Intelligent compliance control in anti-personnel mine detection

At present there are approximately 110 million land-mines scattered around the world in 64 countries. The clearance of these mines takes place manually. Unfortunately, on average for every 5000 mines cleared one mine clearer is killed. An automatic mine detection device using mechatronics approach is under development in this work. The device imitates manual hand-prodding technique for mine detection. It inserts a bayonet into the soil and measures the stiffness variation in the soil to identify the mine. The movement of the bayonet is controlled by a force-based compliance control system. An adaptive neuro-fuzzy controller (ASMOD) is employed to adapt the gain of the force controller according to the stiffness coefficient variation of the environment. The developed system is validated through computer simulation