oru.sePublikasjoner
Endre søk
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf
Bringing Mobile Robot Olfaction to the Next Dimension - UAV-based Remote Sensing of Gas Clouds and Source Localization
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany. (BAM, Berlin)
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany. (BAM, Berlin)
Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany. (BAM, Berlin)
Örebro universitet, Institutionen för naturvetenskap och teknik. (AASS MRO Lab)ORCID-id: 0000-0003-0217-9326
Vise andre og tillknytning
2017 (engelsk)Inngår i: 2017 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2017, s. 3910-3916Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

This paper introduces a novel robotic platform for aerial remote gas sensing. Spectroscopic measurement methods for remote sensing of selected gases lend themselves for use on mini-copters, which offer a number of advantages for inspection and surveillance. No direct contact with the target gas is needed and thus the influence of the aerial platform on the measured gas plume can be kept to a minimum. This allows to overcome one of the major issues with gas-sensitive mini-copters. On the other hand, remote gas sensors, most prominently Tunable Diode Laser Absorption Spectroscopy (TDLAS) sensors have been too bulky given the payload and energy restrictions of mini-copters. Here, we introduce and present the Unmanned Aerial Vehicle for Remote Gas Sensing (UAV-REGAS), which combines a novel lightweight TDLAS sensor with a 3-axis aerial stabilization gimbal for aiming on a versatile hexacopter. 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). It enables tomographic reconstruction of gas plumes and a localization of gas sources. We also present first results showing the gas sensing and aiming capabilities under realistic conditions.

sted, utgiver, år, opplag, sider
Institute of Electrical and Electronics Engineers (IEEE), 2017. s. 3910-3916
Serie
IEEE International Conference on Robotics and Automation, ISSN 1050-4729
HSV kategori
Forskningsprogram
Datavetenskap
Identifikatorer
URN: urn:nbn:se:oru:diva-64767DOI: 10.1109/ICRA.2017.7989450Scopus ID: 2-s2.0-85027982828ISBN: 978-1-5090-4633-1 (digital)ISBN: 978-1-5090-4634-8 (tryckt)OAI: oai:DiVA.org:oru-64767DiVA, id: diva2:1179677
Konferanse
2017 IEEE International Conference on Robotics and Automation (ICRA 2017), Singapore, May 29 - June 3, 2017
Tilgjengelig fra: 2018-02-01 Laget: 2018-02-01 Sist oppdatert: 2019-03-04bibliografisk kontrollert

Open Access i DiVA

Fulltekst mangler i DiVA

Andre lenker

Forlagets fulltekstScopus

Personposter BETA

Hüllmann, DinoLilienthal, Achim

Søk i DiVA

Av forfatter/redaktør
Hüllmann, DinoLilienthal, Achim
Av organisasjonen

Søk utenfor DiVA

GoogleGoogle Scholar

doi
isbn
urn-nbn

Altmetric

doi
isbn
urn-nbn
Totalt: 245 treff
RefereraExporteraLink to record
Permanent link

Direct link
Referera
Referensformat
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Annet format
Fler format
Språk
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Annet språk
Fler språk
Utmatningsformat
  • html
  • text
  • asciidoc
  • rtf