Project completed in the course 22400 Design-Build 4: Autonomous devices for controlling and studying living systems at Technical University of Denmark (DTU). The aim of the project is to build a physical control system, growing algae and mussels that are fed with algae liquid according to the system properties.
The entire system build is presented in the pictures below:
The PID controller has been developed in-house within the project, without any use of libraries, to allow full control over it's parameters. (See file controllers/PIDController.py)
After several experiments the parameters have been established to have the following values:
Proportional - 8.5
Integral - 2.0
Derivative - 0.2
The Web Interface of the system has been on the Adafruit IO dashboard and allows tuning of the PID coefficients and emergency shutdown of the system.
The graphs for Algae Concentration and Temperature are constantly update with new readings on the feed.
The gauge for temperature shows the current state and the accepted boundaries for the controlled system.
Whenever the system achieves the desired properties, the System Equilibrium Indicator turns green.
While the board is not connected to the internet, the information is stored locally in a log file, according to the following operation scheme:
In order to improve the efficiency and reactiveness of the control system, a simple task scheduler has been developed to allow concurrency on one CPU core.
(See file build/Concurrency.py)
The concurrency arhitecture split on threads is presented in the sketch below:
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent