Unmanned Aerial Auger for Underground Sensor Installation
Authors: Yue Sun, Adam Plowcha, Mark Nail, Sebastian Elbaum, Benjamin Terry, Carrick Detweiler
Abstract
Using an Unmanned Aerial Systems (UAS) to autonomously deploy soil sensors enables their installation in otherwise hard to access locations. In this paper, we present a system that integrates a UAS and a digging mechanism which can carry, secure, and install a small sensor into dirt effectively and efficiently. The integrated system includes 1) a low profile, light-weight, inexpensive auger mechanism, 2) a sensor carrying and deploying mechanism with low power consumption, and 3) sensors and software that control and evaluate the auger performance during digging. When tested on a suite of target soils and a target depth of 120mm, the system achieved a success rate of 100% for indoor tests and 92.5% for outdoors, verifying the potential of the approach.