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Leakage localisation with a mobile robot carrying chemical sensors
University of Tübingen, Tübingen, Germany.
University of Tübingen, Tübingen, Germany.
University of Tübingen, Tübingen, Germany. (Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
University of Tübingen, Tübingen, Germany.
2001 (English)In: The 8th IEEE international conference on electronics, circuits and systems: ICECS 2001, Malta, Malta: IEEE, 2001, Vol. 3, p. 1247-1250, article id 957441Conference paper, Published paper (Refereed)
Abstract [en]

On the way to developing an electronic watchman one more sense, i.e. gas sensing facilities, are added to an autonomous mobile robot. For the gas detection, up to eight metal oxide sensors are operated using a commercial sensor system. The robot is able to move and navigate autonomously. The geometric information is extracted from laser range finder data. This input is used to build up an internal map while driving. Using the new sensor the localisation of a gas source in unventilated in-house environments is performed. First experiments in a one-dimensional case show a very good correlation between the peak and the gas source. The one-dimensional concentration profile is repeatedly recorded and stable for at least two hours. The two-dimensional experiments exhibit a circulation of the air within the room due to temperature and hence density effects. The latter is limiting the available recording time for the two-dimensional mapping

Place, publisher, year, edition, pages
Malta, Malta: IEEE, 2001. Vol. 3, p. 1247-1250, article id 957441
Series
Proceedings of the IEEE International Conference on Electronics, Circuits, and Systems ; 3
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4015DOI: 10.1109/ICECS.2001.957441Scopus ID: 2-s2.0-48249123360ISBN: 0-7803-7057-0 (print)OAI: oai:DiVA.org:oru-4015DiVA, id: diva2:138314
Conference
The 8th IEEE International Conference on Electronics, Circuits and Systems, ICECS 2001, Malta, Malta, 2-5 September, 2001
Available from: 2007-09-05 Created: 2007-09-05 Last updated: 2018-04-17Bibliographically approved

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Leakage localisation with a mobile robot carrying chemical sensors(2243 kB)52 downloads
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Lilienthal, Achim J.

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