[Year 2105-16]Pollution Monitoring using Cooperative Wireless Communication for Swarm Robots Only audio

POLLUTION MONITORING USING
COOPERATIVE WIRELESS COMMUNICATION
FOR ‘SWARM’ ROBOTS
1
By
Group Members:
1. Aditya Saxena (12104A0003)
2.Sarfaraz Siddiqui (12104A0011 )
3. Ankush Badhe (12104A0013)
4. Vaibhav Nagvekar (12104A0024)
PROJECT GUIDE : Prof. Dr. Saurabh Mehta
Department Of Electronics and Tele-Communication
Vidyalankar Institute of Technology
Vidyalankar Institute of Technology,
Vidyalankar Marg, Wadala (East), Mumbai - 400 037

Outline
2
 Introduction and Problem Statement of the project
 Objective
 Block Diagram
 Hardware Requirements
 Software Requirements
 Cost Analysis
 References

Introduction
3
HISTORY OF THE ‘SWARM’
 The term Swarm Intelligence, first proposed by
GERARDO BENI
 Swarm robotic systems have become a major
research area since 1980’s.
 It is a coordination of large numbers of relatively
simple robots to achieve a common goal.
 Inspired from the system-level functioning of
social insects.
 The past ten years has seen growing research
interest in artificial systems based upon the
principles of swarm intelligence.

Introduction
4
 Swarm robotics is a new approach to the
coordination of multi-robot systems which
consist of large numbers of relatively simple
robots to achieve a common goal
 This is simple and easy-to-implement
decentralized algorithm inspired by human
move-and-see behavior for a swarm of
autonomous mobile robots to achieve area
coverage for environmental pollution monitoring.
 Also monitoring a particular area and mapping
collective area acquired from multiple robots.

Problem statement of the project
5
 In this project, we tend to implement Pollution
Monitoring robots which monitors pollution and
shares data with each other using ‘SWARM’
technique.
 These robots must be independent of each
other , monitoring air pollution and
environmental conditions in their own area.
 These robots must be able to communicate
their findings with the robot which is placed next
in hierarchy.

Reasons for choosing this topic
6
 Increasing threat of air pollution and its adverse
affects.
 Need of a efficient air pollution monitoring mechanism
is there.
 With less human intervention and in less time.
 A large scale prototype that would cover a large area
– SWARM robotics effectively fulfills this criterion.
 Along with being application based project , it also
gave a chance to work in embedded system as well
as establish communication between the robots.

Overview of implementation
7
computer
Robot 1
Robot 22

How does a Swarm robot
work?
8
 In this application there will be a group of Robots
which will work together via wireless RF
communications.
 As seen from block diagram there will be an
Administrative terminal which will authorize the swarm
of robots.
 All the slaves are equipped with a pollution sensor.
All the slaves will communicate via RF module (2.4
GHZ, 30 meters).
 All the robots will move on their prescribed paths.
 Any of these slave robot goes near to the range of
Administrative then this slave robot exchange all
information with Administrative.
 This Administrative then , according to application ,
can present and map the data.

Hardware Requirements
10
1. Atmega16 AVR microcontroller(*2)
2. Temperature sensor-LM35(*2)
3. Gas sensor-MQ6 (*2)
4. MAX232 serial communication port(*2)
5. RF Transreceiver module – CC2500(4)
6. Motor driver IC L2930(*2)
7. DB9 connector

SENSOR ARRAY UNIT
11
 In this project we are using two types of sensors:
 1) TEMPERATUR SENSOR : LM35
 2) GAS SENSOR : MQ6

1) TEMPERATURE SENSOR: LM35
12
 Features: Calibrated directly in ° Celsius (Centigrade)
 Linear + 10.0 mV/°C scale factor
 0.5°C accuracy (at +25°C)
 Rated for full −55° to +150°C range
 Suitable for remote applications
 Low cost due to wafer-level trimming
 Operates from 4 to 30 volts
 Less than 60 μA current drain
 Low self-heating, 0.08°C in still air
 Nonlinearity only ±1⁄4°C typical
 Low impedance output, 0.1 W for 1 mA load

2) GAS SENSOR : MQ6
13
 MQ6 is gas sensor used for detecting the gases and
there amount in the atmosphere .These type of
sensor can sense many types of gases
 Features:
 High sensitivity to LPG, iso-butane, propane
 Small sensitivity to alcohol, smoke.
 Fast response
 Stable and long life
 Simple drive circuit

COMMUNICATION UNIT
14
 There are two types of communication modules
available in the market which are given below.
 1. RF communication module.
 2. Zigbee module.
 Out of these we choose RF communication
module because it fulfill our requirements and it
is also cheaper than Zigbee.
1. It also provides enough range for communication
between the two robots on demo basis.
2. It makes the proposed system more efficient and
affordable.
3. In this system 3 RF modules are used for
communication.
4. It gives better range and reliability.
5. RF is cheaper than zigbee module .

RF MODULE:CC2500
15
RF module Specification:
1. RF frequency: 2.4 GHz
2. Modulation: Amplitude shift keying(ASK)
3. Baud rate: 9600
4.Input voltage: + 5 / +12 V
5. Current consumption: 32 mA to 42 mA
Description: -
 Baud Rate: 38400. Serial UART Mode.
 Packet Length: Variable (0 to 40) or Fixed (1 packet).
 60+ meters range Line of Sight / 30 meters range indoors.
 Multiple channel selection enabling upto 255 different pairs to work in
the same area.
 Modes of operation: Config mode and Run mode.
 Onboard jumper setting for Config/Run Mode and Packet/Byte Mode.
 Direct Replacement for wired Serial Cable for and serial
communication.
 Working with CC2500 Wireless Transceiver [11].

L293D Motor Driver
17
 Features:-
 Durable magnetic rotor and fine ceramic shaft
 Long life brushless pump, ideal life for 40000
hours
 Advanced magnetically coupled technology,
without any leakage for ever
 Heavy duty work, can sustain continual 24
hours work
 Low noise: ≤38dB far from 1m distance
 Low or no maintenance
 Low power consumption
 Can be customized

MAX 232
18
 MAX 232 is used as interface between robot and
the communicating computer.
 it provides a interface so that the particular
robots shares its data with the communicating
computer.
 This IC is widely used in RS232 Communication
systems in which the conversion of voltage level
is required to make TTL devices to be compatible
with PC serial port and vice versa.

Circuit Implementation
20
 The above figure represents the circuit diagram of
the project .
 The circuit diagram is designed with the help of
the software Proteus.
 In the circuit diagram , the key elements of the
project can be observed such as microcontroller
ATmega16 along with RF transreceiver and motor
driver IC and a 12V battery.
 The two temperature and gas sensors have also
been shown.
 Both the robots ie. master and slave have been
implemented using this circuit diagram

Test Cases
22
This is the case in which full implementation is carried out. The
slave is showing its data of 32 degrees and the gas
concentration of 37 and the master is showing its own data.

23
This is the case in
which the master
robot is working in
single mode
performing the
operations that
are limited to a
slave. It is
showing the
temperature and
gas data of itself
only.
Temperature is
28°C and the gas
concentration is
62 as we had
used a gas
source (Essence
stick) near MQ6.

24
In this case the master is showing the
data of itself and the slave. The
temperature of master is 21 degrees
and the gas concentration is 8 %.
It is showing the
temperature and gas data of
itself only. Temperature is
27°C and the gas
concentration is 10 The
conditions that are usual and

Cost Analysis
25
Estimated Cost:

ADVANTAGES
26
 Parallelism: In task-decomposable application
domains, robots can accomplish a given task more
quickly than a single robot by dividing the task into
sub tasks and executing them concurrently.
 Scalability: As the swarm of robots becomes larger,
its relative performance in comparison to a
centralized system becomes better.
 Flexibility: Easily adaptable for different applications
as different applications will have different
requirements, a general architecture will need the
ability to be easily reconfigured for the different
problems it proposes to solve..

27
 Adaptable: Conventional workgroups devise various
standard operating procedures to react to
predetermined stimuli. But swarms have better ability
to adjust to new situations or to change beyond a
narrow range of options. Countless novel possibilities
exist in the exponential combinations of many
interlinked individuals

Applications
28
 Foraging:- This scenario has many different application and
demands several fundamental skills from the group of robots
,such as collective exploration, shortest path finding and
efficient task allocation. It is also includes the transport sub-
task, which covers the important issue of collective transport.
 Dangerous areas :-In the dangerous areas like on the planet,
in the coal mine, in fire areas etc.
 Mapping and Exploration: Advancements in the design that
lead to further miniaturization and lower cost of robotic units
open many new possible scenarios

Future Scope
29
 Swarming robots can be servents of future , they would
carry out simple fetching and carrying tasks , by grouping
around object.
 Can be used for military purpose by making the robot
more smart in its application
 These swarm of robots can be controlled through
satellite or global positioning system(GPS)
 Similarly , chain can be extended to be used as fire
extinguisher.
 NASA has proposed „Swarmie‟ robots for space mining.

References
30
1. https://www.researchgate.net/profile/Gerardo_Beni/publicatio
221116455_From_Swarm_Int
elligence_to_Swarm_Robotics/links/0912f51324c3bd5fd2
000000.pdf
2. http://link.springer.com/chapter/10.1007%2F978- 3-540-
30552-1_2
3. http://www.c2es.org/international/negotiations/cop21paris/su
mmary
4. ieeexplore.ieee.org/iel5/4456514/4456820/044568 99.pdf
5. https://www.researchgate.net/profile/Gerardo_Beni/publicatio
n/221116455_From_Swarm_Int
elligence_to_Swarm_Robotics/links/0912f51324c3bd5fd2000
000.pdf

31
6.http://www.sciencedirect.com/science/article/pii/S221491471300
024X
7. http://www.atmel.com/images/doc9166s.pdf
8. http://www-scf.usc.edu/~rzhao/LFP_study.pdf
9. http://www.ti.com/lit/ds/symlink/lm35.pdf
10. https://www.sparkfun.com/datasheets/Sensors/Bio metric/MQ-
6.pdf
11. http://www.ti.com/lit/ds/swrs040c/swrs040c.pdf
12. http://www.ti.com/lit/ds/symlink/l293.pdf
13. http://www.ti.com/lit/ds/symlink/max232.pdf
14. http://www.atmel.com/tools/STUDIOARCHIVE.aspx

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