Analysis of the state of creation of robotic complexes for humanitarian demining

The object of research is robotic military complexes used in the system of humanitarian demining. This work aims to study the requirements for robotic military complexes (including manipulators that are sucked into them) and to develop proposals for their use in humanitarian demining. The research is based on the application of a functional approach to the construction of models for the formation of requirements for robotic military complexes (RMC), which are sucked into the system of humanitarian demining. It is established that the creation of RMC requires a significant study of the core of the most important technologies that are needed to create the entire range of promising RMC. Thus the standard sample RMC can be presented in the form of set of functionally connected elements: the basic carrier, the mobile platform, the specialized hinged/built-in equipment in the form of a set of removable modules of useful (target) purpose, means of maintenance and service used at preparation for application and technical operation robot. The composition of specialized equipment is set based on the functional purpose of the RMC. The classification of RMC is given, which provides for their division into three categories: the first generation – controlled devices, the second generation – semi-autonomous devices and the third generation – autonomous devices. The analysis of modern RMC which are developed in Ukraine and the advanced countries of the world and the analysis of structure of components of system of humanitarian demining is carried out. It is established that the organization of the humanitarian demining system with the use of RMC should include of explosive objects (EO) reconnaissance, search, marking, their identification and direct demining. Unmasking signs of EO, as well as modern methods and detectors of EO detection are considered. One of the new promising methods of mine detection is parametric. However, in real application, the most promising is the use of a combination of electromagnetic, optical and mechanical methods. The application of the proposed approaches will increase the efficiency of humanitarian demining and reduce human losses in its implementation.

A Review of Underwater Mine Detection and Classification in Sonar Imagery

Underwater mines pose extreme danger for ships and submarines. Therefore, navies around the world use mine countermeasure (MCM) units to protect against them. One of the measures used by MCM units is mine hunting, which requires searching for all the mines in a suspicious area. It is generally divided into four stages: detection, classification, identification and disposal. The detection and classification steps are usually performed using a sonar mounted on a ship’s hull or on an underwater vehicle. After retrieving the sonar data, military personnel scan the seabed images to detect targets and classify them as mine-like objects (MLOs) or benign objects. To reduce the technical operator’s workload and decrease post-mission analysis time, computer-aided detection (CAD), computer-aided classification (CAC) and automated target recognition (ATR) algorithms have been introduced. This paper reviews mine detection and classification techniques used in the aforementioned systems. The author considered current and previous generation methods starting with classical image processing, and then machine learning followed by deep learning. This review can facilitate future research to introduce improved mine detection and classification algorithms.

IOT based Land Mine Detection Robot

Such equipment is usually automatically blasted through pressure when a target steps on it or drives on it. Demining or mine clearance is the process of removing land mines from an area, while minesweeping describes the task of locating mines. Landmines are generally easy to lay and difficult and dangerous. They are harmful due to their unknown positions and are often difficult to detect. Although dimming has been given the highest priority, currently my clearing operation is a labor-intensive, slow, very dangerous, expensive and low technology operation. The current rate of human quarry is about 100 thousand per year. The idea is to build and develop an automated robot capable of detecting buried landmines and taking them from their locations, enabling the operator to control the robot from afar. The buried quarry is detected using metal detectors as most land mines have metal components. The robot will travel in a straight line route. The system allows the operator to stay at a safe distance by enabling the robot to safely control. Wireless control is for the safety of the operator, designed robots must be able to operate remotely, and is equipped with wireless data transmission capabilities.

The Effect of Informing Participants of the Response Bias of an Automated Target Recognition System on Trust and Reliance Behavior

Objective To determine how changing and informing a user of the false alarm (FA) rate of an automated target recognition (ATR) system affects the user’s trust in and reliance on the system and their performance during an underwater mine detection task. Background ATR systems are designed to operate using a high sensitivity and a liberal decision criterion to reduce the risk of the ATR system missing a target. A high number of FAs in general may lead to a decrease in operator trust and reliance. Methods Participants viewed sonar images and were asked to identify mines in the images. They performed the task without ATR and with ATR at a lower and higher FA rate. The participants were split into two groups—one informed and one uninformed of the changed FA rate. Trust and/or confidence in detecting mines was measured after each block. Results When not informed of the FA rate, the FA rate had a significant effect on the participants’ response bias. Participants had greater trust in the system and a more consistent response bias when informed of the FA rate. Sensitivity and confidence were not influenced by disclosure of the FA rate but were significantly worse for the high FA rate condition compared with performance without the ATR. Conclusion and application Informing a user of the FA rate of automation may positively influence the level of trust in and reliance on the aid.

A Novel Versatile Approach for Underwater Conformal Volumetric Array Design

In this study, we present a novel approach to the design of a conformal volumetric array composed of M × N convex subarrays in two orthogonal curvilinear directions for underwater acoustic imaging for mine detection. Our design targets require that the proposed array transducer has three-dimensional half-power beamwidths of 85° and 25° in either of its convex subarray parts, while also reaching a peak transmitting voltage response above 147 dB. The radiated sound pressure of the subarrays was independently derived as a function of their geometrical parameters. The resulting directional factors were then combined to analyze the beam profile of the entire array. The design was finally optimized to minimize the ripple level. To validate this theoretical design, the structure was modeled and analyzed using the finite element method. The comparison between the resulting beam pattern from the finite element analysis and the analytical computation showed an excellent compliance. The method advanced is a simple and systematic analytical model to facilitate the development of new conformal volumetric arrays for underwater mine detection.

Investigation of Hybrid Locomotive Robot for Anti-Personnel Mine Detection

Most of landmine detection robots proposed so far have been strongly restricted from locomotion inside the mine field because they cannot cross over the mine. So we have proposed a mine detection robot with hybrid locomotion, which can enter inside the minefield with low ground surface contact, which can cross over the mine instead of changing its path and scan landmines directly using Electro Magnetic Induction sensor. The hybrid locomotion proposed in the robot uses the frame walking technique and the conventional wheeled locomotion. The robot switches over the locomotion mechanism from wheeled to leg when mine is detected and vice versa with a lead screw mechanism. The leg locomotion is achieved by frame walking technique where the two frames translate with the help of lead screw mechanism. A purpose of adopting this combination is to evade anti-personnel landmines which are relatively smaller in comparison to their anti-tank landmine counterparts. The robot initially starts in wheeled mode and upon detection of metal, pulls in the frame walking algorithm. The robot also deploys an obstacle avoidance algorithm when working in wheel mode.