SELF-GUIDING'ROBOTIC GEOPHYSICAL SURVEYING FOR SHALLOWOBJECTS IN COMPARISON TO TRADITIONAL SURVEY METHODS

摘要

The quality of geophysical data is a critical aspect of the digital geophysical mapping process. Human factors in geophysical mapping can affect navigation, background noise, and speed control, impacting data quality. An important issue facing MEC geophysicists is to find ways to limit these factors as a first step towards successful consistent reproducible geophysical surveying. Human data acquisition errors can be significantly improved with self-guidance/robotic technology. ESTCP and the Huntsville Innovative Technology Program funded Auburn University to develop a path-following robotic vehicle to address those problems. Parsons worked with the Innovative Technology Program to perform the first technology transfer to a contractor of the government's semi-autonomous robotic Segway geophysical platform to a Remedial Investigation/Feasibility Study RU/FS MEC project at the former Great Salt Plains Bombing Range (GSPBR) in Alfalfa County, Oklahoma and a removal action at a former firing range within Camp Sibert, Alabama. To characterize two munitions response site's (MRS) during the RUFS at the Great Salt Plains, a total of 16.5 acres of transect data and 12.1 acres of grid-based data were collected between 12/1/08 and 1/12/09 using time-domain electromagnetics (TDEM). Three methods of data collection included towing either two Geonics EM61-MKII coils with a self-guiding robotic system or a small utility vehicle, or one coil operated by a person. Two of these three methods, including the self-guiding robotic system and the one coil operated by a person, were also used to geophysically map the 20 acre range at Camp Sibert. This study compares the three methods based on overall performance, including geophysical prove-outs, data quality and productivity. Site conditions and equipment problems inhibited productivity of the robotic system, however future improvements or careful site selection could make the self-guiding technology useful to UXO projects. The Great Salt Plains field tests identified system weaknesses and solutions, which were applied to the Camp Sibert project allowing for high production rates with the Segway System. The results of these projects indicate that the robotic system is a viable option for DGM on many future UXO projects.