A. The VANGUARD MK-2 robot. Advantages of ... The MK2 is the newest version of the Vanguard robot ... Group (TSWG) of the National Institute of Justice. The.
The 7th IARP International WS HUDEM'2008, AUC, Cairo, March 28-30, 2008
De-Mining Techniques of Improvised Explosive Materials by the usage of Mobile Robots
Pajaziti A., Berisha J., Bajrami Xh., University of Prishtina, and Ajvazi A., Kosova Police Service
Abstract—This paper demonstrates the de-mining techniques of the Improvised Explosive Device Disposal Unit (IEDD) that are in use for the neutralization of improvised explosive materials. The IEDD is a specialized unit, which operates within the Department of Specialized Units of Kosova Police Service (KPS) and is responsible for identification, training, transportation and neutralization of improvised explosive materials. The IEDD members are involved only in cases of presence of the improvised explosive materials (suspicious bags, doubtful mines, deadfall mines, chemical explosives and explosives in general, as well as forays of high risk). Improvised explosive materials can be of different shapes, but usually they are stored in different packages and with the first contact, they do not give the impression that could present any danger, in particular for human being or surrounding, except in cases when the terrorists who place those mines with intention to achieve considerable effect on threatening, rather than causing the eventual victims. Since, the cases of emergency situation with mines have to be treated in specific way regarding the reaction methods as well as different scenarios, the IEDD Unit has applied the usage of mobile robot, carrying the mine detectors, could play here an important role. Among the different ways robots could help IEDD Unit, the scenarios described in this paper regarding the detection and removal of mines are the most realistic.
I. INTRODUCTION
T
HE IEDD is a specialized unit that is functioning within the Department of Special Units of Kosova Police Service and is responsible for identification, training, transport and neutralization of improvised explosive materials. Participants of the IEDD are engaged only in cases of appeared improvised explosive materials (suspicious bags, doubtful mines, deadfall mines, chemical explosives and explosives in general, as well as forays of high risk). Explosive materials of military character (EOD) and UXO un-explosive materials are not responsibility of the IEDD treatment. The duties and responsibilities of the IEDD unit are as following: • Building foray with high risk; • Identification of improvised materials and consisting parts of it; • Formulation of minimal distances and security general regulations;
• • • • • • • • • • • • • • • •
Reaction in case of bomb threatening; Assistance for investigation in the place after explosion; Operation action in order to ensure and avoid the doubtful packages, doubtful bombs, deadfall bombs, chemical explosives and other explosives; Legal treatment, secure transport and material deposit in and from the place of event; Training assurance for anti-terrorist foray units. Security with dignity for all the citizens; Control of the place of event after explosion and keeping the evidence. Preparing and participation of the training programs with regard of explosives; Cooperation with Emergency Department on plan developing for bomb threatening to IEDD and crime scene caused by bombs; Technical support to special operations, for instance, special foray of objects for very important persons; Keeping and material disposal for operational and training purposes; Preparing and training of special teams for antiterrorist foray; Supervision on the work of Anti-terrorist Foray Unit in terrain; Command of Anti-terrorist Foray Units in operations of high importance; Coordination of activities and maintenance of the Anti-terrorist Foray Unit Standards; Maintenance, stocktaking and proper storage of equipment of IEDD Unit.
II. THE EXPLOSIVE MATERIALS IN GENERAL The improvised explosive devices (IED) present a great risk for police and citizens in general. Therefore, the warning of improvised explosive devices and materials should be treated very seriously without exception. IED are produced in different shapes and magnitudes, with different methods of functioning, content and different method of distribution. Timer can activate IED from distance, by vibration, by pullback etc. They are unique in nature, since the producer of IED should improvise with combined materials manually handled. IED can be of different shapes, and they are usually 45
The 7th IARP International WS HUDEM'2008, AUC, Cairo, March 28-30, 2008
placed in different packages, and in first sight they can not give the impression that could express any danger for the people and environment, except in case when terrorists place them to demonstrate the risk in particular for people and environment to achieve the threaten and cause eventual victims. In those cases, terrorists intentionally warn about the installed explosive and in first sight, this material could be identified as explosive material. Therefore, the Emergency Situations Cases with bombs have particular specifics, in the manner of reaction as well as the method of treatment. The application of robots to the above-mentioned activities is of a great importance, since from one side, the IEDD operator could be away from the danger, while to another side; there will be the increase of precision of doubtful material treatment. The key of success for accomplishment of the IEDD tasks is the combination of operator’s experience with application of the proper and reasonable usage of robot [1].
A. The VANGUARD MK-2 robot Advantages of MK-2 robot with (fig. 1.) regard to human are as follow: 1. precision during the mission 2. safety (eliminates risking human life during the mission) 3. identification of the IEDD objects without risking the human life 4. records and gets photos of the IEDD objects without risking the human life
III. PRACTICAL USAGE OF THE ROBOTS The IEDD Unit is employing the robots for the following tasks: • Control of environment for doubtful reported devices; • Recording the doubtful materials; • Recording the explosive materials initializing even the environment around the materials; • Monitoring the environment around including supervision through the windows of buildings of the vehicles to have control the inside environment of object; • Visual control of vehicles and opening the door with explosive materials; • Force opening the door of vehicles and neutralization of doubtful materials inside the vehicle; • Deliverance of wave frequents blocker to the explosive material, before the technician for neutralization approaches to the explosive material; • Usage of a disruptive emptiness for neutralization by the robot; • The doubtful material’s pullback in different ways from one place to another enabling better approach for neutralization; • Control the place where the explosion took place due to secondary danger before the operator physically controls the environment; • Different material removing close to explosive material, with intention to forensic treatment before the explosion; • Taking and placing the explosive material on trailer for the explosive transport to the safe place to nonactivate and remove the explosive material from the trailer to the out of action place.
Fig. 1. VANGUARD MK-2 robot
1) Features: The MK2 is the newest version of the Vanguard robot voted best performing and most applicable system in a major performance evaluation of competing systems conducted by Battelle, for the Technical Support Working Group (TSWG) of the National Institute of Justice. The MK2 incorporates the enhancements recommended by Battelle-and more-making it “a major asset for bomb squads” and law enforcement personnel [2]. 2) General Capacities: Lift Capacity (arm extended) 8.0 kg (17.6 lbs.) Lift Capacity (arm retracted) 18.2 kg (40 lbs.) Vertical Reach 132 cm (52.0 inches) Horizontal Reach 96.5 cm (38.0 inches) Ground Clearance 5.75 cm (2.25 inches) Overall Length 91.5 cm (36.0 inches) Overall Width 43.5 cm (17.0 inches) Stowed Height 40.5 cm (16.0 inches) Overall Weight 48.0 kg (105.6 lbs.) Mission Duration 2-3 Hours +(quick change battery pack) Stair Climbing Angle 40 Degrees 46
The 7th IARP International WS HUDEM'2008, AUC, Cairo, March 28-30, 2008
3) RF System P/N 3VCS10580: The RF system refers to both, the data and video system to make the MK2 completely remote, fig.2. The data transceivers work on 900 MHz. The video system works on 2.4 GHZ. The data system is, internal, only exposing the antenna. The video transmitter is protected by the rear cage and has a flexible mount for the antenna to avoid damage if up righted [3].
Fig. 4. IR Camera
6) 20 MM Recoilless Disrupter P/N 3VPA15840: The 20mm recoilless disrupter from Prop arms mounts to the upper arm, and has a color CCD camera and laser as part of the mount, fig. 5. Ammunition is bought directly from Prop arms and requires an end user certificate.
Fig. 2. RF System
4) Recoilless PAN Disrupter Mount P/N 3VOE500000: Firing the PAN Disrupter has never been easier, with the new recoil system from Ideal Products Inc. Allen-Vanguard provides a mounting system for the PAN disrupter with the recoil adapter tube, which also includes a color CCD camera and dual flashing lasers for pinpoint accuracy. The Recoil system is a simple add-on to any PAN disrupter, fig. 3.
Fig.5. Recoilless Disrupter
7) Command & Control Unit (CCU): One of the most important units is CCU unit since this is the operators or human interface with the robot, which is very important during the mission, fig. 6. User-friendly CCU can have important role to operate efficiently during the mission, which often can be key of success during the mission.
Fig. 3. The PAN disrupter
5) IR Camera P/N 3VOE210000: The IR Camera is light sensitive and automatically changes from a color CCD to a B&W camera in low-light situations, fig.4. This camera is mounted on the upper arm and becomes the forth camera. This camera is great for surveillance when searching poorly lit areas.
Fig. 6. CCU unit
The above photo shows most of the CCU features. The CCU is portable and ready to go at all times. You can choose from AC or DC power. The DC power source can run from 3 to 5 hours before recharging. The batteries and charger are 47
The 7th IARP International WS HUDEM'2008, AUC, Cairo, March 28-30, 2008
located internally. To charge the system, plug it into the AC receptacle to charge the batteries and laptop. 8) Software user friendly & easy to use Interface: The user interface is a guide to operating your robot, by matching the function you want to use in the interface menu and the keys on the laptop keyboard. For example, on the above screen, in the Drive box you will see “F1.” This tells you that by pressing your “F1” key you will activate the Drive function of the robot. All motor functions use the arrow keys on your keypad or joystick to operate the function. Other functions are toggle on/off such as the lights “F9”. After choosing your function, use the Help menu for instructions until you are fully familiar with all the functions and operations, the help menu changes with each key pressed. The interface is the source for your robot’s information; the laptop automatically boots up into the interface screen.
As we can see on this picture, with function keypads we can control most of the robot features like, drive, robot-arm, camera, lights, and laser and make a photo. We can use keypads or Joystick to operate with the robot. We need to choose first with the function keys for the operation and then we can manipulate or operate with keypad arrows. These are the files (fig. 9) you may need or want to access:
Fig. 9. Software of the robot
Fig. 7.The Laptop’s Keyboard
From this menu screen, you can check battery status of the robot, communication link, what functions you are using and so on. Along with the visual information, selecting the “P” button activates your speech feedback, giving you audio confirmation of what button was pressed. When the laptop is first turned on, it automatically loads the MK2 software. There are other features on the desktop you may want to access. You can minimize the MK2 interface either once the software is loaded or close the software completely.
Fig. 8. The user-friendly interface
1) MK2 Software-should you close the software for any reason and want to start again press this icon. 2) MK2 Manual- the operating manual in PDF format. 3) My Documents file- here is where your photos are saved from the MK2 interface. When you press F11, the image you are viewing is stored by date and time. IV. ACTION PROCEDURES – ENGAGEMENT RULES The IEDD Unit is engaged in cases of foray with high risk in case of threaten with bombs, as well as in cases of improvised explosive material treatment [4]. The IEDD Unit on daily basis is engaged in case of reporting about the doubtful explosive, and in particular in cases of discovering of improvised explosive materials. In figure 10 is shown the organizational scheme of IEDD Unit intervention including all the actions of the involved teams. When the IEDD receives the information from the citizens in case of finding the explosive materials through the Operating Center, the IEDD Unit starts with the action. The IEDD Unit is the unique unit inside the Kosova Police Service that covers all the Kosova’s area. There is the all responsibility of the IEDD Unit operator whether to use or not the robot from case to case. In order to manage the robot manipulation, at least two people should be employed: the technician for manipulation and the technician for neutralization. These two operators work closely and all their activity work is in coordination with each other. In addition, there are other units that their 48
The 7th IARP International WS HUDEM'2008, AUC, Cairo, March 28-30, 2008
work is to help about the incident place and of all activities in general. The direct manner of manipulation and the neutralization’s techniques are classified like confidents.
Fig. 12. Inspection and disruption task
Fig. 10. Organizational scheme of the IEDD action
The IEDD Unit has employed the robot to operate in different functions as: manipulation task : relocation packages to other area (fig. 11), inspection and disruption task (fig. 12), and mobility task: climb short run of stairs (fig. 13), [5]. Robot platform performance, in most areas of concern, satisfied a large percentage of the requirements specified by the IEDD. The robot completed successfully the tasks commonly encountered by the technicians.
Fig. 13. Climb short run of stairs
V. CONCLUSIONS Mobile robot Vanguard MK2B have been used in performing the adopted techniques in civilian mine clearance. Since, in the humanitarian de-mining, a high Clearance Efficiency (CE) is required, it can be achieved through the usage of robots supplied with cameras and sensitive sensors and their slow systematic displacements, according to well-defined procedures on the real terrain. From the performed tasks in the terrain, one can conclude that Robotic Systems can help the de-mining teams to improve the cost effectiveness and the safety of de-mining operations. However, based on the obtained results, it is expected in the future the robotic systems should be equipped with more open and reusable applications in completion the detection tasks in complex and dangerous areas. REFERENCES
Fig. 11. Relocation of packages to other area
[1] [2] [3] [4] [5]
Murphy, R., R., 2000. Introduction to AI Robotics. A Bradford Book, the MIT Press, Cambridge, London, England. Allen-VanGuard Manuals – Kosova Police Service, 2005, Prishtina, Kosova. http://www.allen-vanguard.com IEDD Catalogs – Kosova Police Service, 2006, Prishtin a, Kosova. http://www.ojp.usdoj.gov/nij/publications/204637/index.html 49
