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A Depth Sensing Display for Bomb Disposal Robots - rajesh4cv - 10-04-2017 A Depth Sensing Display for Bomb Disposal Robots [attachment=16027] I. INTRODUCTION With almost every bomb squad robot there is a lack of an important perception which is critical when manipulating any kind of explosive device. Most bomb squad robot graspers in use do not give the operator a depth reading. Instead, the robots use multiple cameras to obtain different views and then the operator must employ various workarounds to gauge the depth or distances to objects located in the environment. II. RELATED WORK Three modalities have been historically used to obtain depth: (1) planer laser ranger, (2) sonar, and (3) stereovision. Of the three modalities, only sonar does not appear to have been applied to robotic graspers. In addition to these modalities a new sensor system has been developed that is small and lightweight, a miniature 3D ranger that uses near infrared laser light. This section describes planer laser rangers, stereovision, and miniature 3D rangers, then compares stereovision with miniature 3D rangers. II. EQUIPMENT The display developed and tested for this work was designed for a specific robot and depth sensor, but it is expected to be applicable to other robot/depth sensor combinations. The hardware consists of a Remotec Mini-Max robot and a depth sensor created by Canesta Inc. mounted on the manipulator arm (see Fig. 3.1a and Fig. 3.1c). Figure 3.1a shows exactly shows the small size of the Canesta, only 12.7 cm wide. Figure 3.1b gives a sense of the size of the Mini-Max robot, the black pelican case is 75 cm long by 52 cm wide. Figure 3.1c displays the Canesta sensor s mounting in relation to the robot s grasper. Software The interface design was developed in Java for integration into a Java-based robotic architecture and for portability. The Canesta sensor s drivers were developed in and designed to be used in C or C++ applications. Java s JNI allowed communication between the interface and the Canesta sensor s drivers. |