Particulate matter source localization in dynamic indoor environments: Bridging simulation-experimentation gaps with a 3D multi-robot system

IF 11.3 1区环境科学与生态学 Q1 ENGINEERING, ENVIRONMENTAL Journal of Hazardous Materials Pub Date : 2025-02-04 DOI:10.1016/j.jhazmat.2025.137474

Hongyi Mao, Xun Guo, Jiamin Qiu, Lingjie Zeng, Fei Li, Hao Cai

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Abstract

Indoor particulate matter (PM) threatens human health, compromises product quality and yield, and poses safety risks. Dynamic indoor environments introduce unpredictable airflow changes and complex PM behavior, posing significant challenges for accurate PM source localization by mobile robots. This study introduces our self-developed multi-robot system for three-dimensional (3D) concentration detection, bridging the gap between simulation and real-world applications. A total of 225 experiments across 15 cases were conducted in a dynamic ventilation environment, enabling a comprehensive analysis of airflow dynamics and PM behavior. The improved whale optimization algorithm (IWOA) was compared in 3D and 2D scenarios and further evaluated against the improved particle swarm optimization (IPSO) method under 3D conditions. The adaptability of IWOA_3D to variations in PM size, release rate, source location, and accuracy standard was also investigated. Using the success rate as a key evaluation criterion, IWOA_3D demonstrated strong adaptability to variations in source height, localizing PM2.5 at 1.05 m with a 73.3% success rate, despite limitations related to PM size and source location. These findings highlight the importance of selecting appropriate PM sensor readings and optimizing localization strategies in dynamic indoor environments, while demonstrating the practical effectiveness of the IWOA_3D method.

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动态室内环境中的颗粒物源定位：用三维多机器人系统弥合模拟实验差距

室内颗粒物（PM）威胁人类健康，影响产品质量和产量，并构成安全风险。动态室内环境引入了不可预测的气流变化和复杂的PM行为，为移动机器人精确定位PM源提出了重大挑战。本研究介绍了我们自行开发的用于三维（3D）浓度检测的多机器人系统，弥合了模拟与现实应用之间的差距。在动态通风环境中，共进行了15个案例的225个实验，从而全面分析了气流动力学和PM行为。将改进的鲸鱼优化算法（IWOA）在3D和2D场景下进行了比较，并进一步与改进的粒子群优化（IPSO）方法在3D条件下进行了评估。研究了IWOA_3D对PM粒径、释放速率、源位置和精度标准变化的适应性。将成功率作为关键评价标准，IWOA_3D对源高度的变化表现出较强的适应性，尽管受到PM大小和源位置的限制，但IWOA_3D在1.05 m处定位PM2.5的成功率为73.3%。这些发现强调了在动态室内环境中选择合适的PM传感器读数和优化定位策略的重要性，同时也证明了IWOA_3D方法的实际有效性。

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来源期刊

Journal of Hazardous Materials 工程技术-工程：环境

CiteScore

25.40

自引率

5.90%

发文量

3059

审稿时长

58 days

期刊介绍： The Journal of Hazardous Materials serves as a global platform for promoting cutting-edge research in the field of Environmental Science and Engineering. Our publication features a wide range of articles, including full-length research papers, review articles, and perspectives, with the aim of enhancing our understanding of the dangers and risks associated with various materials concerning public health and the environment. It is important to note that the term "environmental contaminants" refers specifically to substances that pose hazardous effects through contamination, while excluding those that do not have such impacts on the environment or human health. Moreover, we emphasize the distinction between wastes and hazardous materials in order to provide further clarity on the scope of the journal. We have a keen interest in exploring specific compounds and microbial agents that have adverse effects on the environment.