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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ftdoajarticles:oai:doaj.org/article:6a45284297d240af9f4695a2d3e4ec5c 2023-05-15T16:03:54+02:00 A low-cost autonomous rover for polar science A. O. Hoffman H. C. Steen-Larsen K. Christianson C. Hvidberg 2019-06-01T00:00:00Z https://doi.org/10.5194/gi-8-149-2019 https://doaj.org/article/6a45284297d240af9f4695a2d3e4ec5c EN eng Copernicus Publications https://www.geosci-instrum-method-data-syst.net/8/149/2019/gi-8-149-2019.pdf https://doaj.org/toc/2193-0856 https://doaj.org/toc/2193-0864 doi:10.5194/gi-8-149-2019 2193-0856 2193-0864 https://doaj.org/article/6a45284297d240af9f4695a2d3e4ec5c Geoscientific Instrumentation, Methods and Data Systems, Vol 8, Pp 149-159 (2019) Geophysics. Cosmic physics QC801-809 article 2019 ftdoajarticles https://doi.org/10.5194/gi-8-149-2019 2022-12-31T11:02:35Z 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. Article in Journal/Newspaper East Greenland East Greenland Ice-core Project Greenland Greenland ice core Greenland Ice core Project ice core Ice Sheet Directory of Open Access Journals: DOAJ Articles Greenland Geoscientific Instrumentation, Methods and Data Systems 8 1 149 159 |
institution |
Open Polar |
collection |
Directory of Open Access Journals: DOAJ Articles |
op_collection_id |
ftdoajarticles |
language |
English |
topic |
Geophysics. Cosmic physics QC801-809 |
spellingShingle |
Geophysics. Cosmic physics QC801-809 A. O. Hoffman H. C. Steen-Larsen K. Christianson C. Hvidberg A low-cost autonomous rover for polar science |
topic_facet |
Geophysics. Cosmic physics QC801-809 |
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 |
Article in Journal/Newspaper |
author |
A. O. Hoffman H. C. Steen-Larsen K. Christianson C. Hvidberg |
author_facet |
A. O. Hoffman H. C. Steen-Larsen K. Christianson C. Hvidberg |
author_sort |
A. O. Hoffman |
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 |
publisher |
Copernicus Publications |
publishDate |
2019 |
url |
https://doi.org/10.5194/gi-8-149-2019 https://doaj.org/article/6a45284297d240af9f4695a2d3e4ec5c |
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 |
Geoscientific Instrumentation, Methods and Data Systems, Vol 8, Pp 149-159 (2019) |
op_relation |
https://www.geosci-instrum-method-data-syst.net/8/149/2019/gi-8-149-2019.pdf https://doaj.org/toc/2193-0856 https://doaj.org/toc/2193-0864 doi:10.5194/gi-8-149-2019 2193-0856 2193-0864 https://doaj.org/article/6a45284297d240af9f4695a2d3e4ec5c |
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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