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Bringing Artificial Olfaction and Mobile Robotics Closer Together: An Integrated 3D Gas Dispersion Simulator in ROS
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: /0000-0003-3272-4145
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0003-0217-9326
Vise andre og tillknytning
2015 (engelsk)Inngår i: Proceedings of the 16th International Symposium on Olfaction and Electronic Noses, 2015Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

Despite recent achievements, the potential of gas-sensitive mobile robots cannot be realized due to the lack of research on fundamental questions. A key limitation is the difficulty to carry out evaluations against ground truth. To test and compare approaches for gas-sensitive robots a truthful gas dispersion simulator is needed. In this paper we present a unified framework to simulate gas dispersion and to evaluate mobile robotics and gas sensing algorithms using ROS. Gas dispersion is modeled as a set of particles affected by diffusion, turbulence, advection and gravity. Wind information is integrated as time snapshots computed with any fluid dynamics computation tool. In addition, response models for devices such as Metal Oxide (MOX) sensors can be integrated in the framework.

sted, utgiver, år, opplag, sider
2015.
Emneord [en]
Mobile robot olfaction, gas dispersion simulation, gas sensor simulation, MOX sensors, environmental monitoring
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-47929OAI: oai:DiVA.org:oru-47929DiVA, id: diva2:900440
Konferanse
16th International Symposium on Olfaction and Electronic Noses (ISOEN 2015), Dijon, Burgundy, France, June 28 - July 1, 2015
Tilgjengelig fra: 2016-02-04 Laget: 2016-02-04 Sist oppdatert: 2020-01-29bibliografisk kontrollert

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Khaliq, AliPashami, SepidehSchaffernicht, ErikLilienthal, Achim J.Hernandez Bennetts, Victor

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