Accession Number:

AD1058591

Title:

Measurement and Analysis of Granular Soil Beneath Lightweight Robotic Running Gear

Descriptive Note:

Technical Report,01 May 2013,31 Oct 2016

Corporate Author:

Massachusetts Institute of Technology (MIT) Cambridge United States

Personal Author(s):

Report Date:

2017-02-27

Pagination or Media Count:

58.0

Abstract:

A simple and efficient methodology to generate a mobility map accounting for two sources of uncertainty, namely measurement errors RMSE of a Digital Elevation Model and interpolation error kriging method is proposed. This methodology means a general-purpose solution since it works with standard and publicly-available Digital Elevation Models DEMs. The different regions in the map are classified according to the geometry of the surface i.e. slope and the soil type. A novel segmentation-based approach has also been proposed to divide the regions of interest into segments where stationarity is ensured. Finally, an initial investigation has been performed showing the major impact that moisture and vegetation produce on a soil and how that effect may be measured using thermal cameras.

Subject Categories:

  • Soil Mechanics
  • Land and Riverine Navigation and Guidance

Distribution Statement:

APPROVED FOR PUBLIC RELEASE