Investigation of Hybrid Locomotive Robot for Anti-Personnel Mine Detection

Most of landmine detection robots proposed so far have been strongly restricted from locomotion inside the mine field because they cannot cross over the mine. So we have proposed a mine detection robot with hybrid locomotion, which can enter inside the minefield with low ground surface contact, which can cross over the mine instead of changing its path and scan landmines directly using Electro Magnetic Induction sensor. The hybrid locomotion proposed in the robot uses the frame walking technique and the conventional wheeled locomotion. The robot switches over the locomotion mechanism from wheeled to leg when mine is detected and vice versa with a lead screw mechanism. The leg locomotion is achieved by frame walking technique where the two frames translate with the help of lead screw mechanism. A purpose of adopting this combination is to evade anti-personnel landmines which are relatively smaller in comparison to their anti-tank landmine counterparts. The robot initially starts in wheeled mode and upon detection of metal, pulls in the frame walking algorithm. The robot also deploys an obstacle avoidance algorithm when working in wheel mode.

Speed Control of Peanut Planting System

This paper is aimed to control the speed of peanut planting system. The system introduces a control mechanism to drop the seeds at a particular position with specified distance, to achieve desired seed rate within the row, uniform seed spacing and alarm system. The overall system includes motion sensor, proximity induction sensor, two servo motors, three DC motors and alarm system. These parts are controlled by Arduino Mega 2560 which is the heart of the system. The battery 12V, 5AH Lead Acid Battery is used for the whole system. So, the wheel motors of machine are controlled by PWM DC motor speed controller separately. Another DC motor is used to stir the seeds within the seed storage tank. When there is no seed to detect within the seed storage tank, it sends the signal to the Arduino and indicates the alarm. To get equal seed spacing or seed to seed distance, proximity induction sensor is used. Servo motors are used for precise control of seed rating. The paper presents calculation of gear ratio, desired motor RPM, PWM out level are also described completely.

INDUCTION METHOD FOR PARAMETER INVESTIGATIONS OF DISPERSION FERROMAGNETICS

The purpose of investigations consists in the definition of the dependence of induction electromotive force (EF) upon magnetic and inertial properties of ferromagnetic particles of magneto-vibrating layer, and also upon induction gradient, frequency of a variable component and induction of a direct component of an electromagnetic field. There is offered an induction method for investigations of dispersion ferromagnetic parameters. A principle of operation and basic elements of the design of an experimental plant which allows investigating the impact of the parameters of electromagnetic fields of different topology upon magnetic-vibrating layer characteristics is developed. Two electromagnets with the common inter-pole area are a basic element of the experimental plant realizing the formation of the magneto-vibrating layer of high-dispersion powders. Electromagnet poles were located in such a way that force lines of constant and alternating magnetic fields were mutually perpendicular. A cluster, in the course of its motion relative to coils of an induction sensor, guides an EF in it, a value of which depends upon a magnetic moment of the cluster, speed, amplitude and frequency of its motion. There are obtained analytical expressions for the EF guided in an induction sensor moving by a magnetic dipole. It is shown that a basic contribution to the induction EF is carried out by a magnetic dipole at oscillatory-translation; at changing parameters of an electro-magnetic field changes a motion character of powder material particles. It is proved that the experimental estimate of kinematic characteristics of powder particles in a magnetic-oscillating layer is possible through an induction method.