Session: Research Posters

Paper Number: 166712

Multifunctional Support Anchoring System for Automated Soil Sampling System 

The use of automated robotic systems to collect diverse information in the field accurately is not limited to the agricultural sector. Real-time data collection in agriculture plays a crucial role in advancing scientific research, optimizing farming practices, and addressing global challenges like food security and climate change. An automated soil monitoring and sampling system is expected to become an essential component in various domains such as Enhancing Precision Agriculture or Soil Health Monitoring for Sustainable Farming within the agricultural sector, establishing itself as a fundamental system. Through scientific and engineering methodologies, it will play a critical role in advancing the technological landscape of modern agriculture to an unprecedented level, surpassing existing systems in terms of efficiency and innovation.

Specifically, an Unmanned Ground Vehicle (UGV) will be the base platform for the automated soil monitoring and sampling system, and its stability during sampling task is a major challenge. Soil resistance and uneven terrain can cause inaccuracies and compromise data quality. This project focuses on developing a Multifunctional Support Anchoring System to enhance UGV stability. The system will ensure secure anchorage, efficient penetration, and reliable data collection. By addressing these issues, the project aims to improve UGV performance in diverse field conditions, leading to more accurate environmental and agricultural assessments.

The anchoring system employs four vertically driven spiral anchors, one at each UGV corner. The procedure begins by driving the UGV to a hard sampling point and visually inspecting for obstructions like huge rocks. Once in position, all four anchors drive vertically into the ground and secure the robot during sampling. Once the soil sample is collected, the anchors reappear, and the UGV moves to the next site. Penetration force, soil resistance, and holding force calculations are all meant to be optimized for efficient anchoring.

The major value of the anchoring system of the soil sampling system is to maintain the stability of the UGV. The stability of the UGV plays a vital role due to the direct correlation to the soil sample quality. For example, the extensive reaction force applies to the UGV while the core sampler is penetrating the soil. Without the anchoring system to position the UGV, disturbances to the soil penetration will occur and eventually affect the quality of the soil sample. In conclusion, the main goal of the anchoring system is to maintain the stability of the UGV to minimize the disruption of the soil collection and to capture high-quality in-situ soil samples in the agricultural environment. 

 

Presenting Author: Barath Pasupathy Rochester Institute of Technology

Presenting Author Biography: Barath Pasupathy is a graduate student currently pursuing a Master of Science in Manufacturing and Mechanical Systems Integration at Rochester Institute of Technology (RIT). I have completed my bachelor’s in Mechanical Engineering at SRM Institute of Science and Technology. His research interests are in robotics, automation, and manufacturing, and he is passionate about finding solutions to practical engineering problems. He has developed strong problem-solving skills and technical expertise in manufacturing processes and system optimization. Currently, his working on a Multifunctional Support Anchoring System for UGVs, a project that merges interests in robotics and autonomous systems.

Authors:

Barath Pasupathy Rochester Institute of Technology
Brian Rice Rochester Institute of Technology
Martin Anselm Rochester Institute of Technology
Jun Han Bae Rochester Institute of Technology