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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.
Occupational health is an important topic, especially in industry, where workers are exposed to airborne by-products (e.g., dust particles and gases). Therefore, continuous monitoring of the air quality in industrial environments is crucial to meet safety standards. For practical and economic reasons, high-quality, costly measurements are currently only carried out sparsely, both in time and space, i.e., measurement data are collected in single day campaigns at selected locations only.
Recent developments in sensor technology enable cost-efficient gas monitoring in real-time for long-term intervals. This knowledge of contaminant distribution inside the industrial environment would provide means for better and more economic control of air impurities, e.g., the possibility to regulate the workspace’s ventilation exhaust locations, can reduce the concentration of airborne contaminants by 50%.
This paper describes a concept proposed in the project “Robot-assisted Environmental Monitoring for Air Quality Assessment in Industrial Scenarios“ (RASEM). RASEM aims to bring together the benefits of both – low- and high-cost – measuring technologies: A stationary network of low-cost sensors shall be augmented by mobile units carrying high-quality sensors. Additionally, RASEM will develop procedures and algorithms to map the distribution of gases and particles in industrial environments.
This paper introduces 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. 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 introduce and 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 the gas sensing and aiming capabilities under realistic conditions.