Suchergebnisse

This paper proposes the application of a low-cost gas sensor array in an assistant personal robot (APR) in order to extend the capabilities of the mobile robot as an early gas leak detector for safety purposes. The gas sensor array is composed of 16 low-cost metal-oxide (MOX) gas sensors, which are continuously in operation. The mobile robot was modified to keep the gas sensor array always switched on, even in the case of battery recharge. The gas sensor array provides 16 individual gas measurements and one output that is a cumulative summary of all measurements, used as an overall indicator of a gas concentration change. The results of preliminary experiments were used to train a partial least squares discriminant analysis (PLS-DA) classifier with air, ethanol, and acetone as output classes. Then, the mobile robot gas leak detection capabilities were experimentally evaluated in a public facility, by forcing the evaporation of (1) ethanol, (2) acetone, and (3) ethanol and acetone at different locations. The positive results obtained in different operation conditions over the course of one month confirmed the early detection capabilities of the proposed mobile system. For example, the APR was able to detect a gas leak produced inside a closed room from the external corridor due to small leakages under the door induced by the forced ventilation system of the building ; This work was partially funded by the Spanish MINECO program, under grants DPI2017-89827-R (ALPE), BES-2015-071698 (Severo-Ochoa), and TEC2014-59229-R (SIGVOL), and by the European Research Council (ERC) under the European Union's Horizon 2020 research and innovation program (grant agreement n ◦ H2020-780262-SHARE4RARE). This work received support from the Departament d'Universitats, Recerca i Societat de la Informació de la Generalitat de Catalunya (expedients 2017 SGR 1721 and 2017 SGR 952) and the Networking Biomedical Research Center in the subject of area of Bioengineering, Biomaterials, and Nanomedicine (CIBER-BBN). This work was partially funded by ACCIÓ, Agència per la Competitivitat de l'Empresa, under grant INNOTECRD18-1-0054 Innotec. J.F. acknowledges the support from the Serra Húnter program.

Trends in Practical Applications of Heterogeneous Multi-Agent Systems. The PAAMS Collection. ; This paper presents an autonomous agent for gas leak source detec-tion. The main objective of the robot is to estimate the localization of the gas leak source in an indoor environment without any human intervention. The agent implements an SLAM procedure to scan and map the indoor area. The mobile robot samples gas concentrations with a gas and a wind sensor in order to estimate the source of the gas leak. The mobile robot agent will use the in-formation obtained from the onboard sensors in order to define an efficient scanning path. This paper describes the measurement results obtained in a long corridor with a gas leak source placed close to a wall. ; This work was partially funded by the Spanish Ministery of Economy and Competitivity, Plan Nacional de Investigación Científica, Desarrollo e Innovación Tecnológica: TEC2011-26143, and by the Government of Catalonia (Comisionat per a Universitats i Recerca, Departament d'Innovació, Universitats i Empresa) and the European Social Fund.

This paper presents themeasurement of gas concentration and wind intensity performed with amobile robot in a customturbulent wind tunnel designed for experimentation with customizable wind and gas leak sources.This paper presents the representation in different information layers of the measurements obtained in the turbulent wind tunnel under different controlled environmental conditions in order to describe the plume of the gas and wind intensities inside the experimentation chamber.Theinformation layers have been generated from the measurements gathered by individual onboard gas and wind sensors carried out by an autonomous mobile robot. On the one hand, the assumption was that the size and cost of these specialized sensors do not allow the creation of a net of sensors or other measurement alternatives based on the simultaneous use of several sensors, and on the other hand, the assumption is that the information layers created will have application on the development and test of automatic gas source location procedures based on reactive or nonreactive algorithms. ; This work was partially funded by the Spanish Ministry of Economy and Competitiveness, Plan Nacional de Investigación Científica, Desarrollo e Innovación Tecnológica: TEC2011-26143 and TEC2014-59229-R and by the Government of Catalonia (Comissionat per a Universitats i Recerca, Departament d'Innovació, Universitats i Empresa) and the European Social Fund (ECO/1639/2013).