Monroy Javier, Hernandez-Bennets Victor, Fan Han, Lilienthal Achim, Gonzalez-Jimenez Javier
Machine Perception and Intelligent Robotics group (MAPIR), Instituto de Investigación Biomedica de Malaga (IBIMA), Universidad de Malaga, 29071 Malaga, Spain.
Applied Autonomous Sensor Systems, Örebro University, Fakultetsgatan 1, 70182 Örebro, Sweden.
Sensors (Basel). 2017 Jun 23;17(7):1479. doi: 10.3390/s17071479.
This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.). Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment.
这项工作展示了一个在广泛使用的机器人操作系统（ROS）下开发的模拟框架，用于在现实环境中对机器人系统和气体传感算法进行验证。该框架基于计算流体动力学和细丝扩散理论的原理，对三维现实场景中的风流和气体扩散进行建模（即考虑墙壁、家具等）。此外，它还集成了不同环境传感器的模拟，如金属氧化物气体传感器、光离子化探测器或风速计。我们通过在一个复杂且逼真的类似办公室环境中呈现一个模拟案例来说明所提出工具的潜力和适用性，在该环境中不同化学品的气体泄漏同时发生。此外，我们通过将模拟结果与在风洞中记录的真实世界数据进行比较来完成定量和定性验证，在风洞中不同风流剖面下释放了甲烷。基于这些结果，我们得出结论，当环境中存在平流气流时，我们的模拟框架可以很好地逼近真实世界的测量结果。
