Unmanned Aerial Auger for Underground Sensor Installation

Yue Sun, Adam Plowcha, Mark Nail, Sebastian Elbaum, Benjamin Terry, Carrick Detweiler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

Using an Unmanned Aerial Systems (UAS) to autonomously deploy soil sensors enables their installation in otherwise hard to access locations. In this paper, we present a system that integrates a UAS and a digging mechanism which can carry, secure, and install a small sensor into dirt effectively and efficiently. The integrated system includes 1) a low profile, light-weight, inexpensive auger mechanism, 2) a sensor carrying and deploying mechanism with low power consumption, and 3) sensors and software that control and evaluate the auger performance during digging. When tested on a suite of target soils and a target depth of 120mm, the system achieved a success rate of 100% for indoor tests and 92.5% for outdoors, verifying the potential of the approach.

Original languageEnglish (US)
Title of host publication2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1374-1381
Number of pages8
ISBN (Electronic)9781538680940
DOIs
StatePublished - Dec 27 2018
Event2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 - Madrid, Spain
Duration: Oct 1 2018Oct 5 2018

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018
CountrySpain
CityMadrid
Period10/1/1810/5/18

Fingerprint

Antennas
Sensors
Soils
Electric power utilization

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Sun, Y., Plowcha, A., Nail, M., Elbaum, S., Terry, B., & Detweiler, C. (2018). Unmanned Aerial Auger for Underground Sensor Installation. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018 (pp. 1374-1381). [8593824] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2018.8593824

Unmanned Aerial Auger for Underground Sensor Installation. / Sun, Yue; Plowcha, Adam; Nail, Mark; Elbaum, Sebastian; Terry, Benjamin; Detweiler, Carrick.

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. p. 1374-1381 8593824 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Sun, Y, Plowcha, A, Nail, M, Elbaum, S, Terry, B & Detweiler, C 2018, Unmanned Aerial Auger for Underground Sensor Installation. in 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018., 8593824, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 1374-1381, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018, Madrid, Spain, 10/1/18. https://doi.org/10.1109/IROS.2018.8593824
Sun Y, Plowcha A, Nail M, Elbaum S, Terry B, Detweiler C. Unmanned Aerial Auger for Underground Sensor Installation. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc. 2018. p. 1374-1381. 8593824. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2018.8593824
Sun, Yue ; Plowcha, Adam ; Nail, Mark ; Elbaum, Sebastian ; Terry, Benjamin ; Detweiler, Carrick. / Unmanned Aerial Auger for Underground Sensor Installation. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018. Institute of Electrical and Electronics Engineers Inc., 2018. pp. 1374-1381 (IEEE International Conference on Intelligent Robots and Systems).
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