Leistungen
This deliverable is a software package with algorithms designed for stereo thermal vision.
Software Toolkit - Algorithms for sensor planningThis toolkit will contain different algorithms implementing strategies for covering / fast exploration of the operation area to maximize information gain.
Software Toolkit - Indoor Surface Temperature MappingThe Software Toolkit will include reconstruction of surface temperature for areas of interest for the operator. The Toolkit will be able to extend the structural information, provided from WP1, with mapped temperature and face thermal-radial disturbances, which are investigated in T3.1.
Software Toolkit - SLAM Toolkit for the navigation sensorsThis deliverable is a software toolkit for Simulteanous Localization and Mapping (SLAM) for mobile robots based on the sensing capabilities developed in WP1, the inclusion of Sketch Maps (WP6) and possibly additional input from gas sensors (WP2) and thermal imaging (WP3).
Software Toolkit - Hazard prediction based on multi-modal perceptionSoftware Toolkit that supports humans in fast and reliable situation analysis. This will include algorithms for the complex interpretation of sensor sources in order to detect and predict hazards.
Software toolkit for visualization of GDIM information and operator guidanceSoftware toolkit for visualizing robot knowledge (General Disaster Information Model) in different ways (recommendation system for operators) and methods for manipulating this knowledge.
Software Toolkit - Navigation algorithms for hazardous environmentsThis software kit will contain safe path navigation algorithms for robotic platforms that not only takes into account the obstacle situation, but the threat level of hazards.
Software Toolkit - Navigation Sensor Fusion AlgorithmThe toolkit will include new methods to fuse information from visible light based sensors and radar (3D LIDAR data and measurements from T1.1, T1.2 and T1.3) in order to navigate robustly through environments that exceed controlled laboratory conditions.
Report describing the integration of the gas detection and identification algorithm, and of a preliminary version of the sensor positioning algorithm, mainly oriented at gas detection, plus the record of related publications.
Technical Description for Correction of Radiation DisturbancesThe report includes theory and experiments for evaluation of radial disturbances, like misinterpretation of heat radiation from reflection and transmission as well as errors caused by hot smoke and gases. The obtained information will be the base for the sensor planning in T5.1.
Technical specifications for bandwidth supervision and data transfer adaptionIn this report a bandwidth analysis of the technical system will be presented, to be able to detect limited transmission rates and adapt consequently the resolution for main streams like maps, video etc. Reduction of bandwidth usage is considering the ‘General Disaster Information Model’ from T4.1.
Sketch MapsSLAM system capable of using rough prior map information as input. Report on methods and evaluation how much the system can benefit from rough prior map input (by constructing visibly more accurate maps compared to when using its sensors alone). Also a report on the ability to correct the input sketch map.
Characterisation of response of HBW sensor to target gases and with interferencesDeliverable 2.2 is a written report describing the measured response of both MOX gas sensors and polymer VOC sensors to the target analytes and any interfering gases in a controlled laboratory environment. In particular, the recorded response of the sensors, and their stability, sensitivity and selectivity at different temperatures and humidities.
Characterisation of response of high-bandwidth chemical sensor to pulses and plumes of gas in a wind tunnelDeliverable 2.3 is a written report describing the measured response of both the MOX gas sensors and the polymer VOC sensors to short pulses of the target analytes and any interfering gases in a small wind tunnel. In particular, the duration and length of the odour pulses will be studied and the response of the sensors at different wind speeds and distances.
Evaluation of the low visibility explorer robot prototype in realistic scenariosThe robot will be deployed in multiple live-fire training scenarios together with the firefighter partners. The outcome will be documented in a report.
Mechanical pivoting RadarThe MPR will be available as an implemented and completed system and provided to the partners LUH and ORE for their respective research and development on the robotic platform in month 11. Therefore, the deliverable describes all relevant technical aspects regarding the mechanical pivoting Radar approach including specifications, evaluation and characterization of the hardware and of the image formation algorithm for the sectorial image generation.
Hazard MapsReport on hazard maps, including algorithms and methods to create them and the evaluation based on artificial scenarios.
Initial requirement analysis and use case definitionTasks, requirements and use cases for evaluating robot operations in disaster scenarios will be derived in a workshop with potential end-users (fire brigades and other first responders) at the start of the project.
Technical specifications for return procedures after communication lossReport describing possible recovery behaviors after communication loss with the help of information from GDIM and the hazard map. There will be specifications for both a system assisting the operator and working autonomously.
Fabricated sensor and interface circuitry for integration of high-bandwidth chemical sensor on robot platformDeliverable 2.3 is hardware that comprises of HBW MOX gas sensor and Polymer VOC sensors together with associated drive and interface circuitry on a small surface mount PCB that can be deployed within a mobile robot.
Signal processing algorithms for high-bandwidth chemical sensorsDeliverable 2.5 is a written report that defines the optimal signal processing algorithms that are used to extract the critical features from the responses of the MOX gas and Polymer VOC HBW sensors. These algorithms extract key features that remove the baseline drift and time dependence of the sensors signals. They are used to predict the gas and VOC concentration levels and these values are then stored by the mobile robot or used for tracking purposes. The signal processing algorithms can also be supplied as software in the form of computer code, e.g. C, if required.
Gas Distribution and Airflow MappingReport describing integration of gas distribution and airflow mapping and experimental validation.
Technical specifications for multi-layered information storage modelReport describing technical specifications for a general disaster information model. The model will be based on space- and time-variant, multi-layered information storage.
Gas Source LocalizationGas source localization algorithm, based on features extracted by the gas distribution map will be presented in this deliverable.
Second iteration of the requirement analysis and use case definitionA second workshop with end-users will be held two years after project start to iterate on the requirements and use cases under light of the project developments so far.
Veröffentlichungen
Autoren:
Paul Fritsche, Bernardo Wagner
Veröffentlicht in:
Informatics in Control, Automation and Robotics 12th International Conference, ICINCO 2015 Colmar, France, July 21-23, 2015 Revised Selected Papers, 2016, Seite(n) 321-335, ISBN 978-3-319-31896-7
Herausgeber:
Springer International Publishing
DOI:
10.1007/978-3-319-31898-1_18
Autoren:
Björn Zeise and Bernardo Wagner
Veröffentlicht in:
13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016, 2016
Herausgeber:
ICINCO
Autoren:
Paul Fritsche, Bjorn Zeise, Patrick Hemme and Bernardo Wagner
Veröffentlicht in:
Proceedings of DGR Days, 2016, 2016
Herausgeber:
DGR Days 2016
Autoren:
Malcolm Mielle, Martin Magnusson, Achim J. Lilienthal
Veröffentlicht in:
2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2016, Seite(n) 252-257, ISBN 978-1-5090-4349-1
Herausgeber:
IEEE
DOI:
10.1109/SSRR.2016.7784307
Autoren:
Han Fan, Victor Hernandez Bennetts, Erik Schaffernicht, Achim J. Lilienthal
Veröffentlicht in:
2016 IEEE SENSORS, 2016, Seite(n) 1-3, ISBN 978-1-4799-8287-5
Herausgeber:
IEEE
DOI:
10.1109/ICSENS.2016.7808903
Autoren:
Guangfen Wei, Julian W. Gardner, Marina Cole, Yuxin Xing
Veröffentlicht in:
2016 IEEE SENSORS, 2016, Seite(n) 1-3, ISBN 978-1-4799-8287-5
Herausgeber:
IEEE
DOI:
10.1109/ICSENS.2016.7808970
Autoren:
Fritsche P., Kueppers S., Briese G. and Wagner B.
Veröffentlicht in:
13th International Conference on Informatics in Control, Automation and Robotics, 2016, 2016, ISBN 978-989-758-198-4
Herausgeber:
ICINCO
Autoren:
Simon Kueppers, Klaus Aufinger, Nils Pohl
Veröffentlicht in:
2017 IEEE 17th Topical Meeting on Silicon Monolithic Integrated Circuits in RF Systems (SiRF), 2017, Seite(n) 37-39, ISBN 978-1-5090-5237-0
Herausgeber:
IEEE
DOI:
10.1109/SIRF.2017.7874364
Autoren:
Harun Cetinkaya, Simon Kueppers, Reinhold Herschel, Nils Pohl
Veröffentlicht in:
2017 47th European Microwave Conference (EuMC), 2017, Seite(n) 132-135, ISBN 978-2-87487-047-7
Herausgeber:
IEEE
DOI:
10.23919/EuMC.2017.8230817
Autoren:
Mikel Vuka, Erik Schaffernicht, Michael Schmuker, Victor Hernandez Bennetts, Francesco Amigoni, Achim J. Lilienthal
Veröffentlicht in:
2017 ISOCS/IEEE International Symposium on Olfaction and Electronic Nose (ISOEN), 2017, Seite(n) 1-3, ISBN 978-1-5090-2392-9
Herausgeber:
IEEE
DOI:
10.1109/ISOEN.2017.7968898
Autoren:
Paul Fritsche, Bjorn Zeise, Patrick Hemme, Bernardo Wagner
Veröffentlicht in:
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2017, Seite(n) 96-101, ISBN 978-1-5386-3923-8
Herausgeber:
IEEE
DOI:
10.1109/SSRR.2017.8088146
Autoren:
S. Kueppers, H. Cetinkaya, and N. Pohl
Veröffentlicht in:
4th European Radar Conference (EuRAD), 2017, 2017
Herausgeber:
IEEE
DOI:
10.23919/EURAD.2017.8249162
Autoren:
Bjorn Zeise, Bernardo Wagner
Veröffentlicht in:
2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR), 2017, Seite(n) 88-95, ISBN 978-1-5386-3923-8
Herausgeber:
IEEE
DOI:
10.1109/SSRR.2017.8088145
Autoren:
Yuxin Xing, Timothy A. Vincent, Marina Cole, Julian W. Gardner, Han Fan, Victor Hernandez Bennetts, Erik Schaffernicht, Achim J. Lilienthal
Veröffentlicht in:
2017 IEEE SENSORS, 2017, Seite(n) 1-3, ISBN 978-1-5090-1012-7
Herausgeber:
IEEE
DOI:
10.1109/ICSENS.2017.8234440
Autoren:
Harun Cetinkaya, Simon Kueppers, Reinhold Herschel, Nils Pohl
Veröffentlicht in:
2017 11th European Conference on Antennas and Propagation (EUCAP), 2017, Seite(n) 461-464, ISBN 978-8-8907-0187-0
Herausgeber:
IEEE
DOI:
10.23919/EuCAP.2017.7928367
Autoren:
Paul Fritsche, Bernardo Wagner
Veröffentlicht in:
Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics, 2015, Seite(n) 365-372, ISBN 978-989-758-122-9
Herausgeber:
SCITEPRESS - Science and and Technology Publications
DOI:
10.5220/0005524303650372
Autoren:
Harun Cetinkaya, Simon Kueppers, Reinhold Herschel, Nils Pohl
Veröffentlicht in:
2016 10th European Conference on Antennas and Propagation (EuCAP), 2016, Seite(n) 1-4, ISBN 978-8-8907-0186-3
Herausgeber:
IEEE
DOI:
10.1109/EuCAP.2016.7481127
Autoren:
Sandra Nowok, Simon Kueppers, Harun Cetinkaya, Martin Schroeder, Reinhold Herschel
Veröffentlicht in:
2017 18th International Radar Symposium (IRS), 2017, Seite(n) 1-10, ISBN 978-3-7369-9343-3
Herausgeber:
IEEE
DOI:
10.23919/IRS.2017.8008132
Autoren:
Yuxin Xing, Barbara Urasinska-Wojcik, Julian W. Gardner
Veröffentlicht in:
2018 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), 2018, Seite(n) 1-5, ISBN 978-1-5386-2222-3
Herausgeber:
IEEE
DOI:
10.1109/I2MTC.2018.8409745
Autoren:
Simon Kueppers, Reinhold Herschel, Nils Pohl
Veröffentlicht in:
2018 22nd International Microwave and Radar Conference (MIKON), 2018, Seite(n) 330-333, ISBN 978-83-949421-1-3
Herausgeber:
IEEE
DOI:
10.23919/MIKON.2018.8405217
Autoren:
T.A. Vincent, Y. Xing, M. Cole, and J.W. Gardner.
Veröffentlicht in:
2018
Herausgeber:
Sensors and Actuators B
Autoren:
T.A. Vincent, Y. Xing, M. Cole, and J.W. Gardner.
Veröffentlicht in:
Eurosensors 2018 conference, 2018
Herausgeber:
MDPI, Eurosensors
Autoren:
Simon Kueppers, Siying Wang, Harun Cetinkaya, Reinhold Herschel, and Nils Pohl.
Veröffentlicht in:
19th International Radar Symposium IRS 2018, 2018
Herausgeber:
IRS
Autoren:
Bjorn Zeise, Sebastian P. Kleinschmidt, Bernardo Wagner
Veröffentlicht in:
2015 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), 2015, Seite(n) 1-8, ISBN 978-1-5090-1959-5
Herausgeber:
IEEE
DOI:
10.1109/SSRR.2015.7442950
Autoren:
Victor Hernandez Bennetts, Tomasz Piotr Kucner, Erik Schaffernicht, Patrick P. Neumann, Han Fan, Achim J. Lilienthal
Veröffentlicht in:
IEEE Robotics and Automation Letters, Ausgabe 2/2, 2017, Seite(n) 1117-1123, ISSN 2377-3766
Herausgeber:
IEEE Journals Magazines
DOI:
10.1109/LRA.2017.2661803
Autoren:
Tomasz Piotr Kucner, Martin Magnusson, Erik Schaffernicht, Victor Hernandez Bennetts, Achim J. Lilienthal
Veröffentlicht in:
IEEE Robotics and Automation Letters, Ausgabe 2/2, 2017, Seite(n) 1093-1100, ISSN 2377-3766
Herausgeber:
IEEE Journals & Magazines
DOI:
10.1109/LRA.2017.2660060
Autoren:
Timothy A. Vincent, Yuxin Xing, Marina Cole, Julian W. Gardner
Veröffentlicht in:
Proceedings, Ausgabe 1/4, 2017, Seite(n) 421, ISSN 2504-3900
Herausgeber:
Eurosensors Conference, 2017
DOI:
10.3390/proceedings1040421
Autoren:
Han Fan, Victor Hernandez Bennetts, Erik Schaffernicht, Achim J. Lilienthal
Veröffentlicht in:
Sensors and Actuators B: Chemical, Ausgabe 259, 2018, Seite(n) 183-203, ISSN 0925-4005
Herausgeber:
Elsevier BV
DOI:
10.1016/j.snb.2017.10.063
Autoren:
Paul Fritsche, Simon Kueppers, Gunnar Briese, Bernardo Wagner
Veröffentlicht in:
Electrical Engineering, Ausgabe 430, 2018, Seite(n) 175-189
Herausgeber:
Springer International Publishing
DOI:
10.1007/978-3-319-55011-4_9
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