In today's chemical production plants, human field operators perform frequent
checks on the plant's integrity to guarantee high safety standards, and thus
are possibly the first to encounter dangerous operating conditions. To
alleviate their tasks of failure detection and monitoring by audio, visual, and
olfactory perceptions, we present a robotic system that consists of an
autonomously navigating robot integrated with various sensors and data
processing. We aim to resemble the human sensing and interpretation
capabilities of sight, smell, and hearing, for providing automated inspection.
We evaluate our system extensively at a wastewater facility in full working
conditions. Our results demonstrate that the system is able to robustly
navigate a plant and to provide useful information about critical operating
conditions.

化工生产厂中，人员经常检查工厂的完整性以确保高安全标准，这项研究提出了一个机器人系统，集成了各种传感器和数据处理，旨在模仿人类的视觉、嗅觉和听觉感知和解释能力，以实现自动化检测。在一个废水处理设施中进行了广泛的评估，结果表明该系统能够稳定地导航工厂并提供关于关键操作条件的有用信息。