Amrinder Chawla, Anurag Kadasne, Saurabh Pandey, Enkuang “Daniel” Wang, Gowtham Tamilselvan, Robert “Kyle” Brown ECE 4007 L03: Prof. Erick Maxwell 7 th December, 2010

Project Overview Design and Cost Objectives Hardware and Software Results Challenges Schedule and Future Work Project Demonstration Agenda

Combines wireless robot navigation and live video Detects and provides feedback of CO concentration in ppm Allows emergency teams to respond to gas leaks Reduces human exposure to CO gas Provides relief materials to the affected Costs $ Project Overview

Gasbot Setup

Remote Computer WebcamSafety Kit eBoxiRobot mbed microcontroller Parallax CO Sensor Gasbot Setup

Design Objectives

Proposed and Actual Design Safety Kit Gas Mask CO Sensor Camera eBox

Front View of Gasbot iRobot eBox CO Sensor Camera

Project Costs

iRobot’s battery provides 16 V input voltage Input voltage stepped down to 5 V using 78HT305 regulator Stepped down voltage provides power to eBox Battery Pack

Windows CE 6.0 Learning challenges Failed hard disk TA and Dr. Hamblen helped eBox OS

Based on the work of Dr Hamblen Can control Robot using WASD keys and P&L for speed Keyboard based for easy operation Remote Control GUI

Camera drivers were not compatible initially When it started working, the camera broke (internal circuitry broke off) New camera and compatible software Camera Integration

Serial port – receive data from CO sensor Character buffer View exported using a built-in OS feature. Export view feature: main factor for system choice Serial Port Integration/Exporting View

CO Sensor and V R3 Value 15 V R3 increases as CO level increases V R3 is read from pin TP1 Value is transmitted to mbed microcontroller

Transferring Data from Sensor to mbed

17 PPM Plot

Equation Used to Generate PPM Values

Sending PPM Value to eBox Serial Breakout Board 19 Calculated PPM is sent from pin 28 Value to sent to eBox via serial breakout board

Room temperature condition Set voltage of potentiometer R 4 & R 3 to approximately 0.8 V R 3 – voltage divider (buffered output of sensor) R 4 – threshold voltage Sensor Calibration

Butane hair curler – output varies from 50 ppm to few hundreds of ppm CO canister – most accurate method, output ppm closely matches listed ppm (+/- 3 ppm) Butane lighter – smaller range from 30 to 80 ppm Car exhaust pipe – output fluctuates from 60 to 150 ppm Sensor Testing Methods

CO canister is best method to measure accuracy When tested with other methods, the ppm value fluctuates Other methods only allow detection of change in ppm Result and Accuracy

Safety Kit Designed to maximize space and functionality Used sign foam to build safety kit Used acrylic cover for the back Can hold a full size gas mask with filter and walkie-talkie

Problems and Solutions

Product Research eBox setup Microcontroller CO sensor iRobot Safety Kit Integration Wirelessly controlled robot Data transfer between user and robot Testing Finished Product Final presentation Project demonstration Final project report Schedule Late August – Early September Mid September – Mid November Late November – Early December

More toxic gas sensors More accurate sensor Different testing modules Rotating platform for camera Netbook instead of eBox Faster Car Future Work

Questions?