TY - GEN
T1 - Indicators of gas source proximity using metal oxide sensors in a turbulent environment
AU - Lilienthal, Achim J.
AU - Duckett, Tom
AU - Ishida, Hiroshi
AU - Werner, Felix
PY - 2006
Y1 - 2006
N2 - 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.
AB - 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.
KW - Gas source localisation
KW - Mobile nose
KW - Turbulent gas distribution
UR - http://www.scopus.com/inward/record.url?scp=33845562422&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639177
DO - 10.1109/BIOROB.2006.1639177
M3 - Conference contribution
AN - SCOPUS:33845562422
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 733
EP - 738
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
T2 - 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
Y2 - 20 February 2006 through 22 February 2006
ER -