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.