Towards Odor-Sensitive Mobile Robots

J. Monroy, J. Gonzalez-Jimenez, "Towards Odor-Sensitive Mobile Robots", Electronic Nose Technologies and Advances in Machine Olfaction, IGI Global, pp. 244--263, 2018, doi:10.4018/978-1-5225-3862-2.ch012 Versión preprint, con permiso del editorOut of all the components of a mobile robot, its sensorial system is undoubtedly among the most critical ones when operating in real environments. Until now, these sensorial systems mostly relied on range sensors (laser scanner, sonar, active triangulation) and cameras. While electronic noses have barely been employed, they can provide a complementary sensory information, vital for some applications, as with humans. This chapter analyzes the motivation of providing a robot with gas-sensing capabilities and also reviews some of the hurdles that are preventing smell from achieving the importance of other sensing modalities in robotics. The achievements made so far are reviewed to illustrate the current status on the three main fields within robotics olfaction: the classification of volatile substances, the spatial estimation of the gas dispersion from sparse measurements, and the localization of the gas source within a known environment

Drift Correction Methods for gas Chemical Sensors in Artificial Olfaction Systems: Techniques and Challenges

In this chapter the authors introduce the main challenges faced when developing drift correction techniques and will propose a deep overview of state-of-the-art methodologies that have been proposed in the scientific literature trying to underlying pros and cons of these techniques and focusing on challenges still open and waiting for solution

Design Issues and Challenges of File Systems for Flash Memories

This chapter discusses how to properly address the issues of using NAND flash memories as mass-memory devices from the native file system standpoint. We hope that the ideas and the solutions proposed in this chapter will be a valuable starting point for designers of NAND flash-based mass-memory devices

Exploiting Evolution for an Adaptive Drift-Robust Classifier in Chemical Sensing

Gas chemical sensors are strongly affected by drift, i.e., changes in sensors' response with time, that may turn statistical models commonly used for classification completely useless after a period of time. This paper presents a new classifier that embeds an adaptive stage able to reduce drift effects. The proposed system exploits a state-of-the-art evolutionary strategy to iteratively tweak the coefficients of a linear transformation able to transparently transform raw measures in order to mitigate the negative effects of the drift. The system operates continuously. The optimal correction strategy is learnt without a-priori models or other hypothesis on the behavior of physical-chemical sensors. Experimental results demonstrate the efficacy of the approach on a real problem

Integrating Olfaction in a Robotic Telepresence Loop

In this work we propose enhancing a typical robotic telepresence architecture by considering olfactory and wind flow information in addition to the common audio and video channels. The objective is to expand the range of applications where robotics telepresence can be applied, including those related to the detection of volatile chemical substances (e.g. land-mine detection, explosive deactivation, operations in noxious environments, etc.). Concretely, we analyze how the sense of smell can be integrated in the telepresence loop, covering the digitization of the gases and wind flow present in the remote environment, the transmission through the communication network, and their display at the user location. Experiments under different environmental conditions are presented to validate the proposed telepresence system when localizing a gas emission leak at the remote environment.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech

Airborne chemical sensing with mobile robots

Airborne chemical sensing with mobile robots has been an active research areasince the beginning of the 1990s. This article presents a review of research work in this field,including gas distribution mapping, trail guidance, and the different subtasks of gas sourcelocalisation. Due to the difficulty of modelling gas distribution in a real world environmentwith currently available simulation techniques, we focus largely on experimental work and donot consider publications that are purely based on simulations

Review of Face Detection Systems Based Artificial Neural Networks Algorithms

Face detection is one of the most relevant applications of image processing and biometric systems. Artificial neural networks (ANN) have been used in the field of image processing and pattern recognition. There is lack of literature surveys which give overview about the studies and researches related to the using of ANN in face detection. Therefore, this research includes a general review of face detection studies and systems which based on different ANN approaches and algorithms. The strengths and limitations of these literature studies and systems were included also.Comment: 16 pages, 12 figures, 1 table, IJMA Journa