Soil sampling sensor system on a mobile robot

Peter M. Cao; Ernest L. Hall; Evan Zhang

doi:10.1117/12.516367

30 September 2003 Soil sampling sensor system on a mobile robot

Peter M. Cao, Ernest L. Hall, Evan Zhang

Proceedings Volume 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision; (2003) https://doi.org/10.1117/12.516367
Event: Photonics Technologies for Robotics, Automation, and Manufacturing, 2003, Providence, RI, United States

Abstract

Determining if a segment of property is suitable for use as an aircraft is a vitally important task that is currently performed by humans. However, this task can also put our people in harms way from land mines, sniper and artillery attacks. The objective of this research is to build a soil survey manipulator that can be carried by a lightweight, portable, autonomous vehicle, sensors and controls to navigate in assault zone. The manipulators permit both surface and sub surface measurements. An original soil sampling tube was constructed with linear actuator as manipulator and standard penetrometer as sampling sensor. The controls provide local control of the robot as well as the soil sampling mechanism. GPS has been selected to perform robot global navigation. The robot was constructed and tested on the test field. The results verified the concepts of using soil sampling robot to survey runway is feasible.

Citation Download Citation

Peter M. Cao, Ernest L. Hall, and Evan Zhang "Soil sampling sensor system on a mobile robot", Proc. SPIE 5267, Intelligent Robots and Computer Vision XXI: Algorithms, Techniques, and Active Vision, (30 September 2003); https://doi.org/10.1117/12.516367

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