Bayesian Gas Source Localization and Exploration with a Multi-Robot System Using Partial Differential Equation Based Modeling

Wiedemann, Thomas, 1988- (författare): Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany

Shutin, Dmitri (författare): Institute of Communications and Navigation, German Aerospace Center (DLR), Wessling, Germany

Hernandez Bennetts, Victor, 1980- (författare): Örebro universitet,Institutionen för naturvetenskap och teknik,AASS MRO Lab

Schaffernicht, Erik, 1980- (författare): Örebro universitet,Institutionen för naturvetenskap och teknik,AASS MRO Lab

Lilienthal, Achim, 1970- (författare): Örebro universitet,Institutionen för naturvetenskap och teknik,AASS MRO Lab

(creator_code:org_t)

IEEE, 2017
2017
Engelska.
Ingår i: 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017). - : IEEE. - 9781509023936 - 9781509023929 ; , s. 122-124

Relaterad länk:: https://urn.kb.se/re...; visa fler...; https://doi.org/10.1...; visa färre...

Abstract Ämnesord

Stäng

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.

Av författaren/redakt...: Wiedemann, Thoma ...; Shutin, Dmitri; Hernandez Bennet ...; Schaffernicht, E ...; Lilienthal, Achi ...

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