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

Collective Odor Source Estimation and Search in Time-Variant Airflow Environments Using Mobile Robots

This paper addresses the collective odor source localization (OSL) problem in a time-varying airflow environment using mobile robots. A novel OSL methodology which combines odor-source probability estimation and multiple robots’ search is proposed. The estimation phase consists of two steps: firstly, the separate probability-distribution map of odor source is estimated via Bayesian rules and fuzzy inference based on a single robot’s detection events; secondly, the separate maps estimated by different robots at different times are fused into a combined map by way of distance based superposition. The multi-robot search behaviors are coordinated via a particle swarm optimization algorithm, where the estimated odor-source probability distribution is used to express the fitness functions. In the process of OSL, the estimation phase provides the prior knowledge for the searching while the searching verifies the estimation results, and both phases are implemented iteratively. The results of simulations for large-scale advection–diffusion plume environments and experiments using real robots in an indoor airflow environment validate the feasibility and robustness of the proposed OSL method

Estimating localized sources of diffusion fields using spatiotemporal sensor measurements

We consider diffusion fields induced by a finite number of spatially localized sources and address the problem of estimating these sources using spatiotemporal samples of the field obtained with a sensor network. Within this framework, we consider two different time evolutions: the case where the sources are instantaneous, as well as, the case where the sources decay exponentially in time after activation. We first derive novel exact inversion formulas, for both source distributions, through the use of Green's second theorem and a family of sensing functions to compute generalized field samples. These generalized samples can then be inverted using variations of existing algebraic methods such as Prony's method. Next, we develop a novel and robust reconstruction method for diffusion fields by properly extending these formulas to operate on the spatiotemporal samples of the field. Finally, we present numerical results using both synthetic and real data to verify the algorithms proposed herein

Cell Detection by Functional Inverse Diffusion and Non-negative Group Sparsity−-Part I: Modeling and Inverse Problems

In this two-part paper, we present a novel framework and methodology to analyze data from certain image-based biochemical assays, e.g., ELISPOT and Fluorospot assays. In this first part, we start by presenting a physical partial differential equations (PDE) model up to image acquisition for these biochemical assays. Then, we use the PDEs' Green function to derive a novel parametrization of the acquired images. This parametrization allows us to propose a functional optimization problem to address inverse diffusion. In particular, we propose a non-negative group-sparsity regularized optimization problem with the goal of localizing and characterizing the biological cells involved in the said assays. We continue by proposing a suitable discretization scheme that enables both the generation of synthetic data and implementable algorithms to address inverse diffusion. We end Part I by providing a preliminary comparison between the results of our methodology and an expert human labeler on real data. Part II is devoted to providing an accelerated proximal gradient algorithm to solve the proposed problem and to the empirical validation of our methodology.Comment: published, 15 page

Combining non selective gas sensors on a mobile robot for identification and mapping of multiple chemical compounds

In this paper, we address the task of gas distribution modeling in scenarios where multiple heterogeneous compounds are present. Gas distribution modeling is particularly useful in emission monitoring applications where spatial representations of the gaseous patches can be used to identify emission hot spots. In realistic environments, the presence of multiple chemicals is expected and therefore, gas discrimination has to be incorporated in the modeling process. The approach presented in this work addresses the task of gas distribution modeling by combining different non selective gas sensors. Gas discrimination is addressed with an open sampling system, composed by an array of metal oxide sensors and a probabilistic algorithm tailored to uncontrolled environments. For each of the identified compounds, the mapping algorithm generates a calibrated gas distribution model using the classification uncertainty and the concentration readings acquired with a photo ionization detector. The meta parameters of the proposed modeling algorithm are automatically learned from the data. The approach was validated with a gas sensitive robot patrolling outdoor and indoor scenarios, where two different chemicals were released simultaneously. The experimental results show that the generated multi compound maps can be used to accurately predict the location of emitting gas sources

A survey on gas leakage source detection and boundary tracking with wireless sensor networks

Gas leakage source detection and boundary tracking of continuous objects have received a significant research attention in the academic as well as the industries due to the loss and damage caused by toxic gas leakage in large-scale petrochemical plants. With the advance and rapid adoption of wireless sensor networks (WSNs) in the last decades, source localization and boundary estimation have became the priority of research works. In addition, an accurate boundary estimation is a critical issue due to the fast movement, changing shape, and invisibility of the gas leakage compared with the other single object detections. We present various gas diffusion models used in the literature that offer the effective computational approaches to measure the gas concentrations in the large area. In this paper, we compare the continuous object localization and boundary detection schemes with respect to complexity, energy consumption, and estimation accuracy. Moreover, this paper presents the research directions for existing and future gas leakage source localization and boundary estimation schemes with WSNs

Cell Detection by Functional Inverse Diffusion and Non-negative Group Sparsity−-Part II: Proximal Optimization and Performance Evaluation

In this two-part paper, we present a novel framework and methodology to analyze data from certain image-based biochemical assays, e.g., ELISPOT and Fluorospot assays. In this second part, we focus on our algorithmic contributions. We provide an algorithm for functional inverse diffusion that solves the variational problem we posed in Part I. As part of the derivation of this algorithm, we present the proximal operator for the non-negative group-sparsity regularizer, which is a novel result that is of interest in itself, also in comparison to previous results on the proximal operator of a sum of functions. We then present a discretized approximated implementation of our algorithm and evaluate it both in terms of operational cell-detection metrics and in terms of distributional optimal-transport metrics.Comment: published, 16 page