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A concept for buoyancy control and magnetic position detection has beendeveloped for the improvement of instrumented flow-following sensorparticles. The sensor particles are used for investigation of hydrodynamicand biochemical processes in large-scale vessels such as biogas fermenters,bioreactors and aerated sludge basins. Neutral buoyancy of the sensorparticles is required for tracing of the fluid flows. Buoyancy control isperformed by adjustment of the sensor particles' volume, which is altered by anintegrated piston. A miniaturized linear actuator, namely a stepper motorwith linear transmission, is operated by a microcontroller to drive thepiston. The buoyancy control unit enables accurate automated taring of thesensor particles in the stagnant process fluid to achieve neutral buoyancy.Therefore, the measured vertical position of the sensor particle as a functionof the hydrostatic pressure is used as feedback. It has an incrementaldensity change of 0.0136 % as compared to water and a residual drift velocityof approximately 3.6  ×  10−3 m s−1. Furthermore, a minimum density of926 kg m−3 can be set by full extension of the piston, whichallows floating of the sensor particles after a defined event, namelycritical charge of battery, full data storage or the end of a fixed time cycle.Thus, recovery of the sensor particles can proceed easily from the fluidlevel. The sensor particles with a buoyancy control unit are tested for depthsup to 15 m. Also, detection of a local magnetic position marker by the sensorparticles has been implemented to enhance movement tracking. It was tested ina lab-scale biogas digester and was used for estimation of the liquidcirculation time distribution and Peclét number to describe themacro-flow

Instrumented flow-following sensor particles with magnetic position detection and buoyancy control