We have used 400-MHz ground penetrating radar (GPR) to detect crevasses within a shear zone on the Ross Ice Shcelf, Antarctica, to support traverse operations. The transducer was attached to a 6.5-m boom and pushed ahead of an enclosed tracked vehicle. Profile speeds of 4.8-11.3 km / hr allowed real- time crevasse image display and a quick, safe stop when required. Thirty-two crevasses were located with radar along the 4.8 km crossing. Generally, crevasse radar images were characterized by dipping reflections above the voids, high-amplitude reflections originating from ice layers at the base of the snow-bridges, and slanting, diffracting reflections from near-vertical crevasse walls. New cracks and narrow crevasses (40 cm width) show no distinct snow bridge structure, few diffractions, and a distinct band where pulse reflections are absent. Wide (0.5-5.0 m), vertical wall crevasses show distinct dipping snow bridge layering and intense diffractions from ice layers near the base of the snow bridge. Pulse reflections are absent from voids beneath the snow bridges. Old, wide (3.W.O m) and complexly shaped crevasses show well-developed, broad, dipping snow-bridge layers and a high-amplitude, complex, diffraction pattern. The crevasse mitigation process, which included hot-water drilling, destroying the bridges with dynamite, and back-filling with bulldozed snow, afforded an opportunity to ground-truth GPR interpretations by comparing void size and snow-bridge geametry with the radar images. Second season radar profiles colllected along the identical flagged route confirmed stability of the filled crevasses and identified eight new cracks opened by ice extension. Our experiment demonstrates the utility and reliability of real-time crevasse detection with GPR. Keywords-crevasse, snow stratigraphy, ground penetrating radar, traverse, McMurdo shear zone

Crevasse detection with GPR across the Ross Ice Shelf, Antarctica

Robotics in Snow and Ice

Definition: The terms"robotics in snow and ice"refers to robotic systems being studied, developed, and used in areas where water can be found in its solid state. This specialized branch of field robotics investigates the impact of extreme conditions related to cold environments on autonomous vehicles.

Velocity field in the McMurdo shear zone from annual ground penetrating radar imaging and crevasse matching

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Velocity field in the McMurdo shear zone from annual ground penetrating radar imaging and crevasse matching