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