Master's Thesis

Landfills modeling and characterization using electromagnetic induction technologies transported by mobile robots

Henrique Reis Pedreiras Cardoso — 2024

Key information

Authors:

Henrique Reis Pedreiras Cardoso (Henrique Reis Pedreiras Cardoso)

Supervisors:

Alberto Manuel Martinho Vale (Alberto Manuel Martinho Vale); Leonardo Azevedo Guerra Raposo Pereira (Leonardo Azevedo Guerra Raposo Pereira)

Published in

11/25/2024

Abstract

This thesis investigates integrating Frequency-Domain Electromagnetic (FDEM) sensors with autonomous mobile robots to enhance landfill characterization and monitoring. Landfills pose environmental risks such as soil and groundwater contamination, necessitating more effective monitoring methods. FDEM technology, which detects subsurface materials via electromagnetic induction, holds promise for identifying buried waste and contamination. Combining FDEM with mobile robots seeks to automate surveys, providing a safer, more efficient, and accurate alternative to traditional methods. The research develops a simulated FDEM sensor integrated with a mobile robot, utilizing a novel Complete Coverage Path Planning (CCPP) algorithm for autonomous navigation. The simulation mimics real-world conditions, including obstacle-free and complex landfill terrains. An Extended Kalman Filter (EKF) refines GPS data to ensure accurate robot localization. Using the CCPP algorithm, the robot systematically explores the landfill, avoids obstacles, and collects data for subsurface conductivity mapping. Simulations demonstrate that the system produces detailed heatmaps of subsurface conditions, detecting conductivity variations that indicate contamination. Comparisons with traditional methods show the robotic system achieves comparable coverage while improving speed and data quality. Nonetheless, limitations in the simulated FDEM sensor's precision and lower data acquisition frequency impacted the resolution of heatmaps.

Publication details

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Supervisors of this institution:

Fields of Science and Technology (FOS)

electrical-engineering-electronic-engineering-information-engineering - Electrical engineering, electronic engineering, information engineering

Publication language (ISO code)

eng - English

Rights type:

Embargoed access

Date available:

09/30/2025

Institution name

Instituto Superior Técnico