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Title

A scanning robotic system for humanitarian de-mining activities

AuthorsPonticelli, Roberto ; García Armada, Elena ; González-de-Santos, Pablo ; Armada, Manuel
KeywordsControl systems
Explosives technology
Robotics
Sensors
Tracking
Issue Date2008
PublisherEmerald Group Publishing
CitationIndustrial Robot 35(2): 133-142 (2008)
Abstract[Purpose]Humanitarian de-mining tasks require the use of specific detecting sets to detect landmines. These sets are normally based on a one-point sensor, which must be moved over the infested terrain by a combination of a scanning manipulator and a mobile platform. The purpose of this paper is to present the development of the sensor head and the scanning manipulator.
[Design/methodology/approach]The manipulator needs sensors in order to negotiate ground irregularities and detect obstacles in the path of the mine-detecting set. All of the sensors must be integrated into a sensor head that is in charge of both detecting land mines and providing overall sensor functions for the mobile platform's steering controller.
[Findings]The sensor head is based on a commercial mine-detecting set and a ground-tracking set based on a network of range sensors tailor-made for this purpose; the scanning manipulator is based on a mechanism with five degrees of freedom.
[Originality/value]The design assessment and some experiments are reported. © Emerald Group Publishing Limited.
Publisher version (URL)http://dx.doi.org/10.1108/01439910810854629
URIhttp://hdl.handle.net/10261/78449
DOI10.1108/01439910810854629
Identifiersissn: 0143-991X
Appears in Collections:(IAI) Artículos
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