President’s Message/Message du Président Spring / Printemps 2018 15 A rticulated track mobile robots have mechanical means activated by remote control or autonomously that change the shape of the tracks. These robots also have arms that are fully modular with self-contained electronics. The arms have up to six joints, a medium size gripper and a variety of operational tools and accessories. The robots are all- weather and can operate indoor (buildings, public institutions, airports, homes) and outdoors (obstacle-cluttered terrains). The arm modules are plug-and-play. The arms have distinctive features, enabling them to access hard to reach areas in airplanes, subways, buses, buildings, homes, airports, and train stations. The main functionalities and applications of the articulated track mobile robots are: ● Handling a wide variety of payloads and security mission tools operated by ERTs, Special Weapons and Tactics (SWAT), Fire Department Personnel, Hazardous Goods Response Units and Emergency Measures Units ● Handling a wide variety of payloads and secur- ity mission tools for Surveillance, Reconnaissance, Manipulation of hazardous items, Handling of suspected packages, Neutralization of security concerns ● Handling and manipulating security concerns: ■ Explosive Ordnance Disposal (EOD) ■ Explosive Ordnance Removal (EOR) ■ Improvised Explosive Device (IED) ■ Hazardous Chemicals, Radioactive Materials, Biochemical Waste (CBRNE/HAZMAT) ● Remote Control of handling and manipulating operations: ■ Handling of payloads over large workspace ■ Visual assessment, measurements and clean-up in hazardous environ- ments. The technology includes the following features: Arm: High dexterity arm can be config- ured to perform grasping and manipu- lating objects, aiming disrupters, push- ing payloads, reaching under cars or through car windows, breaking win- dows, inserting a car key to open car doors. Precise Motion: To approach, hit and handle a sensitive target with high accuracy. Programmable in task space coordinates. Dexterity: Gripper can rotate con- tinuously, Shoulder, elbow and wrist joints are rotary and allow large ranges of motion. Modular Design: Arm can be easily disassembled and re-assem- bled for repair and maintenance. Multiple Payload Mounting: Disrupter, shotgun, X-ray unit, biosensors and radiation sensors, window breaker, charge drop assembly. ■ rticulated mechanic control o shape of the trac that are fully electronics. The medium size gri tools and acce weather and c public institution (obstacle-clutter The arm modul The arms have them to access airplanes, subw homes, airports functionalities articulated trac ● Handling a w security miss Special Weap Department P Response Un Units ● Handling a wi ity mission too Reconnaissan items, Handlin Neutralization ● Handling and ■ Explosive O ■ Explosive O ■ Improvised ■ Hazardous C Biochemical W kg depending on the configuration of the arm. The total weight varies from 25 kg to 350 kg. The speed of the plat- form varies from 2 Km/hour to more than 10 Km/hour. This class of robots is subdivided in three major groups: small, medium, and large. There are commercial sup- pliers for each category. The small category is mainly used for recon- naissance, and sur- veillance. It is usu- ally not used with an arm. The large cat- egory addresses large payloads, ammunition firing, and other haz- ardous tasks involv- ing heavy payloads. The medium category is used for a mix of operations, some per- tinent to the small robots, and others to the large ones. These mobile robots could be used for surveillance, reconnaissance, handling of hazardous items, manipulation of suspected packages, neutralizing and handling such items as Improvised Explosive Devices (IED’s), Hazardous Chemicals, and Radioactive Materi- als. They are all-weather, all-terrain mobile robots that can be used in both indoor (buildings, public institu- tions, airports, homes, etc.) and out- door environments (terrain cluttered with obstacles, ditches, gravel, snow, mud). The mobile robots are fitted with dif- ferent means of traction: some use only wheels for traction, others use tracks, yet others use quick-remov- able tracks that can be mounted or dismounted very easily. The tracks, permanent or removable, are neces- sary for climbing stairs and obstacles. Other features are related to precise independent joint control, high dex- terity of arm, long reach, high pay- load, open computer architecture for integrating bio-chem sensors, and options for autonomous navigation. In terms of control, the operator has the option to control the arm in joint or task space. The platform is always controlled in task space, by coordin- ating the motion of the wheels. Typ- ically, the platform has two motors, actuating two wheels, one on each side. The other wheels are rotated by chain or other means of trans- mission. The robots are remotely controlled by a wireless or cable link; cable link has an on-board automatic wind- ing cable system, or an independ- ent reeled cable system. Two-way data and audio and one-way video links are usually available. Up to four cameras and a microphone provide the operator with images and sounds of the environment. A surveillance camera can be mounted on the arm (low to the ground, high in the air, close or far from the gripper) or on a separate articulated boom (usually positioned vertically up). Mobile Robots (Continued on page 21)