TY - JOUR A1 - Winkler, Nicolas P. A1 - Neumann, Patrick P. A1 - Säämänen, A. A1 - Schaffernicht, E. A1 - Lilienthal, A. J. ED - Zemčík, R. ED - Krystek, J. T1 - High-quality meets low-cost: Approaches for hybrid-mobility sensor networks N2 - Air pollution within industrial scenarios is a major risk for workers, which is why detailed knowledge about the dispersion of dusts and gases is necessary. This paper introduces a system combining stationary low-cost and high-quality sensors, carried by ground robots and unmanned aerial vehicles. Based on these dense sampling capabilities, detailed distribution maps of dusts and gases will be created. This system enables various research opportunities, especially on the fields of distribution mapping and sensor planning. Standard approaches for distribution mapping can be enhanced with knowledge about the environment’s characteristics, while the effectiveness of new approaches, utilizing neural networks, can be further investigated. The influence of different sensor network setups on the predictive quality of distribution algorithms will be researched and metrics for the quantification of a sensor network’s quality will be investigated. T2 - 36th Danubia-Adria Symposium on Advances in Experimental Mechanics CY - Pilsen, Czech Republic DA - 24.09.2019 KW - Mobile robot olfaction KW - Air quality monitoring KW - Wireless sensor network KW - Gas distribution mapping KW - Occupational health PY - 2020 U6 - https://doi.org/10.1016/j.matpr.2020.05.799 VL - 32 SP - 250 EP - 253 PB - Elsevier Ltd. CY - Amsterdam AN - OPUS4-51108 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Bennetts, V.H. A1 - Kucner, T.P. A1 - Schaffernicht, E. A1 - Neumann, Patrick P. A1 - Fan, H. A1 - Lilienthal, A.J. T1 - Probabilistic air flow modelling using turbulent and laminar characteristics for ground and aerial robots N2 - For mobile robots that operate in complex, uncontrolled environments, estimating air flow models can be of great importance. Aerial robots use air flow models to plan optimal navigation paths and to avoid turbulence-ridden areas. Search and rescue platforms use air flow models to infer the location of gas leaks. Environmental monitoring robots enrich pollution distribution maps by integrating the information conveyed by an air flow model. In this paper, we present an air flow modelling algorithm that uses wind data collected at a sparse number of locations to estimate joint probability distributions over wind speed and direction at given query locations. The algorithm uses a novel extrapolation approach that models the air flow as a linear combination of laminar and turbulent components. We evaluated the prediction capabilities of our algorithm with data collected with an aerial robot during several exploration runs. The results show that our algorithm has a high degree of stability with respect to parameter selection while outperforming conventional extrapolation approaches. In addition, we applied our proposed approach in an industrial application, where the characterization of a ventilation system is supported by a ground mobile robot. We compared multiple air flow maps recorded over several months by estimating stability maps using the Kullback-Leibler divergence between the distributions. The results show that, despite local differences, similar air flow patterns prevail over time. Moreover, we corroborated the validity of our results with knowledge from human experts. T2 - IEEE International Conference on Robotics and Automation (ICRA) CY - Singapore DA - 29.05.2017 KW - Mapping KW - Field robots KW - Environment monitoring and management KW - Aerial systems KW - Perception and autonomy PY - 2017 U6 - https://doi.org/10.1109/LRA.2017.2661803 SN - 2377-3766 VL - 2 IS - 2 SP - 1117 EP - 1123 PB - IEEE AN - OPUS4-39218 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -