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Eingeladener Vortrag
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In this presentation the main requirements of BAM-GGR 016 regarding maintenance and periodic inspections were explained. BAM ensures during acceptance of the quality management program that specific and relevant instructions for maintenance and periodic inspections are developed and handed to the operator of the packaging. Examples are given.
In this paper, we present and validate the concept of an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor with a 3-axis aerial stabilization gimbal for aiming at a versatile octocopter. While the TDLAS sensor provides integral gas concentration measurements, it does not measure the distance traveled by the laser diode’s beam nor the distribution of gas along the optical path. Thus, we complement the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from a set of integral concentration measurements. To allow for a fundamental ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and a distributed array of 10 infrared gas transmitters. We present results showing its performance characteristics and 2D plume reconstruction capabilities under realistic conditions. 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).
Compressed natural gas (CNG) is a widely used automotive fuel in a variety of countries. In case of a vehicle fire where the safety device also malfunctions, a failure of the CNG automotive cylinder could occur. Such a cylinder failure is associated with severe hazards for the surrounding environment. Firstly, a comprehensive analysis is given below, summarizing various accidents involving CNG automotive cylinders and their consequences. In an extensive experimental program, 21 CNG automotive cylinders with no safety device were tested. Of the 21, burst tests were carried out on 5 Type III and 5 Type IV cylinders. Furthermore, fire tests with 8 Type III and 3 Type IV cylinders were conducted. Apart from cylinder pressure, inner temperature and cylinder mantle temperature, the periphery consequences, such as nearfield blast pressure and fragmentation are documented. The maximum measured overpressure due to a Type III cylinder failure was p = 0.41 bar. Each traceable fragment was georeferenced. All-in-all, fragment throw distances of d > 300 m could be observed. As one key result, it can be stated that the tested Type IV CNG cylinders showed less critical failure behavior then the Type III cylinders under fire impingement.
Typical transport packages used in Germany are equipped with encapsulated wooden impact limiting devices. We would like to present the current status regarding the development of a Finite Element (FE) material model for the crush of wood for the FE-code LS-DYNA. The crush of is a phenomenon governed by macroscopic fracture. Here, we would like to reproduce fracture and failure mechanisms over the continuous volume. In a first step we altered an existing LS-DYNA material model for foams, which considers an ellipse shaped yield surface. For the use for longitudinal compression of wood, we modified the existing material model to consider the deviatoric strain for the evolution of the yield surface as well. This is in accordance with the results of crush tests with spruce wood specimens, where the crushing deformation was rather deviatoric for uniaxial stress states and rather volumetric for multiaxial stress states We rate the basic idea of this approach to be reasonable, though other problems exist regarding the shape of the yield surface and the assumption of isotropic material properties. Therefore we developed a new transversal isotropic material model with two main directions, which considers different yield curves according to the multiaxiality of the stress state via a multi-surface yield criterion and a non-associated flow rule. The results show the ability to reproduce the basic strength characteristics of spruce wood. Nevertheless, problems with regularization etc. show that additional investigations are necessary.
Typical transport packages used in Germany are equipped with encapsulated wooden impact limiting devices. We would like to present the current status regarding the development of a Finite Element (FE) material model for the crush of wood for the FE-code LS-DYNA. The crush of is a phenomenon governed by macroscopic fracture. Here, we would like to reproduce fracture and failure mechanisms over the continuous volume. In a first step we altered an existing LS-DYNA material model for foams, which considers an ellipse shaped yield surface. For the use for longitudinal compression of wood, we modified the existing material model to consider the deviatoric strain for the evolution of the yield surface as well. This is in accordance with the results of crush tests with spruce wood specimens, where the crushing deformation was rather deviatoric for uniaxial stress states and rather volumetric for multiaxial stress states We rate the basic idea of this approach to be reasonable, though other problems exist regarding the shape of the yield surface and the assumption of isotropic material properties. Therefore we developed a new transversal isotropic material model with two main directions, which considers different yield curves according to the multiaxiality of the stress state via a multi-surface yield criterion and a non-associated flow rule. The results show the ability to reproduce the basic strength characteristics of spruce wood. Nevertheless, problems with regularization etc. show that additional investigations are necessary.
Assessment of Quality Management for Transport Packages not requiring Authority Design Approval
(2018)
The poster presents the german approach for the assessment of quality management systems for transport packages for radioactive material not requiring authority design approval. As legal basis the IAEA regulations, the ADR as well as the GGVSEB are highlighted and examples for these transport packages are given. The GGR 016 is mentioned, main duties and responsibilities as well as the manufacturing and quality surveillance system are described.
In this paper, we present an autonomous aerial robot to reconstruct tomographic 2D slices of gas plumes in outdoor environments. Our platform, the so-called Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS) combines a lightweight Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile octocopter. The TDLAS sensor provides integral gas concentration measurements but no information regarding the distance traveled by the laser diode's beam or the distribution of the gas along the optical path. We complemented the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from these integral concentration measurements. To allow for a rudimentary ground truth evaluation of the applied gas tomography algorithm, we set up a unique outdoor test environment based on two 3D ultrasonic anemometers and a distributed array of 10 infrared gas transmitters. We present first results showing the 2D plume reconstruction capabilities of the system under realistic conditions.
In case of a vehicle fire, an installed LPG (liquefied petroleum gas) tank with a malfunctioning safety device poses severe hazards. To investigate the consequences in case of tank failure, we conducted 16 tests with toroidal shaped LPG vehicle tanks. Three tanks were used for a Hydraulic Burst Test under standard conditions. Another three tanks were equipped with a statutory safety device and were subjected to a gasoline pool fire. The safety device prevented tank failure, as intended. To generate a statistically valid dataset on tank failure, ten tanks without safety devices were exposed to a gasoline pool fire. Five tanks were filled to a level of 20 %; the re-maining five were filled to a level of 100 %. In order to gain information on the heating process, three tem-perature readings at the tank surface, and three nearby flame temperatures were recorded. At distances of l = (7; 9; 11) m to the tank, the overpressure of the shock wave induced by the tank failure and the unsteady tem-peratures were measured. All ten tanks failed within a time of t < 5 min in a BLEVE (boiling liquid expanding vapor explosion). Seven of these resulted directly in a catastrophic failure. The other three resulted in partial failure followed by catastrophic failure. A near field overpressure at a distance of l = 7 m of up to p = 0.27 bar was measured. All ten tests showed massive fragmentation of the tank mantle. In total, 50 fragments were found. These 50 fragments make-up 88.6 % of the original tank mass. Each fragment was georeferenced and weighed. Fragment throwing distances of l > 250 m occurred. For the tanks with a fill level of 20 %, the average number of fragments was twice as high as it was for the tanks that were filled completely.
In continuation of a preceding test series involving sole LPG vehicle tanks, three passenger cars equipped with identical toroidal steel LPG tanks were set on fire. The tanks were installed in the space normally reserved for the spare tyre, in the car boot. No safety device was installed on the tank, in order to force critical failure of the cylinder. Two of the cars were equipped with a tank filled with liquefied propane to a level of 20 % (5.3 kg), the third one was filled completely (25.5 kg). The partially filled tanks failed critically within a time period of more than 20 min after the initiation of the fire. The fully-filled tank did not rupture; the propane was released continuously through a small leak that appeared during the fire. Comprehensive equipment was used to procure measurement data, enabling an analysis of potential consequences and hazards to humans and infrastructure within the vehicle surroundings. The inner status of the tank (pressure, temperature of the liquid phase and the steel casing), the development of the fire (temperature inside and around the vehicle) and the pressure induced in the near-field in case of tank rupture were recorded. The results were analysed in detail and compared against the data gained in tests involving sole, but identical LPG tanks.
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.