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Arain, Muhammad AsifORCID iD iconorcid.org/0000-0002-5973-7424
Publications (8 of 8) Show all publications
Fan, H., Arain, M. A., Hernandez Bennetts, V., Schaffernicht, E. & Lilienthal, A. J. (2017). Improving Gas Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop. In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings: . Paper presented at 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 28-31 May 2017 Montreal, QC, Canada. IEEE conference proceedings, Article ID 17013581.
Open this publication in new window or tab >>Improving Gas Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop
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2017 (English)In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE conference proceedings, 2017, article id 17013581Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2017
National Category
Computer Sciences Robotics
Identifiers
urn:nbn:se:oru:diva-60633 (URN)10.1109/ISOEN.2017.7968874 (DOI)978-1-5090-2392-9 (ISBN)978-1-5090-2393-6 (ISBN)
Conference
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 28-31 May 2017 Montreal, QC, Canada
Available from: 2017-09-06 Created: 2017-09-06 Last updated: 2018-02-01Bibliographically approved
Arain, M. A., Fan, H., Hernandez Bennetts, V., Schaffernicht, E. & Lilienthal, A. J. (2017). Improving Gas Tomography With Mobile Robots: An Evaluation of Sensing Geometries in Complex Environments. In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings: . Paper presented at 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 28-31 May 2017 Montreal QC, Canada. IEEE, Article ID 7968895.
Open this publication in new window or tab >>Improving Gas Tomography With Mobile Robots: An Evaluation of Sensing Geometries in Complex Environments
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2017 (English)In: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE, 2017, article id 7968895Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE, 2017
National Category
Computer Sciences Robotics
Identifiers
urn:nbn:se:oru:diva-60646 (URN)10.1109/ISOEN.2017.7968895 (DOI)978-1-5090-2392-9 (ISBN)978-1-5090-2393-6 (ISBN)
Conference
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 28-31 May 2017 Montreal QC, Canada
Available from: 2017-09-06 Created: 2017-09-06 Last updated: 2019-03-29Bibliographically approved
Arain, M. A., Schaffernicht, E., Hernandez Bennetts, V. & Lilienthal, A. J. (2016). The Right Direction to Smell: Efficient Sensor Planning Strategies for Robot Assisted Gas Tomography. In: 2016 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 16-21, 2016 (pp. 4275-4281). New York, USA: IEEE Robotics and Automation Society
Open this publication in new window or tab >>The Right Direction to Smell: Efficient Sensor Planning Strategies for Robot Assisted Gas Tomography
2016 (English)In: 2016 IEEE International Conference on Robotics and Automation (ICRA), New York, USA: IEEE Robotics and Automation Society, 2016, p. 4275-4281Conference paper, Published paper (Refereed)
Abstract [en]

Creating an accurate model of gas emissions is an important task in monitoring and surveillance applications. A promising solution for a range of real-world applications are gas-sensitive mobile robots with spectroscopy-based remote sensors that are used to create a tomographic reconstruction of the gas distribution. The quality of these reconstructions depends crucially on the chosen sensing geometry. In this paper we address the problem of sensor planning by investigating sensing geometries that minimize reconstruction errors, and then formulate an optimization algorithm that chooses sensing configurations accordingly. The algorithm decouples sensor planning for single high concentration regions (hotspots) and subsequently fuses the individual solutions to a global solution consisting of sensing poses and the shortest path between them. The proposed algorithm compares favorably to a template matching technique in a simple simulation and in a real-world experiment. In the latter, we also compare the proposed sensor planning strategy to the sensing strategy of a human expert and find indications that the quality of the reconstructed map is higher with the proposed algorithm.

Place, publisher, year, edition, pages
New York, USA: IEEE Robotics and Automation Society, 2016
Keywords
Sensor planning, robot exploration, sensing geometry, robot assisted gas tomography, mobile robot olfaction, coverage planning, surveillance robots
National Category
Robotics Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-50886 (URN)10.1109/ICRA.2016.7487624 (DOI)000389516203101 ()2-s2.0-84977543569 (Scopus ID)
Conference
IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, May 16-21, 2016
Available from: 2016-06-16 Created: 2016-06-16 Last updated: 2017-10-18Bibliographically approved
Arain, M. A., Cirillo, M., Hernandez Bennetts, V., Schaffernicht, E., Trincavelli, M. & Lilienthal, A. J. (2015). Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots. In: 2015 IEEE International Conference on Robotics and Automation (ICRA): . Paper presented at 2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015 (pp. 3428-3434). Washington, USA: IEEE
Open this publication in new window or tab >>Efficient Measurement Planning for Remote Gas Sensing with Mobile Robots
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2015 (English)In: 2015 IEEE International Conference on Robotics and Automation (ICRA), Washington, USA: IEEE, 2015, p. 3428-3434Conference paper, Published paper (Refereed)
Abstract [en]

The problem of gas detection is relevant to manyreal-world applications, such as leak detection in industrialsettings and surveillance. In this paper we address the problemof gas detection in large areas with a mobile robotic platformequipped with a remote gas sensor. We propose a novelmethod based on convex relaxation for quickly finding anexploration plan that guarantees a complete coverage of theenvironment. Our method proves to be highly efficient in termsof computational requirements and to provide nearly-optimalsolutions. We validate our approach both in simulation andin real environments, thus demonstrating its applicability toreal-world problems.

Place, publisher, year, edition, pages
Washington, USA: IEEE, 2015
Keywords
Sensor planning, mobile robot olfaction, remote gas sensing
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-46796 (URN)10.1109/ICRA.2015.7139673 (DOI)000370974903063 ()978-1-4799-6923-4 (ISBN)
Conference
2015 IEEE International Conference on Robotics and Automation (ICRA), Seattle, Washington, USA, May 26-30, 2015
Available from: 2015-11-25 Created: 2015-11-25 Last updated: 2019-04-02Bibliographically approved
Arain, M. A., Trincavelli, M., Cirillo, M., Schaffernicht, E. & Lilienthal, A. J. (2015). Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor. Sensors, 15(3), 6845-6871
Open this publication in new window or tab >>Global coverage measurement planning strategies for mobile robots equipped with a remote gas sensor
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2015 (English)In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 15, no 3, p. 6845-6871Article in journal (Refereed) Published
Abstract [en]

The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide nearly-optimal solutions.

Place, publisher, year, edition, pages
Basel, Switzerland: MDPI, 2015
Keywords
Coverage planning; Mobile robot olfaction; Remote gas detection; Sensor planning; Surveillance robots
National Category
Computer Sciences
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-44407 (URN)10.3390/s150306845 (DOI)000354160900112 ()25803707 (PubMedID)2-s2.0-84928681961 (Scopus ID)
Available from: 2015-04-22 Created: 2015-04-22 Last updated: 2018-01-11Bibliographically approved
Arain, M. A., Havoutis, I., Semini, C., Buchli, J. & Caldwell, D. G. (2013). A comparison of search-based planners for a legged robot. In: : . Paper presented at 9th International Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, July 3-5, 2013 (pp. 104-109). IEEE
Open this publication in new window or tab >>A comparison of search-based planners for a legged robot
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2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Path planning for multi-DoF legged robots is achallenging task due to the high dimensionality and complexityof the planning space. We present our first attempt to builda path planning framework for the hydraulic quadruped -HyQ. Our approach adopts a similar strategy to [1], whereplanning is divided into a task-space and a joint-space part.The task-space planner finds a path for the center of gravity(COG) of the robot, while then the footstep planner generates theappropriate footholds under reachability and stability criteria.Next the joint-space planner translates the task-space COGtrajectories into robot joint angles. We present a comparisonof a set of search-based planning algorithms; Dijkstra, A* andARA*, and evaluate these over a set of given terrains and anumber of varying start and end points. All test runs supportthat our approach is a simple yet robust solution. We reportcomparisons in path length, computation time, and path cost,between the aforementioned planning algorithms.

Place, publisher, year, edition, pages
IEEE, 2013
Keywords
Quadruped Locomotion, Path Planning, Search Algorithms
National Category
Computer Systems
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-30823 (URN)10.1109/RoMoCo.2013.6614593 (DOI)000335775300019 ()2-s2.0-84887302523 (Scopus ID)978-1-4673-5511-7 (ISBN)
Conference
9th International Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, July 3-5, 2013
Available from: 2013-09-16 Created: 2013-09-16 Last updated: 2018-05-21Bibliographically approved
Arain, M. A. (2006). Navobot formula 2: a navigation and handling implementation. In: : . Paper presented at IEEEP International Symposium 2006, Karachi, Pakistan.
Open this publication in new window or tab >>Navobot formula 2: a navigation and handling implementation
2006 (English)Conference paper, Published paper (Refereed)
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-28936 (URN)
Conference
IEEEP International Symposium 2006, Karachi, Pakistan
Available from: 2013-05-03 Created: 2013-05-03 Last updated: 2017-10-17Bibliographically approved
Arain, M. A., Ansari, M. A., Khatri, C. K., Maheshwari, B. K. & Kazi, S. A. (2005). Design, Mathematical Modeling & Simulation of a Robot System with 3-DOF. In: : . Paper presented at Technical Exposition 2005, IEEEP Student Symposium, Karachi , Pakistan.
Open this publication in new window or tab >>Design, Mathematical Modeling & Simulation of a Robot System with 3-DOF
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2005 (English)Conference paper, Published paper (Refereed)
National Category
Robotics
Research subject
Electronics
Identifiers
urn:nbn:se:oru:diva-28935 (URN)
Conference
Technical Exposition 2005, IEEEP Student Symposium, Karachi , Pakistan
Available from: 2013-05-03 Created: 2013-05-03 Last updated: 2017-10-17Bibliographically approved
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ORCID iD: ORCID iD iconorcid.org/0000-0002-5973-7424

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Asif Arain - MRO Lab