Achim J. Lilienthal, Tom Duckett, Felix Werner and Hiroshi Ishida
Indicators of Gas Source Proximity using Metal Oxide Sensors in a Turbulent Environment
Proc. IEEE/RAS-EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (Biorob), 2006
Abstract: This paper addresses the problem of estimating proximity to a gas source using concentration measurements. In particular, we consider the problem of gas source declaration by a mobile robot equipped with metal oxide sensors in a turbulent indoor environment. While previous work has shown that machine learning classifiers can be trained to detect close proximity to a gas source, it is difficult to interpret the learned models. This paper investigates possible underlying indicators of gas source proximity, comparing three different statistics derived from the sensor measurements of the robot. A correlation analysis of 1056 trials showed that response variance (measured as standard deviation) was a better indicator than average response. An improved result was obtained when the standard deviation was normalized to the average response for each trial, a strategy that also reduces calibration problems.
Keywords: Mobile nose; gas source localisation; turbulent gas distribution.
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  AUTHOR = {Lilienthal, Achim J. and Duckett, Tom and Werner, Felix and Ishida, Hiroshi},
  TITLE = {Indicators of Gas Source Proximity using Metal Oxide Sensors in a Turbulent Environment},
  BOOKTITLE = {Proceedings of the IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (Biorob)},
  YEAR = {2006},
  MONTH = {February 20 -- 22},
  ADRESS = {Pisa, Italy} }