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Application of an Array of Metal-Oxide Semiconductor Gas Sensors in an Assistant Personal Robot for Early Gas Leak Detection

1
Universitat de Lleida, Jaume II, 69, 25001 Lleida, Spain
2
Department of Electronics and Biomedical Engineering, Universitat de Barcelona, Marti i Franqués 1, 08028 Barcelona, Spain
3
Signal and Information Processing for Sensing Systems, Institute for Bioengineering of Catalonia (IBEC), The Barcelona Institute of Science and Technology, Baldiri Reixac 10–12, 08028 Barcelona, Spain
4
Centre de Recerca en Enginyeria Biomèdica, CREB. Enginyeria de Sistemes, Automàtica i Informàtica Industrial, Universitat Politècnica de Catalunya, 08028 Barcelona, Spain
5
Biomedical Research Networking Center in Bioengineering, Biomaterials and Nanomedicine CIBER-BBN, 28029 Madrid, Spain
6
Institut de Recerca Pediàtrica Hospital Sant Joan de Déu, 08950 Esplugues de Llobregat, Spain
*
Author to whom correspondence should be addressed.
Sensors 2019, 19(9), 1957; https://doi.org/10.3390/s19091957
Received: 14 February 2019 / Revised: 15 April 2019 / Accepted: 23 April 2019 / Published: 26 April 2019
(This article belongs to the Special Issue Recent Advances in Gas Nanosensors)
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Abstract

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. View Full-Text
Keywords: metal-oxide semiconductor; gas sensor; gas leak detection; assistant personal robot; mobile robot metal-oxide semiconductor; gas sensor; gas leak detection; assistant personal robot; mobile robot
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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

Palacín, J.; Martínez, D.; Clotet, E.; Pallejà, T.; Burgués, J.; Fonollosa, J.; Pardo, A.; Marco, S. Application of an Array of Metal-Oxide Semiconductor Gas Sensors in an Assistant Personal Robot for Early Gas Leak Detection. Sensors 2019, 19, 1957.

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