1. BRaD: Bomb Recovery and Disposal
Jose R. Vento
Spring 2010
EEL 5666: Intelligent Machines Design Laboratory
Instructors: Dr. Eric M. Schwartz
Dr. A. Antonio Arroyo
TAs : Mike Pridgen
Thomas Vermeer

2. Sensors

3. Architecture

4. Sensors: Placement.
BRaD IR
SONAR

5. Sensors Distance (in.) Digital Read 12 176-185 10 205-218 8 264-276 6 4 2 1
70-90 (Saturation)

6. The Approach

7. CMU Tracking Assisted Lighting Limited vision under regular light
Control Environment.
Color Limitations
Orange Targets and Blue Targets
Red and Black Filters
Dead Pick Up
Feedback.

8. Search and Recover. Random Search Retrieve and Place
Search for targets randomly
Target placement is deliberate
Retrieve and Place