Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team.
Sediment Sampling in Estuarine Mudflats with an Aerial-Ground Robotic Team.
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DOI：
10.3390/s16091461
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发表时间：
2016-09-09
期刊：
影响因子：
--
通讯作者：
Flores L
中科院分区：
文献类型：
--
作者：
Deusdado P;Guedes M;Silva A;Marques F;Pinto E;Rodrigues P;Lourenço A;Mendonça R;Santana P;Corisco J;Almeida SM;Portugal L;Caldeira R;Barata J;Flores L
本文提出了一个适用于泥滩底部沉积物采样和检索的机器人团队，目标是环境监测任务。该机器人团队包括一辆四轮转向地面车辆，配备了能够保留湿土的钻孔工具，以及一辆用于动态航空图像采集的多旋翼飞行器。远程操作员使用按需航空图像正确融合在航空马赛克上来指定机器人任务并监督其执行。这对于环境监测研究的成功至关重要，因为它通常依赖于人类专业知识来确保采样程序的统计意义和准确性。尽管关于环境监测采样程序的文献很多，但在泥滩中，在包括机器人元件方面还存在差距。本文还提出了一个初步的实验协议，旨在利用机器人系统提供的功能，从而弥补了这一差距。塔霍河口南岸的现场试验表明，机器人系统能够成功提取和运输底部沉积物样本以进行离线分析。结果还显示了与（传统）人工采样相比的提取效率和优势。
This paper presents a robotic team suited for bottom sediment sampling and retrieval in mudflats, targeting environmental monitoring tasks. The robotic team encompasses a four-wheel-steering ground vehicle, equipped with a drilling tool designed to be able to retain wet soil, and a multi-rotor aerial vehicle for dynamic aerial imagery acquisition. On-demand aerial imagery, properly fused on an aerial mosaic, is used by remote human operators for specifying the robotic mission and supervising its execution. This is crucial for the success of an environmental monitoring study, as often it depends on human expertise to ensure the statistical significance and accuracy of the sampling procedures. Although the literature is rich on environmental monitoring sampling procedures, in mudflats, there is a gap as regards including robotic elements. This paper closes this gap by also proposing a preliminary experimental protocol tailored to exploit the capabilities offered by the robotic system. Field trials in the south bank of the river Tagus’ estuary show the ability of the robotic system to successfully extract and transport bottom sediment samples for offline analysis. The results also show the efficiency of the extraction and the benefits when compared to (conventional) human-based sampling.
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影响因子：
4.1
作者：
Li, Mo;Liu, Yunhao
通讯作者：
Liu, Yunhao
影响因子：
2.9
作者：
Caetano, M;Madureira, MJ;Vale, C
通讯作者：
Vale, C
影响因子：
5.7
作者：
Dunbabin, Matthew;Marques, Lino
通讯作者：
Marques, Lino
影响因子：
8.4
作者：
Capella, Juan V.;Bonastre, Alberto;Peris, Miguel
通讯作者：
Peris, Miguel
DOI：
10.1080/00207233.2013.845714
发表时间：
2013-12-01
影响因子：
--
作者：
Carvalho, Fernando P.;Oliveira, Joao M.;Malta, Margarida
通讯作者：
Malta, Margarida