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.
Robot Navigation Based on Multi-sensor Data Fusion
This paper mainly focuses on a multi-sensor system for combining data from infrared and ultrasonic sensors in the navigation of coal mine rescue robots, meanwhile a navigation method is presented. A multiple infrared and ultrasonic sensor system has been developed for complete coverage navigation of a robot. By fusing the aspects of different sensors with different beam-widths, more efficient colLision avoidance behavior in robot control can be obtained. A navigation method using TOF, ampLitude characteristic and trigonometry are appLied to solve such problems as obstacle detection, obstacle avoidance and path-planning. Simulation results demonstrate that the robot is capable of bypassing obstacles agilely and reach the destination smoothly and reLiably, at the same time the precise position and orientation information of the robot are updated using the previous robot locaLization studies.
High resolution image reconstruction by GPR using MUSIC and SAR processing method for landmine detection
Landmine detection is a difficult and very sensitive task as it may cost a human life even with a slight mistake or misdetection. In addition, the invention of non-metallic landmines made the scenario much more complicated and difficult. Various landmine detection techniques have been proposed, such as a metal detector, an electromagnetic induction (EMI), and so on. However, the probability of false alarm is very high in such techniques, which is considered as a sever problem. In this paper, ground penetrating radar, which has the capability to detect the non metal and the plastic mines, has been proposed to detect landmines. In addition, super resolution technique MUSIC algorithm and SAR (Synthetic Aperture Radar) has been implemented for the signal processing and image reconstruction of a GPR signal.