東華大學圖書館 |

Language: English

Help

回圖書館首頁

手機版館藏查詢

Back

Switch To: Labeled | MARC Mode | ISBD

A biologically-inspired sensor fusio...

Rutkowski, Adam James.

Linked to FindBook

Google Book

Amazon

博客來

A biologically-inspired sensor fusion approach to tracking a wind-borne odor in three dimensions.

Record Type:	Language materials, printed : Monograph/item
Title/Author:	A biologically-inspired sensor fusion approach to tracking a wind-borne odor in three dimensions./
Author:	Rutkowski, Adam James.
Description:	250 p.
Notes:	Advisers: Roger D. Quinn; Mark A. Willis.
Contained By:	Dissertation Abstracts International68-10B.
Subject:	Biology, Entomology. -
Online resource:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3286206
ISBN:	9780549291060

A biologically-inspired sensor fusion approach to tracking a wind-borne odor in three dimensions.
Rutkowski, Adam James.

A biologically-inspired sensor fusion approach to tracking a wind-borne odor in three dimensions. - 250 p.

Advisers: Roger D. Quinn; Mark A. Willis.

Thesis (Ph.D.)--Case Western Reserve University, 2008.

An autonomous vehicle that can track a wind-borne odor plume to its source could locate lost pets and people, pipeline breaks, illegal drug labs, or improvised explosive devices (IEDs). This work explores moth-inspired strategies for tracking a wind-borne odor plume with an aerial vehicle. When tracking an odor, moths counter-turn horizontally back and forth across the wind while generally progressing upwind. Previous studies suggest that moths maintain their altitude at the mean altitude of the odor plume and that the timing of their turns is controlled by an internal mechanism.

ISBN: 9780549291060Subjects--Topical Terms:

1018619
Biology, Entomology.

A biologically-inspired sensor fusion approach to tracking a wind-borne odor in three dimensions.
LDR:03287nam 2200313 a 45 001 951285
005 20110609
008 110609s2008 ||||||||||||||||| ||eng d
020 $a 9780549291060
035 $a (UMI)AAI3286206
035 $a AAI3286206
040 $a UMI $c UMI
100 1 $a Rutkowski, Adam James. $3 1275265
245 1 2 $a A biologically-inspired sensor fusion approach to tracking a wind-borne odor in three dimensions.
300 $a 250 p.
500 $a Advisers: Roger D. Quinn; Mark A. Willis.
500 $a Source: Dissertation Abstracts International, Volume: 68-10, Section: B, page: 6920.
502 $a Thesis (Ph.D.)--Case Western Reserve University, 2008.
520 $a An autonomous vehicle that can track a wind-borne odor plume to its source could locate lost pets and people, pipeline breaks, illegal drug labs, or improvised explosive devices (IEDs). This work explores moth-inspired strategies for tracking a wind-borne odor plume with an aerial vehicle. When tracking an odor, moths counter-turn horizontally back and forth across the wind while generally progressing upwind. Previous studies suggest that moths maintain their altitude at the mean altitude of the odor plume and that the timing of their turns is controlled by an internal mechanism.
520 $a The ability of moths to stabilize their altitude while tracking an odor plume was examined in a laboratory wind tunnel. It was hypothesized that an enriched visual environment in the lateral visual field would allow moths to stabilize their altitude. The moths did not maintain their altitude fixed at the mean altitude of the odor plume. Instead, they used a combination of horizontal and vertical undulations to search for odor in a plane normal to the wind direction while making upwind progress.
520 $a The three dimensional observations of moth odor tracking inspired the design of strategies that direct an agent to control its turn rate in the wind-normal plane, and upwind speed, as independent functions of the measured odor concentration. The aerial agent estimates its egomotion, altitude, the wind velocity, and the ground structure using a new technique that fuses visual and mechanosensory input. Two odor tracking strategies---Spiraling and Spiraling5---were developed and tested in simulation on an odor tracking software platform called OdorTracker. The behavior of the Spiraling strategy was dependent on the odor concentration while the Spiraling5 strategy was dependent on the time derivative of odor concentration. Using either strategy, the simulated agent approached the odor source with moth-like undulations in the vertical and horizontal directions without internal counter-turn timers; however, the Spirarling5 algorithm sometimes became unstable. Not only did the odor tracking strategies allow the tracking agent to reach the odor source, they also allowed the tracking agent to remain in the vicinity of the odor source for several seconds, which also agrees with moth behavior.
590 $a School code: 0042.
650 4 $a Biology, Entomology. $3 1018619
650 4 $a Engineering, Mechanical. $3 783786
690 $a 0353
690 $a 0548
710 2 $a Case Western Reserve University. $3 1017714
773 0 $t Dissertation Abstracts International $g 68-10B.
790 $a 0042
790 1 0 $a Quinn, Roger D., $e advisor
790 1 0 $a Willis, Mark A., $e advisor
791 $a Ph.D.
792 $a 2008
856 4 0 $u http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=3286206