TY - GEN
T1 - Improving gas dispersal simulation for mobile robot olfaction
T2 - 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose, ISOEN 2017
AU - Fan, Han
AU - Arain, Muhammad Asif
AU - Bennett, Victor Hernandez
AU - Schaffernicht, Erik
AU - Lilienthal, Achim J.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/5
Y1 - 2017/7/5
N2 - Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.
AB - Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.
UR - http://www.scopus.com/inward/record.url?scp=85027176081&partnerID=8YFLogxK
U2 - 10.1109/ISOEN.2017.7968874
DO - 10.1109/ISOEN.2017.7968874
M3 - Conference contribution
AN - SCOPUS:85027176081
T3 - ISOEN 2017 - ISOCS/IEEE International Symposium on Olfaction and Electronic Nose, Proceedings
BT - ISOEN 2017 - ISOCS/IEEE International Symposium on Olfaction and Electronic Nose, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 28 May 2017 through 31 May 2017
ER -