Analytische Chemie
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Simulating a Gas Source Localization Algorithm with Gas Dispersion Produced by Recorded Outdoor Wind
(2022)
This presentation reports the use of the first gas dispersion simulator capable of generating large wind fluctuation, to test a modification to a gas source localization algorithm and study how the change affects it. Gas source localization at an outdoor environment is a challenging task mainly due to the complexity of the spreading gas caused by the unpredictable nature of constantly changing wind. Therefore, a novel use of outdoor wind in developing a gas source localization system by simulation will be shared. To consider the characteristic of sudden but large and unpredictable changes in wind direction, recorded outdoor wind was used to simulate a realistic outdoor gas dispersion which has been done for the first time. With the use of this simulator, a modification to a mobile robot-based gas source localization algorithm was evaluated. Multiple simulations of the modified and the original algorithm were done to study the effect of the tested modification. The results showed that a small difference in the algorithm can greatly impact the results. From this study, we consider the use of simulation consisting of the necessary traits to evaluate outdoor gas source localization, has the potential to accelerate the development of a reliable localization system.
Simulating a Gas Source Localization Algorithm with Gas Dispersion Produced by Recorded Outdoor Wind
(2023)
This paper reports the use of the first gas dispersion simulator capable of introducing large wind fluctuations into simulations. The proposed simulator enables testing of a modification made to a gas source localization algorithm in a realistic scenario in order to study how the change affects it. Gas source localization in an outdoor environment is a challenging task mainly due to the complexity of the gas spread caused by the unpredictable nature of constantly changing wind. Therefore, a novel use of outdoor wind in developing a gas source localization system by simulation is presented in this paper. To consider the characteristic of sudden but large and unpredictable changes in wind direction, we propose to use recorded outdoor wind to simulate a realistic outdoor gas dispersion which has been done for the first time to the best of our knowledge. With the use of this simulator, we have tested a modification to a mobile robot-based gas source localization algorithm. Multiple simulations of the modified and the original particle filter-based algorithm have been done to study the effect of the tested modification. The results showed that a small difference in the algorithm can greatly impact the results. From this study, we show that the use of simulation consisting of the necessary traits to evaluate outdoor gas source localization, has the potential to accelerate the development of a reliable localization system.
Leaking methane (CH4) from infrastructures, like pipelines, industrial complexes and landfills, or accidental hazardous goods transports is critical for the environment, but can also pose a risk to human life. To enable a fast detection and localisation of these kind of leaks, we developed a novel robotic platform for aerial remote gas sensing. The platform combines an unmanned micro aircraft (UAV), a 3-axis aerial stabilisation gimbal and an open-path gas detector based on the tunable diode laser absorption spectroscopy (TDLAS).
Aerial Robot Olfaction @BAM
(2021)
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 poster 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.
Der Vortrag gibt Beispiele dafür, wie Drohnen sinnvoll im zivilen Bereich eingesetzt werden können. Insbesondere werden die Lokalisierung von Gasemissionsquellen und die Erstellung von Gasverteilungskarten vorgestellt.
In industrial environments, airborne by-products such as dust and (toxic) gases, constitute a major risk for the worker’s health. Major changes in automated processes in the industry lead to an increasing demand for solutions in air quality management. Thus, occupational health experts are highly interested in precise dust and gas distribution models for working environments. For practical and economic reasons, high-quality, costly measurements are often available for short time-intervals only. Therefore, current monitoring procedures are carried out sparsely, both in time and space, i.e., measurement data are collected in single day campaigns at selected locations only. Real-time knowledge of contaminant distributions inside the working environment would also provide means for better and more economic control of air impurities. For example, the possibility to regulate the workspace’s ventilation exhaust locations can reduce the concentration of airborne contaminants by 50%.
To improve the occupational health and safety of (industrial) workplaces, this work aims for developing a swarm of gas-sensitive aerial nano robots for monitoring indoor air quality and for localizing potential emission sources.