1. Smoke Eater Autonomous Fire Fighting Robot By David Morneault EEL 5666 August 3, 2000

2. Robot Presentation Scope of the project Scope of the project Reasons for choosing this project Reasons for choosing this project My approach My approach My accomplishments My accomplishments Developments for the future Developments for the future

3. Introduction If a fire starts in an industrial setting such as a warehouse how can it be eliminated in a timely manner? If a fire starts in an industrial setting such as a warehouse how can it be eliminated in a timely manner? Cheaper and less damaging than conventional sprinkler systems Cheaper and less damaging than conventional sprinkler systems Extinguish or control industrial fires where human presence is scarce. Extinguish or control industrial fires where human presence is scarce.

4. Integrated System Motorola 68HC11 microprocessor Motorola 68HC11 microprocessor  8 analog input ports  4 output ports

5. Diagram of the Integrated System MTJPRO11 With 68HC11 Microprocessor And 32k RAM IR Detector (940nm) Proximity sensor IR Detector (940nm) Proximity sensor IR Detector (940nm) Proximity sensor IR Detector (940nm) Proximity sensor IR Detector (940nm) Proximity sensor Front Center Bumper Front Right Bumper Front Left Bumper Rear Bumper Left MotorRight Motor UV Tron Flame Detector Servo Controls nozzle Water Pump Extinguishes fires Relay (switch) CdS Cell UV Tron amplifier

6. Mobile Platform Round body Round body  Easy to maneuver, won’t get caught on corners Wheels are placed in the center Wheels are placed in the center  One caster wheel in the back  Stabilizer bar in the front

7. Actuation Two 100oz./in. hacked servos for the main motors Two 100oz./in. hacked servos for the main motors  Wheel hubs screw into the servo horns for more secure attachment One 22oz./in. servo for moving the nozzle up and down One 22oz./in. servo for moving the nozzle up and down

8. Sensor Suite Flame Detector – UV Tron Flame Detector – UV Tron Proximity Sensor – IR Detectors and Emitters Proximity Sensor – IR Detectors and Emitters Bump Sensors – Switches Bump Sensors – Switches Line detector – CdS cell Line detector – CdS cell

9. UV Tron Detects ultra-violet light Detects ultra-violet light Outputs a digital signal Outputs a digital signal Approx. 6 - 10 feet detection range Approx. 6 - 10 feet detection range Angle of detection is about 35 – 40 degrees Angle of detection is about 35 – 40 degrees

10. Sensitivity Detects ultra-violet light within the range of 185 - 260 nm Detects ultra-violet light within the range of 185 - 260 nm Insensitive to visible light Insensitive to visible light

11. Behaviors Roam through a building using proximity sensors and bump sensors to navigate Roam through a building using proximity sensors and bump sensors to navigate Search for fires every 5 seconds by spinning 360 degrees Search for fires every 5 seconds by spinning 360 degrees If a fire is found then it will proceed to extinguish it for 2 seconds If a fire is found then it will proceed to extinguish it for 2 seconds If the fire is still burning then the robot will move forward and then spray it again. If the fire is still burning then the robot will move forward and then spray it again.

12. Conclusions Mobile Autonomous robot was built to detect and extinguish fires Mobile Autonomous robot was built to detect and extinguish fires This will be less damaging than a sprinkle system would be This will be less damaging than a sprinkle system would be Can control or extinguish fires while help is on the way Can control or extinguish fires while help is on the way

13. Future Developments Improvements Improvements  Aluminum body  CO2 used to extinguish fires

14. The End