An application of mobile robotics for olfactory monitoring of hazardous industrial sites
Anno: 2009
Autori: Distante C., Indiveri G., Reina G.
Affiliazione autori: Univ Salento, Dept Innovat Engn, Lecce, Italy;
IMM CNR, Lecce, Italy
Abstract: The purpose of this paper is to present a mobile robot with an olfactory capability for hazardous site survey. Possible applications include detection of gas leaks and dangerous substances along predefined paths, inspection of pipes in factories, and mine sweeping.
Design/methodology/approach – The mobile sentry is equipped with a transducer array of tin oxide chemical sensors, compliant with the standard interface IEEE 1451, which provides odour-sensing capability, and uses differential drive and spring-suspended odometric trackballs to move and localize in the environment. The monitoring strategy comprises two stages. First, a path learning operation is performed where the vehicle is remotely controlled through some potential critical locations of the environment, such as valves, pressure vessels, and pipelines. Then, the robot automatically tracks the prerecorded trajectory while serving as an electronic watch by providing a real-time olfactory map of the environment. Laboratory experiments are described to validate the approach and assess the performance of the proposed system.
Giornale/Rivista: INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL
Volume: 36 Da Pagina: 51 A: 59
Parole chiavi: ELECTRONIC NOSE; GAS SENSOR; DOI: 10.1108/01439910910924675Citazioni: 13dati da “WEB OF SCIENCE” (of Thomson Reuters) aggiornati al: 2024-05-12Riferimenti tratti da Isi Web of Knowledge: (solo abbonati) Link per visualizzare la scheda su IsiWeb: Clicca quiLink per visualizzare la citazioni su IsiWeb: Clicca qui