RETRACTED: An autonomous all terrain robotic system for field demining missions

Portugal, David; Cabrita, Gonçalo; Gouveia, Bruno; Santos, David C.; Prado, Jose

doi:10.1016/j.robot.2015.02.013

Cited by 18 publications

(8 citation statements)

References 40 publications

(46 reference statements)

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“…Because of the difficulty of deploying technology within these constraints, a human with a metal detector has remained the primary method of mine clearance since the 1950s [9,12,27]. Even though safer methods such as machine [7,17], robotic [30,33] or animal clearance [6,8,29,34] are available, their use is not widespread because machines are expensive to maintain and are constrained by terrain, while animals are difficult to train and are practically suited only for specific clearance scenarios [13,17]. As of 2005, there were 48 manual mine clearance programs worldwide [9].…”

Section: Background On Humanitarian Deminingmentioning

confidence: 99%

Petals

Jayatilaka¹,

Sengeh

Herrmann

et al. 2018

Proceedings of the 1st ACM SIGCAS Conference on Computing and Sustainable Societies

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To become proficient at landmine detection, novice deminers need to master several kinds of skills: the proper physical operation of the metal detector, the interpretation of the metal detector auditory feedback, and the abstract skill of constructing and interpreting mental representations of the "metallic signatures" produced by the buried objects. This last skill is particularly useful for safely dealing with mines laid out in cluster configurations, where their metallic signatures overlap and thus a danger exists that a deminer might either miss some of the mines or incorrectly assess their exact positions. However, some novice deminers find it challenging to learn how to properly reason about metallic signatures. We have developed Petals, a system that explicitly visualizes a trainee's metal detector operation history on a training task as well as the edge points of the metallic signatures that the trainee collected. Petals enables instructors to supervise multiple trainees at a time, to assess their performance at a glance, and to provide immediate and specific feedback both on the correctness of their final judgements about the number and positions of landmines, and on the process through which they arrived at their conclusions. The results of our field evaluations at the Humanitarian Demining Training Center showed that both the instructors and the trainees found the system a valuable addition to the training course. The results of a controlled study demonstrated that trainees who had access to Petals during training made significantly fewer errors (6% error rate) on relevant tasks during the final exam (which was conducted without Petals) than trainees who did not have access to Petals during training (those participants had a 21% error rate).

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Section: Background On Humanitarian Deminingmentioning

confidence: 99%

Petals

Jayatilaka¹,

Sengeh

Herrmann

et al. 2018

Proceedings of the 1st ACM SIGCAS Conference on Computing and Sustainable Societies

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“…It gives serious safety issues, as human operator is not out of the dangerous area. For increasing safety mechanical demining machines with remote control ability and autonomous robots with autonomous detection capability have introduced [27][28][29][30][31][32][33]. In these cases, the human operator is safe but not the machine.…”

Section: Safety Issuesmentioning

confidence: 99%

Robots for Humanitarian Demining

Hemapala¹

2017

Robots Operating in Hazardous Environments

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More than 100,000,000 anti-personnel mines have been laid in deferent part of the world by terrorists or government forces. The mines are cheapest weapon, built to make horrible injuries, afecting active people, with major falls-of into economic growth.Therefore, after or during a war demining is a big technological problem which needs to address by the governments. All demining activities can be classiied mainly in two different ways, military demining and humanitarian demining. Main objective of military demining is to make a quick safe path for troops and may be 80% clearing is enough for them. On the other hand, humanitarian demining target is to clear 100% to ensure the use of lands by people who are not involved in the conlicts for their day-to-day activities including farming. Mainly humanitarian demining has two tasks: detection and removal. Still the use of robots is questionable in this regard. Mainly robots work well for clean and reliable tasks. When the price to performance ratio is too high, they are academic toys. This chapter presents the overview of the available robotic technologies with a depth comparison between them by considering the appropriateness to the local context.

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“…Real-time kinematic (RTK) is an essential technology for many emerging applications that require accurate position information, such as autonomous outdoor robots and autonomous vehicles [1], [2]. RTK is a positioning technique that is based on carrier-phase ranging, which is orders of magnitude more precise than code-based ranging [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Deployment and Evaluation of a Real-time Kinematic System Using tinc-VPN Software

Liu

Ballal

Bruvelis

et al. 2020

2020 IEEE/ION Position, Location and Navigation Symposium (PLANS)

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Real-time kinematic (RTK) is the most popular GNSS-based precise positioning technique that is widely used in many navigation and control systems. RTK is a relative positioning method, which takes advantage of pseudo-range and carrier-phase observations received at a mobile GNSS receiver (rover) and a fixed base station. After fixing the integer ambiguities, the carrier-phase observables can be utilized for precise positioning such that RTK can estimate the rover's position with centimeter-level accuracy. In order to produce instantaneous location information, correction data needs to be effectively transferred from the base station to the rover via a communication link. Various ways of correction information transmission have been proposed over the years. In this work, we utilize the Networked Transport of RTCM via Internet Protocol (NTRIP) for data transmission. We establish the connection between the base station and the rover through a virtual private network (VPN), which allows the rover to communicate with the base station using a local IP address, regardless of the nature of the Internet connection on both sides. To study the impact of the quality of the Internet connection, especially with respect to latency, we evaluate the performance of RTK positioning under different Internet connection conditions. We carry out experiments using commercial GNSS RTK products.

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RETRACTED: An autonomous all terrain robotic system for field demining missions

Cited by 18 publications

References 40 publications

Petals

Petals

Robots for Humanitarian Demining

Deployment and Evaluation of a Real-time Kinematic System Using tinc-VPN Software

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