@inproceedings{GuentherEWGAE2016,
  abstract = {Compressed air is a widespread but costly energy carrier. Leaks account for 10 compressed air consumption in production facilities and their removal offers high potential for cost reduction. The turbulent flow from a leak causes broadband acoustic emissions. These are exploited for leak detection using a narrowband ultrasonic microphone that is insensitive to audible noise. A parabolic mirror or an acoustic horn is utilized to enhance the directivity and the received signal power of the microphone. The microphone is mounted on mobile service robots. In the project "Robotair" an automated guided vehicle (AGV) and a remotely controlled micro aerial vehicle (MAV) were used for robotized inspection of production facilities. In order to detect leaks, predefined areas are scanned. A leak is detected and localized based on the sensed peak amplitude of the ultrasound signal. The corresponding pose of the sensor facing the leak is determined based on the selflocalization of the robot. Leak localization is carried out by triangulation of two sensor poses. Tests were conducted in an automobile production facility to evaluate the performance of the system. A leak was placed in an assembly line and multiple measurements were taken from two positions with the AGV and the MAV. The leaks were successfully detected and localized.},
  address = {Prague, Czech Republic},
  author = {Guenther, Thomas and Kroll, Andreas},
  booktitle = {32nd European Conference on Acoustic Emission Testing},
  interhash = {fcd2e4d3d6b0a2bb6432f6ae344ef3f5},
  intrahash = {263241d55b2593e823c3fd677851110e},
  isbn = {978-80-214-5385-2},
  language = {english},
  month = {7. -9. September},
  mrtnote = {robotair,pke,nopeer},
  organization = {European Working Group on Acoustic Emission},
  owner = {duerrbaum},
  pages = {173 -- 182},
  publisher = {VUTIUM Brno},
  title = {Localization of compressed air leaks in industrial environments using service robots with ultrasonic microphones},
  url = {https://www.ndt.net/article/ewgae2016/papers/173_paper.pdf},
  year = 2016
}

@inproceedings{Barz2012,
  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.},
  address = {Bonn},
  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},
  booktitle = {Future Security},
  doi = {10.1007/978-3-642-33161-9_32},
  editor = {Aschenbruck, Nils and Martini, Peter and Meier, Michael and Tölle, Jens},
  interhash = {2f9b6fca76112c9f9bdf30d15c5fd58d},
  intrahash = {feef2e37bff7d7ad0edf6c46ecae7f73},
  isbn = {978-3-642-33160-2},
  language = {english},
  month = {4th -- 6th September},
  mrtnote = {robogas,peer},
  owner = {bonow},
  pages = {216-219},
  publisher = {Springer Berlin Heidelberg},
  series = {Communications in Computer and Information Science},
  title = {Unmanned Inspection of Large Industrial Environments -- Insights into Research Project RoboGasInspector},
  url = {http://dx.doi.org/10.1007/978-3-642-33161-9_32},
  volume = 318,
  year = 2012
}

@inproceedings{Barz2012,
  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.},
  address = {Bonn},
  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},
  booktitle = {Future Security},
  doi = {10.1007/978-3-642-33161-9_32},
  editor = {Aschenbruck, Nils and Martini, Peter and Meier, Michael and Tölle, Jens},
  interhash = {2f9b6fca76112c9f9bdf30d15c5fd58d},
  intrahash = {feef2e37bff7d7ad0edf6c46ecae7f73},
  isbn = {978-3-642-33160-2},
  language = {english},
  month = {4th – 6th September},
  mrtnote = {robogas,peer},
  owner = {bonow},
  pages = {216-219},
  publisher = {Springer Berlin Heidelberg},
  series = {Communications in Computer and Information Science},
  title = {Unmanned Inspection of Large Industrial Environments - Insights into
	Research Project RoboGasInspector},
  url = {http://dx.doi.org/10.1007/978-3-642-33161-9_32},
  volume = 318,
  year = 2012
}

@inproceedings{GuentherEWGAE2016,
  abstract = {Compressed air is a widespread but costly energy carrier. Leaks account
	for 10 compressed air consumption in production facilities and their
	removal offers high potential for cost reduction. The turbulent flow
	from a leak causes broadband acoustic emissions. These are exploited
	for leak detection using a narrowband ultrasonic microphone that
	is insensitive to audible noise. A parabolic mirror or an acoustic
	horn is utilized to enhance the directivity and the received signal
	power of the microphone. The microphone is mounted on mobile service
	robots. In the project "Robotair" an automated guided vehicle (AGV)
	and a remotely controlled micro aerial vehicle (MAV) were used for
	robotized inspection of production facilities. In order to detect
	leaks, predefined areas are scanned. A leak is detected and localized
	based on the sensed peak amplitude of the ultrasound signal. The
	corresponding pose of the sensor facing the leak is determined based
	on the selflocalization of the robot. Leak localization is carried
	out by triangulation of two sensor poses. Tests were conducted in
	an automobile production facility to evaluate the performance of
	the system. A leak was placed in an assembly line and multiple measurements
	were taken from two positions with the AGV and the MAV. The leaks
	were successfully detected and localized.},
  address = {Prague, Czech Republic},
  author = {Guenther, Thomas and Kroll, Andreas},
  booktitle = {32nd European Conference on Acoustic Emission Testing},
  interhash = {fcd2e4d3d6b0a2bb6432f6ae344ef3f5},
  intrahash = {263241d55b2593e823c3fd677851110e},
  isbn = {978-80-214-5385-2},
  language = {english},
  month = {7. -9. September},
  mrtnote = {robotair,pke},
  organization = {European Working Group on Acoustic Emission},
  owner = {duerrbaum},
  pages = {173--182},
  publisher = {VUTIUM Brno},
  title = {Localization of compressed air leaks in industrial environments using
	service robots with ultrasonic microphones},
  year = 2016
}