Humanitarian Robotics: Minefield Reconnaissance and Mapping

MUSES_SECRET: ORF-RE Project - © PAMI Research Group – University of Waterloo 1/221
Humanitarian Robotics:
Minefield Reconnaissance and Mapping
Alaa Khamis, PhD, SMIEEE
Suez University and Sypron Solutions
http://www.alaakhamis.orgURL:

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HUMANITARIAN DEMINING

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A landmine is an explosive device activated by a person or
vehicle, or command-detonated by electric wire or radio signal.
C. Stephan. The Landmine Action: Smart Book. Mine Action Information Center, 2004

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As of October 2015, 61 counties are affected by antipersonnel mines
Mine Contamination as of November 2015 [Courtesy: Landmine and Cluster Munition Monitor ICBL-CMC]

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• Facts about landmine contamination problem
There exists about 2000
types of mines around the
world; among these, there are
more than 650 types of AP
mines.
While basic mine detection
and neutralizing
theologies remain almost the
same, mine technology
improved dramatically.
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Anti-tank/vehicle mines
• Blast mines
• Shaped charge/Misznay Schardin effect
• Full width mines
• Side attack mines
• Wide area mines
Anti-personnel mines
• Fragmentation and stake mines
• Shaped charge mines
• Directional mines
• Blast mines
• Bounding mines
• Flame mines
• Chemical mines

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Mines cost between $3 and $30, but the
cost of removing them is $300 to $1000
(depending on the mine infected area and
the number of false alarms).
The cost of removing all existing mines
would be $50- to $100-billion.
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5,000 people, of whom 46% are children have been
falling victim to landmines and ERWs annually in many of
the countries affected by war or in post-conflict situations
around the world. Mines create millions of refugees or
internally displaced people.
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Known Mine/ERW casualties by civilian/military
status in 2013
Source: Landmine Monitor 2014

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One deminer is killed and two injured for
every 5000 successfully removed mines.
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If demining efforts remain about the same
as they are now, and no new mines are laid,
it will still take 1100 years to get rid of all
the world’s active landmines and UXOs.
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Until recently, about 100,000 mines were
being removed, and about two million more
were planted. The annual rate of clearance is
far slower.
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In many of the most affected areas of the world, agriculture
is the mainstay of the economy. Landmines are planted in
fields, forests, around wells, water sources, and
hydroelectric installations, making these unusable, or
usable only at great risk.
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INITIATIVES

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◊ Ottawa Treaty, the Anti-Personnel Mine Ban Convention, or
the Mine Ban Treaty, is a convention on the Prohibition of
the Use, Stockpiling, Production and Transfer of Anti-
Personnel Mines and on their Destruction, aims at eliminating
anti-personnel landmines (AP-mines) around the world. To
date, there are 162 States Parties to the treaty.
• Anti-personnel mine ban
INITIATIVES

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◊ International Campaign to Ban Landmines (ICBL)
http://www.icbl.org/
A coalition of non-governmental organizations
working for a world free of anti-personnel
mines and cluster munitions, where mine and
cluster munitions survivors see their rights
respected and can lead fulfilling lives. 1997 Nobel Peace Prize
◊ Landmine and Cluster Munition
Monitor is an initiative providing research
and monitoring for the International
Campaign to Ban Landmines (ICBL) and the
Cluster Munition Coalition (CMC)
http://www.the-monitor.org/
INITIATIVES

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• Largest stocks of antipersonnel mines
State Stock
Russia 26.5 million
Pakistan estimated 6 million
India estimated 4-5 million
China “less than” 5 million
US 3 million
Total 45 million
• Mine clearance in 2009–2013
Year Mined area cleared (km2) AP mines destroyed AT mines destroyed
2009 198 255,000 37,000
2010 200 388,000 27,000
2011 190 325,000 29,900
2012 200 240,000 9,300
2013 185 275,000 4,500
Total 973 1,483,000 107,700
INITIATIVES

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◊ Others
 United Nations Mine Action.
 Swiss Foundation for Mine Action (FSD)
 Geneva Call
 Mines Advisory Group
 Canadian Landmine Foundation
 International Coalition to Ban Uranium Weapons (ICBUW)
 ...
INITIATIVES

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LANDMINES IN DEVELOPING COUNTRIES

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In Egypt, ERW are a legacy and a result of
combat operations between Axis and Allied
forces during World War II, and between the
Egypt-Israel wars of 1956, 1967 and 1973.
The landmine and UXO contamination problem
significantly affects Egypt’s Western Desert
region, the Sinai Peninsula and areas near the
Suez Canal and Red Sea coast.
These contaminated areas represent 22% of the
total surface of Egypt.
LANDMINES AND UXOS IN EGYPT

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Contaminated Areas
Areas cleaned by the Army
It is estimated that there are 17.2 million of landmines and
UXOs in the North West Coast (NWC)
• 500,000 acres of land
good for agriculture
and 3.5 million acres
good for grazing;
• 70 million cubic meter
of mineral resources;
• 1.8 billion barrel of oil
and;
• 8.5 trillion Cubic
meter of natural gas

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Executive Secretariat for the Demining and Development of the North
West Coast, Egyptian Ministry of International Cooperation
Landmine
Detection and
Disposal
Victim
Assistance
Mine Risk
Education
Media and
Advocacy
Development
www.mineaction.eg

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The humanitarian demining activities carried-out to remove
landmines and UXOs from the vast contaminated areas in Egypt
are not on the same level of the problem.
very slow, labor intensive, costly, inefficient, extremely
dangerous and stressful process.

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TECHNOLOGY ENABLERS

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ERW Localization ERW Disposal
Humanitarian Demining
Reconnaissance Deactivation Neutralization
Close-in Detection
Mapping
Flails
Rollers
Plows
Kafon
Stand-off Detection
AND
...
AND OR
OR
TECHNOLOGY ENABLERS

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Close-in Detection Stand-off Detection
Minefield Reconnaissance
Hand-probing Techniques Biological Techniques Unmanned Systems Remote Sensing
Unmanned Ground Vehicles (UGVs)
Manned Armored Vehicles
Unmanned Aerial Vehicles (AUVs)
Dogs
Rats
Elephants
...
TECHNOLOGY ENABLERS

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TOWARDS A LANDMINE-FREE WORLD

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Minesweepers 2014 – PortugalMinesweepers 2013 - EgyptMinesweepers 2012 - Egypt
Minesweepers: Towards a Landmine-free World as the
first international outdoor robotic competition on
humanitarian demining [http://www.landminefree.org/].
Minesweepers 2015 - Chile Minesweepers 2016 - Egypt
MINESWEEPERS

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• Minesweepers Mission
Each participating team constructs a
teleoperated/autonomous
unmanned ground/aerial vehicle
that must be able to search for
underground and aboveground anti-
personnel landmines and UXOs.
MINESWEEPERS

26MINESWEEPERS
Minesweepers Juniors
Minesweepers Academia
Minesweepers Industry
Multiple Minesweepers
ROS Minesweepers
[Detection + Mapping]
[Detection only]
[Detection + Identification + Mapping]
[Teleoperated Sweeper + Autonomous Supervisor]

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http://landminefree.org/
MINESWEEPERS

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• Technical Support
◊ Minesweepers Rules
◊ Buried Mine Detection
◊ UXO Detection using Machine Vision
◊ Perception and Navigation of Autonomous Vehicles
◊ Wireless Communication for Teleoperated/Autonomous
Vehicles
◊ Construction and Control of an Unmanned Quadrotor
Webinars
Course
◊ How to build a real robot
◊ UAV Design and Control
Social media
MINESWEEPERS

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http://landminefree.org/
MINESWEEPERS

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MINEPROBE PROJECT

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• MineProbe: A Distributed Mobile Sensor System for
Minefield Reconnaissance and Mapping in Egypt
http://www.mineprobe.org/
Funding Agency
Applicant
Partners Associate
Duration: 2015-2017
MINEPROBE PROJECT

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http://www.mineprobe.org/
MINEPROBE PROJECT

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Autonomous Mode (AM) ModuleCurrent Cell Status
Robot Pose
Depth Map
Mission Planning Module Plan Execution
Re-Planning
Inner and surface status
Teleoperation Mode (TM) Module
Ground Station Commands
Telepresence Module
Robot Status Panels
Onboard Stereo-camera Views
Aerial Imaging Panel
Local Maps Panel
Global Minefield Map Panel
Inspection Platform Remote Control
Platform Motion Remote Control
Minefield Mapping Module
Map Merging Module
Local Mapping Module
Failure Detection-Diagnosis and Recovery Module
Plan Monitoring Drone
Camera
Onboard
Cameras
<update> <update>
<update>
<update>
Coordination Mode
MINEPROBE PROJECT

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Ahmed Abdel Hamid, Amr Nazih, Mohammed Ashraf, Alaa Khamis , "UGV Locomotion System for Rough Terrain", Second International Workshop on Recent
Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST 2016).
• Articulated Suspension and Arm Design
MINEPROBE PROJECT

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Mohammed Ashraf and Alaa Khamis , "Design of Robot Wheels for Rough Terrain - A Multi-criteria Optimization Approach", Second International Workshop
on Recent Advances in Robotics and Sensor Technology for Humanitarian Demining and Counter-IEDs (RST 2016).
• Wheel Design
MINEPROBE PROJECT

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• Hybrid Localization
RTKGPS
Data Processing (Perception)Data Acquisition (Sensing)
Data Cleansing
IMU
RTKGPS Filtering
IMU Filtering
State Estimation
RTKGPS Feature Extraction
IMU Feature Extraction IMU Localization
RTKGPS Localization
RTK GPS
Raw Data
IMU Raw
Data
Robot Pose
• To AM Module
• To Minefield Local
MappingModule
• To Telepresence
Module
Information Fusion
Pose Fusion
RTK GPS Pose
IMU Pose
MINEPROBE PROJECT

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• Multimodal Detection System
MINEPROBE PROJECT
Data Processing (Perception)
Data Acquisition (Sensing)
Data Cleansing
Ground Penetrating Radar
EMI Preprocessing & Filtering
GPR Preprocessing & Filtering
State Estimation
EMI Feature Extraction
GPR Feature Extraction GPR State Estimation
EMI State Estimation
EMISignal
GPRscan
Current Cell Status
• To Minefield Local
MappingModule
• To AM Module
Information Fusion
EMI/GPR Fusion
EMI state
GPR state
EMI Detector
Metrics/
Sensor
EMI GPR
Dual
sensor
Variance 0.11 0.04 0.0003
Probability of
detection (Pd)
0.5 1 1
Probability of
false alarm (PFA)
0.8 0.3 0
Muhammad Aly and Mohammed Ashraf, Alaa Khamis, “GPR
and EMI Information Fusion Approach to Landmine
Detection”, 2nd International Workshop on Robotics and
Sensor Technology for Landmine (RST 2016).

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Thank you for your attention!
Questions?

Humanitarian Robotics: Minefield Reconnaissance and Mapping

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