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 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 - 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 DO - 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 - CONF A1 - Neumann, Patrick P. A1 - Hirschberger, Paul A1 - Bartholmai, Matthias ED - Zemčík, Robert ED - Krystek, Jan T1 - Influence of rotor downwash on vertically displaced nanobots in flight N2 - Using a swarm of copter-based gas-sensitive aerial nano robots for monitoring indoor air quality is challenging due to, e.g., limited air space in buildings. To avoid an over-regulation of the available indoor air space (e.g., prohibit copters to fly above each other), a safety region around each copter must be defined to guarantee a safe operation of the swarm. The key contributions of this paper are the realization of experiments that investigate the influence of the rotor downwash on flying vertically displaced nano robots and the development of a model describing the above-mentioned safety region. T2 - 36th Danubia-Adria Symposium on Advances in Experimental Mechanics CY - Pilsen, Czech Republic DA - 24.09.2019 KW - Gas sensing KW - Mobile Robot Olfaction KW - Nano aerial robot KW - Swarm PY - 2019 SP - 23 EP - 24 CY - Plzeň AN - OPUS4-49173 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Hüllmann, Dino A1 - Neumann, Patrick P. A1 - Scheuschner, Nils A1 - Bartholmai, Matthias A1 - Lilienthal, A.J. T1 - Experimental Validation of the Cone-Shaped Remote Gas Sensor Model N2 - Remote gas sensors mounted on mobile robots enable the mapping of gas distributions in large or hardly accessible areas. A challenging task, however, is the generation of threedimensional distribution maps from these gas measurements. Suitable reconstruction algorithms can be adapted, for instance, from the field of computed tomography (CT), but both their performance and strategies for selecting optimal measuring poses must be evaluated. For this purpose simulations are used, since, in contrast to field tests, they allow repeatable conditions. Although several simulation tools exist, they lack realistic models of remote gas sensors. Recently, we introduced a model for a Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor taking into account the conical shape of its laser beam. However, the novel model has not yet been validated with experiments. In this paper, we compare our model with a real sensor device and show that the assumptions made hold. T2 - IEEE Sensors 2019 CY - Montreal, Canada DA - 27.10.2019 KW - Remote gas sensor model KW - TDLAS KW - Gas dispersion simulation PY - 2019 SN - 978-1-7281-1634-1 SP - 104 EP - 107 PB - IEEE AN - OPUS4-49548 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Johann, Sergej A1 - Kohlhoff, Harald A1 - Gawlitza, Kornelia A1 - Bell, Jérémy A1 - Mansurova, Maria A1 - Tiebe, Carlo A1 - Bartholmai, Matthias T1 - Semi-automatic Gas Measurement Device Based on Fluorescent Multi-gas Sensors N2 - This paper describes the development of a semi-automatic gas measurement device presenting potentially a broad range of applications, noteworthy in the agricultural sector. Non-reversible fluorescent molecular sensors were designed and syn-thesized. Upon, integration into a hydrogel matrix with an optimal ratio of co-solvents, the sensors reacting selectively to ammonia were illuminated by excitation light to produce a concentration-correlated fluorescence emission. An automated mechanical-elec-trical device initiates a given gas mixture and thus simulates con-centrations similar to a threshold value. The aim of this project is to develop a sensor or a low-cost method which can monitor low concentrations of harmful gases and aid in their elimination or regulation in livestock housing, barns or stables. T2 - IEEE Sensors 2019 CY - Montreal, Canada DA - 27.10.2019 KW - gas analysis KW - fluorescence KW - embedded sensor KW - spectroscopy KW - environment KW - agricultural economy PY - 2019 SN - 978-1-7281-1634-1 SP - 88 EP - 92 PB - IEEE AN - OPUS4-49506 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER -