Mathew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan

 Problem  Goal  Design  Analysis  Project Management

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

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

 Build an autonomous robot  Chemical sensor will direct the robot towards contaminant  Good response time in the controlled demonstration environment which has dimensions of 3 x 3.  It will navigate within 50cm of the spill location

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

 Performing plume tracking using gradient based algorithm  Performing plume tracking using spiral surge algorithm  Using wide area navigation instead of E-coli algorithm for plume finding  Using single sonar device as opposed to multiple

 iRobot Create Robotics Platform  Baseline-MOCON piD-TECH photoionization sensor  Parallax PING))) Sonar Proximity Sensor  ATMega168 microcontroller with 10bit ADC

 Activates within 1’ of source  Audible alert via speaker  Visual alert via LEDs

While not at source if current sensor reading is an improvement on previous sensor reading then rotate ± random(5 ◦ ) and move forward m units ± random(0.05m) else rotate ± random(180 ◦ ) and move forward m units ± random(0.05m)

While in motion Poll Sonar 10 times compute average if distance to obstacle < 20’’ then rotate 30 ± random(5 ◦ ) else run chemical location algorithm

 Apply concept of contingency through testing process  Testing Criteria  Success Rate ▪ Obstacle Avoidance ▪ Navigating within 1’ of source  Total Response Time  Alert System

Item NameVendorNeedCost ($) iRobot Create® Premium Development Package iRobot.com [Microsoft] Item Number: 4412 The iRobot will serve as the robot platform for the chemotaxis 229 piD- plus Black Label, Plug-In PID Sensor 0.05ppm to 2,000ppm - w/10.6ev Lamp Baseline-Mocon Inc Part No. ZPP The piD- sensor will be mounted on the robot to detect and relay feedback on the location of the chemical to be sensed 540 Rubbing Alcohol 16 fl ozWal-MartThe chemical that will be detected by the chemotaxis. Multiple bottles will be purchased for testing needs during project development 3.05*3 Ultra-Sonic Range FinderRadio Shack Model: Catalog #: It will be used in obstacle navigation by the robot Total Cost811.14

 Bobby: Software Development and Finance Management  Dhivya: Hardware design and research  Matthew: Hardware and Software Integration  David: Team Leader, Documentation, System Design

 Area Experts delegate responsibility and enforce accountability  Tasks delegated based on skills and interests  Open and regular communication  Regular meetings to brainstorm and track progress

 Meet or exceed OSHA standards  Alert systems prevent monetary loss and bodily harm  Promote rechargeable batteries

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