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Mitigating Harmful Algal Blooms using a Robot Swarm

Schroeder, Adam
http://rave.ohiolink.edu/etdc/view?acc_num=toledo154444245336465

Abstract Details

2018, Doctor of Philosophy, University of Toledo, Mechanical Engineering.
This research establishes the viability of using a swarm of robots to physically collect harmful algae from a bloom. This was accomplished by performing several sets of algae-collection simulations, measuring swarm performance by quantifying the algae collection rate. The two primary swarm control laws investigated were an approach that assigns each robot to its own region of responsibility, and a random walk biased in the direction of highest algae concentration. Then, an analytical basis was developed to establish how swarm performance changes due to robot-to-robot interference for different robot quantities and sizes. This basis also includes a formulation for robot and swarm cost, which allows performance-cost curves to be generated. Lastly, experiments were conducted where physical robots were used to collect real algae. Two companion technologies were also highlighted. The first such technology is a filter with bioinspired, anti-clogging features. The second technology is an unmanned aerial vehicle with a multi-spectral instrument for observing and quantifying algae concentrations. Based on these simulations and experiments, it is recommended that robots in the swarm perform an unbiased random walk, which requires minimal robot sensing capabilities, minimal robot-to-robot communication, and therefore, minimal cost. A robot swarm does appear to be a viable solution for collecting harmful algae, but additional work is required to mature this technology.
Brian Trease, PhD (Committee Chair)
Alessandro Arsie, PhD (Committee Member)
Richard Becker, PhD (Committee Member)
Ray Hixon, PhD (Committee Member)
Youngwoo Seo, PhD (Committee Member)
146 p.
Mechanical Engineering
Robot Swarm; Harmful Algal Blooms; HABs, Robot Interference, Robot Size, Swarm Collection

Recommended Citations

Citations

  • Schroeder, A. (2018). Mitigating Harmful Algal Blooms using a Robot Swarm [Doctoral dissertation, University of Toledo]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=toledo154444245336465

    APA Style (7th edition)

  • Schroeder, Adam. Mitigating Harmful Algal Blooms using a Robot Swarm. 2018. University of Toledo, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=toledo154444245336465.

    MLA Style (8th edition)

  • Schroeder, Adam. "Mitigating Harmful Algal Blooms using a Robot Swarm." Doctoral dissertation, University of Toledo, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=toledo154444245336465

    Chicago Manual of Style (17th edition)

toledo154444245336465
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© 2018, all rights reserved.
This open access ETD is published by University of Toledo and OhioLINK.
Release 3.2.12