Figure 3.

(a) Carbon nanotube (CNT) array sensor circuit board showing telemetry communication circuit with four sensor adapters, and (b) schematic of a quadrotor drone showing different attachment points of CNT sensors (top, bottom, middle, and on-rotor). (c) Capacitance change graphs with different dimethyl-methylphosphonate (DMMP) concentration exposure (1.9, 8.4 and 38 ppm) from laboratory scale test. (d,e) Change of intensity and response time from our experiments for comparison of each locations’ sensor performance, respectively.