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Monitoring and maintenance of civil infrastructure are of great importance, as any undetected damage can cause high repair costs, unintended deadtime, or endanger structural integrity. The inspection of large concrete structures such as bridges and parking lots is particularly challenging and time-consuming. Traditional methods are mostly manual and involve mapping a grid of measurement lines to record the position of each measurement. Current semi-automated methods, on the other hand, use GPS or tachymeters for localization but still require trained personnel to operate. An entirely automated approach using mobile robots would be more cost- and time-efficient. While there have been developments in using GPS-enabled mobile robots for bridge inspection, the weak signal strength in indoor areas poses a challenge for the automated inspection of structures such as parking lots. This paper aims to develop a solution for the automated inspection of large indoor concrete structures by addressing the problem of robot localization in indoor spaces and the automated measurement of concrete cover and rebar detection.
Die Optimierung und Validierung des digitalen Wasserstofftankstellenmanagements mit Sensortechnologien ist das übergeordnete Ziel des Teilprojekts Digitale Qualitätsinfrastruktur mit Sensortechnologien (QIST) am Use Case H2, im Rahmen der digitalen Qualitätsinfrastruktur (QI digital[1]). Hierfür sollen u.a. Sensornetzwerke mit digital-gestützten Auswertungsstrategien intelligent gestaltet werden (Stichwort KI bzw. digitaler Zwilling). Verschiedene, sich ergänzende Sensoren, Systemkomponenten und KI-Methoden stehen als Bausteine intelligenter Sensorsysteme zur Verfügung, mit dem Zweck, die physikalischen und chemischen Parameter an und in Anlagen umfassend und effizient zu überwachen sowie Fehlfunktionen zuverlässig zu detektieren und zu interpretieren, Abbildung 1.
Konkrete Arbeitsschritte sind, nach dem Aufbau der Versuchsplattform „Wasserstofftankstelle“, die Instrumentierung von Sensorik und deren digitale Integration in das Tankstellenmanagementsystem sowie die Validierung im Realbetrieb. Die somit erzielten Messergebisse sowie die Messunsicherheiten, Historien und Verfahren werden in digitaler Form aufbereitet, gespeichert und fortlaufend in die KI-basierte Datenauswertung einbezogen, inkl. der Anbindung an die metrologische Rückführungskette.
Ziele sind:
• Einführung eines neuen messtechnischen Ansatzes und eines digitalen Zwillings für den Anwendungsfall "Wasserstofftankstelle" auf Basis der H2-Sensorik sowie der Zustandsgrößen Druck und Temperatur
• Qualitätssicherung durch Applikationen zuverlässiger Gassensorik, Manometer und Thermometer sowie KI-Methoden zur Prozesskontrolle und Detektion von Fehlfunktionen
• Nutzung von digitalen Kalibrierscheinen (DCCs) insbesondere für die Messgröße Temperatur zur Realisierung der metrologischen Rückführung in einer digitalen Qualitätsinfrastruktur
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.
In this paper, we present 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) sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile octocopter. The TDLAS sensor provides integral gas concentration measurements but no information regarding the distance traveled by the laser diode's beam or the distribution of the gas along the optical path. We complemented the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from these integral concentration measurements. To allow for a rudimentary 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 first results showing the 2D plume reconstruction capabilities of the system under realistic conditions.
An equation for wind vector estimation using a multirotor aircraft as a flying anemometer is shown. To compute the wind vector an estimate of the thrust of the aircraft is required, which is related to the rotational speed of the rotors. Hence, a sensing system for the rotational speed using phototransistors is presented.
KonSens (Kommunizierende Sensorsysteme für die Bauteil- und Umweltüberwachung) - Projektergebnisse
(2019)
Im Projekt KonSens werden für die Anwendungsbeispiele bauteilintegrierte Sensorik für Betonkomponenten und mobile Multigassensorik Sensorsysteme in Form von Funktionsmustern entwickelt, validiert und angewendet. Schwerpunkte liegen einerseits in der Detektion und Bewertung von Korrosionsprozessen in Beton und andererseits in der Detektion und Quantifizierung sehr geringer Konzentrationen toxischer Gase in der Luft. Dabei ist die Adaption der sensorischen Methoden aus dem Labor in reale Messumgebungen inklusive geeigneter Kommunikationstechnik ein wichtiger Aspekt.
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.
Structural Health Monitoring (SHM) is an important part of buildings surveillance and maintenance to detect material failure as early as possible and to contribute in protection of structures and their users.
The implementation of Radio Frequency Identification (RFID) sensor systems without cable connection and battery into building components offers innovative possibilities to enable long-term in-situ SHM of addressed structures, bridges. The objectives of the presented study are complete embedding of RFID sensors systems in concrete, full passive communication with the systems, at best for the whole life span of structures. One challenge for this task is the highly alkaline environment in concrete, which requires non-degrading and robust encapsulation. Further Requirements are passive communication and energy supply, appropriate antenna design, placement and fixation in concrete, and the selection and implementation of sensors and connections. The concept is to develop and optimize a simple and robust system, which meets the requirements, as well as comprehensive validation in concrete specimen and real world applications. Two different systems were developed (HF and UHF RFID, respectively).
First tasks were the implementation of analog sensors using the superposition principle for the signal adaption. Investigation of suitable materials for robust encapsulation and sensor protection against basic environments.
Four materials were investigated in pH 13 solution for 14 days
- 3D-Printer-Polymer was completely resolved
- PVC has no noticeable decrease in weight
- (VitaPro) glass filter for the sensor protector, has weight loss 2.7 %
- The epoxy resin has increased by 1.8 % due to moisture expansion
Different concrete samples were prepared for the validation of the systems.
RFID sensors were embedded in different integration depths. Investigate the energy- and data transfer through concrete, also with varying moisture content. Additionally, signal strength data was used to optimize and validate the antenna characteristics in concrete. Next steps are to guarantee a sufficient energy supply for UHF RFID systems embedded in different concrete mixtures and further embedding the HF and UHF RFID systems in real bridges and buildings to validate the long term monitoring.
Der Fokus des Arbeitsfelds ist die messtechnisch fundierte Anwendung der 3D-Verfahrenskombination zur Lösung vielfältiger Messaufgaben mit optimaler Datenqualität für interne und externe Kunden.
Das setzt insbesondere eine jeweils problembezogene Messmethodik voraus. Dazu setzen wir kameragestützte 3D-Koordinatenmessverfahren ein, die auf dem fotogrammetrischen Prinzip der Bildtriangulation beruhen. Darunter fallen folgende miteinander flexibel kombinierbare Verfahrensmodifikationen: Mehrbildfotogrammetrie, Messadapter für Geometriemerkmale, Streifenprojektionsverfahren, statische bis hochdynamische Stereofotogrammetrie auf Punktebasis oder aufgabenangepasster Oberflächenmuster und mechanisch-optische Taster.
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. Spectroscopic measurement methods for remote sensing of selected gases lend themselves for use on mini-copters, which offer a number of advantages for inspection and surveillance over traditional methods. No direct contact with the target gas is needed and thus the influence of the aerial platform on the measured gas plume can be kept to a minimum. This allows to overcome one of the major issues with gas-sensitive mini-copters. On the other hand, remote gas sensors, most prominently Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors have been too bulky given the payload and energy restrictions of mini-copters. Here, we present the Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), which combines a novel lightweight TDLAS sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile hexacopter. 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). It enables tomographic reconstruction of gas plumes and a localization of gas sources. We also present first results showing its performance under realistic conditions.