Zitieren Sie bitte immer diesen URN: urn:nbn:de:kobv:b43-487843
Aerial-based gas tomography – from single beams to complex gas distributions
- In this paper, we present and validate the concept of an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor with a 3-axis aerial stabilization gimbal for aiming at a versatile octocopter. While the TDLAS sensor provides integral gas concentration measurements, it does not measure the distance traveled by the laser diode’s beam nor the distribution of gas along the optical path. Thus, we complement the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from a set of integral concentration measurements. To allow for a fundamental ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and aIn this paper, we present and validate the concept of an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor with a 3-axis aerial stabilization gimbal for aiming at a versatile octocopter. While the TDLAS sensor provides integral gas concentration measurements, it does not measure the distance traveled by the laser diode’s beam nor the distribution of gas along the optical path. Thus, we complement the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from a set of integral concentration measurements. To allow for a fundamental ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and a distributed array of 10 infrared gas transmitters. We present results showing its performance characteristics and 2D plume reconstruction capabilities under realistic conditions. The proposed system can be deployed in scenarios that cannot be addressed by currently available robots and thus constitutes a significant step forward for the field of Mobile Robot Olfaction (MRO).…
Autor*innen: | Patrick P. NeumannORCiD, Harald Kohlhoff, Dino Hüllmann, Daniel Krentel, Martin Kluge, M. Dzierliński, A. J. Lilienthal, Matthias BartholmaiORCiD |
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Dokumenttyp: | Zeitschriftenartikel |
Veröffentlichungsform: | Verlagsliteratur |
Sprache: | Englisch |
Titel des übergeordneten Werkes (Englisch): | European Journal of Remote Sensing |
Jahr der Erstveröffentlichung: | 2019 |
Organisationseinheit der BAM: | 8 Zerstörungsfreie Prüfung |
8 Zerstörungsfreie Prüfung / 8.1 Sensorik, mess- und prüftechnische Verfahren | |
Veröffentlichende Institution: | Bundesanstalt für Materialforschung und -prüfung (BAM) |
Verlag: | Taylor & Francis |
Verlagsort: | London |
Erste Seite: | 1 |
Letzte Seite: | 16 |
DDC-Klassifikation: | Naturwissenschaften und Mathematik / Chemie / Analytische Chemie |
Technik, Medizin, angewandte Wissenschaften / Ingenieurwissenschaften / Ingenieurbau | |
Technik, Medizin, angewandte Wissenschaften / Ingenieurwissenschaften / Sanitär- und Kommunaltechnik; Umwelttechnik | |
Freie Schlagwörter: | Aerial robot olfaction; Gas tomography; Mobile robot olfaction; Plume; TDLAS |
Themenfelder/Aktivitätsfelder der BAM: | Infrastruktur |
Umwelt | |
Umwelt / Sensorik | |
DOI: | 10.1080/22797254.2019.1640078 |
URN: | urn:nbn:de:kobv:b43-487843 |
Verfügbarkeit des Dokuments: | Datei für die Öffentlichkeit verfügbar ("Open Access") |
Lizenz (Deutsch): | Creative Commons - CC BY - Namensnennung 4.0 International |
Datum der Freischaltung: | 29.08.2019 |
Referierte Publikation: | Ja |
Datum der Eintragung als referierte Publikation: | 24.10.2019 |
Schriftenreihen ohne Nummerierung: | Wissenschaftliche Artikel der BAM |