Airborne chemical sensing with mobile robots

Sensors

Volumn 6, Issue 11, 2006, Pages 1616-1678

  Lilienthal, Achim J ^a   Loutfi, Amy ^a   Duckett, Tom ^b  

^a ÖREBRO UNIVERSITY   (Sweden)

^b UNIVERSITY OF LINCOLN   (United Kingdom)

Author keywords

Gas distribution mapping; Gas source declaration; Gas source localisation; Gas source tracing; Mobile robot olfaction; Trail guidance

Indexed keywords

CHEMICAL SENSORS; ELECTROCHEMICAL SENSORS; MAPPING; MOBILE ROBOTS; ROBOTS;

AIRBORNE CHEMICALS; GAS DISTRIBUTION; GAS DISTRIBUTION MAPPINGS; GAS SOURCES; REAL WORLD ENVIRONMENTS; SIMULATION TECHNIQUE; SUBTASKS;

GASES;

EID: 33947370508     PISSN: 14243210     EISSN: 14248220     Source Type: Journal    
DOI: 10.3390/s6111616     Document Type: Article

References (116)

1. Raub, J. A.; Mathieu-Nolf, M.; Hampson, N. B.; Thom, S. R. Carbon Monoxide Poisoning - A Public Health Perspective. Toxicology 2000, 145, 1-14.
2. Organisation, W. H. Environmental Health Criteria, No. 213: Carbon Monoxide. World Health Organisation (WHO), 2nd edition, 1999.
3. Blumenthal, I. Carbon Monoxide Poisoning. J. R. Soc. Med. 2001, 94, 270-272.
4. Townsend, C. L.; Maynard, R. L. Effects on Health of Prolonged Exposure to Low Concentrations of Carbon Monoxide. Occup. Environ. Med. 2002, 59, 708-711.
5. Ishida, H.; Moriizumi, T. Machine Olfaction for Mobile Robots. In Pearce, T. C.; Schiffman, S. S.; Nagle, H. T.; Gardner, J. W., editors, Handbook of Machine Olfaction: Electronic Nose Technology. Wiley-VCH, 2003.
6. Ishida, H.; Nakamoto, T.; Moriizumi, T.; Kikas, T.; Janata, J. Plume-Tracking Robots: A New Application of Chemical Sensors. Biol. Bull. (April 2001), 200, 222-226.
7. Russell, R. A. Survey of Robotic Applications for Odor-Sensing Technology. International Journal of Robotics Research 2001, 20(2), 144-162.
8. Russell, R. A. Odour Sensing for Mobile Robots. World Scientific, 1999.
9. Rajasekharan, S.; Kambhampati, C. The Current Opinion on the Use of Robots for Landmine Detection. In Proc. IEEE ICRA, pages 4252-4257, 2003.
10. Engelberger, J. F. Robotics in Service. Kogan Page, London, 1989.
11. Russell, R. A. Laying and Sensing Odor Markings as a Strategy for Assisting Mobile Robot Navigation Tasks. IEEE Robotics & Automation Magazine(September 1995), pages 3-9.
12. Russell, R. A.; Kleeman, L.; Kennedy, S. Using Volatile Chemicals to Help Locate Targets in Complex Environments. In Proc. ACRA, pages 87-91, Melbourne, 2000.
13. Lilienthal, A. J.; Reiman, D.; Zell, A. Gas Source Tracing With a Mobile Robot Using an Adapted Moth Strategy. In Autonome Mobile Systeme (AMS), 18. Fachgespräch, pages 150-160. GDI, Informatik aktuell, 2003.
14. Hayes, A. T.; Martinoli, A.; Goodman, R. M. Swarm Robotic Odor Localization. In Proc. IEEE IROS, pages 1073-1078, (October 2001).
15. Murlis, J.; Elkington, J. S.; Carde, R. T. Odor Plumes and How Insects Use Them. Annual Review of Entomology 1992, 37, 505-532.
16. Hayes, A. T.; Martinoli, A.; Goodman, R. M. Distributed Odor Source Localization. IEEE Sensors 2002, 2(3), 260-273.
17. Murphy, R.; Casper, J.; Hyams, J.; Micire, M.; Minten, B. Mobility and Sensing Demands in USAR. In Proc. IECON 2000, 2000.
18. Blackmore, B. S.; Griepentrog, H. W. A Future View of Precision Farming. In Proceedings of PreAgro Precision Agriculture Conference, pages 131-145, Müncheberg, Germany, Center for Agricultural Landscape and Land Use Research (ZALF), 2002.
19. Persaud, K.; Dodd, G. Analysis of Discrimination Mechanisms of the Mammalian Olfactory System Using a Model Nose. Nature 1982, 299, 352-355.
20. Ikegami, A.; Kaneyasu, M. Olfactory Detection Using Integrated Sensors. In Proceedings of the 3rd International Conference on Solid-State Sensors and Actuators (Transducers 1985), pages 136-139, New York, 1985. IEEE Press.
21. Kaneyasu, M.; Ikegami, A.; Arima, H.; Iwanga, S. Smell Identification Using a Thick-Film Hybrid Gas Sensor. In. IEEE Trans. Components, Hybrids Manufact. Technol., CHMT-10, pages 267-273, 1987.
22. Carey, W. P.; Kowalski, B. R. Sensor Arrays for Chemical Analysis of Vapors. Sensors and Actuators B 1990, 1, 43-47.
23. Gardner, J. W.; Bartlett, P. N. A Brief History of Electronic Noses. Sensors and Actuators B 1994, 18-19, 211-220.
24. Gardner, J. W.; Bartlett, P. N. Electronic Noses - Principles and Applications. Oxford Science Publications, Oxford, 1999.
25. Moncrieff, R. W. An Instrument for Measuring and Classifying Odours. J. Appl. Physiol. 1961, 16, 742-749.
26. Hartman, J. D. A Possible Objective Method for the Rapid Estimation of Flavours in Vegetables. Proc. Am. Soc. Hort. Sci. 1954, 64(335).
27. Sauerbrey, G. Verwendung von Schwingquarzen zur Wägung dünner Schichten und zur Mikrowägung. Zeitschrift für Physik 1959, 155, 206-222.
28. Wilkens, W. F.; Hartman, J. D. An Electronic Analogue for the Olfactory Process. Ann. NY Acad. Sci. 1964, 116, 608-612.
29. Pearce, T. Handbook of Machine Olfaction. Wiley-VCH, 2003.
30. Penza, M.; Cassano, G.; Tortorella, F. Gas Recognition by Activated Wo3 Thin-Film Sensors Array. Sensors and Actuators B: Chemical 2001, 87(1), 115-121.
31. Schaller, E.; Bosset, J.; Escher, F. Electronic Noses and Their Application to Food. Lebensmittel-Wissenschaft und-Technologie 1998, 31(4), 305-316.
32. Albert, K. J.; Lewis, N. S. Cross Reactive Chemical Sensor Arrays. Chem. Rev. 2000, 100, 2595-2626.
33. Moriizumi, T. Biomimetic Sensing Systems With Arrayed Nonspecific Sensors. In Proceedings of the 8th International Conference on Solid-State Sensors and Actuators (Transducers 1995), pages 39-42, 1995.
34. 2 Gas Sensors for CO Detection by In Situ Techniques. PhD thesis, University of Tübingen, 2001.
35. Dickinson, T.; White, J.; Kauer, J.; Walt, D. Current Trends in "Artificial-Nose" Technology. Trends in Biotechnology 1998, 16(6), 350-358.
36. Munoz, B. C.; Steinthal, G.; Sunshine, S. Conductive Polymer-Carbon Black Composites-Based Sensor Arrays for Use in an Electronic Nose. Sensor Review 1999, 19(4), 300-305.
37. Arshak, K.; Moore, E.; Lyons, G. M.; Harris, J.; Clifford, S. A Review of Gas Sensors Employed in Electronic Nose Applications. Sensor Review 2004, 24(2), 181-198.
38. Partridge, A. C.; Jansen, M. L.; Arnold, W. M. Conducting Polymer-Based Sensors. Materials Science and Engineering 2000, 12(1-2), 37-42.
39. Haug, M.; Schierbaum, K.; G.Gauglitz.; Gopel, W. Chemical Sensors Based Upon Polysiloxanes: Comparison Between Optical, Quartz Microbalance, Calorimetric, and Capacitance Sensors. Sensors and Actuators B : Chemical 1993, 11(1-3), 383-391.
40. Nagle, H. T.; Gutierrez-Osuna, R.; Schiffman, S. S. The How and Why of Electronic Noses. IEEE Spectrum 1998, 35, 22-31.
41. Kreutz, C.; Lörgen, J.; Graewe, B.; Bargon, J.; Yoshida, M.; Fresco, Z. M.; Frèchet, J. M. J. High Frequency Quartz Micro Balances: A Promising Path to Enhanced Sensitivity of Gravimetric Sensors. Sensors 2006, 6, 335-340.
42. Olafsson, R.; Martinsdottir, E.; Olafsdottir, G.; Sigfusson, S. I.; Gardner, J. W. Monitoring of Fish Freshness Using Tin Oxide Sensors. In Sensors and Sensory Systems for an Electronic Nose, pages 257-272, 1992.
43. Winquist, F.; Hornsten, E.; Sundgren, H.; Lundström, I. Performance of an Electronic Nose for Quality Estimation of Ground Meat. Measurement Science and Technology 1993, 4, 1493-1500.
44. Kleperis, J.; Lusis, A.; Zubkans, J.; Veidemanis, M. Two Years Experience With Nordic E-Nose. In ISOEN Conference Proceedings, pages 11-14, 1999.
45. Hermle, T.; Weimar, U.; Rosenstiel, W.; Göpel, W. Performance of Selected Evaluation Methods for a Hybrid Sensor System. In ISOEN Conference Proceedings, pages 183-186, 1999.
46. Kolb, B.; Ettre, L. S. Static Headspace-Gas Chromatography - Theory and Practice. Wiley-VCH, New York, 1997.
47. Wandel, M. R.; Lilienthal, A. J.; Duckett, T.; Weimar, U.; Zell, A. Gas Distribution in Unventilated Indoor Environments Inspected by a Mobile Robot. In Proc. IEEE ICAR, pages 507-512, 2003.
48. Nakamoto, T.; Ishida, H.; Moriizumi, T. A Sensing System for Odor Plumes. Analytical Chem. News & Features(August 1999), 1, 531-537.
49. Smyth, W. D.; Moum, J. N. 3D Turbulence. In Steele, J.; Thorpe, S.; Turekian, K., editors, Encyclopedia of Ocean Sciences. Academic Press, 2001.
50. Roberts, P. J. W.; Webster, D. R. Turbulent Diffusion. In Shen, H.; Cheng, A.; Wang, K.-H.; Teng, M.; Liu, C., editors, Environmental Fluid Mechanics - Theories and Application. ASCE Press, Reston, Virginia, 2002.
51. Hinze, J. O. Turbulence. McGraw-Hill, New York, 1975.
52. Lilienthal, A. J.; Duckett, T. Building Gas Concentration Gridmaps with a Mobile Robot. Robotics and Autonomous Systems(August 2004), 48(1), 3-16.
53. Rozas, R.; Morales, J.; Vega, D. Artificial Smell Detection for Robotic Navigation. In Proc. IEEE ICAR, pages 1730-1733, 1991.
54. Sandini, G.; Lucarini, G.; Varoli, M. Gradient-Driven Self-Organizing Systems. In Proc. IEEE IROS, pages 429-432, (July 1993).
55. Pluijm, M.; Sars, G.; Massen, C. H. Calibration Unit for Micro-Anemometers at Very Low Air Velocities. Appl. Sci. Res. 1986, 43, 227-234.
56. Ishida, H. Personal Communication (August 2006).
57. Ishida, H.; Nakamoto, T.; Moriizumi, T. Remote Sensing of Gas/Odor Source Location and Concentration Distribution Using Mobile System. Sensors and Actuators B 1998, 49, 52-57.
58. Purnamadjaja, A. H.; Russell, R. A. Congregation Behaviour in a Robot Swarm Using Pheromone Communication. In Proc. ACRA, 2005.
59. Ishida, H.; Tsuruno, M.; Yoshikawa, K.; Moriizumi, T. Spherical Gas-Sensor Array for Three-Dimensional Plume Tracking. In Proc. IEEE ICAR, pages 369-374, 2003.
60. Pyk, P.; Bermúdez Badia, S.; Bernardet, U.; Knüsel, P.; Carlsson, M.; Gu, J.; Chanie, E.; Hansson, B. S.; Pearce, T. C.; Verschure, P. F. An Artificial Moth: Chemical Source Localization Using a Robot Based Neuronal Model of Moth Optomotor Anemotactic Search. Auton Robot 2006, 20, 197-213.
61. Lilienthal, A. J.; Duckett, T. Creating Gas Concentration Gridmaps with a Mobile Robot. In Proc. IEEE IROS, pages 118-123, 2003.
62. Parzen, E. On the estimation of a probability density function and mode. Annals of Mathematical Statistics 1962, 33, 1065-1076.
63. Duda, R. O.; Hart, P. E.; Stork, D. G. Pattern Classification. John Wiley & Sons, 2001.
64. Lilienthal, A. J. Gas Distribution Mapping and Gas Source Localisation with a Mobile Robot. PhD thesis, Wilhelm-Schickard Institute, University of Tübingen, 2004.
65. Sudd, J. H. An Introduction to the Behaviour of Ants. Arnold Pub. Ltd, London, 1967.
66. Stella, E.; Musio, F.; Vasanelli, L.; Distante, A. Goal-oriented Mobile Robot Navigation Using an Odour Sensor. In Proc. of the Intelligent Vehicles Symposium, pages 147-151, 1995.
67. Larionova, S.; Almeida, N.; Marques, L.; de Almeida, A. T. Olfactory Coordinated Area Coverage. Auton Robot 2006, 20, 251-260.
68. Russell, R. A.; Thiel, D.; Mackay-Sim, A. Sensing Odour Trails for Mobile Robot Navigation. In Proc. ICRA, pages 2672-2677, 1994.
69. Russell, R. A. Ant Trails - an Example for Robots to Follow? In Proc. ICRA, pages 2698-2703, 1999.
70. Larionova, S.; Almeida, N.; Marques, L.; de Almeida, A. T. Olfactory Coordinated Area Coverage. In Proc. ICAR, pages 501-506, 2003.
71. Deveza, R.; Thiel, D.; Russell, R. A.; Mackay-Sim, A. Odor Sensing for Robot Guidance. Robotics Research (June 1994), 3(13), 232-239.
72. Sharpe, T.; Webb, B. Simulated and Situated Models of Chemical Trail Following in Ants. In Pfeifer, R.; Blumberg, B.; Meyer, J.-A.; Wilson, S., editors, Proc. SAB, pages 195-204, Zürich, Switzerland, 1998.
73. Hangartner, W. Spezifität und Inaktivierung des Spurpheromons von Lasius fuliginious Latr. und Orientierung der Arbeiterinnen im Duftfeld. Z. Vergl. Physiol 1967, 57(2), 103-136.
74. Mann, G. A.; Katz, G. Chemical Trail Guidance for Floor Cleaning Machines. In Proc. FSR, pages 195-204, (August 1999).
75. Russell, R. A.; Bab-Hadiashar, A.; Shepherd, R. L.; Wallace, G. G. A Comparison of Reactive Chemotaxis Algorithms. Robotics and Autonomous Systems 2003, 45, 83-97.
76. Ishida, H.; Suetsugu, K.; Nakamoto, T.; Moriizumi, T. Study of Autonomous Mobile Sensing System for Localization of Odor Source Using Gas Sensors and Anemometric Sensors. Sensors and Actuators A 1994, 45, 153-157.
77. Russell, R. A.; Thiel, D.; Deveza, R.; Mackay-Sim, A. A Robotic System to Locate Hazardous Chemical Leaks. In Proc. IEEE IROS, pages 556-561, 1995.
78. Kanzaki, R. Coordination of Wing Motion and Walking Suggests Common Control of Zigzag Motor Program in a Male Silkworm Moth. J. Comp. Physiol. A 1998, 182, 267-276.
79. Kanzaki, R. Behavioral and Neural Basis of Instinctive Behavior in Insects: Odor-Source Searching Strategies without Memory and Learning. Robotics and Autonomous Systems 1996, 18, 33-43.
80. Kuwana, Y.; Nagasawa, S.; Shimoyana, I.; Kanzaki, R. Synthesis of the Pheromone-oriented Behaviour of Silkworm Moths by a Mobile Robot with Moth Antennae as Pheromone Sensors. Biosensors & Bioelectronics 1999, 14, 192-202.
81. Kuwana, Y.; Shimoyama, I.; Miura, H. Steering Control of a Mobile Robot Using Insect Antennae. In Proc. IEEE IROS, pages 530-535, 1995.
82. Russell, R. A.; Kennedy, S. A Novel Airflow Sensor for Miniature Mobile Robots. Mechatronics 2000, 10(8), 935-942.
83. Ishida, H.; Kagawa, Y.; Nakamoto, T.; Moriizumi, T. Odour-Source Localization in the Clean Room by an Autonomous Mobile Sensing System. Sensors and Actuators B 1996, 33, 115-121.
84. Nakamoto, T.; Ishida, H.; Moriizumi, T. An Odor Compass for Localizing an Odor Source. Sensors and Actuators B 1996, 35, 32-36.
85. Ishida, H.; Kobayashi, A.; Nakamoto, T.; Moriizumi, T. Three-Dimensional Odor Compass. IEEE Transactions on Robotics and Automation(April 1999), 15(2), 251-257.
86. Ishida, H.; Zhu, M.; Johansson, K.; Moriizumi, T. Three-Dimensional Gas/Odor Plume Tracking with Blimp. In Proc. ICEE, pages 117-120, Sapporo, Japan, 2004.
87. Rutkowski, A. J.; Edwards, S.; Willis, M. A.; Quinn, D.; Causey, G. C. A Robotic Platform for Testing Moth-Inspired Plume Tracking Strategies. In Proc. IEEE ICRA, pages 3319-3324, 2004.
88. Edwards, S.; Rutkowski, A. J.; Quinn, D.; Willis, M. A. Moth-Inspired Plume Tracking Strategies in Three-Dimensions. In Proc. IEEE ICRA, pages 1681-1686, 2005.
89. Ishida, H.; Yoshikawa, K.; Moriizumi, T. Three-Dimensional Gas-Plume Tracking Using Gas Sensors and Ultrasonic Anemometer. IEEE Sensors(October 2004 2004), 3, 1175-1178.
90. Russell, R. A.; Purnamadjaja, A. H. Odour and Airflow: Complementary Senses for a Humanoid Robot. In Proc. IEEE ICRA, pages 1842-1847, 2002.
91. Ishida, H.; Tanaka, H.; Taniguchi, H.; Moriizumi, T. Mobile Robot Navigation Using Vision and Olfaction to Search for a Gas/Odor Source. Auton Robot 2006, 20, 231-238.
92. Consi, T. R.; Atema, J.; Gouldey, C.; Chrysostomidis, C. AUV Guidance with Chemical Signals. In Proceedings of the IEEE Symposium on AUV Technology, pages 450-455, Cambridge, MA, (July 1994).
93. Kowadlo, G.; Russell, R. A. Naive Physics for Effective Odour Localisation. In Proceedings of the Australian Conference on Robotics and Automation, 2003.
94. Lilienthal, A. J.; Zell, A.; Wandel, M. R.; Weimar, U. Sensing Odour Sources in Indoor Environments Without a Constant Airflow by a Mobile Robot. In Proc. IEEE ICRA, pages 4005-4010, 2001.
95. Farah, A. M.; Duckett, T. Reactive Localisation of an Odour Source by a Learning Mobile Robot. In Proc. SWAR, pages 29-38, Stockholm, Sweden, (October 2002).
96. Lilienthal, A. J.; Zell, A.; Wandel, M. R.; Weimar, U. Experiences Using Gas Sensors on an Autonomous Mobile Robot. In Proc. of EUROBOT, pages 1-8. IEEE Computer Press, 2001.
97. Krieg, D. Entwicklung einer Methode zur Auswahl raumlufttechnischer Systeme mit Hilfe neuronaler Netze. PhD thesis, Universität Stuttgart, IKE, 2000.
98. Braitenberg, V. Vehicles: Experiments in Synthetic Psychology. MIT Press/Bradford Books, 1984.
99. Lilienthal, A. J.; Duckett, T. Experimental Analysis of Gas-Sensitive Braitenberg Vehicles. Advanced Robotics(December 2004), 18(8), 817-834.
100. Duckett, T.; Axelsson, M.; Saffiotti, A. Learning to Locate an Odour Source with a Mobile Robot. In Proc. IEEE ICRA, pages 4017-4022, 2001.
101. Lilienthal, A. J.; Streichen, F.; Zell, A. Model-based Shape Analysis of Gas Concentration Gridmaps for Improved Gas Source Localisation. In Proc. IEEE ICRA, pages 3575-3580, Barcelona, Spain, 2005.
102. Rechenberg, I. Evolutionsstrategie: Optimierung technischer Systeme nach Prinzipien der biologischen Evolution. Fromman-Holzboog, 1973.
103. Schwefel, H.-P. Numerical Optimization of Computer Models. John Wiley & Sons, Inc., New York, NY, USA, 1981.
104. Eiben, A. E.; Smith, J. E. Introduction to Evolutionary Computing. Springer, New York, NY, USA, 2003.
105. Hayes, P. The Naive Physics Manifesto. In Michie, D., editor, Expert Systems in the MicroElectronic Age, pages 242-270. Edinburgh University Press, 1978.
106. Kowadlo, G.; Rawlinson, D.; Russell, R. A.; Jarvis, R. Bi-Modal Search Using Complementary Sensing (Olfaction/Vision) for Odour Source Localisation. In Proc. IEEE ICRA, pages 2041-2046, 2006.
107. Loutfi, A.; Coradeschi, S. Smell, Think, Act: A Cognitive Robot Discriminating Odours. Auton Robot 2006, 20, 239-249.
108. Loutfi, A.; Coradeschi, S.; Karlsson, L.; Broxval, M. Putting Olfaction into Action: Using an Electronic Nose on a Multi-Sensing Mobile Robot. In Proc. IEEE IROS, pages 337-342, 2004.
109. Martinez, D.; Perrinet, L. Cooperation Between Vision and Olfaction in a Koala Robot. In Report on the Workshop on Neuromorphic Engineering, pages 51-53, 2002.
110. Ishida, H.; Yamanaka, T.; Kushida, N.; Nakamoto, T.; Moriizumi, T. Study of Real-Time Visualization of Gas/Odor Flow Images Using Gas Sensor Array. Sensors and Actuators B 2000, 65, 14-16.
111. Atema, J. Eddy Chemotaxis and Odor Landscapes: Exploration of Nature With Animal Sensors. Biological Bulletin 1996, 191(1), 129-138.
112. Lilienthal, A. J.; Ulmer, H.; Fröhlich, H.; Werner, F.; Zell, A. Learning to Detect Proximity to a Gas Source with a Mobile Robot. In Proc. IEEE IROS, pages 1444-1449, 2004.
113. Ferri, G.; Caselli, E.; Mattolia, V.; Mondini, A.; Mazzolai, B.; Dario, P. A Biologically-Inspired Algorithm Implemented on a new Highly Flexible Multi-Agent Platform for Gas Source Localization. In Proc. of Biorob, 2006.
114. Lilienthal, A. J.; Duckett, T.; Werner, F.; Ishida, H. Indicators of Gas Source Proximity using Metal Oxide Sensors in a Turbulent Environment. In Proc. of Biorob, 2006.
115. Loutfi, A.; Broxvall, M.; Coradeschi, S.; Karlsson, L. Object Recognition: A New Application For Smelling Robots. Robotics and Autonomous Systems 2005, 52, 272-289.
116. Broxvall, M.; Coradeschi, S.; Loutfi, A.; Saffiotti, A. An Ecological Approach to Odour Recognition in Intelligent Environments. In Proc. IEEE ICRA, pages 2066-2071, 2006.