minesweeper international competition 2nd prize - 2016
TRANSCRIPT
![Page 1: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/1.jpg)
![Page 2: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/2.jpg)
Team members
Amr Mousa ( Team Leader)
Essam Radwan
Mohamed Elsherif
Khaled Hefnawy
Ahmed El-Sayed Bayoumy
Mohamed El-Mallah
![Page 3: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/3.jpg)
Supervisors
Dr. Mohamed Tawfik
Eng.Mahmoud Magdy
( Technical Supervisor)
![Page 4: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/4.jpg)
Sponsors
![Page 5: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/5.jpg)
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
![Page 6: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/6.jpg)
![Page 7: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/7.jpg)
Problem Statement
• About 22.7 million landmine exist in Egypt since Second World War.
• Egyptian western desert only has about 17.2 million landmine
![Page 8: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/8.jpg)
Since 1982, about 8300 Egyptian and foreign people have been killed and injured due to landmines.
Problem Statement
![Page 9: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/9.jpg)
![Page 10: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/10.jpg)
![Page 11: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/11.jpg)
Mechanical System:
Chassis
Suspension
Detection Arms
External Surface
Ventilation System
![Page 12: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/12.jpg)
• Chassis
• Wooden rods (Axially loaded)
• Aluminum Beams (Laterally loaded)
• Motors attached to 4 wooden-Aluminium Boxes
![Page 13: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/13.jpg)
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
![Page 14: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/14.jpg)
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
![Page 15: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/15.jpg)
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 !!
![Page 16: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/16.jpg)
External Surface:
![Page 17: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/17.jpg)
Ventilation System
5 Fans for full ventilation
2 Front
2 Back
1 internal
![Page 18: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/18.jpg)
![Page 19: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/19.jpg)
Electrical system:
![Page 20: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/20.jpg)
1) Sensors:
- MPU 6050 (Accelerometer and Gyroscope)
- 3 Metal Detectors (up to 37 cm )
- Ultrasonic sensor
- Buzzer + LED (indicators)
![Page 21: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/21.jpg)
MBED 32bit ARM core Microcontroller
Incremental Encoder
Cytron Motor Drivers (10 Amp. 30V)
Xbee
![Page 22: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/22.jpg)
![Page 23: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/23.jpg)
LabVIEW
![Page 24: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/24.jpg)
Mapping & RC-Control
![Page 25: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/25.jpg)
Autonomous Control
• Using LabVIEW ( PID )
![Page 26: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/26.jpg)
Autonomous Control
• Using mbed ( PID )
![Page 27: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/27.jpg)
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.
![Page 28: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/28.jpg)
Encoder
Main_Node
MPU 6050
Angle_Topic
Distance_TopicAction_Topic
Actuator
4 Nodes 3 Topics
MONTU Subsystems Graph
![Page 29: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/29.jpg)
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.
![Page 30: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/30.jpg)
PID Controller (ROS)
![Page 31: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/31.jpg)
1- Difficulty of Mastering ROS
2- Short time for adding features!!
Problems we faced:-
![Page 32: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/32.jpg)
![Page 33: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/33.jpg)
V`
![Page 34: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/34.jpg)
![Page 35: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/35.jpg)
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
![Page 36: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/36.jpg)
• 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
![Page 37: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/37.jpg)
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.
![Page 38: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/38.jpg)
![Page 39: Minesweeper International Competition 2nd Prize - 2016](https://reader030.vdocument.in/reader030/viewer/2022020113/58e8215b1a28ab1b298b5825/html5/thumbnails/39.jpg)