search-head

Sie sind hier: Homepage >  Suche

    Aerial-based gas tomography : from single beams to complex gas distributions

    Aerial-based gas tomography : from single beams to complex gas distributions

    Freier Zugriff

    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). ; Funding Agencies: German Federal Ministry for Economic Affairs and Energy (BMWi) within the ZIM program KF2201091HM4 BAM

    Zugriff

    Download

    Exportieren, teilen und zitieren

    Dokumentinformationen

    Titel :

    Aerial-based gas tomography : from single beams to complex gas distributions

    Beteiligte:
    Neumann, Patrick P. (Autor:in) / Hüllmann, Dino (Autor:in) / Krentel, Daniel (Autor:in) / Kluge, Martin (Autor:in) / Dzierliński, Marcin (Autor:in) / Lilienthal, Achim J. (Autor:in) / Bartholmai, Matthias (Autor:in)
    Erscheinungsdatum :

    2019-01-01

    Anmerkungen:

    ISI:000490523700001

    DOI :

    https://doi.org/10.1080/22797254.2019.1640078

    Medientyp :

    Aufsatz (Zeitschrift)

    Format :

    Elektronische Ressource

    Sprache :

    Englisch

    Schlagwörter :

    Aerial robot olfaction , mobile robot olfaction , gas tomography , TDLAS , plume , Remote Sensing , Fjärranalysteknik , Occupational Health and Environmental Health , Arbetsmedicin och miljömedicin , Computer Vision and Robotics (Autonomous Systems) , Datorseende och robotik (autonoma system)

    Klassifikation :

    DDC:    629

    Ähnliche Titel

    Energy distributions in rods and beams

    WOHLEVER, J. / BERNHARD, R. | AIAA | 1989

    Single lamp controller aerial automatic replacement device based on unmanned aerial vehicle platform

    ZHANG YU / LI XIAOMING | Europäisches Patentamt | 2023

    Freier Zugriff

    Single-shaft aerial vehicle

    CAI ZHONGYU | Europäisches Patentamt | 2019

    Freier Zugriff

    COMPLEX OF UNMANNED AERIAL VEHICLES BASED ON AEROSTATIC AIRCRAFT

    IZMAJLOV ANDREJ YUREVICH / LOBACHEVSKIJ YAKOV PETROVICH / KHORT DMITRIJ OLEGOVICH et al. | Europäisches Patentamt | 2019

    Freier Zugriff

    Unmanned aerial vehicle aerial survey system under complex geological conditions

    ZHANG SILIANG / LU HAIYU / LIU MENG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Zugriff

    Download

    Seitennavigation

    Dokumentinformationen

    Ähnliche Titel

    Exportieren, teilen und zitieren