Matthew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan Artificial Intelliscents Robotic Chemotaxis

 Problem  Goal  Design  Analysis  Results

 People that work near volatile chemicals need to be alerted to the presence of high concentration levels  Long response time in locating chemical spills  Human sense of smell inadequate  Difficult and expensive to use detection animals Problem Statement

There is a lack of an affordable, effective, autonomous system to detect and contain chemical spills with a minimum response time and damage.

 Chemical sensor will direct the robot towards contaminant  Good response time defined as less than 12 minutes  It will navigate within 60 cm of the spill location and activate alerts  Able to navigate a laboratory environment  Meet safety standards  Quickly deployable defined as 30 seconds

 Create an autonomous system for chemical detection  System should track toward higher concentration levels

 Positive Chemotaxis defined as tracking towards higher chemical concentrations  Performed by an autonomous robot with chemical sensor

Alternative Solutions  Chemical Sensor: PID, MOS  Orientation – Anemometer vs Internal Mapping  Plume Tracking – Gradient, Insect inspired approaches, geometric approaches  Source Identification – Geometric, Surge and Cast

System Level Design

 Functionality of PID sensor  PID characteristics  PID interfacing Chemical Sensor: Photo Ionization Detector

 Activated by plume tracking algorithm when high threshold concentration reached

 iRobot with AtMega 168 microcontroller  Bumper Detection System  Alert system activated by Chemotaxis algorithms  Alerts: Audio tones and Visual LEDs Robot Platform

Demonstration Environment

 VerticalMapping Horizontal Mapping

 Matthew: Robot controls, Alert system, Documentation videos  Bobby: Gradient based plume tracking, Obstacle avoidance with plume tracking  David: Obstacle avoidance, Plume mapping algorithms, Building test environment and PID mount  Dhivya: PID sensor interfacing, Spiral surge plume tracking, Source identification  Team Artificial Intelliscents: Testing and validation Teamwork

 Meet or exceed OSHA standards  Alert systems prevent monetary loss and bodily harm  Use rechargeable batteries and promote proper disposal of batteries

 Enabling safety at chemical spill sites  Avoiding moral issues for using sniffer animals  Manufacturability  Sustainability  Economic viability

 Goal and Objectives  Project Design  Design Validation  Project Management

Questions