Pub Date : 2016-10-01DOI: 10.1109/RST.2016.7869858
A. Hamid, Amr Nazih, Mohammed Ashraf, Ahmed Abdulbaky, A. Khamis
This paper presents the design of a locomotion system for an unmanned ground vehicle to be used in minefield reconnaissance and mapping missions. The paper describes the analysis conducted to quantify the characteristics of rough terrain of the landmine contaminated area and its implications on selecting an efficient locomotion system. A comparative study based on 2-D and 3-D modeling is conducted between three 6-wheeled vehicles with articulated suspension. The optimal design is to be implemented within MineProbe project. MineProbe: A Distributed Mobile Sensor System for Minefield Reconnaissance and Mapping in Egypt is an applied research project that aims at developing a novel minefield reconnaissance and mapping system in Egypt focusing on North West Coast (NWC) of Egypt as location of the action.
{"title":"UGV locomotion system for rough terrain","authors":"A. Hamid, Amr Nazih, Mohammed Ashraf, Ahmed Abdulbaky, A. Khamis","doi":"10.1109/RST.2016.7869858","DOIUrl":"https://doi.org/10.1109/RST.2016.7869858","url":null,"abstract":"This paper presents the design of a locomotion system for an unmanned ground vehicle to be used in minefield reconnaissance and mapping missions. The paper describes the analysis conducted to quantify the characteristics of rough terrain of the landmine contaminated area and its implications on selecting an efficient locomotion system. A comparative study based on 2-D and 3-D modeling is conducted between three 6-wheeled vehicles with articulated suspension. The optimal design is to be implemented within MineProbe project. MineProbe: A Distributed Mobile Sensor System for Minefield Reconnaissance and Mapping in Egypt is an applied research project that aims at developing a novel minefield reconnaissance and mapping system in Egypt focusing on North West Coast (NWC) of Egypt as location of the action.","PeriodicalId":366239,"journal":{"name":"2016 International Workshop on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127653324","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RST.2016.7869854
I. Hameed
Demining or mine clearing is the process of detecting and removing land mine from an area. Uncleared landmines represent a major humanitarian and economic threat in over 70 countries. Its victims suffer from permanent disability if not killed and require horrific expensive care. Also, the cost of the land, roads, and underground resources that remains useless. Clearing mines is very dangerous work. The majority of demining work is still carried out manually using metal detectors and prodders. For every 5,000 mines that are removed, one person is killed and two people are injured. Over the years there has been considerable interest within the scientific and engineering communities in the application of advanced technologies to improve the safety and efficiency of this work. In this paper a motion-planning algorithm to enable landmine detection and clearing robots to systematically scan a minefield, detect landmines and clear it is presented. The algorithm works on two steps; (1) generate the driving tracks that can be used to scan the minefield area, and (2) connect these tracks using Dubins' path in order to generate a continues and complete trajectory which can be used for the robot's navigation. The inputs to the algorithm are the coordinates of the outer boundaries of the minefield's vertices, the operating width of the robot, the minimum turning radius of the robot/autonomous vehicle, the required (or optimized) driving angle in the field, and the robot's entrance point to the minefield. The output is a trajectory that consists of the coordinates of a number of headland paths connected using Dubins' curves and a set of parallel tracks covering the entire minefield area connected using Dubins' curves. The resultant trajectory enables the robot to scan the minefield area in the shortest time in a way that prevents missing any landmine by scanning the entire field area. It also enables the robot to work fully autonomous with minimal or without human intervention at all and therefore it dramatically reduces risks of workplace injury and maximize operation efficiency.
{"title":"Motion planning for autonomous landmine detection and clearance robots","authors":"I. Hameed","doi":"10.1109/RST.2016.7869854","DOIUrl":"https://doi.org/10.1109/RST.2016.7869854","url":null,"abstract":"Demining or mine clearing is the process of detecting and removing land mine from an area. Uncleared landmines represent a major humanitarian and economic threat in over 70 countries. Its victims suffer from permanent disability if not killed and require horrific expensive care. Also, the cost of the land, roads, and underground resources that remains useless. Clearing mines is very dangerous work. The majority of demining work is still carried out manually using metal detectors and prodders. For every 5,000 mines that are removed, one person is killed and two people are injured. Over the years there has been considerable interest within the scientific and engineering communities in the application of advanced technologies to improve the safety and efficiency of this work. In this paper a motion-planning algorithm to enable landmine detection and clearing robots to systematically scan a minefield, detect landmines and clear it is presented. The algorithm works on two steps; (1) generate the driving tracks that can be used to scan the minefield area, and (2) connect these tracks using Dubins' path in order to generate a continues and complete trajectory which can be used for the robot's navigation. The inputs to the algorithm are the coordinates of the outer boundaries of the minefield's vertices, the operating width of the robot, the minimum turning radius of the robot/autonomous vehicle, the required (or optimized) driving angle in the field, and the robot's entrance point to the minefield. The output is a trajectory that consists of the coordinates of a number of headland paths connected using Dubins' curves and a set of parallel tracks covering the entire minefield area connected using Dubins' curves. The resultant trajectory enables the robot to scan the minefield area in the shortest time in a way that prevents missing any landmine by scanning the entire field area. It also enables the robot to work fully autonomous with minimal or without human intervention at all and therefore it dramatically reduces risks of workplace injury and maximize operation efficiency.","PeriodicalId":366239,"journal":{"name":"2016 International Workshop on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST)","volume":"26 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125111416","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RST.2016.7869860
Ezzat A. Elmoujarkach, E. Banoqitah
Mine detection is one of the major fields that has been improving since the end of World War II. Due to the importance of saving lives, it's a necessity to detect a mine before it is triggered. The variety of mine types created the variety of ways and methods to detect them The most commonly used method to detect mines is using a metal detector. However, sometimes metal detectors are not ideal to be used for mine detection due to lack of conductive materials in the mine. The objective is to develop a method to detect mines from both metallic and non-metallic materials, by using a gamma ray emitter source and a GAM OS simulation toolkit to simulate this situation. Back scattered photon counting was the method used, which works for mines made of both light and heavy materials.
{"title":"GAMOS based simulation using gamma back- scattered photons count method for mine detection","authors":"Ezzat A. Elmoujarkach, E. Banoqitah","doi":"10.1109/RST.2016.7869860","DOIUrl":"https://doi.org/10.1109/RST.2016.7869860","url":null,"abstract":"Mine detection is one of the major fields that has been improving since the end of World War II. Due to the importance of saving lives, it's a necessity to detect a mine before it is triggered. The variety of mine types created the variety of ways and methods to detect them The most commonly used method to detect mines is using a metal detector. However, sometimes metal detectors are not ideal to be used for mine detection due to lack of conductive materials in the mine. The objective is to develop a method to detect mines from both metallic and non-metallic materials, by using a gamma ray emitter source and a GAM OS simulation toolkit to simulate this situation. Back scattered photon counting was the method used, which works for mines made of both light and heavy materials.","PeriodicalId":366239,"journal":{"name":"2016 International Workshop on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST)","volume":"195 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128392711","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RST.2016.7869855
Ahmed M.ELDakrory, M. Tawfik
Multi-copter or Multi-rotor is a new field and most of the modeling and control research points are interested to improve the performance of the multi-rotors to do its work with no effort and in best way. Here Quadcopter system was proposed due its wide usage. Quadcopters as it is known as quadrotor has been involved in many applications due to its facilitations and speed. They have been used in Search and rescue, Building Inspection after Earth Quicks, Precision Agriculture, Remote farming, Mapping of building, Transportation, Motivation and mine detection. Modeling of the Quadcopter is the most important part of designing as it is describing all the characteristics of the system and depend on this observations the controller which sustain all the requirements was determined. Here it was proposed the investigation between two different methods for modeling first one is modeling which depend on the system of equations describing the system motion and performance, the second method using the neural network using NARX model proposed here[5]. The results will show the difference between those two methods.
{"title":"Utilization of neural network and the discrepancy between it and modeling in quadcopter attitude","authors":"Ahmed M.ELDakrory, M. Tawfik","doi":"10.1109/RST.2016.7869855","DOIUrl":"https://doi.org/10.1109/RST.2016.7869855","url":null,"abstract":"Multi-copter or Multi-rotor is a new field and most of the modeling and control research points are interested to improve the performance of the multi-rotors to do its work with no effort and in best way. Here Quadcopter system was proposed due its wide usage. Quadcopters as it is known as quadrotor has been involved in many applications due to its facilitations and speed. They have been used in Search and rescue, Building Inspection after Earth Quicks, Precision Agriculture, Remote farming, Mapping of building, Transportation, Motivation and mine detection. Modeling of the Quadcopter is the most important part of designing as it is describing all the characteristics of the system and depend on this observations the controller which sustain all the requirements was determined. Here it was proposed the investigation between two different methods for modeling first one is modeling which depend on the system of equations describing the system motion and performance, the second method using the neural network using NARX model proposed here[5]. The results will show the difference between those two methods.","PeriodicalId":366239,"journal":{"name":"2016 International Workshop on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134559563","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RST.2016.7869859
A. Khamis, Mohammed Ashraf, Ahmed Abdulbaky
This paper summarizes the results of a domain review conducted within MineProbe project to study the challenging aspects of the problem of landmine and UXOs contamination in Egypt, to survey the current solutions used to face this problem, to gather the fundamental requirements for the technology-based solutions and to assess the different technologies which may help to solve this serious problem. MineProbe: A Distributed Mobile Sensor System for Minefield Reconnaissance and Mapping in Egypt is an applied research project that aims at developing a novel minefield reconnaissance and mapping system in Egypt focusing on North West Coast (NWC) as location of the action. MineProbe system encompasses a number of spatially distributed unmanned vehicles equipped with different types of sensors to detect obstacles, landmines and Unexploded Ordnances (UXOs). This system provides a minefield map in which the locations of the detected landmines and UXOs are identified. This map can be used later by the Army engineers to destroy or deactivate the identified ordnances in the field.
{"title":"Landmines and UXOs in NWC: a domain review","authors":"A. Khamis, Mohammed Ashraf, Ahmed Abdulbaky","doi":"10.1109/RST.2016.7869859","DOIUrl":"https://doi.org/10.1109/RST.2016.7869859","url":null,"abstract":"This paper summarizes the results of a domain review conducted within MineProbe project to study the challenging aspects of the problem of landmine and UXOs contamination in Egypt, to survey the current solutions used to face this problem, to gather the fundamental requirements for the technology-based solutions and to assess the different technologies which may help to solve this serious problem. MineProbe: A Distributed Mobile Sensor System for Minefield Reconnaissance and Mapping in Egypt is an applied research project that aims at developing a novel minefield reconnaissance and mapping system in Egypt focusing on North West Coast (NWC) as location of the action. MineProbe system encompasses a number of spatially distributed unmanned vehicles equipped with different types of sensors to detect obstacles, landmines and Unexploded Ordnances (UXOs). This system provides a minefield map in which the locations of the detected landmines and UXOs are identified. This map can be used later by the Army engineers to destroy or deactivate the identified ordnances in the field.","PeriodicalId":366239,"journal":{"name":"2016 International Workshop on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134155540","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RST.2016.7869856
Ahmed M.ELDakrory, M. Tawfik
Modeling of dynamic systems using system identification became an important discipline as it overrides the errors that may be introduced by traditional modelling techniques. There are two methodologies for identification of systems' models; statistical and deterministic methods. Identification algorithms are proposed in this paper using deterministic neural network and compare the results with regression method. Here the authors are interested in identifying the input output relation of many dynamic systems such as satellites, UAV, Quadcopters etc.....
{"title":"Identifying the attitude of dynamic systems using neuralnetwork","authors":"Ahmed M.ELDakrory, M. Tawfik","doi":"10.1109/RST.2016.7869856","DOIUrl":"https://doi.org/10.1109/RST.2016.7869856","url":null,"abstract":"Modeling of dynamic systems using system identification became an important discipline as it overrides the errors that may be introduced by traditional modelling techniques. There are two methodologies for identification of systems' models; statistical and deterministic methods. Identification algorithms are proposed in this paper using deterministic neural network and compare the results with regression method. Here the authors are interested in identifying the input output relation of many dynamic systems such as satellites, UAV, Quadcopters etc.....","PeriodicalId":366239,"journal":{"name":"2016 International Workshop on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST)","volume":"393 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123917557","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2016-10-01DOI: 10.1109/RST.2016.7869857
M. Elhefnawy, J. S. Sri Sumantyo
The design of the antenna array is one of the most important factors that govern the Synthetic Aperture Radar (SAR) performance. This research presents a literature review on most manuscripts that have been published on the development of antenna arrays for long range SAR. Radiation pattern requirements to avoid both azimuth and range ambiguities have been introduced in this paper. The obtained results from this research will help in designing a high performance antenna array for Josaphat Microwave Remote Sensing Laboratory (JMRSL) SAR onboard microsatellite.
{"title":"A review on designing antenna arrays for long range synthetic aperture radar","authors":"M. Elhefnawy, J. S. Sri Sumantyo","doi":"10.1109/RST.2016.7869857","DOIUrl":"https://doi.org/10.1109/RST.2016.7869857","url":null,"abstract":"The design of the antenna array is one of the most important factors that govern the Synthetic Aperture Radar (SAR) performance. This research presents a literature review on most manuscripts that have been published on the development of antenna arrays for long range SAR. Radiation pattern requirements to avoid both azimuth and range ambiguities have been introduced in this paper. The obtained results from this research will help in designing a high performance antenna array for Josaphat Microwave Remote Sensing Laboratory (JMRSL) SAR onboard microsatellite.","PeriodicalId":366239,"journal":{"name":"2016 International Workshop on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST)","volume":"121 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121083863","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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