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Indicators of gas source proximity using metal oxide sensors in a turbulent environment
Örebro University, Department of Technology. (AASS)ORCID iD: 0000-0003-0217-9326
Örebro University, Department of Technology. (AASS)
Tokyo Univ. of Agriculture and Technology, Dept. of Mechanical Systems Engineering, Tokyo, Japan.
Wilhelm-Schickard Institute, University of Tübingen, Tübingen, Germany. (Wilhelm-Schickard Institute)
2006 (English)In: The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006, New York, NY, USA: IEEE, 2006, p. 733-738, article id 1639177Conference paper, Published paper (Refereed)
Abstract [en]

This paper addresses the problem of estimating proximity to a gas source using concentration measurements. In particular, we consider the problem of gas source declaration by a mobile robot equipped with metal oxide sensors in a turbulent indoor environment. While previous work has shown that machine learning classifiers can be trained to detect close proximity to a gas source, it is difficult to interpret the learned models. This paper investigates possible underlying indicators of gas source proximity, comparing three different statistics derived from the sensor measurements of the robot. A correlation analysis of 1056 trials showed that response variance (measured as standard deviation) was a better indicator than average response. An improved result was obtained when the standard deviation was normalized to the average response for each trial, a strategy that also reduces calibration problems.

Place, publisher, year, edition, pages
New York, NY, USA: IEEE, 2006. p. 733-738, article id 1639177
Series
Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, ISSN 2155-1782
Keywords [en]
Mobile nose, gas source localisation, turbulent gas distribution
National Category
Computer and Information Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3959DOI: 10.1109/BIOROB.2006.1639177ISI: 000244445100066Scopus ID: 2-s2.0-33845562422ISBN: 978-1-4244-0039-3 (print)OAI: oai:DiVA.org:oru-3959DiVA, id: diva2:138258
Conference
IEEE/RAS-EMBS International conference on biomedical robotics and biomechatronics, Biorob - 2006, 20-22 Feb. 2006, Pisa, Tuscany, Italy
Available from: 2007-08-27 Created: 2007-08-27 Last updated: 2018-06-11Bibliographically approved

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Lilienthal, Achim J.Duckett, Tom

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