Tham khảo tài liệu 'mobile robots -towards new applications 2008 part 13', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | Service Robots and Humanitarian Demining 471 Automatic Mechanical Means of Manual Land Mine Detection The aim is to design an automated single or multiple-prodding device that can be mounted installed in front of a remotely controlled all terrain vehicles. In this regards at the suggestion of The Defence Research Establishment Suffield DRES the 1996 senior design project the University of Alberta was to design innovative mechanical method to detect non-metallic landmines Fyfe 1996 . The developed design tries to emulate and multiply the performance of manual prodding done by human operator. The design consists of an automated and hydraulically actuated multiple-prodding device designed to be mounted either in front of a BISON armoured personnel or in front of a remotely controlled all terrain vehicle called ARGO. The detection unit consists of a frame traversing rack and multiple probes. Each of the 41 or 8 probes depending on the design used to penetrate the ground is individually mounted on a hydraulic cylinder See . . The hydraulic fluid pressure in each cylinder is continuously monitored by a computer data acquisition system. When the probe strikes the soil or a solid object the pressure in the cylinder rises in proportion to the force on the probe. Once this pressure rises above a threshold value a solid object is determined to be present. A solenoid valve controlled by the computer releases the pressure in the cylinder thus stopping the probe from further motion. This valve is quick enough to stop the cylinder in order to prevent the accidental detonation of the suspected mine. Based on the probe separation distance this system ensures that no landmine is going to be missed by passing between the probes. Fig. 9. The design of multiple mechanical means of manual prodding. A similar approach has been developed Dawson-Howe Williams 1997 . They have assembled a lab prototype as shown in Fig. 10 intended to demonstrate the feasibility of automatic .