Integration of Chemical and Visual Sensors for Identifying an Odor Source in Near Shore Ocean Conditions

This paper develops new multiple sensor-based algorithms for identifying a chemical odor source in a near-shore and ocean environment via an autonomous underwater vehicle (AUV). Those algorithms implement two modules: source declaration and source verification, which are embedded in a subsumption architecture for chemical plume tracing (CPT). The source declaration module is based on chemical events detected by a chemical sensor, in combination with measured vehicle locations and fluid flow directions, while the source verification module uses a fuzzy color segmentation algorithm to process an image taken when the odor source is declared.

[1]  Jing Li Wang,et al.  Color image segmentation: advances and prospects , 2001, Pattern Recognit..

[2]  K. D. Moore,et al.  Underwater Optical Imaging: Status and Prospects , 2001 .

[3]  Hiroshi Ishida,et al.  Mobile robot navigation using vision and olfaction to search for a gas/odor source , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[4]  Jianwei Zhang,et al.  Fuzzy color extractor based algorithm for segmenting an odor source in near shore ocean conditions , 2008, 2008 IEEE International Conference on Fuzzy Systems (IEEE World Congress on Computational Intelligence).

[5]  Q. Liao,et al.  The Information Content of a Scalar Plume – A Plume Tracing Perspective , 2002 .

[6]  Jiri Janata,et al.  A Multidisciplinary Study of Spatial and Temporal Scales Containing Information in Turbulent Chemical Plume Tracking , 2002 .

[7]  Wei Li,et al.  Optimization of Source Identification Algorithm Derived from Moth-Inspired Plume Tracing Strategies , 2007, 2007 International Symposium on Computational Intelligence in Robotics and Automation.

[8]  Rodney M. Goodman,et al.  Distributed odor source localization , 2002 .

[9]  Xie Yuan-dan,et al.  Survey on Image Segmentation , 2002 .

[10]  Benoit Cushman-Roisin.  What is Environmental Fluid Mechanics? , 2001 .

[11]  Wei Li.  An Iterative Fuzzy Segmentation Algorithm for Recognizing an Odor Source in Near Shore Ocean Environments , 2007, 2007 International Symposium on Computational Intelligence in Robotics and Automation.

[12]  Frank W. Grasso,et al.  Integration of Flow and Chemical Sensing for Guidance of Autonomous Marine Robots in Turbulent Flows , 2002 .

[13]  Jay A. Farrell,et al.  Tracking of Fluid-Advected Odor Plumes: Strategies Inspired by Insect Orientation to Pheromone , 2001, Adapt. Behav..

[14]  Jay A. Farrell,et al.  Moth-inspired chemical plume tracing on an autonomous underwater vehicle , 2006, IEEE Transactions on Robotics.

[15]  J.A. Farrell,et al.  Chemical plume tracing via an autonomous underwater vehicle , 2005, IEEE Journal of Oceanic Engineering.

[16]  Wei Li,et al.  Multisensor Integration for Declaring the Odor Source of a Plume in Turbulent Fluid-Advected Environments , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.