Experiences Using Experiences Using Gas Sensors as Sensors on an - - PowerPoint PPT Presentation

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Experiences Using Experiences Using Gas Sensors as Sensors on an - - PowerPoint PPT Presentation

Feb 28, 2023 47 likes •249 views

Experiences Using Experiences Using Gas Sensors as Sensors on an Autonomous on an Autonomous Mobile Robot obile Robot Achim Lilienthal Achim Lilienthal University of Tbingen University of Tbingen WSI Computer Science Dept. WSI

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SLIDE 1

Experiences Using Experiences Using Gas Sensors as Sensors

  • n an Autonomous
  • n an Autonomous Mobile Robot
  • bile Robot

Achim Lilienthal Achim Lilienthal University of Tübingen University of Tübingen WSI Computer Science Dept. WSI Computer Science Dept. http://www-ra.informatik.uni-tuebingen.de http://www-ra.informatik.uni-tuebingen.de

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SLIDE 2

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 2

Contents

  • 1. Defining the Goal: An Electronic Watchman
  • 2. Hardware Setup
  • electronic nose
  • mobile robot
  • 3. Previous Experiments (1D)
  • 4. Experimental Setup (2D)
  • 5. Results (2D)
  • 6. Conclusion & Outlook
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SLIDE 3

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 3

  • 1. Defining The Goal: An Electronic Watchman

Required Ability

  • detection of gases

Desired Abilities

  • localization of the gas source
  • identification of the odour

Environment

  • unmodified indoor environment
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SLIDE 4

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 4

  • 2. Hardware Setup, Electronic Nose

VOCmeter Vario

commercially available lightweight, small 24V DC supply possible low power consumption

  • perates up to 8 sensors

gathers readings with 4 Hz RS-232 interface

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SLIDE 5

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 5

  • 2. Hardware Setup, Electronic Nose

Sensor Sticks

thin, flexible cable small, easy to mount MOX, QMB available

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SLIDE 6

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 6

Based on "ATRV-Jr" (RWI)

skid steering 2x Pentium II, 333 MHz wireless LAN (BreezeCOM) sonar sensors

Electronic Nose

sensors: MOX

– at an outstanding rotatable bar – at fixed positions

Additional Sensors

laser scanner (SICK) CCD cameras

  • 2. Hardware Setup, ARTHUR

75 cm

1 2 3 4 6 7 8 5

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SLIDE 7

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 7

Experimental Conditions

no / weak ventilation no / few people passing by

Odour Source

ethanol, aceton placed at the end / in the middle of the corridor different intensities: 130 cm2, 60 cm2, 20 cm2

Driving Modes

stop-and-go constant velocity

Gas Sensors

mounted on the stiff extension

  • 3. Previous Experiments (1D), Setup
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SLIDE 8

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 8

  • 3. Previous Experiments (1D), Results

Ethanol

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Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 9

Detection

low intensities distance: several meters unventilated or weakly ventilated rooms weak disruptive elements possible

Localization

seems to be possible

  • 3. Previous Experiments (1D), Results
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SLIDE 10

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 10

  • 3. Previous Experiments (1D), Results
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SLIDE 11

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 11

Driving Mode

constant speed, not too slow stop-measure-and-go strategy not suitable

  • 3. Previous Experiments (1D), Results
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SLIDE 12

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 12

  • 3. Previous Experiments (1D), Results
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SLIDE 13

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 13

  • 4. Experimental Setup (2D)

Experimental Conditions

unventilated room, no people passing by jar in the middle of the room robot moved along a rectangular spiral

12.90 m 5.20 m 7.10 m

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SLIDE 14

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 14

  • 5. Experimental Setup (2D)
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SLIDE 15

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 15

  • 5. Results (2D)
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SLIDE 16

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 16

  • 6. Conclusion

Setup

signal nearly independent of stick position meaningful results only during movement no improvement could be detected using either a

– pumped cell – pc fan

Detection and Localisation in a '1D Environment'

even small sources (about 20 cm2) distance of about 5 m possible after hours

Detection and Localisation in a '2D Environment'

distinctive peaks along pathways level with the odour source measured distribution not centered at the location of the source

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SLIDE 17

Achim Lilienthal, University of Tübingen, WSI Computer Science Dept. 17

  • 6. Outlook

Implementing Intelligent Search/Navigation Strategies

dealing with a partially unknown airflow situation

Investigate the "Moving Effect"

further testing with the pumped cell (trunk)

Identification

using sensor array: MOX and QMB

Environment

less artificial indoor conditions

  • utdoor conditions
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SLIDE 18

Achim Lilienthal, Andreas Zell Achim Lilienthal, Andreas Zell University of Tübingen University of Tübingen WSI of Computer Science WSI of Computer Science http://www-ra.informatik.uni-tuebingen.de http://www-ra.informatik.uni-tuebingen.de Michael Wandel, Udo Weimar Michael Wandel, Udo Weimar University of Tübingen University of Tübingen Institute of Physical Chemistry Institute of Physical Chemistry http://www.ipc.uni-tuebingen.de/weimar http://www.ipc.uni-tuebingen.de/weimar

Experiences Using Experiences Using Gas Sensors as Sensors

  • n an
  • n an Autonomous

Autonomous Mobile Robot

  • bile Robot
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SLIDE 19

Thank you! Thank you!