Investigations into near-real-time surveying for geophysical data collection using an autonomous ground vehicle

Phelps, Geoffrey A.; Ippolito, Corey A.; Lee, R.; Spritzer, R.; Yeh, Yoo Hsiu

doi:10.3133/ofr20141013

Cited by 3 publications

(4 citation statements)

References 3 publications

(1 reference statement)

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“…Unmanned aerial vehicles have the ability to fly at lower elevations (~30 m) than typical aircraft, and are therefore able to provide high resolution data sets without sacrificing productivity. Geophysical applications using automated vehicles have predominantly involved magnetic mapping to locate manmade features (Stoll, 2013;Phelps et al, 2014). Automated vehicles may also be able to simultaneously process and contour data, and transmit information in real time (Phelps et al, 2014).…”

Section: Unmanned Vehicle Based Data Acquisitionmentioning

confidence: 99%

“…Geophysical applications using automated vehicles have predominantly involved magnetic mapping to locate manmade features (Stoll, 2013;Phelps et al, 2014). Automated vehicles may also be able to simultaneously process and contour data, and transmit information in real time (Phelps et al, 2014). Furthermore, automated systems could be programmed in such a way that anomalous regions are re-surveyed in higher resolution automatically.…”

Section: Unmanned Vehicle Based Data Acquisitionmentioning

confidence: 99%

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Geophysical characterisation of the groundwater–surface water interface

McLachlan

Chambers

Uhlemann

et al. 2017

Advances in Water Resources

102

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Interactions between groundwater (GW) and surface water (SW) have important implications for water quantity, water quality, and ecological health. The subsurface region proximal to SW bodies, the GW-SW interface, is crucial as it actively regulates the transfer of nutrients, contaminants, and water between GW systems and SW environments. However, geological, hydrological, and biogeochemical heterogeneity in the GW-SW interface makes it difficult to characterise with direct observations. Over the past two decades geophysics has been increasingly used to characterise spatial and temporal variability throughout the GW-SW interface. Geophysics is a powerful tool in evaluating structural heterogeneity, revealing zones of GW discharge, and monitoring hydrological processes. Geophysics should be used alongside traditional hydrological and biogeochemical methods to provide additional information about the subsurface. Further integration of commonly used geophysical techniques, and adoption of emerging techniques, has the potential to improve understanding of the properties and processes of the GW-SW interface, and ultimately the implications for water quality and environmental health.

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Section: Unmanned Vehicle Based Data Acquisitionmentioning

confidence: 99%

Section: Unmanned Vehicle Based Data Acquisitionmentioning

confidence: 99%

Geophysical characterisation of the groundwater–surface water interface

McLachlan

Chambers

Uhlemann

et al. 2017

Advances in Water Resources

102

View full text Add to dashboard Cite

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“…From preliminary testing it was noted that vertical oscillations of the sensor would be magnified by the lack of UGV suspension if combined with the leverage of a long boom, an effect which had been noted on other boom-mounted UGV systems (Phelps et al, 2014). This is why a tower was preferred over a boom to provide vertical support and mitigate vertical oscillations of the sensor during travel along profile lines.…”

Section: Sensor Towermentioning

confidence: 99%

“…Additional information may also be derived from a comparison of the two UGV configurations by modelling the response due to sensor elevation with respect to a common target. Finally, magnetic mapping methodology using tele-operated UGVs can benefit from improved autonomy by using real-time magnetic readings to guide pathing (Phelps et al, 2014). A mapping mission would benefit from onboard algorithms and sufficient processing power to allow the rover to survey with some degree of autonomy (Castano et al, 2007;Woods et al, 2009;Gallant et al, 2013).…”

Section: Future Workmentioning

confidence: 99%

Instrumentation and application of unmanned ground vehicles for magnetic surveying

Hay¹

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With the recent proliferation of unmanned aerial vehicles (UAV) for geophysical surveying a novel opportunity exists to develop unmanned ground vehicles (UGV) in parallel. This research presents a pilot study to integrate two UGVs, the Kapvik planetary micro-rover and a Husky A200 robotic development platform, with a GSMP 35U magnetometer that has recently been developed for the UAV market. Magnetic noise levels generated by the UGVs in laboratory and field conditions are estimated using the fourth difference method and, at a magnetometer-UGV separation distance of 121 cm, the Kapvik micro-rover was found to generate a noise envelope ± 0.04 nT whereas the noisier Husky UGV generated an envelope of ± 3.94 nT. The UGVs were assessed over a series of successful robotic mapping missions which demonstrated their capability for magnetic mapping, and their productivity and versatility in field conditions.iii Acknowledgements I would first like to thank my supervisor, Dr. Claire Samson, for her tireless support and confidence in the development of this project from start to finish. Dr.Samson's expertise in applied geophysical methods, skill as an editor, and focus on project goals ensured that this experience would be a success. For allowing me the freedom and opportunity to explore research blending the fields of geophysical exploration and robotics, I am eternally grateful. I would like to acknowledge the support of Dr. Alex Ellery, of Carleton University's Mechanical and Aerospace department, for generously providing access to the Kapvik planetary micro-rover and Husky A200 robotic development systems for the duration of this project. Dr. Ellery's insight and advice in discussion of designs and rover integration methodology proved very helpful. I would also like to offer a sincere thank you to GEM Systems Inc. for the loan of the GSMP 35U magnetometer which was a cornerstone of this project. The technical support and knowledgeable team at GEM were a delight to work with. A special thank you to Blair Walker and Mike Wilson for their availability for troubleshooting rovermagnetometer integration issues. To David Boteler, Benôit St-Louis, Lorne McKee, Nathan Olfert, and the Geomagnetism team at NRCAN, thank you for welcoming me at the Ottawa Geomagnetic Observatory over the course of my research. Your expertise in data iv analysis techniques, technical support, and insightful discussions of magnetic methodologies made a large contribution to the successful completion of this project.

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Magnetic surveying with an unmanned ground vehicle

Hay

Samson

Tuck

et al. 2018

J. Unmanned Veh. Sys.

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With the recent proliferation of unmanned aerial vehicles for geophysical surveying, a novel opportunity exists to develop unmanned ground vehicles in parallel. This contribution features a study to integrate the Husky A200 robotic development platform with a GSMP 35U magnetometer that has recently been developed for the unmanned aerial vehicle market. Methods to identify and reduce the impact of magnetically noisy components on the unmanned ground vehicle platforms are discussed. The noise generated by the platform in laboratory and gentle field conditions, estimated using the fourth difference method for a magnetometer–vehicle separation distance of 121 cm and rotation of the chassis wheels at full speed (1 m/s), is ±1.97 nT. The integrated unmanned ground vehicle was used to conduct two robotic magnetic surveys to map cultural targets and natural variations of the magnetic field. In realistic field conditions, at a full speed of 1 m/s, the unmanned ground vehicle measured total magnetic intensity over a range of 1730 nT at 0.1 m spatial resolution with a productivity of 2651 line metres per hour.

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Investigations into near-real-time surveying for geophysical data collection using an autonomous ground vehicle

Cited by 3 publications

References 3 publications

Geophysical characterisation of the groundwater–surface water interface

Geophysical characterisation of the groundwater–surface water interface

Instrumentation and application of unmanned ground vehicles for magnetic surveying

Magnetic surveying with an unmanned ground vehicle

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