A mobile sensing system for future gas mapping in confined space using an olfactory quadruped robot. (31st May 2023)

• Record Type: Journal Article
• Authors: Cheng, Lei; Xie, Zihan; Qin, Xiaolin; Tang, Daiwei; Li, Li; He, Yu
• Is Part Of: Measurement. Volume 213(2023)
• Publication Date: 2023-05-31
• Subjects: Confined space -- Quadruped robot -- Prediction of gas concentration -- Gas distribution map -- Mobile olfactory; Weights and measures -- Periodicals; Measurement -- Periodicals; Measurement; Weights and measures; Periodicals; 530.8
• DOI: 10.1016/j.measurement.2023.112654
• Languages: English
• ISSNs: 0263-2241

Abstract

Abstract: Gas distribution modeling have attracted increasing attention as an extremely challenging task, but most of the existing works are based on wheeled robots to acquire the gas distribution at current moment. Studying the evolution of gas distribution in confined space helps to protect the workers in confined spaces. In this paper, a quadruped robot is applied to solve the problem of obtaining the gas distribution at future moment in confined spaces. To accurately forecast the evolution of gas concentration, a cross attention-based gated recurrent unit (GRU) optimized based on flamingo search algorithm is proposed (FSCA-GRU), which models the interaction between multivariables. Then, a time-dependent gas modeling method is applied to map the future gas distribution according to predicted gas concentration. In two groups of experiments under three typical confined regions, our proposed model outperforms other baseline methods. Gas distributions plotted in single and multi-source tasks converge with those obtained from extrapolated measurements.