Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE credits
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.
2011. , 73 p.