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 7th December, 2010

Project Overview

Design and Cost Objectives

Hardware and Software

Results

Challenges

Schedule and Future Work

Project Demonstration

Agenda

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

Project Overview

Gasbot Setup

Remote Computer

Webcam

Safety Kit

eBox iRobot

mbed microcontroller Parallax CO

Sensor

Gasbot Setup

Design Objectives

Objectives StatusLive video streaming Met

Detects concentration of CO MetSafety box for emergency assistance

materials Met

Easy to use Graphical User Interface (GUI) MetPortable and easily navigable device Met

Total cost under allocated budget of $440 MetLive wireless feedback of gas

concentration Met

Proposed and Actual Design

Safety Kit

Gas Mask

CO Sensor

Camera

eBox

Front View of Gasbot

iRobot

eBox

CO Sensor

Camera

Project CostsComponent Actual Cost Cost To

UseBox $150 $0

iRobot $129.99 $0mbed microcontroller $60 $0

Parallax CO Gas Sensor Module

$29.99 $29.99

Safety Box $30 $30Logitech Pro 9000 Camera $40 $0

Glass Stand $2 $0Voltage Regulator $26 $26Connecting Wires $15 $15

Gas Mask $14.99 $14.99Butane Hair Curler/Torch $27 $27

Total Cost $ 524.97 $142.98

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

Battery Pack

Windows CE 6.0

Learning challenges

Failed hard disk

TA and Dr. Hamblen helped

eBox OS

Based on the work of Dr Hamblen

Can control Robot using WASD keys and P&L for speed

Keyboard based for easy operation

Remote Control GUI

Camera drivers were not compatible initially

When it started working, the camera broke (internal circuitry broke off)

New camera and compatible software

Camera Integration

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

Serial Port Integration/Exporting View

CO Sensor and VR3 Value

15

VR3

VR3 increases as CO level increases

VR3 is read from pin TP1

Value is transmitted to mbed microcontroller

Transferring Data from Sensor to mbed

𝑹𝒔

𝑹𝟎=𝑽 𝑪−𝑽 𝑹𝟑

𝑽 𝑹𝟑,𝒘𝒉𝒆𝒓𝒆𝑽 𝒄=𝟓𝑽 .

17

PPM Plot

VC/(VC-VRL) PPM1.5 501 100

0.39 4000.215 10000.09 4000

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.60

500

1000

1500

2000

2500

3000

3500

4000

4500

f(x) = 95.5007032472264 x^-1.54306544971509

VC/(VC-VRL)

PPM

Equation Used to Generate PPM Values

Sending PPM Value to eBox

Serial Breakout Board

19

Calculated PPM is sent from pin 28 Value to sent to eBox via serial

breakout board

Room temperature condition

Set voltage of potentiometer R4 & R3 to approximately 0.8 V

R3 – voltage divider (buffered output of sensor)

R4 – threshold voltage

Sensor Calibration

R3R4

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

Sensor Testing Methods

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

Result and Accuracy

Listed PPM EHS Gasbot % Error36.1 35 38 8.57142950 54 58 7.407407

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

Problems and SolutionsDevice Problem SolutionCOM Port Transferring data Used buffer to show

charactersBattery Pack Not able to provide

power for long timeUsed a switching voltage regulator with higher efficiency

Sensor No testing source Use canister to testiRobot Space Built new connectors/

plexiglass standSerial Breakout Board

Data was not transferred Switched connections for rx and tx pins

Camera Circuitry damaged Replaced cameraCO Sensor Calibration issue Recalibrated using the

eBox

Product Research• eBox setup• Microcontroller• CO sensor• iRobot• Safety Kit

Integration• Wirelessly

controlled robot• Data transfer

between user and robot

• Testing

Finished Product• Final

presentation• Project

demonstration• Final project

report

Schedule

Late August – Early September

Mid September – Mid November

Late November – Early December

More toxic gas sensors

More accurate sensor

Different testing modules

Rotating platform for camera

Netbook instead of eBox

Faster Car

Future Work

Questions?