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Mansoura UniversityFaculty of Computers and Information
Information Systems Department
By
Ahmed IsmailB.SC. Of Information Systems
Faculty of computers and InformationMansoura University
Landmines Detection By Using Mobile Robots
باستخدام " اآلرضية اآللغام عن الكشفاآللى "االنسان
Assoc. Prof. Hazem ElBakryDepartment of Information Systems,
Faculty of Computers and Information Mansoura University
Assoc. Prof. Mohamed ElmogyDepartment of Information Technology, Faculty of Computers and Information,
Mansoura University
Under Supervision of
Outline
1. Objectives & Contributions2. Introduction
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
Outline
1. Motivations & Objectives & Contributions2. Introduction
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
Motivations
We developed our low cost demining robot for the following purposes:1-Every landmines detection technique has error rates.
2-The landmines still there, due to the limited performance of available techniques.
3-In the last years, many demining researches used GPR is very expensive ,very heavy ,and power hungry.
Objectives
Designing a low-cost mobile robot.
Proposing a method to detect landmines by integrating
more than one technique.
Using effective motion planning algorithm .
Ensuring the demining operators safety.
Designing an autonomous low cost light mobile robot .
Effective motion planning in mines detection and saves
time.
Using Multisensor fusion in demining.
Developing affective object avoidance algorithm.
We implemented a system uses effective technique to defuse
the mines where they are.
Contributions
Outline
1. Objectives & Contributions2. Introduction
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
Introduction
There are two types of Landmines:
Anti-personnel(AP): Is an explosive device made to injure or kill a person.
Anti-tank(AT) : AT are designed to destroy tanks and armored vehicles.
Introduction(cont.)
Egypt as a Case Study Egypt has 23 million, mostly in border regions) Egypt suffers alone from more than 20% of the total
number of the landmines in the world. A huge area of land is affected about 25,000 sq.
kilometers.
Introduction(cont.)
Technologies are used for landmine detection are: Humanitarian demining1. Metal detector2. Dogs 5-Bactria3. Rats 6-Plants
4. Honey bees
Mechanical clearance
Advanced electromagnetic methods
1. Ground penetrating radar
2. Nuclear detection
3. Acoustic detection
4. Biological sensors
5. Chemical sensors such as thermal fluorescence
Introduction(cont.)
Technologies Comparison:
Outline
1. Objectives & Contributions2. Introduction
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
Related Work
Akhtar [2012] Used GPR to captures an image in real-time.
• Fed into a processing unit where smaller segments of it, analyzed after being processed for noise reduction.
• Then recognized and classified landmines with success rate 90%
• This scheme has some drawbacks:• The sensor such as GPR is larger and heavier.• GPR is more power hungry.• GPR can suffer falls alarm rates as high as metal
detectors.
Related Work (cont.)
Ghribi et al. [2013] developed a cheap wheeled robot that could detect only metal mines.
The robot mounted on a metal detector to detect mines.
The system used to color paint to mark the position of detected mines. This scheme has some drawbacks:
high false alarms due to metal objects in the soil.
Related Work (cont.)
Garcia et al [2002] proposed awaking robot for detecting and locating antipersonnel landmines, consisted of: ahead with detector, locator with GPS.• The robot was controlled remotely • There is some drawback in their scheme,
such asHigh costThe robot can be triggeredFalse alarms
Outline
1. Objectives & Contributions2. Introduction
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
The proposed system depends on two main things: 1. Motion planning
Complete coverage algorithm.2. Sensors fusion using decision level
Preprocessing receive alarms Count alarms
EstimationComputing send Information
Landmines destroying
The Proposed System
The Proposed System(cont.)The block diagram for Demining system
The Proposed System(cont.)1.Motion planning
Motion planning: complete coverage algorithmDecompose the field into cells
The Proposed System(cont.)Complete coverage in parallel method
Motion planning: complete coverage algorithmDecompose the field into cells
The Proposed System(cont.)2. Multi-sensor fusion
By using Decision level fusion
The Proposed System(cont.)Multi-sensor fusion(Decision Level fusion)
then this is a mine.
The Proposed System(cont.)
The generic decision-level sensor-fusion layout
The Proposed System(cont.)Cheap sensors comparison
The Proposed System(cont.)Multi-sensor fusion flow chart
The Proposed System(cont.)3. Defusing mines
The proposed technique is using Robot arm to defuse mines in their locations by locating a ticking time bombs in places mines
Outline1. Objectives & Contributions2. Introduction
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
Experimental results Autonomous robot structure
low cost equipped vehicle, multiple simple machines are used, each one carrying a very limited amount of mine detection.
Experimental results The system structure
Experimental results
Fake mines simulation
Experimental results
Fake mines simulation
Experimental results Robot Simulation
Experimental results Environment test.
Experimental results Results
summary.
Outline
1. Objectives & Contributions2. 3D Object Recognition
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
Conclusion
Conclusion(cont.)
• The robot uses a coverage algorithm technique where explicitly passes over all points in the minefield at least once.
• The algorithm guarantees complete coverage of unknown areas for ensuring the detected mines existence.
• The experimental results proved that using multisensor system using decision level fusion when robot move in coverage based motion decreased the false alarms.
Conclusion(cont.)
• Our Result proved that using more than one low-cost sensors is better than using the best sensor alone.
• Demining can be done with very low cost with only $140.
• The overall demining process has no risks to a human operator with using very small and light sensors.
Conclusion(cont.)
• The more obstacles are in the field; the
longer time the overall process takes.
• So Using fails to clean the field from
obstacles before demining is a critical step.
• using many robots with the same design,
which work together in parallel way solved
the time problem
Conclusion(cont.)
• The robot can detect landmines with high
detection rates.
• The use of multi-sensor fusion solved the
problem of high rates of false alarms of
demining sensors.
• Destroying the mines where they are, is
better than forming maps of found mines
and then defusing them.
Outline
1. Objectives & Contributions2. Introduction
3. Related Work
4. Proposed System
5. Experimental and Results6. Conclusion7. Future Work
using one expensive metal detector sensor that will be better
to increase detection distance underground more than 60 cm.
Test the robot in real mines field
I suggest for the new researchers in demining try to use
nanotechnology or Either that will increase the efficiency of
landmines detection.
Using crawler robot will be better than wheels robots in
demining process.
Testing the robot in real environments.
Future Work
A. Ismail, M. Elmogy, H. ElBakry, " Landmines Detection Using Autonomous Robots: A Survey", International Journal of Emerging Trends & Technology in Computer Science (IJETTCS), Volume 3, Issue 4, 4, July-August 2014.
A. Ismail, M. Elmogy, H. ElBakry, "Landmines Detection Using Low-Cost Multisensory Mobile Robot", Journal of Convergence Information Technology, Volume 3, Issue 4, 2015.
Publications
References
• Y.Baudoin, and I.Doroftei," TriDem-A Wheeled Mobile Robot for Humanitarian Mine Clearance", Citeseer, 2012
• A.Muhammad, S. Abbas, T.Manzoor,A. Munawar,S. Abbas,M. Hayat,A. Abbas,and M.Awais," Marwa: A rough terrain landmine detection robot for low budgets",cyphynets.lums.edu.pk,2012.
• A.Alshbatat," Behavior-Based Approach for the Detection of Land Mines Utilizing off the Shelf Low Cost Autonomous Robot",IAES International Journal of Robotics and Automation (IJRA),2,83-92,2013
• G.Tesfamariam, "Signal Processing Techniques for Landmine Detection Using Impulse Ground Penetrating Radar (ImGPR)", TU Darmstadt, 2013