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Aerial-based gas tomography: from single beams to complex gas distributions
Department 8 Non-destructive testing, Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
Örebro University, School of Science and Technology. Department 8 Non-destructive testing, Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
Department 8 Non-destructive testing, Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
Department 8 Non-destructive testing, Bundesanstalt für Materialforschung und -prüfung (BAM), Berlin, Germany.
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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. Vol. 52, no Sup. 3, p. 2-16
Keywords [en]
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: urn:nbn:se:oru:diva-76009DOI: 10.1080/22797254.2019.1640078ISI: 000490523700001OAI: oai:DiVA.org:oru-76009DiVA, id: diva2:1347768
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

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Hüllmann, DinoLilienthal, Achim J.

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