WELCOME

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PRESENTED BY

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CONTROL ARCHITECTURE
FOR ROBUDEM ROBOT

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Contents

1. INTRODUCTION

2. ROBUDEM COMPONENTS

3. CONTROL ARCHITECTURE

4. ROBOT MOTION SCHEDULER

5. SOFTWARE ARCHITECTURE

6. CONCLUSION

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INTRODUCTION

HUMANITARIAN DEMINING
IN UNCONTROLLED ENVIRONMENTS IS RISKY

ROBUDEM ROBOT CAME INTO EXISTENCE

SEARCHES FOR SUSPICIOUS OBJECTS AND

MINES

 CARTESIAN SCANNING MECHANISM

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Robodeum robot

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ROBUDEM COMPONENTS

 IT CONSISTS OF FOUR WHEELS AND TWO

AXLES

 ACKERMAN STEERING GEAR MECHANISM

 TWO DIFFERENTIAL DRIVE SYSTEM

 TWO DIGITAL CAMERAS AND A STEREO

VISION

 THREE SENSING CAPABILITES

 ODOMETRY , VISUAL SENSORS, IMAGE MOTION ANALYSIS

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CONTROL ARCHETECTURE

 THREE MAIN CAPABILITIES --- SENSING

REASONING
(INTELLIGENCE)
ACTUATION

 INTEGRATED INTO A SENSOR FUSION

 IT CONSISTS OF THREE FUNCTIONS – NAVIGATION

MINE DETECTION
METAL DETECTION

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 NAVIGATION --- DIRECTS THE ROBOT
 USING SENSORS
 SENSORS:

 GPS – GIVES ABSOLUTE COORDINATES

 IMS -- GIVES ACCELERATION

 ULTRASONIC,IR – DISTANCE MEASUREMEN TO OBSTACLES

 MINE SENSOR -- RETURN LOCATION OF MINES

 MINE DETECTION --- 2D SCAN WITH MINE

 IMAGING TOOLS

 METAL DETECTION --- SCANS WITH

 METAL DETECTOR

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PRINCIPLE OF CONTROL ARCHITECTURE

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MODULAR CONTROL ARCHETECTURE

CONTROL ARCHITECTURES AIM TO MIMIC

HUMAN THINKING

NEED OF FLEXIBLE AND REUSABLE

SOFTWARE

THE SOFTWARE IS PROGRAMMED AS

PLATFORM INDEPENDENT

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ROBOT MOTION SCHEDULER
TWO MAIN PATHS

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MAC SOFTWARE ARCHITECTURE

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APPLICATIONS

 MOVES IN UNCONTROLLED
ENVIRONMENTS

 SERVICE IN SPACE RESEARCH

 DETECTION OF MINES IN MILITARY

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FUTURE
ROBOTS

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ROBOTS USED FOR TRANSFERING DATA

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ROBOT USED FOR DETECTING MINES

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CONCLUSION

 WE CONCLUDE THAT THE ROBUDEM

ROBOT WORKS IN A EFFECTIVE WAY IN
UNCONTROLLED ENVIRONMENTS BY THE
FUSION OF SENSORS AND MODULAR
CONTROL ARCHITECTURE SOFTWARE IS
TO ACHIEVE THE PROOF DESIGN.

 WE DEMONSTRATED OUR SOLUTION FOR

THE PROBLEM OF HUMANITARIAN
DEMINING.

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ANY
QUARIES?
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