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

3 Scopus citations

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

ASJC Scopus subject areas

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

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  • 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