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GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments
Instituto de Investigación Biomedica de Malaga (IBIMA), Universidad de Malaga, Malaga, Spain. (Machine Perception and Intelligent Robotics group (MAPIR))
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)ORCID iD: 0000-0003-1662-0960
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
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2017 (English)In: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 17, no 7, 1479Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
MDPI AG , 2017. Vol. 17, no 7, 1479
Keyword [en]
gas dispersal; robotics olfaction; gas sensing; mobile robotics; Robot Operating System (ROS)
National Category
Computer Science Chemical Sciences
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-60671DOI: 10.3390/s17071479ISI: 000407517600018Scopus ID: 2-s2.0-85021432580OAI: oai:DiVA.org:oru-60671DiVA: diva2:1139665
Funder
Swedish Research CouncilKnowledge Foundation, 20130196
Note

Funding Agencies:

Spanish Government  DPI2014-55826-R 

Andalucia Government  TEP2012-530 

European Commission  645101 

Available from: 2017-09-08 Created: 2017-09-08 Last updated: 2017-10-10Bibliographically approved

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