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  <doc>
    <id>47097</id>
    <completedYear/>
    <publishedYear>2018</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>26703</pageFirst>
    <pageLast>26708</pageLast>
    <pageNumber/>
    <edition/>
    <issue>13</issue>
    <volume>5</volume>
    <type>article</type>
    <publisherName>Elsevier</publisherName>
    <publisherPlace>Amsterdam, Netherlands</publisherPlace>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Measuring rotor speed for wind vector estimation on multirotor aircraft</title>
    <abstract language="eng">For several applications involving multirotor aircraft, it is crucial to know both the direction and speed of the ambient wind. In this paper, an approach to wind vector estimation based on an equilibrium of the principal forces acting on the aircraft is shown. As the thrust force generated by the rotors depends on their rotational speed, a sensor to measure this quantity is required. Two concepts for such a sensor are presented: One is based on tapping the signal carrying the speed setpoint for the motor controllers, the other one uses phototransistors placed underneath the rotor blades. While some complications were encountered with the first approach, the second yields accurate measurement data. This is shown by an experiment comparing the proposed speed sensor to a commercial non-contact tachometer.</abstract>
    <parentTitle language="eng">Materials Today: Proceedings</parentTitle>
    <identifier type="doi">10.1016/j.matpr.2018.08.139</identifier>
    <identifier type="url">https://www.sciencedirect.com/science/article/pii/S2214785318321114</identifier>
    <identifier type="issn">2214-7853</identifier>
    <enrichment key="eventName">34th Danubia Adria Symposium on Advances in Experimental Mechanics</enrichment>
    <enrichment key="eventPlace">Trieste, Italy</enrichment>
    <enrichment key="eventStart">19.09.2017</enrichment>
    <enrichment key="eventEnd">22.09.2017</enrichment>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <author>Dino Hüllmann</author>
    <author>Niels Paul</author>
    <author>Harald Kohlhoff</author>
    <author>Patrick P. Neumann</author>
    <author>A. J. Lilienthal</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Wind vector estimation</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Rotor speed</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>UAV</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Tachometer</value>
    </subject>
    <collection role="ddc" number="543">Analytische Chemie</collection>
    <collection role="ddc" number="628">Sanitär- und Kommunaltechnik; Umwelttechnik</collection>
    <collection role="literaturgattung" number="">Verlagsliteratur</collection>
    <collection role="fulltextaccess" number="">Datei im Netzwerk der BAM verfügbar ("Closed Access")</collection>
  </doc>
  <doc>
    <id>46477</id>
    <completedYear/>
    <publishedYear>2018</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>396</pageFirst>
    <pageLast>398</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>IEEE</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>1</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Gas Tomography Up In The Air!</title>
    <abstract language="eng">In this paper, we present an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS) combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile octocopter. The TDLAS sensor provides integral gas concentration measurements but no information regarding the distance traveled by the laser diode's beam or the distribution of the gas along the optical path. We complemented the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from these integral concentration measurements. To allow for a rudimentary ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and a distributed array of 10 infrared gas transmitters. We present first results showing the 2D plume reconstruction capabilities of the system under realistic conditions.</abstract>
    <parentTitle language="eng">Proceedings of the IEEE Sensors 2018</parentTitle>
    <identifier type="isbn">978-1-5386-4707-3</identifier>
    <enrichment key="eventName">IEEE Sensors 2018</enrichment>
    <enrichment key="eventPlace">New Delhi, India</enrichment>
    <enrichment key="eventStart">28.10.2018</enrichment>
    <enrichment key="eventEnd">31.10.2018</enrichment>
    <enrichment key="date_peer_review">20.06.2019</enrichment>
    <author>Patrick P. Neumann</author>
    <author>Dino Hüllmann</author>
    <author>Daniel Krentel</author>
    <author>Martin Kluge</author>
    <author>Harald Kohlhoff</author>
    <author>A. J. Lilienthal</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Aerial robot</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>TDLAS</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Gas tomography</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Plume</value>
    </subject>
    <collection role="ddc" number="543">Analytische Chemie</collection>
    <collection role="ddc" number="624">Ingenieurbau</collection>
    <collection role="ddc" number="628">Sanitär- und Kommunaltechnik; Umwelttechnik</collection>
    <collection role="fulltextaccess" number="">Datei im Netzwerk der BAM verfügbar ("Closed Access")</collection>
    <collection role="literaturgattung" number="">Graue Literatur</collection>
  </doc>
  <doc>
    <id>48784</id>
    <completedYear/>
    <publishedYear>2019</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>1</pageFirst>
    <pageLast>16</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>article</type>
    <publisherName>Taylor &amp; Francis</publisherName>
    <publisherPlace>London</publisherPlace>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>1</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Aerial-based gas tomography – from single beams to complex gas distributions</title>
    <abstract language="eng">In this paper, we present and validate the concept of an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor with a 3-axis aerial stabilization gimbal for aiming at a versatile octocopter. While the TDLAS sensor provides integral gas concentration measurements, it does not measure the distance traveled by the laser diode’s beam nor the distribution of gas along the optical path. Thus, we complement the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from a set of integral concentration measurements. To allow for a fundamental ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and a distributed array of 10 infrared gas transmitters. We present results showing its performance characteristics and 2D plume reconstruction capabilities under realistic conditions. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO).</abstract>
    <parentTitle language="eng">European Journal of Remote Sensing</parentTitle>
    <identifier type="doi">10.1080/22797254.2019.1640078</identifier>
    <identifier type="urn">urn:nbn:de:kobv:b43-487843</identifier>
    <enrichment key="date_peer_review">24.10.2019</enrichment>
    <licence>Creative Commons - CC BY - Namensnennung 4.0 International</licence>
    <author>Patrick P. Neumann</author>
    <author>Harald Kohlhoff</author>
    <author>Dino Hüllmann</author>
    <author>Daniel Krentel</author>
    <author>Martin Kluge</author>
    <author>M. Dzierliński</author>
    <author>A. J. Lilienthal</author>
    <author>Matthias Bartholmai</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Aerial robot olfaction</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Mobile robot olfaction</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Gas tomography</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>TDLAS</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Plume</value>
    </subject>
    <collection role="ddc" number="543">Analytische Chemie</collection>
    <collection role="ddc" number="624">Ingenieurbau</collection>
    <collection role="ddc" number="628">Sanitär- und Kommunaltechnik; Umwelttechnik</collection>
    <collection role="literaturgattung" number="">Verlagsliteratur</collection>
    <collection role="fulltextaccess" number="">Datei für die Öffentlichkeit verfügbar ("Open Access")</collection>
    <collection role="unnumberedseries" number="">Wissenschaftliche Artikel der BAM</collection>
    <thesisPublisher>Bundesanstalt für Materialforschung und -prüfung (BAM)</thesisPublisher>
    <file>https://opus4.kobv.de/opus4-bam/files/48784/Neumann et al. - 2019 - Aerial-based gas tomography.pdf</file>
  </doc>
  <doc>
    <id>48699</id>
    <completedYear/>
    <publishedYear>2019</publishedYear>
    <thesisYearAccepted/>
    <language>mul</language>
    <pageFirst>24</pageFirst>
    <pageLast>34</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume>2019</volume>
    <type>conferenceobject</type>
    <publisherName/>
    <publisherPlace/>
    <creatingCorporation>Gesellschaft zur Förderung angewandter Informatik e. V. (GFaI)</creatingCorporation>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="mul">Remote Gas Sensing with Multicopter-Platforms</title>
    <abstract language="eng">This presentation gives an introduction to the gas-sensitive aerial robots developed at BAM, including various application examples in the field of mobile robot olfaction: gas source localization and gas distribution mapping.</abstract>
    <parentTitle language="deu">Tagungsband des zweiten Innovationsforums: Autonome, mobile Dienste – Services für Mobilität</parentTitle>
    <identifier type="isbn">978-3-942709-22-4</identifier>
    <identifier type="url">http://modisem.de/files/Ereignisse/2019-06/Innovationsforum_Downloads/IF2_2019_Tagungsband_WEB.pdf</identifier>
    <note>Tagungsband auf Deutsch, Beitrag auf Englisch.</note>
    <enrichment key="eventName">Zweites Innovationsforum "Autonome, mobile Dienste; Services für Mobilität"</enrichment>
    <enrichment key="eventPlace">Berlin, Germany</enrichment>
    <enrichment key="eventStart">04.06.2019</enrichment>
    <enrichment key="eventEnd">05.06.2019</enrichment>
    <enrichment key="opus.doi.autoCreate">false</enrichment>
    <enrichment key="opus.urn.autoCreate">true</enrichment>
    <author>Nicolas P. Winkler</author>
    <author>Patrick P. Neumann</author>
    <author>Dino Hüllmann</author>
    <author>Harald Kohlhoff</author>
    <author>Matthias Bartholmai</author>
    <author>V. H. Bennetts</author>
    <author>A. J. Lilienthal</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Tunable Diode Laser Absorption Spectroscopy (TDLAS); UAV-REGAS</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Localization of gas sources</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Mobile Robot Olfaction</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Nano UAV Swarm</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Tomographic reconstruction of gas plumes</value>
    </subject>
    <collection role="ddc" number="543">Analytische Chemie</collection>
    <collection role="ddc" number="624">Ingenieurbau</collection>
    <collection role="ddc" number="628">Sanitär- und Kommunaltechnik; Umwelttechnik</collection>
    <collection role="fulltextaccess" number="">Datei im Netzwerk der BAM verfügbar ("Closed Access")</collection>
    <collection role="literaturgattung" number="">Graue Literatur</collection>
  </doc>
  <doc>
    <id>40545</id>
    <completedYear/>
    <publishedYear>2017</publishedYear>
    <thesisYearAccepted/>
    <language>eng</language>
    <pageFirst>3910</pageFirst>
    <pageLast>3916</pageLast>
    <pageNumber/>
    <edition/>
    <issue/>
    <volume/>
    <type>conferenceobject</type>
    <publisherName>IEEE</publisherName>
    <publisherPlace/>
    <creatingCorporation/>
    <contributingCorporation/>
    <belongsToBibliography>0</belongsToBibliography>
    <completedDate>--</completedDate>
    <publishedDate>--</publishedDate>
    <thesisDateAccepted>--</thesisDateAccepted>
    <title language="eng">Bringing Mobile Robot Olfaction to the Next Dimension – UAV-based Remote Sensing of Gas Clouds and Source Localization</title>
    <abstract language="eng">This paper introduces a novel robotic platform for aerial remote gas sensing. Spectroscopic measurement methods for remote sensing of selected gases lend themselves for use on mini-copters, which offer a number of advantages for inspection and surveillance. No direct contact with the target gas is needed and thus the influence of the aerial platform on the measured gas plume can be kept to a minimum. This allows to overcome one of the major issues with gas-sensitive mini-copters. On the other hand, remote gas sensors, most prominently Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors have been too bulky given the payload and energy restrictions of mini-copters. Here, we introduce and present the Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), which combines a novel lightweight TDLAS sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile hexacopter. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO). It enables tomographic reconstruction of gas plumes and a localization of gas sources. We also present first results showing the gas sensing and aiming capabilities under realistic conditions.</abstract>
    <parentTitle language="eng">Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)</parentTitle>
    <identifier type="isbn">978-1-5090-4632-4</identifier>
    <enrichment key="eventName">IEEE International Conference on Robotics and Automation (ICRA)</enrichment>
    <enrichment key="eventPlace">Singapore</enrichment>
    <enrichment key="eventStart">29.05.2017</enrichment>
    <enrichment key="eventEnd">03.06.2017</enrichment>
    <author>Patrick P. Neumann</author>
    <author>Harald Kohlhoff</author>
    <author>Dino Hüllmann</author>
    <author>A.J. Lilienthal</author>
    <author>Martin Kluge</author>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Tunable Diode Laser Absorption Spectroscopy (TDLAS)</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>3-axis gimbal</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Mobile Robot Olfaction</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Tomographic reconstruction of gas plumes</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Localization of gas sources</value>
    </subject>
    <subject>
      <language>eng</language>
      <type>uncontrolled</type>
      <value>Aerial platform</value>
    </subject>
    <collection role="ddc" number="543">Analytische Chemie</collection>
    <collection role="ddc" number="624">Ingenieurbau</collection>
    <collection role="ddc" number="628">Sanitär- und Kommunaltechnik; Umwelttechnik</collection>
    <collection role="fulltextaccess" number="">Datei im Netzwerk der BAM verfügbar ("Closed Access")</collection>
    <collection role="literaturgattung" number="">Graue Literatur</collection>
  </doc>
</export-example>
