Autonomous Mine Clearing Robots PDF

AASTMT – CLC – Languages Department English for Engineering – ESP I (LH 131) Reading 1 Read the following text. Then answer the questions below. AUTONOMOUS MINE CLEARING ROBOTS After a tragic incident killed a mar...

AASTMT – CLC – Languages Department English for Engineering – ESP I (LH 131) Reading 1 Read the following text. Then answer the questions below. AUTONOMOUS MINE CLEARING ROBOTS After a tragic incident killed a marine who was clearing unexploded sub-munitions, the military decided to give the job to a robot. Enter FETCH, a mine clearing robot being developed by IS Robotics who showed a video of FETCH searching, picking up, and safely depositing sub munitions in a weedy field with natural obstacles. FETCH is a 5 tracked vehicle that uses IR (infra-red) to detect obstacles, GPS (Global Positioning Satellite) and an electronic compass for navigation, a Radio Shack metal detector, and behavior-based programming for intelligence. FETCH goes to a predetermined position to start its search, using IR to navigate around obstacles while en route. From its starting point, FETCH initiates a spiral search pattern. 10 When a sub-munition is found, a magnet is used to pick it up. FETCH then carries it to a dump site for later destruction. FETCH isn't a loner. A collection of these robots operate under "supervised autonomy" to clear a field of numerous mines. Each robot goes about its business, working on assigned targets, unless it detects a failure in its operation. It then signals an operator of the 15 difficulty. The operator can intervene at many levels from reassigning to another mine, to controlling individual wheel movements. FETCH uses the following sensors and behaviors: For Dead Reckoning: an Electronic Compass, a GPS Receiver, and Shaft Encoders, for Searching: a Metal Detector, for Obstacle Avoidance: an IR emitter/detector, for Obstacle Escape: a Bumper, and for 20 Supervised Feedback: a Video Camera. In typical behavior-based fashion, a fixed-priority arbitration scheme is used to control the drive system. The robot is commanded to go to a start position, and then search unless the bumper initiates an escape, or the IR detector commands an avoid maneuver, or the operator issues a remote control command. 25 FETCH is an excellent example of the important work that can be done with low-cost, autonomous robots. Occasionally, an individual robot may be destroyed by exploding ordnance (sub-munitions); however, at less than $2,000 apiece. 4