Finding and safe storage objects in hazardous environments using mobile robots | |
| Author | Nguyen Thi Thanh Van |
| Call Number | AIT Thesis no.ISE-06-39 |
| Subject(s) | Mobile robots Hazardous substances--Risk assessment |
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Engineering and Technology |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-06-39 |
| Abstract | 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 |
| Year | 2006 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-06-39 |
| Type | Thesis |
| School | School of Engineering and Technology (SET) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Afzulpurkar, Nitin V.; |
| Examination Committee(s) | Phan Minh Dung;Manukid Parnichkun;Pham Anh Tuan; |
| Scholarship Donor(s) | Belgian Technical Cooperation (BTC); |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology, 2006 |