Simulating a Gas Source Localization Algorithm with Gas Dispersion Produced by Recorded Outdoor Wind
- This presentation reports the use of the first gas dispersion simulator capable of generating large wind fluctuation, to test a modification to a gas source localization algorithm and study how the change affects it. Gas source localization at an outdoor environment is a challenging task mainly due to the complexity of the spreading gas caused by the unpredictable nature of constantly changing wind. Therefore, a novel use of outdoor wind in developing a gas source localization system by simulation will be shared. To consider the characteristic of sudden but large and unpredictable changes in wind direction, recorded outdoor wind was used to simulate a realistic outdoor gas dispersion which has been done for the first time. With the use of this simulator, a modification to a mobile robot-based gas source localization algorithm was evaluated. Multiple simulations of the modified and the original algorithm were done to study the effect of the tested modification. The results showed that aThis presentation reports the use of the first gas dispersion simulator capable of generating large wind fluctuation, to test a modification to a gas source localization algorithm and study how the change affects it. Gas source localization at an outdoor environment is a challenging task mainly due to the complexity of the spreading gas caused by the unpredictable nature of constantly changing wind. Therefore, a novel use of outdoor wind in developing a gas source localization system by simulation will be shared. To consider the characteristic of sudden but large and unpredictable changes in wind direction, recorded outdoor wind was used to simulate a realistic outdoor gas dispersion which has been done for the first time. With the use of this simulator, a modification to a mobile robot-based gas source localization algorithm was evaluated. Multiple simulations of the modified and the original algorithm were done to study the effect of the tested modification. The results showed that a small difference in the algorithm can greatly impact the results. From this study, we consider the use of simulation consisting of the necessary traits to evaluate outdoor gas source localization, has the potential to accelerate the development of a reliable localization system.…
Autor*innen: | T. Haratsu, Patrick P. NeumannORCiD |
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Koautor*innen: | M. Sakaue, H. Matsukura, H. Ishida |
Dokumenttyp: | Vortrag |
Veröffentlichungsform: | Präsentation |
Sprache: | Englisch |
Jahr der Erstveröffentlichung: | 2022 |
Organisationseinheit der BAM: | 8 Zerstörungsfreie Prüfung |
8 Zerstörungsfreie Prüfung / 8.1 Sensorik, mess- und prüftechnische Verfahren | |
DDC-Klassifikation: | Naturwissenschaften und Mathematik / Chemie / Analytische Chemie |
Technik, Medizin, angewandte Wissenschaften / Ingenieurwissenschaften / Sanitär- und Kommunaltechnik; Umwelttechnik | |
Freie Schlagwörter: | Gas Dispersion Simulator; Gas Source Localization; Mobile Robot Olfaction; Particle Filter |
Themenfelder/Aktivitätsfelder der BAM: | Umwelt |
Umwelt / Sensorik | |
Veranstaltung: | ROBOT2022: Fifth Iberian Robotics Conference |
Veranstaltungsort: | Zaragoza, Spain |
Beginndatum der Veranstaltung: | 23.11.2022 |
Enddatum der Veranstaltung: | 25.11.2022 |
Verfügbarkeit des Dokuments: | Datei im Netzwerk der BAM verfügbar ("Closed Access") |
Datum der Freischaltung: | 29.11.2022 |
Referierte Publikation: | Nein |
Eingeladener Vortrag: | Nein |