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- 2015 (5) (entfernen)
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- Englisch (5) (entfernen)
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Real-time wind estimation on a micro unmanned aerial vehicle using its inertial measurement unit
(2015)
This paper presents an approach for a quadrocoper-based micro unmanned aerial vehicle (UAV) that estimates the wind vector (speed and direction) in real-time based on measurement data of its on-board sensors only. This method does not need any additional airspeed sensor or dedicated anemometer, and thus the micro UAV's valuable payload remains free for other sensors. Wind tunnel and field tests were used to evaluate the performance of the approach. In order to quantify its accuracy, experiments are presented where data was collected with an anemometer placed in an open field with the micro UAV in flight following a predefined trajectory around the anemometer and hovering at a defined position close to it.
A monitoring method is introduced that creates, in near real-time, two-dimensional (2D) maps of the soil gas distribution. The method combines linear gas sensing technology for in-situ monitoring of gases in soil with the mapping capabilities of Computed Tomography (CT) to reconstruct spatial and temporal resolved gas distribution maps. A weighted iterative algebraic reconstruction method based on Maximum Likelihood with Expectation Maximization (MLEM) in combination with a source-by-source reconstruction approach is introduced that works with a sparse setup of orthogonally-aligned linear gas sensors. The reconstruction method successfully reduces artifact production, especially when multiple gas sources are present, allowing the discrimination between true and non-existing so-called ghost source locations. A first experimental test indicates the high potential of the proposed method for, e.g., rapid gas leak localization.
In preliminary work, gas sensors in linear form based on the measuring principle of gas selective permeability through a membrane were developed and introduced for the detection and quantification of gas concentrations. In this study, first experimental results are presented for adapting the technology for measuring methane (CH4). A material with suitable selective permeability was identified and utilized in a sensor setup containing the gas selective membrane and a reference membrane, both integrated in a measuring cell, to which a gas stream with defined CH4 concentrations was applied. The results prove the sensor's capability for measuring methane and indicate further application potential of the method, e.g., as a robust field monitoring technology, since CH4 is the major component of natural gas, town gas, and fracking gas.
Gas sensors in linear form based on the measuring principle of gas selective permeability through a membrane were developed and introduced for the detection and quantification of gas concentrations. A current field study focuses on measuring CO2 concentrations for a spatially distributed monitoring of subsurface CO2 gas storage sites in near real time. A 400 m(2) test site and a corresponding laboratory system were built up to characterize, validate, and optimize the sensor. A calibration routine was developed, which can be applied subsequently to underground installation. First measurement results indicate the potential of the method.
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.