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- Aktive Thermografie (8)
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Sensor based person tracking is a challenging
topic. The main objective is positioning in areas without
GPS connection, i.e. indoors. A research project is carried
out at BAM, Federal Institute for Materials Research and
Testing, to develop and to validate a multi-sensor system for
3D localization. It combines body motion sensing and a
guard system for the tracking and recording of the status of
persons. The so named BodyGuard system was designed for
sensor-based monitoring and radio-based transmission of
the movement of a person. Algorithms were developed to
transform the sensor data into a spatial coordinate. This
paper describes how the BodyGuard system operates, which
main components were used in the system, how the
individual sensor data are converted into 3D motion data,
with which algorithms the individual sensors are processed,
how individual errors are compensated and how the sensor
data are merged into a 3D Model. Final objective of the
BodyGuard system is to determine the exact location of a
person in a building, e.g. during fire-fighting operations.
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 a sampling strategy for mobile gas sensors. Sampling points are selected using a modified artificial potential field (APF) approach, which balances multiple criteria to direct sensor measurements towards locations of high mean concentration, high concentration variance and areas for which the uncertainty about the gas distribution model is still large. By selecting in each step the most often suggested close-by measurement location, the proposed approach introduces a locality constraint that allows planning suitable paths for mobile gas sensors. Initial results in simulation and in real-world experiments with a gas-sensitive micro-drone demonstrate the suitability of the proposed sampling strategy for gas distribution mapping and its use for gas source localization.
A multi-sensor system for 3D localization was developed and named BodyGuard. It combines body movement sensing and a guard system for the tracking and recording of the status of persons. BodyGuard was designed to monitor and transmit the movement of a person radio-based and to transform that data into a spatial coordinate. This paper describes how the BodyGuard system works, what components the system consists of, how the individual sensor data is converted into 3D motion data, with which algorithms the individual sensors are processed, how individual errors are compensated and how the sensor data are fused into a 3D Model.
We studied sintering of LTCC-type glass matrix composites (GMCs) consisting of small glass and alumina particles of equal size. Primarily, crystals act as rigid inclusions, decelerating the densification rate. In later stages, they also dissolve, partially increasing the viscosity. Release of alumina finally induces crystallization of alumosilicates, which enables post-firing stability. To study both effects, two model GMCs were prepared: an α-Al2O3 + barium alumoborosilicate glass (BABS)GMC, which shows neither significant dissolution nor crystallization, and an α-Al2O3 + calcium alumoborosilicate glass (CABS)GMC, which dissolves readily and promotes crystallization. The kinetics of shrinkage for both GMC were modeled by utilizing Frenkel theory for the early stage and MackenzieShuttleworth theory for the late stage, assuming that sintering is superimposed by the weighted contributions of triparticle glasscrystal clusters, their random occurrence (ideal mixing), and a shrinkage rate controlled by the GMC effective viscosity. In agreement with modeling, the experimental results showed that the shrinkage rate of BABSGMC decreases progressively for crystal volume fractions Φ > 0.15. The attainable shrinkage is reduced by up to 8% for Φ = 0.45. For the CABSGMC with Φ = 0.25, a reduction of Φ to 0.20 was evident due to partial α-Al2O3 dissolution. This effect was found able to increase the sintering temperature by ~5060 K.
The sintering of Low Temperature Co-fired Ceramics prepared from alumoborosilicate
glass- and Al2O3 powders of similar small particle size was studied by dilatometry, heating microscopy,
microstructure analysis, glass- and effective viscosity measurements. The steric effect of
Al3O3 inclusions was studied using a gnon-reactiveh model composite. With increasing Al3O3 volume
fraction (Φ ≤ 0.45), sintering decelerates and its final stage shifts to higher temperature. The
attainable shrinkage is reduced as Al2O3 particle clusters bearing residual pores become more frequent.
The kinetics of sintering could be described formally superposing the weighed contributions
of differentially sized and randomly composed glass-crystal particle clusters and assuming a sintering
rate controlled by the effective matrix viscosity, which increases with Φ and with progressive
wetting of Al2O3 particles during densification. The "reactive" model composite shows significant
dissolution of Al2O3 into the glass, which has two opposed effects on sintering: reducing Φ and increasing
glass viscosity. For the present case (Φ = 0.25), the latter effect dominates and sintering is
retarded by Al2O3 dissolution. Crystallization of wollastonite starts after full densification. Dissolution
of Al2O3 was found to promote the subsequent growth of anorthite.