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Detection of antipersonnel (AP) mines using mechatronics approach

Conference Paper


Abstract


  • At present there are approximately 110 million land-mines scattered around the world in 64 countries. The clearance of these mines takes place manually. Unfortunately, on average for every 5000 mines cleared one mine clearer is killed. A Mine Detector Arm (MDA) using mechatronics approach is under development in this work. The robot arm imitates manual hand- prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil to control the impact caused by contacting a stiff object. An explicit impact control scheme is applied as the main control scheme, while two different intelligent control methods are designed to deal with uncertainties and varying environmental parameters. Firstly, a neuro-fuzzy adaptive gain controller (NFAGC) is designed to adapt the force gain control according to the estimated environment stiffness. Then, an adaptive neuro-fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro-fuzzy impact control (NFIC), when an impact is detected. The developed control schemes are validated through computer simulation and experimental work. ©2003 Copyright SPIE - The International Society for Optical Engineering.

Publication Date


  • 1998

Citation


  • Shahri, A. M., & Naghdy, F. (1998). Detection of antipersonnel (AP) mines using mechatronics approach. In Proceedings of SPIE - The International Society for Optical Engineering Vol. 3392 (pp. 808-819). doi:10.1117/12.324175

Scopus Eid


  • 2-s2.0-20444505868

Web Of Science Accession Number


Start Page


  • 808

End Page


  • 819

Volume


  • 3392

Abstract


  • At present there are approximately 110 million land-mines scattered around the world in 64 countries. The clearance of these mines takes place manually. Unfortunately, on average for every 5000 mines cleared one mine clearer is killed. A Mine Detector Arm (MDA) using mechatronics approach is under development in this work. The robot arm imitates manual hand- prodding technique for mine detection. It inserts a bayonet into the soil and models the dynamics of the manipulator and environment parameters, such as stiffness variation in the soil to control the impact caused by contacting a stiff object. An explicit impact control scheme is applied as the main control scheme, while two different intelligent control methods are designed to deal with uncertainties and varying environmental parameters. Firstly, a neuro-fuzzy adaptive gain controller (NFAGC) is designed to adapt the force gain control according to the estimated environment stiffness. Then, an adaptive neuro-fuzzy plus PID controller is employed to switch from a conventional PID controller to neuro-fuzzy impact control (NFIC), when an impact is detected. The developed control schemes are validated through computer simulation and experimental work. ©2003 Copyright SPIE - The International Society for Optical Engineering.

Publication Date


  • 1998

Citation


  • Shahri, A. M., & Naghdy, F. (1998). Detection of antipersonnel (AP) mines using mechatronics approach. In Proceedings of SPIE - The International Society for Optical Engineering Vol. 3392 (pp. 808-819). doi:10.1117/12.324175

Scopus Eid


  • 2-s2.0-20444505868

Web Of Science Accession Number


Start Page


  • 808

End Page


  • 819

Volume


  • 3392