Abstract
The source localization of gas leaks is important to avoid any potential danger to the surroundings or the probable waste of resources. Currently there are several localization methods using robotic systems that try to find the origin of a gas plume. Many of these methods require wind velocity information involving the use of commercial anemometric systems which are extremely expensive compared to metal oxide gas sensors. This article proposes the validation of the Gaussian plume model inside an empty room and its application to localize the source of a gas plume without employing anemometric sensors, exclusively using concentration data. The model was selected due to its simplicity and since it easily admits variants closer to reality, explaining the behavior of pollutants transported by the wind. An artificial gas source was generated by a conventional fan and liquid ethanol as contaminant. We found that the physical fan, far from making the model impossible to implement, enriched the information and added realism. The use of a robotic system capable of autonomously mapping the room concentration distribution is described. The results showed that the Gaussian plume model is applicable to localize our experimental gas source. An estimated position of the source with a deviation of 14 cm (6.1%) was obtained.
Highlights
Gas source localization can be very useful in solving problems such as localizing fuel leaks in harmful environments, contamination sources, victims in accidents or fires in their early stages, among others
In this paper we describe the experiences that led us to propose a procedure to localize a gas source without using wind information, employing only concentration data obtained from metal-oxide gas sensors using the Gaussian plume model making the corresponding assumptions about the environmental conditions to validate the model
We have proceeded with the following steps: (1) we modified the atmospheric dispersion model to fit the room circumstances; (2) based on the model, we obtained the mathematical expression that allows to estimate the source position; (3) experimentally, we obtained the wind velocity distribution generated by a commercial fan; (4) experimentally, knowing a priori the gas source position, we evaluated its concentration profile; (5) experimentally, we mapped the room using an autonomous robotic system without using information about the source location and without collecting information about the wind, and we estimated the gas distribution in a plane parallel to the soil; (6) we discuss the results and present our conclusions
Summary
Gas source localization can be very useful in solving problems such as localizing fuel leaks in harmful environments, contamination sources, victims in accidents or fires in their early stages, among others. The need for mobile robots arises when the gas source is composed of toxic or explosive gases, when the gas source occurs in an inaccessible location, or when a continuous verification of the environment is necessary, etc. In this kind of studies, robots tend to be autonomous since it is desirable to avoid the implications of a human operator such as training, remuneration, recesses and mistakes; teleoperated systems have been exhibited [1]. Several studies that have estimated the source of gas plumes using autonomous mobile robots have been reported. Osório et al [12] reported an algorithm using only concentration data for the navigation of their robot (tracking), their results were not satisfactory
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