Autonomous Rovers for Polar Science Campaigns
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Autonomous Rovers for Polar Science Campaigns 1. Why Develop Polar Rovers? • Reduce logistics costs • Less infrastructure • Broader safety & weather windows • Expand science opportunities • Increase spatial & temporal coverage • Maximize repetitive, routine measurements • Rovers as sensors • Navigation sensors & drivetrains engage environment • Measure snow strength, roughness & topography AUG12 C13E-0683 J.H. Lever 1 , L.E. Ray 2 , R.M. Williams 2 , A.M. Morlock 2 & A.M. Burzynski 1 1 Cold Regions Research and Engineering Laboratory (CRREL), Hanover NH 2 Thayer School of Engineering, Dartmouth College, Hanover NH Cool Robot 2. Two Platforms • Yeti: • 4WD, 81 kg, battery powered (3 – 4 hr), GPS waypoint following, towed instrument sled (GPR, etc.) • Deployed South Pole traverse route (2010), South Pole/Old Pole (2011), Greenland traverse route (2012) • Well-defined survey grids & repeat detection improves GPR hazard mapping • Cool Robot: • 4DW, 60 kg, solar powered (continuous summer operation), GPS waypoint following, towed instrument sled (air & snow sampling, GPR, etc.) • Deployed Summit Station (2005) to confirm mobility & power budget Next for Yeti • Mt. Erebus 2012 (with NM Tech) • Gridded GPR surveys to map ice caves within Mt. Erebus glaciers • McMurdo Shear Zone 2013 – 15 (with U Maine) • Gridded GPR surveys to map shear-crevasse field between McMurdo & Ross Ice Shelves • Investigate shear zone as boundary condition on Ross Ice Shelf • Operational Support 2013 (OPP) • GPR surveys to detect crevasses along South Pole and Greenland traverses routes 3. Seeking Partners • To propose rovers for unique science campaigns • To expand scope of existing field projects • Payloads & rover operations matched to science needs Contact: More Information http://engineering.dartmouth.edu/crobots/ Lever, J.H., A.J. Delaney, L.E Ray, E. Trautmann, L.A. Barna and A.M Burzynski (in press) Autonomous GPR surveys using Polar rover Yeti. Journal of Field Robotics, accepted Oct 2012 Ray, L.E., J.H. Lever, A.D. Streeter and A.D. Price (2007) Design and power management of a solar-powered “Cool Robot” for polar instrument networks. Journal of Field Robotics, 24(7), 581 – 599. Acknowledgements: Cool Robot – NSF grants OPP-0343328 & OPP-0806157, NIST grant 60NANB4D1144 and Army AT42 Mobility of Lightweight Robotic Vehicles. Yeti – NSF-OPP Antarctic Infrastructure and Logistics and Arctic Research Support and Logistics, NASA-JPL grant RSA 1310519 Dr. James Lever, CRREL Prof. Laura Ray, Dartmouth College [email protected] 603-646-4309 [email protected] 603-646-1243 Yeti Next for Cool Robot • Summit Station 2013 (with UNH) • Demonstrate long-endurance science campaign (100 – 200 km, 2 – 5 days) • Measure emissions footprint of Summit • Measure surface-snow characteristics & roughness (satellite ground truth) 270 W electrical power @ 20° sun elev. 35% is reflected power Front 56% (direct + reflected) Top 18% (direct) Sides 19% (reflected only) Back 7% (reflected only)
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270 W electrical power @ 20 ° sun elev. 35% is reflected power. Top 18% (direct). Back 7% (reflected only). Sides 19% (reflected only). Front 56% (direct + reflected). Autonomous Rovers for Polar Science Campaigns. AUG12 C13E-0683. 1. Why Develop Polar Rovers? - PowerPoint PPT Presentation
Transcript of Autonomous Rovers for Polar Science Campaigns
Autonomous Rovers for Polar Science Campaigns
1. Why Develop Polar Rovers?• Reduce logistics costs
• Less infrastructure• Broader safety & weather windows
• Expand science opportunities• Increase spatial & temporal coverage• Maximize repetitive, routine measurements
• Rovers as sensors• Navigation sensors & drivetrains engage environment• Measure snow strength, roughness & topography
AUG12C13E-0683
J.H. Lever1, L.E. Ray2, R.M. Williams2, A.M. Morlock2 & A.M. Burzynski1
1Cold Regions Research and Engineering Laboratory (CRREL), Hanover NH2Thayer School of Engineering, Dartmouth College, Hanover NH
Cool Robot
2. Two Platforms• Yeti:
• 4WD, 81 kg, battery powered (3 – 4 hr), GPS waypoint following, towed instrument sled (GPR, etc.)• Deployed South Pole traverse route (2010), South Pole/Old Pole (2011), Greenland traverse route (2012)• Well-defined survey grids & repeat detection improves GPR hazard mapping
• Cool Robot:• 4DW, 60 kg, solar powered (continuous summer operation), GPS waypoint following, towed instrument
sled (air & snow sampling, GPR, etc.)• Deployed Summit Station (2005) to confirm mobility & power budget
Next for Yeti• Mt. Erebus 2012 (with NM Tech)
• Gridded GPR surveys to map ice caves within Mt. Erebus glaciers• McMurdo Shear Zone 2013 – 15 (with U Maine)
• Gridded GPR surveys to map shear-crevasse field between McMurdo & Ross Ice Shelves• Investigate shear zone as boundary condition on Ross Ice Shelf
• Operational Support 2013 (OPP)• GPR surveys to detect crevasses along South Pole and Greenland traverses routes
3. Seeking Partners• To propose rovers for unique science campaigns• To expand scope of existing field projects• Payloads & rover operations matched to science needs
Contact:
More Informationhttp://engineering.dartmouth.edu/crobots/
Lever, J.H., A.J. Delaney, L.E Ray, E. Trautmann, L.A. Barna and A.M Burzynski (in press) Autonomous GPR surveys using Polar rover Yeti. Journal of Field Robotics, accepted Oct 2012
Ray, L.E., J.H. Lever, A.D. Streeter and A.D. Price (2007) Design and power management of a solar-powered “Cool Robot” for polar instrument networks. Journal of Field Robotics, 24(7), 581 – 599.
Acknowledgements: Cool Robot – NSF grants OPP-0343328 & OPP-0806157, NIST grant 60NANB4D1144 and Army AT42 Mobility of Lightweight Robotic Vehicles. Yeti – NSF-OPP Antarctic Infrastructure and Logistics and Arctic Research Support and Logistics, NASA-JPL grant RSA 1310519
Dr. James Lever, CRREL Prof. Laura Ray, Dartmouth [email protected]
603-646-1243
Yeti
Next for Cool Robot• Summit Station 2013 (with UNH)
• Demonstrate long-endurance science campaign (100 – 200 km, 2 – 5 days)• Measure emissions footprint of Summit• Measure surface-snow characteristics & roughness (satellite ground truth)
270 W electrical power @ 20° sun elev.35% is reflected power
Front 56%(direct + reflected)
Top 18%(direct)
Sides 19%(reflected only)
Back 7%(reflected only)
