Research on Discrimination Method for Landmines and Metal Fragments using Robot System
| Project/Area Number |
25303012
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 海外学術 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Tokyo University of Technology (2014-2017)
Tokyo Institute of Technology (2013) |
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Principal Investigator |
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| Project Period (FY) |
2013-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥16,770,000 (Direct Cost: ¥12,900,000、Indirect Cost: ¥3,870,000)
Fiscal Year 2016: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Fiscal Year 2015: ¥2,730,000 (Direct Cost: ¥2,100,000、Indirect Cost: ¥630,000)
Fiscal Year 2014: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2013: ¥7,280,000 (Direct Cost: ¥5,600,000、Indirect Cost: ¥1,680,000)
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| Keywords | 人道的地雷探査 / 地雷・金属片判別技術 / ロボット / 海外調査 / 金属探知機 / 海外学術調査 / 地雷探知除去 / アンゴラ |
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| Outline of Final Research Achievements |
Electromagnetic induction-based detectors are the main sensor used in manual humanitarian landmine detection and removal tasks. However, because these types of commercially available metal mine detectors (MMDs) cannot distinguish metal fragments from landmines, all metal fragments are also needed to be carefully removed from the ground, making the overall removal task very inefficient. In this research, in cooperation with the National Demining Institute (INAD) of Angola, we conducted field experiments to gather spatially represented metal mine-detector signals (SRMMDs) of different types of landmines and metal fragments. We deployed a high-precision robotic manipulator to assure high position/posture accuracy and repeatability of the MMD sensor head. This work demonstrated that having a database of such SRMMDs can lead to a methodology for successful discrimination of landmines and metal fragments, increasing the efficiency of the detection and removal tasks.
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Report
(5 results)
Research Products
(14 results)
