Anti - Bomb Remote Controlled Inspection Robot

M. I. SERRANO*, G. GEREMIA*, E. MUNARETTI**, A. BISOGNIN*, J. C. KOPPE**, J. F. C.

L. COSTA**; T. R. STROHAECKER*

*LAMEF; Universidade Federal do Rio Grande do Sul, Brasil

**LPM; Universidade Federal do Rio Grande do Sul, Brasil

Abstract

The advances in electronics and the development of more efficient algorithms, allow for the designing of
more complex and sophisticated automated systems. The new devices include lighter, faster, reliable,
and stronger robot manipulators. One available technology, with relatively low cost, is a simple robot
manipulator controlled by remote control. The device has been designed to be used in both mining and
law enforcement, where it can be useful for inspection, rescue, gas analysis, and even to manipulate
dangerous objects, such as explosives. The applications may even include the rescue of trapped miners
in risky environments. The major advantage is the fact that the robot can be controlled with a remote and
monitored through a video camera, minimizing human exposure to hazardous areas, where robots can
perform tasks in an aggressive atmosphere and confined spaces. This article presents a mining robot
manipulator controlled by remote control, using video cameras for positioning and sensors for
movements, which are located on the operator's arm. With this system, it is possible to create a sensation
of virtual reality, allowing easy operation for anyone trained in dealing with explosives, rescues, or other
dangerous tasks. Blasting and mining are becoming perfect applications for robots, and its use should
increase very soon. The results are discussed and presented for the brand new Xiru 01 robot
manipulator.

Keywords: Robot manipulator, security, remote control, virtual reality, explosives, inspection, rescue.
Introduction

Robotics has a fundamental goal, which is, to help in developing machines that are able to perform
repetitive or dangerous tasks, thus improving the safety of human beings. Focusing on mining, robotic
manipulators can be used for Bomb Squads and law enforcement, to rescue miners, for gas analysis, and
for level monitoring (CH4, CO, CO2.) location and inspection of dangerous goods, explosives, and
blasting accessories.

According to the International Labor Organization (ILO), mining work is responsible for several labor
injuries and fatalities. One of the main causes is misfires, or the inability to shoot a blasthole at the
correct planned time. The usual procedure to eliminate a misfire is by the insertion of a new cap or
detonator below the stemming area and removing all inert material by compressed air, or even
destroying blasting agents with water. All the techniques for these common problems are dangerous and
risky for people and even equipment.

The replacement of manpower by robots for some delicate, repetitive, and risky operations in mining is
obviously a very attractive option. Today, such technology is available mainly for loading and hauling
copper ore, in some countries, for example, Codelco´s Pipa North Operation in Chile and Northparkes or
Olympic Dam mines in Australia. Such operations show promising results, however the costs are still
above those of the conventional system.

The first successfully developed mining robot was tested by Carnegie-Mellon University's Robotics
Institute, using lasers to see in dark tunnels and map abandoned mines. Several processing algorithms
have been developed to treat robotic manipulators and improve their efficiency and capacity (Komarek
and Moore, 2005). Their major abilities are the automatic reconnaissance of a track and also the capacity
to build topographic three-dimensional maps for underground mining. It is also possible to transform 2D
images, taken efficiently from laser finders, to a 3D virtual map (Nuchter et al., 2004), (Thrun et al.,
2003), (Baker et al., 2004), (Stentz et al., 1999). The robot manipulators would guide themselves to any
place inside a mine without previous information (Hollinger et al., 2009). Any obstacle would be
avoided (Pivtoraiko et al., 2009) and simple decisions would be taken to help find a better trajectory
(Howard et al., 2008). The approach depended mostly on the sensors that were used as an interface for
orientation between the robot and the environment.

Generally optical interfaces are used, such as, infrared, video camera, or lasers. Other guiding systems
similar to the Global Positioning System (GPS) can be used, but it is obviously limited to open spaces.
On the other hand, high radio frequency tracking (above 2 GHz), has proved to be reliable for remote
torpedoes, airplanes, and missile control. The advances in electronics and more efficient algorithms,
allow the designing of complex and sophisticated automated systems. The new remote-operated devices
include lighter, faster, more resistant, and stronger robot manipulators. These sophisticated robots would
be ideal when dealing with dangerous goods and in risky tasks such as mining and law enforcement
(Bombs). The applications could even include the rescuing of trapped miners. Mining robots have to
work under an aggressive atmosphere and in confined spaces. Konyukh (2005) proposed a control
technique for solving problems such as visibility of the working area, navigation while moving on a
roadway, and for defining robot location in space. Remote-controlled automatic vehicles have been
developed for exploration and mining in Australia (Hainsworth, 2001). This type of vehicle is monitored
by the video cameras mounted on it and it has the ability to measure gas concentration and logging of
mining data. In Brazil, the design of robot vehicles was directed toward the requirements of a special
police force (Becker, 2006). A similar application is found in Argentina, where a robot was developed to
manipulate and inspect explosives for law enforcement (Santos, 2005).
As the mining industry faces an increasing demand, it is very difficult to find and mine new deposits.
Mining costs tend to rise, and there is the concern of safety, mine atmosphere, idle times, and
transportation bottlenecks, mostly in underground operations. Therefore; mining robots could be used to
help solve most of the above-mentioned issues.
After contemplating on the dangers of mining operations, the Laboratory of Physical Metallurgy
(LAMEF) in partnership with the Mine Planning and Mineral Exploration Laboratory (LPM) from
Universidade Federal do Rio Grande do Sul (UFRGS), Brazil, are developing a robot manipulator
called Xiru 01, whose main task is to replace the contact or presence of a person in a dangerous
situation. The remote-controlled operation protects from unnecessary risks, thus allowing the same
procedure when executing the job. The robot can be used to deal with suspect objects ( anti – bomb) ,
collapsed tunnels for underground mining, for transporting water, first aid kits, and everything necessary
to help in a rescue operation. It is also expected to inspect risky areas, roof and pillar movements, rocky
and soil sliding areas, and monitor the gas in confined spaces. The project was designed for simple
operation and easy training. One miner or experienced policeman can accomplish such tasks.
The paper presents the results in developing a remote -controlled robot manipulator to help in law
enforcement and mining, in order to improve visual inspection, gas analysis, rescue operations, and
maneuver dangerous goods.

Current development
The robotic manipulator Xiru 01 was developed for visual inspection, dangerous goods manipulation,
and transportation of water or medicine during rescue operations. Xiru 01 has a continuous track system,
an arm with four degrees of freedom and a claw to manipulate objects. The remote control allows the
operator to work in a safe place, away from unsafe environments. To control movements, angular
sensors placed on the arm’s operator (exoskeleton) allow easy and accurate control. A vision system
consisting of two video cameras allows the operator to work in a virtual reality mode. Several laboratory
tests have been carried out to evaluate its performance. Different obstacles and explosive cartridges or
suspect objects, such as cases and small bags were arranged in different positions to explore the limits of
the prototype.

Concept
Xiru 01 (Figure 1) is composed of six main parts:
o Traction system
o Micro computing system
o Articulated Arm
o Remote control system
o Vision system
o Communication system
 Figure 1. Vision System (A), Wireless Communication (B), Micro computing system (C),
Articulated Arm (D), Exoskeleton (E), Joystick (G), Remote Control (H), Claw (J), Traction
system (K).

Traction System
To drive the Xiru 01 through underground mines a six tread design was proposed, which allow it to
maneuver through rough terrain. Its self-correcting track system allows it to cover environments ranging
from stairs, fine gravel, and rubble piles, and also to climb steep piles of debris. With this system, Xiru
01 can rotate 360o. Figures 2 and 3 show side and top views of Xiru 01, from where the six tread design
can be observed.

Figure 2. Xiru 01 side view. Figure 3. Xiru 01 perspective view.

Micro Computing
As explained earlier, the robot is controlled with the help of a remote by a person with minimum
training. Thus, when the operator takes the remote control, several commands are transferred to the
internal microcomputer robot. According to the commands received, the microcomputer controls the
electric actuators of the track system and the robot’s arm. The microcomputer controls the trajectory of
the end effectors, providing synchronized and precise movements. The other functions are to protect the
actuators from heating and electric power consumption management, to increase autonomy, wireless
signal strength, and battery energy level. This information is provided to the operator in real time
through a display.

Articulated Arm
Xiru 01 has one articulated arm with four degrees of freedom, and a claw used to manipulate explosives.
The robotic arm, shown in Figures 2 and 3, has four joints. Each one has only one degree of freedom
(twist angular). Electric motors are used to actuate the arm joints and to open / close the claw. A
feedback control system is used to control the arm's robot, with the objective of achieving reference
tracking of the end-effector. Using angle sensors, placed in each joint, the microcomputer's robot
controls the position of the end-effector. Figure 4 shows the Xiru 01 prototype, holding a packed
emulsion with its claw.

Figure 4. Xiru 01 carrying an explosive cartridge.

Remote Control
The remote control system can be separated into two parts; the traction control and trajectory control of
the end-effector.
The traction system is controlled by a remote joystick to drive the robot. The basic commands are below
and behind, rotating clockwise and anti-clockwise.
It is more difficult to control the tracking of the end-effector, because of the arm robot’s complexity.
Usually, traditional algorithms such as forward and backward kinematical, are implemented to calculate
the tracking end-effector, due to the use of a joystick remote control. This algorithm control becomes
more complex with incremental degrees of freedom. All these disadvantages have been overcome by the
implementation of an exoskeleton as a remote control system, which allows more simplicity when
operating (Figure 5). This kind of interface allows the operator to control the arm robot more easily and
intuitively. Using a video camera mounted on the robot helps to see the end-effector; hence, the operator
feels a sensation of virtual reality.
Angle sensors, located in the joints of the exoskeleton, help in measuring the three dimensional position
of the operator's hand. Both the exoskeleton and joystick are connected to a micro-controller that is
carried in the operator’s body. This micro-controller sends the operator’s actual arm position and also
the track system direction in real time mode to the robot. The proposed remote control system is the
major innovation of the project. Figure 5 shows the arm correlation between the human arm and the
exoskeleton control arm, indicating; parts A (forearm) and B (upper arm) and their correlation.

Figure 5. Correlation between human arm and exoskeleton.

Vision System
The robot manipulator’s objective is to carry and transport explosive cartridges or suspect cases using a
remote control, so the distance is long enough to protect the operator's life. In case of working inside
buildings or even at long distances, it is necessary to have a viewing system on board. Thus, two video
cameras are used to give a feeling of virtual reality. Each one is located at different angles to obtain the
effect of deepness, giving the operator the ability to improve its perception of the distance between an
object and the end-effector. The video cameras have zoom regulation, light, and can even be rotated to
help the operator’s working area reconnaissance.

Communication System
The communication system can be a wireless or cable, depending on the situation. Communication must
be secure to ensure that the operator responds instantly to the commands. In the case of wireless
communication, it is implemented as a security protocol to prevent invasion by hackers. Interference in a
hostile environment can cause sudden loss of operator–robot communication, in which case, the
microcomputer loads the trajectory performed by the robot and starts to return automatically, to establish
back communication. The communication system is physically prepared with two microcomputers, one
located in the exoskeleton control and the other inside the robot. At the moment the wireless
communication of this prototype is based on Bluetooth technology, which shows promising results,
however, due to its low range, there is a plan to change to high frequency radio communication soon.
Electrical actuators are used to handle each joint and even the claw. The vision system’s communication
is independent of the system control.
Progress to Date
Several tests were performed in different situations. The prototype system showed excellent results with
respect to accuracy and speed. It was possible to remove suspect targets such as cases and bags, from
one point to another; picking it up without damage and leaving it on the floor. It proved to be also
reliable for packed explosives and small objects, with no risk of damage when removing or carrying it.
The vision system is independent from the traction system resulting in a simple and practical solution;
however, sometimes loss of communication has been experienced, leaving the operator virtually blind.
Tests on different stairs were performed where limitations were noticed. Another limitation is associated
with the stair’s inclination, where large angles change the robot’s gravity center and may cause it to fall.
To solve these limitations, changes in mechanical design are needed, mainly in the drive system.
The light structure of the exoskeleton control offered great ease and convenience to the operator. One
could control the movements of the robotic arm in an intuitive way. When the exoskeleton control was
dressed by the operator, the rigidity restricted the movement to four degrees of freedom. The angle
sensors mounted in the joints helped the operator to drive the system easily.
The researchers are planning changes to improve the handling, where additional inertial sensors will be
implemented, to help prevent incidents such as damaging an explosive cartridge or even driving the
robot throughout obstacles not viewed. Some modifications in geometric design for transportation also
need to be introduced, thus allowing the robot to be driven on large stairs. In addition it is planned to
redesign the robotic arm with more degrees of freedom, which would be better for picking a target from
complicated scenarios. The wireless communication system based on Bluetooth technology has offered
satisfactory results; however, it will be changed to radio frequency because of the longer range.
In addition, a new software system will be added to solve the blinding problem and communication loss.
Therefore, in case of losing a video signal, a command called “rescue” will be implemented. When the
operator sends this command to the robot, it will return using the same trajectory. To do this, the robot
will be given extra memory, where the trajectory data must be saved. In the case of communication loss
for a period of time the same solution will be automatically implemented.
Xiru 01 robot manipulator has proved to be a promising field for the near future, minimizing personal
risk in hazardous areas and dangerous situations. Its remote control system, using an exoskeleton, is easy
and intuitive to maneuver, which is important for a miner or policeman with minimum training. The
possibility to use it for underground mine inspection, rescue operations, gas analysis, and even to
manipulate dangerous or suspect objects, like explosives, is a major issue. It needs more testing to
prevent different situations and improve confidence.
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