modeling mos gas sensors for mobile robot...
TRANSCRIPT
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MODELING MOS GAS SENSORS FOR MOBILE ROBOT OLFACTION
Javier G. Monroy, Javier González and Jose Luis Blanco
Dep. System Engineering and Automation UNIVERSITY OF MÁLAGA - SPAIN
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INTRODUCTION: e-nose
Cyranose 320
Looking back...First ENose Space Flight launched October 29, 1998!
MCE-nose
SensorFreshQ electronic nose
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INTRODUCTION: general applications
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INTRODUCTION: mobile robotic applications
Robot
Gas mapping
Track following
Leak Detection
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• What we expect from gas sensors... – high sensitivity – large dynamic range – high selectivity / specificity to a target analyte – low cross-sensitivity to interferents – perfect reversibility of the physicochemical sensing
process • short sensor response and recovery time
– long-term stability – "a sensor exhibiting all these properties is a largely
unrealizable ideal" → Higher-Order Chemical Sensing, A. Hierlemann and R. Gutierrez-Osuna. Chem. Rev. 2008, 108, 563-613.
GAS SENSORS: What for?
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GAS SENSORS: technologies
MOS
Infrared
SAW
Pellistor
Electromechanical
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GAS SENSORS – MOS: How they work?
• Metal Oxide Gas Sensor (MOS) – heating element – coated with with semiconductor sensing material
• often tin dioxide
– sensing material doped with catalytic metal additives • e.g. palladium or platinum • doping changes operating conditions → sensor characteristics
Semiconductor Coating (typically SnO2)
Heating Element
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Semiconductor Coating (typically SnO2)
Heating Element
GAS SENSORS – MOS: How they work?
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GAS SENSORS – MOS: Pros & Cons
Figaro sensors
e2v sensors
CHEAP HIGH SENSITIVITY
x LACK OF SELECTIVITY x RESPONSE DRIFT(AGE FACTOR) x INFLUENCED BY TEMPERATURE AND HUMIDITY x LONG ACQUISITION CYCLES (SLOW RECOVERY)
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GAS SENSORS – MOS: Selectivity improvement
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GAS SENSORS - MOS: Other improvements
LONG ACQUISITION CYCLES (SLOW RECOVERY)
Normalization Signal conditioning
RESPONSE DRIFT(AGE FACTOR)
INFLUENCED BY TEMPERATURE AND HUMIDITY
New materials Humidity and temeprature sensors
Hardware MCE-nose Software Modeling
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GAS SENSORS : MOS long recovery time
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gas concentrationsensor response1st source sensor response
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RELATED WORK: exponential model
Smoke source
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25
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Ideal Step Concentration
Time (s)
Con
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ratio
n (%
)
τr τd
Ideal MOS sensor response
Two phase model
Exponential model
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PROPOSED MODEL: goal?
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Time(s)
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PROPOSED MODEL
Gas (ppm) Resistance (Ohms) Readings (v)
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PROPOSED MODEL
Gas (ppm) TRANSDUCER (ppm V) Readings (v) MOS behaviour (MODEL)
Gas distribution estimation (v)
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PROPOSED MODEL : Experiments (validation)
For validation we need….
GROUNDTRUTH
We need the real gas distribution and concentration!
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PROPOSED MODEL : Experiments (validation) • Chaotic Gas Dispersal
- Diffusion -Advective transport -Turbulence
[Smyth and Moum, 2001]
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PROPOSED MODEL : Experiments (validation)
KEEP THE GAS LOCALIZED
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PROPOSED MODEL : Experiments (validation)
Clean Air
Odor Airflow
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PROPOSED MODEL : Experiments (validation)
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PROPOSED MODEL : Compensations
1. Two phase model (rise / decay) 2. Speed compensation (delay) 3. Dynamic time constants
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Negative Concentrations ?
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PROPOSED MODEL : Compensations
1. Two phase model (rise / decay) 2. Speed compensation (delay) 3. Dynamic time constants
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PROPOSED MODEL : Experiments
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Robot motion
Robot motion
Gas sources
Raw readings
Gas Distribution estimation
PROPOSED MODEL : Experiments
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PROPOSED MODEL : Experiments
WHAT HAS BEEN DONE TILL TODAY? • Slow down the robot (few cm/s). • Pass several times over the same locations but along different directions.
Robot motion
Gas source
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PROPOSED MODEL : Experiments
Speed = 10cm/s Gas = Acetona One way
Modeled Raw Readings 0 1 2 3 4 5 6 7 8 9 0
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PROPOSED MODEL : Experiments
Speed = 10cm/s Gas = Acetona Go & return
Modeled Raw Readings 0 1 2 3 4 5 6 7 8 9 0
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PROPOSED MODEL : Experiments
Speed = 40cm/s Gas = Acetona One way
Modeled Raw Readings
TGS2620 Reading Gas Source Position
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PROPOSED MODEL : Experiments
Speed = 40cm/s Gas = Acetona Go & return
Modeled Raw Readings 0 2 4 6 8 10 12 0
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Distance (m)
Nor
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PROPOSED MODEL : Conclusions
Conclusions The proposed model overcomes the long-decay-time problem of MOS sensors. Improves sensing task wit mobile robots (accuracy, robot speed, task time reduction) Future Work Improve the calibration of the model parameters. Exploit the model in mobile robotics olfaction: multiple gas source finding, plume tracking, … Compare the results with the MCE-nose
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THANKS & QUESTIONS
THANKS!