Wetland Soil Strength Tester and Core Sampler Using a Drone (ICRA 2021)
Drone deployment & retrieval of an instrumented dart for measuring soil strength in soft soils. An assembly sequence shows how the retrieval mechanism was constructed. Then successive drop tests are shown with the data collected. A final video shows an alternate tip design that can collect a set of soil samples at different soil depths, and rotate an inner cartridge so that the sampling can be conducted at other locations.
Attachment for paper “Wetland Soil Strength Tester and Core Sampler Using a Drone", by Victor M. Baez, Shreyas Poyrekar, Marcos Ibarra, Yusef Haikal, Navid H. Jafari, and Aaron T. Becker, ICRA 2021, http://www.icra2021.org/
Full paper at https://github.com/aabecker/RoboticSw...
Video from ICRA 2020 paper is at • Assessment of Soil Strength using a Roboti...