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Author Cunningham, C. ♦ Nesnas, I. ♦ Whittaker, W.L.
Source IEEE Xplore Digital Library
Content type Text
Publisher Institute of Electrical and Electronics Engineers, Inc. (IEEE)
File Format PDF
Copyright Year ©2015
Language English
Subject Domain (in DDC) Technology ♦ Engineering & allied operations ♦ Other branches of engineering
Subject Keyword Temperature measurement ♦ Heating ♦ Thermal analysis ♦ Land surface temperature ♦ Atmospheric modeling ♦ Robots ♦ Mars
Abstract The inability of current robotic perception techniques to adequately detect non-geometric terrain hazards is a primary cause of failure for robots operating in natural terrain on Mars, the Moon, and Earth. Classical approaches detect surface appearance but do not measure the underlying mechanical properties that determine wheel-terrain interaction. Diurnal temperature variations of a granular material, however, are strongly correlated with both its surface appearance and subsurface geophysical properties. This paper presents a technique for determining relative differences in looseness and traversability of granular terrain through analysis of thermal imagery. Terrain compaction and traversability are predicted by estimating a material's thermal inertia from observations of thermal transients. Results from a set of experiments in sandy terrain demonstrate the ability of this approach to differentiate between safe, compact and hazardous, loose terrain.
Description Author affiliation: Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA (Nesnas, I.) || Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA (Cunningham, C.; Whittaker, W.L.)
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research ♦ Reading
Education Level UG and PG
Learning Resource Type Article
Publisher Date 2015-05-26
Publisher Place USA
Rights Holder Institute of Electrical and Electronics Engineers, Inc. (IEEE)
e-ISBN 9781479969234
Size (in Bytes) 2.40 MB
Page Count 6
Starting Page 3947
Ending Page 3952


Source: IEEE Xplore Digital Library