TY - JOUR
T1 - Gas tomography up in the air!
AU - Neumann, Patrick P.
AU - Hullmann, Dino
AU - Krentel, Daniel
AU - Kluge, Martin
AU - Kohlhoff, Harald
AU - Lilienthal, Achim J.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018
Y1 - 2018
N2 - 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 range-finder 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.
AB - 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 range-finder 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.
KW - Aerial robot
KW - TDLAS
KW - gas tomography
KW - plume
UR - http://www.scopus.com/inward/record.url?scp=85061237336&partnerID=8YFLogxK
U2 - 10.1109/ICSENS.2018.8630293
DO - 10.1109/ICSENS.2018.8630293
M3 - Conference article
AN - SCOPUS:85061237336
SN - 1930-0395
VL - 2018-January
JO - Proceedings of IEEE Sensors
JF - Proceedings of IEEE Sensors
M1 - 8630293
T2 - 17th IEEE SENSORS Conference, SENSORS 2018
Y2 - 28 October 2018 through 31 October 2018
ER -