Countermine operations in very shallow water and surf zone: the role of bottom crawlers

Aponick, T.; Bernstein, C.

doi:10.1109/oceans.2003.178184

Cited by 9 publications

(3 citation statements)

References 1 publication

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“…Both are used routinely in water and land-based searches (examples include the SeaQuest Gradiometer and the SeaSpy Magnetometer), yet like GPR (below) very little has been published in the scientific literature on their use in water-based forensic searches, with the exception of UXO detection (see Nelson & McDonald, 2001, Pope et al, 1996, Lenham et al 2006. Zafrir et al, (2001) describe the use of mapping magnetic anomalies from a vessel in unexploded ordnance detection, whilst Aponick & Bernstein (2003) show how terrestrial line searches may be made in a 'crawler' style (a 'fingertip search' is the term more commonly used in police operations) in the intertidal zone for searches of weapons.…”

Section: Magnetometers and Underwater Metal Detectorsmentioning

confidence: 99%

The use of geoscience methods for aquatic forensic searches

Ruffell

Pringle

Cassella

et al. 2017

Earth-Science Reviews

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There have been few publications on the forensic search of water and fewer still on the use of geoforensic techniques when exploring aqueous environments. Here we consider what the nature of the aqueous environment is, what the forensic target(s) may be, update the geoforensic search assets we may use in light of these, and provide a search strategy that includes multiple exploration assets. Some of the good practice involved in terrestrial searches has not been applied to water to-date, water being seen as homogenous and without the complexity of solid ground: this is incorrect and a full desktop study prior to searching, with prioritized areas, is recommended. Much experimental work on the decay of human remains is focused on terrestrial surface deposition or burial, with less known about the nature of this target in water, something which is expanded upon here, in order to deploy the most appropriate geoforensic method in water-based detection. We include case studies where detecting other forensic targets have been searched for; from metal (guns, knives) to those of a nonmetallic nature, such as submerged barrels/packages of explosives, drugs, contraband and items that cause environmental pollution. A combination of the consideration of the environment, the target(s), and both modern and traditional search devices, leads to a preliminary aqueous search strategy for forensic targets. With further experimental research and criminal/humanitarian casework, this strategy will continue to evolve and improve our detection of forensic targets.

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Section: Magnetometers and Underwater Metal Detectorsmentioning

confidence: 99%

The use of geoscience methods for aquatic forensic searches

Ruffell

Pringle

Cassella

et al. 2017

Earth-Science Reviews

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“…[23] Some robots are inspired from natural creatures, such as robot turtle by Low et al [24], crab-like robot by Wang et al [25], lobster by Ayers et al [26], and snake-like robot AmphiBot I and II by Crespi et al [27,28]. We also have developed an amphibious snake-like robot.…”

Section: Introductionmentioning

confidence: 99%

A versatile locomotion mechanism for amphibious robots: eccentric paddle mechanism

Sun

Ma²

2013

Advanced Robotics

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Most of recently developed rescue robots can only be deployed to limited attacked regions after tsunami and the floods, due to their limited mobility on complex amphibious terrains. To access such amphibious environments with improved mobility, we propose a novel eccentric paddle mechanism (ePaddle) which has a set of paddles eccentrically placed in a wheel to perform multiple terrestrial, aquatic, and amphibious gaits. One of the advantages of our proposed ePaddle mechanism is its unique locomotion versatility introduced by the eccentric distance between the paddle shaft and the wheel center. We demonstrate this versatility by proposing five typical gaits for traveling on different terrains. For instance, wheeled rolling gait is used to achieve high-speed locomotion on even terrain. Legged gait is applied to travel on the rough terrains. To access the soft terrains where wheels slip and legs sink, a wheel-leg-integrated gait is performed by digging the paddle into the ground. To swim in the water, rotational paddling and oscillating paddling gaits are proposed. For each of these gaits, standard gait sequence is defined and joint parameters are calculated based on kinematics. An ePaddle prototype is then built and tested with the proposed gait sequences. Experimental results verify the design of the ePaddle mechanism as well as its versatile gaits.

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“…Rescue robots have been developed extensively in response to the damage caused by earthquakes and tsunamis. Mobile robots consisting of wheels [1] and tracks [2], the robotic turtle [3], the crab-like robot [4], robotic lobster [5] and snake-like robots [6] [7], were developed to perform search and rescue tasks, but few can be practically used in harsh amphibious environments. Therefore, new forms of robots must be developed to work in various adverse environments, such as waterlogged, sandy, muddy, or rocky land.…”

Section: Introductionmentioning

confidence: 99%