| 1. |
- Arain, Muhammad Asif, 1983-, et al.
(författare)
-
Improving Gas Tomography With Mobile Robots : An Evaluation of Sensing Geometries in Complex Environments
- 2017
-
Ingår i: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings. - : IEEE. - 9781509023929 - 9781509023936
-
Konferensbidrag (refereegranskat)abstract
- An accurate model of gas emissions is of high importance in several real-world applications related to monitoring and surveillance. Gas tomography is a non-intrusive optical method to estimate the spatial distribution of gas concentrations using remote sensors. The choice of sensing geometry, which is the arrangement of sensing positions to perform gas tomography, directly affects the reconstruction quality of the obtained gas distribution maps. In this paper, we present an investigation of criteria that allow to determine suitable sensing geometries for gas tomography. We consider an actuated remote gas sensor installed on a mobile robot, and evaluated a large number of sensing configurations. Experiments in complex settings were conducted using a state-of-the-art CFD-based filament gas dispersal simulator. Our quantitative comparison yields preferred sensing geometries for sensor planning, which allows to better reconstruct gas distributions.
|
|
| 2. |
- Fan, Han, 1989-, et al.
(författare)
-
Improving Gas Dispersal Simulation For Mobile Robot Olfaction : Using Robot-Created Occupancy Maps And Remote Gas Sensors In The Simulation Loop
- 2017
-
Ingår i: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings. - : IEEE conference proceedings. - 9781509023929 - 9781509023936
-
Konferensbidrag (refereegranskat)abstract
- Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.
|
|
| 3. |
- Wiedemann, Thomas, 1988-, et al.
(författare)
-
Bayesian Gas Source Localization and Exploration with a Multi-Robot System Using Partial Differential Equation Based Modeling
- 2017
-
Ingår i: 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017). - : IEEE. - 9781509023936 - 9781509023929 ; , s. 122-124
-
Konferensbidrag (refereegranskat)abstract
- Here we report on active water sampling devices forunderwater chemical sensing robots. Crayfish generate jetlikewater currents during food search by waving theflagella of their maxillipeds. The jets generated toward theirsides induce an inflow from the surroundings to the jets.Odor sample collection from the surroundings to theirolfactory organs is promoted by the generated inflow.Devices that model the jet discharge of crayfish have beendeveloped to investigate the effectiveness of the activechemical sampling. Experimental results are presented toconfirm that water samples are drawn to the chemicalsensors from the surroundings more rapidly by using theaxisymmetric flow field generated by the jet discharge thanby centrosymmetric flow field generated by simple watersuction. Results are also presented to show that there is atradeoff between the angular range of chemical samplecollection and the sample collection time.
|
|
