Chemotaxis
Contents
ProblemGoalDesignAnalysisResults
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
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.
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
Requirements
Create an autonomous system for chemical detection
System should track toward higher concentration levels
Chemotaxis
Positive Chemotaxis defined as tracking towards higher chemical concentrations
Performed by an autonomous robot with chemical sensor
Alternative Solutions
Chemical Sensor: PID, MOSOrientation – Anemometer vs Internal
MappingPlume Tracking – Gradient, Insect
inspired approaches, geometric approaches
Source Identification – Geometric, Surge and Cast
System Level Design
iRobot PlatformChemotaxis Algorithms
Chemical Sensor
Functionality of PID sensorPID characteristicsPID interfacing
Chemical Sensor: Photo Ionization Detector
Plume Tracking: Gradient
Plume Tracking: Spiral Surge
Chemotaxis: Source Identification
Activated by plume tracking algorithm when high threshold concentration reached
iRobot with AtMega 168 microcontroller
Bumper Detection SystemAlert system activated by
Chemotaxis algorithmsAlerts: Audio tones and Visual LEDs
Robot Platform
Plume Mapping: 1D
Demonstration Environment
Plume Mapping: 2D No fan
Vertical Mapping Horizontal Mapping
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
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
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
Concerns and Economics
Enabling safety at chemical spill sites
Avoiding moral issues for using sniffer animals
ManufacturabilitySustainabilityEconomic viability
Overview
Goal and ObjectivesProject DesignDesign ValidationProject Management
Demonstration Video
Questions