Active Chemical Sampling System for Underwater Chemical Source Localization

Figure 13

Sensor response curves observed in a chemical source localization trial. The contact with the chemical streak was lost at the end of time period (a) as a result of a movement of the sensor head during that period. Since all sensor responses dropped below the threshold value in time period (b), the sensor head was wobbled in period (c). As a result, the above-threshold sensor responses were obtained at the end of (c). In (d), the sensor head was returned to its initial orientation at the start of the wobbling action, and the search for the chemical source was resumed.