Means for sub-surface investigations are of great interest for the exploration of planetary bodies suh as the Moon, Mars and comets, in the funure senarios intending th send probles to their surfaces. To this aim, in-depth penetration may be performed either by drilling or by self-propelled devices. To reach a depth of several meters in loose to hard compact soil, self-propulsion has a great advantage of simplicity over drilling, as it does not require the complex autonomous assembly of s everal drill sections. The mobile penetrometer presented here is an original device of this category.
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