An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats

Deusdado, Pedro; Pinto, Eduardo; Guedes, Magno; Marques, Francisco; Rodrigues, Paulo M. M.; Lourenço, André; Mendonca, Ricardo; Silva, André; Santana, Pedro; Corisco, José; Almeida, Marta Tavares de; Portugal, Luís; Caldeira, Raquel; Barata, José; Flores, Luis

doi:10.1007/978-3-319-27149-1_2

Cited by 9 publications

(12 citation statements)

References 10 publications

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“…More detailed information, including field results, can be found respectively in the following papers: ECHORD-RIVERWATCH [13] [14], ROBOSampler [15], and will not be reproduced here due to space restrictions. The third application reported is, at the time of writing of this paper, still in development, namely the drawings are being simulated and validated.…”

Section: Practical Implementationsmentioning

confidence: 98%

A Health and Usage Monitoring System for ROS-based service robots

Pinto

Deusdado²,

Marques

et al. 2015

2015 10th International Symposium on Mechatronics and Its Applications (ISMA)

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This paper presents a multi-core processing solution for ROS-based service robots. The power management together with the control and availability of the processing resources are supervised by a custom-made Power Management Board (PMB) based on a Digital Signal Processor (DSP) micro controller, implementing a Health and Usage Monitoring System (HUMS). The proposed architecture also allows for the PMB to control the most critical robot functions in case of low battery conditions or impossibility of performing energy harvesting, thus extending the lifespan of the robot. All PMB data is recorded on a SD card so as to allow offline analyses of the robotic mission and, thus, support subsequent maintenance activities. Two different implementations of the proposed system have been fielded in two Multi-Robot Systems (MRS) for environmental monitoring, covering aerial, water surface, and wheeled ground vehicles. An additional implementation of the architecture is currently being deployed on an industrial autonomous logistics robot. These three implementations are presented and discussed.

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Section: Practical Implementationsmentioning

confidence: 98%

A Health and Usage Monitoring System for ROS-based service robots

Pinto

Deusdado²,

Marques

et al. 2015

2015 10th International Symposium on Mechatronics and Its Applications (ISMA)

Self Cite

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“…For automating sample handling and storage, often the robotic manipulator arm is used [7]. The current solution uses simple stepper-powered 3-axis coordinate system instead.…”

Section: Fig 4 Platform and Soil Sampling Electronic System Using Cmentioning

confidence: 99%

Soil sampling automation case-study using unmanned ground vehicle

Vaeljaots

Lehiste

Kiik

et al. 2018

Engineering for Rural Development

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The paper presents a case-study of a developed robotic soil sample collection system from bottom to top. While the sampling process automation is solved by using the robotic platform and electro-hydraulic mechanism, the control system is connected with cloud-based software that enables to create and manage operation tasks. Any soil fertility management program includes collecting the soil samples. Properly managing the test points and conducting the sampling process have great effect on the results. To enable more frequent sample collection, achieve better efficiency and quality, there is a great need for soil sampling automation. In this paper the robotic platform developed in the Estonian University of Life Sciences is adapted and modified to collect and store soil samples from fields and measure the soil parameters simultaneously. The platform navigates and operates autonomously with dedicated software and remote server connection. The software purpose is to enable flexible functionality during autonomous soil sampling operation, view detailed telemetry and create work tasks. Using sensor fusion, the navigation software calculates the optimal driving trajectories and prevents collision with obstacles. Also, integration with the test area management system is discussed, which enables definition of the test area and assigning sample points.

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“…Since objects that were not present during the time of the flight may appear, LiDAR is used on-board the TURTLE to detect obstacles, which are then used to update a global map and find an alternate route target localization and tracking, and precision agriculture monitoring. Previous works have focused on the collaboration between multiple UAV, 18,34,51,72 multiple UGV, 4,10,16,29,36 the collaboration between UAV and UGV, 12,19,31,52,66 and much more. Garzon et al present a solution for multiple UGV to perform signal searching tasks in large outdoor scenarios.…”

Section: Unmanned Systems Collaborationmentioning

confidence: 99%

Radiation search operations using scene understanding with autonomous UAV and UGV

Christie

Shoemaker

Kochersberger

et al. 2017

Journal of Field Robotics

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Autonomously searching for hazardous radiation sources requires the ability of the aerial and ground systems to understand the scene they are scouting. In this paper, we present systems, algorithms, and experiments to perform radiation search using unmanned aerial vehicles (UAV) and unmanned ground vehicles (UGV) by employing semantic scene segmentation. The aerial data is used to identify radiological points of interest, generate an orthophoto along with a digital elevation model (DEM) of the scene, and perform semantic segmentation to assign a category (e.g. road, grass) to each pixel in the orthophoto. We perform semantic segmentation by training a model on a dataset of images we collected and annotated, using the model to perform inference on images of the test area unseen to the model, and then refining the results with the DEM to better reason about category predictions at each pixel. We then use all of these outputs to plan a path for a UGV carrying a LiDAR to map the environment and avoid obstacles not present during the flight, and a radiation detector to collect more precise radiation measurements from the ground. Results of the analysis for each scenario tested favorably. We also note that our approach is general and has the potential to work for a variety of different sensing tasks.

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An Aerial-Ground Robotic Team for Systematic Soil and Biota Sampling in Estuarine Mudflats

Cited by 9 publications

References 10 publications

A Health and Usage Monitoring System for ROS-based service robots

A Health and Usage Monitoring System for ROS-based service robots

Soil sampling automation case-study using unmanned ground vehicle

Radiation search operations using scene understanding with autonomous UAV and UGV

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