Minesweeper International Competition 2nd Prize - 2016
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Transcript of Minesweeper International Competition 2nd Prize - 2016
Team members
Amr Mousa ( Team Leader)
Essam Radwan
Mohamed Elsherif
Khaled Hefnawy
Ahmed El-Sayed Bayoumy
Mohamed El-Mallah
Supervisors
Dr. Mohamed Tawfik
Eng.Mahmoud Magdy
( Technical Supervisor)
Sponsors
Outline:
Problem Statement
Mechanical system
Electrical system
Control system
Lab View
Mapping & R-C control
Autonomous Control
ROS ( Robotics Operating System )
Certifications and Awards
Real-Life Modifications & Futuristic Vision
Problem Statement
• About 22.7 million landmine exist in Egypt since Second World War.
• Egyptian western desert only has about 17.2 million landmine
Since 1982, about 8300 Egyptian and foreign people have been killed and injured due to landmines.
Problem Statement
Mechanical System:
Chassis
Suspension
Detection Arms
External Surface
Ventilation System
• Chassis
• Wooden rods (Axially loaded)
• Aluminum Beams (Laterally loaded)
• Motors attached to 4 wooden-Aluminium Boxes
Detection Arms
3 Arms system
- Scans 3 squares per meter
- Right and left coils are 15 cm from the center
- Made of Aluminum & wood at the End to
avoid disturbance
simple and effective
only by two springs of equal length on both sides
of each leg structure
Helps to handle maximum traction with the
ground
Suspension system
Obliged to remove it
Because on trials it does not hold a
suitable height
Replaced it by wooden holders to
obtain constant height
NO NEED !!
External Surface:
Ventilation System
5 Fans for full ventilation
2 Front
2 Back
1 internal
Electrical system:
1) Sensors:
- MPU 6050 (Accelerometer and Gyroscope)
- 3 Metal Detectors (up to 37 cm )
- Ultrasonic sensor
- Buzzer + LED (indicators)
MBED 32bit ARM core Microcontroller
Incremental Encoder
Cytron Motor Drivers (10 Amp. 30V)
Xbee
LabVIEW
Mapping & RC-Control
Autonomous Control
• Using LabVIEW ( PID )
Autonomous Control
• Using mbed ( PID )
ROS
Why ROS ??
1- High-end capabilities.
2- Tons of tools.
3- Support high-end sensors and actuators.
4- Inter-platform operability.
5- Active community.
Encoder
Main_Node
MPU 6050
Angle_Topic
Distance_TopicAction_Topic
Actuator
4 Nodes 3 Topics
MONTU Subsystems Graph
PID Controller (ROS)
A Package that Launches
a PID control node.
/setpoint/data: is a plot of the desired angle.
/state/data is a plot of the input to the
PID controller from the mpu.(Current Angle)
/control_effort/data is a plot of the output
from the PID controller and which apply
correcting force.
PID Controller (ROS)
1- Difficulty of Mastering ROS
2- Short time for adding features!!
Problems we faced:-
V`
Body Modifications
Upgrade the rover design to the mine-resistant ambush-protected vehicle
(MRAP).
Improve the suspension system to fit the mine field environment.
Attach Wheels Hex to the rover.
Solar panel will be on the top surface of the Rover.
The rover will be Controlled from Ground Station by using GPS
Include marking system(DYE)
Improve ventilation system.
Real-Life Modifications & Futuristic Vision
• Sensors Modifications:
Distinguishing different kinds of mines. (APM , ATM)
Compositions of mines (Plastic, metal, mixture).
Upgrading to (GPR).
Using multiple different sensors (infrared , ultrasonic, ..etc)
Cheolha Pedro Lee, “Mine Detection Techniques Using
Multiple Sensors”, Electrical and Computer Engineering, The University of Tennessee at Knoxville
Swarm Robotics
Three main parts:
1. Quadcopter:
Creates the detailed map of the
field.
Sends it to the control station.
2. The Main rover body:
Sweeps the map more accurate, marks the mines detected.
3. Extractor Robot:
Uses a similar technique to a tree relocation robot.