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Artificial IntelliscentsRobot Chemotaxi
Mathew Davison Bobby HarkreaderDavid Mackey Dhivya Padmanbhan
Problem
Chemical spills have proven fatalLong response time in locating
chemical spillsHuman sense of smell inadequate Difficult and expensive to use
detection animals
Need Statement
There is a lack of affordable, effective, autonomous systems to detect and contain chemical spills with minimum response time and damage
Objectives
Build an autonomous robotChemical sensor will direct the robot
towards contaminantGood response time in the controlled
demonstration environment which has dimensions of 5x5 m.
It will navigate within 50cm of the spill location
Objectives
Signal alert system including audio and visual components
Able to navigate a laboratory environment
Meet safety requirementsQuickly deployable defined as 1
minute
Testable Requirements
Autonomous systemDeployed within 1 minuteFunction in a laboratory environmentAlert systems being activated within
50 cm of sourceMeasure response time of
Chemotaxis
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
System level design
Chemotaxis: Plume finding; plume tracking; source identification
PID interfacingObstacle avoidance: Sonar; Wall
following; Bumper detectionAlert system
Chemotaxis: Plume Finding
Activated when low concentration readings detected
Scan a wide area by navigating in an increasing pentagonal pattern
Chemotaxis: Source Identification
Activated by plume tracking algorithm when high threshold concentration reached
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.
Obstacle avoidance
Sonar device, bumper detectionObstacle avoidance algorithmCustomized obstacle avoidance for
each Chemotaxis algorithm
Alert System
Activated by source identification algorithm
Audible alert via speakerVisual alert via LEDs on command
module and iRobot create
Validation Plan
Plume finding testPlume tracking testSource identification testChemotaxis algorithms testObstacle avoidance test
Project Demonstration
5x5 m demonstration gridChemical spill generated by actively
diffusing chemical with heating device, air pump
Generate plume with low-speed fanPlace grid against a wall with 1
obstacle in the plume
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
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
Societal, Safety and Environmental Analysis
Meet or exceed OSHA standardsAlert systems prevent monetary loss
and bodily harmPromote rechargeable batteries
Concerns and Economics
Enabling safety at chemical spill sites
Avoiding moral issues for using sniffer animals
ManufacturabilitySustainabilityEconomic viability