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    Visual imaging of invisible hazardous substances using bacterial inspiration

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    Authors
    Oyekan, John O.
    Gu, Dongbing
    Hu, Huosheng
    Issue Date
    2013
    Subjects
    bacterium-inspired algorithm
    environmental monitoring
    
    Metadata
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    Abstract
    Providing a visual image of a hazardous substance such as nerve gas or nuclear radiation using multiple robotic agents could be very useful particularly when the substance is invisible. Such visual representation could show where the hazardous substance concentration is highest through the deployment of a higher density of robotic agents to that area enabling humans to avoid such areas. We present an algorithm that is capable of doing the aforementioned with very minimal cost when compared with other techniques such as Voronoi partition methods. Using a mathematical proof, we show that the algorithm would always converge to the distribution of a spatial quantity under investigation. The mathematical model of the bacterium as developed by Berg and Brown is used in this paper, and through simulations and physical experiments, we show that a controller based upon the model is capable of being used to visually represent an invisible spatial hazardous substance using simplistic agents with the future possibility of the same algorithm being used to track a rapidly changing spatiotemporal substance. We believe that the algorithm has this potential because of its low communication and computational needs.
    Citation
    Oyekan, J.; Gu, D. and Hu, H. (2013) 'Visual Imaging of Invisible Hazardous Substances Using Bacterial Inspiration,' Systems, Man, and Cybernetics: Systems, IEEE Transactions on , 99: pp. 1-11
    Journal
    IEEE Transactions on Systems, Man, and Cybernetics: Systems
    URI
    http://hdl.handle.net/10547/279221
    DOI
    10.1109/TSMCA.2012.2231410
    Additional Links
    http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6425508
    Type
    Article
    Language
    en
    ISSN
    2168-2216
    2168-2232
    ae974a485f413a2113503eed53cd6c53
    10.1109/TSMCA.2012.2231410
    Scopus Count
    Collections
    Centre for Research in Distributed Technologies (CREDIT)

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