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A stereo electronic nose for a mobile inspection robot
University of Tübingen, Tübingen, Germany. (AASS, Learning Systems Lab)ORCID iD: 0000-0003-0217-9326
Örebro University, Department of Technology. (AASS, Learning Systems Lab)
2003 (English)In: ROSE 2003 - 1st IEEE International Workshop on Robotic Sensing 2003, IEEE, 2003, article id 1218709Conference paper, Published paper (Refereed)
Abstract [en]

This paper describes the design of a gas-sensitive system that is suitable for use on a mobile robot ("mobile nose"). The stereo architecture comprises two equivalent sets of gas sensors mounted inside separated ventilated tubes (or "nostrils"). To characterise the dynamic response, the whole system is modelled as a first-order sensor. The corresponding parameters, including the response and recovery time, can be obtained by fitting this model to the values recorded during a simple experiment described in this paper. Our experiments confirmed the suitability of the applied model and permitted a quantitative comparison of different set-ups. It is shown that using suction fans lowers the recovery time of the metal oxide gas sensors by a factor of two, while a solid separation between the tubes (a "septum") is necessary to maintain the sensitivity of the mobile nose to concentration gradients.

Place, publisher, year, edition, pages
IEEE, 2003. article id 1218709
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-4020DOI: 10.1109/ROSE.2003.1218709Scopus ID: 2-s2.0-84944273193OAI: oai:DiVA.org:oru-4020DiVA, id: diva2:138319
Conference
IEEE International Workshop on Robotic Sensing, ROSE 2003 Örebro, Sweden, June 5-6, 2003
Available from: 2007-09-05 Created: 2007-09-05 Last updated: 2018-04-17Bibliographically approved

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A Stereo Electronic Nose for a Mobile Inspection Robot(1508 kB)91 downloads
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e1aef695689dd9a834c2f851920f0d4fa632a5c0fd73705abd465cde8b5128e0bed69f7f00bf12412fc89694ae624c9587271f9050c5cfad791b1fc61c9c57b7
Type fulltextMimetype application/pdf

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Lilienthal, Achim J.Duckett, Tom

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
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  • de-DE
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