2026-05-31T21:03:40Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/344022026-02-03T11:15:41Zcom_10630_2254col_10630_37953

00925njm 22002777a 4500 dc González-Monroy, Javier author Hernández-Bennetts, Víctor author Fan, Han author Lilienthal, Achim author González-Jiménez, Antonio Javier author 2017-06-23 This work presents a simulation framework developed under the widely used Robot Operating System (ROS) to enable the validation of robotics systems and gas sensing algorithms under realistic environments. The framework is rooted in the principles of computational fluid dynamics and filament dispersion theory, modeling wind flow and gas dispersion in 3D real-world scenarios (i.e., accounting for walls, furniture, etc.). Moreover, it integrates the simulation of different environmental sensors, such as metal oxide gas sensors, photo ionization detectors, or anemometers. We illustrate the potential and applicability of the proposed tool by presenting a simulation case in a complex and realistic office-like environment where gas leaks of different chemicals occur simultaneously. Furthermore, we accomplish quantitative and qualitative validation by comparing our simulated results against real-world data recorded inside a wind tunnel where methane was released under different wind flow profiles. Based on these results, we conclude that our simulation framework can provide a good approximation to real world measurements when advective airflows are present in the environment Monroy, J.; Hernandez-Bennetts, V.; Fan, H.; Lilienthal, A.; Gonzalez-Jimenez, J. GADEN: A 3D Gas Dispersion Simulator for Mobile Robot Olfaction in Realistic Environments. Sensors 2017, 17, 1479. https://doi.org/10.3390/s17071479 https://hdl.handle.net/10630/34402 http://dx.doi.org/10.3390/s17071479 Gases-Análisis Detectores de gases GADEN: a 3D gas dispersion simulator for mobile robot olfaction in realistic environments