Explorers Robotic Team-farshad Yazdi-tafresh University
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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 ,
Southern Bahar St, Enghelab St , Tehran
Police & Army Robots
Change into
Change into
Robot in the World
(installation)
MISSION: CLEAR ROADS & AREAS OF LANDMINES Elements
Personal loss soldiers
According To: Maneuver support center , USA
Without Robots
14
Soldiers
With Robots
3
Landmine Problem in the world
Yearly reports documenting the landmine problem worldwide
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
Control System Architecture Software Tools
Computer Control Systems
Sensory Perception Databases & World Modeling Internal & External Communications Mobility Hardware Architecture
Internal & External Sensors
Robotic System
Sensor Systems
Sensor Processing Sensor Architecture Platform & Mobility Design
Functional Diagram
Structural Dynamics/Kinematics
effector Systems
Weapons Systems Manipulators & End Effectors Propulsion Systems
Human Interfac e Systems
Controls & Displays Testing Maintenance & Support Training
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 sophisticated surveillance equipment
•
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 Generation
4th
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 : American Technologies Network Corporation
SENSORS Ultrasonic (Distance) Gas Sensors Pyro-electric Sensors Thermal Sensors Smoke Sensors
W hy D o Rob ot s N e e d Se n sor s? • 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”
W h a t Ca n Be Se n se d ? 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.
W h a t Ca n Be Se n se d ? 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?
•
•
W h a t Se n sor s Ar e Ou t Th e r e ? Feelers (Whiskers, Bumpers) – Mechanical •Photoelectric (Visible) – Active & Passive •Infrared (light) – Active & Passive •Ultrasonic (sound) – Active & Passive •Sonic – Active & Passive •Resistive/Capacitive/Inductive – Active & Passive •
•
W h a t Se n sor s Ar e Ou t Th e r e ? 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 •
•
Se n sor s – Fe e le r s 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
Se n sor s – 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
Se n sor s – Ult r a son ic 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.)
Se n sor s – Son ic ( Acou st ic) 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
Se n sor s – 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)
Se n sor s – M a g n e t ic •
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)
Se n sor s – Or ie n t a t ion 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
Explorer 8 Robot
Wireless Camera Ultrasonic sensor Flame gun Laser pointer Power LED Lighting System Robot Arm (6 Degree Of Freedom)
Electromagnetic Brake Smoke sensor
Rbbot Arm (FWD & BWD) Radio Remote Control
Explorer 7 Reconnaissance Robot
Wireless Camera
(4 Degree Of freedom)
Night Vision
Radio Remote control
Super High Light LED Lighting System
obstacle crossing System
Explorer 6
wall Destroying Robot
Explorer 5
Desert Crossing Diesel Motor 50 km/h Speed Wireless Camera Radio remote Control 1kg bomb Carrying Capability
Suicide robot
Explorer 4
Line Tracker sentinel Soldier
Other Explorers Robot
Fire man Robot Line tracker (Image Processing system) Line tracker (Micro Avr Atmega 128) Line tracker (Micro PIC 16F877 ) Light Follower (Atmega 128) Wall avoidance Robot
End
By:
M.Yazdi
http://www.Farshad-
yazdi.9f.com
Explorers Robotic Team Science & Technology Park Tafresh University
Sponsored By:
Energy pooyandegan Company
Especial Thanks To :
ICT Department Of NAJA
http://farshad-yazdi.blogfa.com [email protected] [email protected]
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 ,
Southern Bahar St, Enghelab St , Tehran
Police & Army Robots
Change into
Change into
Robot in the World
(installation)
MISSION: CLEAR ROADS & AREAS OF LANDMINES Elements
Personal loss soldiers
According To: Maneuver support center , USA
Without Robots
14
Soldiers
With Robots
3
Landmine Problem in the world
Yearly reports documenting the landmine problem worldwide
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
Control System Architecture Software Tools
Computer Control Systems
Sensory Perception Databases & World Modeling Internal & External Communications Mobility Hardware Architecture
Internal & External Sensors
Robotic System
Sensor Systems
Sensor Processing Sensor Architecture Platform & Mobility Design
Functional Diagram
Structural Dynamics/Kinematics
effector Systems
Weapons Systems Manipulators & End Effectors Propulsion Systems
Human Interfac e Systems
Controls & Displays Testing Maintenance & Support Training
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 sophisticated surveillance equipment
•
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 Generation
4th
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 : American Technologies Network Corporation
SENSORS Ultrasonic (Distance) Gas Sensors Pyro-electric Sensors Thermal Sensors Smoke Sensors
W hy D o Rob ot s N e e d Se n sor s? • 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”
W h a t Ca n Be Se n se d ? 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.
W h a t Ca n Be Se n se d ? 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?
•
•
W h a t Se n sor s Ar e Ou t Th e r e ? Feelers (Whiskers, Bumpers) – Mechanical •Photoelectric (Visible) – Active & Passive •Infrared (light) – Active & Passive •Ultrasonic (sound) – Active & Passive •Sonic – Active & Passive •Resistive/Capacitive/Inductive – Active & Passive •
•
W h a t Se n sor s Ar e Ou t Th e r e ? 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 •
•
Se n sor s – Fe e le r s 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
Se n sor s – 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
Se n sor s – Ult r a son ic 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.)
Se n sor s – Son ic ( Acou st ic) 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
Se n sor s – 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)
Se n sor s – M a g n e t ic •
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)
Se n sor s – Or ie n t a t ion 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
Explorer 8 Robot
Wireless Camera Ultrasonic sensor Flame gun Laser pointer Power LED Lighting System Robot Arm (6 Degree Of Freedom)
Electromagnetic Brake Smoke sensor
Rbbot Arm (FWD & BWD) Radio Remote Control
Explorer 7 Reconnaissance Robot
Wireless Camera
(4 Degree Of freedom)
Night Vision
Radio Remote control
Super High Light LED Lighting System
obstacle crossing System
Explorer 6
wall Destroying Robot
Explorer 5
Desert Crossing Diesel Motor 50 km/h Speed Wireless Camera Radio remote Control 1kg bomb Carrying Capability
Suicide robot
Explorer 4
Line Tracker sentinel Soldier
Other Explorers Robot
Fire man Robot Line tracker (Image Processing system) Line tracker (Micro Avr Atmega 128) Line tracker (Micro PIC 16F877 ) Light Follower (Atmega 128) Wall avoidance Robot
End
By:
M.Yazdi
http://www.Farshad-
yazdi.9f.com
Explorers Robotic Team Science & Technology Park Tafresh University
Sponsored By:
Energy pooyandegan Company
Especial Thanks To :
ICT Department Of NAJA
http://farshad-yazdi.blogfa.com [email protected] [email protected]
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