Autonomous GPR Surveys using the Polar Rover <i>Yeti</i>

Lever, J. H.; Delaney, Allan J.; Ray, Laura E.; Trautmann, Eric M.; Barna, Lynette A.; Burzynski, A. M.

doi:10.1002/rob.21445

Cited by 31 publications

(27 citation statements)

References 20 publications

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“…In Fig. 5, each rosette is approximately 55 m in diameter, centered at waypoints identified as crevasse crossings through earlier surveys [2]. Since each rosette has 12 petals, 0 • , 30 • , 60 • , and 90 • strike angles are obtained, with respect to crevasse extent.…”

Section: A Methodsmentioning

confidence: 99%

“…Yeti is an 81-kg battery-powered autonomous rover, designed to carry out GPR crevasse detection surveys [2]. His maximum ground speed is 2 m/s and onboard batteries power 3-4 h of runtime at 3/4 maximum speed, which is used for GPR surveys.…”

Section: E Yeti Robot For Autonomous Gpr Surveysmentioning

confidence: 99%

“…These files were collected by Yeti in the form of rosettes in 2012, and include 129 crevasse crossings. The data were collected along the Greenland Inland Traverse route from Thule Air Base to Summit Station [2]. Data from Antarctica were analyzed in [20], [21] and include eight GPR files with approximately 30 min of data each (96 crevasse crossings), collected by Yeti and a Pisten Bully tractor in 2010.…”

Section: B Datamentioning

confidence: 99%

“…Reference [2] summarizes a number of successful deployments of our GPR-survey robot, Yeti, for collecting radar data in support of GPR of traverses in Greenland and Antarctica and of remediation efforts for the Old South Pole Station. Here, we present means to automate GPR-based crevasse detection using machine-learning algorithms operating on the incoming data stream.…”

mentioning

confidence: 99%

See 3 more Smart Citations

Crevasse Detection in Ice Sheets Using Ground Penetrating Radar and Machine Learning

Williams

Ray

Lever

et al. 2014

IEEE J. Sel. Top. Appl. Earth Observations Remote Sensing

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This paper presents methods to automatically classify ground penetrating radar (GPR) images of crevasses on ice sheets. We use a combination of support vector machines (SVMs) and hidden Markov models (HMMs) with down sampling, a preprocessing step that is unbiased and suitable for real-time analysis and detection. We perform modified crossvalidation experiments with 129 examples of Greenland GPR imagery from 2012, collected by a lightweight robot towing a GPR. In order to minimize false positives, an HMM classifier is trained to prescreen the data and mark locations in the GPR files to evaluate with an SVM, and we evaluate the classification results with a similar modified cross-validation technique. The combined HMM-SVM method retains all of the correct classifications by the SVM, and reduces the false positive rate to 0.0007. This method also reduces the computational burden in classifying GPR traces because the SVM is evaluated only on select prescreened traces. Our experiments demonstrate the promise, robustness, and reliability of real-time crevasse detection and classification with robotic GPR surveys.Index Terms-Geophysical signal processing, ground penetrating radar (GPR), robotic sensing systems.

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Section: A Methodsmentioning

confidence: 99%

Section: E Yeti Robot For Autonomous Gpr Surveysmentioning

confidence: 99%

Section: B Datamentioning

confidence: 99%

mentioning

confidence: 99%

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Crevasse Detection in Ice Sheets Using Ground Penetrating Radar and Machine Learning

Williams

Ray

Lever

et al. 2014

IEEE J. Sel. Top. Appl. Earth Observations Remote Sensing

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“…Furthermore, the flying robot and ice surface mobile robot were also developed for the Antarctic exploration [7][8][9][10]. And the motion performance for these robots also was researched [11][12][13]. Therefore, making full use of the Antarctic renewable energy sources in order to enlarge the polar rover's exploration field is one of main study topic.…”

Section: Introductionmentioning

confidence: 99%

Aerodynamic performance of multifunctional wind energy unit for long distance polar rover

Liu

Hua

Jiang

et al. 2014

2014 IEEE International Conference on Mechatronics and Automation

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The limited energy stored in the polar rover greatly restricts the polar rover to execute a long distance exploration. For making full use of the Antarctic renewable wind energy, a long distance polar rover installed a multifunctional wind energy unit is introduced in this paper. The multifunctional wind energy unit combines the functions of wind driving and wind power generation, which can convert the force acting on the unit generated by the wind energy into the rover's driving force and the wind power at the same time. Based on the theory of aerodynamics, the quantitative relations among thrust force, torque, free stream velocity and blade parameters are established. Meanwhile, the mathematical expression between the thrust coefficient, power coefficient and attack angle and wind direction angle is deduced respectively. The research results in this paper provide the mechanical structure and theoretical reference for the unmanned polar rover to convert the Antarctic renewable wind energy into its own driving power.

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Glacier crevasses: Observations, models, and mass balance implications

Colgan

Rajaram

Abdalati

et al. 2016

Reviews of Geophysics

160

199

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We review the findings of approximately 60 years of in situ and remote sensing studies of glacier crevasses, as well as the three broad classes of numerical models now employed to simulate crevasse fracture. The relatively new insight that mixed-mode fracture in local stress equilibrium, rather than downstream advection alone, can introduce nontrivial curvature to crevasse geometry may merit the reinterpretation of some key historical observation studies. In the past three decades, there have been tremendous advances in the spatial resolution of satellite imagery, as well as fully automated algorithms capable of tracking crevasse displacements between repeat images. Despite considerable advances in developing fully transient three-dimensional ice flow models over the past two decades, both the zero stress and linear elastic fracture mechanics crevasse models have remained fundamentally unchanged over this time. In the past decade, however, multidimensional and transient formulations of the continuum damage mechanics approach to simulating ice fracture have emerged. The combination of employing damage mechanics to represent slow upstream deterioration of ice strength and fracture mechanics to represent rapid failure at downstream termini holds promise for implementation in large-scale ice sheet models. Finally, given the broad interest in the sea level rise implications of recent and future cryospheric change, we provide a synthesis of 10 mechanisms by which crevasses can influence glacier mass balance. Field ObservationsBy virtue of providing relatively easy access to a glacier's interior, crevasses can be an asset to observational glaciologists, permitting, for example, the efficient examination of glacier stratigraphy. Annual accumulation

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Autonomous GPR Surveys using the Polar Rover Yeti

Cited by 31 publications

References 20 publications

Crevasse Detection in Ice Sheets Using Ground Penetrating Radar and Machine Learning

Crevasse Detection in Ice Sheets Using Ground Penetrating Radar and Machine Learning

Aerodynamic performance of multifunctional wind energy unit for long distance polar rover

Glacier crevasses: Observations, models, and mass balance implications

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