Artificial IntelliscentsRobot Chemotaxi

Mathew Davison Bobby HarkreaderDavid Mackey Dhivya Padmanbhan

Contents

ProblemGoalDesignAnalysisProject Management

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 FindingActivated when low concentration

readings detectedScan a wide area by navigating in an

increasing pentagonal pattern

Chemotaxis: Plume Tracking

Chemotaxis: Source IdentificationActivated 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

Overview

Goal and ObjectivesProject designDesign ValidationProject Management

Questions?