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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.
The use of open GIS standards offers a broad variety of potential, particularly in the field of data exchange, data storage, and interoperability. GML and CityGML are excellent examples for the ontological description of real world objects by means of an open standard whereas SensorML serves to describe measurements, sensors and measuring platforms. The use of such standards offers not only the possibility of using a common standardised language, but also the use of open service standards. The combination of spatial data and sensor standards in services and service-oriented architectures goes far beyond previous existing solutions on the market and provides a novel platform for monitoring structures. That in fact is far more than a simple data storage model. The methods and models presented in this contribution allow a direct integration of sensor data and its provision through an open standard language. In this case, all the intermediate steps at any time through an open service interface are addressed and may be made available and provided to different actors and stakeholders participating in a construction scenario. The great potential and the added value of such an information system is the permanent availability of measurement and object data and an associated integrated analysis of sensor data in combination with a finite element model (FEM). The automatic derivation of a finite element model from the 3D structure model, the visualisation of FEM, the provision of raw (measurement) data and sensor information for each time of measurement transform the platform into a universal tool in the field of structural monitoring. This contribution introduces the individual components, the standards used and the interaction between the components to an overall system.
To examine the capability to detect and localise damage using the Measurement- and Model-based Structural Analysis (MeMoS), a small-scale truss bridge (1520 mm × 720 mm × 720 mm) made of aluminium profiles is built as a test specimen for this purpose. The truss frame of the test bridge is made of aluminium profiles with a sophisticated design of the cross-sectional area. In comparison, with solid profiles, only a fraction of the material is needed to produce the profiles, while their bending resistance decreases slightly. The profiles are built into a truss frame by connecting them by means of fastening sets made of steel. The bridge model is mounted on four steel bearings which each of them consist of a cylinder arranged between two plates. Fixed bearings are made by holding onto one end of the bridge. The bridge is subjected by an external load by placing a heavy object beneath it. At the same time, measurements can be conducted below the bridge. Therefore, the bridge specimen is elevated by attaching it on a pedestal with four columns. Damages can be induced by loosening the
fastening pieces.
To examine the capability to detect and localise damage using the Measurement- and Model-based Structural Analysis (MeMoS), a small-scale truss bridge (1520 mm × 720 mm × 720 mm) made of aluminium profiles is built as a test specimen for this purpose. The truss frame of the test bridge is made of aluminium profiles with a sophisticated design of the cross-sectional area. In comparison, with solid profiles, only a fraction of the material is needed to produce the profiles, while their bending resistance decreases slightly. The profiles are built into a truss frame by connecting them by means of fastening sets made of steel. The bridge model is mounted on four steel bearings which each of them consist of a cylinder arranged between two plates. Fixed bearings are made by holding onto one end of the bridge. The bridge is subjected by an external load by placing a heavy object beneath it. At the same time, measurements can be conducted below the bridge. Therefore, the bridge specimen is elevated by attaching it on a pedestal with four columns. Damages can be induced by loosening the fastening pieces.
The Measurement- and Model-based Structural Analysis (MeMoS) integrates a finite element model into least squares adjustment and thus allows to evaluate a mechanical model and measurements in a combined analysis. To examine the capability to detect and localise damage using this integrated analysis MeMoS, a small-scale truss bridge made of aluminium profiles is built as a test specimen for this purpose.
By means of a small-scale truss bridge, the ability of the Measurement- and Model-based Structural Analysis to detect and localize damage was examined. Although there was no noteworthy difficulty in detecting damage, it turned out that damage localization responds sensitively to systematic influences, i.e. non-modelled properties of the mechanical model. Therefore, another experiment is being conducted to re-examine the Measurement- and Model-based Structural Analysis. For this purpose, the bending test is carried out as it has been already theoretically respectively numerically discussed. In this attempt, the systematic influences such as residual stress are kept as low as possible.
By means of a small-scale truss bridge, the ability of the Measurement- and Model-based Structural Analysis to detect and localize damage was examined. Although there was no noteworthy difficulty in detecting damage, it turned out that damage localization responds sensitively to systematic influences, i.e. non-modelled properties of the mechanical model. Therefore, another experiment is being conducted to re-examine the Measurement- and Model-based Structural Analysis. For this purpose, the bending test is carried out as it has been already theoretically respectively numerically discussed. In this attempt, the systematic influences such as residual stress are kept as low as possible.
By means of a small-scale truss bridge, the ability of the Measurement- and Model-based Structural Analysis to detect and localise damage was examined in. Although there was no noteworthy difficulty in detecting damage, it turned out that damage localisation responds sensitively to systematic influences, i.e. non-modelled properties of the mechanical model. Therefore, another experiment is being conducted to re-examine the Measurement- and Model-based Structural Analysis. For this purpose, the bending test is carried out as it has been already theoretically respectively numerically discussed in. In this attempt, the systematic influences such as residual stress are kept as low as possible.