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Gas Dispersal Simulation in ROS
Örebro University, School of Science and Technology.
2011 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This work presents a 3-D gas dispersal simulation and olfactory detection system

implemented in ROS. Gas dispersal simulation integrates OpenFOAMflow

simulation and a filament-based gas propagation model to simulate gas dispersion

for compressible flows with a realistic turbulence model. The olfactory

detection system models the response of metal oxide gas sensor to the simulated


Olfaction related experiments in mobile robots can be highly complex and

hazardous due to the involvement of flammable and toxic gases. Moreover, the

results of mobile olfaction task depends on the characteristics of environment

and on the characteristics of odor detection system. The precision of results of

this task is usually effected due to the variability of interrelationships between

these characteristics which can create complications to focus on task aspect.

The motivation behind the development of this simulation package is to make

environment and odor detection system controllable, where experiments can

be repeated under identical conditions, bypassing the environmental hazards

so that the research work can concentrate on task aspect.

The simulation package is validated through the results obtained by various

tests including constant concentrations in ideal conditions as well as changing

concentration in turbulent environment.


Place, publisher, year, edition, pages
2011. , 73 p.
National Category
URN: urn:nbn:se:oru:diva-20431ISRN: ORU-NAT/DAT-AS-2011/0005--SEOAI: diva2:459313
Subject / course
Computer Engineering
Available from: 2011-11-25 Created: 2011-11-25 Last updated: 2011-11-25Bibliographically approved

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