Explorers Robotic Team &

EXPLORERS ROBOTIC TEAM & ENERGY POOYANDEGAN COMPANY

Address: NO:8, Second Floor, Science & Technology Park, TafreshUniversity, Tafresh

Tel: +98 9123309693 +98 9126435028 +98 9367001675

Address: NO:599, BaharBuilding ,

Police & Army Robots

Change into

Change into

Robot in the World

(installation)

MISSION: CLEAR ROADS & AREAS OF LANDMINES

Elements

Personal loss

According To: Maneuver support center , USA

Without Robots

14

Soldiers

With Robots

3

soldiers

Robots Also Save Time MINE PROOFING ROBOT PANTHER VERSUS ENGINEER COMPANY

Route

Buried

Scatterable

System

Clearing

Mines

Mines

Panther

0.5 Hours

2 Hours

7.5 Hours

Company 2.7 Hours Savings Meters

34 Hours

81% 400 x 400

54 Hours

94%

86%

100 x 8

100 x 100

WHY USE ROBOTS? Increase product quality

Superior Accuracies (thousands of an inch, wafer-handling: microinch) Repeatable precision Consistency of products

Increase efficiency

Work continuously without fatigue Need no vacation

Increase safety

Operate in dangerous environment Need no environmental comfort – air conditioning, noise protection, etc

Reduce Cost

Reduce scrap rate Lower in-process inventory Lower labor cost

Reduce manufacturing lead time Rapid response to changes in design

Increase productivity

Value of output per person per hour increases

ARCHITECTURE OF ARMY ROBOTIC

SYSTEMS •Mechanical Structure Kinematics model Dynamics model •Actuators: Electrical, Hydraulic, Pneumatic, Artificial Muscle •Computation and controllers •Sensors •Communications •User interface •Power conversion unit •weapons

THE ROBOTS ARE DIVIDED INTO FOUR CATEGORIES •Unmanned Aerial Vehicles (UAV) designed for surveillance and reconnaissance missions •Small Unmanned Ground Vehicles (UGV) that can enter hazardous areas and gather information without risking the lives of soldiers •Multifunctional Utility/Logistics and Equipment (MULE) vehicles designed to provide combat support in conflict situations •Armed Robotic Vehicles (ARV) that weigh 9.3 tons and can either carry powerful weapons platforms or

KIND OF WEAPONS •personal weapons •infantry support weapons •Fortification weapons •Vehicle weapons •Railway weapons •Aircraft weapons •Naval weapons •Space weapons

NIGHT VISION DEVICES GENERATIONS 1st Generation

2ndGeneration

3rd Generation

4th Generation

1ST GENERATION 1st generation is currently the most popular type of night vision in the world. Utilizing the basic principles described earlier, a 1st generation unit will amplify the existing light several thousand times letting you clearly see in the dark. These units provide a bright and sharp image at a low cost, which is perfect, whether you are boating, observing wildlife, or providing security for your home. You may notice the following when you are looking through a 1st Gen. unit. •A slight high-pitched whine when the unit is on. •The image you see may be slightly blurry around the edges. This is known as Geometric Distortion. •When you turn a 1st Gen. unit off it may glow green for some time. •These are inherent characteristics of a 1st Gen. unit and are normal.

2ND GENERATION is primarily used by law enforcement or for professional applications. This is because the cost of a 2nd Gen. unit is approximately $500.00 to $1000.00 more then a 1st Gen. The main difference between a 1st and a 2nd generation unit is the addition of a micro-channel plate, commonly referred to as a MCP. The MCP works as an electron amplifier and is placed directly behind the photocathode. The MCP consists of millions of short parallel glass tubes. When the electrons pass through these short tubes, thousands more electrons are released. This extra process allows 2nd generation units to amplify the light many more times then 1st generation giving you a brighter and sharper image. •Photo Cathode type: Multi-Alkali •Resolution from 40 to 45 lp/mm •Signal-to-Noise Ratio from 12 to 20 •5,000+ hour tube life

3RD GENERATION Our standard 3rd generation image intensifier tubes are of the highest quality. They have a micro channel plate, GaAs photocathode, and a completely self-contained integral highvoltage power supply. These 3rd Generation tubes provide a combined increase in resolution, signal to noise and photosensitivity over tubes with a multi-alkali photocathode. Generation 3 is the standard for the USA military •Photo Cathode type: Gallium Arsenide •Resolution 64 lp/mm •Signal-to-Noise Ratio 22 Typical •10,000-hour tube life

4TH GENERATION Gated/Filmless technology represents the biggest technological breakthrough in image intensification of the past 10 years. By removing the ion barrier film and “Gating” the system Gen 4 demonstrates substantial increases in target detection range and resolution, particularly at extremely low light levels. The use of film less technology and auto-gated power supply in 4th generation image intensifiers result in: •Up to 100% improvement in photo response. •Superb performance in extremely low light level (better S/N and EBI). •At least triple high light level resolution (a minimum of 36 lp/mm compared to 12 lp/mm).

Source :

SENSORS Ultrasonic (Distance) Gas Sensors Pyro-electric Sensors Thermal Sensors Smoke Sensors

Why Do Robots Need Sensors? •Provides “awareness” of surroundings What’s ahead, around, “out there”?

•Allows interaction with environment Robot lawn mower can “see” cut grass

•Protection & Self-Preservation

Safety, Damage Prevention, Stairwell sensor

•Gives the robot capability to goal-seek Find colorful objects, seek goals

•Makes robots “interesting”

What Can Be Sensed? Light Presence, color, intensity, content (mod), direction

Sound Presence, frequency, intensity, content (mod), direction

Heat

Temperature, wavelength, magnitude, direction

Chemicals

Presence, concentration, identity, etc.

Object Proximity

Presence/absence, distance, bearing, color, etc.

Physical orientation/attitude/position Magnitude, pitch, roll, yaw, coordinates, etc.

What Can Be Sensed? Magnetic & Electric Fields Presence, magnitude, orientation, content (mod)

Resistance (electrical, indirectly via V/I) Presence, magnitude, etc.

Capacitance (via excitation/oscillation) Presence, magnitude, etc.

Inductance (via excitation/oscillation) Presence, magnitude, etc.

Other Things?

What Sensors Are Out There? Feelers (Whiskers, Bumpers) – Mechanical Photoelectric (Visible) – Active & Passive Infrared (light) – Active & Passive Ultrasonic (sound) – Active & Passive Sonic – Active & Passive Resistive/Capacitive/Inductive – Active & Passive

What Sensors Are Out There? Visual – Cameras & Arrays (Active & Passive) Color Sensors (Active & Passive) Magnetic (Active & Passive) Orientation (Pitch & Roll) GPS (location, altitude) Compass (orientation, bearing) Voltage – Electric Field Sensors Current – Magnetic Field Sensors Chemical – Smoke Detectors, Gas Sensors

Sensors – Feelers Whiskers

Piano wire suspended through conductive “hoop” Deflection causes contact with “hoop” Springy wire that touches studs when deflected Reaches beyond robot a few inches Simple, cheap, binary output

Bumpers & Guards

Impact/Collision sensor, senses pressure/contact Micro switches & wires or framework that moves Simple, cheap, binary output, easy to read

Sensors – IR Active (emitting) Oscillator generates IR reflections off objects Filtered receiver looks for “reflections” Pulses may be encoded for better discrimination Typically frequencies around 40KHz Doesn’t work well with dark, flat colored objects

Passive (sensor only) Pyro-electric (heat sensor) Look for IR emissions from people & animals Used in security systems & motion detectors

Sensors – Ultrasonic Active Emit pulses & listen for echos Times round trip sound travel (~1ft/mS) Reaches far fairly beyond robot (inches to 30-50’) Relatively simple, not cheap, analog output Directional; not everything reflects sound well

Passive (listens only) Sensor listens for ultrasonic sounds Electronics may translate frequency or modulation Software may perform signal analysis (FFTs, etc.)

Sensors – Sonic (Acoustic) Active Emit pulses & listen for echos Times round trip sound travel (~1ft/mS) Reaches far fairly beyond robot (30-50 ft) Relatively simple, not cheap, analog output Directional, not everything reflects sound Noisy!!!!

Passive (sensor only) Sensor listens to ambient sounds Filters or scans selected frequencies ADC measures conditioned signal amplitude CPU performs signal analysis on what it hears

Sensors – Color Active (emitting) Selective field illumination (specific color(s)) Sensor filter removes extraneous light sources Output can be analog (prop.) or digital (on/off)

Passive (sensors only) Different sensors for different colors Color filter removes extraneous light sources Output can be analog (prop.) or digital (on/off)

Sensors – Magnetic Active (emitting) Metal detectors Follows metallic strips on or under the floor Magnetometer Magnetic Resonance Imaging (MRI)

Passive (sensors only) Compass Magnetic field sensor (→oscillating current)

Sensors – Orientation Rate Gyros Output proportional to angular rotation speed Integrate to get position Differentiate to get acceleration

DC Accelerometer Output proportional to sine of vertical angle

LIGHTING SYSTEM Power LED System •different colors and different power like 0.5W, 3W, 1W, 5W. •Widely used in indication, lighting, etc. •Low voltage, low current, high efficient •Power saving, long lifespan •Compatible With Environment & safe

GPS

(GOLOBAL POSITINING SYSTEM) System of positioning by satellite to give an accurate position anywhere on the planet within a hundred meters, by day or night Why GPS? Tracking and recording movements surveying & mapping habitants

POWER SUPPLIES Batteries Solar energy boxes

ROBOTIC ARM Servo Robotic Arm

IMAGE PROCESSING Face photo recognition using sketch

By: M.Yazdi Explorers Robotic Team Science & Technology Park Tafresh University

Sponsored By: Energy pooyandegan Company

Especial Thanks To : ICT Department Of NAJA