A low-cost autonomous rover for polar science

We present the developmental considerations, design, and deployment of an autonomous modular terrestrial rover for ice-sheet exploration that is inexpensive, easy to construct, and allows for instrumentation customization. The total construction cost for this rover is less than USD 3000, approximate...

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Published in:Geoscientific Instrumentation, Methods and Data Systems
Main Authors: Hoffman, Andrew O., Steen-Larsen, Hans Christian, Christianson, Knut, Hvidberg, Christine
Format: Text
Language:English
Published: 2019
Subjects:
Online Access:https://doi.org/10.5194/gi-8-149-2019
https://gi.copernicus.org/articles/8/149/2019/
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spelling ftcopernicus:oai:publications.copernicus.org:gi73554 2023-05-15T16:03:53+02:00 A low-cost autonomous rover for polar science Hoffman, Andrew O. Steen-Larsen, Hans Christian Christianson, Knut Hvidberg, Christine 2019-06-11 application/pdf https://doi.org/10.5194/gi-8-149-2019 https://gi.copernicus.org/articles/8/149/2019/ eng eng doi:10.5194/gi-8-149-2019 https://gi.copernicus.org/articles/8/149/2019/ eISSN: 2193-0864 Text 2019 ftcopernicus https://doi.org/10.5194/gi-8-149-2019 2020-07-20T16:22:48Z We present the developmental considerations, design, and deployment of an autonomous modular terrestrial rover for ice-sheet exploration that is inexpensive, easy to construct, and allows for instrumentation customization. The total construction cost for this rover is less than USD 3000, approximately one-tenth the cost of existing platforms, and it can be built using facilities frequently available at academic institutions (machine shop, 3-D printer, open-source hardware and software). Instrumentation deployed on this rover can be customized; the rover presented in this study was equipped with a dual-frequency GPS receiver and a digital SLR camera for constructing digital elevation models using structure-from-motion (SfM) photogrammetry. We deployed this prototype rover on the Northeast Greenland Ice Stream to map local variations in snow accumulation and surface topography. The rover conducted four autonomous missions based out of the East Greenland Ice-Core Project (EastGRIP) camp during July 2017, measuring surface elevation transects across the hazardous ice-stream shear margins. During these missions, the rover proved capable of driving over 20 km on a single charge with a drawbar pull of 250 N, sufficient to tow instrumentation of up to 100 kg. The rover also acquired photographs that were subsequently used to construct digital elevation models of a site monitored for spatiotemporal variability in snow accumulation, demonstrating adequate stability for high-resolution imaging applications. Due to its low cost, low-power requirements, and simple modular design, mass deployments of this rover design are practicable. Operation of the rover in hazardous areas circumvents the substantial expense and risk to personnel associated with conventional, crewed deployments. Thus, this rover is an investigatory platform that enables direct exploration of polar environments considered too hazardous for conventional field expeditions. Text East Greenland East Greenland Ice-core Project Greenland Greenland ice core Greenland Ice core Project ice core Ice Sheet Copernicus Publications: E-Journals Greenland Geoscientific Instrumentation, Methods and Data Systems 8 1 149 159
institution Open Polar
collection Copernicus Publications: E-Journals
op_collection_id ftcopernicus
language English
description We present the developmental considerations, design, and deployment of an autonomous modular terrestrial rover for ice-sheet exploration that is inexpensive, easy to construct, and allows for instrumentation customization. The total construction cost for this rover is less than USD 3000, approximately one-tenth the cost of existing platforms, and it can be built using facilities frequently available at academic institutions (machine shop, 3-D printer, open-source hardware and software). Instrumentation deployed on this rover can be customized; the rover presented in this study was equipped with a dual-frequency GPS receiver and a digital SLR camera for constructing digital elevation models using structure-from-motion (SfM) photogrammetry. We deployed this prototype rover on the Northeast Greenland Ice Stream to map local variations in snow accumulation and surface topography. The rover conducted four autonomous missions based out of the East Greenland Ice-Core Project (EastGRIP) camp during July 2017, measuring surface elevation transects across the hazardous ice-stream shear margins. During these missions, the rover proved capable of driving over 20 km on a single charge with a drawbar pull of 250 N, sufficient to tow instrumentation of up to 100 kg. The rover also acquired photographs that were subsequently used to construct digital elevation models of a site monitored for spatiotemporal variability in snow accumulation, demonstrating adequate stability for high-resolution imaging applications. Due to its low cost, low-power requirements, and simple modular design, mass deployments of this rover design are practicable. Operation of the rover in hazardous areas circumvents the substantial expense and risk to personnel associated with conventional, crewed deployments. Thus, this rover is an investigatory platform that enables direct exploration of polar environments considered too hazardous for conventional field expeditions.
format Text
author Hoffman, Andrew O.
Steen-Larsen, Hans Christian
Christianson, Knut
Hvidberg, Christine
spellingShingle Hoffman, Andrew O.
Steen-Larsen, Hans Christian
Christianson, Knut
Hvidberg, Christine
A low-cost autonomous rover for polar science
author_facet Hoffman, Andrew O.
Steen-Larsen, Hans Christian
Christianson, Knut
Hvidberg, Christine
author_sort Hoffman, Andrew O.
title A low-cost autonomous rover for polar science
title_short A low-cost autonomous rover for polar science
title_full A low-cost autonomous rover for polar science
title_fullStr A low-cost autonomous rover for polar science
title_full_unstemmed A low-cost autonomous rover for polar science
title_sort low-cost autonomous rover for polar science
publishDate 2019
url https://doi.org/10.5194/gi-8-149-2019
https://gi.copernicus.org/articles/8/149/2019/
geographic Greenland
geographic_facet Greenland
genre East Greenland
East Greenland Ice-core Project
Greenland
Greenland ice core
Greenland Ice core Project
ice core
Ice Sheet
genre_facet East Greenland
East Greenland Ice-core Project
Greenland
Greenland ice core
Greenland Ice core Project
ice core
Ice Sheet
op_source eISSN: 2193-0864
op_relation doi:10.5194/gi-8-149-2019
https://gi.copernicus.org/articles/8/149/2019/
op_doi https://doi.org/10.5194/gi-8-149-2019
container_title Geoscientific Instrumentation, Methods and Data Systems
container_volume 8
container_issue 1
container_start_page 149
op_container_end_page 159
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