Nano-Tera Annual Meeting 2016 Envirobot

7/26/2019 Nano-Tera Annual Meeting 2016 Envirobot

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biological sensors to measureand locate pollutants in aquatic

systems


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ENVIROBOT is a collaborative efortbetween research groups rom the

Universit o !ausanne" #E$%$O"E&'! an( Eawag)


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*#+T I$ T#E ,+IN I-E+O' T#E ENVIROBOT&RO.E/T0

In the following presentation we will show the main

concept and results of the ENVIROBOT proect sofar! "e will describe in detail the di#erent types ofsensors we use$ the system%s engineering andintegration$ and na&igation of the robot!


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The main ob1ectiveof the ENVIROBOT proect is tode&elop a robot with the capacity to measure andlocate pollutants in aquatic en&ironments!

In order to achie&e this goal$ the proect has built ananguilliform robot$ equipped with sets ofminiaturi'ed physical$ chemical and biologicalsensors that can be integrated in indi&idual

modules!

$inglemo(ule


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$EN$OR$

A &ariety of standardsensors for water quality

characteri'ation isincluded in ENVIROBOT$such as p($ o)ygen le&els$temperature and salinityor conducti&ity!

In addition$ the proectaims to implementchemical and biologicalsensors for speci*c types

of pollutants and for+general to)icity,$ as willbe e)plained in moredetail!

-ensors can be mounted inspeci*c larger.si'ed robotmodules! This does notin/uence the robot mo&ement!

!ocomotionsegment

$ensor

segment


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(ere is an e)ample of awater turbi(itsensorde&eloped by (E-.-O! It isbased on detection of lightscattering from an emittedlight beam on the bottom of

a robot module$ by particlesin the water!

/alibration seriesI$O2342


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(ere is an e)ample of a con(uctivitandtemperaturesensor de&eloped by the E012.2E0Alab and (E-.-O! It can be used to measure

dissol&ed metals in the water$ such as lead orcopper$ and is mounted in the bottom of a robotmodule!

&b45in !a6e *ater

matri7/on(uctivit

sensorTemperature

sensor

Integratedelectronic boards

for conducti&ityand temperature


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-ensor modules are *rst tested in *eld situations bymounting to a remote.controlled boat! (ere a proofof principle by (E-.-O for real.time remote

con(uctivitand temperaturemeasurements intwo merging small streams!

co

n(ucti

vit

temperature

$tream 8

$tream 4

,i7ing 9one ,i7ing9one

Time ; min


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1urther sensors are being optimi'ed andminiaturi'ed by E012.2E0A! (ere a newprinciple for an o7gensensor based on rapid

pulse polarography and a new carbon.

+mperometric sensor inthree electro(e setup

Rapi( pulsepolarographic sensor


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BIO!O


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This is a /ow chamber with li&eDaphnia! The mo&ement of theDaphniais dependent on the

water quality and can berecorded by light detection

4hamberde&elopment5 E012.2I6-7 lab!

Illuminate( chamber

-etection o moving in(ivi(u


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Bacteria can respond tochemical gradients bychanging the direction of

their swimming8chemota)is9! "ithinminutes$ the bacteriaswimm close to the

source 8the +ring,9! Thechemota)is can bequanti*ed in micro/uidicchips!

,icro=ui(ic chip tofollow

chemota)isto acontinuoussample /ow8+attractant,9

>=ui(ic chip

$ource oamino

aci(

Bacteria

source

bufer

cells 4onceptanddesign5:NI2


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Another type of sensors isbacterial bioreporters!

These are strains speci*cally

designed to produce/uorescence orelectrochemical response toa single chemical target

8group9! The bioreporters arefree'e.dried in closed glass&ials! The sample is addedand the signal from the cellsis measured!

(ere an e)ample of anarsenic.speci*c reporterstrain$ measured bybioluminescence with amicro.photomultiplier tube$small enough to beintegrated in a robotmodule!

T8h?3

3 4333 @333 A333 ;3333

?3333

833333

8?3333

433333

4?3333

33333

Time CsecD

!ight emission C+UD

; ;


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!igan(%bin(ingvoltage channelscanbe used to detect the

response of cells tospeci*c pollutants! Theseproteins are widespreadand the ligand bindingdomain can be changedto acquire newspeci*cities!

:pon binding a ligand$ thechannel opens$ leading to anin/u) of ions! Ion in/u) canbe measured byelectrophysiology on single

-ingle Xenopusoocyte in aca&ity!

4oncept and reali'ation5 :NI2.4I?and E012.2I6-7 labs!


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1inally$ the proect will userainbow trout gill cellsseeded and grown on the

surface of biochips withembedded electrodes asbioreporters for a wide rangeof to)icants in the water!

The response of the cells to

pollutants can be followed byimpedance measurements!Rainbow trout gill cells ha&ethe ad&antage of being &eryrobust and acti&e at normalwater temperatures 8@.;C49!

4oncept and reali'ation5 Eawag


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The response from the rainbow trout gill cellshas been bench.marDed with a F prioritychemicals and G wastewater treatment plant

eHuents and correlates well with Dnown E4; and24; methods!

@

2aDe Jurich Tap water 2@e)

-ample @ -ample -ample

-ample 7 -ample -ample

-ample F -ample > -ample G

Time C4@ hD

Kata5Vi&ian 2u$ Eawag

Impe(an

ce


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$$TE, INTE


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The ENVIROBOT is an anguilliormrobot$ a modular$ portable swimmingrobot de&eloped at the E012.BIOROB2ab! Each module has a motor andelectrical connections! A large tail *naids in eLcient propulsion!

-wimming as ananguilliform at thewater surface pro&ideshigh le&els oflocomotion eLciency!4urrent autonomy is

se&eral h at ;! m=sand a range of @!> Dm!Anguilliform swimmingcauses little drag andturbulence$ which ismore optimal for

sampling!


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A speci*c water samplingsystem has been built$that can *lter particles abo&e @


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A new light weight (ata transmitterhas beenconstructed$ that allows communication to and fromthe robot per ?0- and A(R-! The robot head

contains an Intel Edison microprocessor to calculateway points!

Intel Edisoninside therobot +head,

?0- recei&er

,ore bul6 hea(

BIORO

Blab"


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2ocali'ation is a problem in itselfM "ith ?0- andA(R-$ we should be able to tracD the robot at @ mprecision!

BIOROB

1ollowed traectories 8blue9by the robot in a swimmingpool with the red waypointsas input!

*ith


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(ow willENVIROBOT swim$

measure andnavigate3 Theproect en&isionstwo di#erent

modes$ dependingon the responsetime of the sensorsand the deploymentof the robot!

In surveingmode$ the robot would follow aprede*ned path and can taDe samples at user.de*ned

positions! The robot can stall idle during the waitingtime needed to perform the measurement$ and record


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In order to *nd a source$ the robot needsgui(ance$ navigationand control! 1or this$ therobot needs to interpret the data and react in an

adapti&e way! 4oncept andsimulation5E012.BIOROB lab!


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THANK YOU FOR YOURATTENTION

Questions? Contact one of the ENVIROBOT collaboatos at

the !ostes o the "e#onstation "es$%

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Nano-Tera Annual Meeting 2016 Envirobot

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