Implementation of the Turner Cyclops-7 Sensor Name: Taha Tareen Date: 04/07/09 Executive summary: The Turner Cyclops-7 is a savior for the waters of the world. It’s a device designed for detecting bacteria in water and thus helping us in eradicating Harmful Algal Blooms (HAB). It is not a complicated sensor with huge decoder jackets, but a simple feasible device with basic functionality and efficiency. This document just shows its implementation and gives the reader a clear picture of its easy integration involving both the hardware and the software. Introduction: Aquatic ecosystems are undergoing dramatic changes due to human activities and changes in climate, which has resulted in environmental pollution that affect human wellbeing. The proliferation of Harmful Algal Blooms (HABs) is caused by cyanobacteria producing toxins which accumulate rapidly in water bodies, thus posing a great threat to our lives. At Michigan State University, the goal is to advance knowledge and transform lives, by detecting harmful algal blooms (HABS) in three-dimensional water bodies, this project gives students an opportunity to achieve the goals of MSU by making the world a healthier place. This document gives an insight of how to integrate the Turner Cyclops-7 HAB sensor which we are using for the robotic fish. It consists of the hardware and software developed to operate the sensor, and to get the job done. Objective: The purpose of this document is to give the reader an understanding of the concepts behind operating the Turner Cyclops-7 sensor. It helps the reader get familiar with the hardwareand software constraints involved, and how to implement them in the integration of the HAB sensor in to the robotic fish. Issues: The main issue surrounding the integration of the HAB sensor was the feasibility of the dimensions. Most of the sensors available were out of the dimensions of the body for the robotic fish as they came with the decoder jacket which was really big and caused problems while incorporating it in the fish. After extensive research, we finally got the Cyclops 7 HAB sensor which was perfect in size, and thus could be easily implemented in the body of the fish. While constructing the circuit for the HAB sensor the main concern was the analog input ports following the analog to digital data conversion on the microcontroller which we had to find while screening the data sheet for the PIC30f4013 which also has all the pin connection descriptions. In addition to that we also had to figure out all the voltage references, and ground connections for the microcontroller and the sensor. For the microcontroller and the sensor we used 5 V as the reference as it lies in the range for both the microcontroller and the sensor (3-15V). Initially to make sure if the analog to digital conversion circuit was working we had to connect a varying voltage source as our analog input to achieve digital conversion values in the watch option on the menu bar in MPLAB. After testing it with the varying voltage circuit and getting the desired values the sensor was tested with the board to get its appropriate values and succeeded.For the software part of the sensor, I wrote a main section of code for reading analog input from the port and then doing the conversion to digital. First of all we need to set the input analog port with the ADPCFG which is the port configuration register and then initialize ADCON1 which is the control register. Then you need to set the input channel using the ADCHS register which was CH0, and then select the ADCSSL = 0 to set the input scan selection which uses two inputs. After that I wrote a line of code for turning the ADC on using ADCON1bits.ADON = 1; and then the main program while loop which runs continuously. The while loop has the lines of code which initialize the control register ADCON1 to start sampling the input (ADCON1bits.SAMP = 1 ;) then start converting (ADCON1bits.SAMP = 0 ;) and finally setting the output variable equal to the buffer ADCBUF0, where the output is ready to be picked up, and then is sent to the xbee wireless module for communication to the base station. //HAB SENSOR CODE: #include<p30f4013.h> int ADCValue; int count; void main() { ADPCFG = 0xFFFB; // all PORTB = Digital; RB2 = analog ADCON1 = 0x0000; // SAMP bit = 0 ends sampling ... // and starts converting ADCHS = 0x0002; // Connect RB2/AN2 as CH0 input .. ADCSSL = 0; ADCON3 = 0x0002; // Manual Sample, Tad = internal 2 Tcy ADCON2 = 0; ADCON1bits.ADON = 1; // turn ADC ON while (1) // repeat continuously { ADCON1bits.SAMP = 1; // start sampling ... //DelayNmSec(100); // for 100 mS ADCON1bits.SAMP = 0; // start Converting //while (!ADCON1bits.DONE); // conversion done? while (ADCON1bits.DONE); // conversion done? for (count<1000;count++;) ADCValue = ADCBUF0; // yes then get ADC value } // repeat } //send to XbeeWireless Module: The Xbee Pro wireless module is connected to the microcontroller through the Universal Asynchronous Receiver Transmitter (UART). The UART gets the data from Pin 15 of the microcontroller and transmits the data to Pin 16 of the microcontroller. All the pin connections of the Xbee Pro are given in its manual and runs on a supply of 2.8 to 3.4V, current needed for transmitting signals is 45mA and receiving is 50mA. Pin 1 goes to the power supply, Pin 10 goes to ground and Pin 14 goes to the voltage reference for analog or digital signals. Pin 17-20 receives or transmits analog or digital signals. Conclusion: The integration of the HAB sensor was the most essential part of the project and I was glad to get it done with perfection. The evolutionary process of the code took some time but I finally got it to run the HAB sensor and get the appropriate data. The Cyclops is the best sensor one can get with its perfect size, weight and performance it’s the most feasible HAB sensor out there in the market. Cyclops-7 is very easy to integrate and very efficient with algal bloom conditions especially in our project which involved physical constraints on the body of the fish. The process to improve the consistency of the measurements for the sensor is also pretty simple which involves the sensor to be placed in a beaker of water above a non reflective surface but the calibration procedure is a bit complicated which requires some calculations of concentrations but one just has to follow the steps in the manual for completion. Overall I would always recommend the
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