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For mobile robots that operate in complex, uncontrolled environments, estimating air flow models can be of great importance. Aerial robots use air flow models to plan optimal navigation paths and to avoid turbulence-ridden areas. Search and rescue platforms use air flow models to infer the location of gas leaks. Environmental monitoring robots enrich pollution distribution maps by integrating the information conveyed by an air flow model. In this paper, we present an air flow modelling algorithm that uses wind data collected at a sparse number of locations to estimate joint probability distributions over wind speed and direction at given query locations. The algorithm uses a novel extrapolation approach that models the air flow as a linear combination of laminar and turbulent components. We evaluated the prediction capabilities of our algorithm with data collected with an aerial robot during several exploration runs. The results show that our algorithm has a high degree of stability with respect to parameter selection while outperforming conventional extrapolation approaches. In addition, we applied our proposed approach in an industrial application, where the characterization of a ventilation system is supported by a ground mobile robot. We compared multiple air flow maps recorded over several months by estimating stability maps using the Kullback-Leibler divergence between the distributions. The results show that, despite local differences, similar air flow patterns prevail over time. Moreover, we corroborated the validity of our results with knowledge from human experts.
In einer Großversuchsserie wurden auf dem BAM-TTS 15 11-kg-Propangasflaschen ohne Sicherheitseinrichtung mit drei verschiedenen Methoden (Holz, Benzinpool, Gas) unterfeuert. Der Beitrag beschreibt die dokumentierten Auswirkungen (z. B. Fragmentierung, Überdruck), die Art des Versagens sowie den Behälterzustand zum Zeitpunkt des Versagens.
The vulnerability of low quality concrete to changing weather conditions is well known. The constant exposure to temperature changes, biological activity, and humidity ends up in damage to buildings and structures which contain this material. It is therefore necessary to take preventive measures to control the extent of the damage done by weathering and possible penetration of adverse chemicals into structures which need public safety.
The Federal Institute for Materials Research and Testing (BAM), in cooperation with the small enterprise LinTech GmbH, is working on a project to monitor humidity changes in concrete by analyzing the changes in signal strength (RSSI) from Bluetooth Low Energy sensors. In this paper, we show results which demonstrate the influence of changing water content in concrete on the received RSSI. We observed that as water content in concrete decreases, the received RSSI improves. However, the damping effect is not linearly proportional to water content, rather exponentially proportional. This suggests that changes in the received signal strength are more easily observed when water content in concrete is higher. Finally, we reconstructed a RSSI distribution map using computed tomography.
Commercial, off-the shelf propane cylinders are subjected to high safety regulations. Furthermore, those cylinders are equipped with safety devices like pressure relief valves (PRV). Despite these regulations and safety measures, a failure of the Container is possible if exposed to an intense fire. The result of this is severe hazard for users, rescue forces and infrastructure. Within the framework of a destructive test series, 15 identical propane cylinders, without pressure relief devices, were exposed to an intensive fire in horizontal Position until failure. Each cylinder was filled with a mass of m =11 kg of liquid propane. Three different fire sources were used (wood, petrol, propane). The experiments revealed the failure of all cylinders in a time period t < 155 s. The failure lead to a fragmentation into several major parts with throwing distances of up to l =262 m. In all trials, the temperature of the cylinder wall (top, side, bottom), of the liquid phase inside and of the surrounding fire (top, side, bottom) was recorded. In addition, the inner cylinder pressure and the induced overpressure of the blast wave after the failure were recorded. Overpressures of up to p=0.27 bar were recorded close to the cylinder (l =5 m). AM tests were documented hy video from several positions (general view, close-up, high-speed 5000 fps). This test series creates the basis for further experimental studies in the field of alternative fuels for vehicles. The aim of this test series is to assess and analyse the consequences of the failure of gas vessels (for LPG, CNG, CGH2) in the aftermath of severe incidents.
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.
15 identical off-the-shelf propane cylinders (m = 11 kg liquid propane) were underfired. The infrared Radiation of the Explosion, that occurred in the aftermath of the vessel failure, was recorded using four bolometers. These measurements are compared with an estimation of the Maximum intensity gained by an Analysis of the Video data, an Extended Version of the Stefan-Boltzmann law and a BLEVE model.
Cable-suspended parallel manipulators have been a topic of research for multiple decades and called special attention in the fields of simulations. However, they are also well-suited for the simple evaluation of aerial-based mobile robot olfaction (MRO) algorithms, such as gas source localization and gas distribution mapping. Based on an open source framework for 3D printers, we designed a low-cost underconstrained, cable-suspended parallel manipulator. Computations are carried out purely on an Atmel ATmega2560 microcontroller.
A set of equations is derived to estimate the 3D wind vector with a multirotor aircraft using the aircraft itself as a flying anemometer. Since the thrust component is required to compute the wind vector, the PWM signal controlling the motors of the aircraft is measured and a transfer function describing the relation between the PWM signal and the rotational speed of the motors is derived.