AI SearchFinding and safe storage objects in hazardous environments using mobile robots
Call Number: AIT Thesis no.ISE-06-39 Material type:
SeriesSeries: Asian Institute of Technology. Thesis ; no. ISE-06-39Publication details: Pathum Thani, Thailand : Asian Institute of Technology, 2006Description: 83 p. : illSubject(s): Online resources: Dissertation note: Thesis (M.Eng.) - Asian Institute of Technology, 2006 Summary: Although the traditional method to remove hazardous waste has protective clothing and device, the risk may still occur anytime and endanger for worker. Spare equipment that can reduce the exposal between human and noxious substance or even replace people on dangerous works is extremely necessary. An autonomous system has developed in AIT' Laboratory to perform this purpose. The system is combination of an existing mobile robot with new components. These new components have developed in this study and mounted on mobile robot. They are vision system and picking up the hazardous object mechanism. The experimental landmine model imitates from Type 72 landmine made in China. The vision system, HVC system, is used to acquire image of objects on the ground and the object recognization algorithm basing on the characteristics of object is applied to recognize the landmine. The picking up the hazardous object mechanism is a three-degree of freedom arm with gripper. The 2RP ((Revolute - Revolute - Prismatic) mechanism configuration increases the flexibility of the arm. The gripper has opening and closing functions with respect to object grasping and releasing actions. Landmine recognization software is written in GUI of Matlab and C language in ICC 11 environment is used to program microcontroller
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A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology
Thesis (M.Eng.) - Asian Institute of Technology, 2006
Although the traditional method to remove hazardous waste has protective clothing and device, the risk may still occur anytime and endanger for worker. Spare equipment that can reduce the exposal between human and noxious substance or even replace people on dangerous works is extremely necessary. An autonomous system has developed in AIT' Laboratory to perform this purpose. The system is combination of an existing mobile robot with new components. These new components have developed in this study and mounted on mobile robot. They are vision system and picking up the hazardous object mechanism. The experimental landmine model imitates from Type 72 landmine made in China. The vision system, HVC system, is used to acquire image of objects on the ground and the object recognization algorithm basing on the characteristics of object is applied to recognize the landmine. The picking up the hazardous object mechanism is a three-degree of freedom arm with gripper. The 2RP ((Revolute - Revolute - Prismatic) mechanism configuration increases the flexibility of the arm. The gripper has opening and closing functions with respect to object grasping and releasing actions. Landmine recognization software is written in GUI of Matlab and C language in ICC 11 environment is used to program microcontroller
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