Ground robotic measurement of aeolian processes

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dc.bibliographic.citation@article{qian2017ground, title={Ground robotic measurement of aeolian processes}, author={Qian, Feifei and Jerolmack, Douglas and Lancaster, Nicholas and Nikolich, George and Reverdy, Paul and Roberts, Sonia and Shipley, Thomas and Van Pelt, R Scott and Zobeck, Ted M and Koditschek, Daniel E}, journal={Aeolian Research}, volume={27}, pages={1--11}, year={2017}, publisher={Elsevier} }
dc.contributor.authorQian, Feifei
dc.contributor.authorJerolmack, Douglas J
dc.contributor.authorLancaster, Nicholas
dc.contributor.authorNikolich, George
dc.contributor.authorReverdy, Paul B
dc.contributor.authorRoberts, Sonia F
dc.contributor.authorShipley, Thomas F
dc.contributor.authorVan pelt, Robert Scott
dc.contributor.authorZobeck, Ted M
dc.contributor.authorKoditschek, Daniel E
dc.date2023-05-17T17:27:38.000
dc.date.accessioned2023-05-22T19:12:24Z
dc.date.available2023-05-22T19:12:24Z
dc.date.issued2017-08-01
dc.date.submitted2017-07-09T16:42:23-07:00
dc.description.abstractModels of aeolian processes rely on accurate measurements of the rates of sediment transport by wind, and careful evaluation of the environmental controls of these processes. Existing field approaches typically require intensive, event-based experiments involving dense arrays of instruments. These devices are often cumbersome and logistically difficult to set up and maintain, especially near steep or vegetated dune surfaces. Significant advances in instrumentation are needed to provide the datasets that are required to validate and improve mechanistic models of aeolian sediment transport. Recent advances in robotics show great promise for assisting and amplifying scientists’ efforts to increase the spatial and temporal resolution of many environmental measurements governing sediment transport. The emergence of cheap, agile, human-scale robotic platforms endowed with increasingly sophisticated sensor and motor suites opens up the prospect of deploying programmable, reactive sensor payloads across complex terrain in the service of aeolian science. This paper surveys the need and assesses the opportunities and challenges for amassing novel, highly resolved spatiotemporal datasets for aeolian research using partially-automated ground mobility. We review the limitations of existing measurement approaches for aeolian processes, and discuss how they may be transformed by ground-based robotic platforms, using examples from our initial field experiments. We then review how the need to traverse challenging aeolian terrains and simultaneously make high-resolution measurements of critical variables requires enhanced robotic capability. Finally, we conclude with a look to the future, in which robotic platforms may operate with increasing autonomy in harsh conditions. Besides expanding the completeness of terrestrial datasets, bringing ground-based robots to the aeolian research community may lead to unexpected discoveries that generate new hypotheses to expand the science itself. For more information: Kod*lab (http://kodlab.seas.upenn.edu/)
dc.description.sponsorshipThis work was supported in part by the US National Science Foundation under an INSPIRE award, CISE NRI # 1514882.
dc.formatflash_audio
dc.identifier.urihttps://repository.upenn.edu/handle/20.500.14332/34027
dc.legacy.articleid1844
dc.legacy.fieldstrue
dc.legacy.fields10.1016/j.aeolia.2017.04.004
dc.legacy.fulltexturlhttps://repository.upenn.edu/cgi/viewcontent.cgi?article=1844&context=ese_papers&unstamped=1
dc.relation.multimediahttps://youtu.be/IZg8dxaUlpw
dc.relation.url
dc.relation.urlhttp://repository.upenn.edu/ese_images/1016/preview.jpg
dc.relation.urlhttp://www.sciencedirect.com/science/article/pii/S1875963716301914
dc.source.beginpage1
dc.source.endpage11
dc.source.issue788
dc.source.journalDepartmental Papers (ESE)
dc.source.journaltitleAeolian Research
dc.source.peerreviewedtrue
dc.source.statuspublished
dc.source.volume27
dc.subject.otherGRASP
dc.subject.otherKodlab
dc.subject.otherAeolian processes; Field measurements; Legged robot; Instrumentation; Sand transport; Dust emission; Shear stress partitioning; Reactive planning
dc.subject.otherElectrical and Computer Engineering
dc.subject.otherEngineering
dc.subject.otherSystems Engineering
dc.titleGround robotic measurement of aeolian processes
dc.typeArticle
digcom.identifierese_papers/788
digcom.identifier.contextkey10406812
digcom.identifier.submissionpathese_papers/788
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upenn.schoolDepartmentCenterDepartmental Papers (ESE)
upenn.schoolDepartmentCenterGeneral Robotics, Automation, Sensing and Perception Laboratory
upenn.schoolDepartmentCenterKod*lab
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