A biomimetic robot for tracking specific odors in turbulent plumes
Identifieur interne : 005690 ( Main/Merge ); précédent : 005689; suivant : 005691A biomimetic robot for tracking specific odors in turbulent plumes
Auteurs : Dominique Martinez [France] ; Oliver Rochel [France] ; Etienne Hugues [France]Source :
- Autonomous Robots [ 0929-5593 ] ; 2006-06-01.
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Abstract
Abstract: Two basic tasks must be performed by an olfactory robot tracking a specific odor source: navigate in a turbulent odor plume and recognize an odor regardless of its concentration. For these two tasks, we propose simple biologically inspired strategies, well suited for building dedicated circuits and for on-board implementation on real robots. The odor recognition system is based on a spiking neural network using a synchronization coding scheme. The robot navigation system is based on the use of bilateral comparison between two spatially separated gas sensors arrays at either side of the robot. We propose binary or analog navigation laws depending on the nature of the available sensory information extracted from the plume structure (isolated odor patches or smoother concentration field).
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DOI: 10.1007/s10514-006-7157-1
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BP 60120, 54 003 NANCY cedex, France</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300292" type="indirect"><org type="institution" xml:id="struct-300292" status="OLD"><orgName>Université Nancy 2</orgName><date type="end">2011-12-31</date><desc><address><addrLine>91 avenue de la Libération, BP 454, 54001 Nancy cedex</addrLine><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300293" type="indirect"><org type="institution" xml:id="struct-300293" status="OLD"><orgName>Institut National Polytechnique de Lorraine</orgName><orgName type="acronym">INPL</orgName><date type="end">2011-12-31</date><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-2496" type="direct"><org type="laboratory" xml:id="struct-2496" status="OLD"><orgName>INRIA Lorraine</orgName><desc><address><addrLine>615 rue du Jardin Botanique 54600 Villers-lès-Nancy</addrLine><country key="FR"></country></address><ref type="url">http://www.inria.fr/centre-de-recherche-inria/nancy-grand-est</ref></desc><listRelation><relation active="#struct-300009" type="direct"></relation></listRelation></org></tutelle></tutelles></hal:affiliation><country>France</country><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Université Nancy 2</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName><placeName><settlement type="city">Nancy</settlement><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region></placeName><orgName type="university">Institut national polytechnique de Lorraine</orgName><orgName type="institution" wicri:auto="newGroup">Université de Lorraine</orgName></affiliation></author><author><name sortKey="Hugues, Etienne" sort="Hugues, Etienne" uniqKey="Hugues E" first="Etienne" last="Hugues">Etienne Hugues</name></author></analytic><idno type="DOI">10.1007/s10514-006-7157-1</idno><series><title level="j">Autonomous Robots</title><idno type="ISSN">0929-5593</idno><imprint><date type="datePub">2006</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Odor discrimination</term><term>Odor localization</term><term>Olfaction</term><term>Olfactory robot</term><term>Spiking neurons</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Two basic tasks must be performed by an olfactory robot tracking a specific odor source : navigate in a turbulent odor plume and recognize an odor regardless of its concentration. For these two tasks, we propose simple biologically inspired strategies, well suited for building dedicated circuits and for on-board implementation on real robots. The odor recognition system is based on a spiking neural network using a synchronization coding scheme. The robot navigation system is based on the use of bilateral comparison between two spatially separated gas sensors arrays at either side of the robot. We propose binary or analog navigation laws depending on the nature of the available sensory information extracted from the plume structure (isolated odor patches or smoother concentration field).</div></front></TEI></HAL><ISTEX><TEI wicri:istexFullTextTei="biblStruct"><teiHeader><fileDesc><titleStmt><title xml:lang="en">A biomimetic robot for tracking specific odors in turbulent plumes</title><author><name sortKey="Martinez, Dominique" sort="Martinez, Dominique" uniqKey="Martinez D" first="Dominique" last="Martinez">Dominique Martinez</name></author><author><name sortKey="Rochel, Oliver" sort="Rochel, Oliver" uniqKey="Rochel O" first="Oliver" last="Rochel">Oliver Rochel</name></author><author><name sortKey="Hugues, Etienne" sort="Hugues, Etienne" uniqKey="Hugues E" first="Etienne" last="Hugues">Etienne Hugues</name></author></titleStmt><publicationStmt><idno type="wicri:source">ISTEX</idno><idno type="RBID">ISTEX:5C0545F85C252B04D47EE88BAB811464738C96E4</idno><date when="2006" year="2006">2006</date><idno type="doi">10.1007/s10514-006-7157-1</idno><idno type="url">https://api.istex.fr/ark:/67375/VQC-CW4CD61X-L/fulltext.pdf</idno><idno type="wicri:Area/Istex/Corpus">001537</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Corpus" wicri:corpus="ISTEX">001537</idno><idno type="wicri:Area/Istex/Curation">001519</idno><idno type="wicri:Area/Istex/Checkpoint">001397</idno><idno type="wicri:explorRef" wicri:stream="Istex" wicri:step="Checkpoint">001397</idno><idno type="wicri:doubleKey">0929-5593:2006:Martinez D:a:biomimetic:robot</idno></publicationStmt><sourceDesc><biblStruct><analytic><title level="a" type="main" xml:lang="en">A biomimetic robot for tracking specific odors in turbulent plumes</title><author><name sortKey="Martinez, Dominique" sort="Martinez, Dominique" uniqKey="Martinez D" first="Dominique" last="Martinez">Dominique Martinez</name><affiliation wicri:level="3"><country xml:lang="fr">France</country><wicri:regionArea>LORIA, Campus Scientifique, BP 239, 54506, Vandoeuvre-Les-Nancy</wicri:regionArea><placeName><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region><settlement type="city">Vandœuvre-lès-Nancy</settlement></placeName></affiliation></author><author><name sortKey="Rochel, Oliver" sort="Rochel, Oliver" uniqKey="Rochel O" first="Oliver" last="Rochel">Oliver Rochel</name><affiliation wicri:level="3"><country xml:lang="fr">France</country><wicri:regionArea>LORIA, Campus Scientifique, BP 239, 54506, Vandoeuvre-Les-Nancy</wicri:regionArea><placeName><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region><settlement type="city">Vandœuvre-lès-Nancy</settlement></placeName></affiliation></author><author><name sortKey="Hugues, Etienne" sort="Hugues, Etienne" uniqKey="Hugues E" first="Etienne" last="Hugues">Etienne Hugues</name><affiliation wicri:level="3"><country xml:lang="fr">France</country><wicri:regionArea>LORIA, Campus Scientifique, BP 239, 54506, Vandoeuvre-Les-Nancy</wicri:regionArea><placeName><region type="region" nuts="2">Grand Est</region><region type="old region" nuts="2">Lorraine (région)</region><settlement type="city">Vandœuvre-lès-Nancy</settlement></placeName></affiliation></author></analytic><monogr></monogr><series><title level="j">Autonomous Robots</title><title level="j" type="abbrev">Auton Robot</title><idno type="ISSN">0929-5593</idno><idno type="eISSN">1573-7527</idno><imprint><publisher>Kluwer Academic Publishers</publisher><pubPlace>Boston</pubPlace><date type="published" when="2006-06-01">2006-06-01</date><biblScope unit="volume">20</biblScope><biblScope unit="issue">3</biblScope><biblScope unit="page" from="185">185</biblScope><biblScope unit="page" to="195">195</biblScope></imprint><idno type="ISSN">0929-5593</idno></series></biblStruct></sourceDesc><seriesStmt><idno type="ISSN">0929-5593</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Odor discrimination</term><term>Odor localization</term><term>Olfaction</term><term>Olfactory robot</term><term>Spiking neurons</term></keywords></textClass><langUsage><language ident="en">en</language></langUsage></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Abstract: Two basic tasks must be performed by an olfactory robot tracking a specific odor source: navigate in a turbulent odor plume and recognize an odor regardless of its concentration. For these two tasks, we propose simple biologically inspired strategies, well suited for building dedicated circuits and for on-board implementation on real robots. The odor recognition system is based on a spiking neural network using a synchronization coding scheme. The robot navigation system is based on the use of bilateral comparison between two spatially separated gas sensors arrays at either side of the robot. We propose binary or analog navigation laws depending on the nature of the available sensory information extracted from the plume structure (isolated odor patches or smoother concentration field).</div></front></TEI></ISTEX></double></record>Pour manipuler ce document sous Unix (Dilib)
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