scholarly journals Towards Fast Plume Source Estimation with a Mobile Robot

Sensors ◽  
2020 ◽  
Vol 20 (24) ◽  
pp. 7025
Author(s):  
Hugo Magalhães ◽  
Rui Baptista ◽  
João Macedo ◽  
Lino Marques
Keyword(s):  
Mobile Robot ◽  
Particle Filter ◽  
Computational Cost ◽  
Solution Space ◽  
Odour Source ◽  
Source Term Estimation ◽  
Gaussian Plume ◽  
Odour Dispersion ◽  
Instantaneous Concentration

The estimation of the parameters of an odour source is of high relevance for multiple applications, but it can be a slow and error prone process. This work proposes a fast particle filter-based method for source term estimation with a mobile robot. Two strategies are implemented in order to reduce the computational cost of the filter and increase its accuracy: firstly, the sampling process is adapted by the mobile robot in order to optimise the quality of the data provided to the estimation process; secondly, the filter is initialised only after collecting preliminary data that allow limiting the solution space and use a shorter number of particles than it would be normally necessary. The method assumes a Gaussian plume model for odour dispersion. This models average odour concentrations, but the particle filter was proved adequate to fit instantaneous concentration measurements to that model, while the environment was being sampled. The method was validated in an obstacle free controlled wind tunnel and the validation results show its ability to quickly converge to accurate estimates of the plume’s parameters after a reduced number of plume crossings.

scholarly journals A Comparative Study of Bio-Inspired Odour Source Localisation Strategies from the State-Action Perspective

Sensors ◽  
2019 ◽  
Vol 19 (10) ◽  
pp. 2231 ◽  
Author(s):  
João Macedo ◽  
Lino Marques ◽  
Ernesto Costa
Keyword(s):  
Real World ◽  
Evolutionary Robotics ◽  
Perceptual State ◽  
State Action ◽  
Odour Source ◽  
Candidate Solution ◽  
Real World Applications ◽  
Statistical Hypotheses ◽  
Odour Dispersion

Locating odour sources with robots is an interesting problem with many important real-world applications. In the past years, the robotics community has adapted several bio-inspired strategies to search for odour sources in a variety of environments. This work studies and compares some of the most common strategies from a behavioural perspective with the aim of knowing: (1) how different are the behaviours exhibited by the strategies for the same perceptual state; and (2) which are the most consensual actions for each perceptual state in each environment. The first step of this analysis consists of clustering the perceptual states, and building histograms of the actions taken for each cluster. In case of (1), a histogram is made for each strategy separately, whereas for (2), a single histogram containing the actions of all strategies is produced for each cluster of states. Finally, statistical hypotheses tests are used to find the statistically significant differences between the behaviours of the strategies in each state. The data used for performing this study was gathered from a purpose-built simulator which accurately simulates the real-world phenomena of odour dispersion and air flow, whilst being sufficiently fast to be employed in learning and evolutionary robotics experiments. This paper also proposes an xml-inspired structure for the generated datasets that are used to store the perceptual information of the robots over the course of the simulations. These datasets may be used in learning experiments to estimate the quality of a candidate solution or for measuring its novelty.

Driving Torsion Scans with Wavefront Propagation

2020 ◽  
Author(s):  
Yudong Qiu ◽  
Daniel Smith ◽  
Chaya Stern ◽  
mudong feng ◽  
Lee-Ping Wang
Keyword(s):  
Potential Energy ◽  
Force Field ◽  
Degrees Of Freedom ◽  
Computational Cost ◽  
Initial Guess ◽  
Field Development ◽  
Force Field Development ◽  
Wavefront Propagation ◽  
Open Source Software Package

<div>The parameterization of torsional / dihedral angle potential energy terms is a crucial part of developing molecular mechanics force fields.</div><div>Quantum mechanical (QM) methods are often used to provide samples of the potential energy surface (PES) for fitting the empirical parameters in these force field terms.</div><div>To ensure that the sampled molecular configurations are thermodynamically feasible, constrained QM geometry optimizations are typically carried out, which relax the orthogonal degrees of freedom while fixing the target torsion angle(s) on a grid of values.</div><div>However, the quality of results and computational cost are affected by various factors on a non-trivial PES, such as dependence on the chosen scan direction and the lack of efficient approaches to integrate results started from multiple initial guesses.</div><div>In this paper we propose a systematic and versatile workflow called \textit{TorsionDrive} to generate energy-minimized structures on a grid of torsion constraints by means of a recursive wavefront propagation algorithm, which resolves the deficiencies of conventional scanning approaches and generates higher quality QM data for force field development.</div><div>The capabilities of our method are presented for multi-dimensional scans and multiple initial guess structures, and an integration with the MolSSI QCArchive distributed computing ecosystem is described.</div><div>The method is implemented in an open-source software package that is compatible with many QM software packages and energy minimization codes.</div>

scholarly journals Summary and Overview of the Odour Regulations Worldwide

Atmosphere ◽  
2021 ◽  
Vol 12 (2) ◽  
pp. 206
Author(s):  
Anna Bokowa ◽  
Carlos Diaz ◽  
Jacek A. Koziel ◽  
Michael McGinley ◽  
Jennifer Barclay ◽  
...  
Keyword(s):  
Rural Areas ◽  
Site Specific ◽  
Animal Feeding Operations ◽  
Odour Source ◽  
The Usa ◽  
Odour Dispersion ◽  
Odour Emissions ◽  
Control Technologies ◽  
Survey Review ◽  
The Uk

When it comes to air pollution complaints, odours are often the most significant contributor. Sources of odour emissions range from natural to anthropogenic. Mitigation of odour can be challenging, multifaceted, site-specific, and is often confounded by its complexity—defined by existing (or non-existing) environmental laws, public ordinances, and socio-economic considerations. The objective of this paper is to review and summarise odour legislation in selected European countries (France, Germany, Austria, Hungary, the UK, Spain, the Netherlands, Italy, Belgium), North America (the USA and Canada), and South America (Chile and Colombia), as well as Oceania (Australia and New Zealand) and Asia (Japan, China). Many countries have incorporated odour controls into their legislation. However, odour-related assessment criteria tend to be highly variable between countries, individual states, provinces, and even counties and towns. Legislation ranges from (1) no specific mention in environmental legislation that regulates pollutants which are known to have an odour impact to (2) extensive details about odour source testing, odour dispersion modelling, ambient odour monitoring, (3) setback distances, (4) process operations, and (5) odour control technologies and procedures. Agricultural operations are one specific source of odour emissions in rural and suburban areas and a model example of such complexities. Management of agricultural odour emissions is important because of the dense consolidation of animal feeding operations and the advance of housing development into rural areas. Overall, there is a need for continued survey, review, development, and adjustment of odour legislation that considers sustainable development, environmental stewardship, and socio-economic realities, all of which are amenable to a just, site-specific, and sector-specific application.

Socio-Technical Modeling to Manage Power Distribution for Microgrid Systems with Limited Production Capacity

2021 ◽  
pp. 1-38
Author(s):  
Hailie Suk ◽  
Ayushi Sharma ◽  
Anand Balu Nellippallil ◽  
Ashok Das ◽  
John Hall
Keyword(s):  
Rural Communities ◽  
Power Distribution ◽  
Production Capacity ◽  
Solution Space ◽  
Decision Makers ◽  
Safety Education ◽  
Water Safety ◽  
Water Safety Education ◽  
Water Pumps

Abstract The quality of life (QOL) in rural communities is improved through electrification. Microgrids can provide electricity in areas where grid access to electricity is infeasible. Still, insufficient power capacity hinders the very progress that microgrids promote. Therefore, we propose a decision-making framework to manage power distribution based on its impact on the rural QOL. Parameters are examined in this paper to represent the QOL pertaining to water, safety, education, and leisure/social activities. Each parameter is evaluated based on condition, community importance, and energy dependence. A solution for power allocation is developed by executing the compromise decision support problem (cDSP) and exploring the solution space. Energy loads, such as those required for powering water pumps, streetlamps, and household devices are prioritized in the context of the QOL. The technique also allows decision-makers to update the power distribution scheme as the dynamics between energy production and demand change over time. In this paper, we propose a framework for connecting QOL and power management. The flexibility of the approach is demonstrated using a problem with varying scenarios that may be time-dependent. The work enables sustainable energy solutions that can evolve with community development.

The Disturbance of Inductive Proximity Sensor for Mobile Robot

2014 ◽  
Vol 1079-1080 ◽  
pp. 909-912 ◽  
Author(s):  
Tsing Tshih Tsung ◽  
Thi Khanh Tang ◽  
Nguyen Hoai
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Ferrous Metal ◽  
Sheet Thickness ◽  
Negative Effects ◽  
Proximity Sensor ◽  
Position Detection ◽  
Set Up ◽  
Metal Tape

Non-contactingproximity sensors are widely promoted for position detection through determiningthe distance between sensor and object. Besides, the usage of non-contactinginductive proximity sensors for object detections such as finding non-ferrousand ferrous metal tape is the popular technique in mobile robots. Most of thetechnology uses simple HF- oscillation principle as an inductive proximitysensor (IPS) with a decrease in the quality of the oscillator circuit’selectromagnetic to find the tape. By applying this technique, the externalfactors may cause negative effects to systemperformance. To overcome this situation, we set up a hand measurement withinductive proximity sensors and two tapes, meanwhile main tape and disturbingtape are separated by an obstruction sheet. After measuring, dataresults are used to analyze the influence of the obstruction sheet thickness anddisturbance tape to the noise in received signals. The research isthe fundament for further applications, based on inductive proximity sensor formobile robot that could be more robust against noises and disturbances.

Using Structural Similarity to Classify Tests in Mutation Testing

2013 ◽  
Vol 378 ◽  
pp. 546-551 ◽  
Author(s):  
Joanna Strug ◽  
Barbara Strug
Keyword(s):  
Edit Distance ◽  
Computational Cost ◽  
Structural Similarity ◽  
Mutation Testing ◽  
Effective Technique ◽  
The Cost ◽  
High Computational Cost

Mutation testing is an effective technique for assessing quality of tests provided for a system. However it suffers from high computational cost of executing mutants of the system. In this paper a method of classifying such mutants is proposed. This classification is based on using an edit distance kernel and k-NN classifier. Using the results of this classification it is possible to predict whether a mutant would be detected by tests or not. Thus the application of the approach can help to lower the number of mutants that have to be executed and so also to lower the cost of using the mutation testing.

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