System Identification I

Infrared thermography (IRT) applications for building diagnostics: A review

Application of robotics in offshore oil and gas industry- A review Part II

Composite materials parts manufacturing

Leakage detection techniques for oil and gas pipelines: State-of-the-art

This work presents an approach to automatically create 3D thermal models using multi-perspective measurements with a multimodal camera system consisting of a thermal camera and a depth camera. Additional attributes such as color can also be added to the model. The paper centers its attention on the geometrical calibration of the cameras and the validation of the results. The design of an adequate calibration target is discussed and different options are evaluated. To expose the applicability of the approach two inspection tasks are used as examples.

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3D Thermal Imaging: Fusion of Thermography and Depth Cameras

RoboGasInspector - A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results

Detection and localization of escaped hazardous gases is of great industrial and public interest in order to prevent harm to humans, nature and assets or just to prevent financial losses. The development of novel leak-detection technologies will yield better coverage of inspected objects while helping to lower plant operation costs at the same time. Moreover, inspection personnel can be relieved from repetitive work and focus on value-adding supervisory control and optimization tasks. The proposed system consists of autonomous mobile inspection robots that are equipped with several remote gas sensing devices and local intelligence. All-terrain robots with caterpillar tracks are used that can handle slopes, unpaved routes and offer maneuverability in restricted spaces as required for inspecting plants such as petroleum refineries, tank farms or chemical sites as well as sealed landfills. The robots can detect and locate gas leaks autonomously to a great extent using infrared optical spectroscopic and thermal remote sensing techniques and data processing. This article gives an overview of the components of the robotic system prototype, i.e. the robotic platform and the remote sensing and evaluation module. The software architecture, including the robot middleware and the measurement routines, are described. Results from testing autonomous mobility and object inspection functions in a large test course are presented.

Towards Autonomous Robotic Systems for Remote Gas Leak Detection and Localization in Industrial Environments

Focusing is essential for the quality of thermal imaging. But due to physical constraints, only a small distance area around the focal distance, called the depth of field (DOF), appears acceptably sharp in a single thermogram. For scenes containing multiple objects at different distances from the camera or one along the optical axis outstretched object, it is hard to have all parts of the image sharp within one measurement. This is impossible if the distance between the closest and the farthest region is larger than the DOF. This work describes a solution to get an all-in-focus measurement that works by taking a measurement series with different focal settings and combining the sharp parts using digital image processing. Different possibilities for this process are discussed and examples are given.

Samuel Soldan

Papers

3D Thermal Imaging: Fusion of Thermography and Depth Cameras

RoboGasInspector - A Mobile Robotic System for Remote Leak Sensing and Localization in Large Industrial Environments: Overview and First Results

Towards Autonomous Robotic Systems for Remote Gas Leak Detection and Localization in Industrial Environments

On extended depth of field to improve the quality of automated thermographic measurements in unknown environments

On Data-driven Takagi-Sugeno Modeling of Heterogeneous Systems with Multidimensional Membership Functions