NDLI: Electromagnetic navigation system for underground tunneling robot

Content Provider	IEEE Xplore Digital Library
Author	Tsujimura, T. Shirogane, S. Manabe, T. Matsumoto, M.
Copyright Year	1999
Description	Author affiliation: NTT Access Network Service Syst. Labs., Ibaraki, Japan (Tsujimura, T.)
Abstract	Describes a navigation system for tunneling robots. The system consists of a remote position-determination technique and an automatic direction control technique. The position of a robot traveling underground is measured by our proposed magnetic sensor sheet which is spread over the ground above the construction site. The sensor sheet contains an array of magnetometer boards which are especially designed to be 1.3 mm thick and highly-sensitive. Each magnetometer in the sheet is a planar coil made using a printed-circuit-board photofabrication process and includes built-in amplifier and filter circuits. Using the measured values, the robot direction controller generates control commands through an optimal regulator and a state observer with a Kalman filter. Experiments proved that the system determines the robot position accurately and constructs tunnels precisely.
Starting Page	830
Ending Page	835
File Size	512351
Page Count	6
File Format	PDF
ISBN	0780357310
ISSN	1062922X
DOI	10.1109/ICSMC.1999.812515
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-10-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Tunneling Robot sensing systems Robotics and automation Sensor arrays Magnetic sensors Magnetometers Optimal control Automatic control Control systems
Content Type	Text
Resource Type	Article

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2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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