Matthias Bartholmai

Autonomous Gas-Sensitive Microdrone: Wind Vector Estimation and Gas Distribution Mapping

This article presents the development and validation of an autonomous, gas sensitive microdrone that is capable of estimating the wind vector in real time using only the onboard control unit of the microdrone and performing gas distribution mapping (DM). Two different sampling approaches are suggested to address this problem. On the one hand, a predefined trajectory is used to explore the target area with the microdrone in a real-world gas DM experiment. As an alternative sampling approach, we introduce an adaptive strategy that suggests next sampling points based on an artificial potential field (APF). Initial results in real-world experiments demonstrate the capability of the proposed adaptive sampling strategy for gas DM and its use for gas source localization.

Gas source localization with a micro-drone using bio-inspired and particle filter-based algorithms

Gas source localization (GSL) with mobile robots is a challenging task due to the unpredictable nature of gas dispersion, the limitations of the currents sensing technologies, and the mobility constraints of ground-based robots. This work proposes an integral solution for the GSL task, including source declaration. We present a novel pseudo-gradient-based plume tracking algorithm and a particle filter-based source declaration approach, and apply it on a gas-sensitive micro-drone. We compare the performance of the proposed system in simulations and real-world experiments against two commonly used tracking algorithms adapted for aerial exploration missions.

From Insects to Micro Air Vehicles—A Comparison of Reactive Plume Tracking Strategies

Insect behavior is a common source of inspiration for roboticists and computer scientists when designing gas-sensitive mobile robots. More specifically, tracking airborne odor plumes, and localization of distant gas sources are abilities that suit practical applications such as leak localization and emission monitoring. Gas sensing with mobile robots has been mostly addressed with ground-based platforms and under simplified conditions and thus, there exist a significant gap between the outstanding insect abilities and state-of-the-art robotics systems. As a step toward practical applications, we evaluated the performance of three biologically inspired plume tracking algorithms. The evaluation is carried out not only with computer simulations, but also with real-world experiments in which, a quadrocopter-based micro Unmanned Aerial Vehicle autonomously follows a methane trail toward the emitting source. Compared to ground robots, micro UAVs bring several advantages such as their superior steering capabilities and fewer mobility restrictions in complex terrains. The experimental evaluation shows that, under certain environmental conditions, insect like behavior in gas-sensitive UAVs is feasible in real-world environments.

Micro-drone for the characterization and self-optimizing search of hazardous gaseous substance sources: A new approach to determine wind speed and direction

BAM Federal Institute for Materials Research and Testing, in cooperation with the AirRobot GmbH & Co. KG company, has developed a flying remote-controlled measuring system. The system is capable of operating in a variety of scenarios of gas emissions, e.g. exhaust gas from chimneys, flue gas in a fire, gas emissions in the case of an accident of chemical or hazardous goods or in the case of a terrorist act involving toxic gases. Thus it can measure the gas concentration in the immediate vicinity of the object which causes the emission. A further stage of extension is to enhance the system for plume tracking and identification of sources of hazardous gases.

Adaptive ortsaufgelöste Gaskonzentrationsmessungen mit einer Mikrodrohne

Zusammenfassung Gasemissionen spielen in vielen Gefahrenszenarien eine entscheidende Rolle und können zu einer großen Gefahr für in der Nähe befindliche Personen werden. Die Untersuchung solcher Szenarien unter Ausschluss einer Personengefährdung war Zielsetzung eines Forschungsprojekts, in dem die Entwicklung und Validierung der ferngesteuerten Gaskonzentrationsmessung mit einer Mikrodrohne durchgeführt wurden. Abstract Gas emissions are crucial in many hazardous scenarios and can be threatening for persons close-by. The examination of such scenarios without endangering people was objective of a research project. Development and validation of a remote-controlled gas concentration measurement using a microdrone were carried out.

Radio-based multi-sensor system for person tracking and indoor positioning

Sensor based person tracking is a challenging topic. The main objective is positioning in areas without GPS connection, i.e. indoors. A research project is carried out at BAM, Federal Institute for Materials Research and Testing, to develop and to validate a multi-sensor system for 3D localization. It combines body motion sensing and a guard system for the tracking and recording of the status of persons. The so named BodyGuard system was designed for sensor-based monitoring and radio-based transmission of the movement of a person. Algorithms were developed to transform the sensor data into a spatial coordinate. This paper describes how the BodyGuard system operates, which main components were used in the system, how the individual sensor data are converted into 3D motion data, with which algorithms the individual sensors are processed, how individual errors are compensated and how the sensor data are merged into a 3D Model. Final objective of the BodyGuard system is to determine the exact location of a person in a building, e.g. during fire-fighting operations.

Transmission characteristics of RFID sensor systems embedded in concrete

Completely embedded sensor systems for long-term operation offer innovative possibilities for structural health monitoring of concrete structures. Measuring of relevant parameters, e.g., temperature, humidity, or indication of corrosion can be performed with low energy sensors. This allows to implement passive RFID sensor systems without cable connection and battery, which are power supplied exclusively by the electromagnetic field from the external reader device. To evaluate characteristics and conditions of this concept, a systematical investigation of the transmission characteristics with variation of relevant parameters, as communication frequency, installation depth, type of concrete, moisture content, etc. is currently carried out in an interdisciplinary research project at BAM. First results are presented in this paper.

Near real-time reconstruction of 2D soil gas distribution from a regular network of linear gas sensors

A monitoring method is introduced that creates, in near real-time, two-dimensional (2D) maps of the soil gas distribution. The method combines linear gas sensing technology for in-situ monitoring of gases in soil with the mapping capabilities of Computed Tomography (CT) to reconstruct spatial and temporal resolved gas distribution maps. A weighted iterative algebraic reconstruction method based on Maximum Likelihood with Expectation Maximization (MLEM) in combination with a source-by-source reconstruction approach is introduced that works with a sparse setup of orthogonally-aligned linear gas sensors. The reconstruction method successfully reduces artifact production, especially when multiple gas sources are present, allowing the discrimination between true and non-existing socalled ghost source locations. A first experimental test indicates the high potential of the proposed method for, e. g., rapid gas leak localization.

Linear sensor for areal subsurface gas monitoring - Calibration routine and validation experiments

Membrane based linear gas sensors and fiber optical sensors feature similar geometries and complement each other in quantities to be measured. To the authors best knowledge, it is the first time that these sensors are combined to a multifunctional sensor for distributed measuring of gas concentrations, temperature, and strain. Objective is a comprehensive monitoring of underground gas storage areas. In the presented project a 400 m2 test site and a corresponding laboratory system were just built up to characterize, validate, and optimize the combined sensor. Application of the sensor lines in a grid structure should enable spatial resolution of the measurement data and early detection of relevant events, as gas leakage, temperature change, or mechanical impact. A Calibration routine was developed which can be applied subsequent to underground installation. First measurement results indicate the potential of the method, with regard to highly topical energy transport and storage issues.

Tomographic Reconstruction of Soil Gas Distribution From Multiple Gas Sources Based on Sparse Sampling

A monitoring method is introduced that creates 2-D maps of the soil gas distribution. The method combines linear gas sensing technology for in situ monitoring of gases in soil with the mapping capabilities of computed tomography to reconstruct spatial and temporal resolved gas distribution maps. A weighted iterative algebraic reconstruction method based on maximum likelihood with expectation maximization in combination with a source-by-source reconstruction approach is introduced that works with a sparse setup of orthogonally aligned linear gas sensors. The reconstruction method successfully reduces artifact production, especially when multiple gas sources are present, allowing the discrimination between true and non-existing the so-called ghost source locations. Experimental validation by controlled field experiments indicates the high potential of the proposed method for rapid gas leak localization and quantification with respect to pipeline or underground gas storage issues.