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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 haðe 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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