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Download PowerPointova predstavitev - LIFE - Stop CyanoBloom
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Robotic vessel StopCyanoBloom: technical properties, navigation, operation control of the systems for water analysis, treatment and sampling MARIO MARINOVIĆ, JOŠT GRUM, LUKA TESLIĆ, GORAZD LAKOVIČ,MARKO GERL [email protected] LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si A multitude of different autonomous systems which work together in order to enable: - Quick and easy measurements of large area and different depths of stillwater - Transmitting of measured results in realtime, available online to any device with a web browser - Novelty cyanobacteria removal approach – no input of additional chemicals, functioning at local scale - Up to six control samples collected from a set location and depth of the water body - Simple use – mission planning, energy selfsufficiency LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si A group of small systems is usually easier to manage than one large system, therefore: - The vessel is composed of a number of independent, autonomous systems - Every system is responsible for executing a function of the vessel which may consist of more than a single task - System coordination is achieved through communication in a local RS-485 network LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - - Connects the vessel with its operator Allows uploading new missions, checking the current mission, adjusting the controller Is a network master for the other measurement systems Uses a Mamdani fuzzy logic algorithm LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - - Connects the vessel with its operator Allows uploading new missions, checking the current mission, adjusting the controller Is a network master for the other measurement systems Uses a Mamdani fuzzy logic algorithm - - LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si Reads and transmits sensor data to the rest of the network Is in charge of obstacle avoidance Reads the vessel‘s vision system and controls it when the vessel is leaving or entering the dock - Reads values of two Cyclops sensors, one temperature, pH, disolved oxygen and conductivity sensor LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - - Reads values of two Cyclops sensors, one temperature, pH, disolved oxygen and conductivity sensor Takes a 1 litre sample on demand LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - - Reads values of two Cyclops sensors, one temperature, pH, disolved oxygen and conductivity sensor - Transmits expected data to a TCP/IP server: - GPS location - Vessel speed - Current hose depth and state - All measurement cell values and relevant states - Is a slave in the RS-485 network Takes a 1 litre sample on demand LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - - Two cyclops-7 flourometer sensors – chlorophyll & phycocyanin pH, dissolved oxygen, electrical conductivity and temperature sensor RS-232 connection – PC interface Two local network connectors – RS-485 communication and power Sensor cleaning mechanism Magnetic stirrer Two 12V pump connections – always on or on/off LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - - - Water flow controlled with smart bistable electric valves developed in Arhel – construction allows sterile environment Smart sample acquirement – control for errors Takes a sample on demand – fills the next empty holder when: - Commanded through RS-485 network - Requested through keypad interface - Programmed time – date and hour USB connection to a PC – control of proper operation and settings LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - Cell shape enforces laminar flow Boron-doped diamond electrodes with superior material characteristics Commutation of electrical current prevents addition of impurities and therefore prolongs electrode life cycle - Overall effect of the electrolysis is dependant of electrical current Developed current generator holds constant electric current through flowing liquid - Current, commutation, calibration etc. settings can be set with another device through a RS-485 network, or through a personal computer, using a RS-232 interface - Has a 12V pump output for potential stand-alone use LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - Prevents cyanobacteria proliferation Hydroxyl radical formed straight from the water causes stress and genetic damage to cyanobacteria Cyanobacteria reproduction is disabled, treated cyanobacteria dies, cyanotoxines are decomposed LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si - Drops the hose position to commanded depth or executes an automatic depth measurement Controlled through an RS-485 received command or manually by a switch Sends its status on demand – current depth, state Self protected against errors – shuts off the motor and transmits an error message if the hose gets stuck LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si Available for further information: [email protected] LIFE12 ENV/SI/000783 http://lifestopcyanobloom.arhel.si
