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Bayesian Gas Source Localization and Explorationwith a Multi-Robot System Using PartialDifferential Equation Based Modeling
Institute of Communications and Navigation German Aerospace Center (DLR), Wessling, Germany.
Institute of Communications and Navigation German Aerospace Center (DLR), Wessling, Germany.
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-5061-5474
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-4026-7490
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2017 (English)In: 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017): Proceedings, 2017, 122-124 p.Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
2017. 122-124 p.
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-60688ISBN: 9781509023936 (print)ISBN: 9781509023929 (electronic)OAI: oai:DiVA.org:oru-60688DiVA: diva2:1139725
Conference
International Symposium on Olfaction and Electronic Nose (ISOEN 2017), Montreal, Canada, May 28-31, 2017
Available from: 2017-09-08 Created: 2017-09-08 Last updated: 2017-09-08Bibliographically approved

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Hernandez Bennetts, VictorSchaffernicht, ErikLilienthal, Achim

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