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

fYear

2011

fDate

13-14 July 2011

Firstpage

92

Lastpage

97

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Science and Electronic Engineering Conference (CEEC), 2011 3rd

Conference_Location

Colchester

Print_ISBN

978-1-4577-1300-2

Type

conf

DOI

10.1109/CEEC.2011.5995832

Filename

5995832