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Structural Health Monitoring (SHM) is an important topic for Industry 4.0. More and more systems are embedded in different materials and are connected to each other. To embed sensors for a long time in concrete, an exact preparation is required. In this paper, we identify Radio-Frequency Identification (RFID) as promising technology for monitoring of concrete structures. This paper present the concept for long term monitoring, defines the requirements and shows first development steps, for example, the system design, the possibilities of sensor connection, and an encapsulation for embedding in concrete.
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.
Wastewater contains harmful chemicals and heavy metals that are known to cause various environmental and health problems. Therefore, the water quality control using sensitive, simple, fast, accurate, and portable tools is of great importance. This study aimed to evaluate the pollution parameters of wastewaters collected at different treatment stages from a wastewater treatment plant (WWTP) that treats domestic and industrial wastewaters by using an electronic nose (E-nose) and a voltammetric electronic tongue (E-tongue) combined with chemometric techniques. Water and wastewater pollution parameters determination were performed using inductively coupled plasma optical emission spectrometry for the determination of cations, and anions by using ion chromatography. Chemometric techniques, such as Principal Component Analysis (PCA), Discriminant Function Analysis (DFA), Support Vector Machines (SVMs), and Hierarchical Cluster Analysis (HCA), were used to process the E-nose and E-tongue datasets to describe the similarities between the samples. In addition, Partial Least Squares Regression (PLSR) model was constructed using electronic sensing data to simultaneously predict the concentration values of physicochemical parameters. The obtained correlation coefficient, for training and testing sets, is higher than 0.91 for the prediction of the concentration of all physicochemical parameters, except for iron (Fe) which remains 0.84. These results suggest that simple, portable, and inexpensive tools such as electronic nose and tongue are suitable for wastewater analysis.
With the reduction of large oil spills because of stricter regulations and safety measures, the question of how to manage smaller oil spills arises. Few on-site analytical tools are available for first responders or other law enforcement personnel to rapidly test for crude oil in the early management of localized polluted areas. The approach reported here relies on well-described computer-assisted multivariate data analysis of the intrinsic fluorescence fingerprints of crude oils to build a multivariate model for the rapid classification of crude oils and the prediction of their properties. Thanks to a dedicated robust portable reader, the method allowed classification and accurate prediction of various properties of crude oil samples like density (according to API, the American Petroleum Institute and viscosity as well as composition parameters such as volume fractions of paraffins or aromatics. In this way, autonomous operation in on-site or in-the-field applications becomes possible based on the direct (undiluted and untreated) measurement of samples and a rapid, tablet-operated readout system to yield a robust and simple analytical test with superior performance. Testing in real-life scenarios allowed the successful classification and prediction of a number of oil spill samples as well as weathered samples that closely resemble samples collected by first responders.
Fiber optic sensors have gained increasing importance in recent years and are well established in many areas of industrial applications. In this paper, we introduce a concept of a self-diagnostic fiber optic sensor. The presented sensor is to resolve the problems of embedded fiber optic sensors in complex structures and to enable the validation under operational conditions. For this purpose, different magnetostrictive coated fiber optic sensors were developed and various experiments were performed to verify their mode of Operation and to determine the respective reproducibility. The measuring principle is illustrated by obtained experimental results, which showed a change in wavelength from 1 pm at a magnetic field strength change of 0.25 mT.
In addition, the temperature characteristics of the implemented magnetostrictive sensor were analyzed and an experimental factor of 1.5 compared to a reference fiber optic sensor was determined.
One of the main unsolved issues of CCS is the comprehensive surveillance of CO2 storage areas with reasonable effort and costs. This study presents an approach for distributed subsurface monitoring of gas storage areas. The concept combines different measurement technologies to one multifunctional sensor: membrane based measurement technology for in situ monitoring of gases in soil and fibre optical sensing of temperature and strain (as a measure for structural change). A test field of application-relevant dimensions is built up to validate and optimize the technology.
Carbon capture & storage (CCS) is one of the most promising technologies for greenhouse gas (GHG) management. However, an unsolved issue of CCS is the development of appropriate long-term monitoring systems for leak detection of the stored CO2. To complement already existing monitoring infrastructure for CO2 storage areas, and to increase the granularity of gas concentration measurements, a quickly deployable, mobile measurement device is needed. In this paper, we present an autonomous gas-sensitive micro-drone, which can be used to monitor GHG emissions, more specifically, CO2. Two different measurement strategies are proposed to address this task. First, the use of predefined sensing trajectories is evaluated for the task of gas distribution mapping using the micro-drone. Alternatively, we present an adaptive strategy, which suggests sampling points based on an artificial potential field (APF). The results of real-world experiments demonstrate the feasibility of using gas-sensitive micro-drones for GHG monitoring missions. Thus, we suggest a multi-layered surveillance system for CO2 storage areas.
Nanocomposites of bisphenol A polycarbonate with 2, 4, 6, and 15 wt% multiwall carbon nanotubes (MWNT) and their use in fire retardancy are investigated. Their thermal behavior and pyrolysis are characterized using thermogravimetry, differential scanning calorimeter, oscillatory shear rheology, and dynamic mechanical analysis. The flammability is addressed using LOI and UL 94; the fire behavior, with a cone calorimeter using different irradiation. With increasing MWNT content the storage modulus is increased (10-20%) and melt viscosity increases by several orders of magnitude, particularly for low shear rates. The melt flow, dripping, and deformation during fire are hindered, which influences UL 94 and cone calorimeter results. The peak heat release rate is reduced up to 40-50% due to an improved barrier for small amounts (2 wt%) of MWNT and for low irradiation, whereas the effect is reduced for increasing irradiation and nearly vanishes for increasing filling. Adjuvant but also deleterious mechanisms result in the complex dependency on the MWNT content. Significant flame retardancy effects are specific and limited to only some fire properties. This study allows the materials' potential for implementation in different fire scenarios and tests to be assessed and provides insight into active mechanisms.
Polymeric nanocomposites are discussed as one of the most promising advanced materials whose nanoscale effects can be exploited for industry. Layered silicate polypropylene-graft-maleic anhydride nanocomposites are investigated as a model to clarify the potential of such materials in terms of fire retardancy. The nanostructure is characterized using transmission electron microscopy (TEM) and shear viscosity. The fire behavior is characterized using different external heat fluxes in cone calorimeter, limiting oxygen index and UL 94 classification. A comprehensive fire behavior characterization is presented which enables an assessment of the materials’ potential with respect to different fire scenarios and fire tests. The influence of morphology and the active mechanisms are discussed, such as barrier formation and changed melt viscosity. To our knowledge, it is the first attempt to illuminate the concept’s strengths, such as the reduction of flame spread, and weaknesses, such as the lack of influence on ignitability, in a clear, comprehensive and detailed manner.
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 m² 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.
One challenge associated with navigating a nano aerial robot swarm indoors in unstructured environments is, i.a., the limited air space. To avoid an over-regulation of the available indoor air space (e.g., prohibit copters to fly above each other), a safety region around each copter must be defined. In this paper, we investigate the impact of the downwash of a nano-drone on the stability of another nearby nano-drone. In the experiments, we found out that this downwash has a negative influence of a second nano-drone in a distance of around 1 m vertically and 0.2 m horizontally. Based on the obtained data, we developed a model describing the above-mentioned safety region to enable a safe operation of the swarm in these environments with fewer constraints.
Polymeric intumescent coatings are fire protective materials that increase their thermal resistance when exposed to high temperatures to prevent building structures from damage. The idea of the investigation was to develop a simple test method to determine the time dependent thermal conductivity of intumescent coatings. Therefore steel plates were coated with two different intumescent systems. During cone calorimeter tests the temperature at the back side of the coated plates was measured. These results were used to calculate the time dependent thermal resistance of the protective layer with the simulation program IOPT2D for different external heat fluxes and different layer thickness.
Strain and acceleration measurement during high dynamic drop tests, e.g., of containments for dangerous goods is performed using high speed multichannel measuring systems. So far established and operated systems need a cable connection of every strain gauge and acceleration sensor with the measuring device, often counting up to a number of more than 100 cables, corresponding to the number of applied sensors. The result is a massive cable harness consisting of all single cables, which is difficult to handle and causes a number of practical problems. An innovative approach is proposed by using a single cable measuring system, consisting of measuring modules with data bus connection and local data acquisition. Promising results were presented in a previous study. This paper follows up with additional results from full-scale testing of a further enhanced single cable system for the application in drop tests.
Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms
(2013)
Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-based plume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitive micro-drone. We compare the performance of the proposed system in simulations and real-world experiments against two commonly used tracking algorithms adapted for aerial exploration missions.
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.
Contamination of natural bodies of water or soil with oils and lubricants (or generally, hydrocarbon derivatives such as petrol, fuels, and others) is a commonly found phenomenon around the world due to the extensive production, transfer, and use of fossil fuels. In this work, we develop a simple system for the on-field detection of total petroleum hydrocarbons (TPHs) in water and soil. The test is based on the measurement of the fluorescence signal emitted by the molecular rotor 2-[ethyl[4-[2-(4-nitrophenyl)ethenyl]phenyl]amino]ethanol (4-DNS-OH). This dye is embedded in a hydrophobic polymeric matrix (polyvinylidene fluoride), avoiding interactions with water and providing a robust support for use in a test strip fashion. Together with the strips, an embedded optical system was designed for fluorescence signal read-out, featuring a Bluetooth low-energy connection to a commercial tablet device for data processing and analysis. This system works for the detection and quantification of TPHs in water and soil through a simple extraction protocol using a cycloalkane solvent with a limit of detection of 6 ppm. Assays in surface and sea waters were conclusive, proving the feasibility of the method for in-the-field operation.
In this communication a novel concept for pH sensing is introduced which is specifically adapted to monitor carbonation induced corrosion in concrete structures. The method is based on a ratiometric measurement principle, exploiting the pH sensitive colour switching of thymol blue in the basic pH regime and the emissive properties of two different (Zn)CdSe/ZnS core shell quantum dots. The transition point of thymol blue in a Hydrogel D4 matrix was determined to be at around pH 11.6, which fits ideally to the intended application. Next to the fundamental spectroscopic characterization of the ratiometric response, a new design for a sensor head, suitable for the incorporation into concrete matrices is presented. Toward this, a manufacturing process was developed which includes the preparation of a double layer of polymers containing either thymol blue or a quantum dot mixture inside a porous ceramic tube. Results of a proof-of-priciple performance test of the sensor head in solutions of different pH and in cement specimens are presented, with encouraging results paving the way for future field tests in concrete.
Zur Untersuchung der Sicherheit von Behältern für den Transport und die Lagerung von Gefahrstoffen und -gütern werden Fallprüfungen durchgeführt. Die Aufpralldynamik und die strukturmechanischen Einwirkungen auf den Behälter werden mittels Beschleunigungsaufnehmern und Dehnungsmessstreifen erfasst. Dabei kommen derzeit Vielkanalmesssysteme zum Einsatz, die eine Verkabelung jeder einzelnen Messstelle und somit das Mitfallen eines Kabelbaums erfordern, wodurch Probleme bei der Versuchsvorbereitung und Durchführung entstehen. Die Verwendung eines Messsystems mit Datenbus und dezentraler Datenspeicherung bietet diesbezüglich einen vielversprechenden Lösungsansatz.
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.
Concept for investigating mechanical and thermal impacts on distributed subsurface gas monitoring
(2016)
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.