3. Future WorkFig. 3. Test n°4: zoo

3. Future Work

Fig. 3. Test n°4: zoom on the acceleration [m/s2] versus
time [s] during time between 0,747s (when explosion
started) and 0,9s (when the event ended); power tiller
after explosion.

Upon these test results, we have decided to place the
ground processing tool on the front of the machine.
This lowers the possibility to have an explosion under the
machine as landmines should have already been removed
when the machine passes. In order to increase traction,
rubber tracks will be added connecting driven wheels to
additional smaller wheels supporting the ground
processing tool on the front. Remote control of the tractor
unit will then be possible by actuating the two semi-axles
through brakes, to be added. Moreover, we believe that
tracks could absorb part of the energy of an accidental
explosion underneath by deforming flexibly.
Therefore, the system will work in the configuration
shown in Fig.5, with both the end-effectors on the front,
the vegetation cutting tool supported by the same frame
supporting the ground-processing tool.

Fig.4. Energy[J] versus frequency[Hz] passing through
the power tiller in the five explosions (data1 refers to first
explosion, data5 to the fifth).
The wheel rims got damaged almost in the same manner
after each explosion except for the second, when the mine

256

Fig.5. Digital mock-up of power tiller with tracks.


Emanuela Elisa Cepolina & Manjula Udayanga Hemapala / Power Tillers for Demining: Blast Test

ผลลัพธ์ (ไทย) 3:

3. Future Work

Fig. 3. Test n°4: zoom on the acceleration [m/s2] versus
time [s] during time between 0,747s (when explosion
started) and 0,9s (when the event ended); power tiller
after explosion.

Upon these test results, we have decided to place the
ground processing tool on the front of the machine.
This lowers the possibility to have an explosion under the
machine as landmines should have already been removed
when the machine passes. In order to increase traction,
rubber tracks will be added connecting driven wheels to
additional smaller wheels supporting the ground
processing tool on the front. Remote control of the tractor
unit will then be possible by actuating the two semi-axles
through brakes, to be added. Moreover, we believe that
tracks could absorb part of the energy of an accidental
explosion underneath by deforming flexibly.
Therefore, the system will work in the configuration
shown in Fig.5, with both the end-effectors on the front,
the vegetation cutting tool supported by the same frame
supporting the ground-processing tool.

Fig.4. Energy[J] versus frequency[Hz] passing through
พลังไถนาในห้าระเบิด ( data1 หมายถึงก่อน
data5 เพื่อการระเบิด , 5 ) .
ล้อรถ ได้รับความเสียหายเกือบในลักษณะเดียวกันในแต่ละหลังการระเบิด
ยกเว้นสอง เมื่อเหมือง



fig.5 256 . ดิจิตอลจำลองพลังไถนาด้วยเพลง


emanuela ELISA cepolina & Manjula udayanga hemapala / รถไถเดินตามสำหรับที่กํ :
ทดสอบระเบิด