TY - CONF A1 - Neumann, Patrick P. A1 - Bartholmai, Matthias A1 - Hüllmann, Dino A1 - Krentel, Daniel A1 - Kluge, Martin A1 - Kohlhoff, Harald A1 - Lilienthal, A. J. T1 - Airborne Remote Gas Sensing and Mapping N2 - Leaking methane (CH4) from infrastructures, such as pipelines and landfills, is critical for the environment but can also pose a safety risk. To enable a fast detection and localization of These kind of leaks, we developed a novel robotic platform for aerial remote gas sensing - the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS). T2 - Tag der offenen Tür auf dem Testgelände der BAM (BAM TTS) CY - Baruth/Mark - OT Horstwalde, Germany DA - 29.09.2018 KW - Localization of gas sources KW - Mobile Robot Olfaction KW - Tomographic reconstruction of gas plumes KW - Tunable Diode Laser Absorption Spectroscopy (TDLAS) KW - UAV-REGAS PY - 2018 AN - OPUS4-46152 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Neumann, Patrick P. A1 - Asadi, S. A1 - Schiller, J.H. A1 - Lilienthal, A.J. A1 - Bartholmai, Matthias T1 - An artificial potential field based sampling strategy for a gas-sensitive micro-drone N2 - This paper presents a sampling strategy for mobile gas sensors. Sampling points are selected using a modified artificial potential field (APF) approach, which balances multiple criteria to direct sensor measurements towards locations of high mean concentration, high concentration variance and areas for which the uncertainty about the gas distribution model is still large. By selecting in each step the most often suggested close-by measurement location, the proposed approach introduces a locality constraint that allows planning suitable paths for mobile gas sensors. Initial results in simulation and in real-world experiments with a gas-sensitive micro-drone demonstrate the suitability of the proposed sampling strategy for gas distribution mapping and its use for gas source localization. T2 - IEEE/RSJ International conference on intelligent robots and systems (IROS '11) / Workshop on robotics for environmental monitoring (WREM2011) CY - San Francisco, CA, USA DA - 25.09.2011 KW - Autonomous UAV KW - Chemical sensing KW - Gas distribution modelling KW - Gas source localization KW - Gas sensors KW - Mobile sensing system KW - Quadrocopter KW - Sensor planning KW - Artificial potential field PY - 2011 SP - 34 EP - 38 AN - OPUS4-24537 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Neumann, Patrick P. A1 - Asadi, S. A1 - Lilienthal, A.J. A1 - Bartholmai, Matthias A1 - Schiller, J.H. T1 - Autonomous gas-sensitive microdrone - wind vector estimation and gas distribution mapping N2 - This article presents the development and validation of an autonomous, gas sensitive microdrone that is capable of estimating the wind vector in real time using only the onboard control unit of the microdrone and performing gas distribution mapping (DM). Two different sampling approaches are suggested to address this problem. On the one hand, a predefined trajectory is used to explore the target area with the microdrone in a real-world gas DM experiment. As an alternative sampling approach, we introduce an adaptive strategy that suggests next sampling points based on an artificial potential field (APF). Initial results in real-world experiments demonstrate the capability of the proposed adaptive sampling strategy for gas DM and its use for gas source localization. KW - Anemometric sensor KW - Autonomous micro UAV KW - Chemical sensing KW - Gas distribution modelling KW - Gas source localization KW - Gas sensors KW - Mobile sensing system KW - Quadrocopter KW - Sensor planning KW - Artificial potential field PY - 2012 DO - https://doi.org/10.1109/MRA.2012.2184671 SN - 1070-9932 VL - 19 IS - 1 SP - 50 EP - 61 PB - IEEE CY - New York, NY, USA AN - OPUS4-25773 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Lazik, D. A1 - Ebert, S. A1 - Neumann, Patrick P. A1 - Bartholmai, Matthias T1 - Characteristic length measurement of a subsurface gas anomaly - A monitoring approach for heterogeneous flow path distributions N2 - Geogenic gases from natural sources, carbon dioxide (CO2) from a geological repository (carbon capture and storage - CCS) or a leaking gas pipeline can present serious risks in industrial and urban areas. To extend the lead time for risk treatment in such critical regions, reliable detection of gases within the shallow subsurface is required to observe critical gas accumulations before degassing into the atmosphere. A near real-time monitoring approach is introduced to determine the volumetric expansion of a leakinggas in the subsurface. Considering the pressure relaxation with the ambient air pressure, the approach enables the forecasting of the final size of a pressurized gas body in terms of characteristic lengths. According to theoretical basics, such a characteristic length, which enables us to perform a gas (safety) measurement based on a purely geometrical measure, behaves independently of subsurface properties,i.e., it enables a reliable quantification of the escaping gas irrespective of its heterogeneous or changingflow path distribution. A field test for a 10 l/min pinhole leakage injected into a 10 m long, 0.4 m wide, 0.95 m deep soil-filled trench that was equipped with linear sensors shows the lateral-vertical volumetric gas expansion along these sensors, and demonstrates the applicability of the characteristic length approach. KW - Monitoring KW - Carbon capture and storage KW - Leakage KW - Quantification KW - Subsurface KW - CO2 PY - 2016 DO - https://doi.org/10.1016/j.ijggc.2016.02.008 SN - 1750-5836 VL - 2016 IS - 47 SP - 330 EP - 341 PB - Elsevier B.V. AN - OPUS4-35425 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Lazik, D. A1 - Neumann, Patrick P. A1 - Bartholmai, Matthias A1 - Ebert, Sebastian T1 - Characteristic length measurement of a subsurface gas anomaly - an integrating monitoring approach over heterogeneous distributed gas flow paths N2 - Geogenic gases such as CH4 or CO2 from natural sources, gases (CCS-CO2, H2, Natural gas, City gas …) from a geological repository, or a leaking gas pipeline can present serious risks in industrial and urban areas where the density of infrastructural elements increases as well as above and below ground. To extend the lead time for risk treatment in such critical regions, reliable detection of gases within the shallow subsurface is required to observe critical gas accumulations before degassing into the atmosphere. A near real-time monitoring approach is introduced to determine the volumetric expansion of such a gas escaping from a leak in the subsurface. Considering the pressure relaxation with the ambient air pressure, the approach enables the forecasting of the final size of a pressurized gas body in terms of characteristic lengths. According to theoretical basics, such a characteristic length, which allows to perform a gas (safety) measurement based on a purely geometrical measure, behaves independently of subsurface properties, i.e., it enables a reliable quantification of the escaping gas, irrespective of its heterogeneous flow path distribution. A field test for a 10 l/min pinhole leakage of CO2 injected in an unsaturated Chernozemic soil (agricultural test field Bad Lauchstädt)that was equipped with linear gas sensors demonstrates the lateral-vertical volumetric gas expansion along the environment of these gas sensors, and confirms the applicability of the new characteristic length approach. T2 - UFZ EnergyDays 2017 CY - Leipzig, Germany DA - 15.03.2017 KW - CO2 KW - Carbon capture and storage KW - Leakage KW - Monitoring PY - 2017 AN - OPUS4-39400 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - JOUR A1 - Petrov, Sergej A1 - Neumann, Patrick P. A1 - Werner, Klaus-Dieter A1 - Wosniok, Aleksander A1 - Lazik, D. A1 - Bartholmai, Matthias ED - Nicoletto, G. ED - Pastrama, S.D. ED - Emri, I. T1 - Concept for investigating mechanical and thermal impacts on distributed subsurface gas monitoring N2 - A multifunctional sensor in line shape was developed and introduced in previous work for measuring of gas concentrations, temperature change, and strain. A current field study focuses on a spatially distributed monitoring of subsurface CO 2 gas storage sites in near real time. Mechanical impacts, e.g., caused by construction work, denudation, and seismic activity, can affect the integrity of underground gas storage sites. Thermal or moisture impacts, e.g., caused by weather conditions, can influence the gas Distribution behavior. In this paper, we briefly describe the setup of a CO 2 injection soil test field. This setup contains actuating elements for the investigation of mechanical and thermal impacts on distributed subsurface gas monitoring. A concept is given for evaluating these impacts and first experimental results are presented. T2 - 32nd DANUBIA ADRIA SYMPOSIUM on Advances in Experimental Mechanics CY - Starý Smokovec, Slovakia DA - 22.09.2015 KW - Linear sensor KW - Distributed sensor KW - Monitoring of CO 2 KW - Subsurface monitoring KW - Gas storage areas KW - Membrane-based gas sensing KW - Fibre optical sensing PY - 2016 DO - https://doi.org/10.1016/j.matpr.2016.03.060 SN - 2214-7853 VL - 3 IS - 4 SP - 1124 EP - 1128 PB - Elsevier Ltd. AN - OPUS4-35688 LA - eng AD - Bundesanstalt fuer Materialforschung und -pruefung (BAM), Berlin, Germany ER - TY - CONF A1 - Petrov, Sergej A1 - Neumann, Patrick P. A1 - Werner, Klaus-Dieter A1 - Lazik, D. A1 - Bartholmai, Matthias T1 - Concept for investigating mechanical impacts on distributed subsurface gas monitoring N2 - A multifunctional sensor in line shape was developed and introduced in previous work for measuring of gas concentrations, temperature change, and strain. A current field study focuses on a spatially distributed monitoring of subsurface CO2 gas storage sites in near real time. Mechanical impacts, e.g., caused by construction work, denudation, and seismic activity, can affect the integrity of underground gas storage sites. Thermal or moisture impacts, e.g., caused by weather conditions, can influence the gas distribution behavior. In this paper, we briefly describe the setup of a CO2 injection soil test field. This setup contains actuating elements for the investigation of mechanical and thermal impacts on distributed subsurface gas monitoring. A concept is given for evaluating these impacts and first experimental results are presented. T2 - 32nd Danubia-Adria Symposium on advances in experimental mechanics CY - Starý Smokovec, Slovakia DA - 22.09.2015 PY - 2015 DO - https://doi.org/10.1016/j.matpr.2016.03.060 SN - 2214-7853 VL - 3 IS - 4 SP - 1124 EP - 1128 PB - Elsevier Science CY - Zilina AN - OPUS4-34489 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 - 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 DO - 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 -