Asif Arain | Örebro University (original) (raw)
Papers by Asif Arain
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), 2017
Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applica... more Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.
The International Journal of Robotics Research
Air pollution causes millions of premature deaths every year, and fugitive emissions of, e.g., me... more Air pollution causes millions of premature deaths every year, and fugitive emissions of, e.g., methane are major causes of global warming. Correspondingly, air pollution monitoring systems are urgently needed. Mobile, autonomous monitoring can provide adaptive and higher spatial resolution compared with traditional monitoring stations and allows fast deployment and operation in adverse environments. We present a mobile robot solution for autonomous gas detection and gas distribution mapping using remote gas sensing. Our “Autonomous Remote Methane Explorer” ([Formula: see text]) is equipped with an actuated spectroscopy-based remote gas sensor, which collects integral gas measurements along up to 30 m long optical beams. State-of-the-art 3D mapping and robot localization allow the precise location of the optical beams to be determined, which then facilitates gas tomography (tomographic reconstruction of local gas distributions from sets of integral gas measurements). To autonomously ...
Creating an accurate model of gas emissions is an important task in monitoring and surveillance a... more Creating an accurate model of gas emissions is an important task in monitoring and surveillance applications. A promising solution for a range of real-world applications are gas-sensitive mobile robots with spectroscopy-based remote sensors that are used to create a tomographic reconstruction of the gas distribution. The quality of these reconstructions depends crucially on the chosen sensing geometry. In this paper we address the problem of sensor planning by investigating sensing geometries that minimize reconstruction errors, and then formulate an optimization algorithm that chooses sensing configurations accordingly. The algorithm decouples sensor planning for single high concentration regions (hotspots) and subsequently fuses the individual solutions to a global solution consisting of sensing poses and the shortest path between them. The proposed algorithm compares favorably to a template matching technique in a simple simulation and in a real-world experiment. In the latter, we also compare the proposed sensor planning strategy to the sensing strategy of a human expert and find indications that the quality of the reconstructed map is higher with the proposed algorithm.
The problem of gas detection is relevant to many real-world applications, such as leak detection ... more The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and surveillance. In this paper we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose a novel
method based on convex relaxation for quickly finding an exploration plan that guarantees a complete coverage of the environment. Our method proves to be highly efficient in terms
of computational requirements and to provide nearly-optimal
solutions. We validate our approach both in simulation and
in real environments, thus demonstrating its applicability to
real-world problems.
The problem of gas detection is relevant to many real-world applications, such as leak detection ... more The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide
nearly-optimal solutions.
9th International Workshop on Robot Motion and Control (RoMoCo'13), Poland, Jul 4, 2013
Path planning for multi-DoF legged robots is a challenging task due to the high dimensionality an... more Path planning for multi-DoF legged robots is a challenging task due to the high dimensionality and complexity of the planning space. We present our first attempt to build a path planning framework for the hydraulic quadruped - HyQ. Our approach adopts a similar strategy to [1], where planning is divided into a task-space and a joint-space part. The task-space planner finds a path for the center of gravity (COG) of the robot, while then the footstep planner generates the appropriate footholds under reachability and stability criteria. Next the joint-space planner translates the task-space COG trajectories into robot joint angles. We present a comparison of a set of search-based planning algorithms; Dijkstra, A* and ARA* , and evaluate these over a set of given terrains and a number of varying start and end points. All test runs support that our approach is a simple yet robust solution. We report comparisons in path length, computation time, and path cost, between the aforementioned planning algorithms.
Springer-Verlag Berlin Heidelberg, Mar 2012
Magneto-rheological damper is a nonlinear system. In this case study, system has been identified ... more Magneto-rheological damper is a nonlinear system. In this case study, system has been identified using Neural Network tool. Optimization between number of neurons in the hidden layer and number of epochs has been achieved and discussed by using multilayer perceptron Neural Network.
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), 2017
Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applica... more Mobile robot platforms equipped with olfaction systems have been used in many gas sensing applications. However, in-field validation of mobile robot olfaction systems is time consuming, expensive, cumbersome and lacks repeatability. In order to address these issues, simulation tools are used. However, the available mobile robot olfaction simulations lack models for remote gas sensors, and the possibility to import geometrical representations of actual real-world environments in a convenient way. In this paper, we describe extensions to an open-source CFD-based filament gas dispersal simulator. These improvements arrow to use robot-created occupancy maps and offer remote sensing capabilities in the simulation loop. We demonstrate the novel features in an example application: we created a 3D map a complex indoor environment, and performed a gas emission monitoring task with a Tunable Diode Laser Absorption Spectroscopy based remote gas sensor in a simulated version of the environment.
The International Journal of Robotics Research
Air pollution causes millions of premature deaths every year, and fugitive emissions of, e.g., me... more Air pollution causes millions of premature deaths every year, and fugitive emissions of, e.g., methane are major causes of global warming. Correspondingly, air pollution monitoring systems are urgently needed. Mobile, autonomous monitoring can provide adaptive and higher spatial resolution compared with traditional monitoring stations and allows fast deployment and operation in adverse environments. We present a mobile robot solution for autonomous gas detection and gas distribution mapping using remote gas sensing. Our “Autonomous Remote Methane Explorer” ([Formula: see text]) is equipped with an actuated spectroscopy-based remote gas sensor, which collects integral gas measurements along up to 30 m long optical beams. State-of-the-art 3D mapping and robot localization allow the precise location of the optical beams to be determined, which then facilitates gas tomography (tomographic reconstruction of local gas distributions from sets of integral gas measurements). To autonomously ...
Creating an accurate model of gas emissions is an important task in monitoring and surveillance a... more Creating an accurate model of gas emissions is an important task in monitoring and surveillance applications. A promising solution for a range of real-world applications are gas-sensitive mobile robots with spectroscopy-based remote sensors that are used to create a tomographic reconstruction of the gas distribution. The quality of these reconstructions depends crucially on the chosen sensing geometry. In this paper we address the problem of sensor planning by investigating sensing geometries that minimize reconstruction errors, and then formulate an optimization algorithm that chooses sensing configurations accordingly. The algorithm decouples sensor planning for single high concentration regions (hotspots) and subsequently fuses the individual solutions to a global solution consisting of sensing poses and the shortest path between them. The proposed algorithm compares favorably to a template matching technique in a simple simulation and in a real-world experiment. In the latter, we also compare the proposed sensor planning strategy to the sensing strategy of a human expert and find indications that the quality of the reconstructed map is higher with the proposed algorithm.
The problem of gas detection is relevant to many real-world applications, such as leak detection ... more The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and surveillance. In this paper we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose a novel
method based on convex relaxation for quickly finding an exploration plan that guarantees a complete coverage of the environment. Our method proves to be highly efficient in terms
of computational requirements and to provide nearly-optimal
solutions. We validate our approach both in simulation and
in real environments, thus demonstrating its applicability to
real-world problems.
The problem of gas detection is relevant to many real-world applications, such as leak detection ... more The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. In this paper, we address the problem of gas detection in large areas with a mobile robotic platform equipped with a remote gas sensor. We propose an algorithm that leverages a novel method based on convex relaxation for quickly solving sensor placement problems, and for generating an efficient exploration plan for the robot. To demonstrate the applicability of our method to real-world environments, we performed a large number of experimental trials, both on randomly generated maps and on the map of a real environment. Our approach proves to be highly efficient in terms of computational requirements and to provide
nearly-optimal solutions.
9th International Workshop on Robot Motion and Control (RoMoCo'13), Poland, Jul 4, 2013
Path planning for multi-DoF legged robots is a challenging task due to the high dimensionality an... more Path planning for multi-DoF legged robots is a challenging task due to the high dimensionality and complexity of the planning space. We present our first attempt to build a path planning framework for the hydraulic quadruped - HyQ. Our approach adopts a similar strategy to [1], where planning is divided into a task-space and a joint-space part. The task-space planner finds a path for the center of gravity (COG) of the robot, while then the footstep planner generates the appropriate footholds under reachability and stability criteria. Next the joint-space planner translates the task-space COG trajectories into robot joint angles. We present a comparison of a set of search-based planning algorithms; Dijkstra, A* and ARA* , and evaluate these over a set of given terrains and a number of varying start and end points. All test runs support that our approach is a simple yet robust solution. We report comparisons in path length, computation time, and path cost, between the aforementioned planning algorithms.
Springer-Verlag Berlin Heidelberg, Mar 2012
Magneto-rheological damper is a nonlinear system. In this case study, system has been identified ... more Magneto-rheological damper is a nonlinear system. In this case study, system has been identified using Neural Network tool. Optimization between number of neurons in the hidden layer and number of epochs has been achieved and discussed by using multilayer perceptron Neural Network.