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Title: The CEO Mission II, Rescue Robot with Multi-Joint Mechanical Arm
Authors: Tunwannarux, Amon 
Tunwannarux, Supanunt 
Issue Date: 2007
Publisher: University of the Thai Chamber of Commerce
University of the Thai Chamber of Commerce
Source: Amon Tunwannarux, Supanunt Tunwannarux (2007) The CEO Mission II, Rescue Robot with Multi-Joint Mechanical Arm. UTCC Engineering Research Papers.
Journal: UTCC Engineering Research Papers
Abstract: This paper presents design features of a rescue robot,named CEO Mission II. Its body is designed to be the track wheeltype with double front flippers for climbing over the collapse and therough terrain. With 125 cm. long, 5-joint mechanical arm installed onthe robot body, it is deployed not only for surveillance from the topview but also easier and faster access to the victims to get their vitalsigns. Two cameras and sensors for searching vital signs are set up atthe tip of the multi-joint mechanical arm. The third camera is at theback of the robot for driving control. Hardware and software of thesystem, which controls and monitors the rescue robot, are explained.The control system is used for controlling the robot locomotion, the5-joint mechanical arm, and for turning on/off devices. Themonitoring system gathers all information from 7 distance sensors,IR temperature sensors, 3 CCD cameras, voice sensor, robot wheelsencoders, yawn/pitch/roll angle sensors, laser range finder and 8spare A/D inputs. All sensors and controlling data are communicatedwith a remote control station via IEEE 802.11b Wi-Fi. The audio andvideo data are compressed and sent via another IEEE 802.11g Wi-Fitransmitter for getting real-time response. At remote control stationsite, the robot locomotion and the mechanical arm are controlled byjoystick. Moreover, the user-friendly GUI control program isdeveloped based on the clicking and dragging method to easilycontrol the movement of the arm. Robot traveling map is plottedfrom computing the information of wheel encoders and theyawn/pitch data. 2D Obstacle map is plotted from data of the laserrange finder. The concept and design of this robot can be adapted tosuit many other applications. As the Best Technique awardee fromThailand Rescue Robot Championship 2006, all testing results aresatisfied.
ISSN: 1906-1625
Rights: This work is protected by copyright. Reproduction or distribution of the work in any format is prohibited without written permission of the copyright owner.
Appears in Collections:EN: Journal Articles

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