| Author | Titel | Jahr | Typ | MRT-Nr | DOI/URL |
|---|---|---|---|---|---|
| Baetz, W., Kroll, A. & Bonow, G. | Mobile Robots with Active IR-Optical Sensing for Remote Gas Detection and Source Localization [BibTeX] |
2009 | |||
BibTeX:
@inproceedings{
Baetz2009ICRA,
author = {Baetz, Werner and Kroll, Andreas and Bonow, Gero}
, title = {Mobile Robots with Active IR-Optical Sensing for Remote Gas Detection and Source Localization}
, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2009)}
, publisher = {IEEE}
, year = {2009}
, pages = {2773-2778}
, address = {Kobe, Japan}
, note = {IEEE Catalog Number: CFP09RAA-DVD}
, isbn = {978-1-4244-2789-5}
, issn = {1050-4729}
, language = {english}
}
| |||||
| Baetz, W., Kroll, A. & Soldan, S. | On Gas Leak Detection of Pressurised Components by Using Thermograms and Pattern Recognition Algorithms | 2010 | URL | ||
| Abstract: Detection of leaks in pressurized components such as above-ground pipes, vessels, instruments, fittings and machinery is of high relevance for plant operating authorities and utility companies in order to prevent harm to humans, nature and assets or just to prevent financial losses. Especially for gaseous fluids, remotely applicable infrared (IR) spectroscopical detection methods can be applied to scan the environment of the pressurised components for escaped gas. Spectroscopic methods fail if the spectral fingerprint of the fluid is unknown or not distinguishable in the chosen IR window of the atmosphere. Moreover, leaks in pressurised or liquid air leading components cannot be detected spectroscopically. In such cases, the application of passive IR thermography is proposed to permit remote leak detection by assessing the resulting temperature profile disturbance due to the cooling effect of expanding gas. This effect is not limited to pressurised air but can be used for any gaseous fluid. The thermal effect is tiny and the disturbances e.g. due to reflections of natural and artificial IR emitters and due to varying surface and material properties (heat conduction, emissivity, reflectivity,...) in the optical infrared spectral region make it difficult to interpret the interferogram by the human operator to identify a leak. In this contribution, methods for an automatic analysis of thermograms with respect to the presence of leaks by using pattern matching algorithms are presented. For this purpose, a dedicated test stand was build. The results of extensive leakage measurement campaigns with different materials (incl. ordinary and stainless steel), various pressurized components (incl. pipes, valves, flanges, manometers) and of different measurement set-ups (measurement angle, disturbing emitters, pressure difference, ...) will be presented. Pressurised air was used as test gas due to its simple handling. Different pattern matching algorithms that use the concept of a matching filter will be introduced and first results comparing their classification performance will be recorded. It will be shown, that under laboratory conditions, an extended range of leakages can be reliably detected. | |||||
BibTeX:
@inproceedings{
Baetz_NDE2010,
author = {Werner Baetz AND Andreas Kroll AND Samuel Soldan}
, title = {On Gas Leak Detection of Pressurised Components by Using Thermograms and Pattern Recognition Algorithms}
, booktitle = {Proc. 8th Int. Conf. on NDE in Relation to Structural Integrity for Nuclear and Pressurised Components}
, publisher = {European Commission, Joint Research Center, Institute for Energy}
, year = {2010}
, pages = {503-512}
, address = {Berlin, Germany}
, note = {DGZfP-Proceedings BB 125-CD}
, url = {http://www.8thnde.com/Programme/Session.aspx?id=8B4185CE-336B-4725-A598-31A1F23F9DA1}
, isbn = {978-92-79-20321-3}
, language = {english}
}
| |||||
| Barz, T., Bonow, G., Hegenberg, J., Habib, K., Cramar, L., Welle, J., Schulz, D., Kroll, A. & Schmidt, L. | Unmanned Inspection of Large Industrial Environments -- Insights into Research Project RoboGasInspector | 2012 | DOI URL | ||
| Abstract: Industrial plants are a vital and common asset of modern society in a various number of ways. Safety of large industrial complexes that handle hazardous chemical materials is of utter importance to prevent harm to employees, general population, our natural environment and valuable infrastructure. Therefore, beside the plant owner's own financial interest to guarantee faultless and safe operation, legal regulations have to be adhered due to strong public interest as well. An important measure to ensure safety is the implementation of regular inspection tours by maintenance personnel, who examine the often widely-stretched process infrastructure on foot and locally search for signs of beginning leakage. The Research Project RoboGasInspector was started to develop new means of aiding with the fulfillment of this essential task. This article gives an insight into this ongoing research project, where autonomous mobile robotics is combined with laser-based remote gas detection technology in order to create a proof-of-concept inspection system prototype, which can relieve humans of this monotonous and highly repetitive work. | |||||
BibTeX:
@inproceedings{
Barz2012,
author = {Barz, Thomas and Bonow, Gero and Hegenberg, Jens and Habib, Karim and Cramar, Liubov and Welle, Jochen and Schulz, Dirk and Kroll, Andreas and Schmidt, Ludger}
, title = {Unmanned Inspection of Large Industrial Environments -- Insights into Research Project RoboGasInspector}
, booktitle = {Future Security}
, publisher = {Springer Berlin Heidelberg}
, year = {2012}
, volume = {318}
, pages = {216-219}
, address = {Bonn}
, url = {http://dx.doi.org/10.1007/978-3-642-33161-9_32}
, doi = {http://dx.doi.org/10.1007/978-3-642-33161-9_32}
, isbn = {978-3-642-33160-2}
, language = {english}
}
| |||||
| Bonow, G. & Kroll, A. | Gas leak localization in industrial environments using a TDLAS-based remote gas sensor and autonomous mobile robot with the Tri-Max method | 2013 | DOI | ||
| Abstract: In order to automate routine inspections in large industrial environments, a mobile robotic system is being developed in the RoboGasInspector project. The robot's sensor-head consists of different instruments for remote gas sensing using multiple measurement principles. This contribution focuses on Tunable Diode Laser Absorption Spectroscopy (TDLAS). The measurement device allows quantitative gas concentration measurements and achieves high sensitivity due to the active measurement principle. On the contrary, TDLAS systems measure the concentration along a path at a time and require a diffusely reflecting background. Using a pan-tilt unit, objects and areas can be scanned. This paper describes the triangulation-maximization leak-localizing strategy (Tri-Max) used in the project RoboGasInspector. Results based on outdoor experiments in two industrial plants and a landfill dump are presented. | |||||
BibTeX:
@inproceedings{
2013-Bonow_Kroll-ICRA-Gas_leak_localization,
author = {Gero Bonow and Andreas Kroll}
, title = {Gas leak localization in industrial environments using a TDLAS-based remote gas sensor and autonomous mobile robot with the Tri-Max method}
, booktitle = {IEEE International Conference on Robotics and Automation (ICRA)}
, publisher = {IEE}
, year = {2013}
, pages = {987 -- 992}
, address = {Karlsruhe, Germany}
, doi = {http://dx.doi.org/10.1109/ICRA.2013.6630693}
, isbn = {978-1-4673-5641-1}
, issn = {1050-4729}
, language = {english}
}
| |||||
| Bonow, G. & Kroll, A. | Gasleckortung mittels Laser-Fernmesstechnik und autonomer mobiler Robotersysteme [BibTeX] |
2009 | |||
BibTeX:
@inproceedings{
Bonow2009AUTO,
author = {Bonow, Gero and Kroll, Andreas}
, title = {Gasleckortung mittels Laser-Fernmesstechnik und autonomer mobiler Robotersysteme}
, booktitle = {AUTOMATION 2009}
, year = {2009}
, address = {Baden-Baden, Germany}
, language = {german}
}
| |||||
| Bonow, Gero und Kroll, A. | Zur automatisierten Inspektion von Anlagen mittels Gasfernmesstechnik: Technologien und Geräte [BibTeX] |
2011 | |||
BibTeX:
@inproceedings{
Bonow2011,
author = {Bonow, Gero und Kroll, Andreas}
, title = {Zur automatisierten Inspektion von Anlagen mittels Gasfernmesstechnik: Technologien und Geräte}
, booktitle = {AUTOMATION 2011}
, year = {2011}
, address = {Baden-Baden}
, language = {deutsch}
}
| |||||
| Habib, A., Bonow, G., Kroll, A., Hegenberg, J., Schmidt, L., Barz, T. & Schulz, D. | RoboGasInspector Research Project: Detecting Gas Leaks With Autonomous Mobile Robots | 2014 | URL | ||
| Abstract: Nine project partners developed the prototype of an autonomous mobile robot for detecting gas leaks in extensive industrial plants within the context of the "AUTONOMIK" programme of the German Federal Ministry for Economic Affairs and Energy. The system's autonomous mobility was put into practice using various sensors for auto-localisation and navigation. In addition, it includes an option to intervene manually in the process using teleoperation. Equipped with video and remote gas detection technology, the robot can carry out inspections in industrial plants without having to enter possible hazard areas and without any person present on site. The robot can be used for routine inspection of plants or systematic examination of specific parts of the plant. Using remote metrology technology, it is also possible to inspect parts of the plant that are difficult to inspect using traditional measuring instruments due to limited accessibility. | |||||
BibTeX:
@article{
RGI-ExMagazin2014,
author = {Abdelkarim Habib and Gero Bonow and Andreas Kroll and Jens Hegenberg and Ludger Schmidt and Thomas Barz and Dirk Schulz}
, title = {RoboGasInspector Research Project: Detecting Gas Leaks With Autonomous Mobile Robots}
, journal = {Ex-MAGAZINE 2014}
, year = {2014}
, volume = {40}
, pages = {91-97}
, note = {ISSN 0176-2419}
, url = {http://www.r-stahl.com/fileadmin/Dateien/ex-zeitschrift/2014/en/Ex_Magazine_2014_web.pdf}
, language = {english}
}
| |||||
| Habib, A., Bonow, G., Kroll, A., Hegenberg, J., Schmidt, L., Barz, T. & Schulz, D. | Forschungsprojekt RoboGasInspector: Gaslecksuche mit autonomen mobilen Robotern | 2013 | |||
| Abstract: Im Rahmen des Förderprogramms AUTONOMIK des Bundesministeriums für Wirtschaft und Technologie wurde in einem Konsortium aus neun Projektpartnern der Prototyp eines autonomen mobilen Roboters zur Gaslecksuche in ausgedehnten Industrieanlagen entwickelt. Anhand verschiedener Sensorik zur Selbstlokalisierung und Navigation wurde die autonome Beweglichkeit des Systems für beliebige Anlagen realisiert, mit der Option anhand von Teleoperation manuell in den Prozess einzugreifen. Ausgestattet mit Video- und Gasfernmesstechnik ist der Roboter imstande, Inspektionsaufgaben in Industrieanlagen durchzuführen, ohne in mögliche Gefahrenbereiche direkt einfahren zu müssen und ohne, dass ein Mensch vor Ort anwesend ist. Der Roboter kann zur routinemäßigen Inspektion von Anlagen oder zur gezielten Untersuchung spezifischer Anlagenteile engesetzt werden. Dank der verwendeten Fernmesstechnik können auch Anlagenteile inspiziert werden, die aufgrund ihrer beschränkten Zugänglichkeit mittels herkömmlicher Messtechnik nur schwer zu inspizieren sind. | |||||
BibTeX:
@article{
Habib2013,
author = {Habib, Abdelkarim and Bonow, Gero and Kroll, Andreas and Hegenberg, Jens and Schmidt, Ludger and Barz, Thomas and Schulz, Dirk}
, title = {Forschungsprojekt RoboGasInspector: Gaslecksuche mit autonomen mobilen Robotern}
, journal = {Technische Sicherheit}
, year = {2013}
, volume = {3}
, number = {5}
, pages = {10-15}
, language = {deutsch}
}
| |||||
| Kroll, A. | A survey on mobile robots for industrial inspections [BibTeX] |
2008 | |||
BibTeX:
@inproceedings{
KrollIIAS2008,
author = {Kroll, Andreas}
, title = {A survey on mobile robots for industrial inspections}
, booktitle = {Int. Conf. on Intelligent Autonomous Systems (IAS10)}
, year = {2008}
, pages = {406-414}
, address = {Baden-Baden, Germany}
, language = {english}
}
| |||||
| Kroll, A., Baetz, W. & Peretzki, D. | On Autonomous Detection of Pressured Air and Gas Leaks Using Passive IR-Thermography for Mobile Robot Application [BibTeX] |
2009 | |||
BibTeX:
@inproceedings{
Kroll2009ICRA,
author = {Kroll, Andreas and Baetz, Werner and Peretzki, Daniel}
, title = {On Autonomous Detection of Pressured Air and Gas Leaks Using Passive IR-Thermography for Mobile Robot Application}
, booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2009)}
, year = {2009}
, pages = {921-926}
, address = {Kobe, Japan}
, note = {IEEE Catalog Number: CFP09RAA-DVD}
, isbn = {978-1-4244-2789-5}
, issn = {1050-4729}
, language = {english}
}
| |||||
| Kroll, A., Baetz, W., Peretzki, D. & Bonow, G. | Als Roboter ausgebildete Vorrichtung zur autonomen, mannlosen Ermittlung von Leckagen unter Stofffreisetzung ins Umfeld aus druckführenden Systemen, insbesondere Rohrleitungssystemen, sowie Verfahren zum Betrieb eines solchen Roboters | 2010 | Patent | URL | |
| Abstract: Gegenstand der Erfindung ist eine Vorrichtung zur autonomen Ermittlung von Leckagen unter Stofffreisetzung ins Umfeld aus druckführenden Systemen, insbesondere Rohrleitungssysteme, die Vorrichtung umfassend eine motorbetriebene Bewegungsplattform, z.B. ein Fahrgestell, mit einer Sensorik zur Lokalisierung und Navigation des Fahrgestells im Bereich des druckführenden Systems, die Vorrichtung ferner umfassend mindestens eine optische Fernmesseinrichtung zur Detektion und Lokalisation eines Lecks, wobei die Fernmesseinrichtung in allen drei Raumachsen beweglich ist, und wobei die optische Fernmesseinrichtung mit dem Fahrgestell in Kommunikation steht, wobei die Auswertung der Daten aus der Fernmesseinrichtung und die Kommunikation zwischen Fernmesseinrichtung und Bewegungsplattform automatisiert erfolgt. | |||||
BibTeX:
@misc{
DPatent2010,
author = {Andreas Kroll and Baetz, Werner and Peretzki, Daniel and Bonow, Gero}
, title = {Als Roboter ausgebildete Vorrichtung zur autonomen, mannlosen Ermittlung von Leckagen unter Stofffreisetzung ins Umfeld aus druckführenden Systemen, insbesondere Rohrleitungssystemen, sowie Verfahren zum Betrieb eines solchen Roboters}
, type = {Patent}
, year = {2010}
, number = {DE 10 2008 047 151 B3}
, address = {Universität Kassel}
, note = {Deutsches Patent DE 10 2008 047 151 B3}
, url = {http://www.patent-de.com/20100617/DE102008047151B3.html}
, language = {german}
}
| |||||
| Kroll, A. & Soldan, S. | Survey Results on Status, Needs and Perspectives for using Mobile Service Robots in Industrial Applications | 2010 | URL | ||
| Abstract: Mobile robots for carrying out service tasks in industrial plants and on infrastructure gain importance e.g. due to aging assets and demographics. In order to identify key areas requiring research and development activities, a questionnairebased online survey was conducted in 2009. Addressed were participants working in industry knowing best about needs, potentials, obstacles and pitfalls of applying mobile service robots in their companies/industrial sector. This paper presents the surveying methods and the obtained results which mainly cover chemical and automotive industries due to their world-wide economic significance as well as their research and innovation intensity. | |||||
BibTeX:
@inproceedings{
ICARCV2010_Kroll_Soldan,
author = {Andreas Kroll and Samuel Soldan}
, title = {Survey Results on Status, Needs and Perspectives for using Mobile Service Robots in Industrial Applications}
, booktitle = {11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010)}
, year = {2010}
, pages = {621-626}
, address = {Singapore}
, url = {http://www.icarcv.org/2010/}
, language = {english}
}
| |||||
| Ordonez Müller, A. & Kroll, A. | On the use of Cooperative Autonomous Mobile Robots and Optical Remote Sensing in Inspection Robotics [BibTeX] |
2014 | URL | ||
BibTeX:
@inproceedings{
ordonezmuller_2014,
author = {Ordonez Müller, Antonio and Kroll, A.}
, title = {On the use of Cooperative Autonomous Mobile Robots and Optical Remote Sensing in Inspection Robotics}
, booktitle = {Automation 2014}
, year = {2014}
, address = {Baden-Baden, Germany}
, url = {http://www.automatisierungskongress.de/}
, language = {english}
}
| |||||
| Ordonez Müller, A. & Kroll, A. | Effects of beam divergence in hand-held TDLAS sensors on long distance gas concentration measurements | 2013 | URL | ||
| Abstract: Early detection of gas leakages in petrochemical plants is of great concern due to their potential threat to human safety, the environment and the infrastructure. Hand-held devices based on Tunable Diode Laser Absorption Spectroscopy (TDLAS) technology have proven to be an effective way to detect and locate such leaks. The theory behind these devices is well documented, but little information is available on the effects that laser beam divergence has on the ability to detect gas plumes at long distances. This contribution attempts to explain how the background reflectance and the laser intensity profile affect the concentration readings as the distance to the objects under inspection increases. | |||||
BibTeX:
@inproceedings{
ordonezmuller_2013b,
author = {Ordonez Müller, Antonio and Kroll, A.}
, title = {Effects of beam divergence in hand-held TDLAS sensors on long distance gas concentration measurements}
, booktitle = {International Workshop on Advanced Infrared Technology and Applications - AITA 2013}
, year = {2013}
, volume = {12}
, pages = {9-13}
, address = {Turin, Italy}
, url = {http://ronchi.isti.cnr.it/AITA2013}
, language = {english}
}
| |||||
| Soldan, S. | On Extended Depth of Field to Improve the Quality of Automated Thermographic Measurements in Unknown Environments | 2012 | URL | ||
| Abstract: Focusing is essential for the quality of thermal imaging. But due to physical constraints only a small distance area around the focal distance, called the depth of field (DOF), appears acceptably sharp in a single thermogram. For scenes containing multiple objects at different distances from the camera or one along the optical axis outstretched object it is hard to have all parts of the image sharp within one measurement. This is impossible if the distance between the closest and the furthest region is larger than the depth of field. This work describes a solution to get an all-in-focus measurement by taking a measurement series with changed focal settings and combining the sharp parts using digital image processing. Different possibilities for this process are discussed and examples are given. | |||||
BibTeX:
@inproceedings{
soldan_qirt,
author = {Samuel Soldan}
, title = {On Extended Depth of Field to Improve the Quality of Automated Thermographic Measurements in Unknown Environments}
, booktitle = {Proceedings of 11th International Conference on Quantitative InfraRed Thermography (QIRT)}
, year = {2012}
, address = {Naples, Italy}
, note = {Best Student Paper Award}
, url = {http://www.qirt2012.unina.it}
, isbn = {978-88-906484-4-1}
, language = {english}
}
| |||||
| Soldan, S. | On extended depth of field to improve the quality of automated thermographic measurements in unknown environments | 2012 | DOI URL | ||
| Abstract: Focusing is essential for the quality of thermal imaging. But due to physical constraints, only a small distance area around the focal distance, called the depth of field (DOF), appears acceptably sharp in a single thermogram. For scenes containing multiple objects at different distances from the camera or one along the optical axis outstretched object, it is hard to have all parts of the image sharp within one measurement. This is impossible if the distance between the closest and the farthest region is larger than the DOF. This work describes a solution to get an all-in-focus measurement that works by taking a measurement series with different focal settings and combining the sharp parts using digital image processing. Different possibilities for this process are discussed and examples are given. | |||||
BibTeX:
@article{
2012_QIRTJ,
author = {Samuel Soldan}
, title = {On extended depth of field to improve the quality of automated thermographic measurements in unknown environments}
, journal = {Quantitative InfraRed Thermography Journal}
, year = {2012}
, volume = {9}
, number = {2}
, pages = {135-150}
, url = {http://www.tandfonline.com/eprint/ExMpXXVKMsdiXZyF28Cr/full}
, doi = {http://dx.doi.org/10.1080/17686733.2012.738110}
, language = {english}
}
| |||||
| Soldan, S., Bonow, G. & Kroll, A. | Auswahl und Aufbau eines Multisensor-Fernmesssystems zur Fluidleckerkennung für den Einsatz auf einem mobilen Industrie-Inspektionsroboter | 2012 | DOI URL | ||
| Abstract: Eine regelmäßige und sorgfältige Inspektion von druckführenden Komponenten in Industrieanlagen (z. B. Mineralölraffinerien oder Chemieanlagen) ermöglicht ein frühzeitiges Erkennen von möglichen Störungen und Defekten und gewährleistet dadurch eine Betriebssicherheit auf hohem Niveau. Routineinspektionen werden oft nur mit einfachen lokal messenden Gasmessgeräten durchgeführt und sind durch wechselnde Inspekteure und Schichtarbeit personen- und tagesformabhängig. Dabei ist die Inspektionstätigkeit zumeist monoton und ermüdend. Die hohen Anschaffungskosten, die notwendige umfangreiche Einarbeitung in die Bedienung, die niedrige Auslastung bei manueller Verwendung sowie das schwer quantifizierbare Einsparungspotential schrecken oft von der Beschaffung von Fernmessgeräten ab. Ziel des Projektes RoboGasInspector ist die Entwicklung eines mobilen, mit infrarotoptischer Fernmesstechnik ausgestatteten professionellen Service-Roboters für die Routineinspektion von Industrieanlagen. Durch den Einsatz auf einem Roboter kann die Messtechnik voll ausgelastet werden, da dieser rund um die Uhr im Betrieb sein kann. Der Mensch wird von eintöniger Arbeit entlastet und das Fachpersonal steht für anspruchsvollere Aufgaben zur Verfügung. Die Reproduzierbarkeit der Ergebnisse wird verbessert und lässt zudem eine präzisere Differentialdiagnose mit historischen Daten zu; dadurch kann auch der Schädigungsverlauf dokumentiert werden. Durch die Verwendung von Messgeräten mit verschiedenen Messprinzipien kann eine Leckhypothese abgesichert und die Wahrscheinlichkeit von Falschalarmen reduziert werden. Die Interoperabilität der verschiedenen Messgeräte und deren modularer, mechanischer und elektrischer, spritzwassergeschützter Aufbau auf einer mobilen Roboterplattform wird in diesem Beitrag diskutiert und mit praktischen Erfahrungen zur Leistungsfähigkeit des Systems abgerundet. Dazu wurde ein modulares Messsystem entworfen, prototypisch realisiert und im Labor getestet. Das System verfügt über eigene Rechenkapazität und fasst die unterschiedlichen Schnittstellen sowie die Messdatenerfassung der Messgeräte zusammen. Dies vereinfacht somit die Verwendung des Systems auf verschiedenen Roboterplattformen. | |||||
BibTeX:
@inproceedings{
sensor+test2012,
author = {Samuel Soldan and Gero Bonow and Andreas Kroll}
, title = {Auswahl und Aufbau eines Multisensor-Fernmesssystems zur Fluidleckerkennung für den Einsatz auf einem mobilen Industrie-Inspektionsroboter}
, booktitle = {16. GMA/ITG Fachtagung Sensoren und Messsysteme 2012}
, publisher = {AMA Service GmbH}
, year = {2012}
, pages = {126-135}
, address = {Nürnberg, Germany}
, url = {http://www.sensoren2012.de/}
, doi = {http://dx.doi.org/10.5162/sensoren2012/1.4.2}
, isbn = {978-3-9813484-0-8}
}
| |||||
| Soldan, S., Bonow, G. & Kroll, A. | RoboGasInspector -- A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results | 2012 | URL | ||
| Abstract: In order to automate the routine inspections in large industrial environments a mobile robotic system is being developed in the project RoboGasInspector. The robot's sensor-head consists of different instruments for remote sensing using multiple measurement principles. First results show that passive IRthermographic imaging can be used to detect leaks in pipes as well as liquid spills on the ground. The measurable effects are the temperature profile disturbance due to expansion of pressured gas and evaporative cooling, respectively. Tunable Diode Laser Absorption Spectroscopy (TDLAS) measurement systems provide for quantitative gas concentration measurements and feature a high sensitivity due to the active measurement principle. On the contrary, TDLAS systems measure just the concentration along a path at a time and require a diffusely reflecting background. Using a Pan-Tilt Unit, objects/areas can be scanned and discrete maps of the gas concentration can be created. This contribution introduces the project RoboGasInspector and presents the used measurement technology as well as first results | |||||
BibTeX:
@inproceedings{
ifac-oilfield_2012,
author = {Samuel Soldan and Gero Bonow and Andreas Kroll}
, title = {RoboGasInspector -- A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results}
, booktitle = {Proceedings of the 2012 IFAC Workshop on Automatic Control in Offshore Oil and Gas Production}
, year = {2012}
, pages = {33-38}
, address = {Norwegian University of Science and Technology, Trondheim, Norway,}
, url = {http://www.ifac-oilfield.no/}
}
| |||||
| Soldan, S. & Kroll, A. | Towards Automated Gas Leak Detection Using IR Gas Imaging Cameras | 2013 | URL | ||
| Abstract: Optical IR cameras for gas visualization/imaging have gained acceptance and popularity in the past years. With these devices the scene is displayed as a thermal image while the gas is visible as hot/cold haze. As this is an imaging technique the operator can easily inspect large areas and detect and pinpoint leaks. The interpretation and analysis of the data is however still being carried out manually with little assistance from the camera. This article briefly presents the measurement method, discusses identifiable characteristics of gas clouds and the necessary steps for automating the image processing of the recorded measurement sequences. | |||||
BibTeX:
@inproceedings{
Soldan_2013_AITA,
author = {Samuel Soldan and Andreas Kroll}
, title = {Towards Automated Gas Leak Detection Using IR Gas Imaging Cameras}
, booktitle = {AITA 2013 -- Advanced Infrared Technology and Applications}
, year = {2013}
, pages = {195-199}
, address = {Turin -- Italy}
, url = {http://ronchi.isti.cnr.it/AITA2013}
}
| |||||
| Soldan, S., Rangel, J. & Kroll, A. | An Overview of Calibration Boards for the Geometric Calibration of Thermal Cameras | 2011 | URL | ||
| Abstract: In data fusion of imaging sources the knowledge about the intrinsic and extrinsic parameters of the camera is essential to avoid correspondence problems (i.e. matching up the corresponding points of two images acquired with some displacement disparity). A common way to determine these parameters is the use of a calibration board with known characteristics that is placed at different orientations in front of the camera. For normal cameras in the visible spectrum simple planar patterns in black and white color (like chessboards or dots in a grid arrangement) have been used as test fields with great success. For thermal cameras however these calibration targets don't work due to the even thermal distribution. This poster is motivated by an inspection task in an unknown environment where the fusion of data from a thermography camera, a normal camera and a laser range finder is desired. The correspondence problem is stated and a structured overview of different calibration boards that have been used for geometric calibration of thermography cameras in literature is presented. All these solutions seem to be unnecessarily complicated for a one-time calibration. Therefore own ideas and experimental results with a simple and cheap calibration board that provides sufficient accuracy are provided. | |||||
BibTeX:
@inproceedings{
INFRAR&D_2011,
author = {Samuel Soldan and Johannes Rangel and Andreas Kroll}
, title = {An Overview of Calibration Boards for the Geometric Calibration of Thermal Cameras}
, booktitle = {InfraR&D 2011 Proceedings Volume 6}
, year = {2011}
, pages = {79-83}
, address = {Hannover, Germany}
, url = {http://www.infrarottraining.de/infra/}
}
| |||||
| Soldan, S., Welle, J., Barz, T., Kroll, A. & Schulz, D. | Towards Autonomous Robotic Systems for Remote Gas Leak Detection and Localization in Industrial Environments | 2012 | DOI URL | ||
| Abstract: Detection and localization of escaped hazardous gases is of great industrial and public interest in order to prevent harm to humans, nature and assets or just to prevent financial losses. The development of novel leak-detection technologies will yield better coverage of inspected objects while helping to lower plant operation costs at the same time. Moreover, inspection personnel can be relieved from repetitive work and focus on value-adding supervisory control and optimization tasks. The proposed system consists of autonomous mobile inspection robots that are equipped with several remote gas sensing devices and local intelligence. Chain-driven all-terrain robots are used that can handle slopes, unpaved routes and offer maneuverability in restricted spaces as required for inspecting plants such as petroleum refineries, tank farms or chemical sites. The robots can detect and locate gas leaks autonomously to a great extent using infrared optical spectroscopic and thermal remote sensing techniques and data processing. This article gives an overview of the components of the robotic system prototype, i.e. the robotic platform and the remote sensing and evaluation module. The software architecture, including the robot middleware and the measurement routines, are described. Results from testing autonomous mobility and object inspection functions in a large test course are presented. | |||||
BibTeX:
@inproceedings{
2012-fsr,
author = {Samuel Soldan and Jochen Welle and Thomas Barz and Andreas Kroll and Dirk Schulz}
, title = {Towards Autonomous Robotic Systems for Remote Gas Leak Detection and Localization in Industrial Environments}
, booktitle = {Field and Service Robotics Results of the 8th International Conference}
, publisher = {Springer Berlin Heidelberg}
, year = {2012}
, volume = {92}
, pages = {233-247}
, address = {Matsushima, Japan}
, url = {http://link.springer.com/chapter/10.1007/978-3-642-40686-7_16}
, doi = {http://dx.doi.org/10.1007/978-3-642-40686-7_16}
, isbn = {978-3-642-40685-0}
}
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