Applied Science Project CT612058

1
Applied Science ProjectCT612058

• Robotic Survey and
• Mapping of Mines

2
Task 6 System Readiness TestApril 5, 2007

• Perform a comprehensive test to verify the
  readiness of the robot and software at the NIOSH
  mine prior to the final demonstration project

3
Test Plan Schedule

• Existing Mine Map
• Robot Overview
• Topographic Autonomy
• Photograph and Laser Scan
• Survey Locked Model
• Radar Curtain Test
• Radar Data Loop
• Data Review

4
(No Transcript)
5
Import AutoCad Map
6
Define Intersections Using Delaunay Triangulation
7
Topographic Nodes
8
Robots Map
9
CMU Cave Crawler Robot
10
Topographic Autonomy
Path Inbound - Red Outbound - Blue
11
Photograph and Laser Scan
12
Survey Locked Model
13
Survey Points on 2-D Map andColor 3-D model of
Scans
14
Views extracted from 1 laser scan
15
Laser scan of a mine scoop
16
Radar Mine Curtain Test
Robot with radar Black Mine Curtain
Orange Miner - Green
17
Miner in Entry
18
Laser Scan of Miner
19
Mine Curtain Across Entry
20
Laser Scan of Mine Curtain
21
Radar Scan through Curtain
Robot with Radar
Miner
T-Intersection
Mine Curtain
22
Radar Data Loop
23
Data Review
24
Contacts

• Carnegie Mellon University
• Robotics Institute
• 5000 Forbes Avenue
• Pittsburgh PA 15213
• Red Whittaker Principal Investigator
• Chuck Whittaker - Operations