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- 2019 (4) (entfernen)
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- Gas dispersion simulation (2)
- TDLAS (2)
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- Gas detector (1)
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- Localization of gas sources (1)
- Mobile Robot Olfaction (1)
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- Remote gas sensor model (1)
Organisationseinheit der BAM
The development of algorithms for mapping gas distributions and localising gas sources is a challenging task, because gas dispersion is a highly dynamic process and it is impossible to capture ground truth data. Fluid-mechanical simulations are a suitable way to support the development of these algorithms. Several tools for gas dispersion simulation have been developed, but they are not suitable for simulations of large outdoor environments. In this paper, we present a concept of how an existing simulator can be extended to handle both indoor and large outdoor scenarios.
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.
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.
Remote gas sensors like those based on the Tunable Diode Laser Absorption Spectroscopy (TDLAS) enable mobile robots to scan huge areas for gas concentrations in reasonable time and are therefore well suited for tasks such as gas emission surveillance and environmental monitoring. A further advantage of remote sensors is that the gas distribution is not disturbed by the sensing platform itself if the measurements are carried out from a sufficient distance, which is particularly interesting when a rotary-wing platform is used. Since there is no possibility to obtain ground truth measurements of gas distributions, simulations are used to develop and evaluate suitable olfaction algorithms. For this purpose several models of in-situ gas sensors have been developed, but models of remote gas sensors are missing. In this paper we present two novel 3D ray-tracer-based TDLAS sensor models. While the first model simplifies the laser beam as a line, the second model takes the conical shape of the beam into account. Using a simulated gas plume, we compare the line model with the cone model in terms of accuracy and computational cost and show that the results generated by the cone model can differ significantly from those of the line model.