2011 Fiscal Year Final Research Report
Development of Olfactory Sensing System with Active Flow Generator and Its Application to Gas/Odor Source Localization Robots
| Project/Area Number |
21360113
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo University of Agriculture and Technology |
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Principal Investigator |
ISHIDA Hiroshi 東京農工大学, 大学院・工学研究院, 准教授 (80293041)
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| Co-Investigator(Kenkyū-buntansha) |
TOYAMA Shigeki 東京農工大学, 大学院・工学研究院, 教授 (20143381)
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| Co-Investigator(Renkei-kenkyūsha) |
IWAMOTO Kaoru 東京農工大学, 大学院・工学研究院, 准教授 (50408712)
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| Project Period (FY) |
2009 – 2011
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| Keywords | 知能ロボティックス / 能動センシング / 嗅覚 / ガスセンサ / ガス源探知 |
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| Research Abstract |
This research is aimed at developing a mobile robot with an olfactory sensing capability to enable autonomous search for gas leaks. A gas-sensing system developed in this research is equipped with two gas sensors, one on its right side and the other on its left. The system actively generates air currents to collect gas samples from a specific direction to each gas sensor, which enables determination of a gas-source direction with a high success rate. Results of experiments conducted in a corridor of an office building have shown that the proposed gas-sensing system is effective in determining from which room gas is leaking. The gas leakage from the room have been successfully detected by bringing the gas-sensing system close to the door using a robotic arm.
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[Presentation] 大規模空間における自律移動ロボットを用いたガス濃度のマッピング2009
Author(s)
深澤雄一郎,和田佑太, Marco Trincavelli, Matteo Reggente, Silvia Coradeschi, Amy Loutfi, Achim J. Lilienthal,石田寛
Organizer
第26回「センサ・マイクロマシンと応用システム」シンポジウム
Place of Presentation
タワーホール船堀,東京都江戸川区
Year and Date
2009-10-15
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