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Sensors 2017, 17(7), 1479; doi:10.3390/s17071479

GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments

1
Machine Perception and Intelligent Robotics group (MAPIR), Instituto de Investigación Biomedica de Malaga (IBIMA), Universidad de Malaga, 29071 Malaga, Spain
2
Applied Autonomous Sensor Systems, Örebro University, Fakultetsgatan 1, 70182 Örebro, Sweden
*
Author to whom correspondence should be addressed.
Received: 17 May 2017 / Revised: 15 June 2017 / Accepted: 17 June 2017 / Published: 23 June 2017
(This article belongs to the Section Chemical Sensors)
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Abstract

This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.). Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment. View Full-Text
Keywords: gas dispersal; robotics olfaction; gas sensing; mobile robotics; Robot Operating System (ROS) gas dispersal; robotics olfaction; gas sensing; mobile robotics; Robot Operating System (ROS)
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Monroy, J.; Hernandez-Bennetts, V.; Fan, H.; Lilienthal, A.; Gonzalez-Jimenez, J. GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments. Sensors 2017, 17, 1479.

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