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Autonomous Chemotaxis Robot for Chemical Spill Detection and Containment

Develop an efficient autonomous robot with chemical sensors to detect and contain chemical spills quickly, aiming to minimize response time and damage. The project includes design, analysis, and management aspects, focusing on safety, societal impact, and environmental concerns.

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Autonomous Chemotaxis Robot for Chemical Spill Detection and Containment

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  1. Mathew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial IntelliscentsRobot Chemotaxi

  2. Contents • Problem • Goal • Design • Analysis • Project Management

  3. Problem • Chemical spills have proven fatal • Long response time in locating chemical spills • Human sense of smell inadequate • Difficult and expensive to use detection animals

  4. Need Statement There is a lack of affordable, effective, autonomous systems to detect and contain chemical spills with minimum response time and damage

  5. Objectives • Build an autonomous robot • Chemical sensor will direct the robot towards contaminant • Good response time in the controlled demonstration environment which has dimensions of 5x5 m. • It will navigate within 50cm of the spill location

  6. Objectives • Signal alert system including audio and visual components • Able to navigate a laboratory environment • Meet safety requirements • Quickly deployable defined as 1 minute

  7. Testable Requirements • Autonomous system • Deployed within 1 minute • Function in a laboratory environment • Alert systems being activated within 50 cm of source • Measure response time of Chemotaxis

  8. 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

  9. System level design • Chemotaxis: Plume finding; plume tracking; source identification • PID interfacing • Obstacle avoidance: Sonar; Wall following; Bumper detection • Alert system

  10. Chemotaxis: Plume Finding • Activated when low concentration readings detected • Scan a wide area by navigating in an increasing pentagonal pattern

  11. Chemotaxis: Plume Tracking

  12. Chemotaxis: Source Identification • Activated by plume tracking algorithm when high threshold concentration reached

  13. 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.

  14. Obstacle avoidance • Sonar device, bumper detection • Obstacle avoidance algorithm • Customized obstacle avoidance for each Chemotaxis algorithm

  15. Alert System • Activated by source identification algorithm • Audible alert via speaker • Visual alert via LEDs on command module and iRobot create

  16. Validation Plan • Plume finding test • Plume tracking test • Source identification test • Chemotaxis algorithms test • Obstacle avoidance test

  17. Project Demonstration • 5x5 m demonstration grid • Chemical spill generated by actively diffusing chemical with heating device, air pump • Generate plume with low-speed fan • Place grid against a wall with 1 obstacle in the plume

  18. 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

  19. 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

  20. Societal, Safety and Environmental Analysis • Meet or exceed OSHA standards • Alert systems prevent monetary loss and bodily harm • Promote rechargeable batteries

  21. Concerns and Economics • Enabling safety at chemical spill sites • Avoiding moral issues for using sniffer animals • Manufacturability • Sustainability • Economic viability

  22. Overview • Goal and Objectives • Project design • Design Validation • Project Management

  23. Questions?

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