A Basic Unexploded Ordnance (UXO) Gathering System (BUGS), is under development at the Naval Explosive Ordnance Technical Division with a view to evaluate the use of small robotic machines in performing range remediation, battlefield, and administrative clearance operations. The increased use of Improved Conventional Munitions (ICMs), including antipersonnel mines that can be delivered by artillery rounds or by airdrops from cannisters, leaves the Services' EOD squads with the time consuming and dangerous task of clearing areas after hostilities cease. Small cheap robots are expected to aid in these operations by removing the human from the immediate area allowing EOD technicians to make decisions from a remote site as to which item to remove. Strategies for the combined usage of single high cost assets with many low cost BUGS to increase effectiveness, safety, and speed are sought and are the subject of simulation studies described herein. In particular, through simulations, we have developed performance data for the use of BUGS in "pick up and carry away" (PUCA) clearance operations.
Figure 1a. Output from the BUGS graphical simulator used on our research
to test and evaluate automous control algorithms, sensor suites, and performance
of various search strategies. This figure shows a six-legged robot carrying
a submunition (UXO) and approaching a RF beacon marking a disposal location.
The red beam indicates the direction and status of a simulated ultrasonic
sensor.
Figure 1b. Output from the updated graphical simulator. This figure
shows the Lemmings tracked vehicle in the foreground. The red circle indicates
the extent and status of a simulated magentic field sensor for detection
of metal objects (the M42 UXO in the foreground). Other sensors supported
by the current simulator include magnetic compass (indicated above the
vehicle) and DGPS receivers (with crosshairs on the ground indicating the
vehicles sensed position).
Figure 2. Disposable autonomous robots are currently being developed by Foster-Miller for this application. To the left is a diagram of their Lemming robot which has been built and tested in surf zone mine clearance exercises (design drawing courtesy of Ted Fischer, Foster-Miller).
Figure 4. Design of octopod robot for proposed shallow water MCM tasks (design drawing courtesy of Matt Arnold, K^2T, Inc.).