NDLI: Controlling a gas/odor plume-tracking robot based on transient responses of gas sensors

Content Provider	IEEE Xplore Digital Library
Author	Ishida, H. Nakayama, G. Nakamoto, T. Moriizumi, T.
Copyright Year	2002
Description	Author affiliation: Dept. of Phys. Electron., Tokyo Inst. of Technol., Japan (Ishida, H.; Nakayama, G.; Nakamoto, T.; Moriizumi, T.)
Abstract	Gas sensors provide the artificial sense of smell for a mobile robot to track an airborne gas/odor plume and to locate its source. However, a slow response of gas sensors has been the major factor limiting the development of plume-tracking robots. This paper describes a new control algorithm that overcomes the limitation. The basic idea is to detect the onset of a gas sensor response and start recovery by monitoring the relative change in each sensor output. Fast plume tracking is accomplished by making the robot take appropriate actions immediately when the sensor outputs start changing from one state to another. The detection of output change also leads to reliable plume detection and comparison of multiple sensor outputs since it is less affected by drift or sensitivity mismatch than the previous algorithm based on the absolute levels of sensor outputs. Experimental results have shown that the robot can track down a gas source within the distance of 2 m in 30 s even though semiconductor gas sensors with a long recovery time (> 60 s) are used.
Sponsorship	IEEE Sensor Council
Starting Page	1665
Ending Page	1670
File Size	650809
Page Count	6
File Format	PDF
ISBN	0780374541
DOI	10.1109/ICSENS.2002.1037374
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-06-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Gas detectors Mobile robots Change detection algorithms Signal processing algorithms Monitoring Oceans Animals Navigation Chemical hazards
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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