Title :
Using CFD in robotic simulators for pollution monitoring
Author :
Oyekan, John ; Lu, Bowen ; Hu, Huosheng ; Gu, Dongbing
Author_Institution :
Sch. of Comput. Sci. & Electron. Eng., Univ. of Essex, Colchester, UK
Abstract :
This paper presents the RoboShoalSim, a robot simulator that was developed for the EU Robotic fish shoal project to monitor pollution levels in sea ports around the world. The simulator is different from those in use in that it incorporates not only pollution models of the pollutant in the simulated port but uses computational fluid dynamics of the sea port to generate closer to reality pollutant dynamics. In addition, a physic engine is used with the aim of studying the effects of the Robotic fishes dynamics on the pollutant plume structure. In this paper, the general architecture is described, with preliminary examples of utilization.
Keywords :
computational fluid dynamics; condition monitoring; hydrodynamics; mobile robots; robot dynamics; underwater vehicles; water pollution control; EU robotic fish shoal project; European Union; RoboShoalSim robot simulator; computational fluid dynamics; pollutant dynamics; pollutant plume structure; pollution monitoring; robotic fish dynamics; sea ports; Equations; Mathematical model; Microorganisms; Monitoring; Pollution; Robot sensing systems; Bacterium Inspired Algorithm; Computational Fluid Dynamics; Environmental Monitoring; Flocking; UAV;
Conference_Titel :
Computer Science and Electronic Engineering Conference (CEEC), 2011 3rd
Conference_Location :
Colchester
Print_ISBN :
978-1-4577-1300-2
DOI :
10.1109/CEEC.2011.5995832
