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In this study a method for early damage detection is investigated based on the directed excitation and measuring of Lamb waves (guided waves). The objective is to make a statement about the practicability of a Lamb wave generator (LWG) and about the application relevant parameters (specimen materials and dimensions, wave characteristics, excitation, transmission und reflection). Guided waves enable an effective differentiation of structural and defective indications as well as a classification of different defect types. For the investigations, a LWG was developed which combines the advantages of the single excitation of a piezoelectric actuator and the possibility of a group excitation. Algorithms were developed to identify and analyze damage patterns (cracks, wholes, weakening).
QI-Digital is a joined project aiming at digitalising Quality Infrastructure (QI) processes involving standardization, conformity assessment, accreditation, metrology, and market surveillance [1]. Federal institute of material research and testing (BAM) is working on the creation of a digital calibration certifi-cate (DCC) to achieve digital metrological traceability and conformity assessment. The utilisation of machine readable and executable DCCs in the XML format is demonstrated on an example of a tem-perature measurement at a hydrogen refueling station. The certificates will be retrieved and analysed automatically at a Process Control System or at a Digital Twin.
Limited access to the object of relevance is often an essential problem in testing routines, e.g. for non-destructive testing of industry facilities or components of means of transportation. The presented project is about the development of a non-destructive testing method for application over great distances (up to 100 m). The method is based on directed excitation and measuring of Lamb waves (guided waves). It enables an effective differentiation of structural and defective indications as well as a classification of different defect types.
The advantage of guided waves is the ability of propagation over great distances. This offers innovative possibilities for the investigation of large or difficult to access constructions. The testing method can be helpful in a broad variety of applications. It is useable for the characterization of plane or cylindrical, thin-walled surfaces of metal or fiber laminated materials. Particularly the investigation of aircraft wings and other aerospace components as well as the investigation of pipelines are addressed fields of application.
Damages in infrastructure due to moisture amount to billions of Euros every year. For a more predictive structural health monitoring in civil engineering, the detection and monitoring of hazardous moisture in steel reinforced concrete constructions is of high interest. The sensors have to be wireless, elsewise they weaken the concrete cover of the rebars. The lifetime of such constructions is normally decades, thus the sensors have to be battery-free and fully passive. Considering these requirements, passive RFID-based sensors are developed. Communication and energy supply are realized wireless via the electromagnetic field of a RFID transmitter. The passive RFIDbased sensors are embedded into the concrete to enable the monitoring of moisture transport in porous materials. Results of the hydration process are shown.
In the near future, it will be important to adopt innovative approaches and technologies in order to further guarantee the reliability and availability of the highway network. New tools are therefore needed in order 'to obtain in-depth information about the condition of bridges and its development early enough before significant, precarious damage cases occur. In 2011, the research program "Intelligente Brücken (Smart Bridges)" was launched by the BASt together with the BMVI to evolve systems for information and holistic evaluation for bridge structures as a supplement to the current inspection-based maintenance management. Several projects dealt with the topic in the last few years and provided guidelines and a solid basis to move towards a first implementation considering the input of all research projects carried out so far.
Embedded wireless sensor systems for long-term SHM and corrosion detection in concrete components
(2017)
State-of-the-art communication standards like RFID and Bluetooth Low Energy enable the development of sensor systems which can be completely embedded into concrete components for long-term SHM and early damage detection. Objective of the project KonSens which is carried out at BAM is the development, implementation, and validation of sensors for measuring of Parameters relevant for corrosion, like moisture, pH value, and electrical conductivity, inside steel reinforced concrete components. The primarily addressed application is detection and evaluation of corrosion processes in concrete bridges.
In contrast to cable connected sensors, embedded wireless sensors avoid any pathways for Intrusion of moisture and chemicals, e.g., chlorides which could trigger corrosion activity. To allow for long-term, ideally life-time operation, the once embedded sensor systems must work highly energy efficient. One option are passive RFID sensor systems, which work without battery. The energy is transmitted to the system through the electromagnetic field, even to operate sensors. A crucial parameter is the transmission depth in concrete. First experiments with RFID sensors working at frequencies of 13.56 MHz (HF) and 868 MHz (UHF)embedded in concrete specimen resulted positive for transmission depths of up to 13 cm, which is quite promising, considering that corrosion would appear first at the top level of rebars.
A second generation of passive RFID sensor systems has been implemented with improved antenna design. Current experiments using these systems focus on the transmission characteristics in terms of transmission depths and the impact of concrete moisture. Low-energy humidity sensors are used and analysed regarding their capability for measuring the material moisture. Additionally, a relation between transmitted power to the embedded sensor and the moisture content of the concrete specimen caused by energy absorption can be presumed and is under systematic investigation.
Embedded wireless sensor systems for long-term SHM and corrosion detection in concrete components
(2017)
State-of-the-art communication standards like RFID and Bluetooth Low Energy enable the development of sensor systems which can be completely embedded into concrete components for long-term SHM and early damage detection. Objective of the project KonSens which is carried out at BAM is the development, implementation, and validation of sensors for measuring of Parameters relevant for corrosion, like moisture, pH value, and electrical conductivity, inside steel reinforced concrete components. The primarily addressed application is detection and evaluation of corrosion processes in concrete bridges.
In contrast to cable connected sensors, embedded wireless sensors avoid any pathways for intrusion of moisture and chemicals, e.g., chlorides which could trigger corrosion activity. To allow for long-term, ideally life-time operation, the once embedded sensor systems must work highly energy efficient. One option are passive RFID sensor systems, which work without battery. The energy is transmitted to the system through the electromagnetic field, even to operate sensors. A crucial parameter is the transmission depth in concrete. First experiments with RFID sensors working at frequencies of 13.56 MHz (HF) and 868 MHz (UHF) embedded in concrete specimen resulted positive for transmission depths of up to 13 cm, which is quite promising, considering that corrosion would appear first at the top level of rebars.
A second generation of passive RFID sensor systems has been implemented with improved antenna design. Current experiments using these systems focus on the Transmission characteristics in terms of transmission depths and the impact of concrete moisture. Low-energy humidity sensors are used and analysed regarding their capability for measuring the material moisture. Additionally, a relation between transmitted power to the embedded sensor and the moisture content of the concrete specimen caused by energy absorption can be presumed and is under systematic investigation.
Zur Untersuchung der Sicherheit von Behältern für den Transport und die Lagerung von Gefahrstoffen und -gütern werden Fallprüfungen durchgeführt. Die Aufpralldynamik und die strukturmechanischen Einwirkungen auf den Behälter werden mittels Beschleunigungsaufnehmern und Dehnungsmessstreifen erfasst. Dabei kommen derzeit Vielkanalmesssysteme zum Einsatz, die eine Verkabelung jeder einzelnen Messstelle und somit das Mitfallen eines Kabelbaums erfordern, wodurch Probleme bei der Versuchsvorbereitung und Durchführung entstehen. Die Verwendung eines Messsystems mit Datenbus und dezentraler Datenspeicherung bietet diesbezüglich einen vielversprechenden Lösungsansatz.
Remote gas sensors mounted on mobile robots enable the mapping of gas distributions in large or hardly accessible areas. A challenging task, however, is the generation of threedimensional distribution maps from these gas measurements.
Suitable reconstruction algorithms can be adapted, for instance, from the field of computed tomography (CT), but both their performance and strategies for selecting optimal measuring poses must be evaluated. For this purpose simulations are used, since, in contrast to field tests, they allow repeatable conditions. Although several simulation tools exist, they lack realistic models of remote gas sensors. Recently, we introduced a model for a Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor taking into account the conical shape of its laser beam. However, the novel model has not yet been validated with experiments. In this paper, we compare our model with a real sensor device and show that the assumptions made hold.
Remote gas sensors mounted on mobile robots enable the mapping of gas distributions in large or hardly accessible areas. A challenging task, however, is the generation of threedimensional distribution maps from these gas measurements.
Suitable reconstruction algorithms can be adapted, for instance, from the field of computed tomography (CT), but both their performance and strategies for selecting optimal measuring poses must be evaluated. For this purpose simulations are used, since, in contrast to field tests, they allow repeatable conditions. Although several simulation tools exist, they lack realistic models of remote gas sensors. Recently, we introduced a model for a Tunable Diode Laser Absorption Spectroscopy (TDLAS) gas sensor taking into account the conical shape of its laser beam. However, the novel model has not yet been validated with experiments. In this paper, we compare our model with a real sensor device and show that the assumptions made hold.
In Glasfasern eingeschriebene Bragg-Gitter (FBG: fibre-based Bragg gratings) sind über die Verschiebung der Bragg-Wellenlänge in der Lage, Stauchungen und Dehnungen von Glasfasern hochgenau zu erfassen. In Kompositwerkstoffe eingebettete faseroptische Sensoren können Bauteile bezüglich ihrer mechanischen Integrität überwachen und früh-zeitig Informationen über Materialveränderungen gewinnen.
Um die Zuverlässigkeit eines solchen Sensors zu gewährleisten, ist es wichtig, die korrekte Funktion des Sensors im Verbund mit der Werkstoff-Matrix on-line und in-situ sicherzu-stellen. Im Rahmen des DFG-Projekts FAMOS² (FAser-basierter Magneto-Optischer SchichtSensor) wurde ein selbstdiagnosefähiger Schichtsensor entwickelt, der mit Hilfe von magnetostriktiven Aktorschichten aus Nickel bzw. Eisen-Nickel validiert werden kann.
Der FAMOS²-Schichtsensor wird durch ein PVD (physical vapour deposition)/ECD (electro-chemical deposition) Hybridschichtsystem realisiert, das auf dem Fasermantel im Bereich des FBG haftfest, homogen und langzeitfunktional abzuscheiden ist. Dabei wird in einem ersten Schritt ein etwa 100 Nanometer dünnes PVD-Schichtsystem aus Chrom und Kupfer als Haftvermittler auf der Glasfaser bzw. als leitfähige Startschicht für den nachfolgenden ECD-Prozess abgeschieden. Um eine rotationssymmetrische Schich-tabscheidung zu gewährleisten, erfolgt während der PVD-Beschichtung eine Rotation der Glasfasern. In einem zweiten Schritt wird dann unter Verwendung eines klassischen Watts-Elektrolyten in einer speziell entwickelten ebenfalls rotationssymmetrisch aufgebau-ten ECD-Durchströmungszelle dann die etwa 30 Mikrometer dicke, magnetostriktive Ak-torschicht auf dem PVD-Schichtsystem abgeschieden, im Vergleich sowohl reine Nickel-Schichten als auch Nickel-Eisen-Schichten.
Ein äußeres Magnetfeld dehnt die magnetostriktive Aktorschicht und damit auch die Faser reversibel. Diese Dehnung führt zu einer Verschiebung der Bragg-Wellenlänge, welche direkt mit der Stärke eines zu messenden oder zu Validierungszwecken vorgegebenen Magnetfeldes korreliert. Die Anpassung der Beschichtungsverfahren an die Fasergeome-trie und die mechanischen Eigenschaften der Hybridschichten werden hinsichtlich der me-chanischen Integrität des faseroptischen Sensors diskutiert und der Nachweis der Selbst-diagnosefähigkeit erbracht.
This project addresses the application of safe and healthy workplaces in offices, chemical laboratories and other workplaces where indoor air quality plays an important role. The LoRaWAN (Long Range Wide Area Network) is used as a communication interface to make sensor data globally accessible.
The objectives of the project are to create a sensor node and an online and offline system that collects the data from the sensor nodes and stores it on a local server, in a cloud, and also locally on the node to prevent communication failures. An important point in this project is the development of the sensor nodes and the placement of these in the premises, thus no development work is involved in Building the infrastructure.
In this communication a novel concept for pH sensing is introduced which is specifically adapted to monitor carbonation induced corrosion in concrete structures. The method is based on a ratiometric measurement principle, exploiting the pH sensitive colour switching of thymol blue in the basic pH regime and the emissive properties of two different (Zn)CdSe/ZnS core shell quantum dots. The transition point of thymol blue in a Hydrogel D4 matrix was determined to be at around pH 11.6, which fits ideally to the intended application. Next to the fundamental spectroscopic characterization of the ratiometric response, a new design for a sensor head, suitable for the incorporation into concrete matrices is presented. Toward this, a manufacturing process was developed which includes the preparation of a double layer of polymers containing either thymol blue or a quantum dot mixture inside a porous ceramic tube. Results of a proof-of-priciple performance test of the sensor head in solutions of different pH and in cement specimens are presented, with encouraging results paving the way for future field tests in concrete.
Fire Science - Prevention, Assessment and Containment of Hazards using Sensors and NDT-Methods
(2013)
Flammschutz von polymeren Baustoffen: Bewertung von Konzepten auf der Basis von small- scale Cone Calorimeter Untersuchungen. In der Arbeit wurden zwei unterschiedliche Flammschutzkonzepte polymerer Baustoffe mit Hilfe des Cone Calorimeter untersucht und bewertet. Polymer-Schicht-Nanocomposites sind ein neues Konzept für flammgeschützte Werkstoffe, die aus einer Polymermatrix und der Zugabe eines nanoskaligen Schichtsilikat- Additivs von ca. 5 Gew.-% bestehen. Im Brandfall bilden die Schichtsilikate eine Barriere, die den Wärmetransport in das Material bzw. den Stofftransport der Pyrolysegase aus dem Material hemmt. Mit einem Modellsystem wurde gezeigt, dass dieser Barriereeffekt das Brandverhalten hinsichtlich der Flammenausbreitung verbessert, in anderen Brandszenarien aber wirkungslos bleibt. Die Ergebnisse der Cone Calorimeter Untersuchungen wurden mit denen der Entflammbarkeitstests UL 94 und LOI verglichen. Eine Korrelation in Richtung kleiner Probendimensionen (downscale) und in Richtung Phase der Brandentstehung wurde aufgezeigt. Die Anwendung intumeszierender Beschichtungen auf Bauteile verschiedener Art, wie z. B. tragende Stahlkonstruktionen, ist ein etabliertes Brandschutzkonzept. Das intumeszierende Polymermaterial schäumt unter Wärmeeinwirkung auf und bildet eine wärmeisolierende Schicht. Zur Bewertung der Wirkungsweise dieses Polymermaterials wurde ein auf Temperaturmessungen basierendes Verfahren mit dem Cone Calorimeter und für Simulationsrechnung entwickelt. Die Ergebnisse wurden mit denen aus Kleinprüfstanduntersuchungen verglichen. Eine Korrelation in Richtung großer Probendimensionen (upscale) und in Richtung der Phase des voll entwickelten Brandes konnte bis zu einer Temperaturgrenze gezeigt werden.
Ammonia and its reaction products can cause considerable damage of human health and ecosystems, increasing the necessity for reliable and reversible sensors to monitor traces of gaseous ammonia in ambient air directly on-site or in the field. Although various types of gas sensors are available, fluorescence sensors have gained importance due to advantages such as high sensitivity and facile miniaturization.
Here, we present the development of a sensor material for the detection of gaseous ammonia in the lower ppm to ppb range by incorporation of a fluorescent dye, which shows reversible fluorescence modulations as a function of analyte concentration, into a polymer matrix to ensure the accumulation of ammonia. A gas standard generator producing standard gas mixtures, which comply with the metrological traceability in the desired environmentally relevant measurement range, was used to calibrate the optical sensor system. To integrate the sensor material into a mobile device, a prototype of a hand-held instrument was developed, enabling straightforward data acquisition over a long period.
Contamination of natural bodies of water or soil with oils and lubricants (or generally, hydrocarbon derivatives such as petrol, fuels, and others) is a commonly found phenomenon around the world due to the extensive production, transfer, and use of fossil fuels. In this work, we develop a simple system for the on-field detection of total petroleum hydrocarbons (TPHs) in water and soil. The test is based on the measurement of the fluorescence signal emitted by the molecular rotor 2-[ethyl[4-[2-(4-nitrophenyl)ethenyl]phenyl]amino]ethanol (4-DNS-OH). This dye is embedded in a hydrophobic polymeric matrix (polyvinylidene fluoride), avoiding interactions with water and providing a robust support for use in a test strip fashion. Together with the strips, an embedded optical system was designed for fluorescence signal read-out, featuring a Bluetooth low-energy connection to a commercial tablet device for data processing and analysis. This system works for the detection and quantification of TPHs in water and soil through a simple extraction protocol using a cycloalkane solvent with a limit of detection of 6 ppm. Assays in surface and sea waters were conclusive, proving the feasibility of the method for in-the-field operation.
This paper presents first advances in the area of aerial chemical trail following. For that purpose, we equipped a palm-size aerial robot, based on the Crazyflie 2.0 quadrocopter, with a small lightweight metal oxide gas sensor for measuring evaporated ethanol from chemical trails. To detect and localize a 5 cm wide chemical trail, a detection criterion was developed that uses only relative changes in the transient phase of the sensor response. The reduction in signal strength dependence improves the robustness of its application. We tested our setup in first crossing-trail experiments showing that our flying ant robot can correlate an odor hit with the chemical trail within 0.14 m. Principally, this could enable aerial chemical trail following in the future.
This paper presents first advances in the area of aerial chemical trail following. For that purpose, we equipped a palm-size aerial robot, based on the Crazyflie 2.0 quadrocopter, with a small lightweight metal oxide gas sensor for measuring evaporated ethanol from chemical trails. To detect and localize the chemical trail, a novel detection criterion was developed that uses only relative changes in the transient phase of the sensor response, making it more robust in its application. We tested our setup in first crossing-trail experiments showing that our flying ant robot is able to correlate an odor hit with the chemical trail within 0.14 m. Principally, this could enable aerial chemical trail following in the future.
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 toward 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 toward 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.
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.
Eine Reihe von Prüfproblemen in der chemischen Industrie, in Kraftwerksanlagen und in Transportsystemen ist aufgrund schwieriger Zugangsmöglichkeiten nur begrenzt technisch bzw. wirtschaftlich effizient durchführbar. Das hier vorgestellte Projekt beinhaltet die Entwicklung eines Verfahrens der zerstörungsfreien Prüfung über weite Entfernungen (bis zu 100 m), das zum Einsatz in automatisierten Messsystemen bzw. zur Integration in Langzeitüberwachungssysteme geeignet ist. Grundlage des Verfahrens ist die gezielte Anregung und Auswertung von Lamb-Wellenmoden, wodurch eine effektive Unterscheidung von Fehler- und Formanzeigen sowie eine Klassifizierung unterschiedlicher Fehlertypen möglich werden.
Der Vorteil der Nutzung geführter Wellen für die zerstörungsfreie Prüfung liegt in ihrer vergleichsweise guten Ausbreitungsfähigkeit über weite Entfernungen. Die sich daraus ergebenden Möglichkeiten der Untersuchung großer bzw. schwer zugänglicher Bereiche einer Struktur bieten innovative Ansätze für die Entwicklung robuster Structural-Health-Monitoring-Systeme (SHM). Erst durch die Verfügbarkeit leistungsfähiger Rechentechnik wird ein breiter Einsatz derartiger Verfahren möglich. Die Technik kann zur Materialcharakterisierung an ebenen bzw. zylindrischen, dünnwandigen Flächen aus Metall oder auch CFK genutzt werden. Adressierte Anwendungsfelder sind z.B. die Untersuchung von Flugzeugtragflächen oder Pipelines. Des Weiteren wird der Einsatz solcher Verfahren zur Überwachung sicherheitsrelevanter Bauteile z.B. aus Laminaten angestrebt, wie sie verstärkt in der Luft- und Raumfahrt Anwendung finden. Im Rahmen des Projekts wurde auf Grundlage vorhandener Technik (Wellenanregung mittels Ultraschall-Gruppenstrahlprüfköpfen) ein umfassendes Verständnis für die Technologie und anwendungsrelevante Parameter (Probenmaterial und -dimensionen, Welleneigenschaften, Anregungs-, Transmissions-, Reflektionscharakteristika) gewonnen und Algorithmen zur Erkennung von Schädigungsbildern (z.B. Riss, Loch, Verdünnung) entwickelt.
Neben der Algorithmusentwicklung zur Detektion und Analyse von Schadstellen, lag ein Projektschwerpunkt in der Entwicklung einer geeigneten Gerätetechnik. Als sensorisches Elemente wurde Ultraschall-Gruppenstrahlertechnik eingesetzt. Besondere Anforderungen werden an die Technik zur Anregung der Wellenmoden unter Verwendung geeigneter Piezoaktoren gestellt. In diesem Bereich existiert bislang keine kommerziell erhältliche Gerätelösung, weshalb eine Neuentwicklug der Anregetechnik realisiert wurde. Speziell für die hohe Anzahl an Aktorkanälen, die benötigt wird, um unterschiedliche Moden und Wellenformen anzuregen, wurde eine äußerst leistungsfähige Anregeeinheit entwickelt.
This paper deals with the development and investi-gation of a volatile organic compound (VOC) system for differ-ent scenarios. The integrated multi-sensor unit can detect dif-ferent gases through the integrated 3-fold VOC sensor, where-by a continuous measurement takes place. The system-integrated flow control, with pump and flow sensor, allows the gas molecules to be transported directly to the VOC sensor. The entire measurement is permanently stored on an integrat-ed Secure Digital (SD) card. If the previously determined limit range is exceeded, an alarm is generated. Due to the combina-tion of different components, numerous applications are possi-ble. The system is the first step or a tool towards further devel-opments in the field of gas sensors and is primarily used for the validation of chemically based gas sensors, and it is still largely extended by application-specific influences.
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.
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.
Strain and acceleration measurement during high dynamic drop tests, e.g., of containments for dangerous goods is performed using high speed multichannel measuring systems. So far established and operated systems need a cable connection of every strain gauge and acceleration sensor with the measuring device, often counting up to a number of more than 100 cables, corresponding to the number of applied sensors. The result is a massive cable harness consisting of all single cables, which is difficult to handle and causes a number of practical problems. An innovative approach is proposed by using a single cable measuring system, consisting of measuring modules with data bus connection and local data acquisition. Promising results were presented in a previous study. This paper follows up with additional results from full-scale testing of a further enhanced single cable system for the application in drop tests.
The measurement characteristics of every conventional accelerometer are temperature dependent - often to an extent which is highly relevant for the addressed application. For instance, at BAM Container drop tests are performed to investigate and evaluate the structural integrity of Containers for transport and storage of dangerous goods. Often, the test program includes drop tests at specific temperatures, also as part of approval procedures. The applied sensors are exposed to these test conditions and get influenced by them. Acceleration sensors show a considerable temperature influence on their fünction and characteristics. Particularly the damping mechanism of the seismic mass is a critical part. In regard to such applications, capable equipment and methods are required to consider and investigate this aspect in an adequate way. A fortiori as Manufacturer’s infonnation often is deficient. This study presents the setup and results of a method for testing and calibration of acceleration sensors under high dynamic irnpact. It combines a Hopkinson Bar with a temperature chamber.
IMS trägt zur Luftfrachtsicherheit bei Luftsicherheitsgesetze verpflichten Luftsicherheitsbehörden, Flughafenbetreiber und Fluggesellschaften umfassende Sicherheitsmaßnahmen auf den Flughäfen zu ergreifen, um Gefahren z. B. durch potenziell gefährliche Frachtgüter zu erkennen. Von der Europäische Zivilluftfahrt-Konferenz (ECAC) zertifizierte IMS-Geräte werden vor Ort an den Kontrollpunkten orthogonal zur Radiologie eingesetzt, um chemische Informationen von verdächtiger Fracht über Gefahrstoffe wie Sprengstoffe oder Drogen vor dem Verladen zu erhalten.
Vor der Detektion von Sprengstoffen beginnt die Untersuchung eines verdächtigen Objekts mit der Probenahme mittels Wischprobensammlern. Eine Luftsicherheitskontrollkraft wischt dabei Oberflächen des Objekts mit einem Probensammler ab, um Partikel von Gefahrstoffen zu sammeln. Der beladene Probensammler wird anschließend in einen Probeneinlass eingeführt. Nach thermischer Desorption der gesammelten Stoffe erhält der Bediener (z. B. Luftsicherheitskontrollkraft) ein boolesches Ergebnis - "Alarm" oder "Kein Alarm".
Verfahren und Ergebnisse
In dieser Studie wurden drei Verfahren mit vier ECAC-zertifizierten ETD-Geräten zur Identifizierung und Beurteilung der Probenahme (PN) entwickelt:
I) direkte PN durch lösemittelbasierten Auftrag einer bekannten Sprengstoffmenge auf einem Probensammler,
II) Auftrag einer bekannten Menge eines gelösten Sprengstoffs auf einem 10 cm × 10 cm Substrat (Aluminium, Papier, Eisen und Polyvinylchlorid) und manuelle PN nach Lösemittelverdampfung,
III) lösemittelbasierter Sprengstoffauftrag auf eine PTFE- oder PTFE-beschichtete Glasfaseroberfläche, nach Lösemittelverdunstung trockene Übertragung auf das zu beprobende Substrat zur PN.
Der Zusammenhang zwischen vorgelegter Sprengstoffmenge und der Detektionswahrscheinlichkeit (POD) erfolgt durch Anwendung des binären Regressionsverfahrens mit einer Logit-Funktion:
POD=1/(1+exp(-A(m-B)) )·100%
Dabei entspricht m der vorgelegten Sprengstoffmasse bis 1000 ng, Parameter A / ng-1 der logistischen Wachstumsrate der Kurve und Parameter B / ng dem m-Wert des Mittelpunktes des Sigmoids. Die Bestimmung der Parameter wurde nach der Methode der kleinsten Quadrate berechnet.
Das entwickelte Messunsicherheitsmodell kombiniert quantitative Ergebnisse aus Stammlösung und deren Verdünnungen sowie Stoffauftrag und qualitative Ergebnisse nach Anzeige "Alarm" oder "Kein Alarm". Dieses Auswerteverfahren wurde auf die Probenahme angewandt. Identifizierte Unsicherheitsursachen sind die Durchführung der Wischprobenahme, Staub, Lösemitteleffekte und die Unsicherheit bei der Herstellung von Testlösungen.
BAM is the German Federal Institute for Materials Research and Testing and the competent authority for mechanical and thermal safety assessment of transport packages for spent fuel and high level waste. In context with safety assessment of RAM packages BAM performed numerous drop tests in the last decades. The tests were mostly accompanied by extensive and various measurement techniques especially by instrumented measurements with strain gages and accelerometers. The procedure of drop testing and the resulting measurement analysis are the main methods to evaluate the safety against mechanical test conditions. Measurement techniques are dedicated to answer questions in regard to the structural integrity of a RAM package, the mechanical behavior of the prototype as well as of its content under impact conditions.
Test results like deceleration-time functions constitute a main basis for the validation of assumptions in the safety analysis and for the evaluation of numerical calculations. In this context the adequate selection of accelerometers and measurement systems for the performance of drop tests is important. Therefore it is not only necessary to find suitable positions for the accelerometers at the test specimens, but also to consider technical boundary conditions as e.g. temperature.
Implementation and validation of robot-enabled embedded sensors for structural health monitoring
(2024)
In the past decades, structural health monitoring (SHM) has matured into a viable supplement to regular inspections, facilitating the execution of repair and maintenance work in the early stages of structural damage. With the advent of wireless technologies and advancements in information and communication technologies, civil infrastructure has been increasingly instrumented with wireless sensor nodes to record, analyze, and communicate data relevant to SHM. A promising method for SHM is to embed sensors directly into concrete for recording SHM data from inside structural elements. In this paper, a sensor system for embedment into concrete is proposed, able to assess SHM data recorded from concrete. Power is supplied to the sensors on-demand by quadruped robots, which also collect the SHM data via radio-frequency identification (RFID), providing an automated and efficient SHM process. In laboratory experiments, the capability of the sensor system of automatically collecting the SHM data using quadruped robots is validated. In summary, the integration of RFID technology and robot-based inspection presented in this study demonstrates a vital approach to evolve current SHM practices towards more digitalized and automated SHM.
In this paper, we introduce a nano aerial robot swarm for Indoor Air Quality (IAQ) monitoring applications such as occupational health and safety of (industrial) workplaces. The robotic swarm is composed of nano Unmanned Aerial Vehicles (UAVs), based on the Crazyflie 2.0 quadrocopter, and small lightweight Metal Oxide (MOX) gas sensors for measuring the Total Volatile Organic Compound (TVOC), which is a measure for IAQ. An indoor localization and positioning system is used to estimate the absolute 3D position of the swarm similar to GPS. A test scenario was built up to validate and optimize the swarm for the intended applications. Besides calibration of the IAQ sensors, we performed experiments to investigate the influence of the rotor downwash on the gas measurements at different altitudes and compared them with stationary measurements. Moreover, we did a first evaluation of the gas distribution mapping performance. Based on this novel IAQ monitoring concept, new algorithms in the field of Mobile Robot Olfaction (MRO) are planned to be developed exploiting the abilities of an aerial robotic swarm.
In this paper, we introduce a nano aerial robot swarm for Indoor Air Quality (IAQ) monitoring applications such as occupational health and safety of (industrial) workplaces. The robotic swarm is composed of nano Unmanned Aerial Vehicles (UAVs), based on the Crazyflie 2.0 quadrocopter, and small lightweight Metal Oxide (MOX) gas sensors for measuring the Total Volatile Organic Compound (TVOC), which is a measure for IAQ. An indoor localization and positioning system is used to estimate the absolute 3D position of the swarm similar to GPS. A test scenario was built up to validate and optimize the swarm for the intended applications. Besides calibration of the IAQ sensors, we performed experiments to investigate the influence of the rotor downwash on the gas measurements at different altitudes and compared them with stationary measurements. Moreover, we did a first evaluation of the gas distribution mapping performance. Based on this novel IAQ monitoring concept, new algorithms in the field of Mobile Robot Olfaction (MRO) are planned to be developed exploiting the abilities of an aerial robotic swarm.
Polymeric intumescent coatings are fire protective materials that increase their thermal resistance when exposed to high temperatures to prevent building structures from damage. The idea of the investigation was to develop a simple test method to determine the time dependent thermal conductivity of intumescent coatings. Therefore steel plates were coated with two different intumescent systems. During cone calorimeter tests the temperature at the back side of the coated plates was measured. These results were used to calculate the time dependent thermal resistance of the protective layer with the simulation program IOPT2D for different external heat fluxes and different layer thickness.
One challenge associated with navigating a nano aerial robot swarm indoors in unstructured environments is, i.a., the limited air space. To avoid an over-regulation of the available indoor air space (e.g., prohibit copters to fly above each other), a safety region around each copter must be defined. In this paper, we investigate the impact of the downwash of a nano-drone on the stability of another nearby nano-drone. In the experiments, we found out that this downwash has a negative influence of a second nano-drone in a distance of around 1 m vertically and 0.2 m horizontally. Based on the obtained data, we developed a model describing the above-mentioned safety region to enable a safe operation of the swarm in these environments with fewer constraints.
Using a swarm of copter-based gas-sensitive aerial nano robots for monitoring indoor air quality is challenging due to, e.g., limited air space in buildings. To avoid an over-regulation of the available indoor air space (e.g., prohibit copters to fly above each other), a safety region around each copter must be defined to guarantee a safe operation of the swarm.
The key contributions of this paper are the realization of experiments that investigate the influence of the rotor downwash on flying vertically displaced nano robots and the development of a model describing the above-mentioned safety region.