Sensors are routinely mounted on robots to acquire various forms of measurements in spatiotemporal fields. Locating features within these fields and reconstruction (mapping) of the dense fields can be challenging in resource-constrained situations, such as when trying to locate the source of a gas leak from a small number of measurements. In such cases, a model of the underlying complex dynamics can be exploited to discover informative paths within the field. We use a fluid simulator as a model to guide inference for the location of a gas leak. We perform localization via minimization of the discrepancy between observed measurements and gas concentrations predicted by the simulator. Our method is able to account for dynamically varying parameters of wind flow (e.g., direction and strength) and its effects on the observed distribution of gas. We develop algorithms for offline inference as well as for online path discovery via active sensing. We demonstrate the efficiency, accuracy, and versatility of our algorithm using experiments with a physical robot conducted in outdoor environments. We deploy an unmanned air vehicle mounted with a CO @math sensor to automatically seek out a gas cylinder emitting CO @math via a nozzle. We evaluate the accuracy of our algorithm by measuring the error in the inferred location of the nozzle, based on which we show that our proposed approach is competitive with respect to state-of-the-art baselines.
In this paper, we utilise a reasonably accurate simulation of the phenomenon @cite_23 but exploit simplifications inherent to the problem, such as that the dispersion process can be modelled on the 2-d plane We observe that our approach is invariant to some degree of (small) noise, i.e., the situation of plain fields and gently rolling hills. Many realistic applications are indeed sited in such terrain, e.g., a petroleum refinery in the periphery of which one might wish to perform emissions monitoring. along which the point measurements are also being taken. Moreover, the process of dispersion is shift invariant @cite_36 , so that a single large simulation can be performed online, from which the flow patterns for different locations can be easily computed.
@cite_36 @cite_23
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In this paper, a fuzzy model is suggested for the prediction of wind speed and the produced electrical power at a wind park. The model is trained using a genetic algorithm-based learning scheme. The training set includes wind speed and direction data, measured at neighboring sites up to 30 km away from the wind turbine clusters. Extensive simulation results are shown for two application cases, providing wind speed forecasts from 30 min to 2 h ahead. It is demonstrated that the suggested model achieves an adequate understanding of the problem while it exhibits significant improvement compared to the persistent method. In this paper we present a simple and rapid implementation of a fluid dynamics solver for game engines. Our tools can greatly enhance games by providing realistic fluid-like effects such as swirling smoke past a moving character. The potential applications are endless. Our algorithms are based on the physical equations of fluid flow, namely the Navier-Stokes equations. These equations are notoriously hard to solve when strict physical accuracy is of prime importance. Our solvers on the other hand are geared towards visual quality. Our emphasis is on stability and speed, which means that our simulations can be advanced with arbitrary time steps. We also demonstrate that our solvers are easy to code by providing a complete C code implementation in this paper. Our algorithms run in real-time for reasonable grid sizes in both two and three dimensions on standard PC hardware, as demonstrated during the presentation of this paper at the conference.