TY - CONF A1 - Winkler, Nicolas P. A1 - Neumann, Patrick P. A1 - Hüllmann, Dino A1 - Kohlhoff, Harald A1 - Bartholmai, Matthias A1 - Bennetts, V. H. A1 - Lilienthal, A. J. T1 - Remote Gas Sensing with Multicopter-Platforms T2 - Tagungsband des zweiten Innovationsforums: Autonome, mobile Dienste – Services für Mobilität N2 - 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. T2 - Zweites Innovationsforum "Autonome, mobile Dienste; Services für Mobilität" CY - Berlin, Germany DA - 04.06.2019 KW - Tunable Diode Laser Absorption Spectroscopy (TDLAS); UAV-REGAS KW - Localization of gas sources KW - Mobile Robot Olfaction KW - Nano UAV Swarm KW - Tomographic reconstruction of gas plumes PY - 2019 UR - http://modisem.de/files/Ereignisse/2019-06/Innovationsforum_Downloads/IF2_2019_Tagungsband_WEB.pdf SN - 978-3-942709-22-4 N1 - Tagungsband auf Deutsch, Beitrag auf Englisch. VL - 2019 SP - 24 EP - 34 AN - OPUS4-48699 LA - mul AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Kohlhoff, Harald A1 - Hüllmann, Dino A1 - Lilienthal, A.J. A1 - Kluge, Martin T1 - Bringing Mobile Robot Olfaction to the Next Dimension – UAV-based Remote Sensing of Gas Clouds and Source Localization T2 - Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA) N2 - 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. T2 - IEEE International Conference on Robotics and Automation (ICRA) CY - Singapore DA - 29.05.2017 KW - Tunable Diode Laser Absorption Spectroscopy (TDLAS) KW - 3-axis gimbal KW - Mobile Robot Olfaction KW - Tomographic reconstruction of gas plumes KW - Localization of gas sources KW - Aerial platform PY - 2017 SN - 978-1-5090-4632-4 SP - 3910 EP - 3916 PB - IEEE AN - OPUS4-40545 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Detlefsen, Malte A1 - Hüllmann, Dino A1 - Kohlhoff, Harald ED - Cosmi, Francesca T1 - A low-cost cable-suspended parallel manipulator for testing 3D olfaction algorithms T2 - 34rd Danubia - Adria Symposium on Advances in Experimental Mechanics - Book of proceedings N2 - Cable-suspended parallel manipulators have been a topic of research for multiple decades and called special attention in the fields of simulations. However, they are also well-suited for the simple evaluation of aerial-based mobile robot olfaction (MRO) algorithms, such as gas source localization and gas distribution mapping. Based on an open source framework for 3D printers, we designed a low-cost underconstrained, cable-suspended parallel manipulator. Computations are carried out purely on an Atmel ATmega2560 microcontroller. T2 - 34rd Danubia - Adria Symposium on Advances in Experimental Mechanics CY - Trieste, Italy DA - 19.09.2017 KW - Cable-suspended parallel manipulator KW - 3D KW - Mobile Robot Olfaction PY - 2017 SN - 978-88-8303-863-1 SP - 171 EP - 172 CY - Trieste AN - OPUS4-42316 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -