Development of Mine Detection Robot System
The Mine Detection Robot supports the mine removal work in countries where mines are buried, such as Afghanistan. The development started from September, 2003. Considering running on rough terrains, the robot has four crawlers, and hydraulic motors in front and rear were serially connected by piping so that they could rotate synchronously. Two work arms were mounted on the robot, one was a horizontal multi-joint SCARA type with motorized 2-link arm, while the other was a vertical multi-joint manipulator with 6 degrees of freedom. Also, domestic evaluation tests were carried out from February to March, 2005, followed by overseas validation tests in Croatia from February to March, 2006. These tests were conducted with a mine detecting senor mounted on the Robot, and the detection performance was evaluated by its mine detection rate.
ENHANCING MINE SAFETY WITH WIRELESS SENSOR NETWORKS USING ZIGBEE TECHNOLOGY
In coal mines, whenever explosions occur, the rescue work is done by rescue workers without any prior knowledge of the environmental condition inside coal mine because the mine monitoring systems may be destroyed or damaged. This makes the life of rescue workers very risky. It also takes some time for the rescue workers to reach the spot. According to the proposed system, a ZigBee network controlled automatic robot has been developed for assisting rescuers. This system works even when a ZigBee node fails. Whenever any explosions occur, the robot automatically detects the explosion, finds the explosion location and enters the coal mine tunnel well before the arrival of rescuers. It finds the location of accident, searches for survivors to give them first aid at right time and informs the rescue team about environmental conditions and about the survivors inside the coal mine.
Mechanics of deformable directed surfaces
Abstract The paper develops a simple, yet complete and consistent non-linear dynamic thermo-elastic shell theory based on the concepts of a two-dimensional directed continuum. The constitutive equations are postulated in a general form. Stress-strain relations are derived using the equation of energy balance and the two entropy production inequalities, which are rewritten in a special form. The linear theory is discussed in detail. The structure of the stress-strain relations is presented in the most general form and then specialized to concrete examples, in particular, to the classical shell theory, using their invariance properties with respective to certain symmetry groups. The elastic moduli are determined by demanding the coincidence of the frequency dispersion surfaces obtained using the two-dimensional theory with the lowest foils of the corresponding surfaces resulting from the three-dimensional theory of elasticity.