Design and Integration of Autonomous Robotic Platform for In Situ Measurement of Soil Organic Carbon and Soil Respiration

The continuous and reliable monitoring of soil organic carbon and soil respiration is vital for sustainable agricultural and environmental management. However, current manual methods are labor-intensive and time-consuming. This work focuses on the development of a fully automated robotic platform for in situ measurement of Soil Organic Carbon (SOC) and Soil Respiration (Rs). The system consists of a four-wheeled mobile platform, equipped with a robotic arm, and custom sampling and measurement tools. The platform is designed with a protected central opening that houses an on-board laboratory, enabling automated surface cleaning, soil drilling, sample collection and homogenization, SOC spectroscopy analysis, and chamber-based soil respiration measurement. The platform is equipped with a high-force mechanical insertion mechanism capable of operating a range of tools designed for soil treatment and penetration. These tools include a soil surface scraper, a soil respiration chamber, and a soil drilling unit. The mobile robotic laboratory system enables the sequential deployment of these tools in any desired order, providing flexible and efficient in-field operation.