1. Mathew Davison Bobby Harkreader David Mackey Dhivya Padmanbhan

2.  Problem  Goal  Design  Analysis  Project Management

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

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

5.  Build an autonomous robot  Chemical sensor will direct the robot towards contaminant  Good response time in the controlled demonstration environment which has dimensions of 5x5 m.  It will navigate within 50cm of the spill location

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

7.  Autonomous system  Deployed within 1 minute  Function in a laboratory environment  Alert systems being activated within 50 cm of source  Measure response time of Chemotaxis

8.  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

9.  Chemotaxis: Plume finding; plume tracking; source identification  PID interfacing  Obstacle avoidance: Sonar; Wall following; Bumper detection  Alert system

10.  Activated when low concentration readings detected  Scan a wide area by navigating in an increasing pentagonal pattern

12.  Activated by plume tracking algorithm when high threshold concentration reached

13.  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.

14.  Sonar device, bumper detection  Obstacle avoidance algorithm  Customized obstacle avoidance for each Chemotaxis algorithm

15.  Activated by source identification algorithm  Audible alert via speaker  Visual alert via LEDs on command module and iRobot create

16.  Plume finding test  Plume tracking test  Source identification test  Chemotaxis algorithms test  Obstacle avoidance test

17.  5x5 m demonstration grid  Chemical spill generated by actively diffusing chemical with heating device, air pump  Generate plume with low-speed fan  Place grid against a wall with 1 obstacle in the plume

18.  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

19.  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

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

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

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