| 1. |
- Hüllmann, Dino, 1988-, et al.
(författare)
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Experimental Validation of the Cone-Shaped Remote Gas Sensor Model
- 2019
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Ingår i: 2019 IEEE SENSORS. - : IEEE. - 9781728116341
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Konferensbidrag (refereegranskat)abstract
- 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 three-dimensional 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.
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| 2. |
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| 3. |
- Neumann, Patrick, et al.
(författare)
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An artificial potential field based sampling strategy for a gas-sensitive micro-drone
- 2011
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Konferensbidrag (refereegranskat)abstract
- This paper presents a sampling strategy for mobile gas sensors. Sampling points are selected using a modified artificial potential field (APF) approach, which balances multiple criteria to direct sensor measurements towards locations of high mean concentration, high concentration variance and areas for which the uncertainty about the gas distribution model is still large. By selecting in each step the most often suggested close-by measurement location, the proposed approach introduces a locality constraint that allows planning suitable paths for mobile gas sensors. Initial results in simulation and in real-world experiments witha gas-sensitive micro-drone demonstrate the suitability of the proposed sampling strategy for gas distribution mapping and its use for gas source localization.
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| 4. |
- Neumann, Patrick, et al.
(författare)
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Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms
- 2013
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Ingår i: Advanced Robotics. - : Informa UK Limited. - 0169-1864 .- 1568-5535. ; 27:9, s. 725-738
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Tidskriftsartikel (refereegranskat)abstract
- 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 proposesan integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-basedplume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitivemicro-drone. We compare the performance of the proposed system in simulations and real-world experiments againsttwo commonly used tracking algorithms adapted for aerial exploration missions.
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| 5. |
- Neumann, Patrick, et al.
(författare)
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Monitoring of CCS areas using micro unmanned aerial vehicles (MUAVs)
- 2013
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Ingår i: Energy Procedia. - : Elsevier BV. - 1876-6102. ; 37, s. 4182-4190
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Tidskriftsartikel (refereegranskat)abstract
- Carbon capture & storage (CCS) is one of the most promis ing technologies for greenhouse gas (GHG) management.However, an unsolved issue of CCS is the development of appropriate long-term monitoring systems for leakdetection of the stored CO2. To complement already existing monitoring infrastructure for CO2 storage areas, and toincrease the granularity of gas concentration measurements, a quickly deployab le, mobile measurement device isneeded. In this paper, we present an autonomous gas-sensitive micro-drone, which can be used to monitor GHGemissions, more specifically, CO2. Two different measurement strategies are proposed to address this task. First, theuse of predefined sensing trajectories is evaluated for the task of gas distribution mapping using the micro-drone.Alternatively, we present an adaptive strategy, which suggests sampling points based on an artific ial potential field(APF). The results of real-world experiments demonstrate the feas ibility of using gas-sensitive micro-drones for GHG monitoring missions. Thus, we suggest a multi-layered surveillance system for CO2 storage areas.
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| 6. |
- Neumann, Patrick P., et al.
(författare)
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A Probabilistic Gas Patch Path Prediction Approach for Airborne Gas Source Localization in Non-Uniform Wind Fields
- 2014
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Ingår i: Sensor Letters. - Valencia, USA : American Scientific Publishers. - 1546-198X .- 1546-1971. ; 12:6-7, s. 1113-1118
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we show that a micro unmanned aerial vehicle (UAV) equipped with commercially available gas sensors can addressenvironmental 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 thesuitability of this algorithm for micro UAV platforms.
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| 7. |
- Neumann, Patrick P., et al.
(författare)
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Aerial-based gas tomography : from single beams to complex gas distributions
- 2019
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Ingår i: European Journal of Remote Sensing. - London : Taylor & Francis. - 2279-7254. ; 52:Sup. 3, s. 2-16
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we present and validate the concept of 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) gas sensor with a 3-axis aerial stabilization gimbal for aiming at a versatile octocopter. While the TDLAS sensor provides integral gas concentration measurements, it does not measure the distance traveled by the laser diode?s beam nor the distribution of gas along the optical path. Thus, we complement the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from a set of integral concentration measurements. To allow for a fundamental 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 results showing its performance characteristics and 2D plume reconstruction capabilities under realistic conditions. 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).
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| 8. |
- Neumann, Patrick P., et al.
(författare)
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Autonomous gas-sensitive microdrone wind vector estimation and gas distribution mapping
- 2012
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Ingår i: IEEE robotics & automation magazine. - : Institute of Electrical and Electronics Engineers (IEEE). - 1070-9932 .- 1558-223X. ; 19:1, s. 50-61
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Tidskriftsartikel (refereegranskat)abstract
- This article presents the development and validation of an autonomous, gas sensitive microdrone that is capable of estimating the wind vector in real time using only the onboard control unit of the microdrone and performing gas distribution mapping (DM). Two different sampling approaches are suggested to address this problem. On the one hand, a predefined trajectory is used to explore the target area with the microdrone in a real-world gas DM experiment. As an alternative sampling approach, we introduce an adaptive strategy that suggests next sampling points based on an artificial potential field (APF). Initial results in real-world experiments demonstrate the capability of the proposed adaptive sampling strategy for gas DM and its use for gas source localization.
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| 9. |
- Neumann, Patrick P., et al.
(författare)
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Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring
- 2018
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Ingår i: 35th Danubia-Adria Symposium on Advances in Experimental Mechanics. - Bukarest, Romania. - 9786062308742 ; , s. 139-140
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Konferensbidrag (refereegranskat)abstract
- 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.
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| 10. |
- Neumann, Patrick P., et al.
(författare)
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Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring
- 2019
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Ingår i: Materials Today. - Amsterdam, Netherlands : Elsevier. - 2214-7853. ; 12:2, s. 470-473
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we introduce a nano aerial robot swarm for indoor air quality monitoring applications such as occupational health and safety of (industrial) workplaces. The concept combines a robotic swarm composing of nano Unmanned Aerial Vehicles (nano UAVs), based on the Crazyflie 2.0 quadrocopter, and small lightweight metal oxide gas sensors for measuring the Total Volatile Organic Compound (TVOC) in ppb and estimating the eCO2 (equivalent calculated carbon-dioxide) concentration in ppm. TVOC is a measure for the indoor air quality. An indoor localization and positioning system will be used to estimate the absolute 3D position of the swarm like GPS. Based on this novel indoor air quality monitoring concept, the development and validation of new algorithms in the field of Mobile Robot Olfaction (MRO) are planned, namely gas source localization and gas distribution mapping. A test scenario will be built up to validate and optimize the gas-sensitive nano aerial robot swarm for the intended applications.
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| 11. |
- Neumann, Patrick P., et al.
(författare)
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From Insects to Micro Air Vehicles : A Comparison of Reactive Plume Tracking Strategies
- 2016
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Ingår i: Intelligent Autonomous Systems 13. - Cham : Springer. - 9783319083384 - 9783319083377 ; , s. 1533-1548
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Konferensbidrag (refereegranskat)abstract
- 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.
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| 12. |
- Neumann, Patrick P., et al.
(författare)
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Indoor Air Quality Monitoring using flying Nanobots : Design and Experimental Study
- 2019
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Ingår i: ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN). - : IEEE. - 9781538683279 - 9781538683286 ; , s. 1-3
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Konferensbidrag (refereegranskat)abstract
- 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.
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