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Towards Real-World Gas Distribution Mapping and Leak Localization Using a Mobile Robot with 3D and Remote Gas Sensing Capabilities
Örebro University, School of Science and Technology. (AASS MRO Lab)ORCID iD: 0000-0001-5061-5474
Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden. (AASS MRO Lab)ORCID iD: 0000-0003-0217-9326
Örebro University, School of Science and Technology. Univ Örebro, AASS Res Ctr, Örebro, Sweden. (AASS MRO Lab)
Institute of Bioengineering of Catalonia, Spain.
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2013 (English)In: 2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), IEEE conference proceedings, 2013, 2335-2340 p.Conference paper, Published paper (Refereed)
Abstract [en]

Due to its environmental, economical and safety implications, methane leak detection is a crucial task to address in the biogas production industry. In this paper, we introduce Gasbot, a robotic platform that aims to automatize methane emission monitoring in landfills and biogas production sites. The distinctive characteristic of the Gasbot platform is the use of a Tunable Laser Absorption Spectroscopy (TDLAS) sensor. This sensor provides integral concentration measurements over the path of the laser beam. Existing gas distribution mapping algorithms can only handle local measurements obtained from traditional in-situ chemical sensors. In this paper we also describe an algorithm to generate 3D methane concentration maps from integral concentration and depth measurements. The Gasbot platform has been tested in two different scenarios: an underground corridor, where a pipeline leak was simulated and in a decommissioned landfill site, where an artificial methane emission source was introduced.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 2335-2340 p.
Series
IEEE International Conference on Robotics and Automation ICRA, ISSN 1050-4729
National Category
Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-35814DOI: 10.1109/ICRA.2013.6630893ISI: 000337617302051Scopus ID: 2-s2.0-84887305508OAI: oai:DiVA.org:oru-35814DiVA: diva2:741445
Conference
IEEE International Conference on Robotics and Automation (ICRA), MAY 06-10, 2013, Karlsruhe, GERMANY
Available from: 2014-08-28 Created: 2014-07-30 Last updated: 2017-09-08Bibliographically approved

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Hernandez Bennetts, Victor ManuelLilienthal, Achim J.Khaliq, Ali AbdulTrincavelli, Marco

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