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- 2014 (17) (entfernen)
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- Beitrag zu einem Tagungsband (7)
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- Posterpräsentation (2)
- Forschungsbericht (2)
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- Autonomous micro UAV (2)
- Data fusion (2)
- Gas source localization (2)
- Gas storage areas (2)
- Hazardous scenarios (2)
- Membrane-based gas sensing (2)
- Monitoring (2)
- Sensortechnik (2)
- Subsurface monitoring (2)
- Air-based (1)
Eingeladener Vortrag
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In this paper, we show that a micro unmanned aerial vehicle (UAV) equipped with commercially available gas sensors can address environmental monitoring and gas source localization (GSL) tasks. To account for the challenges of gas sensing under real-world conditions, we present a probabilistic approach to GSL that is based on a particle filter (PF). Simulation and real-world experiments demonstrate the suitability of this algorithm for micro UAV platforms.
One of the main unsolved issues of under-ground storages for, e.g., CO2, H2, and natural gas is the comprehensive surveillance of these areas with reasonable effort and costs. Conventional sensors (e.g., soil air probes or borehole probes), however, can only be used for punctual or locally limited measurements; further their application can cause structural influences (invasive application).
In this paper, we describe in detail the setup of a CO2 injection soil test field. This test field will be used to enhance and validate an innovative ap-proach for distributed subsurface monitoring of gas storage areas. To the author’s knowledge, this is the first time that, for this purpose, a test field is built in an application relevant scale.
In this work an air-based sensor network for the localization of persons at extensive areas is presented. The developed network consists of a localization device which the person is wearing (BodyGuard-System), a mobile relay station in the air, and a base station. All three parts communicate with the same radio chip. The BodyGuard-System is an inertial navigation system which was developed for localization in difficult environments with high accuracy and low measurement uncertainty. To increase the range of the system, a multi-hop network was built up. The measured data of the BodyGuard-System and the mobile relay station is visualized on a PC in the base station. This multi-hop network is necessary for example for fire department missions.
Insect behavior is a common source of inspiration for roboticists and computer scientists when designing gas-sensitive mobile robots. More specifically, tracking airborne odor plumes and localization of distant gas sources are abilities that suit practical applications such as leak localization and emission monitoring. Gas sensing with mobile robots has been mostly addressed with ground-based platforms and under simplified conditions and thus, there exist a significant gap between the outstanding insect abilities and state of the art robotics systems. As a step towards practical applications, we evaluated the performance of three biologically inspired plume tracking algorithms. The evaluation is carried out not only with computer simulations, but also with real-world experiments in which, a quadrocopter-based micro Unmanned Aerial Vehicle autonomously follows a methane trail towards the emitting source. Compared to ground robots, micro UAVs bring several advantages such as their superior steering capabilities and fewer mobility restrictions in complex terrains. The experimental evaluation shows that, under certain environmental conditions, insect like behavior in gas-sensitive UAVs is feasible in real world environments.
Linear sensor for areal subsurface gas monitoring - calibration routine and validation experiments
(2014)
Membrane based linear gas sensors and fiber optical sensors feature similar geometries and complement each other in quantities to be measured. To the author's best knowledge, it is the first time that these sensors are combined to a multifunctional sensor for distributed measuring of gas concentrations, temperature, and strain. Objective is a comprehensive monitoring of underground gas storage areas. In the presented project a 400 m² test site and a corresponding laboratory system were just built up to characterize, validate, and optimize the combined sensor. Application of the sensor lines in a grid structure should enable spatial resolution of the measurement data and early detection of relevant events, as gas leakage, temperature change, or mechanical impact. A Calibration routine was developed which can be applied subsequent to underground installation. First measurement results indicate the potential of the method, with regard to highly topical energy transport and storage issues.