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Scientific Journals | 2020

Off-gassing reduction of stored wood pellets by adding acetylsalicylic acid

Sedlmayer I, Bauer-Emhofer W, Haslinger W, Hofbauer H, Schmidl C, Wopienka E. Off-gassing reduction of stored wood pellets by adding acetylsalicylic acid. Fuel Processing Technology 2020.198:106218.

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During transportation and storage of wood pellets various gases are formed leading to toxic atmosphere. Various influencing factors and measures reducing off-gassing have already been investigated. The present study aims at applying an antioxidant, acetylsalicylic acid (ASA), to reduce off-gassing from wood pellets by lowering wood extractives oxidation. Therefore, acetylsalicylic acid was applied in industrial and laboratory pelletizing processes. Pine and spruce sawdust (ratio 1:1) were pelletized with adding 0-0.8% (m/m) ASA. Glass flasks measurements confirmed off-gassing reduction by adding ASA for all wood pellets investigated.The biggest effect was achieved by adding 0.8% (m/m) ASA in the industrial pelletizing experiments where the emission of volatile organic compounds (VOCtot) was reduced by 82% and a reduction of carbon monoxide (CO) and carbon dioxide (CO2) emissions by 70% and 51%, respectively, could be achieved. Even an addition of 0.05% (m/m) ASA led to off-gassing reduction by >10%. A six week storage experiment to investigate the long-term effectivity of ASA addition revealed, that antioxidant addition was effective in reducing CO-, CO2- and VOCtot-release, especially during the first four weeks of the storage experiment, after which time the relative reduction effect was significantly decreased.


Other Presentations | 2016

On site monitoring and dynamic simulation of a low energy house heated by a pellet boiler

Carlon E, Schwarz M, Prada A, Golicza L, Verma V, Baratieri M, Gasparella A, Haslinger W, Schmidl C. On site monitoring and dynamic simulation of a low energy house heated by a pellet boiler. 15 March 2016;116: 296-306.

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Prefabricated low energy houses are becoming increasingly popular thanks to their low cost and high energy performance. Heating systems installed in these houses should be optimally designed and controlled, to ensure thermal comfort for the whole heating season.

This study presents the on-site monitoring and dynamic simulation of a low energy house heated by a pellet boiler via a floor heating system. The house combines a lightweight envelope, a heat distribution system with a high thermal inertia and a biomass-based heat supply. The one-year monitoring campaign allowed to closely investigate the system's response to the heat demand. Moreover, a coupled simulation of the house and its heating and hot water supply system was set-up, calibrated, and validated against measured indoor temperature profiles and energy consumptions. Root mean square deviations between simulated and measured indoor temperature were in the range 0.4–0.8 K, while simulated energy consumptions fulfilled the criteria of the ASHRAE 14-2002 Guideline. As monitoring data evidenced the importance of better managing the high thermal inertia of the floor heating system, two improved control strategies were tested in the simulation environment and evaluated in terms of thermal comfort, pellet consumption and efficiency of the pellet boiler.


Peer Reviewed Scientific Journals | 2020

Online determination of potassium and sodium release behaviour during single particle biomass combustion by FES and ICP-MS

Paulauskas R, Striūgas N, Sadeckas M, Sommersacher P, Retschitzegger S, Kienzl N. Online determination of potassium and sodium release behaviour during single particle biomass combustion by FES and ICP-MS. Science of the Total Environment. 2020;746:141162.

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This study focuses on the determination of alkali release from wood and straw pellets during combustion. The aim is to expand the knowledge on the K and Na release behaviour and to adopt chemiluminescence-based sensors for online monitoring of alkali detection which can be applied for the prevention of fouling formation in low quality biomass combustion plants. Flame emission spectrometry (FES) was used for optical detection of chemiluminescence spectra of K and Na using optical bandpass filters mounted on an ICCD (Intensified Charge Coupled Device) camera. FES data were verified by additional experiments with a single particle reactor (SPR) coupled with an inductively coupled plasma mass spectrometer (ICP-MS). Using both techniques, the release profiles of K and Na during a single pellet combustion at 1000 °C were determined and obtained K* and Na* emission intensities directly correlated with the results from the ICP-MS. It was determined that the emission intensity of alkali radicals depends on alkali concentrations in the samples and K and Na radical emission intensities increase with increasing alkali amounts in the samples. The ICP-MS data revealed that the release of K and Na mainly takes place during the stage of devolatilization. During devolatilization, almost all potassium and sodium are released from wood samples, while only 65–90% of K and 74–90% of Na are released from straw samples. Based on the results, the flame emission spectroscopy technique is capable to fully detect released alkali metals in the gas phase during combustion and proves a possibility to use flame emission sensors for monitoring the release of alkali species from biomass during combustion processes.


Other Presentations | 2013

Online-Monitoring von Korrosionsvorgängen in Biomasse-befeuertenAnlagen

Bernsteiner, C. Online-Monitoring von Korrosionsvorgängen in Biomasse-befeuertenAnlagen, Master Thesis, Technische Universität Graz, Graz, Austria, 2013.

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Für den ökonomisch und ökologisch effizienteren Betrieb von Dampfkesselanlagen ist die Untersuchung von Korrosionsvorgängen in Wärmetauschern, verursacht durch das Rauchgas aus einer Biomasse-Feuerung, notwendig. Daher wurden bei Bioenergy 2020+ kurzzeitige Korrosionsversuche im Umfang von 300h Betriebszeit an einem Wärmetauscherstahl 13CrMo4-5 mit einer ONLINE-Korrosionssonde der Firma Corrmoran GmbH für die Erstellung eines empirischen Korrosionsmodells durchgeführt. Als Brennstoffe dienten Waldhackgut, Weizenstrohpellets und Altholz. Die Messung benötigt eine Ionen leitende Deckschicht, die sich erst am Beginn des Versuchs aufbaut. Aufgrund der fehlenden Deckschicht wird daher zu Beginn der Messung der Korrosionsleitwert unterschätzt. Daraus ergeben sich systematische Messfehler. Ziel dieser Arbeit war die Eruierung des Zusammenhanges zwischen Messfehler und Versuchszeit. Dabei stellten sich zwei systematische Messfehler als relevant heraus: •Die Abzehrrate ist zum Korrosionsleitwert proportional. Daher wird die Abzehrrate während der Eingangsphase der Messung unterschätzt. •Die Abzehrrate berechnet sich aus dem Korrosionsleitwert, multipliziert mit einem Kalibrierungsfaktor. Dabei ergibt sich der Kalibrierungsfaktor aus dem Verhältnis des gesamten korrosionsbedingten Materialverlustes über die gesamte Versuchsdauer, dividiert durch den über denselben Zeitraum integrierten Korrosionsleitwert. Aufgrund des zu Beginn unterschätzten Korrosionsleitwertes wird der Kalibrierungsfaktor und somit die Abzehrrate, berechnet aus dem reproduzierbaren Signal, überschätzt. Die Literaturrecherche zeigte, dass die Kinetik bei der Hochtemperaturkorrosion bei konstant gehaltenen korrosionsrelevanten Parametern einen linearen, parabolischen oder paralinearen Verlauf einnehmen kann. Die kleinstmögliche Abzehrrate und somit der kleinstmögliche Korrosionsleitwert zu Beginn der Messung ergibt sich bei der Annahme eines linearen Verlaufs, welcher die möglicherweise erhöhten Abzehrraten der Initialkorrosion nicht mitberücksichtigt. Aus dieser Annahme konnte der kleinstmögliche Korrekturfaktor cmin berechnet werden. Dazu mussten die Daten bei konstant gehaltenen Parametern gefiltert und daraus der zeitlich integrierte Korrosionsleitwert PL,Messung gebildet werden. Das Verhältnis von PL,Messung mit einem über die gesamte Versuchszeit konstant angenommenen zeitlich integrierten Korrosionsleitwertes PL,linear ergibt den Korrekturfaktor, der multipliziert mit den ursprünglich bei gleichen Parametern bestimmten Abzehrraten eine neue Abzehrrate k(t)neu ergibt. Der Vergleich mit den Ergebnissen eines Langzeitversuches unter ähnlichen Betriebsbedingungen in einem Biomasse-Heizkraftwerk zeigte dadurch eine Verbesserung der Abweichung der Kurzzeitversuche von 125% auf 55%. Aufgrund der Parametervariationen sowie der Temperaturschwankungen, verursacht durch Ein- und Ausschaltvorgänge der Anlage, haben die bei konstanten Parametern bestimmten Korrekturfaktoren für die durchgeführten Versuche nur bedingt Gültigkeit. Daher wurde in einem weiteren Schritt ein Korrekturfaktor cmin,var bestimmt, welcher alle Daten der Versuchsserie berücksichtigt. Dazu wurde das Signal der Eingangsphase durch ein gleichlanges reproduzierbares Signal, gemessen unter denselben Bedingungen am Ende der Versuchsserien, ersetzt. Es ergibt sich aus dem Verhältnis der zeitlich integrierten Korrosionsleitwerte PL,Messung der Originalkurve zu PL,idealisiert des idealisierten Verlaufs der Korrekturfaktor cmin,var. Dieser hat aufgrund der Berücksichtigung aller gesammelten Daten für alle bei den Versuchen bestimmten Abzehrraten Gültigkeit. Durch cmin,var konnte eine Reduktion der Abweichung auf 110% erreicht werden. Diese wird auf die im Gegensatz zur Langzeitmessung im Biomasse-Heizkraftwerk unterschiedliche Versuchsmethode sowie auf den unbekannten Einfluss der möglicherweise erhöhten Abzehrraten der Initialkorrosion zurückgeführt.  


Conference contributions | 2015

Operation and Efficiency of a Wood-Pellet Fired 5 KWel Stirling

Aigenbauer S, Schnetzinger R, Höftberger E, Schmidl C, Haslinger W. Operation and Efficiency of a Wood-Pellet Fired 5 KWel Stirling, 23rd European Biomass Conference 2015, 1st-4th of June 2015, Vienna, Austria. (visual presentation)

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Conference contributions | 2013

Operation characteristics of a bulk catalyst in a test stand under similar conditions to a firewood stove

Wöhler M, et al. Operation characteristics of a bulk catalyst in a test stand under similar conditions to a firewood stove, Word Sustainable Energy Days next 2013, 27th-28th of February 2013, Wels, Austria.

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Conference contributions | 2012

Operation Experience & Developments at Industrial Plants with Dual‐Fluid Gasification

Hofbauer H. Operation Experience & Developments at Industrial Plants with Dual‐Fluid Gasification, 20th European Biomass Conference 2012, 18th-22nd of June 2012, Milano, Italy.

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Peer Reviewed Scientific Journals | 2020

Optimal operation of residential heating systems with logwood boiler, buffer storage and solar thermal collector

Zemann C, Deutsch M, Zlabinger S, Hofmeister G, Gölles M, Horn M. Optimal operation of residential heating systems with logwood boiler, buffer storage and solar thermal collector. Biomass and Bioenergy, 2020,140:105622.

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Modern central heating systems with logwood boilers are comprised of the boiler, a buffer storage and solar thermal collectors. Conventional control strategies for these heating systems do not coordinate the utilization of all components. This can lead to a sub-optimal operation of the entire heating system resulting in a loss of efficiency and increased pollutant emissions. This contribution presents a control strategy which considers all components of the heating system including the user and forecasts for the solar yield and heat demand. It determines and carries out an optimal operating strategy that improves the user utility and maximizes the heating system efficiency while also ensuring a clean and efficient combustion. The control strategy continuously learns the user behavior and instructs the user when to refill the logwood boiler and how much fuel to use. The new control strategy was verified through test runs performed at an experimental setup consisting of a commercially available logwood boiler with a nominal capacity of 28 kW , two buffer storages with a capacity of 1.5 m3 each and a heating device with a thermal output of up to 12 kW simulating a solar thermal collector. During these test runs, the CO emissions were reduced 93.6 %by in the main combustion phase, 7.1 % more solar yield was utilized, the buffer losses were reduced by - 16.9 % and the overall efficiency was increased by 3.1 % . Thus, the application of this control strategy resulted in a significantly improved user utility and heating system efficiency.


Peer Reviewed Scientific Journals | 2021

Optimal planning of thermal energy systems in a microgrid with seasonal storage and piecewise affine cost functions

Mansoor M, Stadler M, Zellinger M, Lichtenegger K, Auer H, Cosic A. Optimal planning of thermal energy systems in a microgrid with seasonal storage and piecewise affine cost functions. Energy. 2021:215;119095.

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The optimal design of microgrids with thermal energy system requires optimization techniques that can provide investment and scheduling of the technology portfolio involved. In the modeling of such systems with seasonal storage capability, the two main challenges include the low temporal resolution of available data and the non-linear cost versus capacity relationship of solar thermal and heat storage technologies. This work overcomes these challenges by developing two different optimization models based on mixed-integer linear programming with objectives to minimize the total energy costs and carbon dioxide emissions. Piecewise affine functions are used to approximate the non-linear cost versus capacity behavior. The developed methods are applied to the optimal planning of a case study in Austria. The results of the models are compared based on the accuracy and real-time performance together with the impact of piecewise affine cost functions versus non-piecewise affine fixed cost functions. The results show that the investment decisions of both models are in good agreement with each other while the computational time for the 8760-h based model is significantly greater than the model having three representative periods. The models with piecewise affine cost functions show larger capacities of technologies than non-piecewise affine fixed cost function based models.


Other Presentations | 2013

Optimierung des Emissionsverhaltens eines Ofens mittels primären und sekundären Maßnahmen am Beispiel des Scheitholzofens

Rieger, B. Optimierung des Emissionsverhaltens eines Ofens mittels primären und sekundären Maßnahmen am Beispiel des Scheitholzofens, Master Thesis, Fachochschule Technikum Wien, Vienna, Austria, 2013.

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The use of biomass in manually charged room heating appliances to cover the domestic heating demand has traditionally been of a high percentage in the European Union. As a result of continued or even increased use of firewood stoves, the enhancement of available stoves is a declared objective of the European Union.
Therefore, an example-optimization of the firewood stove Stûv 16/78-in (available on the European market) was performed in preparation of this paper. There was a primary- and a secondary optimization carried out to quantify the potential of optimization. When optimizing, the gas and particulate emissions was considered. The operating behavior were measured and evaluated by performing combustion experiments on a specially designed test rig.
The primary optimization is divided into five sub-steps. Each Step was quantified by gas analysis. The achieved reduction of particulate emissions was measured before and after the entire primary optimization.
In comparison to the delivery condition it was possible to reduce the CO emissions to one quarter and the particulate emissions from 100 mg / mn³ to 39 mg / mn³ over the course of the primary optimization.
As a secondary optimization, a Catalyst was implemented. The used catalyst is a solid-state catalyst in the modification of a heterogeneous supported catalyst in the shape of honeycomb, which is marketed by Clariant International Ltd. under the name "EnviCat ® Longlife Plus". The catalytically active materials platinum and palladium are used.
After a strictly implemented primary optimizations, a further reduction to half of emissions was achieved by the integration of the catalyst even though a bypass of 20 % had to be integrated to ensure the operating safety.


Other Presentations | 2008

Optimierung einer biomassebefeuerten 10 kWth-Mikro-Kraft-Wärme-Kopplung mit Thermoelektrischem Generator

Lohr, M. Optimierung einer biomassebefeuerten 10 kWth-Mikro-Kraft-Wärme-Kopplung mit Thermoelektrischem Generator, Master Thesis, Fachhochschule Oberösterreich, Wels, Austria, 2008.

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The availability of energy is important to our every day lives. Biomass-fuelled heating systems are comfortable and reach an efficiency form over 90 %. With a thermoelectric generator (TEG) it’s possible to convert a part of the heat directly into electrical power and so become self sufficient from electicity. The purpose of this thesis was to optimise an existing prototype of a combined heat and power (CHP) plant based on a pellet heating system and a thermoelectric generator. Balancing the energy flows, especially the losses, was also part of the thesis.
Tests with the prototype were done. Some with the originial prototype, some with additional insulation and some with preheating the combustion air. To examine the part load behaviour, tests were done at 10, 7 and 4 kW fuelheat input.
By insulating the TEG the performance rose from 153 W to 174 W. The insulation and the preheating of the combustion air from room temperature to 350 degree lead to an power output from 194 watt. All at 10 kW fuellheat input. Finally the following conclusions can be drawn: For the series product it is recommended to optimize the insulation of the TEG. As the preheating of the combustion air didn’t lead to the expected effects it should be left out.


Conference contributions | 2010

Optimisation of biomass grate furnaces with a new 3D packed bed combustion model - on example of a small-scale underfeed stoker furnace

Mehrabian R, Scharler R, Weissinger A, Obernberger I. Optimisation of biomass grate furnaces with a new 3D packed bed combustion model - on example of a small-scale underfeed stoker furnace, 18th European Biomass Conference and Exhibition 2010, 3rd-7th of May 2010, Lyon, France. p 1175-1183.

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The design and optimisation of a biomass grate furnace requires accurate and efficient models for the
combustion process on the grate as well as the turbulent reactive flow in the combustion chamber. Computational Fluid Dynamics (CFD) have been successfully applied for gas phase combustion. However, no numerical models for the biomass packed bed combustion, which can be used as engineering design tools, are commercially available at present. This paper presents an innovative 3D CFD model for biomass packed bed combustion consisting of an Euler-Granular model for hydrodynamics of gas-particle multiphase flow and a thermally thin particle model for combustion of biomass particles. Modelling the particle trajectories and the thermal conversion of each particle in the bed constitutes the simulation of the entire bed combustion. The simulation of a small-scale underfeed stoker furnace of KWB has been successfully performed by the application of the new packed bed combustion model. The positions of the drying, pyrolysis and char burnout zones in the fuel bed as well as the temperature distribution among the particles seem to be plausible and could be confirmed by observations. Furthermore, a good qualitative agreement concerning the flue gas temperatures measured by thermocouples at different positions in the combustion chamber, and CO emissions measured at boiler outlet could be achieved. The new packed bed model provides the advantages of considering the release profiles of species and energy from the fuel bed close to reality and enables to consider the chemical compositions, size and physical properties of the fuel particles as well as the influence of primary air
distribution and grate motion on the particle trajectories.


Peer Reviewed Scientific Journals | 2017

Optimisation of continuous gas fermentation by immobilisation of acetate-producing Acetobacterium woodi

Steger, F, Rachbauer L, Windhagauer M, Montgomery LFR, Bochmann G. Optimisation of continuous gas fermentation by immobilisation of acetate-producing Acetobacterium woodi. Anaerobe. August 2017;46: 96-103

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Other Publications | 2017

Optimisation of continuous gas fermentation by immobilisation of acetate-producing Acetobacterium woodii.

Steger, F, Rachbauer L, Windhagauer M, Montgomery LFR, Bochmann G. Optimisation of continuous gas fermentation by immobilisation of acetate-producing Acetobacterium woodii. Anaerobe. Available online 22 June 2017

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Conference Papers | 2017

Optimisation of the post-consumer and demolition wood supply and value chain

Dißauer C, Kienzl N, Kunter A, Meirhofer M, Pointner C, Schwarzbauer P, Sommersacher P, Strasser C, Wellacher M. Optimisation of the post-consumer and demolition wood supply and value chain. 5th Central European Biomass Conference (Poster). January 2017, Graz, Austria.

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Conference contributions | 2014

Optimising the heating system of a low energy house

Rimoldi M, Carlon E. Optimising the heating system of a low energy house, Word Sustainable Energy Days next 2014, 26th-28th of February 2014, Wels, Austria.

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Other Presentations | 2019

Optimization Based Design and Control of Distributed Energy Resources and Microgrids

Stalder M, Optimization Based Design and Control of Distributed Energy Resources and Microgrids. LetsCluster, Lighthouse Summit in the heart of Europe: Smart Energy Generation - Management - Optimization, Smart Home / Building, Interface to the Smart Grid, Microgrids, Electric Grid of the Future, Sector Linking, Graz, Österreich, 25 - 27 März 2019

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Conference contributions | 2020

Optimization based planning of energy systems

Zellinger M, Optimization based planning of energy systems. 6th Central European Biomass Conference, 22-24 January 2020, Graz.

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Peer Reviewed Scientific Journals | 2015

Optimization of a 50 MW bubbling fluidized bed biomass combustion chamber by means of computational particle fluid dynamics

Kraft S, Kuba M, Kirnbauer F, Bosch K, Hofbauer H. Optimization of a 50 MW bubbling fluidized bed biomass combustion chamber by means of computational particle fluid dynamics. Biomass and Bioenergy. 4 August 2015;89:31-39.

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An efficient utilization of biomass fuels in power plants is often limited by the melting behavior of the biomass ash, which causes unplanned shutdowns of the plants. If the melting temperature of the ash is locally exceeded, deposits can form on the walls of the combustion chamber. In this paper, a bubbling fluidized bed combustion chamber with 50 MW biomass input is investigated that severely suffers deposit build-up in the freeboard during operation. The deposit layers affect the operation negatively in two ways: they act as an additional heat resistance in regions of heat extraction, and they can come off the wall and fall into the bed and negatively influence the fluidization behavior. To detect zones where ash melting can occur, the temperature distribution in the combustion chamber is calculated numerically using the commercial CPFD (computational particle fluid dynamics) code, Barracuda Version 15. Regions where the ash melting temperature is exceeded are compared with the fouling observed on the walls in the freeboard. The numerically predicted regions agree well with the observed location of the deposits on the walls. Next, the model is used to find an optimized operating point with fewer regions in which the ash melting temperature is exceeded. Therefore, three cases with different distributions of the inlet gas streams are simulated. The simulations show if the air inlet streams are moved from the freeboard to the necking area above the bed a more even temperature distribution is obtained over the combustion chamber. Hence, the areas where the ash melting temperatures are exceeded are reduced significantly and the formation of deposits in the optimized operational mode is much less likely.


Other publication | 2018

Optimization of Heating, Electricits and Cooling Services in a Microgrid to Increase the Efficiency and Reliability

Lichtenegger K, Stadler M, Moser A, Zellinger M, Muschick D, Gälles M, Steinlechner M, Ayoub T, Gerardts B. Optimization of Heating, Electricits and Cooling Services in a Microgrid to Increase the Efficiency and Reliability. PoserGen Europe Wien.2018

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Other publication | 2015

Optimization of Heating, Electricits and Cooling Services in a Microgrid to Increase the Efficiency and Reliability

Lichtenegger K, Stadler M, Moser A, Zellinger M, Muschick D, Gölles M, Steinlechner M, Ayoub T, Geradrdts B. Optimization of Heating, Electricits and Cooling Services in a Microgrid to Increase the Efficiency and Reliability.PoserGen Europe Wien.2018

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We briefly review the general concept and expected market potential of microgrids, then discuss the optimization challengesassociated with planning local cross-sectorial energy systems. A fair technology-neutral approach to this optimization task leads to a hard problem, which has to be tackled with advanced methods of mathematical optimization.The power of this approach is illustrated ina case study, concerning the replacement of heating systems in an alpine valley. In this case study we see both the potential for cost reduction and for the reduction of CO2emissions by an integrated planning approach.


Conference contributions | 2015

Outlook for the Project: Future Application and Development of the AshMelT methods

Schwabl M, Wopienka E. AshMelT Workshop “Outlook for the Project: Future Application and Development of the AshMelT methods” (held during de World Sustainable Energy Days 2015), 25th-27th of February, Wels, Austria, 2015.

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Peer Reviewed Scientific Journals | 2017

Overcoming the bottlenecks of anaerobic digestion of olive mill solid waste by two-stage fermentation

Stoyanova E, Lundaa T, Bochmann G, Fuchs W. Overcoming the bottlenecks of anaerobic digestion of olive mill solid waste by two-stage fermentation. Environmental Technology (United Kingdom). 16 February 2017;38(4): 394-405.

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Peer Reviewed Scientific Journals | 2019

Overview obstacle maps for obstacle‐aware navigation of autonomous drones

Pestana J, Maurer M, Muschick D, Hofer M, Fraundorfer F. Overview obstacle maps for obstacle-aware navigation of autonomous drones. Journal of Field Robotics 2019.

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Achieving the autonomous deployment of aerial robots in unknown outdoor environments using only onboard computation is a challenging task. In this study, we have developed a solution to demonstrate the feasibility of autonomously deploying drones in unknown outdoor environments, with the main capability of providing an obstacle map of the area of interest in a short period of time. We focus on use cases where no obstacle maps are available beforehand, for instance, in search and rescue scenarios, and on increasing the autonomy of drones in such situations. Our vision‐based mapping approach consists of two separate steps. First, the drone performs an overview flight at a safe altitude acquiring overlapping nadir images, while creating a high‐quality sparse map of the environment by using a state‐of‐the‐art photogrammetry method. Second, this map is georeferenced, densified by fitting a mesh model and converted into an Octomap obstacle map, which can be continuously updated while performing a task of interest near the ground or in the vicinity of objects. The generation of the overview obstacle map is performed in almost real time on the onboard computer of the drone, a map of size urn:x-wiley:15564959:media:rob21863:rob21863-math-0001 is created in urn:x-wiley:15564959:media:rob21863:rob21863-math-0002, therefore, with enough time remaining for the drone to execute other tasks inside the area of interest during the same flight. We evaluate quantitatively the accuracy of the acquired map and the characteristics of the planned trajectories. We further demonstrate experimentally the safe navigation of the drone in an area mapped with our proposed approach.


Peer-reviewed publications | 2013

Overview of Forestry and Wood Fuel Supply Chains in Austria; Investment Costs and Profitability of Biomass Heating Plants in Austria; Business Models from Austria Covering the Entire Wood Heat Supply Chain

Otepka P, Kristöfel C, Strasser C, et al. Guidebook on Local Bioenergy Supply Based on Woody Biomass. Overview of Forestry and Wood Fuel Supply Chains in Austria; Investment Costs and Profitability of Biomass Heating Plants in Austria; Business Models from Austria Covering the Entire Wood Heat Supply Chain. ISBN 978-1-938681-98-1. 2013:2-36;57-112.

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