A mobile robot agent for gas leak source detection

Trends in Practical Applications of Heterogeneous Multi-Agent Systems. The PAAMS Collection.This paper presents an autonomous agent for gas leak source detec-tion. The main objective of the robot is to estimate the localization of the gas leak source in an indoor environment without any human intervention. The agent implements an SLAM procedure to scan and map the indoor area. The mobile robot samples gas concentrations with a gas and a wind sensor in order to estimate the source of the gas leak. The mobile robot agent will use the in-formation obtained from the onboard sensors in order to define an efficient scanning path. This paper describes the measurement results obtained in a long corridor with a gas leak source placed close to a wall.This work was partially funded by the Spanish Ministery of Economy and Competitivity, Plan Nacional de Investigación Científica, Desarrollo e Innovación Tecnológica: TEC2011-26143, and by the Government of Catalonia (Comisionat per a Universitats i Recerca, Departament d’Innovació, Universitats i Empresa) and the European Social Fund

Lidar-Based Relative Position Estimation and Tracking for Multi-Robot Systems

Relative positioning systems play a vital role in current multi-robot systems. We present a self-contained detection and tracking approach, where a robot estimates a distance (range) and an angle (bearing) to another robot using measurements extracted from the raw data provided by two laser range finders. We propose a method based on the detection of circular features with least-squares fitting and filtering out outliers using a map-based selection. We improve the estimate of the relative robot position and reduce its uncertainty by feeding measurements into a Kalman filter, resulting in an accurate tracking system. We evaluate the performance of the algorithm in a realistic indoor environment to demonstrate its robustness and reliability

Управление движением сельскохозяйственной автономной роботизированной платформы

A model of the movement of a robotic platform adapted to the conditions of an industrial orchard is proposed. (Research purpose) Development of a motion control system for an autonomous robotic wheeled platform based on inertial and satellite navigation and traversed path calculation, which will allow it to move in an apple orchard and automatically perform various technological operations, such as fertilization, growth diseases control of, fruit harvesting. (Materials and methods) A mathematical model was developed to control the movement of a robotic platform, taking into account the turning radii of three types, the length of the arc of the performed circle, the speed of movement in the garden plantation rows using a garden electronic map. The method used allows implementing a program for the robotic platform automatic movement around a typical orchard using a minimum set of sensors, significantly reducing the load on the onboard computer processor and memory. Software, developed in the Python programming language, enables plotting the robotic platform route, displaying the movement trajectory, and indicating the positioning accuracy at each point in relation to the trees in the garden plantation rows, the movement speed and the wheel rotation angle. (Results and discussion) The robotic platform managed to autonomously pass the preset routes, while the interaction of the software and the robotic platform hardware was provided. A field testing of the developed software was performed. (Conclusions) The specified accuracy of the robotic platform positioning was confirmed for the 3.5-meter aisles of intensive orchards. The maximum deviation from the task map using satellite and inertial navigation system was 164 millimeters, which complies with the agrotechnical requirements for mechanized fruit harvesting.Предложили модель автономного движения роботизированной платформой адаптированной под условия промышленного плодового сада. (Цель исследования) Разработать систему управления движением автономной роботизированной колесной платформы на основе инерциальной и спутниковой навигации и расчета преодолеваемого пути для позиционирования в плодовом саду, с автоматическим выполнением различных технологических операций, таких как внесение удобрений, контроль роста и болезней, уборка урожая плодов. (Материалы и методы) Создали математическую модель для управления движением роботизированной платформы, учитывающую радиусы разворота трех типов, длину дуги выполняемой окружности, скорости движения в рядах садовых насаждений с использованием электронной карты сада. Использовали метод, который позволяет реализовать программу автоматического движения роботизированной платформы по типовому плодовому саду с применением минимального набора датчиков, существенно снижая нагрузку на процессор и память бортовых вычислителей. Разработали программное обеспечение на языке программирования Python, позволяющее строить маршрут движения роботизированной платформы, отображать траекторию движения с указанием точности позиционирования в каждой точке относительно деревьев в рядах садовых насаждений, скорости движения и угла поворота колес. (Результаты и обсуждение) Реализовали автономное выполнение роботизированной платформой заданных маршрутов, взаимодействие программы с аппаратной частью роботизированной платформы. Провели полевое тестирование разработанного программного обеспечения. (Выводы) Подтвердили заданную точность позиционирования роботизированной платформы в междурядьях садов интенсивного типа 3,5 метра, максимальное отклонение при движении по карте задания с использованием спутниковой навигации и инерциальной системы составило 164 миллиметра, что удовлетворяет агротехнические требования к механизированной уборке плодов

Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking

This paper presents the use of an external fixed two-dimensional laser scanner to detect cylindrical targets attached to moving devices, such as a mobile robot. This proposal is based on the detection of circular markers in the raw data provided by the laser scanner by applying an algorithm for outlier avoidance and a least-squares circular fitting. Some experiments have been developed to empirically validate the proposal with different cylindrical targets in order to estimate the location and tracking errors achieved, which are generally less than 20 mm in the area covered by the laser sensor. As a result of the validation experiments, several error maps have been obtained in order to give an estimate of the uncertainty of any location computed. This proposal has been validated with a medium-sized mobile robot with an attached cylindrical target (diameter 200 mm). The trajectory of the mobile robot was estimated with an average location error of less than 15 mm, and the real location error in each individual circular fitting was similar to the error estimated with the obtained error maps. The radial area covered in this validation experiment was up to 10 m, a value that depends on the radius of the cylindrical target and the radial density of the distance range points provided by the laser scanner but this area can be increased by combining the information of additional external laser scanners

Two-Dimensional Radial Laser Scanning for Circular Marker Detection and External Mobile Robot Tracking

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Two-dimensional radial laser scanning for circular marker detection and external mobile robot tracking

This paper presents the use of an external fixed two-dimensional laser scanner to detect cylindrical targets attached to moving devices, such as a mobile robot. This proposal is based on the detection of circular markers in the raw data provided by the laser scanner by applying an algorithm for outlier avoidance and a least-squares circular fitting. Some experiments have been developed to empirically validate the proposal with different cylindrical targets in order to estimate the location and tracking errors achieved, which are generally less than 20 mm in the area covered by the laser sensor. As a result of the validation experiments, several error maps have been obtained in order to give an estimate of the uncertainty of any location computed. This proposal has been validated with a medium-sized mobile robot with an attached cylindrical target (diameter 200 mm). The trajectory of the mobile robot was estimated with an average location error of less than 15 mm, and the real location error in each individual circular fitting was similar to the error estimated with the obtained error maps. The radial area covered in this validation experiment was up to 10 m, a value that depends on the radius of the cylindrical target and the radial density of the distance range points provided by the laser scanner but this area can be increased by combining the information of additional external laser scanners

Swash zone dynamics of coarse-grained beaches during energetic wave conditions

Coarse-grained beaches, such as pure gravel (PG), mixed sand-gravel (MSG) and composite (CSG) beaches, can be considered as one of the most resilient non-cohesive morpho-sedimentary coastal environments to energetic wave forcing (e.g., storms). The hydraulically-rough and permeable nature of gravel (D50 > 2 mm), together with the steep (reflective) beach face, provide efficient mechanisms of wave energy dissipation in the swash zone and provide a natural means of coastal defence. Despite their potential for shore protection very little is known about the response of these environments during high energetic wave conditions. Field measurements of sediment transport and hydrodynamics on coarse-grained beaches are difficult, because there are few instruments capable of taking direct measurements in an energetic swash zone in which large clasts are moving, and significant morphological changes occur within a short period of time. Remote sensing methods emerge in this context as the most appropriate solution for these types of field measurement. A new remote sensing method, based around a mid-range (~ 50 m) 2D laser-scanner was developed, which allows the collection of swash zone hydrodynamics (e.g., vertical and horizontal runup position, swash depth and velocity) and bed changes on wave-by-wave time scale. This instrument allowed the complete coverage of the swash zone on several coarse-grained beaches with a vertical accuracy of approximately 0.015 m and an average horizontal resolution of 0.07 m. The measurements performed with this new methodology are within the accuracy of traditional field techniques (e.g. video cameras, ultrasonic bed-level sensors or dGPS). Seven field experiments were performed between March 2012 and January 2014 on six different coarse-grained beaches (Loe Bar, Chesil, Slapton, Hayling Island, Westward Ho! and Seascale), with each deployment comprising the 2D laser-scanner together with complementary in-situ instrumentation (e.g., pressure transducer, ADV current meter). These datasets were used to explore the hydrodynamics and morphological response of the swash zone of these different environments under different energetic hydrodynamic regimes, ranging from positive, to zero, to negative freeboard regimes. With reference to the swash zone dynamics under storms with positive freeboard regimes (when runup was confined to the foreshore) it was found that extreme runup has an inverse relationship with the surf scaling parameter (=2Hs /gTptan2). The highest vertical runup excursions were found on the steepest beaches (PG beaches) and under long-period swell, while lower vertical runup excursions where linked to short-period waves and beaches with intermediate and dissipative surf zones, thus demonstrating that the contrasting degree of wave dissipation observed in the different types of surf zones is a key factor that control the extreme runup on coarse-grained beaches. Contrasting morphological responses were observed on the different coarse-grained beaches as a result of the distinct swash\surf zone hydrodynamics. PG beaches with narrow surf zone presented an asymmetric morphological response during the tide cycle (accretion during the rising and erosion during the falling tide) as a result of beach step adjustments to the prevailing hydrodynamics. On dissipative MSG and CSG beaches the morphological response was limited due to the very dissipative surf zone, while on an intermediate CSG beach significant erosion of the beach face and berm was observed during the entire tide cycle as a result of the absence of moderate surf zone wave dissipation and beach step dynamics. Fundamental processes related to the link between the beach step dynamics and the asymmetrical morphological response during the tidal cycle were for the first time measured under energetic wave conditions. During the rising tide the onshore shift of the breaking point triggers the onshore translation of the step and favors accretion (step deposit development), while during the falling tide the offshore translation of the wave breaking point triggers retreat of the step and favours backwash sediment transport (erosion of the step deposit). Under zero and negative freeboard storm regimes (when runup exceeds the crest of the barrier or foredune), field measurements complimented by numerical modelling (Xbeach-G) provide clear evidence that the presence of a bimodal wave spectrum enhances the vertical runup and can increase the likelihood of the occurrence of overtopping and overwash events over a gravel barrier. Most runup equations (e.g., Stockdon et al., 2006) used to predict the thresholds for storm impact regime (e.g., swash, overtopping and overwash) on barriers lack adequate characterisation of the full wave spectra; therefore, they may miss important aspects of the incident wave field, such as wave bimodality. XBeach-G allows a full characterization of the incident wave field and is capable of predicting the effect of wave spectra bimodality on the runup, thus demonstrating that is a more appropriate tool for predicting the storm impact regimes on gravel barriers. Regarding the definition of storm impact regimes on gravel barriers, it was found that wave period and wave spectra bimodality are key parameters that can affect significantly the definition of the thresholds for these different regimes. While short-period waves dissipate most of their energy before reaching the swash zone (due to breaking) and produce short runup excursions, long-period waves arrive at the swash zone with enhanced heights (due to shoaling) and break at the edge of the swash, thus promoting large runup excursions. When offshore wave spectrum presents a bimodal shape, the wave transformation on shallow waters favours the long period peak (even if the short-period peak is the most energetic offshore) and large runup excursions occur. XBeach-G simulations show that the morphological response of fine gravel barriers is distinct from coarse gravel barriers under similar overtopping conditions. While on coarser barriers overtopping regimes are expected to increase the crest elevation and narrow the barrier, on fine barriers sedimentation occurs on the back of the barrier and in the lower beach face. Such different sedimentation patterns are attributed to the different hydraulic conductivity of the different sediment sizes which control the amount of flow dissipation (due to infiltration) and, therefore, the capacity of the flow to transport sediment across and over the barrier crest. The present findings have significantly improved our conceptual understanding of the response of coarse-grained beaches during storms. A new field technique to measure swash dynamics in the field was developed during this thesis and has great potential to become widely used in a variety of coastal applications.EPSR