Dataset from chemical gas sensor array in turbulent wind tunnel

The dataset includes the acquired time series of a chemical detection platform exposed to different gas conditions in a turbulent wind tunnel. The chemo-sensory elements were sampling directly the environment. In contrast to traditional approaches that include measurement chambers, open sampling systems are sensitive to dispersion mechanisms of gaseous chemical analytes, namely diffusion, turbulence, and advection, making the identification and monitoring of chemical substances more challenging. The sensing platform included 72 metal-oxide gas sensors that were positioned at 6 different locations of the wind tunnel. At each location, 10 distinct chemical gases were released in the wind tunnel, the sensors were evaluated at 5 different operating temperatures, and 3 different wind speeds were generated in the wind tunnel to induce different levels of turbulence. Moreover, each configuration was repeated 20 times, yielding a dataset of 18,000 measurements. The dataset was collected over a period of 16 months. The data is related to "On the performance of gas sensor arrays in open sampling systems using Inhibitory Support Vector Machines", by Vergara et al.[1]. The dataset can be accessed publicly at the UCI repository upon citation of [1]: http://archive.ics.uci.edu/ml/datasets/Gas+sensor+arrays+in+open+sampling+settings.This work has been supported by the California Institute for Telecommunications and Information Technology (CALIT2) under Grant number 2014 CSRO 136

Data set from chemical sensor array exposed to turbulent gas mixtures

A chemical detection platform composed of 8 chemo-resistive gas sensors was exposed to turbulent gas mixtures generated naturally in a wind tunnel. The acquired time series of the sensors are provided. The experimental setup was designed to test gas sensors in realistic environments. Traditionally, chemical detection systems based on chemo-resistive sensors include a gas chamber to control the sample air flow and minimize turbulence. Instead, we utilized a wind tunnel with two independent gas sources that generate two gas plumes. The plumes get naturally mixed along a turbulent flow and reproduce the gas concentration fluctuations observed in natural environments. Hence, the gas sensors can capture the spatio-temporal information contained in the gas plumes. The sensor array was exposed to binary mixtures of ethylene with either methane or carbon monoxide. Volatiles were released at four different rates to induce different concentration levels in the vicinity of the sensor array. Each configuration was repeated 6 times, for a total of 180 measurements. The data is related to "Chemical Discrimination in Turbulent Gas Mixtures with MOX Sensors Validated by Gas Chromatography-Mass Spectrometry", by Fonollosa et al. [1]. The dataset can be accessed publicly at the UCI repository upon citation of [1]: http://archive.ics.uci.edu/ml/datasets/Gas+senso+rarray+exposed+to+turbulent+gas+mixtures.This work has been supported by the California Institute for Telecommunications and Information Technology (CALIT2) under Grant Number 2014 CSRO 136

Mobile Robots for Localizing Gas Emission Sources on Landfill Sites: Is Bio-Inspiration the Way to Go?

Roboticists often take inspiration from animals for designing sensors, actuators, or algorithms that control the behavior of robots. Bio-inspiration is motivated with the uncanny ability of animals to solve complex tasks like recognizing and manipulating objects, walking on uneven terrains, or navigating to the source of an odor plume. In particular the task of tracking an odor plume up to its source has nearly exclusively been addressed using biologically inspired algorithms and robots have been developed, for example, to mimic the behavior of moths, dung beetles, or lobsters. In this paper we argue that biomimetic approaches to gas source localization are of limited use, primarily because animals differ fundamentally in their sensing and actuation capabilities from state-of-the-art gas-sensitive mobile robots. To support our claim, we compare actuation and chemical sensing available to mobile robots to the corresponding capabilities of moths. We further characterize airflow and chemosensor measurements obtained with three different robot platforms (two wheeled robots and one flying micro-drone) in four prototypical environments and show that the assumption of a constant and unidirectional airflow, which is the basis of many gas source localization approaches, is usually far from being valid. This analysis should help to identify how underlying principles, which govern the gas source tracking behavior of animals, can be usefully “translated” into gas source localization approaches that fully take into account the capabilities of mobile robots. We also describe the requirements for a reference application, monitoring of gas emissions at landfill sites with mobile robots, and discuss an engineered gas source localization approach based on statistics as an alternative to biologically inspired algorithms

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

Probabilistic gas quantification with MOX sensors in open sampling systems - a Gaussian Process approach

Gas quantification based on the response of an array of metal oxide (MOX) gas sensors in an Open Sampling System is a complex problem due to the highly dynamic characteristic of turbulent airflow and the slow dynamics of the MOX sensors. However, many gas related applications require to determine the gas concentration the sensors are being exposed to. Due to the chaotic nature that dominates gas dispersal, in most cases it is desirable to provide, together with an estimate of the mean concentration, an estimate of the uncertainty of the prediction. This work presents a probabilistic approach for gas quantification with an array of MOX gas sensors based on Gaussian Processes, estimating for every measurement of the sensors a posterior distribution of the concentration, from which confidence intervals can be obtained. The proposed approach has been tested with an experimental setup where an array of MOX sensors and a Photo Ionization Detector (PID), used to obtain ground truth concentration, are placed downwind with respect to the gas source. Our approach has been implemented and compared with standard gas quantification methods, demonstrating the advantages when estimating gas concentrations

Negative effects of a high tumour necrosis factor-α concentration on human gingival mesenchymal stem cell trophism: The use of natural compounds as modulatory agents

Background: Adult mesenchymal stem cells (MSCs) play a crucial role in the maintenance of tissue homeostasis and in regenerative processes. Among the different MSC types, the gingiva-derived mesenchymal stem cells (GMSCs) have arisen as a promising tool to promote the repair of damaged tissues secreting trophic mediators that affect different types of cells involved in regenerative processes. Tumour necrosis factor (TNF)-α is one of the key mediators of inflammation that could affect tissue regenerative processes and modify the MSC properties in in-vitro applications. To date, no data have been reported on the effects of TNF-α on GMSC trophic activities and how its modulation with anti-inflammatory agents from natural sources could modulate the GMSC properties. Methods: GMSCs were isolated and characterized from healthy subjects. The effects of TNF-α were evaluated on GMSCs and on the well-being of endothelial cells. The secretion of cytokines was measured and related to the modification of GMSC-endothelial cell communication using a conditioned-medium method. The ability to modify the inflammatory response was evaluated in the presence of Ribes nigrum bud extract (RBE). Results: TNF-α differently affected GMSC proliferation and the expression of inflammatory-related proteins (interleukin (IL)-6, IL-10, transforming growth factor (TGF)-β, and cyclooxygenase (COX)-2) dependent on its concentration. A high TNF-α concentration decreased the GMSC viability and impaired the positive cross-talk between GMSCs and endothelial cells, probably by enhancing the amount of pro-inflammatory cytokines in the GMSC secretome. RBE restored the beneficial effects of GMSCs on endothelial viability and motility under inflammatory conditions. Conclusions: A high TNF-α concentration decreased the well-being of GMSCs, modifying their trophic activities and decreasing endothelial cell healing. These data highlight the importance of controlling TNF-α concentrations to maintain the trophic activity of GMSCs. Furthermore, the use of natural anti-inflammatory agents restored the regenerative properties of GMSCs on endothelial cells, opening the way to the use and development of natural extracts in wound healing, periodontal regeneration, and tissue-engineering applications that use MSCs

Gas discrimination for mobile robots

The problem addressed in this thesis is discrimination of gases with an array of partially selective gas sensors. Metal oxide gas sensors are the most common gas sensing technology since they have, compared to other gas sensing technologies, a high sensitivity to the target compounds, a fast response time,they show a good stability of the response over time and they are commercially available. One of the most severe limitation of metal oxide gas sensors is the scarce selectivity, that means that they do not respond only to the compound for which they are optimized but also to other compounds. One way to enhance the selectivity of metal oxide gas sensors is to build an array of sensorswith different, and partially overlapping, selectivities and then analyze the response of the array with a pattern recognition algorithm. The concept of anarray of partially selective gas sensors used together with a pattern recognition algorithm is known as an electronic nose (e-nose).In this thesis the attention is focused on e-nose applications related mobile robotics. A mobile robot equipped with an e-nose can address tasks like environmental monitoring, search and rescue operations or exploration of hazardous areas. In e-noses mounted on mobile robots the sensing array is most often directly exposed to the environment without the use of a sensing chamber.This choice is often made because of constraints in weight, costs and because the dynamic response obtained by the direct interaction of the sensors with the gas plume contains valuable information. However, this setup introduces additional challenges due to the gas dispersion that characterize natural environments.Turbulent and chaotic gas dispersal causes the array of sensors to be exposed to rapid changes in concentration that cause the sensor response to behighly dynamic and to seldom reach a steady state. Therefore the discriminationof gases has to be performed on features extracted from the dynamics of the signal. The problem is further complicated by variations in temperature and humidity, physical variables to which metal oxide gas sensors are crossensitive.For these reasons the problem of discrimination of gases when an array of sensors is directly exposed to the environment is different from when the array of sensors is in a controlled chamber. This thesis is a compilation of papers whose contributions are two folded.On one side new algorithms for discrimination of gases with an array of sensors directly exposed to the environment are presented. On the other side, innovative experimental setups are proposed. These experimental setups enable the collection of high quality data that allow a better insight in the problem of discrimination of gases with mobile robots equipped with an e-nose. The algorithmic contributions start with the design and validation of a gas discrimination algorithm for gas sensors array directly exposed to the environment. The algorithmis then further developed in order to be able to run online on a robot, thereby enabling the possibility of creating an olfactory driven path-planning strategy. Additional contributions aim at maximizing the generalization capabilitiesof the gas discrimination algorithm with respect to variations in the environmental conditions. First an approach in which the odor discrimination is performed by an ensemble of linear classifiers is considered. Then a feature selection method that aims at finding a feature set that is insensitive to variations in environmental conditions is designed. Finally, a further contribution in this thesis is the design of a pattern recognition algorithm for identification of bacteria from blood vials. In this case the array of gas sensors was deployed ina controlled sensing chamber