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Bayesian Gas Source Localization and Exploration with a Multi-Robot System Using Partial Differential 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 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
Vise andre og tillknytning
2017 (engelsk)Inngår i: 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN 2017): Proceedings, IEEE, 2017, s. 122-124Konferansepaper, Publicerat paper (Fagfellevurdert)
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.

sted, utgiver, år, opplag, sider
IEEE, 2017. s. 122-124
HSV kategori
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Identifikatorer
URN: urn:nbn:se:oru:diva-60688DOI: 10.1109/ISOEN.2017.7968884ISBN: 978-1-5090-2393-6 (tryckt)ISBN: 978-1-5090-2392-9 (digital)OAI: oai:DiVA.org:oru-60688DiVA, id: diva2:1139725
Konferanse
International Symposium on Olfaction and Electronic Nose (ISOEN 2017), Montreal, Canada, May 28-31, 2017
Tilgjengelig fra: 2017-09-08 Laget: 2017-09-08 Sist oppdatert: 2019-03-29bibliografisk kontrollert

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Wiedemann, ThomasHernandez Bennetts, VictorSchaffernicht, ErikLilienthal, Achim

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