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Combining Non Selective Gas Sensors on a Mobile Robot for Identification and Mapping of Multiple Chemical Compounds
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)
Institute of Bioengineering of Catalonia, Barcelona, Spain.
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
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2014 (English)In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 14, no 9, 17331-17352 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, we address the task of gas distribution modeling in scenarios where multiple heterogeneous compounds are present. Gas distribution modeling is particularly useful in emission monitoring applications where spatial representations of the gaseous patches can be used to identify emission hot spots. In realistic environments, the presence of multiple chemicals is expected and therefore, gas discrimination has to be incorporated in the modeling process. The approach presented in this work addresses the task of gas distribution modeling by combining different non selective gas sensors. Gas discrimination is addressed with an open sampling system, composed by an array of metal oxide sensors and a probabilistic algorithm tailored to uncontrolled environments. For each of the identified compounds, the mapping algorithm generates a calibrated gas distribution model using the classification uncertainty and the concentration readings acquired with a photo ionization detector. The meta parameters of the proposed modeling algorithm are automatically learned from the data. The approach was validated with a gas sensitive robot patrolling outdoor and indoor scenarios, where two different chemicals were released simultaneously. The experimental results show that the generated multi compound maps can be used to accurately predict the location of emitting gas sources.

Place, publisher, year, edition, pages
MDPI AG , 2014. Vol. 14, no 9, 17331-17352 p.
Keyword [en]
environmental monitoring; gas discrimination; gas distribution mapping; service robots; open sampling systems; PID, metal oxide sensors
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-37008DOI: 10.3390/s140917331ISI: 000343106600091PubMedID: 25232911Scopus ID: 2-s2.0-84928689795OAI: oai:DiVA.org:oru-37008DiVA: diva2:748117
Projects
Gasbot
Note

Funding Agencies:

Gasbot project 8140

Spanish project: "Signal Processing for Ion Mobility Spectrometry: Analysis of Biomedical fluids and detection of toxic chemicals" TEC2011-26143

Departament d'Universitats, Recerca i Societat de la Informacio de la Generalitat de Catalunya SGR 1445

Comissionat per a Universitats i Recerca del DIUE de la Generalitat de Catalunya and the European Social Fund (ESF)

SUR

Department d'Economia i Coneixement

Available from: 2014-09-18 Created: 2014-09-18 Last updated: 2017-12-05Bibliographically approved

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Hernandez Bennetts, VictorSchaffernicht, ErikLilienthal, Achim J.Trincavelli, Marco

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