Title :
Locating a Circular Biochemical Source: Modeling and Control
Author :
Tzanos, Panos ; Zefran, Milos
Author_Institution :
Dept. of Electr. & Comput. Eng., Illinois Univ., Chicago, IL
Abstract :
This paper applies the modified Fisher information matrix (FIM) motion algorithm previously proposed by the authors to the task of locating a circular biochemical source. We develop the diffusion model for a circular source and perform control theoretic analysis of the resulting FIM motion algorithm. While in our previous work we established that the source location is an equilibrium point of the system, in the present paper we show that due to the consistency of the maximum likelihood (ML) estimator, the equilibrium point is unique. Simulations are presented that compare our motion algorithm to conventional concentration gradient motion algorithms. The simulations confirm that by using our motion algorithm, the circular biochemical source is located with a high degree of accuracy.
Keywords :
biochemistry; chemical variables measurement; diffusion; gradient methods; maximum likelihood estimation; Fisher information matrix motion algorithm; circular biochemical source; control theoretic analysis; diffusion model; gradient motion algorithm; maximum likelihood estimation; system equilibrium; Algorithm design and analysis; Biosensors; Chemical and biological sensors; Landmine detection; Maximum likelihood estimation; Monitoring; Motion control; Position measurement; Sensor phenomena and characterization; Vehicles;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363839