Uneven Ground Research Articles

COMPARATIVE ANALYSIS OF INDOOR AND OUTDOOR EMPLOYEE BALANCE AT MUHAMMADIYAH UNIVERSITY OF MALANG

Background: Balance disorders in indoor and outdoor employees have an impact on decreased work performance, fatigue in the body, and can cause work-related illnesses. Making work not optimal and having an impact on daily life becomes disrupted. Working environmental conditions such as wet floors, uneven ground, non-sloping ground contours, insufficient lighting, excessive light glare, weather, and work that is carried out at a fast pace with heavy loads can affect balance disorders which can cause employee falls. Objectives: The purpose of this study was to find out the difference in balance between indoor and outdoor employees at the University of Muhammadiyah Malang. Methods: This study used a quantitative research design with this type of observational research using the one leg balance test and the time up and go test. Results: This study obtained results with the normality test obtaining a p value (> 0.005) and the Spearman test static test obtaining a value of 0.800 p (> 0.05) and the Spearman test dynamic test obtaining a value of 0.777 p (> 0.05). Conclusion: In conclusion, there is no difference in balance between indoor and outdoor employees at the University of Muhammadiyah Malang.

Empirical validation and engineering model comparison of outdoor long-range 3D GPU FDTD acoustic simulations with turbulence

We build upon previous work which introduced an acoustic GPU-accelerated 3D Finite-Difference Time-Domain solver, Empapu, equipped with a dynamic moving frame and turbulence modeled as a position-dependent refractive index for long-range outdoor sound propagation simulations. This physics-based model would serve as a benchmark to assess different engineering models, e.g., ISO 9613-2, CNOSSOS-EU and sonX, in the presence of uneven terrain with different ground properties and an inhomogeneous atmosphere. The solver now integrates an improved model of turbulence reproducing the kinetic spectral energy of velocity fluctuations, derived from wind velocity fields, with an eddy (quasiwavelet) approach, relevant in long-range propagations. This study validates our model by comparing level differences in third-octave band spectra at receiver points up to 300 m to analytical methods and measurements in a mostly flat topography comprised of asphalt and grassland. Further analysis is done by comparing results in different locations in Switzerland in the presence of uneven ground and barriers. This work will provide a physics-based basis for evaluating and comparing engineering models for outdoor sound propagation in lieu of measurements.

Motor control in children with cerebral palsy during walking on flat and uneven ground compared to typically developing children

Motor control in children with cerebral palsy during walking on flat and uneven ground compared to typically developing children

Analytical model development for vertical medium/deep ground heat exchangers with U-tube(s)

The U-shaped ground heat exchanger (UGHE) offers an effective solution for building heating and cooling purposes. In the practical applications of vertical UGHEs, the borehole wall temperature varies along the borehole depth due to the uneven initial ground temperature and transient heat transfer process. The assumption of a uniform temperature along the borehole wall in the existing quasi-3D model of UGHE causes a non-negligible error in the calculation of fluid temperature, especially for the cases of shallow-medium boreholes. Thus, two new analytical models are established to calculate the fluid temperatures for the single U-shaped GHE (1-UGHE) and double U-shaped GHE (2-UGHE), considering the depth-dependent borehole wall temperatures. The convolution theorem is employed to solve the mathematical problem of the nonlinear condition on the borehole wall, and the Laplace transformation is used for getting the final temperature expressions. The new analytical models are compared and verified by the on-site experiments. The results show that the two models exhibit promising prediction accuracies and similar variation trends in fluid temperatures. Then, parametrical and economical analyses for 1−/2- UGHEs have been carried out. Finally, the geographical thermal potentials of 1−/2- UGHEs across China have been comparatively investigated and the corresponding thermal map-based application potential recommendations have been given.

Temporal-spatial-fusion-based risk assessment on the adjacent building during deep excavation

Foundation pit excavation will inevitably cause uneven ground settlement to pose potential risks to adjacent structures and infrastructures. To better perceive the risk status of adjacent buildings using multi-source information, a temporal-spatial-fusion-based risk assessment (TSFRA) model under the consideration of uncertainty and causality is developed by integrating FAHP (Fuzzy Analytic Hierarchy Process), DGDT (DAG-GNN, DEMATEL method, and topological analysis), and CM (cloud model). More specifically, FAHP handles temporal weights of excavation conditions based on expert knowledge. DGDT determines spatial weights for monitoring points, with DAG-GNN constructing causal graphs in a data-driven manner, DEMATEL handling global interactions, and topological analysis calculating node importance. CM can finally fuse the temporal (excavation conditions) and spatial (monitoring points) weights with settlement monitoring data, resulting in qualitative assessments of the overall risk status of adjacent buildings in uncertain environments. The proposed TSFRA is verified in the case of a Shanghai metro station construction project. Results indicate that the perceived risk of the project is at a relatively low level, consistent with the actual condition. High-risk excavation conditions and locations can be easily identified. There is a trend toward higher risk during the excavation of soft soil layers, and thus some risk control measures can be formulated to avoid potential risk events. In short, the weight determination and fusion method in TSFRA contribute to handling uncertainties in expert judgments and causalities in collected data, which can practically provide more reliable decision-making in excavation-induced risk assessment and control for ensuring the safety of adjacent buildings.

Intracemetery relationships: Non-metric trait combination analysis of Maspalomas of Gran Canaria (Canary Islands, Spain).

Maspalomas is one of the most important archaeological sites in Gran Canaria, Canary Islands. The necropolis is one of the few funerary sites on the island where several the skeletons were found in anatomical position. The burials correspond to graves and cists dated between the 12th and 15th century CE. These graves and cists are clustered together in different formations across the necropolis, giving rise to a complex composition that denotes the existence of possible interpersonal relationships of the people buried there. A total of 135 calcanei and 118 tali were analysed to find non-metric traits and to test whether the clustered burials share a non-metric trait relationship. Trait combinations were formed using talus and calcaneus non-metric traits separately. The results of this study suggest that the individuals of Maspalomas showed a very high prevalence of lateral and medial talar facets, attributed to prolonged squatting position and/or walking on uneven ground. The calcaneal facet pattern (that may be aetiologically genetic) is more closely related to that observed among North-Africans or Indians than to Western Europeans. Calcaneal facet type Ib, and other genetically-determined traits, such as the extra facet extension of Posterior Facet, or the medial root of the inferior extensor retinaculum trait, either as single traits or as the combination of both traits, were significantly associated with individuals buried in different geographical areas of the necropolis defined by differences in burial structures, a finding that may suggest that genetically-linked individuals were buried in a separate area of the necropolis. The use of trait combination analysis in this study shows that the method can be applied to identify relationships among genetically or professionally related individuals that were subjected to a different burial procedure by their contemporaries.

Investigation of prevalence and risk factors of musculoskeletal disorders among tea harvesting farmers - A systematic review.

Tea harvesting is a common agricultural occupation, usually conducted in mountainous regions with steep slopes and high altitudes. Despite the utilization of modern technology and mechanized equipment in agriculture, a substantial portion of tea harvesting continues to be traditional and physically strenuous. This dependence on manual labor can lead to a higher likelihood of musculoskeletal disorders among tea harvesting farmers. The objective of this research was investigation of prevalence and risk factors of musculoskeletal disorders in tea harvesting farmers. In this review study, we analyzed all published articles on the prevalence and factors influencing musculoskeletal disorders in tea harvesting farmers from March 10, 2010, to November 10, 2023 (last search date). We systematically searched for articles using keywords (risk factor, risk assessment, lower limb, upper limb, musculoskeletal disorders, tea harvesting, posture, manual handling, discomfort, ergonomics, prevalence, farmers) in PubMed, Google Scholar, SID, Web of Science, Scopus, Magiran, Iran Medex, Cochrane Library, and Embase. The quality of the articles was evaluated using the Mixed Methods Appraisal Tool (MMAT), 2018 version. Unrelated articles were excluded following PRISMA statement guidelines, and only articles directly related to the study were reviewed. GraySource and BASE databases were also utilized to identify Gray sources.. Initially, 128 articles were found across different databases, and a total of 17 articles were selected for the final assessment. The primary areas of the body that workers are commonly exposed to musculoskeletal issues are the back, hands, wrists, shoulders, neck, and knees. The research identified four main categories of factors: personal, occupational, environmental, and psychosocial that contribute to musculoskeletal problems. Among these factors are women working in physically demanding environments, lifting heavy bags of harvested tea, time pressures during tea collection, repetitive hand motions from using harvesting tools, the height of the tea plants in the field, working in wet and slippery conditions, uneven ground surfaces, extended working hours, low pay, and lack of support from employers. Ergonomic interventions such as redesigning tea harvesting tools, enhancing tea plants and workspaces, teaching ergonomic principles of body posture and manual movement, and organizing work with job rotation and adequate rest are recommended to alleviate musculoskeletal disorder symptoms.

Research on Anti-Rollover Adaptive Landing Gear Technology Based on Impedance Control

During the Vertical Take-Off and Landing (VTOL) of a rotorcraft, there is a high risk of instability and safety incidents due to the possibility of one side of the landing gear making initial contact with the ground, particularly under extreme environmental conditions and maneuvers. Furthermore, the varied performance of adaptive landing gear necessitates a landing control approach that specifically targets both sides of the adaptive landing gear. This study proposes a method that regulates the landing gear first touchdown side through an impedance controller to guarantee the stability of the rotorcraft and then tilts the landing gear toward the rear landing leg side, followed by a soft and smooth landing through the rear landing leg. This approach accomplishes steady adaptive VTOL of the rotorcraft. The fall vibration test results demonstrate that the adaptive landing gear system with impedance control has excellent adaptive landing functionality, which can handle not only landing on uneven ground at various points but also cope with different ascent rates and ground friction during stable takeoff/landing.

Two-Carrier Cooperative Parking Robot: Design and Implementation

Abstract Parking robots have been designed to alleviate parking stress in crowded areas. Existing models occupy large spaces and have limited adaptability to uneven ground. This paper aims to enhance the performance of parking robots by proposing a leader-follower-control based two-carrier Cooperative Parking Robot (CPR). In this system, two omnidirectional carriers operate on a tight cooperative transporting algorithm to achieve steady motion in their collaborative handling and transportation of the target car into the designated parking space. The novel CPR was designed, modeled, and implemented. The results indicate that the proposed CPR approached the targeted car and maintained a consistent position and heading angle in its cooperative parking operation at the speed of 0.6 m/s. The parking robot exhibited significant improvement in its adaptability to cars and uneven ground, and its compact configuration reduced its space occupation. Therefore, the proposed CPR has been proven robust for autonomous cooperative parking operations.

Conceptual study of vatakantaka

Pain is that one feature which can interfere with daily activities such as working, having a social life, taking care of oneself and others. Several problems can cause pain to develop in the back of the heel.Plantar fasciitis is one of the most common causes of heel pain. Plantar fasciitis is estimated to affect 1 in 10 people at some point during their lifetime and most commonly affects people between 40 and 60 years of age.Vatakantaka is a Sanskrit compound consisting of the terms vata and kantaka which means a particular pain in the ankle.Walking in irregular or uneven ground, the structural deformity of foot or excessive strain on foot lead to provocation of vata and brings about severe pain in ankle joint which is referred to as Vatakantaka.Through this article an attempt is made to understand the nidana, samprapti, purvarupa, lakshana of vatakantaka which contributes in its manifestation.Snehana, swedana, virechana, raktamokshana, agnikarma are line of treatment explained in ayurveda.

Research on autonomous navigation system of greenhouse electric crawler tractor based on LiDAR.

The application of autonomous navigation technology of electric crawler tractors is an important link in the development of intelligent greenhouses. Aiming at the characteristics of enclosed and narrow space and uneven ground potholes in greenhouse planting, to improve the intelligence level of greenhouse electric crawler tractors, this paper develops a navigation system of electric crawler tractors for the greenhouse planting environment based on LiDAR technology. The navigation hardware system consists of five modules: the information perception module, the control module, the communication module, the motion module, and the power module. The software system is composed of three layers: the application layer, the data processing layer, and the execution layer. The developed navigation system uses LiDAR, Inertial Measurement Unit (IMU) and wheel speed sensor to sense the greenhouse environment and the crawler tractor's information, employs the Gmapping algorithm to build the greenhouse environment map, and utilizes the adaptive Monte Carlo positioning algorithm for positioning. The simulation test of different global path planning algorithms in Matlab shows that the A* algorithm obtains the optimal overall global path. In the scene of map 5, the path planned by the A* algorithm is the most significant, and the number of inflection points is reduced by 40.00% and 87.50%, respectively; meanwhile, the path length is the same as that of the Dijkstra algorithm, but the runtime is reduced by 68.87% and 81.49%, respectively; compared with the RRT algorithm, the path length is reduced by 7.27%. Therefore, the A* algorithm and the Dynamic Window Approach (DWA) method are used for tractor navigation and obstacle avoidance, which ensures global path optimality while also achieving effective local path planning for obstacle avoidance. The test results suggest that the maximum lateral deviation of the built map is 6cm, and the maximum longitudinal deviation is 16cm, which meets the requirement of map accuracy. Additionally, the results of the navigation accuracy test indicate that the maximum lateral deviation of navigation is less than 13cm, the average lateral deviation is less than 7cm, and the standard lateral deviation is less than 8cm. The maximum heading deviation is less than 14°, the average heading deviation is less than 7°, and the standard deviation is less than 8°. These results show that the developed navigation system meets the navigation accuracy requirements of electric crawler tractors in the greenhouse environment.

摆式主被动悬架喷雾机喷杆稳定性试验研究

When a sprayer is operating in the field, the uneven ground excitation causes the spray boom to move irregularly, significantly affecting the spray distribution uniformity and reducing the effectiveness of pesticide application. Installing a suspension between the vehicle and the boom is a crucial method to improve the boom stability. In this paper, experimental research on the stability of a boom with an active and passive pendulum suspension was carried out. The results of the transient response test of the passive suspension demonstrate that an increase in the suspension rotation damping coefficient reduces the overshoot of the system but slows down the response speed. Conversely, an increase in the suspension rotation stiffness coefficient speeds up the response speed. The results of the dynamic response test of the active suspension indicate that a smaller adjustment threshold of the control system for the boom inclination angle results in higher control accuracy. However, when the threshold is less than 1cm, the boom becomes challenging to balance. The results of the combination experiments based on the response surface method reveal that the rotation stiffness coefficient, rotation damping coefficient, unit forward speed, and their interactions significantly impact the adjustment time of the boom and the variation coefficient of the boom inclination angle. Through contribution rate analysis, the influence order of each factor on the adjustment time and variation coefficient was obtained. Additionally, the analysis of variance results show that the established regression model fits the actual situation well, and has reference significance for the design and application of the suspension.

Estimation of the height profile of the path for autonomous driving in terrain

A priori knowledge about the height profile of the path is vital for rollover avoidance in the context of autonomous driving through uneven forest ground. The forest ground is usually covered with either soft vegetation in summertime, or by snow in winter. Thus, the exact solid form of the forest ground cannot be detected by camera or LiDAR. This article, we propose height-odometry and aided height-odometry methods for ground height estimation. The height-odometry method depends solely on interoceptive and proprioceptive sensor data, while the aided height-odometry combines height-odometry output with the existing 3D map information. Thus, the central idea is to build a reference 3D path for autonomous forest machines where the spatial positioning – based on the RTK-GNSS or Forest SLAM method – is fused with the output of (aided) height-odometry method(s). We evaluate the proposed height-odometry methods in two separate environments that are accurately (3D) mapped by a UAV using the advanced machine-vision-based SfM method and the LiDAR-based SLAM algorithms. Through comprehensive data analysis, we demonstrate that the proposed 3D path estimation methods are practical and simple to implement, yet sufficient to estimate the height profile of the path with desired accuracy.

Effect of Nonoverlapping Visual Field Defects on Vision-related Quality of Life in Glaucoma

PurposeGlaucoma patients may be considered to have normal vision as long as each point of visual space is perceived by at least one eye, that is, with an intact binocular visual field. We aimed to investigate the effect of non-overlapping visual field (VF) defects on vision-related quality life (VR-QoL) in glaucoma. MethodsWe evaluated VR-QoL of glaucoma patients (n=269) and controls (n=113) using four different questionnaires (NEI-VFQ-25, NEI-VFQ neuro-ophthalmology supplement, GQL-15, and a luminance-specific questionnaire). We defined ‘differential VF’ (DVF) as a measure of location-specific differences in the VFs of both eyes. Within the group of glaucoma patients, we analysed the relationship between different aspects of VR-QoL and DVF using ordinal multiple regression analysis. Analyses were adjusted for age, gender, integrated VF (IVF; an estimate of the binocular VF from the monocular VFs), and higher visual acuity of both eyes, and corrected for multiple hypothesis testing. ResultsGlaucoma patients had a lower VR-QoL than controls. Within the glaucoma patients, DVF was significantly associated with general vision (odds ratio 0.69, 95% confidence interval 0.54-0.89), peripheral vision (0.68, 0.54-0.86), walking on uneven ground (0.73, 0.58-0.93), crossing the street (0.61, 0.46-0.83), seeing other road users coming from the side (0.67, 0.52-0.85), cycling during the day (0.64, 0.46-0.89) and seeing outside on a sunny day (0.73, 0.57-0.94). In general, IVF was a stronger predictor of VR-QoL than DVF. ConclusionsNon-overlapping VF defects affect VR-QoL. Although IVF is strongly associated with VR-QoL, basing clinical decisions only on IVF leads to overlooking vision problems that patients may have.

Long-Term SAR Data Analysis for Subsidence Monitoring and Correlation Study at Beijing Capital Airport

Land subsidence, resulting from natural or human activities, is a global environmental geological disaster. The Interferometric Synthetic Aperture Radar (InSAR) time-series analysis technique offers high spatial and continuous temporal resolution, providing data and a foundation for investigating regional land subsidence and its evolution mechanism. Beijing Capital International Airport (BCIA) has experienced uneven land subsidence since 1935, together with severe fissures significantly affecting its normal operations. In this study, the time-series InSAR method was successfully applied to monitor the gradual increase in uneven local subsidence and ground fissures activity at BCIA from June 2003 to March 2023. Initially, ENVISAT-ASAR, Cosmo-SkyMed, and Sentinel-1 data were processed by time-series InSAR techniques to generate deformation rate maps and time series for the airport area. Subsequently, a comparison was made between the displacement time series from InSAR and ground leveling measurements to assess the accuracy of InSAR-derived measurements. Through a comprehensive analysis of the distribution characteristics of land subsidence at the airport, a long-standing ground fault was located within the airport was identified. A preliminary discussion on the development status of this ground fissure was carried out based on the visual interpretation of optical images. Lastly, the inducing factors and evolutionary conditions of land subsidence were discussed. This case demonstrates the applicability of InSAR technology in identifying and monitoring geological processes such as land subsidence and ground fissure activities. It provides a scientific approach to exploring and studying the causes and formation mechanisms of land subsidence and ground fissures in the Beijing Capital Airport area.

Oilfield Reservoir Parameter Inversion Based on 2D Ground Deformation Measurements Acquired by a Time-Series MSBAS-InSAR Method

Time-series ground deformation monitoring and reservoir parameter inversion are crucial for the dynamic assessment of oilfield resources and sustainable exploitation in oilfields. As some of the regions with the richest oil reserves in China, the oilfield areas in the western Qaidam Basin were selected as a typical study area. Firstly, we used SAR images collected by the Sentinel-1A satellite from January 2021 to December 2022 and applied the multidimensional small baseline subset (MSBAS) method to obtain vertical and east–west deformation measurements. On this basis, a nonlinear Bayesian inversion method was applied to model the shallow reservoir in a series of complex deformation areas, based on a single-source model and a multi-source model, respectively. As a result, the ground deformation monitoring results obtained by long time-series InSAR clearly reflect the uneven ground deformation caused by the oil extraction and water injection operation processes. There was slight subsidence in the Huatugou oilfield, while significant uplift deformation occurred in the Ganchaigou oilfield and the Youshashan oilfield, with a maximum uplift rate of 48 mm/year. Further analysis indicated that the introduction of the 2D deformation field helps to improve the robustness of oilfield reservoir parameter inversion. Moreover, the dual-source model is more suitable than the single-source model for inverting reservoir parameters of complex deformation. This study not only fills the gap of InSAR deformation monitoring for the oilfields in the western Qaidam Basin but also provides a theoretical reference for the model and method selection of reservoir parameter inversion in other oilfields.

COMBINED SLAB-PILE FOUNDATION

Solid reinforced concrete slab foundations are commonly employed in the construction of multi-story frame and panel buildings on natural grounds, as well as in industrial structures such assilos, elevators, chimneys, steel reactors, and more.One significant advantage of monolithic foundations is their ability to be used on weak and uneven ground bases. These foundations can distribute uneven loads over a considerable area, redistributingthem to equalize the inevitable differential settlements of individual foundations. On soft and uneven soils, slab foundations are not only used to mitigate deformations but also to protect against highgroundwater, creating what is known as a "floating" foundation.It has been demonstrated that the combined slab pile foundation (CSPF) is an effective development in the field of foundation construction. CSPF constitutes a foundation system comprising a "pile field – slab grillage – soil base," where piles bear a portion of the building load, and the slab grillage functions as a foundation slab. CSPF can be interpreted as a monolithic slab supported by piles of various types arranged in the form of a pile field, strips,clusters, or individual piles. Various types of piles, including "barrette" piles, can be used for CSPF foundations.Considering the soil resistance beneath the slab grillage in the deformation calculations and loadbearing capacity of combined slab-pile foundations provides a reserve for enhancing their economic efficiency. This includes reducing the number ofpiles, lowering the consumption of steel reinforcement, and decreasing the thickness of the grillage.However, the implementation of CSPF in construction is hindered by the limited theoretical research, necessary regulatory framework, and design experience for such structures.The determination of design parameters for CSPF is carried out using the method of successive approximations. By specifying the area of the slab grillage and defining the pile length and spacing, the number of piles in the foundation, the settlement ofan individual pile, and the design load on the pile are calculated (initially assuming that all piles bear 70-80% of the total load).

Spatioemporal dynamics and driving forces of soil organic carbon changes in an arid coal mining area of China investigated based on remote sensing techniques

Soil organic carbon (SOC) undergoes rapid changes due to human production activities, which have an impact on the land carbon cycle and ultimately global change. As one of the main human production activities, coal mining significantly impacts the soil carbon cycle. However, due to the lack of remote sensing modeling of soil carbon in mining areas, the spatio-temporal changes and driving mechanisms of SOC in mining areas remain unclear. Therefore, this study investigated and determined SOC data from 300 sampling points (depth of 0–20 cm) located in an arid mining area of China. Remote sensing images were then used to established a soil organic carbon density (SOCD) prediction model within the Random Forest (RF) model to achieve digital mapping of soil organic carbon stocks (SOCS). The spatiotemporal changes of SOCS were analyzed using SOCS digital mapping, and the influencing mechanism of SOCS was revealed using path analysis. The results showed that the constructed SOCD predictive model meets the demand for SOCD prediction (R2 ≥ 0.74, p < 0.01, RMSE ≤ 1.72 kg/m2). Under the combined influence of coal mining and land reclamation, the total amount of surface SOCS in the mining area exhibited a fluctuating upward trend from 1990 (6.34 Tg) to 2021 (7.73 Tg), with an annual growth rate of 0.038 Tg/a. The spatial distribution of SOCS generally increased from southeast to northwest. Precipitation, Normalized Difference Vegetation Index (NDVI), and land use were positively correlated to SOCS spatial distribution, while temperature, elevation, soil erosion, and mining intensity were negatively correlated to SOCS. The impact degree of factors on SOCS was as follows: NDVI > soil erosion > mining intensity > precipitation > elevation > land use > temperature. The negative impact of coal mining on SOCS was mainly indirect, through disturbance to elevation, vegetation, and soil erosion. The uneven ground subsidence and stretching caused by coal mining contribute to intensified soil erosion and vegetation degradation in the affected area, leading to a reduction in SOCS. However, SOCS did not decrease under high intensity mining, which was related to the increase in vegetation and the reduction in soil erosion in the mining area. In this study, a soil carbon prediction model was established based on remote sensing modeling to evaluate the temporal and spatial distribution of soil carbon in an arid mining area. The results can serve as valuable references for the scientific improvement of the ecological environment in mining areas, the rational planning of mining area construction, as well as low-carbon land reclamation and ecological compensation assessments.

Study of passive steering mechanism for small Mars surface exploration rovers

Planetary surface exploration rovers are required to have the ability to travel over uneven ground such as sandy or rocky terrain. In addition, to maintain long-term functionality under severe mass constraints, the rover must be highly reliable with a simple configuration. The reduction in the number of actuators will also contribute to a reduction in the number of electrical components involved and improve reliability. This paper proposes a lightweight and simple traveling and steering mechanism that combines a path-following system based on the difference in rotational speed of the left and right wheels when traveling in a curve and a passive Ackermann mechanism without an actuator, assuming a small exploration rover of a size and mass that can be mounted on a Japanese launch vehicle. We also propose a correction method to improve the path-following performance. We also developed a prototype wheeled rover of the target size and weight, and tested and evaluated the effectiveness of the proposed method in following the target path and overcoming obstacle on simulated soil.

BACKPACK SYSTEM FOR CAPTURING 3D POINT CLOUDS OF FORESTS

Abstract. A 3D model can be useful for inventory management and monitoring of forests. For this task, we present our prototype mobile mapping backpack system for collecting 3D point clouds of forest vegetation. However, data collection in forests is challenging due to unreliable GNSS positioning, moving objects caused by winds, unclear object edges, and uneven ground to walk on. We include LiDAR and IMU with Simultaneous Localisation and Mapping (SLAM). We describe in detail our backpack system, its development for the forest environment, and evaluate it. Furthermore, we compare two open code SLAM algorithms for ROS, as well as data collection and laser scan quality between TLS and MLS for forest environments. Finally, we installed and tested the MicaSense multi-spectral camera on our backpack and discuss the advantages and drawbacks of it. We conclude, that the backpack is convenient to use in forest environments and produces a good point cloud. It can be carried easily off trail and on rough terrain. The system needs less storage space, computation and less collection time than TLS.