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Hüllmann, Dino
Publications (10 of 14) Show all publications
Hüllmann, D., Neumann, P. P., Monroy, J. & Lilienthal, A. J. (2019). A Realistic Remote Gas Sensor Model for Three-Dimensional Olfaction Simulations. In: ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN): . Paper presented at 2019 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), Fukuoka, japan, mMy 26-29, 2019. IEEE, Article ID 8823330.
Open this publication in new window or tab >>A Realistic Remote Gas Sensor Model for Three-Dimensional Olfaction Simulations
2019 (English)In: ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2019, article id 8823330Conference paper, Published paper (Refereed)
Abstract [en]

Remote gas sensors like those based on the Tunable Diode Laser Absorption Spectroscopy (TDLAS) enable mobile robots to scan huge areas for gas concentrations in reasonable time and are therefore well suited for tasks such as gas emission surveillance and environmental monitoring. A further advantage of remote sensors is that the gas distribution is not disturbed by the sensing platform itself if the measurements are carried out from a sufficient distance, which is particularly interesting when a rotary-wing platform is used. Since there is no possibility to obtain ground truth measurements of gas distributions, simulations are used to develop and evaluate suitable olfaction algorithms. For this purpose several models of in-situ gas sensors have been developed, but models of remote gas sensors are missing. In this paper we present two novel 3D ray-tracer-based TDLAS sensor models. While the first model simplifies the laser beam as a line, the second model takes the conical shape of the beam into account. Using a simulated gas plume, we compare the line model with the cone model in terms of accuracy and computational cost and show that the results generated by the cone model can differ significantly from those of the line model.

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
gas detector, remote gas sensor, sensor modelling, TDLAS, gas dispersion simulation
National Category
Remote Sensing Robotics
Identifiers
urn:nbn:se:oru:diva-76220 (URN)10.1109/ISOEN.2019.8823330 (DOI)2-s2.0-85072976677 (Scopus ID)978-1-5386-8327-9 (ISBN)978-1-5386-8328-6 (ISBN)
Conference
2019 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), Fukuoka, japan, mMy 26-29, 2019
Available from: 2019-09-11 Created: 2019-09-11 Last updated: 2020-02-06Bibliographically approved
Neumann, P. P., Hüllmann, D., Krentel, D., Kluge, M., Dzierliński, M., Lilienthal, A. J. & Bartholmai, M. (2019). Aerial-based gas tomography: from single beams to complex gas distributions. European Journal of Remote Sensing, 52(Sup. 3), 2-16
Open this publication in new window or tab >>Aerial-based gas tomography: from single beams to complex gas distributions
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2019 (English)In: European Journal of Remote Sensing, ISSN 2279-7254, Vol. 52, no Sup. 3, p. 2-16Article in journal (Refereed) Published
Abstract [en]

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).

Place, publisher, year, edition, pages
London: Taylor & Francis, 2019
Keywords
Aerial robot olfaction, mobile robot olfaction, gas tomography, TDLAS, plume
National Category
Remote Sensing Occupational Health and Environmental Health Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:oru:diva-76009 (URN)10.1080/22797254.2019.1640078 (DOI)000490523700001 ()
Note

Funding Agencies:

German Federal Ministry for Economic Affairs and Energy (BMWi) within the ZIM program  KF2201091HM4

BAM 

Available from: 2019-09-02 Created: 2019-09-02 Last updated: 2020-02-05Bibliographically approved
Neumann, P. P., Hüllmann, D. & Bartholmai, M. (2019). Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring. Paper presented at 35th Danubia Adria Symposium on Advances in Experimental Mechanics (DAS), Sinaia, Romania, September 25-28, 2018. Materials Today: Proceedings, 12(2), 470-473
Open this publication in new window or tab >>Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring
2019 (English)In: Materials Today: Proceedings, E-ISSN 2214-7853, Vol. 12, no 2, p. 470-473Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
Amsterdam, Netherlands: Elsevier, 2019
Keywords
Nano aerial robot, UAV, Swarm, Indoor air quality, Monitoring, Concept
National Category
Occupational Health and Environmental Health
Identifiers
urn:nbn:se:oru:diva-76008 (URN)10.1016/j.matpr.2019.03.151 (DOI)000468465100041 ()2-s2.0-85058319587 (Scopus ID)
Conference
35th Danubia Adria Symposium on Advances in Experimental Mechanics (DAS), Sinaia, Romania, September 25-28, 2018
Available from: 2019-09-02 Created: 2019-09-02 Last updated: 2019-11-15Bibliographically approved
Hüllmann, D., Kohlhoff, H., Erdmann, J. & Neumann, P. P. (2019). Control of a spherical parallel manipulator. Paper presented at 35th Danubia Adria Symposium on Advances in Experimental Mechanics (DAS), Sinaia, Romania, September 25-28, 2018. Materials Today: Proceedings, 12(2), 423-430
Open this publication in new window or tab >>Control of a spherical parallel manipulator
2019 (English)In: Materials Today: Proceedings, E-ISSN 2214-7853, Vol. 12, no 2, p. 423-430Article in journal (Refereed) Published
Abstract [en]

In mobile robot applications, some sensors such as open-path gas detectors or laser rangefinders need to be aimed at specific targets in order to get the desired measurements. To do this in a fast and elegant manner, we present a spherical parallel manipulator with three degrees of freedom. Compared to typical serial manipulators, it offers superior dynamics and structural stiffness, which are important parameters for this type of task. We present the mechanical design and derive kinematic equations both to compute set-points for the desired orientation and to estimate the current state of the system. A PID controller is used to generate control signals.

Place, publisher, year, edition, pages
Amsterdam, Netherlands: Elsevier, 2019
Keywords
Spherical parallel manipulator, Sensor orientation, Sensor alignment, Sensor aiming
National Category
Applied Mechanics
Research subject
Mechanical Engineering
Identifiers
urn:nbn:se:oru:diva-76005 (URN)10.1016/j.matpr.2019.03.145 (DOI)000468465100035 ()
Conference
35th Danubia Adria Symposium on Advances in Experimental Mechanics (DAS), Sinaia, Romania, September 25-28, 2018
Note

Funding Agency:

German Federal Ministry for Economic Affairs and Energy (BMWi)

Available from: 2019-09-02 Created: 2019-09-02 Last updated: 2019-11-15Bibliographically approved
Hüllmann, D., Neumann, P., Scheuschner, N., Bartholmai, M. & Lilienthal, A. J. (2019). Experimental Validation of the Cone-Shaped Remote Gas Sensor Model. In: 2019 IEEE SENSORS: . Paper presented at IEEE Sensors 2019, Montreal, Canada, October 27 - 30, 2019.
Open this publication in new window or tab >>Experimental Validation of the Cone-Shaped Remote Gas Sensor Model
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2019 (English)In: 2019 IEEE SENSORS, 2019Conference paper, Published paper (Refereed)
Abstract [en]

Remote gas sensors mounted on mobile robotsenable the mapping of gas distributions in large or hardlyaccessible areas. A challenging task, however, is the generation ofthree-dimensional distribution maps from the gas measurements.Suitable reconstruction algorithms can be adapted, for instance,from the field of computed tomography (CT), but both theirperformance and strategies for selecting optimal measuring posesmust be evaluated. For this purpose simulations are used, since, incontrast to field tests, they allow repeatable conditions. Althoughseveral simulation tools exist, they lack realistic models of remotegas sensors. Recently, we introduced a model for a Tunable DiodeLaser Absorption Spectroscopy (TDLAS) gas sensor taking intoaccount the conical shape of its laser beam. However, the novelmodel has not yet been validated with experiments. In this paperwe compare our model with a real sensor device and show thatthe assumptions made hold.

Keywords
Remote gas sensor model, TDLAS, gas dispersion simulation
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
urn:nbn:se:oru:diva-79742 (URN)10.1109/SENSORS43011.2019.8956613 (DOI)2-s2.0-85078700634 (Scopus ID)978-1-7281-1634-1 (ISBN)
Conference
IEEE Sensors 2019, Montreal, Canada, October 27 - 30, 2019
Available from: 2020-02-03 Created: 2020-02-03 Last updated: 2020-02-07Bibliographically approved
Hüllmann, D., Neumann, P. P. & Lilienthal, A. J. (2019). Gas Dispersion Fluid Mechanics Simulation for Large Outdoor Environments. In: 36th Danubia Adria Symposium on Advances in Experimental Mechanics: Extended Abstracts. Paper presented at 36th Danubia Adria Symposium on Advances in Experimental Mechanics, Plzeň, Czech Republic, 24–27 September 2019 (pp. 49-50). Pilsen, Czech Republic: Danubia-Adria Symposium on Advances in Experimental Mechanics
Open this publication in new window or tab >>Gas Dispersion Fluid Mechanics Simulation for Large Outdoor Environments
2019 (English)In: 36th Danubia Adria Symposium on Advances in Experimental Mechanics: Extended Abstracts, Pilsen, Czech Republic: Danubia-Adria Symposium on Advances in Experimental Mechanics , 2019, p. 49-50Conference paper, Oral presentation with published abstract (Refereed)
Abstract [en]

The development of algorithms for mapping gas distributions and localising gas sources is a challenging task, because gas dispersion is a highly dynamic process and it is impossible to capture ground truth data. Fluid-mechanical simulations are a suitable way to support the development of these algorithms. Several tools for gas dispersion simulation have been developed, but they are not suitable for simulations of large outdoor environments. In this paper, we present a concept of how an existing simulator can be extended to handle both indoor and large outdoor scenarios.

Place, publisher, year, edition, pages
Pilsen, Czech Republic: Danubia-Adria Symposium on Advances in Experimental Mechanics, 2019
Keywords
Gas dispersion simulation, CFD, gas tomography
National Category
Robotics Remote Sensing Fluid Mechanics and Acoustics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-77198 (URN)978-80-261-0876-4 (ISBN)
Conference
36th Danubia Adria Symposium on Advances in Experimental Mechanics, Plzeň, Czech Republic, 24–27 September 2019
Available from: 2019-10-11 Created: 2019-10-11 Last updated: 2020-02-05Bibliographically approved
Neumann, P. P., Hirschberger, P., Baurzhan, Z., Tiebe, C., Hofmann, M., Hüllmann, D. & Bartholmai, M. (2019). Indoor Air Quality Monitoring using flying Nanobots: Design and Experimental Study. In: ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN): . Paper presented at 2019 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), Fukuoka, Japan, May 26-29, 2019 (pp. 1-3). IEEE
Open this publication in new window or tab >>Indoor Air Quality Monitoring using flying Nanobots: Design and Experimental Study
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2019 (English)In: ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), IEEE, 2019, p. 1-3Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
IEEE, 2019
Keywords
Indoor air quality, nano aerial robot, swarm, gas detector
National Category
Robotics Occupational Health and Environmental Health
Identifiers
urn:nbn:se:oru:diva-76222 (URN)10.1109/ISOEN.2019.8823496 (DOI)978-1-5386-8327-9 (ISBN)978-1-5386-8328-6 (ISBN)
Conference
2019 IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), Fukuoka, Japan, May 26-29, 2019
Available from: 2019-09-11 Created: 2019-09-11 Last updated: 2019-09-11Bibliographically approved
Neumann, P. P., Hüllmann, D. & Bartholmai, M. (2018). Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring. In: D. Ş Pastramă, D. M. Constantinescu (Ed.), 35th Danubia-Adria Symposium on Advances in Experimental Mechanics: Extended abstracts. Paper presented at 35th Danubia-Adria Symposium on Advances in Experimental Mechanics, Sinaia, Romania, 25-28 September, 2018 (pp. 139-140). Bukarest, Romania
Open this publication in new window or tab >>Concept of a gas-sensitive nano aerial robot swarm for indoor air quality monitoring
2018 (English)In: 35th Danubia-Adria Symposium on Advances in Experimental Mechanics: Extended abstracts / [ed] D. Ş Pastramă, D. M. Constantinescu, Bukarest, Romania, 2018, p. 139-140Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Bukarest, Romania: , 2018
Keywords
Gas sensing, Mobile Robot Olfaction, nano aerial robot, swarm
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-71524 (URN)978-606-23-0874-2 (ISBN)
Conference
35th Danubia-Adria Symposium on Advances in Experimental Mechanics, Sinaia, Romania, 25-28 September, 2018
Available from: 2019-01-17 Created: 2019-01-17 Last updated: 2019-01-17Bibliographically approved
Hüllmann, D., Kohlhoff, H., Erdmann, J. & Neumann, P. P. (2018). Control of a spherical parallel manipulator with three degrees of freedom. In: D. Ş. Pastramă, D. M. Constantinescu (Ed.), 35th Danubia-Adria Symposium on Advances in Experimental Mechanics: Extended abstracts. Paper presented at 35th Danubia-Adria Symposium on Advances in Experimental Mechanics, Sinaia, Romania, 25-27 September, 2018 (pp. 159-160). Bukarest, Romania
Open this publication in new window or tab >>Control of a spherical parallel manipulator with three degrees of freedom
2018 (English)In: 35th Danubia-Adria Symposium on Advances in Experimental Mechanics: Extended abstracts / [ed] D. Ş. Pastramă, D. M. Constantinescu, Bukarest, Romania, 2018, p. 159-160Conference paper, Published paper (Refereed)
Abstract [en]

In robotic applications, it is often necessary to orient a sensor quickly. Spherical parallel manipulators (SPM) are well suited for this purpose since they offer superior dynamics and structural stiffness as compared to serial manipulators. To control them, however, the kinematic equations have to be known. In this paper, a SPM with three degrees of freedom and the kinematic equations describing its mechanical properties are presented.

Place, publisher, year, edition, pages
Bukarest, Romania: , 2018
Keywords
Spherical parallel manipulator, control
National Category
Robotics Applied Mechanics
Research subject
Mechanical Engineering
Identifiers
urn:nbn:se:oru:diva-71522 (URN)978-606-23-0874-2 (ISBN)
Conference
35th Danubia-Adria Symposium on Advances in Experimental Mechanics, Sinaia, Romania, 25-27 September, 2018
Available from: 2019-01-17 Created: 2019-01-17 Last updated: 2019-01-17Bibliographically approved
Neumann, P. P., Hüllmann, D., Krentel, D., Kluge, M., Kohlhoff, H. & Lilienthal, A. (2018). Gas Tomography Up In The Air!. In: Proceedings of the IEEE Sensors 2018: . Paper presented at 17th IEEE SENSORS Conference, New Dehli, India, October 28-31, 2018. IEEE
Open this publication in new window or tab >>Gas Tomography Up In The Air!
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2018 (English)In: Proceedings of the IEEE Sensors 2018, IEEE, 2018Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we present 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) sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile octocopter. The TDLAS sensor provides integral gas concentration measurements but no information regarding the distance traveled by the laser diode's beam or the distribution of the gas along the optical path. We complemented the set-up with a laser rangefinder and apply principles of Computed Tomography (CT) to create a model of the spatial gas distribution from these integral concentration measurements. To allow for a rudimentary 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 first results showing the 2D plume reconstruction capabilities of the system under realistic conditions.

Place, publisher, year, edition, pages
IEEE, 2018
Series
Proceedings of IEEE Sensors, ISSN 1930-0395
Keywords
Aerial robot, gas tomography, plume, TDLAS
National Category
Robotics
Research subject
Computer Science
Identifiers
urn:nbn:se:oru:diva-71523 (URN)10.1109/ICSENS.2018.8630293 (DOI)000468199300104 ()2-s2.0-85061237336 (Scopus ID)978-1-5386-4707-3 (ISBN)
Conference
17th IEEE SENSORS Conference, New Dehli, India, October 28-31, 2018
Note

Funding Agency:

German Federal Ministry for Economic Affairs and Energy (BMWi) within the ZIM program  KF2201091HM4

Available from: 2019-01-17 Created: 2019-01-17 Last updated: 2019-06-20Bibliographically approved
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