TY - CONF A1 - Lohrke, Heiko A1 - Neumann, Patrick P. ED - Kossa, A. ED - Kiss, R. T1 - Robotic Measurement System Concept for Greenhouse Gas Tomography in Wastewater Treatment Plants T2 - 39th Danubia-Adria Symposium on Advances in Experimental Mechanics - Book of Abstracts N2 - This paper introduces a conceptual framework for a robotic greenhouse gas (GHG) measurement system designed for wastewater treatment plants (WWTPs). The emphasis is on accurate gas tomography measurement of emissions, crucial for national emission assessments. The proposed system is movable, semi-autonomous, and employs a combination of ground and air robots equipped with integral remote gas sensors and in-situ sensors. Employing a two/two configuration ensures comprehensive coverage of WWTPs, overcoming obstacles. The system concept lays the foundation for future implementation and evaluation, addressing the need for enhanced understanding of GHG emissions from WWTPs. T2 - 39th Danubia-Adria Symposium on Advances in Experimental Mechanics CY - Siófok, Hungary DA - 26.09.2023 KW - Remote Gas Sensing KW - Greenhouse Gas Emissions KW - Robot-based Emission Measurements KW - Semi-autonomous Sensor Networks KW - Gas Tomography PY - 2023 SN - 978-963-421-927-9 SP - 160 EP - 161 PB - Hungarian Scientific Society of Mechanical Engineering (GTE) CY - Siófok, Hungary AN - OPUS4-58880 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Lohrke, Heiko A1 - Neumann, Patrick P. T1 - Robotic Measurement System Concept for Greenhouse Gas Tomography in Wastewater Treatment Plants N2 - This paper introduces a conceptual framework for a greenhouse gas (GHG) measurement system designed for wastewater treatment plants (WWTPs). The emphasis is on accurate gas tomography measurements of emissions, crucial for national emission assessments. The proposed system is movable, semi-autonomous, and employs a combination of ground and air robots equipped with integral remote gas sensors and in-situ sensors. The proposed two/two configuration ensures comprehensive coverage of WWTPs, overcoming obstacles. The system concept lays the foundation for future implementation and evaluation, addressing the need for enhanced understanding of GHG emissions from WWTPs. T2 - 39th Danubia-Adria Symposium on Advances in Experimental Mechanics CY - Siófok, Hungary DA - 26.09.2023 KW - Remote Gas Sensing KW - Greenhouse Gas Emissions KW - Robot-based Emission Measurements KW - Semi-autonomous Sensor Networks KW - Gas Tomography PY - 2023 AN - OPUS4-58883 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Lohrke, Heiko T1 - Mobile Sensorik zur Bestimmung der lokalen Gasverteilung (CH4) N2 - Ziel des FuE-Vorhabens ist die Entwicklung, Aufbau und Validierung eines gasto-mographischen Messsystems basierend auf stationärer und mobiler Sensorik zum Emissionsmonitoring in kommunalen Kläranlagen. Die Gastomographie basiert hierbei im Wesentlichen auf, aus unterschiedlichen Sichtwinkeln aufgenommenen, integralen Konzentrationsmessungen, anhand derer eine Rekonstruktion der Gasverteilung erfolgt. Das FuE-Projekt kombiniert hierfür stationäre Sensornetzwerke mit luftgestützten und bodengebundenen Robotersystemen in einem System. Letztere werden mit Reflektoren und/oder Gasdetektoren ausgestattet. Hierfür werden Open-Path-Gasmesstechnik basierend auf Tunable Diode Laser Ab-sorption Spectroscopy (TDLAS, primär CH4 in ppm·m) und In-situ-Gassensorik (CH4, ppm) auf Basis von z.B. Infrarot eingesetzt. Dies sind zwei komplementäre Methoden der Gasmessung: Die In-situ-Gassensorik ermöglicht Punktmessungen, wohingegen TDLAS-Sensoren Gaskonzentrationen integral über offene Messstre-cken von bis zu 60 m gegen Oberflächen messen. Die In-situ-Gassensorik wird für Referenzmessungen und ggf. zur Erhöhung der Rekonstruktionsqualität zum Ein-satz kommen. Die wesentlichen Neuheiten des Projekts sind: • 2D-Gastomographie auf Basis eines mit TDLAS-basierter Open-Path-Gasmesstechnik und Reflektoren ausgestatteten heterogenen Messsystems. • CT-basierte Rekonstruktionsalgorithmen, adaptiert an die komplexen Rahmenbedingungen. • Validierung des Messsystems anhand realer Messungen auf Kläranlagen. T2 - Zero Emission? Beiträge der Abwasserbeseitigung zur Reduzierung der CO2e-Emission CY - Online meeting DA - 16.04.2024 KW - Mobile Robotic Olfaction KW - Gastomographie KW - Mobile Sensorik KW - Tunable Diode Laser Absorption Spectroscopy PY - 2024 AN - OPUS4-59872 LA - deu AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Hüllmann, Dino A1 - Winkler, Nicolas P. A1 - Lohrke, Heiko A1 - Lilienthal, A. J. ED - Lee, J. B. T1 - Outdoor Gas Plume Reconstructions: A Field Study with Aerial Tomography T2 - 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) Proceedings N2 - This paper outlines significant advancements in our previously developed aerial gas tomography system, now optimized to reconstruct 2D tomographic slices of gas plumes with enhanced precision in outdoor environments. The core of our system is an aerial robot equipped with a custom-built 3-axis aerial gimbal, a Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensor for CH4 measurements, a laser rangefinder, and a wide-angle camera, combined with a state-of-the-art gas tomography algorithm. In real-world experiments, we sent the aerial robot along gate-shaped flight patterns over a semi-controlled environment with a static-like gas plume, providing a welldefined ground truth for system evaluation. The reconstructed cross-sectional 2D images closely matched the known ground truth concentration, confirming the system’s high accuracy and reliability. The demonstrated system’s capabilities open doors for potential applications in environmental monitoring and industrial safety, though further testing is planned to ascertain the system’s operational boundaries fully. T2 - 20th International Symposium on Olfaction and Electronic Nose CY - Grapevine, Texas, USA DA - 12.05.2024 KW - Aerial robot KW - TDLAS KW - Gas Tomography KW - Plume PY - 2024 SN - 979-8-3503-4865-1 SP - 1 EP - 3 PB - IEEE CY - USA AN - OPUS4-60107 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Lohrke, Heiko A1 - Kohlhoff, Harald A1 - Neumann, Patrick P. ED - Lee, J. B. T1 - Robotic Scanning Absorption Spectroscopy for Methane Leak Detection: the Virtual Gas Camera T2 - 2024 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) Proceedings N2 - This paper explores combining a gimbal-mounted tunable diode laser absorption spectroscopy (TDLAS) sensor and a video camera to create a virtual gas camera for methane leak detection. This provides a low-to-zero-cost extension of typical TDLAS gas tomography systems. A prototype setup mounted on a ground robot is evaluated. Results acquired using a simulated methane leak show the feasibility of the virtual gas camera, accurately detecting methane leaks by overlaying concentrations onto a visual image. While the acquisition time is significantly longer than for traditional gas cameras, potential enhancements are discussed. The study concludes that the virtual gas camera is feasible and useful, despite its longer acquisition time. It serves as a valuable software-only addition to typical TDLAS gas tomography systems, offering quickly-available on-site data augmentation for visual leak assessment at low-to-zero cost. T2 - 20th International Symposium on Olfaction and Electronic Nose CY - Grapevine, Texas, USA DA - 12.05.2024 KW - Mobile Robotic Olfaction KW - TDLAS KW - Gas Tomography KW - Gas Camera KW - Plume PY - 2024 SN - 979-8-3503-4865-1 SP - 1 EP - 3 PB - IEEE CY - USA AN - OPUS4-60109 LA - deu AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -