%0 Conference Paper
%1 ifac-oilfield_2012
%A Soldan, Samuel
%A Bonow, Gero
%A Kroll, Andreas
%B Proceedings of the 2012 IFAC Workshop on Automatic Control in Offshore
	Oil and Gas Production
%C Norwegian University of Science and Technology, Trondheim, Norway,
%D 2012
%K imported
%P 33-38
%T RoboGasInspector - A Mobile Robotic System for Remote Leak Sensing
	and Localization in Large Industrial Environments: Overview and First
	Results
%U http://www.ifac-oilfield.no/
%X 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