1. Fire-Extinguishing Autonomous Robot Smokey the Bot Creator: Matthew Bellman Intelligent Machine Design Lab: Spring 2010 Instructors: A. Antonio Arroyo, Ph.D.; Eric M. Schwartz, Ph.D. University of Florida

2. Introduction Fact 1: Fire is dangerous. Fact 2: Human life is not expendable. Fact 3: Robot life is expendable! Therefore, robots should put out fires so human lives are not put at risk.

3. Other Fire-Extinguishing Bots Firebot – UF MIL, 2003 ◦ Line following – CDS cells ◦ Room finding – IR sensors ◦ Flame detection – Camera Marshall – Steven Logreira, UF EEL5934, 1997 ◦ Flame detection – IR sensors Brave Little Roaster – David Meadows, IMDL Fall 2008 ◦ Flame detection – Hamamatsu UVTRON Woody – Timothy Martin, IMDL Spring 2009 ◦ Flame detection – Wii remote (hacked)

4. My Approach

5. Behaviors Obstacle detection and avoidance ◦ Sonar sensors Flame finding ◦ UVTRON Flame tracking ◦ Software algorithm Fire extinguishing ◦ Fans

6. Obstacle Detection & Avoidance Maxbotix LV-EZ1 Ultrasonic Range Finder www.sparkfun.com 2.2 V – 5.5 V, 2 mA typical draw Analog output proportional to distance Distance readings only reliable at 5+ V

7. Flame Location Hamamatsu UV TRON R2868 Flame Detector Hamamatsu UVTRON C3704 Driving Circuit www.hamamatsu.com ON/OFF flame detector Uses photoelectric and gas multiplication effects 400 V supply Supplies 300 V Outputs 5 V square wave with 10 ms pulses

8. Mobile Platform

9. Motor Assembly (a)12vdc Gear Head Motor (b)Sabertooth Dual Channel Motor Controller (c)Motor mounts (d)6 mm Hubs (e)2.5” Diameter Neoprene Foam Wheels www.lynxmotion.com

10. Progress Mobile Platform Construction (100%) Obstacle Detection & Avoidance (90%) ◦ Just integrated 2 more sonar ◦ Need to finish code for 3 sonar Flame Finding (95%) ◦ Able to detect flame from up to 5 meters ◦ Need to implement field of view blocking Flame Tracking (30% - code) Flame Extinguishing (50% - fan)

11. Questions?