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Automated Contaminated Soil Site Monitoring

An automated soil sampling system is proposed to safely monitor contaminated soil sites. The system mounts a soil sampler on a mobile robot platform. It includes a core bit to acquire samples, a sampler mechanism to lift samples, and was designed after experimentally calculating the required forces. Initial field tests have been conducted to verify the robot's ability to autonomously collect and store multiple soil samples from contaminated areas, reducing human exposure to health risks. Further tests and integrating robotic control software are planned to complete the system.

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Abel Varghese David
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39 views1 page

Automated Contaminated Soil Site Monitoring

An automated soil sampling system is proposed to safely monitor contaminated soil sites. The system mounts a soil sampler on a mobile robot platform. It includes a core bit to acquire samples, a sampler mechanism to lift samples, and was designed after experimentally calculating the required forces. Initial field tests have been conducted to verify the robot's ability to autonomously collect and store multiple soil samples from contaminated areas, reducing human exposure to health risks. Further tests and integrating robotic control software are planned to complete the system.

Uploaded by

Abel Varghese David
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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AUTOMATED CONTAMINATED SOIL SITE MONITORING

Abel Varghese David, Gayathri Surendran,


Gayathri Manikutty, Raj Madhavan
[email protected], [email protected]

PROBLEM DEFINITION

EXPERIMENTAL SETUP FOR


FORCE CALCULATION

MECHANICAL DESIGN

An Automated soil sampling system that


can be mounted on a rugged mobile
platform (like Husky robot), for operating
in contaminated soil sites.

AUTOMATED SAMPLER
SYSTEM
(SAS mounted on Husky)

160
140
120
100
80
60
40
20
0

v1_N
v2_N
v3_N

1
27
53
79
105
131
157
183
209
235
261
287
313
339

Force(N)

INTRODUCTION

System: An arrangement of
3 load cells in which 1
measures linear and 2
measures rotational force
applied.

Sample readings

Measuring
manually applied
force using the
experimental setup

METHODOLOGY
SAMPLE ACQUISITION SUB-SYSTEM (SAS)

(ON-FIELD FUNCTIONING OF THE ROBOT)

Contaminated soil sites are sources of


leachates, gases and other pollutants.

Humans exposed to contaminated soil


regions suffer from skin and lung
diseases.

Core Bit

Sampler Mechanism

Lift Mechanism

PRELIMINARY RESULTS
Currently, contaminated soil sites are
being manually monitored.

Designed and manufactured a soil probe for the application.


Experimentally calculated the required forces.
Designed and manufactured a soil sampler mechanism that can be mounted on Husky.
Initial stage field test done.

CONTINIUING WORK
Further field tests to verify the robot.
Designing storage system for multiple sample collection.
Control and navigation of the robot using ROS.

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