Navid H. Jafari — accepted AI-conference papers

2021

Wetland Soil Strength Tester and Core Sampler Using a Drone

Victor M. Baez, Shreyas Poyrekar, Marcos Ibarra, Yusef Haikal, Navid H. Jafari, Aaron T. Becker

ICRA 2021poster

Soil strength testing and collecting soil cores from wetlands is currently a slow, manual process that runs the risk of disturbing and contaminating soil samples. This paper describes a method using an instrumented dart deployed and retrieved by a drone for performing core sample tests in soft soils…

Cited by 1 Source ↗Scholar ↗

2020

Assessment of Soil Strength using a Robotically Deployed and Retrieved Penetrometer

Victor M. Baez, Ami Shah, Samuel Akinwande, Navid H. Jafari, Aaron T. Becker

IROS 2020poster

This paper presents a method for performing free-fall penetrometer tests for soft soils using an instrumented dart deployed by a quadcopter. Tests were performed with three soil types and used to examine the effect of drop height on the penetration depth and the deceleration profile. Further tests a…

Cited by 3 Source ↗Scholar ↗