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The primary function of these robots is to move to the site and manipulate elements which present risk, while well as transmit images with cameras. Behind all the mechanical engineering that supports the structure and gives the robot the ability to interact with its surroundings, a sophisticated electronic system that operates the different robot systems (caterpillars, cameras, manipulator arm) is hidden.
International Journal of Mechanical Engineering and Technology (IJMET) Volume 10, Issue 12, December 2019, pp 354-366, Article ID: IJMET_10_12_038 Available online at http://www.iaeme.com/ijmet/issues.asp?JType=IJMET&VType=10&IType=12 ISSN Print: 0976-6340 and ISSN Online: 0976-6359 © IAEME Publication TELEOPERATION IN THE HYBRID ROBOT VALI 2.0 FOR NEUTRALIZATION OF EXPLOSIVES Olmer García Bedoya Department of engineering, Universidad Jorge Tadeo Lozano, Bogota, Colombia Vladimir Prada Jiménez Department of engineering, Universidad Central, Bogota, Colombia Hoffman Ramírez Department of mechatronics engineering, Military Nueva Granada University, Bogota, Colombia ABSTRACT Mobile robots have recently been used in different environments in order to safeguard the life and integrity of people in high-risk situations Proof of this is the military robots that are used to Improvised Explosive Devices These kinds of platforms are generally teleoperated through a control station or electronic devices such as gamepad The primary function of these robots is to move to the site and manipulate elements which present risk, while well as transmit images with cameras Behind all the mechanical engineering that supports the structure and gives the robot the ability to interact with its surroundings, a sophisticated electronic system that operates the different robot systems (caterpillars, cameras, manipulator arm) is hidden This document describes the embedded electronics and programming system implemented in the robot VALI 2.0(Vehiculo Antiexplosivo Ligero in Spanish) to neutralize explosive devices, showing from its general architecture to the implementation and programming of the embedded computer at the robot and the portable equipment used to mount the control station Finally, the electronic and communications system tests carried out together with the mechanical tests of the robot in different environments are shown Keywords: Teleoperation, hybrid robot, embedded systems, neutralization of explosives Cite this Article: Olmer García Bedoya, Vladimir Prada Jiménez, Hoffman Ramírez, Teleoperation in the Hybrid Robot Vali 2.0 for Neutralization of Explosives International Journal of Mechanical Engineering and Technology 10(12), 2019, pp 354-366 http://www.iaeme.com/IJMET/issues.asp?JType=IJMET&VType=10&IType=12 http://www.iaeme.com/IJMET/index.asp 354 editor@iaeme.com Teleoperation in the Hybrid Robot Vali 2.0 for Neutralization of Explosives INTRODUCTION The neutralization of Improvised Explosive Artifacts (IEA) is a high-risk task that involves the manipulation of explosives directly prepared in order to cause injury to people [1, 2, 3, 4] This work is carried out in multiple ways, from the humanitarian demining [5, 6, 7], the neutralization of explosive devices directly by special forces personnel, to the use of technological tools such as hybrid platforms [8, 9, 10, 11, 12] equipped with accessories for the neutralization of explosives[13,14,15] In Colombia, the neutralization of explosives is carried out in most cases through human operators directly In this case are the anti-explosive technicians of the different forces (police, army, navy) and which are directly involved in the manipulation of explosive devices when such devices are suspected When the manipulation of an IEA is done directly by a person, it uses an armored uniform [16, 17, 18], which gives it a certain degree of protection against the explosive wave, and especially against the shrapnel that can be fired at the moment of detonation [19] However, uniform protection is not adequate within specific ranges of distance, which depends on the location of the explosive device, the amount and explosive, and the disposition or enclosure of the explosive inside the device The neutralization of explosive devices in Colombia is mostly carried out manually due to the low number of robotic platforms that allow this work to be carried out, the malfunctions they present due to incidents, and the difficulty presented by logistics and handling of some of these robotic platforms Some of the most used commercial platforms for the neutralization of explosives worldwide are available in the anti-explosive bodies of the Colombian armed forces One of them is the Talon robot [8, 20], manufactured by the company Qinetiq; This is a robot that is widely used by military forces around the world The Safariland Group, under the Med-Eng brand, is the manufacturer of the Avenger Robot robots, the Digital Vanguard ROV, and the Defender ROV [9] The Digital Vanguard ROV robot can carry a disruptive cannon and is one of the robots used by the anti-explosive personnel of the Colombian national police for neutralization work The FLIR Packbot robot [10, 21], is a compact robot with a caterpillar system and an anthropomorphic arm, just like the other platforms already mentioned Another development, Rescuer [22], is a robot specially designed for intervention work under chemical, biological, radiological, and nuclear risk environments It consists of a mobile platform that works with wheels or tracks and has a manipulator arm of five degrees of freedom (5-GDL), which can be attached or removed, depending on the mission The communications system can be by fiber-optic (up to 100m), 3G wireless (up to 1km), or wireless by radio signals (up to 50 km in line of sight) In the academic field there are some developments in this subject The work published by B Wei et al [23], shows a robot for disposal of explosives, which has a processor embedded in the computer to transmit the images of the cameras of the robot, as well as to operate the robot by means of the different buttons arranged for that purpose in the control Panel This robot has a 500m wireless range and a 150m wired backup system A robot with a similar architecture in its operating system is developed by M Fracchia et al [24] Use a portable computer as a remote-control station, and through a gamepad allows the operator to operate the robot Using WiFi communication, it connects to the robot, which has an embedded computer on board, responsible for operating the motor system; the cameras transmit directly to the control station without going through the embedded system The VALI 2.0 robot [25] is the second prototype of the line of research on teleoperated military vehicles worked jointly between the New Granada Military University and the http://www.iaeme.com/IJMET/index.asp 355 editor@iaeme.com Olmer García Bedoya, Vladimir Prada Jiménez, Hoffman Ramírez Colombian Military Industry The development arose from the need to have a platform locally, which allow lower manufacturing and maintenance costs to facilitate the acquisition of this kind of platform by the different anti-explosive bodies of Colombia It is a mobile platform using tracks, which have a 5-GDL anthropomorphic manipulator arm It has a multifunction clamp as an end effector, and they can mate with different accessories, such as a disruptive barrel Its construction can be seen in Figure A person teleoperates the robot through a gamepad, which is connected to a laptop or control station, which finally communicates with the robot via optical fiber or wireless medium The images of the three cameras of the robot are displayed on the laptop, and access to the handling of other robot systems such as lights, lasers, and cannon firing is available Figure VALI 2.0 Robot ARQUITECTURA DEL HARDWARE This section describes the robot's hardware components such as actuation systems, communications, vision, data processing centers and energy sources The hardware architecture of the VALI 2.0 robot can be seen in Figure This architecture with respect to that of VALI 1.0 [26], in its concept is very similar, however, the devices that compose it have changed significantly with the purpose to reduce energy consumption, reduce costs and increase the processing and communications capacity, as well as to facilitate the handling of exterior housings This architecture with respect to hardware can be divided into five functional blocks described below 2.1 Robot Actuation System This system requires an iteration phase to select the appropriate actuators that support the loads and speeds required both in the locomotion system (tracks) and in the robotic arm system The robotic arm is composed of five degrees of freedom: two on the shoulder, one on the elbow, and two on the wrist, which is controlled by servomotors The first iteration was made with the static arm to determine nominal torques and dimension the required engines and transmission systems Following this, with designed geometries and inertia, the inverse dynamics analysis of the arm was performed through the SolidWorks Motion tool Critical scenarios were simulated for each degree of freedom, in order to find the instantaneous torques, which later allowed to estimate the nominal and peak torques of the actuators, as well as required energy consumption http://www.iaeme.com/IJMET/index.asp 356 editor@iaeme.com Teleoperation in the Hybrid Robot Vali 2.0 for Neutralization of Explosives With these data, we proceeded to select some servomotors that integrate the electronics and provide their data network called Combitronics This network, although quite reliable and that allows to connect the motors in a chain, has all servomotors received a transmission speed of only 115200 bps To increase the response time was implemented a protocol through the firmware of the motors obtaining minimize the frames and take advantage of any information sent by the protocol In addition to the relative current and encoder sensors embedded in the servomotors, absolute angular position sensors were adapted at the outlet after the reducer In the case of motors that work in pairs (shoulder and wrist), it is necessary to ensure synchrony between the encoders, so each couple of motors where configured in cam mode This approach lets that changing the direction of the cam, change the degree of joint freedom from the z-axis to the xaxis In the case of caterpillars, the two-dimensional models proposed in [27], [28] and [29] were analyzed These models were simulated for the characteristics of the vehicle in static conditions and contrasted with the experimental results made VALI I However, the dynamic simulation scenario was very simplified concerning the actual operating conditions, which required increasing the margins of security in the design of this system For handling the track system, the motors communicate through an independent network of the arm motors to increase the speed and reliability of the robot 2.2 System Shipped under Linux The vehicle processing unit used in VALI 1.0 works under ARM architecture, this prevented the use of Linux tools [26] Therefore, different options were analyzed in X86 architecture The solution was to use the embedded fit-pc2i system interconnected to a microcontroller through a USB port, explained in the next section The embedded system has a solid-state storage unit The embedded works as a router with the purpose of generating energy efficiency and allows a range of possibility in wireless power and security settings, to configure by software an internal network of the vehicle and an external one for the output of the required information to the station of control or other devices Additionally, the on-board system can receive the connection of the servomotor data networks and the communication with the on-board microprocessed system and an infrared connection to a gamepad for robot manipulation without the need for a control station 2.3 Electronic System with Microcontroller This card has a Microchip microcontroller as a processing center, which is connected to a series of peripherals that the robot has such as: an inertial system, a camera lighting system, manipulation of the manipulator or gripper motor, as well as a series of signals specially designed to activate the disruptor cannon The block diagram is presented in Figure According to these peripherals the following ports were designed: - digital outputs per 12V relay - digital output per 24V relay - 24V differential digital outputs - temperature sensor - analog inputs programmed to measure battery voltage and current consumption - common 12V / 3A emitter output (for lighting) Programmable port of DI/DO at 5V http://www.iaeme.com/IJMET/index.asp 357 editor@iaeme.com Olmer García Bedoya, Vladimir Prada Jiménez, Hoffman Ramírez - AI / DI / DO 5V programmable port - RS232 port and an i2c port to connect components such as the inertial control panel designed to carry out trajectory control As a power supply system, two 10-cell lithium-ion batteries were used, which have 12V and 24V DC-DC sources connected for the different needs of the system elements Figure VALI 2.0 hardware architecture Figure Block diagram of the electronic system with microcontroller 2.4 Vision System For the vision system, three options were analyzed as described in Table The analog cameras were discarded because two transmission means would be needed between the control station and the vehicle and, in addition, if processing was required on the robot, it would require double hardware http://www.iaeme.com/IJMET/index.asp 358 editor@iaeme.com Teleoperation in the Hybrid Robot Vali 2.0 for Neutralization of Explosives The IP cameras used in VALI 1.0 worked very well, however, their cost and energy consumption are high, therefore, a hybrid solution was chosen This solution uses two integrated cameras (webcam) for the on-board system in order to reduce energy consumption, decrease the amount of cables and decrease the size The third camera was IP, because the required optical zoom and camera motion actuators require further development to adapt to USB cameras The above allowed to eliminate the internal router of the vehicle, since the onboard system has two Ethernet ports, the first one was configured as a local network and this camera is connected Table Comparison of technologies for vision Type IP cameras Analog cameras Embedded Cameras (webcam) Advantage Disadvantages Wireless Integration with the control station cost Limited to wireless or Ethernet transmission Commercial Lenses Costs Space Robot Processing Scanning at the control station Transmission system Integration Lenses Information transmission 2.5 Remote Control Station According to the results obtained from phase 1, the control station had a low memory and processing use, therefore, evaluating the current technology an Intel iCore or equivalent was considered sufficient to handle the streaming of the three cameras and to be a client of the API (Application Programming Interface) for connection to the robot This computer for its field characteristics was selected with IP65 protection and embedded in a box with a gamepad control for robot manipulation The communication system between the control station and the laptop is one of the points that requires further testing, given the uncertainty of the indoor Wi-Fi network For this, given the simplification of only having a communications path (the ethernet port of the fit pc), it allowed to open the horizon of access point devices, which have better features than commercial routers in terms of capabilities and functionality over wireless communication After evaluating different options, the solution proposed in communications is that between the robot there will be a 2HP bullet to the ethernet port of the fit-pc and to a Trendnet 8dbi antenna The control station is connected by means of the network card of the laptop and according to the coverage requirement there will be two options: the first one is the high-power wireless adapter; and the second a 2HP bullet Both were configured in a proprietary protocol to improve reception over long distances SOFTWARE ON THE ROBOT EMBEDDED COMPUTER The software architecture of the robot computer is running on Linux UBUNTU and, in addition, the programs shown in Figure are running The DSERIAL, DPIC, DCDM, DJoystick, Fmon and Fcdm programs are programs specifically made in the draft The MjpegStreamer program in charge of webcam video was selected considering that the processing consumption required within the system Since this webcam server requests the MJPEG frame directly from the USB camera, this makes the processing in the system minimal Programs http://www.iaeme.com/IJMET/index.asp 359 editor@iaeme.com Olmer García Bedoya, Vladimir Prada Jiménez, Hoffman Ramírez such as ffmpeg were also evaluated for video streaming, however, when two webcams of the same brand are used, this creates conflicts Mjpeg-streamer M3 Mjpeg-streamer F1 Apache DCDM DSERIAL M2 M4 FCGI Djoystick M1 Fmon Fcdm DPIC Boot Linux Ubuntu 10.04LTS Shutdown Linux Ubuntu Figure Software architecture in the robot's embedded system The software developed uses a memory system independent of the memories shared with the web services, in order to provide security in accessing the hardware through the DCDM program This is responsible for processing all information from the control of the remote station or joystick to improve security The DPIC and DSERIAL programs are responsible for communicating with the microcontroller and the motors respectively, these are separated from the DCDM program, with two purposes: the first to allow the three programs to be asynchronous so that the hardware tasks not block the processing of the Information and the second is that since they are hardware tasks that require a large load of interruptions, they not generate problems in the cycle times of the movement control (DCDM) Table has an explanatory list of each of the robot's services Table Average cycle time of the different scripts Script DSERIAL Cycle Time 50Hz DPIC 100Hz to 500Hz DCDM 100Hz DJoystick 100Hz Fmon Fcdm - Description In charge of communicating with the servomotors, two are executed independently, one of high priority to control the robot tracks and another of lower priority for the robot arm Communication with the microcontroller embedded system using the USB protocol in bulk mode Script responsible for carrying out the robot control logic It is responsible for merging the data in order to make decisions such as limiting speeds or preventing possible interference Although the joystick events are asynchronous, a cycle time has been programmed to decrease the load of calculations in DCDM Fmon and Fcdm, are the API for the robot monitoring and control respectively Both are asynchronous, so they function as a server to the control station requests One of the main issues with VALI's 1.0 architecture was, in case of an error there was not much information about it [26] In this prototype, each script must inform the source of an error For example, in table the error dictionary for the DPIC script is presented http://www.iaeme.com/IJMET/index.asp 360 editor@iaeme.com Teleoperation in the Hybrid Robot Vali 2.0 for Neutralization of Explosives Table Error dictionary for the Microcontroller Group No error -1X -10 -11 -12 -13 Error initializing the micro Device not found function device_init Failed to open device function run usb_open Failed to request the device function usb_claim_interface -2X -20 -21 -22 -23 -30 -31 -32 -33 No micro data was read Error reading micro data Error sending micro data Error converting micro analog data Error closing the micro Failed to release device usb_release_interface function Failed to close device function run usb_close Device not found while closing the micro -3X Another main issue with VALI's 1.0 architecture was the synchronization of the commands sent by the control station, which caused serious problems in adverse communications conditions In the proposed architecture, the DCDM script has a watch dog to put the robot in a loss connection condition In other words, the service client through a timeout variable will define the maximum time in which a command must reach the computer, in case this does not occur, it will stop the actions and leave the robot in a safe state To solve the problem of multiple control sources, a FIFO list is normally used to receive the commands, however, given the communication problems that may occur with the control station and the fact the motors are controlled by speed, as the user is the position controller, a traffic light securely accessed variable is created using the blocksem and unblocksem functions created in the common services library Therefore, only if a control station timeout command exists, commands from the internal joystick will be received In this way the remote commands remain a priority, since the cycle time of the control station is usually between 5Hz and 15Hz (limited by the Wifi network) which is much less than the cycle time of the joystick operating at 100Hz On the communication API via http protocol with the control station, an Apache server where web pages for configuration and monitoring of the robot were developed is used In this case, the Fmon and Fcdm scripts were implemented with the fastcgi protocol [30], with the purpose of being executed in a persistent manner, reducing the time and use of the processor required by a program to be created Tests conducted on a wired network showed that the reaction times to a request decreased from an average of 10ms to periods between 1ms and 2ms with a decrease in processor usage On the security issue, in addition to being able to configure users through apache’s configuration, all the security from netfilters was configured on the embedded computer using iptables [31] To facilitate the configuration process Webmin is installed (http://www.webmin.com/) Webmin is a web server that through a web interface allows to configure and monitor all Linux functions This program is turned off by default and is configured to work only on the robot's internal network http://www.iaeme.com/IJMET/index.asp 361 editor@iaeme.com Olmer García Bedoya, Vladimir Prada Jiménez, Hoffman Ramírez CONTROL STATION PROGRAMMING The control station program was created in C # under the NET Framework 4.0, mainly due to the ease of handling the COM component of the IP camera and the Windows functions to block any other type of use of the equipment The classes’ scheme is presented in Figure One of the great improvements is that the connections to the cameras and to the command and monitoring servers are being made asynchronous, which allows the robot to run smoothly even if the cameras are disconnected, also eliminates operating latencies in case any system component failed Figure Classes diagram of the control station application The control station script has the interface shown in Figure The program allows to visualize the status and variables of the robot components, given the error dictionary described in the previous section It is noteworthy that according to the type of user accessing the equipment, the interface will allow to configure both the control station parameters, as well as the robot parameters, this through the web configuration and configuration tabs to access the servers of the IP camera or the robot Figure Control station interface TESTS AND RESULTS The VALI 2.0 robot had different field tests aiming to verify: The ability to move The performance of the manipulator arm The wireless signal range and image quality at the control station http://www.iaeme.com/IJMET/index.asp 362 editor@iaeme.com Teleoperation in the Hybrid Robot Vali 2.0 for Neutralization of Explosives To assess the robot's ability to move and the tracks system operation, tests were performed by climbing stairs on a surface inclined by 40°, see Figure (left) In the tests carried out, it was observed that the robot was able to climb the slope from a resting position and that the grip between the tracks and the surface was adequate Likewise, the performance of the tracks system was evaluated, observing that there was no slippage between the transmission system and the belt, but there was derailment of the belt due to a mismatch of the tensioning system Another test to evaluate movement is the load with dead weight test, Figure (right) In this test it is observed that the robot can drag a 45kg load on a rough surface and a vehicle on a flat terrain Figure Locomotion test To evaluate the arm´s performance two tests were carried out, the first evaluates the manipulation of objects in a critical condition (arm fully stretched in a horizontal position) and the second evaluates the arm stiffness before firing with the disruptive barrel, Figure (left) In the first test it was observed that the arm was able to lift a 5kg load In the second test, Figure (right), it was observed that the structure supports the effects produced (explosion, recoil, etc.) by shots made with copper ammunition To assess the range of the WiFi signal, signal strength measurements were made as the robot moved away from the control station The measurements were made with a spectrum meter, reporting a power of -70dBm at 40m with obstacles and 120m in line of sight It is important to mention that this type of signal is considered adequate and that it can present problems in the presence of rain and wind Similarly, it was verified that the image quality of the cameras will not be affected by latency problems or loss of communication Figure Manipulator performance test CONCLUSION With the proposed robot hardware architecture, a simplification of components was sought in order to eliminate errors and reduce energy consumption compared to the previous version This simplification required a redesign of the communication protocols used between the http://www.iaeme.com/IJMET/index.asp 363 editor@iaeme.com Olmer García Bedoya, Vladimir Prada Jiménez, Hoffman Ramírez devices To achieve this, it was necessary to develop a specific firmware on the servomotors and the microcontroller system, which allowed to clearly define the possible operation failures of the systems The software architecture was designed looking for asynchrony between the processes, for which different schemes were used to share information between them based on Linux IPC This allowed to include security strategies, ease of maintenance and debugging of the different processes in the design Different alternatives were explored in order to maximize distances and minimize communication latency in the communication with the control station This accompanied by a software design in the control station based on asynchronous events, allowed to significantly improve the handling experience of the robot with respect to VALI 1.0 [26] Future work includes the incorporation of autonomy functions of the robot through artificial vision and the integration of specific sensors for the task ACKNOWLEDGMENTS The authors would like to thank the Nueva Granada Military University for the financial support on the ING 586 project development “Development of a vehicle for 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path (the ethernet port of the. . .Teleoperation in the Hybrid Robot Vali 2.0 for Neutralization of Explosives INTRODUCTION The neutralization of Improvised Explosive Artifacts (IEA) is a high-risk task that involves the manipulation