Integrating olfaction in a robotic telepresence loop

In this work we propose enhancing a typical robotic telepresence architecture by considering olfactory and wind flow information in addition to the common audio and video channels. The objective is to expand the range of applications where robotics telepresence can be applied, including those related to the detection of volatile chemical substances (e.g. land-mine detection, explosive deactivation, operations in noxious environments, etc.). Concretely, we analyze how the sense of smell can be integrated in the telepresence loop, covering the digitization of the gases and wind flow present in the remote environment, the transmission through the communication network, and their display at the user location. Experiments under different environmental conditions are presented to validate the proposed telepresence system when localizing a gas emission leak at the remote environment.

[1]  Javier Gonzalez Monroy,et al.  Odor recognition in robotics applications by discriminative time-series modeling , 2015, Pattern Analysis and Applications.

[2]  Tien-Fu Lu,et al.  A Simulation Framework for Plume-Tracing Research , 2008 .

[3]  Paul Newman.  MOOS - Mission Orientated Operating Suite , 2008 .

[4]  Greg Welch,et al.  Toward a compelling sensation of telepresence: demonstrating a portal to a distant (static) office , 2000 .

[5]  Robin R. Murphy,et al.  Disaster Robotics , 2014, Springer Handbook of Robotics, 2nd Ed..

[6]  Gerard Jounghyun Kim,et al.  Design and evaluation of a wind display for virtual reality , 2004, VRST '04.

[7]  Hiroshi Ishida,et al.  Smelling Screen: Development and Evaluation of an Olfactory Display System for Presenting a Virtual Odor Source , 2013, IEEE Transactions on Visualization and Computer Graphics.

[8]  Anne-Marie Kermarrec,et al.  The many faces of publish/subscribe , 2003, CSUR.

[9]  Shinjiro Kawato,et al.  Projection based olfactory display with nose tracking , 2004, IEEE Virtual Reality 2004.

[10]  J. Gardner,et al.  Biomedical Engineering Online Open Access Bacteria Classification Using Cyranose 320 Electronic Nose , 2022 .

[11]  Amedeo Cesta,et al.  GiraffPlus: a system for monitoring activities and physiological parameters and promoting social interaction for elderly. , 2014 .

[12]  Tomohiro Tanikawa,et al.  Wearable Olfactory Display: Using Odor in Outdoor Environment , 2006, IEEE Virtual Reality Conference (VR 2006).

[13]  Javier Gonzalez Monroy,et al.  Time-variant gas distribution mapping with obstacle information , 2015, Autonomous Robots.

[14]  Silvia Coradeschi,et al.  A Review of Mobile Robotic Telepresence , 2013, Adv. Hum. Comput. Interact..

[15]  Cynthia Breazeal,et al.  MeBot: a robotic platform for socially embodied presence , 2010, HRI.

[16]  Jussi Suomela,et al.  Applying telepresence and augmented reality to teleoperate field robots , 1999, Robotics Auton. Syst..

[17]  Eric D. Siggia,et al.  Scalar turbulence , 2000, Nature.

[18]  Javier Gonzalez Monroy,et al.  A Kalman filter based approach to probabilistic gas distribution mapping , 2013, SAC '13.

[19]  Cipriano Galindo,et al.  A web-based solution for robotic telepresence , 2017 .

[20]  Takamichi Nakamoto,et al.  Improvement of olfactory display using solenoid valves , 2007, 2007 IEEE Virtual Reality Conference.

[21]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[22]  Markus Meister,et al.  Can Humans Really Discriminate 1 Trillion Odors? , 2014, 1411.0165.

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

[24]  José del R. Millán,et al.  Towards Independence: A BCI Telepresence Robot for People With Severe Motor Disabilities , 2015, Proceedings of the IEEE.

[25]  Javier Gonzalez Monroy,et al.  The Multi-Chamber Electronic Nose—An Improved Olfaction Sensor for Mobile Robotics , 2011, Sensors.

[26]  Andreas Kroll,et al.  RoboGasInspector - A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results , 2012 .

[27]  Carlos Sanchez-Garrido,et al.  A configurable smart e-nose for spatio-temporal olfactory analysis , 2014, IEEE SENSORS 2014 Proceedings.

[28]  Yang Chen,et al.  Olfactory Display: Development and Application in Virtual Reality Therapy , 2006, 16th International Conference on Artificial Reality and Telexistence--Workshops (ICAT'06).

[29]  Javier Gonzalez-Jimenez,et al.  A robotic experiment toward understanding human gas-source localization strategies , 2017, 2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN).

[30]  Hiroshi Ishida,et al.  Multi-sensorial field display: Presenting spatial distribution of airflow and odor , 2011, 2011 IEEE Virtual Reality Conference.

[31]  Katherine M. Tsui,et al.  Exploring use cases for telepresence robots , 2011, 2011 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[32]  W. Jatmiko,et al.  A pso-based mobile robot for odor source localization in dynamic advection-diffusion with obstacles environment: theory, simulation and measurement , 2007, IEEE Computational Intelligence Magazine.

[33]  Jessie Y. C. Chen,et al.  Supervisory Control of Multiple Robots , 2012, Hum. Factors.

[34]  Cynthia Breazeal,et al.  MeBot: A robotic platform for socially embodied telepresence , 2010, 2010 5th ACM/IEEE International Conference on Human-Robot Interaction (HRI).

[35]  Javier Gonzalez-Jimenez,et al.  Gas classification in motion: An experimental analysis , 2017 .

[36]  L. Buck,et al.  The human olfactory receptor gene family. , 2004, Proceedings of the National Academy of Sciences of the United States of America.

[37]  Javier Gonzalez Monroy,et al.  GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments , 2017, Sensors.

[38]  Greg Welch,et al.  Toward a compelling sensation of telepresence: demonstrating a portal to a distant (static) office , 2000, Proceedings Visualization 2000. VIS 2000 (Cat. No.00CH37145).