Airborne Chemical Sensing with Mobile Robots

Lilienthal, Achim J.; Loutfi, Amy; Duckett, Tom

doi:10.3390/s6111616

Cited by 145 publications

(94 citation statements)

References 88 publications

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“…Airborne robots (e.g., unmanned and autonomous air vehicles) are highly evolved, but do not have to deal with the vagaries of rough terrain. [3] "Soft" robots-robots fabricated using flexible or elastomeric structural elementsoffer potentially useful approaches to problems in robotics. They can be designed to have low centers of gravity.…”

Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

556

393

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The development of soft pneumatic actuators based on composites consisting of elastomers with embedded sheet or fiber structures (e.g., paper or fabric) that are flexible but not extensible is described. On pneumatic inflation, these actuators move anisotropically, based on the motions accessible by their composite structures. They are inexpensive, simple to fabricate, light in weight, and easy to actuate. This class of structure is versatile: the same principles of design lead to actuators that respond to pressurization with a wide range of motions (bending, extension, contraction, twisting, and others). Paper, when used to introduce anisotropy into elastomers, can be readily folded into 3D structures following the principles of origami; these folded structures increase the stiffness and anisotropy of the elastomeric actuators, while being light in weight. These soft actuators can manipulate objects with moderate performance; for example, they can lift loads up to 120 times their weight. They can also be combined with other components, for example, electrical components, to increase their functionality.

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Section: Introductionmentioning

confidence: 99%

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Martínez

Fish

Chen

et al. 2012

Adv Funct Materials

556

393

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“…Various hardware and software setups are proposed so far, and their details can be found in the review [11]. Most of the robots use gas concentration gradient and airflow direction to track gas plumes to their source.…”

Section: Related Workmentioning

confidence: 99%

Towards environmental monitoring with mobile robots

Trincavelli

Reggente

Coradeschi

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-In this paper we present initial experiments towards environmental monitoring with a mobile platform. A prototype of a pollution monitoring robot was set up which measures the gas distribution using an "electronic nose" and provides three dimensional wind measurements using an ultrasonic anemometer. We describe the design of the robot and the experimental setup used to run trials under varying environmental conditions. We then present the results of the gas distribution mapping. The trials which were carried out in three uncontrolled environments with very different properties: an enclosed indoor area, a part of a long corridor with open ends and a high ceiling, and an outdoor scenario are presented and discussed.

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“…In the field of source (e.g., gas) localization, the typical task that a mobile robot has to perform is to navigate towards an interested source or generate the concentration map of an environment. For an overview of the source localization approaches, we refer to [4]. In the context of the radio-based navigation, on the one hand, the signal strength of a tag highly depends on the relative pose between the tag and antenna.…”

Section: Related Workmentioning

confidence: 99%

On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot

Liu

Huskic

Zell

2015

International Journal of Distributed Sensor Networks

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Service robots have shown an impressive potential in providing assistance and guidance in various environments, such as supermarkets, shopping malls, homes, airports, and libraries. Due to the low cost and contactless way of communication, radiofrequency identification (RFID) technology provides a solution to overcome the difficulties (e.g., occlusions) that the traditional line-of-sight sensors (e.g., cameras and laser range finders) face. In this paper, we address the applications of using passive ultrahigh frequency (UHF) RFID as a sensing technology for mobile robots to track dynamic objects. More precisely, we combine a two-stage dynamic motion model with the dual particle filter to capture the dynamic motion of the object and to quickly recover from failures in tracking. The state estimation from the particle filter is used in combination with the VFH+ (Vector Field Histogram) to guide the robot towards the target. This is then integrated into a framework, which allows the robot to search for both static and dynamic tags, follow them, and maintain the distance between them. We finally tested our approach on a SCITOS G5 service robot through various experiments.

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Airborne Chemical Sensing with Mobile Robots

Cited by 145 publications

References 88 publications

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Elastomeric Origami: Programmable Paper‐Elastomer Composites as Pneumatic Actuators

Towards environmental monitoring with mobile robots

On Tracking Dynamic Objects with Long Range Passive UHF RFID Using a Mobile Robot

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