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Organisationseinheit der BAM
- 8.1 Sensorik, mess- und prüftechnische Verfahren (67) (entfernen)
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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.
The applicability of three methods developed by finite element analysis (FEM) and proposed in the literature are studied on steel S355. Instrumented indentation tests using spherical indenters of radius 200 and 500 μ m are performed in the macro range at depths of more than 6 μ m. The results of the selected methods are compared with the tensile test. To evaluate the partially strongly varying results, the uncertainties of the calculated strain hardening exponent, n, and yield stress, Y, are estimated. Recommendations for an appropriated procedure of the indentation test are given. The machine compliance and the determination of the zero point of Depth play an essential role. If the certain conditions are considered, the instrumented indentation Tests can be used, in particular for investigations of specimens with inhomogeneous elastoplasticity.
Der Beitrag präsentiert die erarbeiteten technischen Richtlinien zur Anwendung und Prüfung von Multigassensoren innerhalb der Richtlinienreihe VDI/VDE 3518 sowie in diesem Zusammenhang die Möglichkeiten der Sensorprüfung im akkreditierten Prüflabor des Fachbereichs 8.1 der BAM. Im Speziellen wird das in Kürze veröffentlichte Blatt 3 der Richtlinienreihe vorgestellt, das Bezug auf Multigassensoren für geruchsbezogene Messungen mit elektronischen Nasen nimmt.
Pollution through emission of toxic gases is an increasing problem for the environment. It affects similarly agricultural, industrial and urban areas. In future, environmental emissions in ambient air must be monitored at even lower concentrations as nowadays. One environmental relevant compound is ammonia and its conversion product ammonium that have strong negative impact on human health and ecosystems. Most ammonia measurements in ambient air are performed in the range below 1000 nmol·mol 1 and thus there is a need for reliable traceable ammonia gas standards and in addition in situ analytical procedures for monitoring (in ambient air to avoid that thresholds are exceeded). Therefore, the use of reference materials is necessary for development accompanying test or for calibration, e. g. of structure-integrated sensors and mobile multi-gas sensors.
The developed gas standard generator produces gas mixtures that comply with the metrological traceability for ammonia gas standards in the desired environmentally relevant measurement range. The method is based on the permeation of ammonia through a membrane at constant temperature and pressure. The resulting ammonia penetrant gas flow is then mixed with a carrier gas flow to generate a gas standard flow of known concentration. The dynamic rage is enlarged by using a two dilution steps. Depending on the permeation rate, generable molar fractions are possible in the range nmol·mol-1 to a few µmol·mol-1. We present the design of an ammonia gas standard generator and first results of the characterisation of its individual components supporting the uncertainty assessment according to GUM for stable gas concentrations in this range. The relative uncertainty of the generated ammonia gas standard is smaller than 4 % (k = 2).
IMS trägt zur Luftfrachtsicherheit bei
Geltende Luftsicherheitsgesetze verpflichten Luftsicherheitsbehörden, Flughafenbetreiber und Fluggesellschaften umfassende Sicherheitsmaßnahmen auf den Flughäfen zu ergreifen, um die Gefahr möglicher terroristischer Bedrohungen zu erkennen und zu verhindern. Wenn ein verdächtiges Objekt durch Röntgenstrahlen identifiziert wurde, kann die IMS als schnelles Analyseverfahren vor Ort orthogonal zur Radiologie eingesetzt werden, um chemische Informationen über Gefahrstoffe wie Sprengstoffe oder Drogen vor dem Abflug zu erhalten.
Vor der Detektion von Sprengstoffen beginnt die Untersuchung eines verdächtigen Objekts mit der Probenahme mittels Wischprobensammlern. Eine Luftsicherheitskontrollkraft wischt dabei Oberflächen des Objekts mit einem Probensammler ab, um Partikel von Gefahrstoffen zu sammeln. Der beladene Probensammler wird anschließend in einen Probeneinlass eingeführt. Nach thermischer Desorption der gesammelten Stoffe erhält der Bediener (z. B. Luftsicherheitskontrollkraft) ein boolesches Ergebnis - "Alarm" oder "Kein Alarm".
Verfahren und Ergebnisse
In dieser Studie wurden drei Verfahren mit vier ECAC-zertifizierten ETD-Geräten zur Entwicklung eines Unsicherheitskonzeptes bezüglich der Probenahme (PN) angewandt:
I) direkte Probenaufnahme durch lösemittelbasierten Auftrag einer bekannten Sprengstoffmenge auf einem Probensammler,
II) Auftragung einer bekannten Menge eines gelösten Sprengstoffs auf einem 10 cm × 10 cm Substrat (Aluminium, Papier, Eisen und Polyvinylchlorid) und manuelle PN nach Lösemittelverdampfung,
III) lösemittelbasierter Sprengstoffauftrag auf eine PTFE- oder PTFE-beschichtete Glasfaseroberfläche, nach Lösemittelverdunstung trockene Übertragung auf das zu beprobende Substrat zur PN.
Nach dem binären Regressionsverfahren wurde die funktionale Abhängigkeit der Detektionswahrscheinlichkeit von einer bekannten Sprengstoffmasse mit einer Logit-Funktion beschrieben:
POD=1/(1+e^(-A·(m-B))).
Dabei ist POD die Wahrscheinlichkeit der Detektion für eine bekannte Sprengstoff-Masse, die Parameter A (logistische Wachstumsrate der Kurve) und B (m-Wert des Mittelpunktes des Sigmoids) sind geschätzte Parameter nach der Methode der kleinsten Quadrate, und m ist die Sprengstoffmasse.
Das entwickelte Messunsicherheitsmodell kombiniert quantitative Ergebnisse aus Wägen, Lösen und Pipettieren sowie qualitative Ergebnisse - "Alarm" oder "Kein Alarm" und die Unsicherheit der PN. Identifizierte Unsicherheitsursachen sind die Durchführung der Wischprobenahme, Staub, Lösemitteleffekte und die Unsicherheit bei der Herstellung von Testlösungen.
IMS trägt zur Luftfrachtsicherheit bei Luftsicherheitsgesetze verpflichten Luftsicherheitsbehörden, Flughafenbetreiber und Fluggesellschaften umfassende Sicherheitsmaßnahmen auf den Flughäfen zu ergreifen, um Gefahren z. B. durch potenziell gefährliche Frachtgüter zu erkennen. Von der Europäische Zivilluftfahrt-Konferenz (ECAC) zertifizierte IMS-Geräte werden vor Ort an den Kontrollpunkten orthogonal zur Radiologie eingesetzt, um chemische Informationen von verdächtiger Fracht über Gefahrstoffe wie Sprengstoffe oder Drogen vor dem Verladen zu erhalten.
Vor der Detektion von Sprengstoffen beginnt die Untersuchung eines verdächtigen Objekts mit der Probenahme mittels Wischprobensammlern. Eine Luftsicherheitskontrollkraft wischt dabei Oberflächen des Objekts mit einem Probensammler ab, um Partikel von Gefahrstoffen zu sammeln. Der beladene Probensammler wird anschließend in einen Probeneinlass eingeführt. Nach thermischer Desorption der gesammelten Stoffe erhält der Bediener (z. B. Luftsicherheitskontrollkraft) ein boolesches Ergebnis - "Alarm" oder "Kein Alarm".
Verfahren und Ergebnisse
In dieser Studie wurden drei Verfahren mit vier ECAC-zertifizierten ETD-Geräten zur Identifizierung und Beurteilung der Probenahme (PN) entwickelt:
I) direkte PN durch lösemittelbasierten Auftrag einer bekannten Sprengstoffmenge auf einem Probensammler,
II) Auftrag einer bekannten Menge eines gelösten Sprengstoffs auf einem 10 cm × 10 cm Substrat (Aluminium, Papier, Eisen und Polyvinylchlorid) und manuelle PN nach Lösemittelverdampfung,
III) lösemittelbasierter Sprengstoffauftrag auf eine PTFE- oder PTFE-beschichtete Glasfaseroberfläche, nach Lösemittelverdunstung trockene Übertragung auf das zu beprobende Substrat zur PN.
Der Zusammenhang zwischen vorgelegter Sprengstoffmenge und der Detektionswahrscheinlichkeit (POD) erfolgt durch Anwendung des binären Regressionsverfahrens mit einer Logit-Funktion:
POD=1/(1+exp(-A(m-B)) )·100%
Dabei entspricht m der vorgelegten Sprengstoffmasse bis 1000 ng, Parameter A / ng-1 der logistischen Wachstumsrate der Kurve und Parameter B / ng dem m-Wert des Mittelpunktes des Sigmoids. Die Bestimmung der Parameter wurde nach der Methode der kleinsten Quadrate berechnet.
Das entwickelte Messunsicherheitsmodell kombiniert quantitative Ergebnisse aus Stammlösung und deren Verdünnungen sowie Stoffauftrag und qualitative Ergebnisse nach Anzeige "Alarm" oder "Kein Alarm". Dieses Auswerteverfahren wurde auf die Probenahme angewandt. Identifizierte Unsicherheitsursachen sind die Durchführung der Wischprobenahme, Staub, Lösemitteleffekte und die Unsicherheit bei der Herstellung von Testlösungen.
Emissions of ammonia into the environment are mainly caused by agriculture, but also by combustion processes in waste and by road traffic. Even at low concentrations, this substance is not only an odour nuisance, but also a substance with ecological and climatic relevance. Therefore, BAM tested commercial electrochemical, and metal oxide based sensors, which have limited suitability for measuring in the environmental molar fraction range. Alternatively, own developments for the detection of ammonia in the trace range were implemented, wherein the analyte is measured by changing the fluorescence of a BODIPY dye at 550 nm by means of a portable fluorescence sensor directly from the gas phase. For the calibration of ammonia sensors and measuring instruments, a stationary system based on the mixture of certified test gases from pressure cylinders with calibrated mass flow controllers is available. A test gas generator was developed for on-site calibration and testing of sensors and measuring devices. The generation of ammonia-containing gases in the environmental relevant range of levels below 1000 nmol/mol is carried out by the permeation method according to ISO 6145-10. For the traceability of ammonia, standards are provided and further developed by the National Metrological Institutes and designated institutes. Metrological standards are based on SI units and are a basis for traceability of sensors or gas analysers.
In civil engineering, many structures are made of reinforced concrete. Most Degradation processes relevant to this material, e.g., corrosion, are related to an increased level of material moisture.
Therefore, moisture monitoring in reinforced concrete is regarded as a crucial method for structural health monitoring. In this study, passive radio frequency identification (RFID)-based sensors are embedded into the concrete. They are well suited for long-term operation over decades and are well protected against harsh environmental conditions. The energy supply and the data transfer of the humidity sensors are provided by RFID. The sensor casing materials are optimised to withstand the high alkaline environment in concrete, having pH values of more than 12. Membrane materials are also investigated to identify materials capable of enabling water vapour transport from the porous cement matrix to the embedded humidity sensor. By measuring the corresponding relative humidity with embedded passive RFID-based sensors, the cement hydration is monitored for 170 days.
Moreover, long-term moisture monitoring is performed for more than 1000 days. The Experiments show that embedded passive RFID-based sensors are highly suitable for long-term structural health monitoring in civil engineering.
Der Mangel an Anwendungsrichtlinien und Validierungsverfahren für struktur-eingebettete faseroptische Dehnungssensoren, insbesondere auf Faser-Bragg-Gitter (FBG)-Basis, führte bislang dazu, dass diese Sensoren trotz ihrer hervorragenden Eigenschaften im Bereich der kommerziellen Material- und Strukturüberwachung nur in geringem Umfange eingesetzt wurden. Fragen zur Degradation der Sensoren unter Beanspruchung, Alterung durch klimatische Einflüsse und Enthaftung infolge Belastung der Struktur konnten bisher nur theoretisch simuliert oder anhand exemplarischer Proben für einzelne einflussnehmende Parameter im Labor untersucht werden. Die Erfassung des Sensorverhaltens im Bauteil unter komplexen Umwelteinflüssen während des Bauteilbetriebes, um damit eine Aussage zur Zuverlässigkeit der Sensormessdaten zu gewinnen, war bisher nicht möglich.
Im Forschungsprojekt FAMOS² wurde deshalb von 2014 bis 2018 die Realisierung eines Autodiagnoseverfahrens für faseroptische Dehnungssensoren erarbeitet, um die Funktionszuverlässigkeit und Langzeitstabilität der Sensoren während des Bauteilbetriebes innerhalb einer Bauteilstruktur bewerten zu können. Im Rahmen des Forschungsprojektes wurde gezeigt, dass ein FBG-Sensor mit einer speziell angepassten magnetostriktiven Schicht magnetisch so angeregt werden kann, dass mit einer zugeschnittenen Messmethodik zu jedem Zeitpunkt eine Bewertung der Sensorzuverlässigkeit unter Betriebsbedingungen möglich ist. Die auf den Sensor aufgebrachte magnetostriktive Schicht erzeugt bei Anregung mit einem passenden Magnetfeld eine gepulste, synthetische Dehnung. Diese Dehnung steht in einem definierten Verhältnis zum anregenden Magnetfeld und wird optisch über die Verschiebung der Bragg-Wellenlänge ausgelesen. Die Konstanz dieses Verhältnisses stellt dann ein Maß für die korrekte Funktionsfähigkeit des Sensors dar. Das Beschichtungs-verfahren, das magnetische Anregungs- und optische Ausleseverfahren, wie auch die Validierung des Sensors unter Berücksichtigung faseroptischer Effekte wurden während des Projekts konzeptionell entwickelt, aufgebaut und charakterisiert. Qualitativ kann mit diesem Verfahren zunächst eine Gut-/Schlecht-Beurteilung des Sensors vorgenommen werden. Perspektivisch bietet das Verfahren jedoch auch die Möglichkeit, verschiedene Versagensmechanismen bestimmen und klassifizieren zu können. Es zeichnete sich schon während des Projektverlaufs ab, dass sich aus den erzielten Ergebnissen über das Autodiagnoseverfahren hinaus weitere Anwendungsmöglichkeiten für den Einsatz des kombinierten magnetostriktiv-faseroptischen Sensorprinzips, beispielsweise als reiner Magnetfeldsensor, ergeben.
Nach Abschluss dieses Forschungsprojekts besteht nun die Möglichkeit, den Funktionszustand faseroptischer Dehnungssensoren jederzeit unabhängig von Alter, Belastung oder Kenntnis eines Referenzzustands zu einem bestimmten Zeitpunkt bestimmen zu können. Aufbauend auf diesen Ergebnissen können weiterführende Forschungen die Messmethodik vertiefend charakterisieren und weitere Anwendungsfälle erschließen.
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.
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 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).
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.
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.
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 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.
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.
This paper presents first advances in the area of aerial chemical trail following. For that purpose, we equipped a palm-size aerial robot, based on the Crazyflie 2.0 quadrocopter, with a small lightweight metal oxide gas sensor for measuring evaporated ethanol from chemical trails. To detect and localize a 5 cm wide chemical trail, a detection criterion was developed that uses only relative changes in the transient phase of the sensor response. The reduction in signal strength dependence improves the robustness of its application. We tested our setup in first crossing-trail experiments showing that our flying ant robot can correlate an odor hit with the chemical trail within 0.14 m. Principally, this could enable aerial chemical trail following in the future.
This paper presents first advances in the area of aerial chemical trail following. For that purpose, we equipped a palm-size aerial robot, based on the Crazyflie 2.0 quadrocopter, with a small lightweight metal oxide gas sensor for measuring evaporated ethanol from chemical trails. To detect and localize the chemical trail, a novel detection criterion was developed that uses only relative changes in the transient phase of the sensor response, making it more robust in its application. We tested our setup in first crossing-trail experiments showing that our flying ant robot is able to correlate an odor hit with the chemical trail within 0.14 m. Principally, this could enable aerial chemical trail following in the future.
This paper presents first advances in the area of aerial chemical trail following. For that purpose, we equipped a palm-size aerial robot, based on the Crazyflie 2.0 quadrocopter, with a small lightweight metal oxide gas sensor for measuring evaporated ethanol from chemical trails. To detect and localize the chemical trail, a novel detection criterion was developed that uses only relative changes in the transient phase of the sensor response, making it more robust in its application. We tested our setup in first crossing-trail experiments showing that our flying ant robot is able to correlate an odor hit with the chemical trail within 0.14 m. Principally, this could enable aerial chemical trail following in the future.