TY - GEN
T1 - Towards real-world gas distribution mapping and leak localization using a mobile robot with 3d and remote gas sensing capabilities
AU - Bennetts, Victor Manuel Hernandez
AU - Lilienthal, Achim J.
AU - Khaliq, Ali Abdul
AU - Sese, Victor Pomareda
AU - Trincavelli, Marco
PY - 2013
Y1 - 2013
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84887305508&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2013.6630893
DO - 10.1109/ICRA.2013.6630893
M3 - Conference contribution
AN - SCOPUS:84887305508
SN - 9781467356411
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2335
EP - 2340
BT - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
T2 - 2013 IEEE International Conference on Robotics and Automation, ICRA 2013
Y2 - 6 May 2013 through 10 May 2013
ER -