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by Keyword: Mobile robots


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Palleja, T., Balsa, R., Tresanchez, M., Moreno, J., Teixido, M., Font, D., Marco, S., Pomareda, V., Palacin, J., (2014). Corridor gas-leak localization using a mobile Robot with a photo ionization detector sensor Sensor Letters , 12, (6-7), 974-977

The use of an autonomous mobile robot to locate gas-leaks and air quality monitoring in indoor environments are promising tasks that will avoid risky human operations. However, these are challenging tasks due to the chaotic gas profile propagation originated by uncontrolled air flows. This paper proposes the localization of an acetone gas-leak in a 44 m-length indoor corridor with a mobile robot equipped with a PID sensor. This paper assesses the influence of the mobile robot velocity and the relative height of the PID sensor in the profile of the measurements. The results show weak influence of the robot velocity and strong influence of the relative height of the PID sensor. An estimate of the gas-leak location is also performed by computing the center of mass of the highest gas concentrations.

Keywords: Gas source detection, LIDAR sensor, Mobile robot, PID sensor, SLAM, Acetone, Air quality, Gases, Indoor air pollution, Mobile robots, Robots, Air quality monitoring, Autonomous Mobile Robot, Gas sources, Indoor environment, Leak localization, LIDAR sensors, Profile propagation, SLAM, Ionization of gases


Hernandez Bennetts, V. M., Lilienthal, A. J., Khaliq, A. A., Pomareda Sese, V., Trincavelli, M., (2013). Towards real-world gas distribution mapping and leak localization using a mobile robot with 3d and remote gas sensing capabilities 2013 IEEE International Conference on Robotics and Automation (ICRA) (ed. Parker, Lynne E.), IEEE (Karlsruhe, Germany) , 2335-2340

Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor. This sensor provides integral concentration measurements over the path of the laser beam. Existing gas distribution mapping algorithms can only handle local measurements obtained from traditional in-situ chemical sensors. In this paper we also describe an algorithm to generate 3D methane concentration maps from integral concentration and depth measurements. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was introduced.

Keywords: Laser beams, Measurement by laser beam, Mobile robots, Robot kinematics, Robot sensing systems


Ziyatdinov, Andrey, Calvo, Jose Maria Blanco, Lechon, Miguel, Bermudez i Badia, Sergi, Verschure, Paul F. M. J., Marco, Santiago, Perera, Alexandre, (2011). Odour mapping under strong backgrounds with a metal oxide sensor array Olfaction and Electronic Nose: Proceedings of the 14th International Symposium on Olfaction and Electronic Nose AIP Conference Proceedings (ed. Perena Gouma, SUNY Stony Brook), AIP (New York City, USA) 1362, (1), 232-233

This work describes the data from navigation experiments with the mobile robot, equipped with the sensor array of three MOX gas sensors. Performed four series of measurements aim to explore the capabilities of sensor array to build the odour map with one or two odour sources in the wind tunnel space. It was demonstrated that the method based on Independent Component Analysis (ICA) is able to discriminate two odour sources, that in future can be used in the surge-and-cast robot navigation algorithm.

Keywords: Mobile robots, Data acquisition, MIS devices, Chemioception