TY - CONF A1 - Neumann, Patrick P. A1 - Hirschberger, Paul A1 - Baurzhan, Zhandos A1 - Tiebe, Carlo A1 - Hofmann, Michael A1 - Hüllmann, Dino A1 - Bartholmai, Matthias T1 - Indoor air quality monitoring using flying nanobots: Design and experimental study N2 - In this paper, we introduce a nano aerial robot swarm for Indoor Air Quality (IAQ) monitoring applications such as occupational health and safety of (industrial) workplaces. The robotic swarm is composed of nano Unmanned Aerial Vehicles (UAVs), based on the Crazyflie 2.0 quadrocopter, and small lightweight Metal Oxide (MOX) gas sensors for measuring the Total Volatile Organic Compound (TVOC), which is a measure for IAQ. An indoor localization and positioning system is used to estimate the absolute 3D position of the swarm similar to GPS. A test scenario was built up to validate and optimize the swarm for the intended applications. Besides calibration of the IAQ sensors, we performed experiments to investigate the influence of the rotor downwash on the gas measurements at different altitudes and compared them with stationary measurements. Moreover, we did a first evaluation of the gas distribution mapping performance. Based on this novel IAQ monitoring concept, new algorithms in the field of Mobile Robot Olfaction (MRO) are planned to be developed exploiting the abilities of an aerial robotic swarm. T2 - 2019 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN) CY - Fukuoka, Japan DA - 26.05.2019 KW - Indoor air quality KW - Nano aerial robot KW - Aerial robot olfaction KW - Swarm KW - Gas detector PY - 2019 SN - 978-1-5386-8327-9 SN - 978-1-5386-8328-6 U6 - https://doi.org/10.1109/ISOEN.2019.8823496 SP - 1 EP - 3 PB - IEEE AN - OPUS4-48920 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Neumann, Patrick P. A1 - Hüllmann, Dino A1 - Bartholmai, Matthias ED - Pastramă, Ş. D. ED - Constantinescu, D. M. T1 - Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring N2 - In this paper, we introduce a nano aerial robot swarm for indoor air quality monitoring applications such as occupational health and safety of (industrial) workplaces. The concept combines a robotic swarm composing of nano Unmanned Aerial Vehicles (nano UAVs), based on the Crazyflie 2.0 quadrocopter, and small lightweight metal oxide gas sensors for measuring the Total Volatile Organic Compound (TVOC) in ppb and estimating the eCO2 (equivalent calculated carbon-dioxide) concentration in ppm. TVOC is a measure for the indoor air quality. An indoor localization and positioning system will be used to estimate the absolute 3D position of the swarm like GPS. Based on this novel indoor air quality monitoring concept, the development and validation of new algorithms in the field of Mobile Robot Olfaction (MRO) are planned, namely gas source localization and gas distribution mapping. A test scenario will be built up to validate and optimize the gas-sensitive nano aerial robot swarm for the intended applications. T2 - 35th Danubia Adria Symposium on Advances in Experimental Mechanics CY - Sinaia, Romania DA - 25.09.2018 KW - Nano aerial robot KW - UAV KW - Swarm KW - Indoor air quality KW - Monitoring KW - Concept PY - 2019 U6 - https://doi.org/10.1016/j.matpr.2019.03.151 SN - 2214-7853 VL - 12 IS - 2 SP - 470 EP - 473 PB - Elsevier Ltd. CY - Amsterdam AN - OPUS4-48055 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Hüllmann, Dino A1 - Bartholmai, Matthias ED - Pastramă, D. Ş ED - Constantinescu, D. M. T1 - Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring N2 - In industrial environments, airborne by-products such as dust and (toxic) gases, constitute a major risk for the worker’s health. Major changes in automated processes in the industry lead to an increasing demand for solutions in air quality management. Thus, occupational health experts are highly interested in precise dust and gas distribution models for working environments. For practical and economic reasons, high-quality, costly measurements are often available for short time-intervals only. Therefore, current monitoring procedures are carried out sparsely, both in time and space, i.e., measurement data are collected in single day campaigns at selected locations only. Real-time knowledge of contaminant distributions inside the working environment would also provide means for better and more economic control of air impurities. For example, the possibility to regulate the workspace’s ventilation exhaust locations can reduce the concentration of airborne contaminants by 50%. To improve the occupational health and safety of (industrial) workplaces, this work aims for developing a swarm of gas-sensitive aerial nano robots for monitoring indoor air quality and for localizing potential emission sources. T2 - 35th Danubia-Adria Symposium on Advances in Experimental Mechanics CY - Sinaia, Romania DA - 25.09.2018 KW - Mobile Robot Olfaction KW - Swarm KW - Nano aerial robot KW - Gas sensing PY - 2018 SN - 978-606-23-0874-2 SP - 139 EP - 140 PB - PRINTECH CY - Bukarest AN - OPUS4-46137 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Hüllmann, Dino A1 - Bartholmai, Matthias A1 - Tiebe, Carlo T1 - Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring N2 - In industrial environments, airborne by-products such as dust and (toxic) gases, constitute a major risk for the worker’s health. Major changes in automated processes in the industry lead to an increasing demand for solutions in air quality management. Thus, occupational health experts are highly interested in precise dust and gas distribution models for working environments. For practical and economic reasons, high-quality, costly measurements are often available for short time-intervals only. Therefore, current monitoring procedures are carried out sparsely, both in time and space, i.e., measurement data are collected in single day campaigns at selected locations only. Real-time knowledge of contaminant distributions inside the working environment would also provide means for better and more economic control of air impurities. For example, the possibility to regulate the workspace’s ventilation exhaust locations can reduce the concentration of airborne contaminants by 50%. To improve the occupational health and safety of (industrial) workplaces, this work aims for developing a swarm of gas-sensitive aerial nano robots for monitoring indoor air quality and for localizing potential emission sources. T2 - NetMon International training course - Low-cost Environmental Monitoring CY - BAM, Berlin, Germany DA - 09.04.2019 KW - Gas sensing KW - Mobile Robot Olfaction KW - Nano aerial robot KW - Swarm PY - 2019 AN - OPUS4-47799 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -