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KonSens (Kommunizierende Sensorsysteme für die Bauteil- und Umweltüberwachung) - Projektergebnisse
(2019)
Im Projekt KonSens werden für die Anwendungsbeispiele bauteilintegrierte Sensorik für Betonkomponenten und mobile Multigassensorik Sensorsysteme in Form von Funktionsmustern entwickelt, validiert und angewendet. Schwerpunkte liegen einerseits in der Detektion und Bewertung von Korrosionsprozessen in Beton und andererseits in der Detektion und Quantifizierung sehr geringer Konzentrationen toxischer Gase in der Luft. Dabei ist die Adaption der sensorischen Methoden aus dem Labor in reale Messumgebungen inklusive geeigneter Kommunikationstechnik ein wichtiger Aspekt.
Small unmanned aircraft are used increasingly as flying sensor platforms to perform tasks such as gas distribution mapping or environmental monitoring. Sometimes, these applications require knowledge of the ambient wind field.
In general, it would be interesting to avoid any additional hardware, both on ground and on the aircraft. Here, we present an approach to estimate the wind vector just by exploiting the state variables of the aircraft.
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.
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. Here we present a concept of how an existing simulator can be extended to handle both indoor and large outdoor scenarios.
An equation for wind vector estimation using a multirotor aircraft as a flying anemometer is shown. To compute the wind vector an estimate of the thrust of the aircraft is required, which is related to the rotational speed of the rotors. Hence, a sensing system for the rotational speed using phototransistors is presented.
An unmanned micro aircraft (UAV) is equipped with an open-path gas detector to localise gas sources and to generate gas distribution maps. The gas detector is based on the tunable diode laser absorption spectroscopy (TDLAS) and attached to a 3-axis aerial stabilisation gimbal. Sensor validation experiments and first gas tomography reconstructions are shown.
Leaking methane (CH4) from infrastructures, like pipelines, industrial complexes and landfills, or accidental hazardous goods transports is critical for the environment, but can also pose a risk to human life. To enable a fast detection and localisation of these kind of leaks, we developed a novel robotic platform for aerial remote gas sensing. The platform combines an unmanned micro aircraft (UAV), a 3-axis aerial stabilisation gimbal and an open-path gas detector based on the tunable diode laser absorption spectroscopy (TDLAS).