Robot with olfactory sense

有嗅觉的机器人

• 批准号: 12650419
• 负责人: NAKAMOTO Takamichi
• 金额: $ 2.11万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2001
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650419/
• 关键词: localization of odor source; semiconductor gas sensor; quartz resonator gas sensor; robot with olfactory sense; transient sensor response; neural network; Image of gas concentraion distribution; ロボット; 過渡応答解析; レシプロカル方式周波数カウンタ; プルーム; トレーサ

A robot with olfactory sense to search for the source of gas or odor is expected to be applied to the gas leak detection, the early discovery of the fire, the detection of the danger in the mine etc. Although the previous research revealed that the robot with the gas and anemometric sensor could search for the gas/odor source, it took much time to explore the source due to the slow response/recovery speed of the semiconductor gas sensor. In the present study, the improvement of the algorithm for detecting the variation of the sensor response enabled the speedup seven times. Furthermore, the quartz resonator gas sensor with faster response/recovery speed was used. The improvement of the measurement-circuit time resolution and the baseline stability by compensating for the slight variation of the humidity enabled the gas detection even during the rapid movement of the robot (20cm/s). Further speedup may be achieved when the quartz resonator gas sensor is used.The algorithm for searching for the target can be studied in detail if the simulation method is established. Then, the simulation tool for estimating the sensor response when it is virtually placed in the plume. The transient sensor response model composed of a neural network was effective to estimate the sensor response where the vapor with the concentration rapidly changing within a second was exposed to it. Using that tool, the method for obtaining the distribution image of the gas concentration by minimum number of the gas sensors was studied. It was found that the sparse placement of the sensors along the wind direction in spite of the dense placement across the wind flow gave us the minimum information loss of the image. The developed tool may enable the simulation for searching for the gas/odor source.

一种具有嗅觉的机器人可以用于气体泄漏检测、火灾早期发现、矿井危险探测等领域。虽然以前的研究表明，具有气体和风速传感器的机器人可以搜索气体/气味源，由于半导体气体传感器的响应/恢复速度慢，所以花费了很多时间来探索源。在本研究中，用于检测传感器响应的变化的算法的改进，使加速7倍。此外，石英谐振器气体传感器具有更快的响应/恢复速度。通过补偿湿度的微小变化来提高测量电路的时间分辨率和基线稳定性，即使在机器人快速移动（20 cm/s）期间也能进行气体检测。若采用石英谐振器气体传感器，则可进一步提高速度，若建立起仿真方法，则可对目标搜索算法进行详细研究。然后，用于估计传感器响应的仿真工具，当它被虚拟地放置在羽流中时。利用神经网络建立的传感器瞬态响应模型，对浓度在1秒内快速变化的蒸汽暴露于传感器时的传感器响应进行了有效的估计，研究了用最少传感器数目获取气体浓度分布图像的方法。有人发现，稀疏放置的传感器沿着风向，尽管密集的位置在整个风流给我们的图像的信息损失最小。所开发的工具可以实现用于搜索气体/气味源的模拟。

项目成果

中山,石田,中本,森泉: "匂い・ガス源探知ロボットの研究-水晶振動子ガスセンサを用いたガス源探知の高速化-"電気学会全国大会. (発表予定). (2001)

Nakayama、Ishida、Nakamoto、Izumi Mori：“气味/气体源检测机器人的研究 - 使用晶体振荡器气体传感器加速气体源检测 -”日本电气工程师学会全国会议（预定报告）。 ）

H. Ishida, T. Tokuhiro, T. Nakamoto and T. Moriizumi: "Improvement of olfactory video camera : Gas/odor flow visualization system"Sensors and Actuators B. vol.83,No.1-3 (in press). 256-261

H. Ishida、T. Tokuhiro、T. Nakamoto 和 T. Moriizumi：“嗅觉摄像机的改进：气体/气味流可视化系统”传感器和执行器 B. vol.83，No.1-3（印刷中）。

H. Ishida, T. Nakamoto, T. Moriizumi, T. Kikas, and J. Janata: "Plume-tracking robots : a new application of chemical sensors"Biological bulletin. 200. 222-226 (2001)

H. Ishida、T. Nakamoto、T. Moriizumi、T. Kikas 和 J. Janata：“羽流跟踪机器人：化学传感器的新应用”生物通报。

瀬川,徳弘,中本,森泉: "マルチチャネル高速周波数変化計測回路の研究"電子情報通信学会ソサエティ大会. 2. 125 (2000)

Sekawa、Norihiro、Nakamoto、Izumi Mori：“多通道高速频率变化测量电路的研究”IEICE 学会会议。

H.Ishida, T.Tokuhiro, T.Nakamoto, T.Moriizumi: "Imnrovement of olfactory video camera : Gas/odor flow visualization system"Sensors and Actuators B. (掲載予定)vol.83,No.1-3. 256-261

H.Ishida、T.Tokuhiro、T.Nakamoto、T.Moriizumi：“嗅觉摄像机的改进：气体/气味流可视化系统”传感器和执行器 B.（待出版）第 83 卷，第 1-3 期。 256 -261