a collaboration between the uwm’s school of freshwater sciences and metro milwaukee sewer district...
TRANSCRIPT
![Page 1: A Collaboration between the UWM’s School of Freshwater Sciences and Metro Milwaukee Sewer District Goal: Track Combined Sewage Overflow (CSO) plumes of](https://reader036.vdocuments.us/reader036/viewer/2022062322/5697bf7d1a28abf838c84d44/html5/thumbnails/1.jpg)
A Collaboration between the UWM’s School of Freshwater Sciences and Metro Milwaukee Sewer District
Buoyancy Controlled Drifter Robot
Goal: Track Combined Sewage Overflow(CSO) plumes of pollution dumped into Lake Michigan from Milwaukee’s sewer system.
Project: Create a vehicle with the ability to track these plumes via external drag force, sensors, and control over
its buoyancy.
Combined Sewage Overflow Plume from Milwaukee Harbor
Researcher/Designer: Jud RigginsAdvisor: Tom Consi
![Page 2: A Collaboration between the UWM’s School of Freshwater Sciences and Metro Milwaukee Sewer District Goal: Track Combined Sewage Overflow (CSO) plumes of](https://reader036.vdocuments.us/reader036/viewer/2022062322/5697bf7d1a28abf838c84d44/html5/thumbnails/2.jpg)
• Use Archimedes’ Principle to control buoyancy
Drag Force for lateral mobility•
Depth From Pressure Readingsg
The Drifter
Proof of Concept Vehicle
Prototype Field Vehicle
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• PID Controller• P: Proportional• I: Integral• D: Derivative
CONTROLLER DESIGN/MODELLING