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GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments
Machine Perception and Intelligent Robotics group (MAPIR), Instituto de Investigación Biomedica de Malaga (IBIMA), Universidad de Malaga, Malaga, Spain. (MAPIR, University of Malaga)ORCID-id: 0000-0001-7869-781
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO)ORCID-id: 0000-0001-5061-5474
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: 0000-0003-0217-9326
Vise andre og tillknytning
2017 (engelsk)Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, nr 7, s. 1479-1494Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.). Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment.

sted, utgiver, år, opplag, sider
Basel, Switzerland: MPDI AG , 2017. Vol. 17, nr 7, s. 1479-1494
Emneord [en]
Gas dispersal, robotics olfaction, gas sensing, mobile robotics, Robot Operating System (ROS)
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-64761DOI: 10.3390/s17071479ISI: 000407517600018Scopus ID: 2-s2.0-85021432580OAI: oai:DiVA.org:oru-64761DiVA, id: diva2:1179652
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Forskningsfinansiär
EU, European Research Council, 645101Swedish Research CouncilKnowledge Foundation, 20130196
Merknad

Funding Agencies:

Spanish Goverment

Andalucia Goverment

Tilgjengelig fra: 2018-02-01 Laget: 2018-02-01 Sist oppdatert: 2018-09-06bibliografisk kontrollert

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GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments(10055 kB)250 nedlastinger
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Hernandez Bennetts, VictorFan, HanLilienthal, Achim

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