This item is in: Engineering > Mechanical engineering and general materials
Using robots in hazardous environments: Landmine detection, de-mining and other applicationsEdited by Y Baudoin, Polytechnical Faculty Royal Military Academy, Belgium and M K Habib, American University in Cairo, Egypt
- reviews the development of robotic systems for de-mining and other risky activities
- discusses the development and applications of sensors for mine detection using different robotic systems
- examines research on multi-agent-systems and multi-robotics systems
- an indispensible reference for researchers and government agencies involved in the use of robots for landmine detection and disposal
There have been major recent advances in robotic systems that can replace humans in undertaking hazardous activities in demanding or dangerous environments. Published in association with the CLAWAR (Climbing and Walking Robots and Associated Technologies Association) (www.clawar.org), this important book reviews the development of robotic systems for de-mining and other risky activities such as fire-fighting.
Part one provides an overview of the use of robots for humanitarian de-mining work. Part two discusses the development of sensors for mine detection whilst Part thee reviews developments in both teleoperated and autonomous robots. Building on the latter, Part four concentrates on robot autonomous navigation. The final part of the book reviews research on multi-agent-systems (MAS) and the multi-robotics-systems (MRS), promising tools that take into account modular design of mobile robots and the use of several robots in multi-task missions.
With its distinguished editors and international team of contributors, Using robots in hazardous environments: landmine detection, de-mining and other applications is a standard reference for all those researching the use of robots in hazardous environments as well as government and other agencies wishing to use robots for dangerous tasks such as landmine detection and disposal.
ISBN 1 84569 786 3
ISBN-13: 978 1 84569 786 0
December 2010
704 pages 234 x 156mm hardback
£190.00 / US$325.00 / €230.00
Usually dispatched within 24 hours
About the editors
Professor Yvan Baudoin is Head of the Department of Mechanics at the Royal Military Academy, Belgium. Professor Baudoin is also Chair of the HUDEM (Robotics Assistance in Mine Clearing) and RISE (Risky Intervention and Surveillance of the Environment) Working Groups within the International Advanced Robotics Progam (IARP).
Professor Maki K. Habib is Professor of Robotics and Mechatronics in the Department of Mechanical Engineering at The American University in Cairo, Egypt. Professor Habib is also a member of various Working Groups within IARP.
Contents
PART 1 HUMANITARIAN DEMINING: THE EVOLUTION OF ROBOTS AND THE CHALLENGES
PART 2 SENSORS FOR MINE DETECTION AND ROBOTICS
PART 3 AUTONOMOUS AND TELEOPERATED ROBOTS FOR HUMANITARIAN DEMINING
PART 4 ROBOT AUTONOMOUS NAVIGATION AND SENSORS
PART 5 MULTI ROBOTICS SYSTEMS: NAVIGATION AND COOPERATION
PART 1 HUMANITARIAN DEMINING: THE EVOLUTION OF ROBOTS AND THE CHALLENGES
Introduction: Mobile robotics systems for humanitarian de-mining and risky interventions
Y Baudoin, Royal Military Academy, Belgium, M K Habib, The American University in Cairo and I Doroftei, “Gh. Asachi” Technical University of Lasi, Romania
- Objective of the book
- Humanitarian demining: historical steps
- Humanitarian demining: the problem
- Technological challenges of mobile robotics systems for humanitarian demining
- International advanced robotics programme (IARP) workshops: a major contribution to the exchange of information among the research and development (R&D) community
- Conclusions
- Acknowledgements
- References
Robot for non-conventional demining process: from remote control to autonomy
C Parra, C Otalora and A Forero, Pontificia Universidad Javeriana, Colombia and M Devy, CNRS, France
- Background
- Humanitarian demining: a challenge for perception and robotics
- A complementary multisensory method for landmine detection
- URSULA: Our first approach toward a mobile platform for humanitarian demining purposes
- AMARANTA: A legged robot platform
- Future trends
- Acknowledgement
- References
Locomotion and localisation of humanitarian demining robots
P Santana, L Correia and J Barata, University of Lisbon, Portugal
- Introduction
- Mechanical design of humanitarian demining robots
- Locomotion control of humanitarian demining robots
- Localisation of humanitarian demining robots
- Conclusions
- Acknowledgements
- References
Sustainable and appropriate technologies for humanitarian demining
E E Cepolina, Snail Aid – Technology for Development and M Zoppi, University of Genova, Italy
- Introduction: Could 1/100 of Bosnia Herzegovina’s tractor population help the country to become landmine impact-free by the end of the year? 2009: Deadline in crisis
- Land release with means other than full clearance for humanitarian demining
- Local agricultural technologies for land release for humanitarian demining
- Participatory design and appropriate technology for humanitarian demining
- Agricultural technologies on the humanitarian de-mining technology market
- Development Technology Workshop and other sustainable ideas for humanitarian demining
- Participatory agricultural technology for humanitarian de-mining: PAT and DISARMADILLO machines
- Low cost tractor for humanitarian de-mining: LOCOSTRA
- References
Some problems of robotic humanitarian demining evolution
V G Gradetsky, Institute for the Problems in Mechanics, Russia
- Introduction
- Evolutions of sensor systems for demining
- Comparison of different automation demining technologies
- Conclusion
- References
PART 2 SENSORS FOR MINE DETECTION AND ROBOTICS
Sensing capabilities for mobile robotics
L Nomdedeu, J Sales, R Marín and E Cervera, University Jaume I, Spain and J Saez, Sheffield Hallam University, UK
- Introduction
- Sensing technologies taxonomy
- Ego-motion capabilities for mobile robots
- Environment-perception capabilities for mobile robots
- Localisation capabilities for mobile robots
- Future trends
- References
Sensor fusion for automated landmine detection on a mobile robot
S Larionova, PromAutomation Ltd., Russia and A T de Almeida and L Marques, University of Coimbra, Portugal
- Introduction
- Landmine recognition on a mobile robot
- Experimental testing on LADERO platform
- Conclusions
- References
Relating soil properties to performance of metal detectors and ground penetrating radars
P Druyts, Y Yvinec and M Acheroy, Royal Military Academy, Belgium
- Introduction
- Soil parameters for metal detectors and ground-penetrating radars
- Sensor performance and soil classes
- Simple model for a metal detector
- Usefulness of a soil database
- Conclusion
- Acknowledgements
- Conventions and notations
- References
Contribution of geophysics for landmines and UXO detection: Case
study in the Egyptian environment
G El-Qady, A Mohamed, M Metwaly and M Atya, National Research Institute of Astronomy and Geophysics, Egypt
- Introduction
- Landmines problem in Egypt
- Geophysical techniques available for landmine and UXO detection
- Experimental evaluation of metal detectors (MD) and ground penetrating radar (GPR) at test sites
- Results and discussion
- Conclusion
- References
Detecting landmine fields from low-resolution aerial infrared images
I Y-H Gu and T Wang, Chalmers University of Technology, Sweden and T Tjahjadi, University of Warwick, UK
- Introduction
- Related work
- Natures of infrared (IR) measured landmine fields
- Multi-scale point detection for landmine candidates
- Landmine detection from close distance measured IR images: Thermal contrast-based models
- Experiments and results
- Conclusion
- Acknowledgement
- References
GPS data correction using encoders and INS sensors
S A Berrabah and Y Baudoin, Royal Military School, Belgium
- Introduction
- GPS based positioning
- Inertial navigation system
- Data fusion for robot localization
- Conclusion
- References
PART 3 AUTONOMOUS AND TELEOPERATED ROBOTS FOR HUMANITARIAN DEMINING
Environment-adaptive antipersonnel mine detection system: Advanced mine sweeper
T Fukuda, Nagoya University, Y Hasegawa, University of Tsukuba, K Kosuge, Tohoku University, K Komoriya, National Institute of Advanced Industrial Science and Technology, Japan, F Kitagawa, Mitsui Engineering and Shipbuilding Co. Ltd., Singapore and T Ikegami, TADANO Ltd., Japan
- Introduction
- Architecture of an antipersonnel mine detection system
- Sensing technologies of advanced mine sweepers
- Access-control technologies of an antipersonnel mine detection systems
- Information management system
- Experiments
- Summary
- References
Mechanical mine clearance: Development, applicability and difficulties
M K Habib The American University in Cairo, Egypt and Y Baudoin, Royal Military Academy, Belgium
- Introduction
- The core components of humanitarian mine action plan
- The mechanical approach for mine clearance
- Mechanical equipment and tools for mine clearance
- Vegetation cutters and removal
- Manned and hybrid mechanical systems
- Swedish Mine Fighter (SMF)
- MgM Rotar on Cat 916
- Minelifta
- Remotely controlled mechanical systems
- Conclusions
- References
Robotic tools for demining and risky operations
Š Havlik, Slovak Academy of Sciences, Slovakia
- Introduction
- Feature and requirements of robotic tools for demining and risky operations
- Mine clearance
- Remotely controlled vehicles with flailing activation mechanisms
- Conclusion
- References
RAVON — The robust autonomous vehicle for off-road navigation
C Armbrust, T Braun, T Föhst, M Proetzsch, A Renner, B H Schäfer and K Berns, University of Kaiserslautern, Germany
- Introduction
- State of the art
- Overview of RAVON
- RAVON mechatronics and sensor data pre-processing
- RAVON short-range navigation
- RAVON mid-range navigation
- RAVON long-range navigation
- Experiments
- Conclusion and future work
- Acknowledgements
- References
Computer training in handling with ground teleoperated robots for demining
G Kowalski, J Będkowski, P Kowalski and A Masłowski, Warsaw University of Technology, Poland
- Introduction
- Simulation and training in handling with teleoperated robots
- Teleoperated robots operator’s training
- Teleoperated robot users’ needs
- Multilevel training for teleoperated robots
- Virtual and augmented reality
- A platform for mobile robot operator training based on computer simulation using PhysXEngine
- Conclusion
- References
PART 4 ROBOT AUTONOMOUS NAVIGATION AND SENSORS
A fuzzy-genetic algorithm and obstacle path generation for walking robot with manipulator
A Pajaziti, I Gojani, S Buza and A Shala, University of Prishtina, Kosova
- Introduction
- Mobile platform and manipulator system model for walking robot
- Solution of the problem by using fuzzy logic and genetic algorithm (GA) controller
- Simulation results
- Conclusions
- References
Synthesis of a sagittal gate for a biped robot during single support phase
A Pajaziti, I Gojani, A Shala and S Buza, University of Prishtina, Kosova and G Capi, Fukuoka Institute of Technology Japan
- Introduction
- Humanoid robot
- Mechanical structure of a biped robot
- Control algorithm of a biped robot
- Biped robot simulations
- Conclusions
- References
Fuzzy logic control in support of autonomous navigation of humanitarian demining robots
A Abbas, British University in Egypt, Egypt
- Intelligent navigational functionality of autonomous robots
- Methodologies for controlling autonomous robots
- Design of a fuzzy logic controller for autonomous navigation
- Conclusion
- References
Human victim detection and stereo-based terrain traversability analysis for behavior-based robot navigation
G De Cubber and D Doroftei, Royal Military Academy, Belgium
- Introduction
- Robot control architecture
- Human victim detection
- Stereo-based terrain traversibility estimation
- Behavior-based control
- Results and conclusions
- References
Simulation of a mobile multilink robot with vision virtual reality system
V G Gradetsky, V B Veshnikov and V G Chashchukin, Ishlinksky’s Institute for Problems in Mechanics of the Russian Academy of Sciences (IPMech RAS), Russia
- Introduction
- The model of environment representation in virtual reality
- Application of virtual system for the analysis and control of the multilink robot
- Simulation system of distributed robot’s control
- Simulation of distributed control of multilink robot motion
- The simulation of distributed control by motion of the multilink robot on a vertical surface with a minimum of a possible overturn moment
- Simulation of distributed control for the multilink robot driving in a pipeline and crawling motion
- References
Estimation of the distance by using the signal strength for localization of networked mobile sensors and actuators
J Sales, R Marín, L Nomdedeu and E Cervera, University Jaume I, Spain
- Introduction
- Available hardware for estimation of distance
- Experiments setup
- Wi-fi – ZigBee experimental comparison
- Experimental results
- Conclusion
- References
PART 5 MULTI ROBOTICS SYSTEMS: NAVIGATION AND COOPERATION
Experimental study on the effects of communication on cooperative search in complex environments
O Çayirpunar, V Gazi and B Tavli, TOBB University of Economics and Technology, Turkey, E Cervera, Jaume I University, Spain, U Withowski, University of Paderborn, Germany and J Penders, Sheffield Hallam University, UK
- Introduction
- Effects of communication on cooperative search: experimental set-up
- Effects of communication on cooperative search: problem definition
- Effects of communication on cooperative search: search strategies
- Effects of communication on cooperative search: experimental results
- Concluding remarks
- References
Mobile ad-hoc networking supporting multi-hop connections in multi-robot scenarios
U Witkowski, S Herbrechtsmeier and M El-Habbal, University of Paderborn, Germany
- Introduction
- System architecture of mobile ad-hoc networking
- Communication protocol in multi-robot scenarios
- Communication platform in mobile adhoc networking
- Experiments and results
- Conclusion
- Acknowledgements
- References
A decentralized planification architecture for a swarm of mobile robots
M Defoort, Université de Valenciennes, T Floquet, A Kokosy and W Perruquetti, Ecole Centrale de Lille and J Palos, ISEN, France
- Introduction
- Mobile robots: problem statement
- Mobile robots: main results
- Mobile robots: experimental results
- Conclusions
- References
Using the NVIDIA CUDA application in the cognitive supervision and control of the multi robot system methodology for the supervision and control of the multi robotic system with CUDA application
J Bedkowski and A Maslowski, Warsaw University of Technology, Poland
- Introduction
- Cognitive model architecture
- NVIDIA compute unified device architecture (CUDA)
- 3D map building with CUDA
- Supervision of the autonomous navigation in 3D
- Cognitive data classification
- References
Laser based cooperative multi-robot map building for indoor environments
Y Atas, O Cayirpunar, S Burak Akat and V Gazi, TOBB University of Economics and Technology, Turkey and L Albou, Sheffield Hallam University, UK
- Introduction
- Multi-robot map building: problem definition
- Multi-robot map building: Experimental set-up
- Multi-robot map building: Results
- Concluding remarks
- References
Heterogeneous multi-agent system behaviour patterns for robotics applications
L Alboul, J Penders and J Saez-Pons, Sheffield Hallam University, UK
- Introduction
- Related work
- Description of heterogeneous multi-agent system
- Formalism of multi-agent system
- Behaviour patterns and remarks on stability of multi-agent system
- Examples of implementations of the algorithms on real robots: challenges of the practical “set-ups”
- Conclusion
- Acknowledgement
- References
A light-weight communication protocol for tele-operated Robots in risky emergency operations
U Delprato, MCristaldi and G Tusa, Intelligence for Environment and Security – IES Solutions s.r.l, Italy
- Introduction
- Choice of the transport level protocol
- Mailman overview
- Network and software
- Mailman datagram
- Mailman adoption in rescuer and ViewFinder projects
- Future trends
- References