Gas source localization and gas distribution mapping with a micro-drone:
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis Book |
| Language: | English |
| Published: |
2013
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| Subjects: | |
| Online Access: | Volltext Inhaltsverzeichnis |
| Item Description: | Nebentitel: Lokalisierung von Gasquellen und Erstellung von Gasverteilungskarten mit einer Mikrodrohne |
| Physical Description: | XXVI, 242 S. Ill., graph. Darst. |
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MARC
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| 035 | |a (DE-599)BVBBV041109408 | ||
| 040 | |a DE-604 |b ger |e rakwb | ||
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| 049 | |a DE-188 | ||
| 082 | 0 | |a 681.2 |2 22/ger | |
| 084 | |a 004 |2 FUB | ||
| 100 | 1 | |a Neumann, Patrick P. |e Verfasser |0 (DE-588)103648677X |4 aut | |
| 245 | 1 | 0 | |a Gas source localization and gas distribution mapping with a micro-drone |c vorgelegt von Patrick P. Neumann |
| 246 | 1 | 3 | |a Lokalisierung von Gasquellen und Erstellung von Gasverteilungskarten mit einer Mikrodrohne |
| 264 | 1 | |c 2013 | |
| 300 | |a XXVI, 242 S. |b Ill., graph. Darst. | ||
| 336 | |b txt |2 rdacontent | ||
| 337 | |b n |2 rdamedia | ||
| 338 | |b nc |2 rdacarrier | ||
| 500 | |a Nebentitel: Lokalisierung von Gasquellen und Erstellung von Gasverteilungskarten mit einer Mikrodrohne | ||
| 502 | |a Berlin, Freie Univ., Diss., 2013 | ||
| 650 | 0 | 7 | |a Drohne |g Flugkörper |0 (DE-588)4332556-7 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Gaszusammensetzung |0 (DE-588)4519177-3 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Gasemission |0 (DE-588)4513491-1 |2 gnd |9 rswk-swf |
| 650 | 0 | 7 | |a Messung |0 (DE-588)4038852-9 |2 gnd |9 rswk-swf |
| 655 | 7 | |0 (DE-588)4113937-9 |a Hochschulschrift |2 gnd-content | |
| 689 | 0 | 0 | |a Gaszusammensetzung |0 (DE-588)4519177-3 |D s |
| 689 | 0 | 1 | |a Gasemission |0 (DE-588)4513491-1 |D s |
| 689 | 0 | 2 | |a Messung |0 (DE-588)4038852-9 |D s |
| 689 | 0 | 3 | |a Drohne |g Flugkörper |0 (DE-588)4332556-7 |D s |
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Record in the Search Index
| _version_ | 1804150495734923264 |
|---|---|
| adam_text | IMAGE 1
CONTENTS
TABLE OF CONTENTS I
ACKNOWLEDGMENT VII
LIST OF PUBLICATIONS IX
LIST OF FIGURES XIII
LIST OF TABLES XIX
LIST OF ALGORITHMS XXI
NOMENCLATURE XXIII
1 INTRODUCTION 1
1.1 CONTRIBUTIONS 5
1.2 STRUCTURE OF THE THESIS 7
2 STATE OF THE ART AND RELATED WORK 9
2.1 GAS SENSOR TECHNOLOGY 9
2.1.1 CATALYTIC (CAT) 10
2.1.2 ACOUSTIC WAVE (AW) 11
2.1.3 ELECTROCHEMICAL (EC) 11
2.1.4 METAL OXIDE (MOX) 12
2.1.5 CONDUCTIVE POLYMER (CP) 13
2.1.6 INFRARED (IR) 14
2.1.7 GAS SENSOR SELECTION 14
2.2 GAS SOURCE LOCALIZATION (GSL) WITH MOBILE ROBOTS 16
2.2.1 BIO-INSPIRED ALGORITHMS 19
I
HTTP://D-NB.INFO/1038022762
IMAGE 2
II CONTENTS
2.2.2 PROBABILISTIC ALGORITHMS 21
2.2.2.1 INFORMATION THEORY 21
2.2.2.2 BAYESIAN INFERENCE 21
2.2.3 ALGORITHMS BASED ON GAS DISTRIBUTION MAPS 23
2.2.4 OTHER APPROACHES 23
2.3 GAS DISTRIBUTION MAPPING (GDM) 24
2.3.1 SPATIAL MONITORING WITH MOBILE SENSOR NETWORKS 27
2.3.2 INFORMATIVE PATH PLANNING 28
2.3.3 ARTIFICIAL POTENTIAL FIELDS IN MOBILE ROBOTICS 28
2.4 ENVIRONMENTAL MONITORING USING GAS-SENSITIVE UNMANNED AERIAL VE
HICLES (UAVS) 29
2.5 WIND VECTOR ESTIMATION USING MICRO UAVS 31
3 DESIGN OF THE GAS-SENSITIVE MICRO-DRONE 33
3.1 AIRROBOT AR100-B - QUADROCOPTER 35
3.1.1 VALIDATION OF THE GPS-BASED POSITIONING SYSTEM 37
3.1.1.1 EXPERIMENT SETUP 37
3.1.1.2 EXPERIMENT RESULTS 38
3.2 INTEGRATION OF GAS SENSORS 39
3.2.1 DRAGER X-AM 5600 39
3.2.2 ELECTRONIC NOSE (E-NOSE) 42
3.2.3 VALIDATION EXPERIMENTS - DRAGER X-AM 5600 43
3.2.3.1 EXPERIMENT SETUP 43
3.2.3.2 EXPERIMENT RESULTS 44
3.2.4 CALIBRATION EXPERIMENTS - E-NOSE 45
3.2.4.1 EXPERIMENT SETUP 45
3.2.4.2 EXPERIMENT RESULTS 47
3.3 GAS TRANSPORT TO THE SENSORS 47
3.3.1 DESIGN APPROACHES OF GAS TRANSPORTATION 47
3.3.2 VALIDATION EXPERIMENTS 49
3.3.2.1 EXPERIMENT SETUP 49
3.3.2.2 EXPERIMENT RESULTS 50
3.4 ESTIMATION OF THE WIND VECTOR 52
3.4.1 THEORY 52
3.4.2 EXPERIMENT STUDY 56
IMAGE 3
CONTENTS III
3.4.2.1 EXPERIMENT SETUP 57
3.4.2.2 EXPERIMENT RESULTS 58
3.4.3 VALIDATION EXPERIMENTS 62
3.4.3.1 EXPERIMENT SETUP 62
3.4.3.2 EXPERIMENT RESULTS 62
3.5 DEVELOPMENT OF THE ROBOT OPERATING SOFTWARE 68
3.5.1 WAYPOINT CALCULATION 69
3.5.2 MEASUREMENT CAMPAIGN SOFTWARE 69
3.5.3 AUTONOMOUS CONTROL SOFTWARE 70
3.6 FIELD TEST: GAS MEASUREMENTS IN A VOLCANIC CRATER 71
3.7 SUMMARY AND CONCLUSIONS 72
4 SETUP OF THE SIMULATION ENVIRONMENT 75
4.1 FILAMENT-BASED GAS DISPERSION MODEL 76
4.1.1 OPENFOAM FLOW MODEL 76
4.1.2 FILAMENT-BASED GAS DISPERSION 77
4.2 GPS MODEL 77
4.3 GAS SENSOR MODEL 77
4.3.1 SENSOR RESPONSE EXPERIMENT 78
4.3.2 SENSOR MODEL 78
4.4 SIMPLE DISTURBANCE MODEL 81
4.5 WIND DIRECTION SENSOR MODEL 82
4.6 SUMMARY AND CONCLUSIONS 82
5 PLUME TRACKING IMPLEMENTED ON A MICRO-DRONE 83
5.1 GAS SOURCE LOCALIZATION 84
5.1.1 PLUME ACQUISITION 84
5.1.2 PLUME TRACKING 85
5.1.2.1 SURGE-CAST ALGORITHM 85
5.1.2.2 ZIGZAG/DUNG BEETLE ALGORITHM- 88
5.1.2.3 PSEUDO GRADIENT ALGORITHM 89
5.1.3 SOURCE DECLARATION 92
5.2 SIMULATION EXPERIMENTS 93
5.2.1 EXPERIMENT ENVIRONMENT AND SETUP 93
5.2.2 EXPERIMENT RESULTS 95
IMAGE 4
IV
CONTENTS
5.3 REAL-WORLD EXPERIMENTS 100
5.3.1 EXPERIMENT ENVIRONMENT AND SETUP 102
5.3.2 EXPERIMENT RESULTS 103
5.4 SUMMARY AND CONCLUSIONS 106
6 GAS SOURCE LOCALIZATION USING A PARTICLE FILTER (PF) 109
6.1 PARTICLE FILTER-BASED GAS SOURCE LOCALIZATION ALGORITHM ILL
6.1.1 MEASUREMENT MODEL 114
6.1.1.1 GAS CONCENTRATION MEASUREMENTS 114
6.1.1.2 WIND MEASUREMENTS 115
6.1.1.3 NON-UNIFORMITY OF THE WIND FIELD 116
6.1.1.4 CONSTRUCTION OF THE PATCH PATH ENVELOPE (PPE) IN
UNIFORM WIND FIELDS 119
6.1.1.5 CONSTRUCTION OF THE PATCH PATH ENVELOPE (PPE) IN
NON-UNIFORM WIND FIELDS 121
6.1.2 UPDATE STEP 122
6.1.3 RESAMPLING STEP 124
6.1.4 ESTIMATION OF THE GAS SOURCE LOCATION 126
6.2 SIMULATION EXPERIMENTS 127
6.2.1 EXPERIMENT ENVIRONMENT AND SETUP 128
6.2.2 EXPERIMENT RESULTS 129
6.2.2.1 PARAMETER OPTIMIZATION 129
6.2.2.2 RESULTS OF THE VALIDATION EXPERIMENTS 132
6.3 REAL-WORLD EXPERIMENTS 134
6.3.1 EXPERIMENT ENVIRONMENT AND SETUP 134
6.3.2 EXPERIMENT RESULTS 136
6.4 RELATED WORK 139
6.5 SUMMARY AND CONCLUSIONS 140
7 GAS DISTRIBUTION MAPPING USING A MICRO-DRONE 143
7.1 KERNEL DM+V/W ALGORITHM 144
7.2 DATA ACQUISITION STRATEGY 148
7.3 EXPERIMENT ENVIRONMENTS AND SETUP 149
7.3.1 TUSCANY REGION 149
7.3.1.1 AMBRA RIVER TRIALS 150
IMAGE 5
CONTENTS V
7.3.1.2 INFERNO TRIALS 152
7.3.2 BAM TTS TRIALS 152
7.3.3 BOTANICAL GARDEN TRIALS 153
7.4 RESULTS OF THE REAL-WORLD EXPERIMENTS 155
7.4.1 TUSCANY REGION 155
7.4.1.1 AMBRA RIVER TRIALS 155
7.4.1.2 INFERNO TRIALS 159
7.4.2 BAM TTS TRIALS 163
7.4.3 BOTANICAL GARDEN TRIALS 167
7.5 SUMMARY AND CONCLUSIONS 171
8 SENSOR AND PATH PLANNING STRATEGY FOR A MICRO-DRONE 175
8.1 DECLARATION OF COLLABORATION 176
8.2 ADAPTIVE SENSOR PLANNING 177
8.2.1 LOCALITY CONSTRAINTS FOR ADAPTIVE SENSOR PLANNING 179
8.3 SENSOR AND PATH PLANNING ALGORITHM FOR THE MICRO-DRONE 180
8.4 SIMULATION EXPERIMENTS 181
8.4.1 THEORETICAL PERFORMANCE OF SPPAM 182
8.4.1.1 EXPERIMENT ENVIRONMENT AND SETUP 182
8.4.1.2 EXPERIMENT RESULTS 183
8.4.2 ROBOTIC SIMULATION 189
8.4.2.1 EXPERIMENT ENVIRONMENT AND SETUP 189
8.4.2.2 EXPERIMENT RESULTS 189
8.5 REAL-WORLD EXPERIMENTS 195
8.5.1 EXPERIMENT ENVIRONMENT AND SETUP 196
8.5.2 EXPERIMENT RESULTS 197
8.5.2.1 FIRST EXPERIMENT 197
8.5.2.2 SECOND EXPERIMENT 199
8.6 SUMMARY AND CONCLUSIONS 203
9 CONCLUSIONS AND FUTURE WORK 205
9.1 CONCLUSIONS 205
9.2 FUTURE WORK 208
APPENDIX A DIRECTIONAL STATISTICS 211
IMAGE 6
VI
CONTENTS
APPENDIX B COORDINATE TRANSFORMATION 213
APPENDIX C DISTANCE OVERHEAD 215
APPENDIX D SIMULATION RESULTS OF THE PF-BASED GSL ALGORITHM 217
APPENDIX E KULLBACK-LEIBLER DIVERGENCE 221
APPENDIX F PARTICLE FILTER - LINEAR TIME RESAMPLING 223
APPENDIX G RESULTS OF THE REAL-WORLD EXPERIMENTS USING SPPAM 225
BIBLIOGRAPHY 227
|
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| author_facet | Neumann, Patrick P. |
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| dewey-full | 681.2 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 681 - Precision instruments and other devices |
| dewey-raw | 681.2 |
| dewey-search | 681.2 |
| dewey-sort | 3681.2 |
| dewey-tens | 680 - Manufacture of products for specific uses |
| discipline | Handwerk und Gewerbe / Verschiedene Technologien |
| format | Thesis Book |
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| spelling | Neumann, Patrick P. Verfasser (DE-588)103648677X aut Gas source localization and gas distribution mapping with a micro-drone vorgelegt von Patrick P. Neumann Lokalisierung von Gasquellen und Erstellung von Gasverteilungskarten mit einer Mikrodrohne 2013 XXVI, 242 S. Ill., graph. Darst. txt rdacontent n rdamedia nc rdacarrier Nebentitel: Lokalisierung von Gasquellen und Erstellung von Gasverteilungskarten mit einer Mikrodrohne Berlin, Freie Univ., Diss., 2013 Drohne Flugkörper (DE-588)4332556-7 gnd rswk-swf Gaszusammensetzung (DE-588)4519177-3 gnd rswk-swf Gasemission (DE-588)4513491-1 gnd rswk-swf Messung (DE-588)4038852-9 gnd rswk-swf (DE-588)4113937-9 Hochschulschrift gnd-content Gaszusammensetzung (DE-588)4519177-3 s Gasemission (DE-588)4513491-1 s Messung (DE-588)4038852-9 s Drohne Flugkörper (DE-588)4332556-7 s DE-604 Erscheint auch als Online-Ausgabe urn:nbn:de:kobv:188-fudissthesis000000094496-7 http://www.diss.fu-berlin.de/diss/receive/FUDISS_thesis_000000094496 kostenfrei Volltext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026085643&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Neumann, Patrick P. Gas source localization and gas distribution mapping with a micro-drone Drohne Flugkörper (DE-588)4332556-7 gnd Gaszusammensetzung (DE-588)4519177-3 gnd Gasemission (DE-588)4513491-1 gnd Messung (DE-588)4038852-9 gnd |
| subject_GND | (DE-588)4332556-7 (DE-588)4519177-3 (DE-588)4513491-1 (DE-588)4038852-9 (DE-588)4113937-9 |
| title | Gas source localization and gas distribution mapping with a micro-drone |
| title_alt | Lokalisierung von Gasquellen und Erstellung von Gasverteilungskarten mit einer Mikrodrohne |
| title_auth | Gas source localization and gas distribution mapping with a micro-drone |
| title_exact_search | Gas source localization and gas distribution mapping with a micro-drone |
| title_full | Gas source localization and gas distribution mapping with a micro-drone vorgelegt von Patrick P. Neumann |
| title_fullStr | Gas source localization and gas distribution mapping with a micro-drone vorgelegt von Patrick P. Neumann |
| title_full_unstemmed | Gas source localization and gas distribution mapping with a micro-drone vorgelegt von Patrick P. Neumann |
| title_short | Gas source localization and gas distribution mapping with a micro-drone |
| title_sort | gas source localization and gas distribution mapping with a micro drone |
| topic | Drohne Flugkörper (DE-588)4332556-7 gnd Gaszusammensetzung (DE-588)4519177-3 gnd Gasemission (DE-588)4513491-1 gnd Messung (DE-588)4038852-9 gnd |
| topic_facet | Drohne Flugkörper Gaszusammensetzung Gasemission Messung Hochschulschrift |
| url | http://www.diss.fu-berlin.de/diss/receive/FUDISS_thesis_000000094496 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=026085643&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
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