Analytische Chemie
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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.
Gasquellenlokalisierungen (Gas Source Localization, GSL) tragen dazu bei, die Folgen von Industrieunfällen und Naturkatastrophen zu mildern. Während die GSL, wenn von Menschen durchgeführt, gefährlich und zeitaufwändig ist, können Schwärme von wendigen und kostengünstigen Nanodrohnen die Effizienz und Sicherheit der Suche erhöhen. Da die geringe Nutzlast von Nanodrohnen die Sensor- und Rechenressourcen einschränkt, werden Strategien zur Koordination des Roboterschwarms verwendet, die von biologischen Schwärmen, wie Kolonien sozialer Insekten, inspiriert sind. Die meisten Schwarm-GSL-Strategien verwenden das Maximum der Gaskonzentrationsverteilung zur Schätzung der Gasquellenposition. Experimente legen jedoch nahe, dass die Intermittenz der Gasverteilung vielversprechender ist. In diesem Beitrag wird eine neuartige GSL-Strategie für Schwärme vorgestellt, die auf Pheromonkommunikation und Intermittenz der Gasverteilung basiert. Die Agenten, d.h. die Nanodrohnen, emittieren Pheromonmarker in einer virtuellen Umgebung, wenn sie eine neue Gaswolke feststellen. Die Agenten werden durch virtuelle Kräfte gesteuert und nutzen abwechselnd das Wissen des Schwarms, indem sie dem Pheromongradienten folgen, oder erkunden den Suchraum, indem sie einen Zufallspunkt ansteuern. Zur Kollisionsvermeidung werden die Agenten durchgehend von anderen Agenten und Wänden abgestoßen. Die Strategie wurde auf drei Nanodrohnen implementiert und durch ein Experiment in einem Innenraum mit einer statischen Gasquelle validiert. Die Ergebnisse zeigen eine Verbesserung gegenüber maximabasierten Verfahren und geringe Lokalisierungsfehler in Windrichtung.
Gas source localization (GSL) helps mitigate the impact of industrial accidents and natural disasters. While GSL may be dangerous and time-consuming when performed by humans, swarms of agile and inexpensive nano aerial robots may increase the safety and efficiency of gas source localizations. Since the small payloads of nano aerial robots limit the sensing and computing resources, strategies adapted from biological swarms, such as colonies of social insects, are used to coordinate robot swarms. Most swarm GSL strategies are based on the assumption that the maxima of gas concentrations are sufficiently close to the gas sources. However, prior studies have indicated that the occurrence of “bouts”, a metric for the intermittency of gas distributions, may advantageously be used as a more accurate gas source proximity indicator. This paper presents a swarm GSL strategy employing bouts as source proximity indicators and a bio-inspired pheromone system for communication. Nano aerial robots, deployed in this study, act as agents and emit pheromone markers in an artificial environment upon detecting bouts. Leveraging the concept of artificial potential fields, the agents switch between exploiting the knowledge of the swarm by following pheromone gradients and exploring the search space by targeting a random point. The agents are repelled by each other and by walls to avoid collisions. The swarm GSL strategy is implemented into three nano aerial robots and validated in a real-world experiment in an indoor environment with a single gas source. The results indicate that the the swarm GSL strategy presented in this paper is capable of GSL in indoor environments and that the intermittency of gas distributions is a better source proximity indicator than the mean concentration.
Robotic Measurement System Concept for Greenhouse Gas Tomography in Wastewater Treatment Plants
(2023)
This paper introduces a conceptual framework for a greenhouse gas (GHG) measurement system designed for wastewater treatment plants (WWTPs). The emphasis is on accurate gas tomography measurements of emissions, crucial for national emission assessments. The proposed system is movable, semi-autonomous, and employs a combination of ground and air robots equipped with integral remote gas sensors and in-situ sensors. The proposed two/two configuration ensures comprehensive coverage of WWTPs, overcoming obstacles. The system concept lays the foundation for future implementation and evaluation, addressing the need for enhanced understanding of GHG emissions from WWTPs.
Robotic Measurement System Concept for Greenhouse Gas Tomography in Wastewater Treatment Plants
(2023)
This paper introduces a conceptual framework for a robotic greenhouse gas (GHG) measurement system designed for wastewater treatment plants (WWTPs). The emphasis is on accurate gas tomography measurement of emissions, crucial for national emission assessments. The proposed system is movable, semi-autonomous, and employs a combination of ground and air robots equipped with integral remote gas sensors and in-situ sensors. Employing a two/two configuration ensures comprehensive coverage of WWTPs, overcoming obstacles. The system concept lays the foundation for future implementation and evaluation, addressing the need for enhanced understanding of GHG emissions from WWTPs.
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.
Since several years, magnetic sensor elements are available in fully flexible architectures that often reveal identical sensing properties, compared to their rigid counterparts, while being bent severely and repeatedly. Nowadays, a variety of magnetic senor principles, including well known Hall, AMR and GMR but also more exotic PHE and AHE sensors were demonstrated on such flexible platforms. The novel properties of being thin, lightweight, shapeable, and wearable enable magnetic sensory systems to be utilized in vicinities and conditions that are inaccessible for rigid and microchip-based sensors.
Since several years, magnetic sensor elements are available in fully flexible architectures that often reveal identical sensing properties, compared to their rigid counterparts, while being bent severely and repeatedly. Nowadays, a variety of magnetic senor principles, including well known Hall, AMR and GMR but also more exotic PHE and AHE sensors were demonstrated on such flexible platforms. The novel properties of being thin, lightweight, shapeable, and wearable enable magnetic sensory systems to be utilized in vicinities and conditions that are inaccessible for rigid and microchip-based sensors.
The transfer of data for the metrological traceability of measurement results is currently taking place in the form of paper-based calibration certificates, mostly. Especially accredited metrology services providers are often bound to paper certificates by regulatory constrictions and sometimes lack of IT-infrastructure. This analog form of metrology data transfer, however, implies hands-on work, in particular for the certificate receiver, as its key values need to be translated into the device- and quality management (QM) system, manually. With thousands of certificates transferred from accredited calibration labs until the industrial regime, this binds a significant amount of human resources and is a well-known source of errors, thus constricting cost-effective and secure workflows.
This contribution highlights the status of the advancing digital transformation in metrology, on the example of force calibration. Although this appealing initiative is to a large extend driven by German stakeholders, it currently evolves to extend across all Europe and far beyond.
In diesem Beitrag soll die Etablierung von digitalen Kalibrierscheinen als maschineninterpretierbare Ergebnisberichte in akkreditierten Kalibrierlaboren, am Beispiel der Kalibrierung von Widerstandsthermometern nach DKD-R 5-1 aufgezeigt werden. Der DCC-Entwurf basiert auf dem von der PTB entwickelten DCC-Schema für XML-Formate. Vorrangig sollen folgende Aspekte bei der Umsetzung in akkreditierten Kalibrierlaboren beleuchtet werden: Angepasste digitale Workflows und Prozessdarstellungen; Harmonisierung von DCCs nach DKD-R 5-1; Entwicklung der IT-Infrastruktur (Middleware) zur automatisierten Generierung von DCCs; Erfahrungen aus der Pilotierung der DAkkS-eAttestation zum digitalen Nachweis der Akkreditierung; Praktische Umsetzung im Rahmen von QI-Digital.
Dieses Qualitätswerkzeug soll im Gesamtkonzept von QI-Digital zum UseCase Wasserstofftankstelle kurz vorgestellt werden.