Mobile Robot Gas Source Localization Using SLAM-GDM with a Graphene-Based Gas Sensor

Norzam, Wan Abdul Syaqur; Hawari, Huzein Fahmi; Kamarudin, Latifah Munirah; Juffry, Zaffry Hadi Mohd; Hussein, Nurul Athirah Abu; Gupta, Monika; Abdullah, Abdulnasser Nabil

doi:10.3390/electronics12010171

Cited by 5 publications

(2 citation statements)

References 25 publications

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“…All the sensors’ data can be transferred to the monitoring station via an IoT cloud. Similar robot-based studies have been proposed in [ 18 , 19 , 20 , 21 , 22 , 23 ].…”

Section: Introductionmentioning

confidence: 72%

Ambient Monitoring Portable Sensor Node for Robot-Based Applications

Al-Okby,

Junginger,

Roddelkopf

et al. 2024

Sensors

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The leakage of gases and chemical vapors is a common accident in laboratory processes that requires a rapid response to avoid harmful effects if humans and instruments are exposed to this leakage. In this paper, the performance of a portable sensor node designed for integration with mobile and stationary robots used to transport chemical samples in automated laboratories was tested and evaluated. The sensor node has four main layers for executing several functions, such as power management, control and data preprocessing, sensing gases and environmental parameters, and communication and data transmission. The responses of three metal oxide semiconductor sensors, BME680, ENS160, and SGP41, integrated into the sensing layer have been recorded for various volumes of selected chemicals and volatile organic compounds, including ammonia, pentane, tetrahydrofuran, butanol, phenol, xylene, benzene, ethanol, methanol, acetone, toluene, and isopropanol. For mobile applications, the sensor node was attached to a sample holder on a mobile robot (ASTI ProBOT L). In addition, the sensor nodes were positioned close to automation systems, including stationary robots. The experimental results revealed that the tested sensors have a different response to the tested volumes and can be used efficiently for hazardous gas leakage detection and monitoring.

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“…All the sensors’ data can be transferred to the monitoring station via an IoT cloud. Similar robot-based studies have been proposed in [ 18 , 19 , 20 , 21 , 22 , 23 ].…”

Section: Introductionmentioning

confidence: 72%

Ambient Monitoring Portable Sensor Node for Robot-Based Applications

Al-Okby,

Junginger,

Roddelkopf

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

“…The critical role of gas sensors in identifying hazardous gases, tracking air quality, and safeguarding workplace safety underscores the pressing need for ongoing technological advancements in this domain [4]. Among the various types of gas sensors, semiconductor sensors stand out due to their distinct characteristics and advantages [5][6][7][8]. Semiconductor gas sensors, often based on metal oxide semiconductors, offer high sensitivity to a wide range of gases at relatively low costs [9,10].…”

Section: Introductionmentioning

confidence: 99%

Baseline Calibration Scheme Embedded in Single-Slope ADC for Gas Sensor Applications

Hyeon,

Kim

2024

Electronics

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This paper introduces a single-slope analog-to-digital converter (SS ADC) with an embedded digital baseline calibration scheme designed to improve the accuracy and reliability of gas sensor measurements. The proposed SS ADC effectively leverages an up/down counter mechanism to ensure stable signal extraction from gas sensors, despite variations in the baseline distribution. The proposed SS ADC initiates with a down counting operation to capture the initial output value of the gas sensor, which, after A/D conversion, is stored as a reference point for future readings. Subsequent gas sensor output values are derived by performing an up counting operation from this baseline reference. This approach allows for real-time correction of the baseline during the SS A/D conversion process, obviating the need for complex post-processing and baseline correction algorithms. The proposed SS ADC with the baseline calibration scheme was designed using a 0.18 μm standard CMOS process to confirm its feasibility. It demonstrated a signal-to-noise and distortion ratio (SNDR) of 57.56 dB and a spurious-free dynamic range (SFDR) of 59.02 dB, resulting in an effective number of bits (ENOB) of 9.27 bits in the post-simulation level. The proposed SS ADC has a total power consumption of 1.649 mW. This work offers an efficient solution to the baseline distribution problem in gas sensors, facilitating more reliable and accurate gas detection systems.

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