This competition is held every year in many countries including Egypt. This year Montu team accepted the challenge and started designing and building their 3-armed rover targeting the maximum possible performance, minimum cost (~ 5500 L.E) and fewest working hours (~ 200 h). The robot is capable of discovering three mines at a time and report the ground station with the location of each one separately. It has a camera on board with live-streaming and can be remotely controlled or complete its mission autonomously. The robot won the 2nd prize in the national competition held on 28 oct 2016 and also the 2nd prize in the international competition on 29 oct 2016. This competition is held every year in many countries including Egypt. This year Montu team accepted the challenge and started designing and building their 3-armed rover targeting the maximum possible performance, minimum cost (~ 5500 L.E) and fewest working hours (~ 200 h). The robot is capable of discovering three mines at a time and report the ground station with the location of each one separately. It has a camera on board with live-streaming and can be remotely controlled or complete its mission autonomously. The robot won the 2nd prize in the national competition held on 28 oct 2016 and also the 2nd prize in the international competition on 29 oct 2016. Team Members : Amr Mousa ( Team Leader, Mechanicsl and LabVIEW ) - Essam Radwan, Khaled Hefnawy ( Electronics and control ) - Mohamed Sherif ( Mechanics and ROS control ) - Ahmed Bayoumi (Electronics) - Mohamed Elmallah ( ROS control ) Powerpoint : http://www.slideshare.net/AmrMousa12/minesweeper-international-competition-2nd-place-2016 Youtube : https://www.youtube.com/watch?v=mGTnIV9zLwQ&t=35s Linked-in : http://eg.linkedin.com/in/amrmousa95

2. Team members
 Amr Mousa
( Team Leader)
 Essam Radwan
 Mohamed Elsherif
 Khaled Hefnawy
 Ahmed El-Sayed Bayoumy
 Mohamed El-Mallah

3. Supervisors
 Dr. Mohamed Tawfik
 Eng.Mahmoud Magdy
( Technical Supervisor)

4. Sponsors

5. Outline:
 Problem Statement
 Mechanical system
 Electrical system
 Control system
Lab View
Mapping & R-C control
Autonomous Control
ROS ( Robotics Operating System )
 Certifications and Awards
 Real-Life Modifications & Futuristic Vision

7. Problem Statement
• About 22.7 million landmine exist in
Egypt since Second World War.
• Egyptian western desert only has about
17.2 million landmine

8.  Since 1982, about 8300 Egyptian and foreign people
have been killed and injured due to landmines.
Problem Statement

11. Mechanical System:
 Chassis
 Suspension
 Detection Arms
 External Surface
 Ventilation System

12. • Chassis
• Wooden rods (Axially loaded)
• Aluminum Beams (Laterally loaded)
• Motors attached to 4 wooden-Aluminium Boxes

13. Detection Arms
 3 Arms system
- Scans 3 squares per meter
- Right and left coils are 15 cm from the center
- Made of Aluminum & wood at the End to
avoid disturbance

14.  simple and effective
 only by two springs of equal length on both sides
of each leg structure
 Helps to handle maximum traction with the
ground
Suspension system

15.  Obliged to remove it
 Because on trials it does not hold a
suitable height
 Replaced it by wooden holders to
obtain constant height
NO NEED !!

16. External Surface:

17. Ventilation System
 5 Fans for full ventilation
 2 Front
 2 Back
 1 internal

19. Electrical system:

20. 1) Sensors:
- MPU 6050 (Accelerometer and Gyroscope)
- 3 Metal Detectors (up to 37 cm )
- Ultrasonic sensor
- Buzzer + LED (indicators)

21.  MBED 32bit ARM core Microcontroller
 Incremental Encoder
 Cytron Motor Drivers (10 Amp. 30V)
 Xbee

23. LabVIEW

24. Mapping & RC-Control

25. Autonomous Control
• Using LabVIEW ( PID )

26. Autonomous Control
• Using mbed ( PID )

27. ROS
Why ROS ??
1- High-end capabilities.
2- Tons of tools.
3- Support high-end sensors and actuators.
4- Inter-platform operability.
5- Active community.

28. Encoder
Main_Node
MPU 6050
Angle_Topic
Distance_Topic
Action_Topic
Actuator
 4 Nodes
 3 Topics
MONTU Subsystems Graph

29. PID Controller (ROS)
 A Package that Launches
a PID control node.
 /setpoint/data: is a plot of the desired angle.
 /state/data is a plot of the input to the
PID controller from the mpu.(Current Angle)
 /control_effort/data is a plot of the output
from the PID controller and which apply
correcting force.

30. PID Controller (ROS)

31. 1- Difficulty of Mastering ROS
2- Short time for adding features!!
Problems we faced:-

33.  V`

35.  Body Modifications
 Upgrade the rover design to the mine-resistant ambush-protected vehicle
(MRAP).
 Improve the suspension system to fit the mine field environment.
 Attach Wheels Hex to the rover.
 Solar panel will be on the top surface of the Rover.
 The rover will be Controlled from Ground Station by using GPS
 Include marking system(DYE)
 Improve ventilation system.
Real-Life Modifications & Futuristic Vision

36. • Sensors Modifications:
 Distinguishing different kinds of mines. (APM , ATM)
 Compositions of mines (Plastic, metal, mixture).
 Upgrading to (GPR).
 Using multiple different sensors (infrared , ultrasonic, ..etc)
 Cheolha Pedro Lee, “Mine Detection Techniques Using
Multiple Sensors”, Electrical and Computer Engineering, The
University of Tennessee at Knoxville

37. Swarm Robotics
 Three main parts:
1. Quadcopter:
 Creates the detailed map of the
field.
 Sends it to the control station.
2. The Main rover body:
 Sweeps the map more accurate,
marks the mines detected.
3. Extractor Robot:
 Uses a similar technique to a tree
relocation robot.