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https://hdl.handle.net/11681/5374| Title: | Semi-autonomous robotic sampler for explosives residues in surface soils |
| Authors: | Lever, J. H. Nichols, Thomas Denton, Daniel Meador, Ryan Morlock, Allison Kenyon, Jason Palmer, Kaitlin Thorne, Philip G. |
| Keywords: | Robotics Explosives, Military Soils--Sampling |
| Publisher: | Cold Regions Research and Engineering Laboratory (U.S.) Engineer Research and Development Center (U.S.) |
| Series/Report no.: | ERDC/CRREL ; TR-04-13. |
| Abstract: | A 25-kg, dual-track robot was built to satisfy the sampling protocol for surface explosives residues in soils. A rotary-tube cutter takes fairly consistent samples in a variety of soil conditions. Each sample bag holds about 30 samples to form a composite that represents the sampled area. An onboard carousel holds six bags: five composite samples and a sixth bag to clean the tube to minimize cross-contamination. We designed the robot to operate autonomously to collect a composite sample, log the coordinates of the area sampled, complete a composite within about 20 minutes, and operate without intervention for about 2 hours. A person may tele-operate the robot between sampling areas and to and from a base station where batteries and sample bags may be replenished. |
| Description: | Technical Report |
| URI: | http://hdl.handle.net/11681/5374 |
| Appears in Collections: | Technical Report |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| CRREL-TR-04-13.pdf | 340.57 kB | Adobe PDF |  View/Open |