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Chemical Plume Tracing

Chemical Plume Tracing. Jay A. Farrell, Professor Department of Electrical Engineering University of California, Riverside 92521 e: farrell@ee.ucr.edu v: 909-787-2159 f: 909-787-2425 url: www.ee.ucr.edu/~farrell. Autonomous Vehicle Based Chemical Plume Tracing. Objectives:

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Chemical Plume Tracing

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  1. Chemical Plume Tracing Jay A. Farrell, Professor Department of Electrical Engineering University of California, Riverside 92521 e: farrell@ee.ucr.edu v: 909-787-2159 f: 909-787-2425 url: www.ee.ucr.edu/~farrell

  2. Autonomous Vehicle Based Chemical Plume Tracing • Objectives: • Develop strategies for an AUV to trace a chemical plume to its source. • Methods: • On-line deliberative planning • On-line reactive planning • On-line mapping • Applications: • Detection, localization,mapping of unexploded ordinance, thermal vents, etc

  3. Moth Flight Tracks top view 100 displacement in ‘y’ 0 wind -100 200 800 600 400 200 0 displacement in ‘x’ 0 end view -200 200 side view -75 0 75 displac’t in ‘z’ 0 wind displacement in ‘z’ wind displac’t in ‘y’ -200 800 600 400 200 0 displacement in ‘x’ Moths, birds and other biological entities exhibit such cross-track oscillationsn Graphics from Carde and Justus at UCR

  4. CPT Challenges • Our goal is to track plumes to their source over near kilometer distances • Chemical distribution is intermittent and meandering: • gradient following is not possible • The chemical distribution is likely to be constrained to very low altitudes • Approach: Decomposition into Plume Search Components • Plume finding • Plume tracking • Plume reacquisition • Declaration of success: “odor source at (x,y)”

  5. Autonomous Vehicle Architecture

  6. Behavior Switching

  7. AUV Plume Tracing Simulation

  8. In-water Experimental Results • 7 of 8 Successful Missions • OpArea outlined in green • Trajectory in red • Chemical detections in blue

  9. In-water Experimental Results

  10. AUV Plume Tracing Experiments

  11. Can we use Chemical Gradients? Movie by Todd Cowen, Cornell

  12. Can Plume width predict range? Movie by Todd Cowen

  13. Acknowledgement: Funded by the Office of Naval Research • Open Issues and Future Research: • algorithms to work robustly in the presence of multiple sources • algorithms to map “source free” areas • integration of additional behaviors incorporating data from other sensors

  14. AUV Plume Tracing Experiments

  15. Research Interests • On-line function approximation based control • - Aircraft control subsequent to battle damage • - Respirator control (w/ local industry) • High bandwidth cm level accuracy vehicle state estimation • - Snowplow guidance • - Automated highway systems • Behavior based planning • - Chemical plume tracing

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