Design and Implementation of Intelligent EOD System Based on Six-Rotor UAV

Explosive ordnance disposal (EOD) robots can replace humans that work in hazardous environments to ensure worker safety. Thus, they have been widely developed and deployed. However, existing EOD robots have some limitations in environmental adaptation, such as a single function, slow action speed, and limited vision. To overcome these shortcomings and solve the uncertain problem of bomb disposal on the firing range, we have developed an intelligent bomb disposal system that integrates autonomous unmanned aerial vehicle (UAV) navigation, deep learning, and other technologies. For the hardware structure of the system, we design an actuator constructed by a winch device and a mechanical gripper to grasp the unexploded ordnance (UXO), which is equipped under the six-rotor UAV. The integrated dual-vision Pan-Tilt-Zoom (PTZ) pod is applied in the system to monitor and photograph the deployment site for dropping live munitions. For the software structure of the system, the ground station exploits the YOLOv5 algorithm to detect the grenade targets for real-time video and accurately locate the landing point of the grenade. The operator remotely controls the UAV to grasp, transfer, and destroy grenades. Experiments on explosives defusal are performed, and the results show that our system is feasible with high recognition accuracy and strong maneuverability. Compared with the traditional mode of explosives defusal, the system can provide decision-makers with accurate information on the location of the grenade and at the same time better mitigate the potential casualties in the explosive demolition process.

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Reconfigurable platform for 3D-panoramic telepresence system for mobile applications

10.32920/ryerson.14652129.v1 ◽

2021 ◽

Author(s):

Artur Saakov

Keyword(s):

High Performance ◽

Outer Space ◽

Nuclear Industry ◽

Human Beings ◽

Reconfigurable Logic ◽

Logic Devices ◽

Hazardous Environments ◽

High Bandwidth ◽

Reconfigurable Platform ◽

Bomb Disposal

The concept of telepresence allows human beings to interact with hazardous environments and situations without facing any actual risks. Examples include the nuclear industry, outer space and underwater operations, mining, bomb disposal and firefighting. Recent progress in digital system technology, especially in technology of reconfigurable logic devices (e.g. FPGA), allows the effective implementation of advanced embedded systems characterized by high-performance data processing and high-bandwidth communication. However, most of the existing telepresence systems do not benefit from these advancements. Therefore, the goal of this work was to develop a concept and architecture of the platform for the 3D-Panoramic Telepresence System for mobile robotic applications based on reconfigurable logic devices. During the development process, two versions of the system were implemented. The first system focused on feasibility testing of major components of the proposed architecture. Based on the experimental results obtained on the first prototype of the system and their analyses, a set of recommendations were derived for an updated version of the system. These recommendations were incorporated into the implementation of the second and final version of the system.

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Dynamic Analysis and Simulation of the Hydraulic Control System on the Remote-Controlled Explosive Ordnance Disposal Machine

International Journal of Manufacturing Materials and Mechanical Engineering ◽

10.4018/ijmmme.2021070103 ◽

2021 ◽

Vol 11 (3) ◽

pp. 37-54

Author(s):

Dat Duy Nguyen ◽

Dat Van Chu ◽

Le Van Sy

Keyword(s):

Hydraulic System ◽

Specific Power ◽

Hydraulic Control ◽

Controlled System ◽

Main Target ◽

High Specific Power ◽

Explosive Ordnance Disposal ◽

The Military ◽

Functional Components ◽

Bomb Disposal

The remote-controlled explosive ordnance disposal machine, an important device used in the military, has been developed in many countries. It has become more intelligent and multi-functional due to being integrated with many functional components. New generations have been equipped with a completely remote-controlled system and high-resolution cameras. In bomb disposal work, this integrated machine can be used to replace other single-operating machines which allow to reduce greatly consuming time and labor effort as well as safety for operators. There are significant distinctions in design among well-known manufacturers. One of important components of this machine is hydraulic system that drives operating equipment of the machine. This paper focuses on analyzing and simulating dynamic model of the hydraulic system during the bomb laying process. The main target of this study is to meet the requirements for controlling a remote-controlled explosive ordnance disposal machine with high specific power, low hysteresis, high precision control, which ensures precision operation and safety.

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Traffic Sign Recognition Utilizing an Eigen Space Method Based on the KL Transform

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.452-453.876 ◽

2012 ◽

Vol 452-453 ◽

pp. 876-882 ◽

Cited By ~ 2

Author(s):

Shigeharu Miyata ◽

Takahiro Ishikawa ◽

Hitomi Nakamura ◽

Shin Takehara

Keyword(s):

Accurate Information ◽

Speed Limit ◽

Traffic Sign ◽

Traffic Signs ◽

Still Images ◽

Sign Recognition ◽

Aspect Ratios ◽

High Processing Speed ◽

High Recognition Accuracy ◽

High Processing

This study explains that a method utilizing the eigen spaces obtained by the KL transform for automatic recognition by camera of the speed on a speed limit sign has the following advantages: it is robust in response to changes in intensity patterns caused by the direction the sign is facing and by the amount of light striking the sign, and it is able to reduce the recognition processing time by reducing the number of feature vector dimensions during analysis. The method for recognition of traffic signs previously proposed by the authors of this study was a method for recognition based on extracting geometric shapes from the sign and recognizing them based on their aspect ratios. As such, this method was not able to identify the numbers on a speed limit sign, all of which have identical aspect ratios. It will be shown that the method in this study is able to recognize nearly all speed limits indicated on traffic signs within several 100s of ms after image acquisition. This method was applied to still images and its effectiveness was verified from the perspective of the following requirements for providing accurate information concerning the vehicle surroundings to the driver: high processing speed, high recognition accuracy, detection of all detectable objects without omission, and robustness in response to changes in the surrounding environment.

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Reconfigurable platform for 3D-panoramic telepresence system for mobile applications

10.32920/ryerson.14652129 ◽

2021 ◽

Author(s):

Artur Saakov

Keyword(s):

High Performance ◽

Outer Space ◽

Nuclear Industry ◽

Human Beings ◽

Reconfigurable Logic ◽

Logic Devices ◽

Hazardous Environments ◽

High Bandwidth ◽

Reconfigurable Platform ◽

Bomb Disposal

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Joint Tactical Cognitive Systems: Modeling, Analysis, and Performance Assessment

Proceedings of the Human Factors and Ergonomics Society Annual Meeting ◽

10.1177/154193129804200328 ◽

1998 ◽

Vol 42 (3) ◽

pp. 315-319

Author(s):

Arne Worm

Keyword(s):

Systems Engineering ◽

Decision Aids ◽

Command And Control ◽

Accurate Information ◽

Cognitive Systems ◽

Cognitive Systems Engineering ◽

Modeling And Analysis ◽

Hazardous Environments ◽

And Performance ◽

And Control

The dynamics of tactical missions are of a specific nature. Determined and forward exploitation and control of associated real-time, safety-critical operational dynamics are vital for success. An implication is the need for a conceptual framework of time-critical command and control of dynamic tasks in hazardous environments. In this work we applied a combined theorist's and practitioner's approach to the problem of modeling command and control processes of military and emergency response units, and of the respective missions themselves. We performed a pilot study using a combined Human Factors, Control Theory and Cognitive Systems Engineering (CSE) framework. We performed identification, modeling, and analysis of Joint Tactical Cognitive Systems (JTCSs), and of related command, control, intelligence and decision making processes. The COntextual COntrol Model (COCOM) yielded the descriptive power necessary to fulfill this endeavor. Together with development of fast and accurate information processing systems and decision aids, CSE will decisively impact future mission command and control.

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Stopping-power determination for compound by EELS

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100172474 ◽

1994 ◽

Vol 52 ◽

pp. 948-949 ◽

Cited By ~ 1

Author(s):

David C. Joy ◽

Suichu Luo ◽

John R. Dunlap ◽

Dick Williams ◽

Siqi Cao

Keyword(s):

Energy Loss ◽

Electron Energy ◽

Electron Energy Loss Spectroscopy ◽

Materials Science ◽

Average Energy ◽

Stopping Power ◽

Accurate Information ◽

Power Calculation ◽

Coulomb Collisions ◽

Electron Energy Loss

In Physics, Chemistry, Materials Science, Biology and Medicine, it is very important to have accurate information about the stopping power of various media for electrons, that is the average energy loss per unit pathlength due to inelastic Coulomb collisions with atomic electrons of the specimen along their trajectories. Techniques such as photoemission spectroscopy, Auger electron spectroscopy, and electron energy loss spectroscopy have been used in the measurements of electron-solid interaction. In this paper we present a comprehensive technique which combines experimental and theoretical work to determine the electron stopping power for various materials by electron energy loss spectroscopy (EELS ). As an example, we measured stopping power for Si, C, and their compound SiC. The method, results and discussion are described briefly as below.The stopping power calculation is based on the modified Bethe formula at low energy:where Neff and Ieff are the effective values of the mean ionization potential, and the number of electrons participating in the process respectively. Neff and Ieff can be obtained from the sum rule relations as we discussed before3 using the energy loss function Im(−1/ε).

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Applications of SEM/EDXA in cement clinker investigation

Proceedings, annual meeting, Electron Microscopy Society of America ◽

10.1017/s0424820100177489 ◽

1990 ◽

Vol 48 (4) ◽

pp. 870-871

Author(s):

Arezki Tagnit-Hamou ◽

Shondeep L. Sarkar

Keyword(s):

Mineralogical Composition ◽

Physicochemical Characteristics ◽

Cement Clinker ◽

Accurate Information ◽

Phase Identification ◽

History Of ◽

Bulk Chemical ◽

Resolution Imaging ◽

Proven Method ◽

Instantaneous Chemical

All the desired properties of cement primarily depend on the physicochemical characteristics of clinker from which the cement is produced. The mineralogical composition of the clinker forms the most important parameter influencing these properties.Optical microscopy provides reasonably accurate information pertaining to the thermal history of the clinker, while XRDA still remains the proven method of phase identification, and bulk chemical composition of the clinker can be readily obtained from XRFA. Nevertheless, all these microanalytical techniques are somewhat limited in their applications, and SEM/EDXA combination fills this gap uniquely by virtue of its high resolution imaging capability and possibility of instantaneous chemical analysis of individual phases.Inhomogeneities and impurities in the raw meal, influence of kiln conditions such as sintering and cooling rate being directly related to the microstructure can be effectively determined by SEM/EDXA. In addition, several physical characteristics of cement, such as rhcology, grindability and hydraulicity also depend on the clinker microstructure.

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Investigating the Multimodal Nature of Human Communication

Journal of Psychophysiology ◽

10.1027/0269-8803.23.2.63 ◽

2009 ◽

Vol 23 (2) ◽

pp. 63-76 ◽

Cited By ~ 41

Author(s):

Silke Paulmann ◽

Sarah Jessen ◽

Sonja A. Kotz

Keyword(s):

Visual Information ◽

Empirical Studies ◽

Physical Property ◽

Event Related Potentials ◽

Accurate Information ◽

Human Communication ◽

Channel Condition ◽

Prosodic Cues ◽

Early Processing ◽

Related Potentials

The multimodal nature of human communication has been well established. Yet few empirical studies have systematically examined the widely held belief that this form of perception is facilitated in comparison to unimodal or bimodal perception. In the current experiment we first explored the processing of unimodally presented facial expressions. Furthermore, auditory (prosodic and/or lexical-semantic) information was presented together with the visual information to investigate the processing of bimodal (facial and prosodic cues) and multimodal (facial, lexic, and prosodic cues) human communication. Participants engaged in an identity identification task, while event-related potentials (ERPs) were being recorded to examine early processing mechanisms as reflected in the P200 and N300 component. While the former component has repeatedly been linked to physical property stimulus processing, the latter has been linked to more evaluative “meaning-related” processing. A direct relationship between P200 and N300 amplitude and the number of information channels present was found. The multimodal-channel condition elicited the smallest amplitude in the P200 and N300 components, followed by an increased amplitude in each component for the bimodal-channel condition. The largest amplitude was observed for the unimodal condition. These data suggest that multimodal information induces clear facilitation in comparison to unimodal or bimodal information. The advantage of multimodal perception as reflected in the P200 and N300 components may thus reflect one of the mechanisms allowing for fast and accurate information processing in human communication.

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