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AUTONOMOUS RUNWAY SOIL SURVEY SYSTEM WITH THE FUSION OF GLOBAL AND LOCAL NAVIGATION MECHANISM

CAO, PETER M.
http://rave.ohiolink.edu/etdc/view?acc_num=ucin1085546827

Abstract Details

2004, PhD, University of Cincinnati, Engineering : Industrial Engineering.
Soil strength sampling is both labor-intensive and time consuming. In most cases, soil strength sampling requires human labor in collecting samples and doing tests on-site in an unstructured environment or in a laboratory. The purpose of this research is to make an unprecedented attempt of establishing a fully autonomous soil strength sampling system. Two major issues were considered. 1. How to navigate a multi-sensor autonomous vehicle (mobile robot) in an unstructured environment. 2. How to measure the soil strength with an autonomous system. Along with the research, some basic issues including principles of motion control, mobile robot navigation strategies and soil strength sampling mechanisms were studied. A controller was built to synthesize the control information from multiple sensors. An autonomous soil strength sampling system was built, which can sample the soil in accord with principles of hand-held Duplex Cone Penetrometer (DCP). Measurements of the resistance from the autonomous soil sampler provide a reading that can be correlated to the California Bearing Ratio (CBR). An integrated GPS guided autonomous soil sampling robot was onstructed. The robot accomplished navigation to the targeted waypoints and measurement probing of soil strength during the on-site test for the Air Force Special Operations Forces in Florida. The significance of this research is that it is the first demonstration that a robotic solution for a tedious and potentially dangerous soil sampling task could be accomplished in an unstructured environment.
Dr. Ernest Hall (Advisor)
180 p.
Engineering, Industrial
Robotics; Autonomous; Soil Survey

Recommended Citations

Citations

  • CAO, P. M. (2004). AUTONOMOUS RUNWAY SOIL SURVEY SYSTEM WITH THE FUSION OF GLOBAL AND LOCAL NAVIGATION MECHANISM [Doctoral dissertation, University of Cincinnati]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1085546827

    APA Style (7th edition)

  • CAO, PETER. AUTONOMOUS RUNWAY SOIL SURVEY SYSTEM WITH THE FUSION OF GLOBAL AND LOCAL NAVIGATION MECHANISM. 2004. University of Cincinnati, Doctoral dissertation. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=ucin1085546827.

    MLA Style (8th edition)

  • CAO, PETER. "AUTONOMOUS RUNWAY SOIL SURVEY SYSTEM WITH THE FUSION OF GLOBAL AND LOCAL NAVIGATION MECHANISM." Doctoral dissertation, University of Cincinnati, 2004. http://rave.ohiolink.edu/etdc/view?acc_num=ucin1085546827

    Chicago Manual of Style (17th edition)

ucin1085546827
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© 2004, all rights reserved.
This open access ETD is published by University of Cincinnati and OhioLINK.