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International Journal on Innovative Technology and Scientific Research (Vol. 1, Issue 1) Design and Development of Landmine Detection Robot Kaustubh P. Karkamkar1, Prasanna S. Kulkarni2 All India Shri Shivaji Memorial Society’s Polytechnic, Savitribai Phule University of Pune, India [email protected] 1 2 All India Shri Shivaji Memorial Society’s Polytechnic, Savitribai Phule University of Pune, India [email protected] Abstract: In the real world, development of technologies for de-mining a target region is important task. The task should be independent on the location of the target. Target may be present in the shallow water or on the land or target may exist between boundary of shallow water and land. Finding the mines is the difficult and first step in de-mining. Searching for mines is a challenging, dangerous and expensive task. If we use robots for this task, then the system will no longer harm the humans also we can develop a system so that cost will be reduced and work can be finished in less time. In the process of finding the mines, the sensors for mine detection are being passed over the selected region. The robot should traverse the path carefully and cover all the area. In the proposed work we developed a system which is inexpensive and can detect the land mine. Keywords: landmines, metal detector, microcontroller, robot. 1. Introduction The real problem of the field of security is the land mine. It is risky task to find the land mine, but the use of robots solves this problem. Research work is actively carried out on land and sea demining by "The Robotic Sensor Based Planning Lab" with persons in statistics and Mark Schervish. Recently using many simple algorithms which can only direct the robot to move randomly or the movements in simple environment where no obstacle is present is possible. But there is no guarantee that they will cover each and every small portion of selected area. Though if we consider the drawback of incompleteness, the efficiency in terms of area covered per unit time is decreases [1]. For complete coverage of the selected area, the area is divided in some portions by dividing whole target area in sub regions which is called cells. Now in these cells the back and forth movement is possible which can cover the complete cell and thus completing whole target region. The robot must visit each and every cell in target region. In demining applications, the capabilities if current sensors can be extended using probabilistic planner technology. In some situations, target environment can not be covered in specific time. But planner can guide the robot if access is given to map of a probabilistic mine locations. By doing this, the planner instructs the robot to check the cell first which is having high possibility of having mines. The area scanned by robot is now mine-free region and robot will start the scanning on other cell [2]. We can solve the dual problem lane clearing using priory information. This method allows Copyright to IJITSR identifying mined regions which allows safe passage instead of finding regions of high mine concentrations. The major challenges in operation of land mine robot are positioning or which can also known as navigation. Best alternative option to transponder system and GPS is provided by this work. There are two approaches for addressing the positioning problem faced during large scale regions. These ways are algorithmic way which is the software way and technological approach. Boustrophedon decomposition automatically encodes environmental parameters. This will allow the robot to alter internal positioning and correct the errors to solve the problem of large scale regions. The divided cells in the decomposition have same or different features or sensor signatures [3]. Robot locates itself by the adjacency relationship between cells as the adjacent cells share an edge between them. Many researchers are developing technological based methods for positioning and implementing such methods on outdoor mobile robot. The methods for development are linear encoder or using the camera which can looks at wellmarked posts etc. Researchers can design the advanced coverage techniques in robots with low cost even though the prototypes are designed to follow a pseudo-random path [4]. We have developed the landmine detector robot which can be controlled by the remote control. The robot can traverse the path directed by the person. 2. BLOCK DIAGRAM AND DESCRIPTION In the designed model, the robot can move forward, http://ijitsr.com/ 1 International Journal on Innovative Technology and Scientific Research (Vol. 1, Issue 1) reverse, and also turn left and right. This mechanism of robot is controlled by microcontroller and interfacing circuit and interfacing hardware. The sensors are also included to detect the movement of the robot whenever the command is given for the movement in specific direction. Any object including wall or any other robot in the path of the robot is sensed by the wall proximity sensor. 2.3 ASK RF Module It consists of RF TRANSMITTER and RF RECEIVER where the transmitter transmitted the signal and receiver receives the signal. It is designed for remote control Alarm and security system, Authorization / Access control. The module includes a decoder in it. Output the control ON/OFF level. The physical dimensions of the module are 42 x 29 mm. The antenna will affect the receiver result very well, ¼ wave antenna is better. The antenna location will also affect the receiver result. 2.4 Power supply Our robot needs the 12V power supply for the circuit system. 3. Figure 1: Block Diagram of landmine detector robot Figure1 shows the system block diagram which contains main elements like microcontroller, RF module, Metal detector circuit, stepper motor and interfacing circuitry. The major component used in the system and its brief description and working is explained in following section. 2.1 Microcontroller Microcontroller controls all the operations of robot. Every piece of hardware in the system controlled and communicated with the use of microcontroller. The microcontroller is having the software and on execution of the software, the commands received by RF link are interpreted and controls forward and reverse motion and RF control link. 2.2 Metal Detector Circuit In metal detector circuit Colpit’s oscillator is built around first Transistor. The coil and two capacitors C1 and C2 forms a tanks circuits 5k presets and 0.1uf capacitors sets +ve feed back to the Transistor, converting it into an oscillators. When the piece of metal (Generally Iron) comes very close to the center of the coil, the value L changes and the voltage at the base of the third Transistor Rapidly increases and the 4th Transistor base, receivers high voltage setting the transistor goes into saturation (As a Switch) and activates LED and Buzzer. But when metal piece is taken away from the Coil the base of third Transistor off not get any voltage and hence remain off and there by switching off the 4th Transistor. The output of the Colpit’s oscillator is a very good sine wave is observed at the emitter of the third Transistor (seen on the C.R.O.). At the base of the 3rd Transistor D.C. voltage is seen, because of the Rectifying action of D3 and 0.1uf capacitor. Copyright to IJITSR Algorithm 1) START 2) Declare variables and functions. 3) Check whether forward key is pressed. 1) If ‘yes’ then go to subroutine of stepper motor forward. 2) If ‘no’ then go to step 4. 4) Check whether reverse key is pressed. 1) If ‘yes’ then go to subroutine of stepper motor reverse. 2) If ‘no’ then go to step 5. 5) Check whether left turn key is pressed. 1) If ‘yes’ then go to subroutine of stepper motor left turn. 2) If ‘no’ then go to step 6. 6) Check whether right turn key is pressed. 1) If ‘yes’ then go to subroutine of stepper motor right turn. 2) If ‘no’ then repeat procedure from step 3 to step 6. 7) STOP 4. Hardware Design The hardware implementation contains two main parts: 1) Hardware for robot 2) Remote control http://ijitsr.com/ 2 International Journal on Innovative Technology and Scientific Research (Vol. 1, Issue 1) robot. Transmitter has four buttons (A, B, C, D), and there are four corresponding outputs on the receiver. Depending on the switch operation the receiver will give either a high level (in case of Latch Type Receiver) or a high pulse on the corresponding output (in case of Momentary Type Receiver). An encoder and a decoder are used at the transmitting and receiving end respectively. These encoder - decoder pair have a unique address and 38 (3 to the power 8) such addresses are possible. 5. Conclusion We have controlled the stepper motor through parallel port of PC, by using wireless technology. The parallel port is to be operated through PC by using software language. The motor should operate in accordance to the input given through PCs parallel port. For wireless purpose the transmitter is to be connected with the Pc and receiver should be at remote place. References Figure 2: Hardware implementation of landmine detector robot Figure 2 contains the hardware implementation of the landmine detector robot. This contains the hardware in 3 layers (3 different PCB). The lower one holds the battery circuit. The middle one is battery charger circuit and metal detector circuit. The upper PCB has microcontroller circuit, indicating LED and the RF module. [1] N.Ulrich, et al, “A Medium Complexicity Complant End –Effector”, Proc. IEEE. International Conference On Robotics And Automation, 1988. [2] Bicchi, A., “Hands for Dexterous Manipulation and Robust Grasping: A Difficult Road Toward Simplicity”, IEEE Transactions on Robotics and Automation 16 (6) 652-662, 2000. [3] Toshio Morita, Hiroyasu Iwata and Shigeki Sugano, “Human Symbiotic Robot Design based on Division and Unification of Functional Requiements”, Proceedings of the IEEE International Conference on Robotics and Automation, pp.2229-2234, 2000. [4] S. Parasuraman, “Kinematics and Control System Design of Manipulators for a Humanoid Robot”, Proceedings of World Academy of Science, Engineering And Technology, Volume 39, pp.7-13, 2008. Figure 3: Hardware implementation of remote control Figure 3 contains the hardware implemented for the remote control to control the movements of the landmine detector Copyright to IJITSR http://ijitsr.com/ 3