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Improving Gas Dispersal Simulation For Mobile Robot Olfaction: Using Robotcreatedoccupancy Maps And Remote Gas Sensors In The Simulation Loop
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0003-1662-0960
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0002-5973-7424
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0001-5061-5474
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0003-4026-7490
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2017 (engelsk)Inngår i: 2017 ISOCS/IEEE International Symposium on Olfaction andElectronic Nose (ISOEN 2017) Proceedings, IEEE conference proceedings, 2017, artikkel-id 17013581Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

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IEEE conference proceedings, 2017. artikkel-id 17013581
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Identifikatorer
URN: urn:nbn:se:oru:diva-60633DOI: 10.1109/ISOEN.2017.7968874ISBN: 978-1-5090-2392-9 (digital)ISBN: 978-1-5090-2393-6 (tryckt)OAI: oai:DiVA.org:oru-60633DiVA, id: diva2:1138648
Konferanse
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) 28-31 May 2017 Montreal, QC, Canada
Tilgjengelig fra: 2017-09-06 Laget: 2017-09-06 Sist oppdatert: 2018-02-01bibliografisk kontrollert

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Fan, HanArain, Muhammad AsifHernandez Bennetts, VictorSchaffernicht, ErikLilienthal, Achim J.

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