Autonomous navigation robot for landmine detection applications

Jaradat, Mohammad A.; Bani-Salim, Muath; Awad, Fahed

doi:10.1109/isma.2012.6215189

Cited by 9 publications

(6 citation statements)

References 9 publications

(10 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Thus, it can be written as ŝrj = s T rj , (r rj × s rj ) T T , where s rj (∈ R 3×1 ) is unit direction vector along the axis of ŝrj , and position vector r rj to a point along ŝrj can be found as r r1 = p 2 and r r2 = p 5 . Because all joint position vectors p i 's are found from the kinematic analysis, the force/torque transmission between τ 1 and f 7 can be computed from (14).…”

Section: Force/torque Transmissionmentioning

confidence: 99%

“…Mine clearance is one of the critical issues that should be solved to prepare for reunification(or at least active inter-relations) between the two countries. One effort is to clear mines aggressively using mine clearance tanks [2]- [7] or autonomous robotic systems [8]- [14]. Recently, the use of surveillance drones has been studied to detect landmines [15].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Evaluation of AX-Deminer Forearm Assistance for Demining Soldier

Lee,

Kim,

Kim

et al. 2023

IEEE Access

View full text Add to dashboard Cite

Mine clearance operation using a mine detector often strains arm muscles because of the extended form of the detection pole. Implementing a gravity compensation device may be beneficial for alleviating this issue. Therefore, this paper presents a novel concept of passive-type forearm assistance for a mine-detection soldiers. The proposed forearm assistance features a decoupled structure between a sweeping module and a gravity compensation unit. The sweeping module is implemented using a planar serial chain, allowing the required range of arm-sweeping motion for mine detection. The gravity compensation module, featuring a six-bar linkage with a linear spring, is located at the wearer's back and compensates the detector's weight transmitted through the sweeping module. The decoupled structure enables minimal exposure of the mechanism to the wearer. Design requirements are determined from motion analysis of mine-detection soldiers; kinematic relationships are derived for sweeping and gravity compensation modules. Based on the kinematic relationships, optimal synthesis methods are presented to determine design parameters. The proposed gravity compensation device has been experimentally validated for four mine-detection soldiers. Electromyography measurements of the upper limb demonstrate a significant reduction of up to 66% in % maximum voluntary contraction (MVC) when using forearm assistance. Thus, the proposed forearm assistance may reduce arm fatigue, enabling more extended operation duration during mine clearance tasks.

show abstract

Section: Force/torque Transmissionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of AX-Deminer Forearm Assistance for Demining Soldier

Lee,

Kim,

Kim

et al. 2023

IEEE Access

View full text Add to dashboard Cite

show abstract

“…According to Jaradat et al [30], designed a holonomic mobile robot based on that replace the human resources role in the demining process and applications for rough terrain. Bogie mechanism is used to overcome rugged territories, and the detection robot has the stability margins for different road conditions to predict the potential of a tipping-over before any maneuver [30]. In Gavilanes et al [31], proposed an instrumented robotic arm to replace the human role in the demining applications [31].…”

Section: Introductionmentioning

confidence: 99%

Multi-function intelligent robotic in metals detection applications

2019

View full text Add to dashboard Cite

Recent technologies for robotics have been offered an effective and efficient solution to safeguard workers from risks in their work environments. These risks involve radioactive, toxic, explosive and mines. In this paper, design and implement computer robot based on metal detection as well as avoiding obstacles automatically. The proposed wireless controlled robotic vehicle can be used in metal detection applications such as landmine detection, obstacles avoidance, selecting best routing without imposing human's harms and workforce aspects. The robotic wheel can sense the obstacles that positioning at ahead of its path, and also avoids the obstacles forward, left and right of its routes. The robot is controlled by using Bluetooth wireless communication to interface between the controller and the implemented robot. Furthermore, sensor IR (FC-03) for the metal detector and used ultrasonic sensor (HC-SR04) for objects or obstacles sensing. The presented controlled robotic designed for desert and dry soil that can replace the human role in avoiding obstacles and metal detection capabilities. The produced robot was useful due to it can detect metals and avoiding obstacles consecutively besides it was effective to select the best route based on the intelligent technique that adopted, the predefined metals by using an intelligent decision maker for route finder in a flat surface environment.

show abstract

“…Considering the diversity aspects of utilization of the metal detection autonomous mobile robot, most of the approaches are dealt with development and utilization views; some are dealt with path planning and type of control: programmatically or by hardware techniques [1]- [3]; or dealt with the type of service, such as landmines and buried explosives, mines, precious metals or public services such as pipes and electrical cables [3]- [5]; some of which are dealt with the effect of the ground type such as mud or desert or jungle, or focused on certain regions [6]- [8]; and finally some are dealt with type of map representation and the resulting data and ways to take advantage of artificial intelligence [9]- [12]. Rajasekharan et al [13] proved that most of the researches that deal with metal detection robot had not met a certain guidelines and a majority of them had not made it to the outdoor fields for testing.…”

Section: Introductionmentioning

confidence: 99%

Factors Effect on Metal Detecting System using Mobile Robot

Abdulmajeed¹,

Hussein²

2015

IJCA

View full text Add to dashboard Cite

The metal detection mobile robot has got to the summit of the utilized methods in landmines and unexploded ordnance detection techniques, while it is used in other applications like archeology, treasure and mines prospection and underground metallic services search in different scales. This paper uses a path planning, without supervisor robot at three environments. The path plan supposes that metal is safe so it cover the entire area in rectangle approach with detection of metal. The program which has been written in c++.net saves path of the robot and the detected metals locations in Microsoft Excel file. The program does not need a supervisor since it deals with all the possibilities of path planning. The three outdoor environments which were experimented are paved land, sand land and grassland.The metal detection autonomous mobile robot has succeeded to move in desired navigation strategy. The experimental work shows that the increase of translation velocity leads to increase in error, the paved land has the least error and the sand land has the biggest error, the decrease in rotational velocity decreases the elapsed time in turnover and stroke and at low velocities the effects of the land types have diminished.

show abstract

Autonomous navigation robot for landmine detection applications

Cited by 9 publications

References 9 publications

Design and Evaluation of AX-Deminer Forearm Assistance for Demining Soldier

Design and Evaluation of AX-Deminer Forearm Assistance for Demining Soldier

Multi-function intelligent robotic in metals detection applications

Factors Effect on Metal Detecting System using Mobile Robot

Contact Info

Product

Resources

About