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An automated vane shear test tool for environmental monitoring with unmanned ground vehicles
Journal of Terramechanics ( IF 2.4 ) Pub Date : 2020-10-01 , DOI: 10.1016/j.jterra.2020.05.003
Nicolas A. Olmedo , Bereket Fisseha , Ward Wilson , Martin Barczyk , Hong Zhang , Michael G. Lipsett

Abstract The present work describes the development of a novel robotic vane shear test tool for characterization of soil parameters with high precision and accuracy. The tool automates industrial standards for testing procedures. The proposed system is capable of performing high resolution torque measurements, which are then used to estimate the shear strength of the soil. The design of the instrument and its advantages over traditional manual instruments are discussed, after which error sources, calibration, and test procedures are described. The developed tool was successfully validated against high-end commercial equipment. The built unit was employed for characterizing mine waste in a laboratory setting and also deployed in the field on board an Unmanned Ground Vehicle for remote soil characterization.

中文翻译:

用于无人地面车辆环境监测的自动叶片剪切测试工具

摘要 目前的工作描述了一种新型机器人叶片剪切测试工具的开发,用于以高精度和准确度表征土壤参数。该工具使测试程序的工业标准自动化。所提出的系统能够执行高分辨率扭矩测量,然后用于估计土壤的剪切强度。讨论了仪器的设计及其相对于传统手动仪器的优势,然后描述了误差源、校准和测试程序。开发的工具已成功通过高端商业设备验证。建造的单元用于在实验室环境中表征矿山废物,还部署在无人地面车辆上的现场用于远程土壤表征。
更新日期:2020-10-01
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