Robotics design for detection of explosives using 3g technology
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Transcript of Robotics design for detection of explosives using 3g technology
Robotics design for detection of explosives using 3G technology
INTRODUCTION
Explosives are now a days problem for entire globe to detect them and to neutralize
them before the target accident goes to occur. Also, it is a dangerous and challenging job
for the explosive detection and Disposal squad to neutralize it before explosion.
It is very essential for a country also, to have efficient technology and weapons for
security. In this field, one of the necessary things is to detect the explosives, and mines.
Especially, when it is the time of war or small attacks, a accurate detection of explosives
may make it failure.currently, the detection of explosives are done by the various methods
as e.g. trace explosive method, ground penetrating radars, magnetometers, advance metal
detectors, passive millimeter wave detection etc.
But all of these detections are done by the human or by the security personals only,
that is extremely risky if the explosive goes to explode while detection itself. The same
problem comes when it is a case of human bombs , when the person goes with explosive
in the crowded area and explodes it there. This paper presents the design of the robot
which can detect explosives with the microwave and nuclear based sensors up to the
depth of 20cm , this design is also able to transmit the live movement of the robot
through the 3G technology.
This type of robot may run on the way where the explosives or landmines have to be
detected. Also, it has the GPS system, which catches the coordinate of the location where
the robot is running currently and at the same time the robot goes to catch the live
location from the high resolution cameras installed on it and this information goes to
transmit to the control room. Whenever a suspected object is detected, the robot gets the
coordinates from the GPS system and tags this GPS data on the broadcasting video at the
same location. Thus, a person in the control room gets very easily the coordinates of the
location, where the suspected objects got detected.
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Robotics design for detection of explosives using 3G technology
The robot have also a information queue, which is very useful when connection of
network is goes to lost from 3G network to robot.This design of robot has also one
authentication option with the control room. The design is able to read the face of the
operator of the control room as well as authentication can be done by password string
also, and thus the password is encrypted and tagged through transmission and goes to sent
to the robot, where password is decrypted from the transmission ag and compared by the
hardware and software method with the already saved string.
Now, the robot design is able to authenticate and authorizes to the control room as
well as it is able to move through the given coordinate and able to send the coordinate of
the suspected area with live location. So, this design can be used in the two ways, first
when the object is moving through the robot and second when the robot have to move
according to the given coordinates. In the both mentioned case the design described
above can be applicable .
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Robotics design for detection of explosives using 3G technology
CHAPTER 1
LITERATURE SURVEY
Robotic technology has evolved enoromously over the past century. The robot, that
can detect the explosives and can communicate with its base station by using the 3G
Technology to broadcast the live movement of robot, this 3G technology provides here
the fast communication and helps in the portable design.
In the other hand, the explosives which have to be detected through the -
a) Microwave Sensor, b) Nuclear based sensor, which will be done by the propagation of
UHF waves and by the gamma rays propagation on the objects respectively, and can be
detected up to depth of 20 cm, with the less power consumption and in the efficient
manner .
The main purpose is to bring awareness to the persisting problem landmines and
and cluster bombs in Lebanon and in the region by inviting students to design a robot for
the detection of landmines and cluster bombs.Leanon and the region are not only
countries affected by landmines. Seventy-sixcountries and territories in all regions of the
world are affected by landmines and/orexplosive remnants of war.
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Robotics design for detection of explosives using 3G technology
CHAPTER 2
ROBOTICS
2.1 ROBOT
A robot is a virtual or mechanical artificial agent. In practice, it is usually an electro-
mechanical machine which is guided by computer or electronic programming, and is thus
able to do tasks on its own. Another common characteristic is that by its appearance or
movements, a robot often conveys a sense that it has intent or agency of its own.
Fig 2.1: Robot used for bomb disposal
The word 'robot' was coined by the Czech playwright Karel Capek (pronounced
"chop'ek") from the Czech word for forced labor or serf. Capek was reportedly several
times a candidate for the Nobel prize for his works and very influential and prolific as a
writer and playwright. Mercifully, he died before the Gestapo got to him for his anti-Nazi
sympathies in 1938.
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Robotics design for detection of explosives using 3G technology
Robotics is the branch of technology that deals with the design, construction,
operation, structural disposition, manufacture and application of robots. Robotics is
related to the sciences of electronics, engineering, mechanics, andsoftware. The word
"robot" was introduced to the public by Czech writer Karel Čapek in his play R.U.R.
(Rossum's Universal Robots), published in 1920. The term "robotics" was coined by
Isaac Asimov in his 1941 science fiction short-story "Liar!".
The design of robotic leg should have a technique of camel‟s leg . Whenever it keeps
its leg down the sponge goes to sink down and at the same time it wouldn‟t allow the
ground surface to feel the pressure, also the leg‟s ground side surface goes to divide into
the sticks as per the weight of robot, by this technique the weight of robot goes to divide
into many parts, and it wouldn‟t allow to go more pressure at the particular place. Thus,
the robot design is able to move through the ways specified to it, through the received
input video (with location tag) from the control room.
This design of robot has also one authentication option with the control room. The
design is able to read the face of the operator of the control room as well as authentication
can be done by password string also, and thus the password is encrypted and tagged
through transmission and goes to sent to the robot, where password is decrypted from the
transmission ag and compared by the hardware and software method with the already
saved string.
Now, the robot design is able to authenticate and authorizes to the control room as
well as it is able to move through the given coordinate and able to send the coordinate of
the suspected area with live location. So, this design can be used in the two ways, first
when the object is moving through the robot and second when the robot have to move
according to the given coordinates.
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Robotics design for detection of explosives using 3G technology
2.2 Introduction to robot architecture
There are two types of sensors have been used in this design a) Microwave Based
sensor, b) Nuclear Based sensor . Both of the sensors consume very less power, as shown
in the , works at 2-10 GHz of Microwave frequency with the 10mW of the power up to 8
hours with a standard battery of ~12V.This sensor having the following characteristics:
Micro wave frequency range from 2 to 8 GHz .
Time taken for analysis of 1 scanning loop=0.1 second .
Sensitivity : 100-120 Decibel per Watt .
Spatial Resolution : 3*4 cm square .
The Second sensor which is based on the nuclear which is designed with a analog to
digital converter with the programmed microprocessor installed with a neutron generator,
gamma detector, detector shielding and it is controlled by the robot.
Fig 2.2.1: Robotic wheel and leg Design
It can be operated in -22°c to 55°c of temperature up to 8 hours without recharging a
standard battery.This sensor having the following characteristics:
Minimum weight of scanning object: 0.08-0.1 kilogram .
Scanned area: 30*30 cm with 20 cm of depth .
No radiation in case of switched off.
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Fig 2.2.2: Block Diagram of entire communication system
In this part, whenever a suspected object is detected, the sensor‟s microcontroller
reads the GPS, and transfers it to 3G portable device. Where a programmed
microprocessor copies this location data to the transmitting video, where it goes to be
tagged with video stream and transmits it to the control room.
The 3G portable devices is nothing but a transreceiver device, use 3G technologies for
fast transmission of video streams and other huge data transfers. It consumes a small
amount of power and able to work some days without recharge of a standard battery. This
device is installed in the robot . After the sensors, a set of analog to digital converter is
installed; it gets the data from sensors and gives to the microcontroller for future for the
further process. Whenever a suspected item is detected, microcontroller reads the GPS
and tags the current coordinate with multimedia stream, which goes to transfer to the
control room.
The proposed design of robot should have four legs without any hands, and sensors
should be installed at the beginning of the robot, i.e. similar to the design of the dog. This
will distribute the entire weight of the robot on its four legs and then weight of leg will be
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distributed on the four sticks installed under the leg‟s palm. For the design of the robotic
leg see . These sticks installed in the leg, work as the sponge and sinks down whenever
the robot keeps its leg down.
2.3 ROBOT ARCHITECTURE
The architecture of the robot is now divided into two parts as hardware and software
design. The hardware design contents the sensors with microprocessors, ADCs in the
robot head, and GPS, 3G portable device in between the front and back legs.
The software part contents of the software for sensor data computation and for the
authentication of robot, software for command execution given from control room,
calculation of Co-ordinates and software for control room to communicate with network
by acting as node.The hardware side works with the following parts .
Fig 2.3: Sensor Interfacing
2.4 Robot Head
The robot head contents of the microwave based sensor, nuclear based sensor,
microprocessors & microcontroller with the analog to digital convertor circuits.
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Fig 2.4.1: sensors
1) Microwave based sensor
It is built of a microwave generator circuit, which generates the microwave of
frequency 4-24 GHz. The equipment allows the microwave to propagate on the object
continuously, which creates the dielectric on the object. In another part of the equipment
the determination of dielectric is done and it is checked that weather the dielectric value
of object is in range of explosives or not. And at last, the result is shown according to this
observation. It is the principle of this sensor.
2) Nuclear based sensor
Nuclear based sensor is designed by a neutron generator, which projects the neutrons
continuously on the object and simultaneously when the object refracts γ rays, it goes to
determine the magnitude of γ rays and its properties are compared with the given
refraction range of the explosives. If it is found similar to the explosives emitted γ rays
range, the result is sent as positive. This is the principle of the Nuclear based sensor.
3) Microcontroller and ADC
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There is a microcontroller include in this robot head design, whose work is to get the
signal from the sensor through the ADC and perform operation as per programmed
condition [II.B].Usually, the condition is given to read GPS data if any suspected thing
found.
Fig 2.4.2 : Control Room to Robot connectivity through 3G
4) Robotics Leg Design
The robotic leg can be design by the stepper motor. A pair of stepper motors can be
used for a leg but both motor should be connected with the opposite phase of each other
in paralleled manner by that in the same time both stepper motors will move in the
opposite direction of each other .
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Fig 2.4.3: Robotic Leg Design
And this movement will give next step for walking to robot.The design of feet is
shown in the that should be used as leg‟s palm. This technique gives protection from the
land mines to the robot. Since, all the weight goes to distribute on the four legs and then
the four sponge sticks installed in the all four legs consumes the weight and wouldn‟t
allow any more pressure on ground.
Fig 2.4.4: Armed robot
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CHAPTER 3
3G Connectivity Architecture
The information of detection and the location of robot are now transferred to the 3G
transmission block with the live video of the place . The following sub-blocks come
under this situation:
3.1 Information Queue
It is a memory, which stores all the observed data in the queue format. Whenever the
data goes to transfer, it erases that sent data from queue, if any case of emergency the
connection is lost from the network, it keep storing the data and whenever the connection
restores, it starts sending the current data as well as the not transmitted data in the another
colored frame. Although, 3G technology is not such technology where connection lost
problem comes, it may occur only if there is no network coverage in that area.
3.2 3G core Network
The 3G core network is defined as the network, which is providing the connectivity
publically, also called as network operators. Basically, it is the third generation of the
telecommunication technology, which provides a high speed huge data transfer to a
moving client .
3.3 Session Border Controller
This is one, which is essential for a network provider to keep control over the
clients. It is the one block which allows the client to have access of network
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resources.This session controller is used for the counting the bill of the network usage. It
is the controller through that all the session data passes to the client.
3.4 H.324M
This is the terminal, which is known for the low speed data transfer such as video,
voice, or combination of both. It is one of the recommended techniques from ITU in the
3G communication system [10], and it is able to transmit data with the ~33 kbps of the
speed.
When our 3G portable device need connection from the control room, it connects with
the switch, switch gives the connection of core network through the H.324M terminal.
And in the control room side, controlling pc gets connectivity through the inter network
and via the SBC into the core network. Now, the both of the nodes are connected with
each other through the 3G core network .
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CHAPTER 4
Algorithm and Architecture of Software
Some software is used here for the purpose of communication, utilizing the hardware,
and for the better performance and accuracy .
4.1 Algorithm for sensors
This algorithm is having the following steps to execute when the sensor (nuclear and
microwave based both) starts working in the robot environment:
Step [1]: Compute the dielectric and γ rays ratio of the object.
Step [1.a]: If the computed value is within the range of explosives, Read the data from the
GPS. Tag the GPS data on the camera data with the message „suspected object found‟.
Step [1.b]: If the computed value is not within the range, follow the robot running loop
until stop or destination coordinates.
4.2 Algorithm for robot movement and command execution
There is need of algorithm to execute the commands, which was tagged in the
streaming data for the robot to take further actions given by control room. The following
algorithm can be used for this purpose:
Step [1]: While (Receiving the stream);
Step [1.a] if (Command is found tagged) then extract the command from the stream of
data.
Step [1.b] Else Continue receiving and ignoring the data.
Step [2]: Search the extracted command in the database of the commands.
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Step [2.a]: If (command is found as valid) then perform the corresponding action.
Step [3]: If (Command is given with coordinate for movement) then subtract the current
coordinate from the given coordinate and compute the distance, go in the robot running
loop until the coordinate is achieved.
4.3 Algorithm to convert controlling pc into terminal
This algorithm is used in the pc of control room to act it as the network terminal. This
algorithm is very necessary to pass the operator‟s command for tagging in the streaming
data. Whenever operator enters a command, the following algorithm goes to execute first
at system level:
Step [1]: Prompt to get the command for controlling the robot.
Step [2]: Get the command and search it in the command database.
Step [3]: If (Command is found) then send it for tagging (Transfer to the buffer of
transmitter) with the data which is streaming. Step [3.a]: Else, show the error message
that given command was invalid.
Whenever the operator enters a correct command, then only command is goes to be
tagged on the streaming data. This concept can be easily understood by the example of
luggage belt of the airport, where people keeps their luggage on the moving belt to send it
to the destination
This next algorithm can be used for the need of data transmission, and to make the
devices and system as network node:
Step [1]: If (connection is open) then get the authentication and authorization to system
from the robot.
Step [2]: Get the data source (Make ready buffer of transmitter) have to be transmit
through the network.
Step [3]: Give the authorization to the data source to transmit data and to act as trans-
receiver node until the connection is terminated.
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CHAPTER 5
APPLICATIONS
The application of this type of robot is to detect the explosives, land mines etc.
This can be very useful in case of wars in the country or in the case of emergency
due to the explosives.
This type of explosives can also be used in the railway stations, airport for scanning
the object and also recording of the people, who are carrying that particular scanned
object for the further reference.
Apart from this, this type of robot can run on the way before the VIP people‟s
vehicle goes through that way.
It can be also used to scan the national border area for land mines, and to protect our
home military heavy vehicles from enemies.
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LIMITATIONS
Difficulty of getting information into robot without human intervention.
The cost of some robot is prohibitive.
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CONCLUSION
Detection of explosives using 3G communication technology is the most challenging
and fascinating area in Robotics.Its impact is felt both in fundamental scientific research
and industrial applications .
The application of this type of robot is to detect the explosives, land mines etc. This is
very useful in case of wars in the country or in the case of emergency due to the
explosives. This type of explosives can also be used in the railway stations, airport for
scanning the object and also recording of the people, who are carrying that particular
scanned object for the further reference. Apart from this, this type of robot can run on the
way before the VIP people‟s vehicle goes through that way. It can be also used to scan
the national border area for land mines, and to protect our home military heavy vehicles
from enemies.
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Robotics design for detection of explosives using 3G technology
FUTURE ENHANCEMENT
Robotics is very useful in case of wars in the country or in the case of emergency due
to the explosives. This type of explosives can also be used in the railway stations, airport
for scanning the object and also recording of the people, who are carrying that particular
scanned object for the further reference. Apart from this, this type of robot can run on the
way before the VIP people‟s vehicle goes through that way. It can be also used to scan
the national border area for land mines, and to protect our home military heavy vehicles
from enemies.
The future work proposed in this field is the “Network for Explosive Sensing Robots”
and to introduce a unique type of protocol and network for this purpose.
The design of the robot for detection of explosives is explained above which is using the
3G technology for the communication purpose to its control room, and microwave and
nuclear based sensors for the detection of the explosive and landmines. In this explained
Technique, We are making 3G technology to be used for the sensing robot connectivity
need. But there is still a need of “Network for Robots”, that can work in all the condition
from the earth to space.
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BIBILOGRAPHY
K. S. Fu & R.C. Gonzalez & C.S.G. Lee, Robotics: Control, Sensing, Vision, and
Intelligence (CAD/CAM, robotics, and computer vision)
Configuration management and performance verification of explosive detection
system, National research council (U.S), Panel on Technical Regulation of
explosives-Detection systems, National academies press, 1988 .
Existing and potential standoff explosives detection techniques, by national research
council (U.S), National academies press, 1988 .
Explosive Detection System, By Colin Corrigan, Patent No: 5109691 .
www.ieee.spectrum.org
www.future-mag.com
www.engadget.com/robots
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