PRE2019 3 Group9
Group members
| Name | Study | Student Number |
|---|---|---|
| Nick Reniers | Technische Wiskunde | 1258362 |
| Jankatiri Boon | Werktuigbouwkunde | 1003254 |
| Milan Hutten | Software Science | 0997241 |
| Mendel van der Vleuten | Technische Wiskunde | |
| Ferenc | Werktuigbouwkunde |
Introduction
Problem statement and Objectives
animal researchers are unable to effectively gather data of subterranean species without destroying their burrows or tunnel systems.
Users
Researchers of subterranean animals or underground tunnel systems
Requirements
Users require an autonomous robot that traverses underground tunnel systems and maps them accordingly, without damaging the habitat of the subterranean animals.
Approach, milestones and deliverables
We approach the problem in a very practical manner, we opt to create a robot that autonomously investigates underground tunnels and maps them. The milestones therefore concern milestones in the creation of the robot and the path finding system that guides it, as well as the software that maps the tunnels. The main deliverable would be the finished robot with functionality in all the required areas.
Task division
State-of-the-art
A robotics-oriented taxonomy of how ethologists characterize the traversability of animal environments surveys 21 studies of how ethologists characterize the environments through which animals traverse and groups the found characteristics into three broad catergories: local navigational constraints, surface properties, and global layout properties. From these the article makes four recommendations to aid roboticists in selecting a suitable robot for particular environments, building testbeds for the testing and comparing of robots and the collection of data about an environment.
Burrowing rescue robot referring to a mole's shoveling motion proposes an novel inspecting robot designed to inspect survivors at landslide disaster sites. Its proposed propulsion method is inspired by the shveling motion of a mole.
Deformable Octahedron Burrowing Robot explores the use of a deformable octahedron robot for the autonomous exploration of complex confined spaces. Unlike most other robots, it is able to adapt its shape to better traverse intricate sections of cavities.