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Wireless Controlled Toxic Gas Detecting Robot Final Presentation & Demo. Amrinder Chawla , Anurag Kadasne , Saurabh Pandey , Enkuang “Daniel” Wang, Gowtham Tamilselvan , Robert “Kyle” Brown ECE 4007 L03: Prof. Erick Maxwell 7 th December, 2010. Agenda. Project Overview

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wireless controlled toxic gas detecting robot final presentation demo

Wireless Controlled Toxic Gas Detecting RobotFinal Presentation & Demo

AmrinderChawla, AnuragKadasne, SaurabhPandey, Enkuang “Daniel” Wang, GowthamTamilselvan, Robert “Kyle” BrownECE 4007 L03: Prof. Erick Maxwell 7th December, 2010

slide2

Agenda

  • Project Overview
  • Design and Cost Objectives
  • Hardware and Software
  • Results
  • Challenges
  • Schedule and Future Work
  • Project Demonstration
slide3

Project Overview

  • Combines wireless robot navigation and live video
  • Detects and provides feedback of CO concentration in ppm
  • Allows emergency teams to respond to gas leaks
  • Reduces human exposure to CO gas
  • Provides relief materials to the affected
  • Costs $142.98
slide5

Gasbot Setup

mbed microcontroller

Parallax CO Sensor

eBox

iRobot

Remote Computer

Webcam

Safety Kit

slide7

Proposed and Actual Design

eBox

CO Sensor

Camera

Safety Kit

Gas Mask

slide8

Front View of Gasbot

Camera

CO Sensor

eBox

iRobot

slide10

Battery Pack

  • iRobot’s battery provides 16 V input voltage
  • Input voltage stepped down to 5 V using 78HT305 regulator
  • Stepped down voltage provides power to eBox
slide11

eBox OS

  • Windows CE 6.0
  • Learning challenges
  • Failed hard disk
  • TA and Dr. Hamblen helped
slide12

Remote Control GUI

  • Based on the work of Dr Hamblen
  • Can control Robot using WASD keys and P&L for speed
  • Keyboard based for easy operation
slide13

Camera Integration

  • Camera drivers were not compatible initially
  • When it started working, the camera broke (internal circuitry broke off)
  • New camera and compatible software
slide14

Serial Port Integration/Exporting View

  • Serial port – receive data from CO sensor
  • Character buffer
  • View exported using a built-in OS feature. 
  • Export view feature: main factor for system choice
slide15

CO Sensor and VR3 Value

  • VR3 increases as CO level increases
  • VR3 is read from pin TP1
  • Value is transmitted to mbed microcontroller

VR3

slide19

Sending PPM Value to eBox

Serial Breakout Board

  • Calculated PPM is sent from pin 28
  • Value to sent to eBox via serial breakout board
slide20

Sensor Calibration

  • Room temperature condition
  • Set voltage of potentiometer R4 & R3 to approximately 0.8 V
  • R3 – voltage divider (buffered output of sensor)
  • R4 – threshold voltage

R4

R3

slide21

Sensor Testing Methods

  • Butane hair curler – output varies from 50 ppm to few hundreds of ppm
  • CO canister – most accurate method, output ppm closely matches listed ppm (+/- 3 ppm)
  • Butane lighter – smaller range from 30 to 80 ppm
  • Car exhaust pipe – output fluctuates from 60 to 150 ppm
slide22

Result and Accuracy

  • CO canister is best method to measure accuracy
  • When tested with other methods, the ppm value fluctuates
    • Other methods only allow detection of change in ppm
slide23

Safety Kit

  • Designed to maximize space and functionality
  • Used sign foam to build safety kit
  • Used acrylic cover for the back
  • Can hold a full size gas mask with filter and walkie-talkie
slide25

Schedule

Late November – Early December

Mid September – Mid November

Late August – Early September

slide26

Future Work

  • More toxic gas sensors
  • More accurate sensor
  • Different testing modules
  • Rotating platform for camera
  • Netbook instead of eBox
  • Faster Car