Evaluation of Sampling Methods for Robotic Sediment Sampling Systems

Analysis of sediments from rivers, lakes, reservoirs, wetlands, and other constructed surface water impoundments is an important tool to characterize the function health these systems, but generally carried out manually. This costly can be hazardous difficult for humans due inaccessibility, contamination, or availability required equipment. Robotic sampling systems ease burdens, little work has examined efficiency such means no prior investigated quality resulting samples. article presents experimental study that evaluates optimizes sediment patterns applied a robot system allows collection minimally disturbed cores natural man-made bodies various types. To meet this need, we developed tested robotic platform in laboratory test functionality under range types operating conditions. Specifically, focused on three by which cylindrical coring device was driven into (linear, helical, zig-zag) (coarse sand, medium silt). The results show optimal pattern varies depending type optimized based objective. We two objectives: maximizing mass minimizing power per sample. provides valuable data aid selection methods applications builds solid foundation future field testing environmental