An Intelligent Mechanism for Polar Snow Sample Collection, Transportation, and Portable Storage
Authors: 
Yuchen Hong, Yu Cao, Yongsheng Luo, Lefan Guo, Xianchao Sun, Zhiyao Sun, Yu Zhao, Gangfeng LiuAuthors Info & Claims
Pages 133 - 140
Abstract
The surface snowpack in polar regions serves as a vital medium for reconstructing past climates, analyzing present conditions, and predicting future environmental changes. Presently, surface snow sampling in polar regions is predominantly manual, posing challenges in terms of personnel safety and sample purity. To address these challenges, a detachable sampling mechanism installed at the end of polar exploration robots has been proposed to achieve unmanned, diversified, and contamination-free collection of snow samples. Firstly, innovative design principles were applied to the sampling mechanism. A six-axis sampling arm was employed to carry out various sampling tasks in confined spaces.An end actuator was employed to facilitate the docking, separation, and portable storage of the gripper.Subsequently, theoretical analysis and simulation studies were carried out on the mechanism. Finally, a prototype of the sampling mechanism was developed, and experiments were conducted to validate the rationality and feasibility of the structure and principles. Tests were conducted to assess sampling capabilities and the docking and separation of the gripper.
References
[1]
[1]G. Eason, B. Noble, and I. N. Sneddon. 1955. On certain integrals of Lipschitz-Hankel type involving products of Bessel functions. Phil. Trans. Roy. Soc. London, vol. A247, pp. 529–551.
[2]
[2]DeConto R M, Pollard D. 2016. Contribution of Antarctica to past and future sea-level rise. Nature, 531(7596):591-597.
[3]
[3]Golledge N R, Keller E D, Gomez N, et al. 2020. An astronomically dated record of Earth’s climate and its predictability over the last 66 million years. Science, 369(6509):1383-1387.
[4]
[4]Robert Deconto, David Pollard, and David Harwood, et al. 2007. Sea ice feedback and Cenozoic evolution of Antarctic climate and ice sheets. Paleoceanography, 22, PA3214.
[5]
[5]Wang Xiaoxiang, Xiao Cunde, Gao Xinsheng, et al. 2017. Matters needing attention in collection and pretreatment of snow and ice samples in chemical analysis. Journal of Glaciology and Geocryology, 39(5):1075-1083.
[6]
[6]Zhang Xiaowei, Kang Jiancheng, Zhou Shangzhe. 2002. Environmental geochemical index in polar snow and ice and its significance. Chinese Journal of Polar Research, 14(3):213–225.
[7]
[7]Liu Leibao, Kang Jiancheng, Wen Jiahong, et al. 1996. Chemical composition analysis of Antarctic ice and snow: a comparision between capillary ion analysis and ion chromatography. Antarctic Research, 8(1):65–72.
[8]
[8]Osterberg E C, Handley M J, Sneed S B, et al. 2006. Continuous ice core melter system with discrete sampling for major ion, trace element, and stable isotope analyses. Environmental Science and Technology, 40(10):3355-3361.
[9]
[9]Gao Xinsheng, Zhu Guocai, Ren Jiawen, et al. 2012. Development and application of light-weight core drills for ice coring of glaciers in high mountains in China. Journal of Glaciology and Geocryology, 34(6):1364–1370.
[10]
[10]Long Jiangping, Qin Dahe. 1997. Progresses in the researches of environmental and climatic records from trace organic compounds in snow and ice. Journal of Glaciology and Geocryology, 19(2):186–192.
[11]
[11]Ren Jiawen, Qin Dahe, Liu Chen. 1994. Crystal fabrics of firn ice cores from shallow boreholes on Nelson ice cap[J]. Antarctic Research, 6(3):20–24.
[12]
[12]Liao, J., Liu, G., Chen, J. and Zhao, J. 2024. Optimized Design Method Based on Parallel Stepwise Hierarchical Constraints and its Application for 1-DOF Six-Bar Finger. IEEE Transactions on Industrial Electronics.
[13]
[13]V. Zagorodnov, L.G. Thompson, J.J. Kelley, B. Koci, V. Mikhalenko. 1998. Antifreeze thermal ice core drilling : an effective approach to the acquisition of ice cores. Cold Regions Science and Technology, 28:189-202.
[14]
[14]Pavel Talalay, Bowen Liu, Yang Yang, et al. 2018. Elctric thermal drill for open-hole coring in ice. Polar Science, 17:13-22.
[15]
[15]Pinlu Cao, Miaomiao Liu, Zhuo Chen, Baoyi Chen, Qi Zhao. 2018. Theory calculation and testing of air injection parameters in ice core drilling with air reverse circulation. Polar Science, 17:23-32.
[16]
[16]K. A. Farley et al. 2022. Aqueously altered igneous rocks sampled on the floor of Jezero crater, Mars. Science, 377 eabo2196.
[17]
[17]Kai Tao, Zinuo Wang, Jin Yuan, Xuemei Liu. 2023. Design of novel end-effector for robotic bud thinning of Agaricus bisporus mushrooms. Computers and Electronics in Agriculture, 210:107880.
[18]
[18]Y. Luo, G. Liu, L. Guo, Y. Zhu and J. Zhao. 2024. Scalable Wing Sailing and Snowboarding Enhance Efficient and Energy-Saving Mobility of Polar Robot. IEEE/ASME Transactions on Mechatronics.
[19]
[19]Liu, G., Sun, X., Liu, Y., Liu, T., Li, C. and Zhang, X. 2022. Automatic spraying motion planning of a shotcrete manipulator. Intelligent Service Robotics, 15(1), pp.115-128.
Index Terms
- An Intelligent Mechanism for Polar Snow Sample Collection, Transportation, and Portable Storage
Recommendations
Robotic compliant grinding of curved parts based on a designed active force-controlled end-effector with optimized series elastic component
Highlights- A new active compliant force-controlled end-effector based on series elastic actuator is designed for robotic grinding of curved surfaces.
- The influences of the elastic component and the grinding tool stiffnesses on the dynamic ...
AbstractHigh-accuracy, fast-response, and low-overshoot force control are important to guarantee the material removal accuracy and surface quality of robotic compliant grinding. In order to achieve the above target, this study develops an active ...
Robotic grinding of curved parts with two degrees of freedom active compliant force-controlled end-effector using decoupling control algorithm
Highlights- A novel two degrees of freedom active compliant force-controlled end-effector is developed to restrict overshoot, reduce force tracking error, and improve grinding efficiency.
- The dynamic relationship between the friction coefficient ...
AbstractThis paper proposes a novel two degrees of freedom (2-DOF) active compliant force-controlled end-effector (EE) using decoupling control algorithm to improve grinding efficiency, material removal accuracy, and surface quality of the curved parts ...
Design of a Force-Controlled End-Effector with Slender Flexible Beams
Intelligent Robotics and ApplicationsAbstractThis paper proposes a force-controlled end-effector with slender flexible beams. On the one hand, it can actively control the deformation of slender flexible beams to output a constant force at the end-effector without using a force sensor. On the ...
Comments
Please enable JavaScript to view thecomments powered by Disqus.Information & Contributors
Information
Published In
May 2024
668 pages
ISBN:9798400716751
DOI:10.1145/3670105
Copyright © 2024 ACM.
Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].
Publisher
Association for Computing Machinery
New York, NY, United States
Publication History
Published: 29 July 2024
Check for updates
Author Tags
Qualifiers
- Research-article
- Research
- Refereed limited
Conference
CNIOT 2024
CNIOT 2024: 2024 5th International Conference on Computing, Networks and Internet of Things
May 24 - 26, 2024
Tokyo, Japan
Acceptance Rates
Overall Acceptance Rate 39 of 82 submissions, 48%
Contributors
Other Metrics
Bibliometrics & Citations
Bibliometrics
Article Metrics
- 0Total Citations
- 24Total Downloads
- Downloads (Last 12 months)24
- Downloads (Last 6 weeks)3
Reflects downloads up to 17 Feb 2025
Other Metrics
Citations
View Options
Login options
Check if you have access through your login credentials or your institution to get full access on this article.
Sign inFull Access
View options
View or Download as a PDF file.
PDFeReader
View online with eReader.
eReaderHTML Format
View this article in HTML Format.
HTML Format