By Ortiz Zaragoza, Francisco José; Alonso Cáceres, Diego; Pastor Franco, Juan Ángel; Álvarez Torres, María Bárbara; Iborra García, Andrés José
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Additional info for A reference control architecture for service robots implemented on a climbing vehicle
Sensor payloads can be extended to include a range of multisensors, such as metal detection array, 26 Humanitarian Demining: Innovative Solutions and the Challenges of Technology an infrared imager, GPR and a thermal neutron activation detector. Data fusion methodologies are used to combine the discrete detector outputs for presentation to the operator. No evaluation and testing results in relation to demining are available. The MR robot Laser/US imaging sensor MR robot with another arm module Mine Detector Head Fig.
With this system, the operator has a limited visibility and flexibility in feeling and interacting with respect to the buried object and this affects the performance level of the operator and raise safety concern. 14 Mine Hunter Vehicle (MHV) Fuji Heavy Industries (FHI) FHI has developed a crawler type MHV as a portable sensor platform under the sponsorship of Japan Science and Technology Agency’s (JST) with aim to support humanitarian demining activities. The vehicle was originally designed to carry two working arms.
5 meters. Each sensor is covering a width of 40 centimeters giving a total width of coverage of two meters. The data was integrated to a GPS to give a position that was then translated to a distance measurement along the road. The system recorded both distance from the start point to target and distance in from the edge or verge. A small tachometer mounted on the rear drive axle was used to pinpoint the position of potential mines with an accuracy of up to one meter at 1000 meters. In addition, a hydraulic steering system and steering ram have been used with the new version of Pookie.