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Behavior of Gas Molecules: Molecular Diffusion, Mean Free Path, and Effusion

Behavior of Gas Molecules: Molecular Diffusion, Mean Free Path, and Effusion

Although gaseous molecules travel at tremendous speeds (hundreds of meters per second), they collide with other gaseous molecules and travel in many different directions before reaching the desired target. At room temperature, a gaseous molecule will experience billions of collisions per second. The mean free path is the average distance a molecule travels between collisions. The mean free path increases with decreasing pressure; in general, the mean free path for a gaseous molecule will be...

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Updated: Jun 20, 2026

Using Insect Electroantennogram Sensors on Autonomous Robots for Olfactory Searches

Using Insect Electroantennogram Sensors on Autonomous Robots for Olfactory Searches

Published on: August 4, 2014

勘探和气体源定位在潜力场控制机器人群的倾向-扩散过程中.

Patrick Hinsen¹, Thomas Wiedemann¹, Dmitriy Shutin¹

¹Institute of Communications and Navigation, German Aerospace Center (DLR), 82234 Wessling, Germany.

Sensors (Basel, Switzerland)

|November 25, 2023

概括

此摘要是机器生成的。

移动机器人使用先进的分散模型有效地定位气体泄漏. 即使有风的波动,群体也很快就能识别出风源,在动态环境中表现出强大的性能.

关键词:

导向扩散方程导向扩散方程人工潜力现场控制人工潜力气体勘探气体勘探气体勘探气体来源的定位和定位机器人探索机器人探索群众机器人工程群众机器人工程不确定性映射的不确定性映射

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Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization

Published on: August 27, 2021

相关实验视频

Last Updated: Jun 20, 2026

Using Insect Electroantennogram Sensors on Autonomous Robots for Olfactory Searches

Using Insect Electroantennogram Sensors on Autonomous Robots for Olfactory Searches

Published on: August 4, 2014

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Insect-controlled Robot: A Mobile Robot Platform to Evaluate the Odor-tracking Capability of an Insect

Published on: December 19, 2016

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization

Electroantennography-based Bio-hybrid Odor-detecting Drone using Silkmoth Antennae for Odor Source Localization

Published on: August 27, 2021

科学领域:

机器人技术机器人技术机器人技术
环境监测环境监测
控制系统控制系统

背景情况:

移动多机器人系统非常适合危险环境,提供冗余性和可扩展性.
自主操作对于高效的群体勘探和天然气来源定位至关重要.
精确的气体源定位需要机器人根据域名知识对信息位置进行采样.

研究的目的:

通过将导向和气体度场动态纳入分散模型,增强在动态环境中的气体源定位.
开发和评估在具有挑战性的条件下移动多机器人系统的强有力的勘探战略.
评估环境因素,如风力波动对气体泄漏局部化效率的影响.

主要方法:

利用部分微分方程创建一个概率气体分散模型和空间不确定性地图.
集成的导向和气体度场动态,以实现更现实的分散模型.
基于不确定性地图的机器人导航采用了潜在场控制方法.

主要成果:

拟议的方法强有力的恢复气体源分布,即使有风向波动.
该系统可以在几秒钟内识别潜在的气体来源,性能优于以前的方法.
较大的机器人群更快地减少了定位不确定性.
这种方法有效地与系统抽样策略进行竞争.

结论:

移动多机器人系统对于在动态,具有挑战性的环境中定位气体源具有高度适用性和稳定性.
结合现实的气体分散模型,包括向导,可以提高定位的准确性.
群体大小对减少不确定性和局部化效率的速度产生了积极的影响.