Unmanned vehicles for demining: from theory to practice Dr Geert De Cubber ; R Royal Military Academy of Belgium; l Milit A d f B l i Colloquium – Improvised explosive devices and antipersonnel mines: meeting the challenges; Brussels 17/05/2016
Sum m ary • Focus in this presentation on: – Non ‐ Technical Survey Micro Aerial Vehicle RPAS – Technical Survey Close ‐ In Detection tEODor mobile robot + MCMD • The presented work comes from the research p done within the FP7 TIRAMISU project
C LOSE -I N D ETECTI ON W I TH UGV’ S • One of the TIRAMISU tools for close ‐ in ‐ detection the goal was to integrate a Multi Channel Metal Detector (Vallon) with the integrate a Multi ‐ Channel Metal Detector (Vallon) with the mobile robot platform tEODor (RMA). Characteristic of the RMA tEODor mobile robot platform Length: 1300 mm ≥ 1350 mm (system in packing position) Width: 700 mm Height: (depends if we have the sensors or not attached to the robot) without sensors it is tt h d t th b t) ith t it i around 1000mm Weight: 350kg (standard configuration including batteries without sensors) the MCMD is around 27kg Speed of the platform*: max. 3.0 km/h Turning circle:* 1460 mm (theoretical) Climbing ability (slopes):* 45° Climbing ability (obstacles): 250 mm Wading depth: ≤ 250 mm Payload: ≤ 200 kg Power supply: Lead ‐ gel rechargeable battery; 4 x 12V, 85 Ah Battery charger: Standard AC connector input ( AC 230V/50Hz) Endurance (Nominal life)*: approx. 2 ‐ 3h mixed operation Temperature range : ‐ 20°C to +60°C
VALI DATI ON ACTI VI TI ES C ROATI A & B ELGI UM C ROATI A & B ELGI UM • The system was tested and validated together with the Croatian Mine y g Action Teams and SEDEE ‐ DOVO (Belgium Defence) at Meerdaal, Belgium. The configuration of the DOVO site is given below: Th fi ti f th DOVO it i i b l Zone 1: Anti ‐ personnel mines & Grenades (depths from 1 to 3 cm) Zone 2: Anti ‐ tank mines (depths from 10 to 20 cm) & UXO (depths from 10 to 30 cm) Zone 3: UXO’s (depths from 10 to 30 cm) TEST SITE
V ALI DATI ON R ESULTS tEODor platform demonstrating a multi ‐ channel metal detector array in extremely wet environments in SEDEE/DOVO. Screenshots of the real ‐ t l t i t i SEDEE/DOVO S h t f th l time acquisition and processing software, showing pre ‐ processed scans of multi ‐ channel metal detector georeferenced on a map (left). g p ( )
V ALI DATI ON R ESULTS V I DEOS V1 v2
L AND MI NE ABSENCE SENSI NG ASSETS . RPAS I N T ECHNI CAL S URVEY S S • Use of RPAS as a complementary tool for the fast • Use of RPAS as a complementary tool for the fast inspection of laid cluster munitions, possibly vapor detection detection, 3D modeling of the field and Staff 3D modeling of the field and Staff training.
Bosnia mission UAS operational use In the period of May ‐ June 2014, Bosnia and Serbia where hit hard by massive flooding g after abundant rainfall causing g floods and landslides. An estimated 1.5 million people were affected (39% of the population). Flooding has led to at least 53 deaths in both countries.
Bosnia mission RPAS operational use To cope with the crisis, the Bosnian government asked for help through g the European p Civil Protection Mechanism. Via this mechanism, the Belgian government reacted by deploying the B ‐ FAST team to Bosnia, with high ‐ capacity water ‐ pumps
Bosnia mission RPAS operational use As coordinator of two EU FP7 research projects, ICARUS (on search and rescue robotics) and TIRAMISU (on humanitarian demining), the ) ( g) Royal Military Academy decided to send an UAS tool in support of the end ‐ users (B ‐ FAST and the Bosnian Mine Action Centre BH ‐ MAC)
Mine Situation in Bosnia and Mine Situation in Bosnia and Herzegovina before floods • 220,000 land mines and unexploded munitions remaining across 13,077 locations. munitions remaining across 13,077 locations. • 1,755 km² (3,4% of the country) mined territory territory • more than 8,000 people killed or injured by landmines before landmines before 51,197 km² total area of B&H k l f • socio ‐ economic impact 2019 clear mine country + 10y 1 l 1
Floods and Mine Situation in Bosnia and Floods and Mine Situation in Bosnia and Herzegovina May-June 2014 Some facts Some facts • Flooded area: 831.4 km² with more then 35 landslides inside the minefields. • Around 47 km² of suspected hazardous area (SHA) in 33 areas under direct impact of torrents and landslides. f d l d lid • 80.2 km² of new potentially hazardous area • 140 km of narrow line mine fields (bank of river Sava, border to EU red line). , ) • by 4th July 2014, 1018 UXO, 92 mines and 3 cluster bombs were found cluster bombs were found, as well as as well as source: 40.163 ammunition pieces. 12
UAS operational use T Two missions: i i • Immediate response to natural disasters: to assist the teams (SaR teams; BHMAC; MSec of B&H) for missions such as ( ; ; ) damage assessment, dike breach detection, mapping, aerial inspection and for re ‐ localizing the many explosive remnants of war (ERW) which have been displaced due to the of war (ERW) which have been displaced due to the landslides and floods. Ti Time Frame: May – June 2014 (2 weeks) F M J 2014 (2 k ) End users: SaR teams, BHMAC, Ministry of Security of B&H
Bosnia mission RPAS operational use • In the period of two weeks RMA team operated with a VTOL UAS on 13 locations (north and central part 13 l i ( h d l of the country). • Performed around 20 flights (manual and waypoint flights) within VLOS in urban and semi within VLOS in urban and semi ‐ urban areas. • • Flight permits where granted within Flight permits where granted within ½ day. • • Fli ht altitude up to 150 Flight altitude up to 150m (up to (up to 300m in some case)
Bosnia mission Picture Report End users were brought into contact with the RPAS ‐ tools. The German Federal Agency for Technical Relief team B Bundesanstalt Technisches Hilfswerk THW) d l T h i h Hilf k THW) Region: Samac 29.5.2014
Bosnia mission Picture Report • The UAS was used for visual inspection and damage assessment Region: Orasje/Maglaj 23 5 2014 Region: Orasje/Maglaj 23.5.2014
Bosnia mission Picture Report • The UAS provided valuable information for the end ‐ users on dike ‐ breaches Dike breaches k b h MSA Torrents Region of interest Region: Orasje 28.5.2014
Workflow planning of the UAS flight mission for Mine Action • Defining the areas for aerial remote sensing based on the requirements of BHMAC Defining the areas for aerial remote sensing based on the requirements of BHMAC 1 • Terrain reconnaissance (defining the access points of the mine suspected area, measuring the D-GPS coordinates, defining the feasibility of the mission, weather and environmental conditions, security 2 2 aspects) aspects) w ork • Producing the flight plan for an automatic waypoint-based flight, setting up the ground control points. 3 Field w • Field deployment (equipment check, ground crew team, weather conditions) and flight execution (daily flight capacities, constraints) 4 • Field work complete. Analysing the flight log files, producing geo-referenced data sets. 5 • Post processing activities, generating digital orthophotos, digital elevation models, defining new risk maps. 6 • Data usability and support to the traditional mine action procedures. D t bilit d t t th t diti l i ti d 7 18
Data Collection Flow Data Collection Flow Region: Maglaj 2 6 2014 Region: Maglaj 2.6.2014
Bosnia mission Picture Report • The UAS was used for localizing the landmines which have been re ‐ localized due to the landslides Region: Gospic (HR) 22.4.2015 DETECTED: DETECTED: Rocket launcher 64mm M80 Region: Sarajevo – Vogosca 4.6.2014 DETECTED: 2 x PMR 3 DETECTED: 2 x PMR ‐ 3 Region: Zavrsje 1.6.2014 Yugoslavian anti ‐ personnel stake mine
Mission Videos Mission Videos UAS Processing Results g Bosnia Mission :: Floods 2014 Bosnia Mission :: Floods 2014
UAS operational use Second missions: S d i i • Mine action after the floods (new project): Advance mine action in natural disaster by survey from UAS and manned helicopter – landslides – deposits of torrents, floods – destroyed mine fields – long lines of mine fields l l f f ld – new potentially hazardous suspected areas • End users: BHMAC, CROMAC, Serbian MAC; Time frame: one year Završje – overlapped Završje – contour RPAS Digital Ortho Photo lines of UAS DSM map and DOF 1000
MAFF UAS and manned helicopter d d h l missions S Second missions: d i i • Mine action after the floods (new project): Advance mine action in natural disaster by survey from UAS and manned helicopter – landslides – deposits of torrents, floods – destroyed mine fields – l long lines of mine fields l f f ld – new potentially hazardous suspected areas • End users: BHMAC, CROMAC, Serbian MAC; Time frame: one year • Develop initial models for spatial estimation of new hazardous risk caused by the shifting of landmines and UxO’s which had not been mine suspected before the disaster suspected before the disaster. • Operationaly validate survey by UAS for mine action in natural disaster. • Implementing and introducing UAS in the SOP’s of Mine Action Centers
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