Development of a robust mobile robot for volcano monitoring application

Abstract

Indonesia is one of the countries that lies in the pacific ring of fire, the highlighted area that known to be active by seismic and volcano activities. Indonesia has a total of 129 active volcanoes that make the land fertile, but also vulnerable to disaster. When a volcanic eruption occurs, the current fixed monitoring system is not fully reliable. On the other hand, monitoring of further volcano activities is critically needed in this situation. Therefore, a volcano monitoring system that can move freely and controlled safely is needed. To solve this problem, a mobile robot that capable of moving in volcano area has been developed. The robot locomotion system is designed with 2 DC motor using 4-wheel drive configuration. Each motor implements a PID Controller to adjust the speed that has been set. In addition, the robot is also equipped with a camera (Logitech C920), vibration sensor (ADXL 345), temperature sensor (DHT 11), carbon dioxide gas sensor (MG-811), and sulphur dioxide gas sensor (TGS 2602) to retrieve volcanic condition data, as its function for volcano monitoring. The microcontroller used to adjust motor control and read sensors data is Nucleo STM32-F466RE, while the mini-PC that being used for integrated data communication and processing is Raspberry PI 3B+. PID Controller has been successfully applied with average deviation of 2.5% for the left motor, and 2.75% for the right motor.

Development of Volcano Early Warning System for Kelud Volcano

“…In this condition, the drone will acquire the data of the volcano 2 to 3 times a day for about 15 minutes (limited by its battery durability) for each data acquisition [20,21]. The robot will be deployed 2 to 3 times a day for data acquisition, which takes about 1 hour [22,23]. After acquiring the data, they both move to the location of another broken node.…”

“…A robot with a proportional-integral-derivative (PID) controller using a skidsteering mechanism, Robot Operating System (ROS), Real Time Operating System (RTOS) for kinematics and dynamics was used to acquire volcano parameter data (SO2 CO2, temperature and seismicity) while in mobile mode [22,23].…”

Spherical Robots for Special Purposes: A Review on Current Possibilities

“…In 2020, a mobile robot was created by M. Evit et al to monitor a volcano [141]. The mobile robot was designed in Indonesia, as they are in the Pacific ring of fire and have a total of 129 active volcanoes.…”