GRAINS: Proximity Sensing of Objects in Granular Materials

• DOI: 10.48550/arxiv.2307.05935
• Publication Date: 2023-01-01
• Authors: Zeqing Zhang; Ruixing Jia; Youcan Yan; Ruihua Han; Shijie Lin; Qian Jiang; Liangjun Zhang; Jia Pan
• Keywords: Fluidization

Proximity sensing detects an object's presence without contact. However, research has rarely explored proximity in granular materials (GM) due to GM's lack of visual and complex properties. In this paper, we propose a granular-material-embedded autonomous system (GRAINS) based on three phenomena (fluidization, jamming, failure wedge zone). GRAINS can automatically sense buried objects beneath GM real-time manner (at least ~20 hertz) perceive them 0.5 ~ 7 centimeters ahead different granules the use vision or touch. We introduce new spiral trajectory for probe raking GM, combining linear circular motions, inspired by common fluidization technique. Based observation force-raising when jamming occurs zone front during its raking, employ Gaussian process regression constantly learn predict force patterns detect anomaly resulting from identify objects. Finally, apply Bayesian-optimization-algorithm-guided exploration strategy successfully localize underground outline their distribution using contact digging. This work offers simple yet reliable method with potential safe operation building habitation infrastructure alien planet human intervention.