Qasim Zafar


Author: qasim

Visual Servoing of a Mine Detector Arm: Marwa

Marwa Autonomous Landmine Detection System

My senior-year capstone project was under the tutelage of Dr. Abubakar Muhammad at the Laboratory for Cyber Physical Systems at LUMS (CyPhyNets). The ultimate goal was to create a robust, cost-effective mine detector arm for the award-winning Marwa autonomous landmine detection platform.

Due to the close functional proximity of standard minesweeping equipment, the primary requirement was for the arm to track the profile of a patch of terrain in front of the robot as accurately as possible. The setup consisted of multiple modules which, when combined, were able to track the terrain in the sweep space in front of the robot to an accuracy of +/- 2 cm.

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