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VISVESVARAYA TECHNOLOGICAL UNIVERSITY "Jnana Sangama", Belgaum- 590018

A Project Seminar Report on

“Mine Exploration, Recovery and Securing Instrument

(MERSI)” Submitted for the Fulfillment of requirements for the award of Bachelor Degree in Mechatronics

Engineering

PRESENTED BY KUMAR DHRUV RAMAKRISHNAN 1AY13MT029

AKSHAY ARUN VERNEKAR 1AY13MT007

NAUMAN IBRAHIM 1AY13MT039

GATTAMANANI ANVITHA 1AY13MT021

Under the guidance of

Prof.Ranganath Gowda L “Assistant Professor”

Department of Mechatronics Engineering

ACHARYA INSTITUTE OF TECHNOLOGY

DEPARTMENT OF MECHATRONICS ENGINEERING

(Affiliated to Visvesvaraya Technological University, Belgaum)

Soladevanahalli, Bangalore – 560090

2016-2017

ACHARYA INSTITUTE OF TECHNOLOGY

(Affiliated to Visvesvaraya Technological University, Belgavi)

Soladevanahalli, Hesaraghatta Main Road Bangalore-560107

DEPARTMENT OF MECHATRONICS ENGINEERING

Certificate This is to Certify that the project work entitled “Mine Exploration, Recovery and Securing

Instrument (MERSI)” is a bonafide work carried out by

KUMAR DHRUV RAMAKRISHNAN USN: 1AY13MT029

AKSHAY ARUN VERNEKAR USN: 1AY13MT007

NAUMAN IBRAHIM USN: 1AY13MT039

ANVITHA GATTAMANANI USN: 1AY13MT021

In partial fulfilment for the awardof BACHELOR OF ENGINEERING IN

MECHATRONICS, VISVESVARAYA TECHNOLOGICAL UNIVERSITY, Belgavi

during the year 2016-2017. It is certified that all corrections/suggestions indicated for Internal

Assessments have been incorporated in Report. The Project report has been approved as it

satisfies the academic requirements in respect of work prescribed for the said degree

Signature of the guide Signature of Head of Department Signature of Dean of Academics

Mr. Ranganath Gowda L Dr. A.R.K Swamy Dr. Mahesha K

Name of the Examiner 1.

2.

ACKNOWLEDGEMENT

The satisfaction that accompanies after the successful completion of any task would

be incomplete without mentioning the people who made it possible. Whose proper guidance

and encouragement has crowned my efforts with success. I take this opportunity to thank all

the distinguished personalities for their enormous and precious guidance in the different

aspects of the seminar.

I express my deep sense of gratitude to Dr. H. D. MAHESHAPPA, Principal,

Acharya Institute of Technology, for providing an opportunity to take up Technical seminar

as a part of the curriculum in fulfillment of the degree course.

I am very grateful to Dr. A.R.K Swamy, Head of the Department, Department of

Mechatronics Engineering,Acharya Institute of Technology for never ending support and

valuable suggestions that helped in the completion of my Technical seminar.

I would like to thank Prof. Ranganath Gowda L, Assistant Professor, Department of

Mechatronics Engineering, Acharya Institute of Technology, for the valuable guidance and

for all the encouragement throughout the completion of my Technical seminar.

Lastly, I take this opportunity to express my gratitude to the people who have been

instrumental in the successful completion of this seminar.

KUMAR DHRUV RAMAKRISHNAN

AKSHAY ARUN VERNEKAR

NAUMAN IBRAHIM

GATTAMANENI ANVITHA

Date: 24 JUN 2017

Place: BANGALORE

ABSTRACT

MERSI is an automated self-thinking electromechanical system whose primary

purpose is to create a safe passage for our troops in the area around the line of control. It will

propagate through the trenches made by the soldiers clearing the way from one post to

another.

MERSI will detect anti-personnel mines through the help of a powerful metal

detector and have the full capability of being able to extract and secure the mine on its own.

In case of clearing a mine field, the field will be divided into virtual grids which will be used

in accordance with the mine maps to find possible mine locations.

Ground metal detectors that are capable of detecting the presence of metal not more

than half an inch of nail will be mounted on drones which will detect the positions of the

mines and send back the GPS coordinates to the rover which will proceed to the location and

retrieve the mine through the help of the extraction devices mounted on it.

CONTENTS

1: INTRODUCTION…………………………………………………………...……………...2

2: LITERATURESURVEY……………………………………………………………..……6

3: PROBLEM DEFINITION………………………………………………………..……….10

4: PROBLEM SOLUTION………………………………………………………………......12

5: METHODLOGY AND WORKING………………………………………………………14

5.1: RESEARCH AND DESIGN………………………………………………...…..14

5.2: ORIGINAL DESIGN………………………………………………………..…..14

5.3: ROVER MANUFACTURE………………………………………………..…....16

5.4: NEEDLE/ARM ASSEMBLY………………………………………………...…17

5.5: CONTROL SYSTEM…………………………………………………………...18

5.6: PROGRAMMING………………………………………………..…………..…19

6: HARDWARE USED...........................................................................................................31

6.1: ARDUINO MICROCONTROLLER……………………………...………....….31

6.2: MOTOR DRIVE (H BRIDGE)……………………………………...………..…31

6.3: PNEUMATIC SOLENOID VALVE…………………………………..………..32

6.4: 12V DC RELAYS………………………………………………………...……..34

6.5: 2 AXIS JOY STICK………………………………………………………....….35

6.6: WORM GEAR MOTOR…………………………………………………..........35

6.7: 12V DC MOTORS……………………………………………………………...36

6.8: PNEUMATIC CYLINDERS……………………………………………....……37

6.9: 12V DC BATTERY…………………………………………………………......37

7: SOFTWARE USED........................................................................................................….40

7.1: ARDUINO IDE…………………………………...……………………………..40

8: RESULT…………………………………………………..……………………………….42

9: ADVANTAGES………………………………………..……………………………........44

10: APPLICATION AND FUTURE SCOPE…………...………………………………...…46

11: CONCLUSION……..…………………………………………………………………....48

12: REFERENCES…………………………………………………………………………...50

LIST OF FIGURES

1. Figure 1.1 3

2. Figure 1.2 3

3. Figure 2.1 7

4. Figure 5.1 14

5. Figure 5.2 15

6. Figure 5.3 15

7. Figure 5.4 15

8. Figure 5.5 16

9. Figure 5.6 16

10. Figure 5.7 17

11. Figure 5.8 17

12. Figure 6.1 31

13. Figure 6.2 32

14. Figure 6.3 32

15. Figure 6.4 32

16. Figure 6.5 34

17. Figure 6.6 35

18. Figure 6.7 35

19. Figure 6.8 36

20. Figure 6.9 37

21. Figure6.10 37

22. Figure 7.1 40

23. Figure 8.1 41

Mine Exploration, Recovery and Securing Instrument (MERSI) 2016-17

Department of Mechatronics Engineering,Acharya Institute of Technology Page| 1

CHAPTER 1

INTRODUCTION



INTRODUCTION

MERSI is a semi-automated electromechanical system whose primary purpose is to

create a safe passage for our troops in the area around the line of control. It will propagate

through the trenches made by the soldiers clearing the way from one post to another. MERSI

will detect anti-personnel mines through the help of a powerful metal detector and have the

full capability of being able to extract and secure the mine on its own. In case of clearing a

mine field, the field will be divided into virtual grids which will be used in accordance with

the mine maps to find possible mine locations. Ground metal detectors that are capable of

detecting the presence of metal not more than half an inch of nail, will be mounted on drones

which will detect the positions of the mines and send back the GPS coordinates to the rover

which will proceed to the location and retrieve the mine through the help of the extraction

devices mounted on it.

The Indian army and most of its combatants use only a select few types of mines due to their

effectiveness in the field. The two most used mines are NMM14s and M16s

.

NMM14 is anti-personnel mine which consists of a small charge which ignites when the

firing pin engages on the depression of the plate on top. The triggering weight of this

particular mine is about 1.5 kg. The charge is not of lethal quantities, but is big enough to

blow a foot clean off.



Figure 1.1

M16, fragmentation mines, consists of one metal canister containing the main charge

and pellets encased inside a second metal canister. This consist of a special dual charge

system which activates when a person steps off of it. The first charge is small lying between

the first and the second canister which makes the mine jumps up to about 3 feet and then

detonates creating a kill radius of 27m.

Figure 1.2



For several reasons, such as soil shifting during rain or intentional planting of mines by

enemy combatants, these mines can end up in trenches that our soldiers use to navigate from

one post to another. The objective of this project is to create a rover that can take off ahead of

the troops and clear the path for safe traveling, in addition to the clearing of mine fields in

desert areas.



CHAPTER 2

LITERATURESURVEY



LITERATURE SURVEY

Demining or mine clearance is the process of removing land mines from an area,

while minesweeping describes the act of detecting mines. There are two distinct types of

mine detection and removal: military and humanitarian.

Minesweepers use many tools in order to accomplish their task. Tools have historically

included many trained animals, including dogs and rats, but most often in the modern world

minesweepers rely on metal detectors or vehicles with a wide variety of mechanical tools

attached to them. There also are or have been other methods developed to detect mines,

including the use of trained marine mammals, bacteria, acoustics, and other more exotic

methods.

The main methods used for humanitarian demining on land are: manual detection using metal

detectors and prodders, detection by specially trained mine detection dogs, and mechanical

clearance using armored vehicles fitted with flails, tiller or similar devices. There is an

organization, APOPO, that is training African rats to detect landmines much as dogs do,

offering a local solution to countries in Africa. In many circumstances, the only method that

meets the United Nations' requirements for effective humanitarian demining, the International

Mine Action Standards (IMAS), is manual detection and disarmament.The process is

typically slow, expensive and dangerous, although demining can be safer than construction

work if procedures are followed rigorously. New technologies may provide effective

alternatives.

Metal detectors were first used, after their invention by the Polish officer Józef

Kosacki. Allies used his invention, known as the Polish mine detector, to clear the German

mine fields during the Second Battle of El Alamein when 500 units were shipped to Field

Marshal Montgomery. The "Polish" mine detector was later used together with the ERA

mine-locator for detecting beach mines.

The first step in manual demining is to scan the area with metal detectors, which are sensitive

enough to pick up most mines but which also yield about one thousand false positives for

every mine. Some mines, referred to as minimum metal mines, are constructed with as little

metal as possible - as little as 1 gram (0.035 oz.) - to make them difficult to detect. Mines

with no metal at



all have been produced, but are rare. Areas where metal is detected are carefully probed to

determine if a mine is present; the probing must continue until the object that set off the metal

detector is found.

Well-trained dogs can sniff out explosive chemicals like TNT in landmines, and are used in

several countries.

Figure 2.1

Like dogs, giant pouched rats are being trained to sniff out chemicals like TNT in

landmines. These rats are currently working in minefields in Mozambique and are trained in

Tanzania by APOPO. The rats are called HeroRATS.

These animals also have the advantage of being far lower mass than the typical human. They

are less likely to set off small mines intended to injure or kill people, if the bomb-sniffing

animal crosses directly over the top of a buried mine.

Special machines effectively combine mine detection and removal into one operation. In the

past, these machines were applied in both mine clearance and demining but are now generally

used only for demining. They can be used to verify land that is not expected to be

contaminated or as an extra layer of security after an area has been cleared by another

method, such as dogs.

The machines consist of a special vehicle that is driven through the minefield, deliberately

detonating the mines it drives over. These vehicles are designed to withstand the explosions

with little damage. Some are operated directly with armour to protect the driver; some are

operated under remote control.



Mine rollers and mine flails. The roller method originated during World War I and the

flail method during World War II but both are still used. Neither system is completely

reliable and both will leave undetonated mines, requiring the minefield to be rechecked

by another method. Mine flail effectiveness can approach 100% in ideal conditions, but

clearance rates as low as 50–60% have been reported. This is well below the 99.6%

standard set by the United Nations for humanitarian demining.

Mine plow - a device in front of a tank that excavates the ground, exposing any mines or

turning them upside down, which significantly lessens their effects if they explode.

The two of the above are sometimes combined on the same vehicle.

Modified long-armed demining bulldozers are being used in a number of countries. They

have the capability to remove vegetation before demining and can withstand

antipersonnel and antitank landmines. Their long arms provide the benefit of reducing

damage to the main body, especially to the operator's cab. Three inch (7.62 cm)

thick bulletproof glass protects the operator from directional mines.

Recently, armies have developed armoured demining vehicles, and specially armoured

bulldozers, that are remote controlled. This eliminates risk to the operator. Notable examples

are the Caterpillar D7 MCAP (United States) and Raam HaShachar Caterpillar D9N (Israel).



CHAPTER 3

PROBLEM

DEFINITION



PROBLEM DEFINITION

The recovery of landmines is a completely human endeavor in today‟s date. It is a dangerous

and important feet that is performed by brave soldiers who are trained for this.

This project is primarily for the mitigation of the amount of lives lost due to these mines.

The objective is two part:

1. The detection and mapping of the land mines.

2. Recovery and securing of the land mines.

The specified area set by GPS coordinates will be virtually divided into grids. This virtual

map will be used in accordance with the mine maps of the army, or even independently. The

rover equipped to retrieve these mines will go forward and retrieve them.



CHAPTER 4

PROBLEM SOLUTION



PROBLEM SOLUTION

The methodology to the accomplishments of the objective of this project is essentially two

parted.

1. Mapping of the location of the mines in the field or trenches.

2. Extraction and securing of the mine.

The mapping is done using ground metal detectors that need to be sensitive enough to be

able to detect the detonator of an NMM14 antipersonnel land mine, which is at most half an

inch in length. These metal detectors will be mounted on an all-terrain vehicle. This will have

continuous track wheels.

In conjunction with the army mine maps the operator will be able to locate the mines.

Then the extraction equipment will be used to remove the mind from the ground.

The mechanism for this is analogous to what the army does. A probe will penetrate the

ground and push the mine out of it. One the mine is above surface it can be picked up by the

clippers that can take the mine for securing.



CHAPTER 5

METHODOLOGY AND

WORKING



METHODOLOGY AND WORKING

5.1 Research and Designing

The research and development of the design of MERSI took close to two months. It

required studying up on different wheel patterns along with body type. We also needed a way

to convert the human endeavor of demining into a mechanical function.

We researched movement of rovers over different types of terrain. The kinds of wheels and

body of the rover were designed after going through multiple types as shown bellow

Figure 5.1

Demining as done by the Indian army entails, a soldier dressed in protective gear is done by

detection through highly sensitive metal detectors. Then a probe is poked into the ground and

the mine is pushed out. Then this mine is picked up, sometimes washed if needed, and

secured.

We have tried to convert this work into mechanical movement as will be shown in this

chapter.

5.2 Original Design

Our original design consisted of a rover mounded with a rotating base which would hold a

probe and an arm. The figures can be seen as such.



Figure 5.2

The fame as shown is 600mmX600mm with a spindle arrangement in the middle. The

circular base is mounted on the spindle with a diameter of 600mm. The wheels are of 100mm

radius.

Figure 5.3 Figure 5.4

A screw rood is mounted with an arrangement to make a 45-degree angle with the ground as

one state and 180 degrees with the rover as the second state.



Figure 5.5

The arm to pick up the mine from the ground was chosen to be as per the design shown here.

Figure 5.6

5.3 Rover manufacturing

During the start stages of the manufacturing of the rover we made alterations in the

design. The frame dimensions were changed into a 400mm x500mm.The structure can be

seen in the pictures below.



Figure 5.7

The wheel system is a triangular structure with wheels that are a lot like continuous track

wheels. They also consist of rubber pads that help increase friction with reference to surfaces.

5.4 Needle/Arm Assembly

Although initially the needle and arm were two separate entities, we finally decided to

make them as one. The needle is a probe that can go into the ground just below the mine and

propel it out of the ground.

Figure 5.8

This is done with the help of two pneumatic cylinders controlled via solenoid switches. The

air pressure can be provided by an on-board compressor or a storage tank.



When needed to be activated, the first cylinder puts the bigger cylinder at an angle with the

roverwith fulcrum at the point of contact with the circular base.

Then the bigger piston opens up toprobe into the ground with the help of clippers that close to

form an arrowhead structure. Then the first piston closes to bring the bigger piston to 180

degrees with the base and close up. Then the clippers on the tip of the needles open up to be

able to pick up the mine.

5.5 Control system

The control system is placed under the circular base on a lower deck. This deck contains all

the electronics, controllers and power sources.

We have used two12-volt power supplies to power all the electronics

The first Arduino is connected to 2 H-Bridges and 2 joysticks. Since the worm gear motors

are of 12V specification, we have used relays arranges so as to give the forward motion of

one motor to one terminal of the H-bridge and the backward motion to the second motor

terminal grounding all the ground terminals. The same connections are done for the second

motor and a second H-bridge controlled by another joystick.

A similar arrangement of Arduino and H-bridges is made,Except for the relay arrangement,

for the pneumatic system.

A cylinder is actuated by 2 things, a storage cylinder for air pressure and solenoid actuated

valves.

The solenoid switches need an actuating voltage of above 7 volts, therefore we provide

connections of a 12V battery through an H-bridge. Since one bridge has the capacity to hold

2 motors, hence we control one solenoid switch with one terminal and the second with the

second terminal.

In a solenoid valve, there are two solenoid switches which control the forward and backward

motion if the piston.

Finally, the clippers that will catch hold of the mines is actuated by a simple switch

connected to the power source.

5.6 Programming

Now since we have seen the electronic control of MERSI, I would like to show you the

programming driving the electronics.



There are two programs containing the control of the equipment.

1. THE FIRST SHOWN BELOW CONTROLS THE ROVER MOVEMENT.



2. THE SECOND PROGRAM CONTROLS THE MOVEMENT OF THE

PISTONS.



CHAPTER 6

HARDWARE USED



HARDWARE USED

Hardware binds the project together as it gives us a platform to program on. For this project,

we are using various kinds of hardware to piece the whole model together.

6.1 Arduino Microcontroller

Figure 6.1

Arduino/Genuino Uno is a microcontroller board based on the ATmega328P. It has 14 digital

input/output pins (of which 6 can be used as PWM outputs), 6 analog inputs, a 16 MHz

quartz crystal, a USB connection, a power jack, an ICSP header and a reset button. It contains

everything needed to support the microcontroller; simply connect it to a computer with a

USB cable or power it with a AC-to-DC adapter or battery to get started.



Specifications :Microcontroller ATmega328P

Operating Voltage 5V

Input Voltage (recommended) 7-12V

Input Voltage (limit) 6-20V

Digital I/O Pins 14 (of which 6 provide PWM output)

PWM Digital I/O Pins 6

Analog Input Pins 6

DC Current per I/O Pin 20 mA

DC Current for 3.3V Pin 50 mA

Flash Memory 32 KB (ATmega328P)

of which 0.5 KB used by boot loader

SRAM 2 KB (ATmega328P)

EEPROM 1 KB (ATmega328P)

Clock Speed 16 MHz

LED_BUILTIN 13

Length 68.6 mm

Width 53.4 mm

Weight 25 g

6.2 Motor Driver (H-Bridge)

Figure 6.2 Figure 6.3

http://www.atmel.com/Images/Atmel-42735-8-bit-AVR-Microcontroller-ATmega328-328P_Datasheet.pdf



The L298 is an integrated monolithic circuit in a 15- lead Multiwatt and PowerSO20

packages. It is a high voltage, high current dual full-bridge driver designed to accept standard

TTL logic levels and drive inductive loads such as relays, solenoids, DC and stepping motors.

Two enable inputs are provided to enable or disable the device independently of the input

signals. The emitters of the lower transistors of each bridge are connected together and the

corresponding external terminal can be used for the connection of an external sensing

resistor. An additional supply input is provided so that the logic works at a lower voltage. The

motor used id 6v DC motor.

6.3 Pneumatic Solenoid Valve

Figure 6.4

4V230C-08 DC12V Double Head 3 Position 5 Way Pneumatic Solenoid Valve Specification:

Product Name: Pneumatic Solenoid Valve Model: 4V230C-08 Working Medium: 40 Micron

Filtered Air Motion Pattern: Inner Guide Type: 3 Position 5 Way Material: Resin, Plastic

Working Voltage/Current/Power: DC12V, 120mA, 3.0W Temperature: Rise 35? Operating

Pressure: .5 ~ 8kgf/cm2 Effective Area: 12mm² Port Connection: Air Inlet =Air Outlet=PT

1/4, Exhaust =PT 1/8 Air Inlet Diameter: 1.15cm/ 0.45" Air Exhaust Diameter: 0.85cm/0.335

Black Pull into Diameter: 1.1cm/ 0.43" Wiring Form: Direct Lead Wire or Connector

Package included: 1 x Pneumatic Solenoid Valve



6.4 Relays

Figure 6.5

Contact Form DPDT,Coil Voltage 12VDC, Coil Current 75 Ma, Coil Resistance160Ω,

Coil Inductance (arm on)1.37H, Coil Inductance (arm off) 73H, Power Consumption 9W,

Min Voltage to Operate 80%, Max Voltage 110%, Contact Rated Load (resistive)5A,

250VAC5A, 30VDC, Contact Rated Load (Inductive)2A 250VAC2A 30VDC, Max

Switching Current 10A, Max Switching Voltage250 VAC, 125VDC, Max Switching Power

(resistive)2500 VA, 300WMax Switching Power (Inductive)1250 VA, 300W, Contact

resistance 100Mω, max. Operate time 20ms, max Release time 20ms, Max. operating

frequency Mechanical: 18,000 operations/hr, Electrical: 1,800 operations/hr (under rated

load)Insulation resistance 1,000 MΩ min (at 500 VDC), Dielectric strength 2,000 VAC,

50/60 Hz for 1.0 min (1,000 VAC between contacts of same polarity) Vibration resistance

Destruction: 10 to 55 to 10 Hz, 0.5 mm single amplitude (1.0 mm double amplitude)

Malfunction: 10 to 55 to 10 Hz, 0.5 mm single amplitude (1.0 mm double amplitude)Shock

resistance Destruction:1,000 m/s2 Malfunction: 200 m/s2Ambient temperature Operating: -

55°C to 70°C (with no icing) Ambient humidity Operating: 5% to 85% Weight Approx. 35 g,

Release time 20 ms max.



6.5 2-Axis Joysticks

Figure 6.6

analog joystick 5 pins on board: VCC, GND, X, Y and Button. Connect the module with 5V

power supply with VCC and GND, you can read out the joystick status by X, Y and button

pins When using the 5V power supply, the default analog output for X, Y is 2.5V. With the

direction of the arrow, the voltage up to 5V, and the opposite direction down to 0V. Simply

connect to two analog inputs, the robot is at your commands with X, Y control. It also has a

switch that is connected to a digital pin Size(L*W*H): 38mm*27mm*35mm/

1.50*1.06*1.38inch Weight: 15g

6.6 Worm Gear Motors

Figure 6.7



DC 12V 100rpm Worm Gear Reduction Motor Metal Gear Box High Torque Motor

Specification: Model JSX69-370 Power 2W Voltage 6-12V Rated current 0.2A Rated torque

0.2NM Speed 100rpm/min Motor No-load Speed 6500RPM Shaft diameter 6mm Size

75x31x21mm(LxWxH) DC 12V 100rpm Worm Gear Reduction Motor Metal Gear Box High

Torque Motor Features: Widely used in machine tools, textile machinery, medical equipment,

conveying machinery, printing machinery, food machinery, packaging machinery, plastic

dipping machines, vending machines, etc. Durable and long service life.

6.7 12V DC Motors

Figure 6.8

A DC motor is any of a class of rotary electrical machines that converts direct current

electrical energy into mechanical energy. The most common types rely on the forces

produced by magnetic fields. Nearly all types of DC motors have some internal mechanism,

either electromechanical or electronic, to periodically change the direction of current flow in

part of the motor.

100 Rpm DC geared motors for robotics applications. Very easy to use and available in

standard size. Nut and threads on shaft to easily connect and internal threaded shaft for easily

connecting it to wheel. Features 100RPM 12V DC motors with Gearbox 6mm shaft diameter

with internal hole 125gm weight Stall Torque = 1.5kgcm torque No-load current = 60

mA(Max), Load current = 300 mA(Max)



6.8 Pneumatic Cylinders

Figure 6.9

Pneumatic cylinder(s) (sometimes known as air cylinders) are mechanical devices which use

the power of compressed gas to produce a force in a reciprocating linear motion.

Once actuated, compressed air enters the tube at one end of the piston and, hence, imparts

force on the piston. Consequently, the piston becomes displaced.

Double-acting cylinders (DAC) use the force of air to move in both extend and retract

strokes. They have two ports to allow air in, one for outstroke and one for instroke. Stroke

length for this design is not limited, however, the piston rod is more vulnerable to buckling

and bending. Additional calculations should be performed as well.

6.9 12V DC Battery

Figure 6.10

https://en.m.wikipedia.org/wiki/Mechanical_device



UB1290 12v 9ah - absorbent glass mat (AGM) technology for superior performance. Valve

regulated, spill proof construction allows safe operation in any position. Common uses for the

ub1290: consumer electronics, electric vehicles, engine starters, golf carts, hunting, lawn and

garden tools, medical mobility, motorcycles, photography, power sports, portable tools, solar,

toys and hobby, access control devices, emergency lighting, security



CHAPTER 7

SOFTWARE USED



SOFTWARE USED

7.1 ARDUINO IDE

An integrated development environment (IDE) is a software application that provides

comprehensive facilities to computer programmers for software development. An IDE

normally consists of a source code editor, build automation tools and a debugger. Most

modern IDEs have intelligent code completion. We are using an Arduino IDE as shown

below

Figure 7.1



CHAPTER 8

RESULT



RESULT

Hard work and dedication and a whole lot of time went into the completion of this

project and we can positively say that we have accomplished the task of making a demining

rover for desert terrain. It will be able to traverse through the terrain with complete ease and

detect M14 and M16 mines, which are the most common anti-personnel mines used by the

Indian army and the neighboring countries too.

Figure 8.1

On detection of the mine the operator can position the rover to use the pistons to

extract the mines from the ground and pick them up securing them after which they can be

safely locked and set aside. This machine has turned out beautifully walking the line of

elegance and thechnology.



CHAPTER 9

ADVANTAGES



ADVANTAGES

The main advantage of this project is that it provides another way for the Indian army

to conduct demining in desert areas.

It will help keep the soldiers away from immediate danger but since a human mind is

required for this complex task, the whole system should be controlled by a trained

soldier.

This makes the job not only safer but more automated.

More area can be covered in mapping and retrieval of mines as the movement and

laborious work will be performed by the rover and controlled from afar.



CHAPTER 10

APPLICATIONS AND

FUTURE SCOPE



APPLICATIONS AND FUTURE SCOPE

As per the objective the main application is the demining of previously mined areas. This

specifically pertains to desert terrain where the mines have a tendency to shift along with the

top soil causing a big problem in mine retrieval.

It can also be used in trenches to clear a path for our troops to travel from one post to

another.In the future, modification can be made that will allow MERSI to place a detonator

charge on top of mines that may prove hard to retrieve due to being stuck in ground and

rocks.The suspension system can be made similar to an all-terrain vehicle that will allow

better mobility through rough paths.

Eventually the entire system can be self-automated to look for mines according to GPS

locations provided through the mine maps from the army.



CHAPTER 11

CONCLUSION



CONCLUSION

The dangerous endeavor of demining, for at least the near future, will require a

soldier‟s mind behind it. The diversity in terrain, ways of planting mines and the various

types of anti-personnel mines are the causal factors that an intelligent and trained mind be

behind this important work. However, we have developed this equipment to assist soldiers

and keep them out of unnecessary danger. A major part of the India-Pakistan border is desert,

and the mining and demining in these areas is done my hand. With the help of MERSI they

can keep doing the same work but with a higher level of safety. Even though other terrains

will require different designs for retrieval, we have made a successful step forward in

providing our army with another option that will let them keep our men away from avoidable

dangerous circumstances

.

With our present design and further modifications, we are certain that the range of areas that

MERSI will be able to function in will increase.

Finally, and most importantly we would like to thank our guide Professor Ranganath Gowda

L. for his immense support and encouragement that has led this project to its conclusion. We

would also like to thank the Pegasus group that treated the work and project with a sense of

professionalism and dedication, which will always be appreciated.



CHAPTER 12

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