A stereo electronic nose for a mobile inspection robot

Lilienthal, A. and Duckett, T. (2003) A stereo electronic nose for a mobile inspection robot. In: Robotic Sensing, 2003. ROSE' 03. 1st International Workshop on, 5-6 June 2003, Örebro University , Sweden.

Full content URL: http://dx.doi.org/10.1109/ROSE.2003.1218709

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Item Type:Conference or Workshop contribution (Paper)
Item Status:Live Archive


This paper describes the design of a gas-sensitive system ("mobile nose") that is suitable for use on a mobile robot. The stereo architecture comprises of two equivalent sets of gas sensors mounted inside separated ventilated tubes (or "nostrils"). To characterise the dynamic response, the whole system is modelled as a first-order sensor. The corresponding parameters, including the response and recovery time, can be obtained by fitting this model to the values recorded during a simple experiment described in this paper. Our experiments confirmed the suitability of the applied model and permitted a quantitative comparison of different set-ups. It is shown that using suction fans lowers the recovery time of the metal oxide gas sensors by a factor of two, while a solid separation between the tubes ("septum") is necessary to maintain the sensitivity of the mobile nose to concentration gradients.

Keywords:Mobile robotics
Subjects:H Engineering > H670 Robotics and Cybernetics
G Mathematical and Computer Sciences > G400 Computer Science
Divisions:College of Science > School of Computer Science
ID Code:12823
Deposited On:03 Jan 2014 11:36

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