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

10 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
Country/TerritorySpain
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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