title: Robotic reconnaissance platform. I. Spectroscopic instruments with rangefinders.
abstract: In this paper, basic principles of the design and implementation of a portable, multi-functional scientific instrument, operating from a robotic reconnaissance mobile platform are discussed. The current version of the instrument includes a multi-gas laser sensor, multi-functional spectrometer, isotopes identifier, cameras, and rangefinder. An additional set of sensors monitors temperature, pressure, humidity, and background radiation. All components are installed on a mini-robotic platform, which provides data acquisition, processing, and transmittance. The design focuses on the development of calibration-free, reliable, low power-consumption devices. To create a highly survivable, accurate, and reliable instrument, a concept of an inhomogeneous sensory network has been developed. Such a network combines non-identical sensors and provides cross-use of information received from different sensors to describe environmental conditions, to choose appropriate algorithms of data processing, and to achieve high accuracy gas-concentration measurements. The system uses the same lasers to operate different optical devices such as sensors, rangefinders, spectrometers, and isotopes identifiers. Among the innovative elements described in this paper, are a calibration-free, laser multi-gas sensor with range-finding option; a high signal/noise ratio transmittance spectrometer; a single-frequency laser with nano-selector; and low repetition-rate femtosecond fiber lasers operating in near- and middle- infrared spectral ranges. New detailed analyses of absorption spectroscopy theoretical approximations made it possible to achieve high-accuracy gas-concentration measurements with miniature optical sensors.
authors: Department of Mechanical and Industrial Engineering, University of Toronto, 5 King's College Road, Toronto, M5S 3G8, Canada.
authors: Inderdeep
authors: I
authors: Matharoo
authors: Igor
authors: I
authors: Peshko
authors: Andrew
authors: A
authors: Goldenberg
mesh_terms: D000042:Absorption; D002138:Calibration; D005740:Gases / Q000032:analysis; D006801:Humans; D007554:Isotopes / Q000032:analysis; D007834:Lasers; D012371:Robotics / Q000295:instrumentation*; D013057:Spectrum Analysis / Q000295:instrumentation*
chemical_list: D005740:Gases; D007554:Isotopes