service robots with ultrasonic microphones T2 - 32nd European Conference on Acoustic Emission Testing PB - VUTIUM Brno CY - Prague, Czech Republic PY - 2016/7. -9. september M2 - VL - IS - SP - 173 EP - 182 UR - M3 - KW - air KW - KW - air-coupled KW - compressed KW - detection KW - KW - leak KW - localization KW - KW - mobile KW - robots KW - service KW - ultrasound L1 - SN - 978-80-214-5385-2 N1 - N1 - AB - 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. ER - TY - CONF AU - Barz, Thomas AU - Bonow, Gero AU - Hegenberg, Jens AU - Habib, Karim AU - Cramar, Liubov AU - Welle, Jochen AU - Schulz, Dirk AU - Kroll, Andreas AU - Schmidt, Ludger A2 - Aschenbruck, Nils A2 - Martini, Peter A2 - Meier, Michael A2 - Tölle, Jens T1 - Unmanned Inspection of Large Industrial Environments - Insights into
Research Project RoboGasInspector T2 - Future Security PB - Springer Berlin Heidelberg CY - Bonn PY - 2012/4th – 6th september M2 - VL - 318 IS - SP - 216 EP - 219 UR - http://dx.doi.org/10.1007/978-3-642-33161-9_32 M3 - 10.1007/978-3-642-33161-9_32 KW - detection KW - KW - gas KW - human-machine KW - industrial KW - inspection KW - KW - interface KW - leak KW - localization KW - KW - mobile KW - plant KW - remote KW - robot KW - KW - safety KW - KW - sensor KW - system KW - KW - technology KW - KW - unmanned L1 - SN - 978-3-642-33160-2 N1 - N1 - AB - 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. ER - TY - CONF AU - Bonow, Gero AU - Kroll, Andreas A2 - T1 - Gasleckortung mittels Laser-Fernmesstechnik und autonomer mobiler
Robotersysteme T2 - AUTOMATION 2009 PB - CY - Baden-Baden, Germany PY - 2009/16-17. juni M2 - VL - IS - SP - EP - UR - M3 - KW - Gasfernmesstechnik KW - KW - Roboter KW - TDLAS KW - KW - mobile L1 - SN - N1 - N1 - AB - ER -