| 1. |
- Hernandez Bennetts, Victor Manuel, 1980-, et al.
(författare)
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Towards Real-World Gas Distribution Mapping and Leak Localization Using a Mobile Robot with 3D and Remote Gas Sensing Capabilities
- 2013
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Ingår i: 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - : IEEE conference proceedings. ; , s. 2335-2340
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Konferensbidrag (refereegranskat)abstract
- Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor. This sensor provides integral concentration measurements over the path of the laser beam. Existing gas distribution mapping algorithms can only handle local measurements obtained from traditional in-situ chemical sensors. In this paper we also describe an algorithm to generate 3D methane concentration maps from integral concentration and depth measurements. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was introduced.
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| 2. |
- Khaliq, Ali Abdul, 1987-, et al.
(författare)
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Stigmergic Algorithms for Simple Robotic Devices (Extended abstract)
- 2013
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Ingår i: Workshop on Unconventional Approaches to Robotics, Automation and Control Inspired by Nature (ICRA 2013).
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Konferensbidrag (refereegranskat)abstract
- This position paper is meant to discuss the use of stigmergy in minimalist robotic systems, and to argue for a methodological approach based on the combination of formal analysis and empirical evaluation. In the full paper we will illustrate this approach in three case studies: building a globally optimal navigation map, building a gas concentration gradient map, and updating the above maps dynamically. All case studies have been implemented in a real environment with inexpensive robots, using an RFID floor as the stigmergic medium.
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| 3. |
- Pomareda, Victor, et al.
(författare)
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Chemical source localization in real environments integrating chemical concentrations in a probabilistic plume mapping approach
- 2013
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Ingår i: Proceedings of the 15th International Symposium on Olfaction and Electronic Nose (ISOEN 2013).
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Konferensbidrag (refereegranskat)abstract
- Chemical plume source localization algorithms can be classified either as reactive plume tracking or gas distribution mapping approaches. Here, we focus on gas distribution mapping methods where the robot does not need to track the plume to find the source and can be used for other tasks. Probabilistic mapping approaches have been previously applied to real-world data successfully; e.g., in the approach proposed by Pang and Farrell. Instead of the quasi-continuous gas measurement values, this algorithm considers events (detections and non-detections) based on whether the sensor response is above or below a threshold to update recursively a source probability grid map; thus, discarding important information. We developed an extension of this event-based approach, integrating chemical concentrations directly instead of binary information. In this work, both algorithms are compared using real-world data obtained from a photo-ionization detector (PID), a non-selective gas sensor, and an anemometer in real environments. We validate simulation results and demonstrate that the concentration-based approach is more accurate in terms of a higher probability at the ground truth source location, a smaller distance between the probability maximum and the source location, and a more peaked probability distribution, measured in terms of the overall entropy.
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