Explosive Disposal Research Articles

The Design of Intelligent Grasping Control System for a Special Operation Manipulator

In this paper, the control system of intelligent grasping for a special operation manipulator is designed to complete disaster relief, fire fighting, explosive disposal and the like for replacing human beings. The control system of the special operation manipulator is needed to have the characteristics of multiple terminal functions, accurate end accuracy and high system reliability and redundancy within outdoor environment. It puts forward higher requirements for the manipulator performance and operator. After analyzing the work requirements of the manipulator, the D-H parameters and motion space is calculated for further research. The forward and inverse kinematics models are built to make the control system into reality. The target grasping is achieved by using the force and position hybrid control and single joint/end control methods. The intelligent recognition system based on machine learning is constructed. The simulation training based on machine learning is carried out by using the back image of the end camera of the manipulator to help the operator locate the target quickly and accurately. Finally the special operation manipulator is used to carry out the target intelligent grasping experiment based on visual guidance. The test results show the effectiveness of the control system design. Thereby it is suitable to be promoted to other robot or manipulator control system design.

Demobilization, Disarmament, and Reintegration and Broader Post-Conflict Policy-Making

The research focuses on DDR and broader post-conflict policy-making. For the process to attract compliance it is indispensible to look at the larger picture. International assistance and mechanisms play a significant role especially with regard to protracted conflicts where there is immense trust deficit and several parties to the conflict. DDR minimally consists of: Disarmament, defined as ‘the collection, control, and disposal of small arms, ammunition, explosives and light and heavy weapons of combatants and often also of the civilian population’; Demobilization, which is ‘the process by which armed forces (government and/or opposition or factional forces) either downsize or completely disband’; and Reintegration programmes, which are ‘assistance measures provided to former combatants that would increase the potential for their and their families’ economic and social reintegration into civil society’. There is the need for an additional R - Rehabilitation. This was included in the Liberian programme. Though it is not as well defined, and refers primarily to psycho-social and related services, its importance cannot be discounted. While disarmament and demobilization are primarily seen through a security lens; reintegration is often represented as a development imperative. My hypothesis would suggest delinking disarmament and demobilization from reintegration. Thus a clear division of tasks would be essential with specialized bodies taking up reintegration for combatants and non-combatants. During the formulation of these three stages it is also necessary to build special programmes for mid level commanders and female combatants. Further the involvement of women at all these stages would also help with compliance and reducing the trust deficit. However, it must be noted that a straight jacket formula where one size fits all cannot be the approach. The peace agreements/disarmament agreements would be the basis for innovation. Having a third party guarantor might be of relevance in certain contexts. Finding a common goal among parties would be the key to global diplomacy. There must be an integration of national elements that could also help facilitate the process. Apart from a mapping, where local involvement is important, programmes of sensitisation and awareness in order to ensure misinformation and false promises are not perpetuated must be undertaken. Some of the obstacles that have arisen time and again are unconscious creation of a market for ex combatants and reinforcement of existing corrupt practices and power dynamics. These must be avoided by setting up of a monitoring committee. While the international mechanisms must separate security and development goals these must work in tandem. Each context would require an independent analysis to decide what level of international assistance would be beneficial. With regard to the disarmament and demobilization (DD the implementation environment; the capability and resources of the international implementers: the attitudes of the warring parties; and effective verification. In my research, I would like to highlight: • the importance of the peace agreement/disarmament agreement and the role the international community can play in ensuring that it has an in-built flexibility to change, modify and adapt in order to achieve realistic goals; • the increasing role of business entities in security and harnessing their capacities to help with compliance of the DD • awareness of the process; sensitization a tool to winning trust and satisfaction of the people as the means to improving compliance; • availability of alternatives to rearming and finding a commonality of goals; and • role of women in compliance mechanisms. Implementation of peace is a complicated process. There can be no standard model for this. There must also be consideration of complete disarmament vs. socio-cultural justification of arms. Demobilization has to work in tandem with providing re-integration and a follow up via rehabilitation. One of the stumbling blocks is a trust deficit in the process. For this purpose verification is essential to check on implementation and must be incorporated in the agreement. Hence the agreement needs to be innovative and flexible. It’s the basis for what is to follow.

A generic framework of intelligent adaptive learning systems: from learning effectiveness to training transfer

ABSTRACTThis paper provides guidance for adaptive learning systems designers by reviewing the evolution of learning theories and their associated progress, which is enabled by computers, artificial intelligence and augmented cognition. A generic conceptual framework of intelligent adaptive learning systems is discussed in detail for individualised learning. The utility of such design methodologies is illustrated through an example of a customised intelligent tutoring system for improvised explosive device disposal operator training. This testbed approach is the first phase of truly determining the utility and effectiveness of intelligent adaptive learning systems for multiple fields of use in the ever complicated spectrum of society's education and training needs.

Analysis of the bacterial strains using Biolog plates in the contaminated soil from Riyadh community.

Routine manufacture, detonation and disposal of explosives in land and groundwater have resulted in complete pollution. Explosives are xenobiotic compounds, being toxic to biological systems, and their recalcitrance leads to persistence in the environment. The methods currently used for the remediation of explosive contaminated sites are expensive and can result in the formation of toxic products. The present study aimed to investigate the bacterial strains using the Biolog plates in the soil from the Riyadh community. The microbial strains were isolated using the spread plate technique and were identified using the Biolog method. In this study we have analyzed from bacterial families of soil samples, obtained from the different sites in 5 regions at Explosive Institute. Our results conclude that Biolog MicroPlates were developed for the rapid identification of bacterial isolates by sole-carbon source utilization and can be used for the identification of bacteria. Out of five communities, only four families of bacteria indicate that the microbial community lacks significant diversity in region one from the Riyadh community in Saudi Arabia. More studies are needed to be carried out in different regions to validate our results.

Serious Gaming for Improvised Explosive Device Neutralization Training

An improvised explosive device (IED) is a “homemade” bomb intended to cause great harm when it explodes. The public safety task of identifying and neutralizing IEDs falls to military and police services often called explosive disposal units (EDU) who act to neutralize the threat associated with the IED either rendering it inoperable or destroying it safely. EDUs train in various aspects of explosive handling and investigation but are limited in the tools available for safely analyzing real world bombs. This paper describes a game based approach to IED training that employs an interactive 3D simulation to spatially identify key IED components of interest. We give an example of how this approach might be used and provide a preliminary evaluation of its potential effectiveness. We employ images formed from a Digital Imaging and Communications in Medicine (DICOM) system captured using Magnetic Resonance Imaging (MRI) technology to a virtual IED in a game. Empirical evaluation and EDU testimony suggest accurate representation of the IED and the potential efficacy of the proposed approach for successfully identifying components in the bomb for the purposes of EDU training.

"Cold combustion" as a new method of toxic waste destruction

This article describes a promising new method for the destruction of toxic industrial waste, obsolete pesticides and military poisons and explosives. The proposed method can be used to create mobile modular units that will produce the destruction of the "field", to clean the soil and water containing low concentrations of a pollutant, to solve the problem of disposal of explosives, which is often accompanied by the destruction of uncontrolled detonation. The proposed method is environmentally friendly, using ice as the working body

상세 모델링을 통한 RDX 연소 동특성 분석

수명이 도래한 고에너지물질의 처리를 위해 환경오염 및 안전성, 처리용량 등을 고려해야 하며, 현재 가장 주목 받고 있는 처리방식은 소각처리공정이다. 그러나 처리대상 고에너지물질의 종류가 매우 다양하고, 특성 또한 다르기 때문에 범용적 기술개발이 힘든 실정이다. 본 연구는 상세 수학적모델링 및 동적모사를 통하여 가장 널리 사용되는 고에너지물질의 하나인 고폭약(research department explosive, RDX)을 플러그흐름반응기(plug flow reactor, PFR)에서 소각 시 반응기 내부의 물리-화학적 변화를 예측하였다. 본 연구에서 사용된 RDX반응은 263개의 상세한 기초반응식으로 이루어져 있으며 43개의 성분이 반응에 관여한다. 모사결과 반응기 내부온도를 제어하여 RDX의 민감성을 통제할 수 있었다. 반응기 내부온도를 1,200 K로 유지 할 때 RDX는 분해반응만 일어나 폭발과 같은 큰 에너지 방출을 막을 수 있었으나 공급되는 열원이 높아져 1,300 K이상 반응기 온도가 증가 시에는 3,000 K 이상의 온도상승을 수반하는 발화반응이 일어났다. 본 연구를 통하여 반응기의 운전온도변화에 따른 RDX반응 특성을 제시함으로써 효율적인 RDX소각로 공정설계 및 운전에 기초가 될 것으로 사료된다. In the treatment of spent high energetic materials, the issues such as environmental pollution, safety as well as working capacity should be carefully considered and well examined. In this regard, incineration has been recommended as one of the most promising processes for the disposal of such explosives. Due to the fact that high energetic materials encompass various types and their different characteristics, the technology development dealing with various materials is not an easy task. In this study, rigorous modeling and dynamic simulation was carried out to predict dynamic physico-chemical phenomena for research department explosive (RDX). Plug flow reactor was employed to describe the incinerator with 263 elementary reactions and 43 chemical species. Simulation results showed that safe operations can be achieved mainly by controlling the reactor temperature. At 1,200 K, only thermal decomposition (combustion) occurred, whereas increasing temperature to 1,300 K, caused the reaction rates to increase drastically, which led to ignition. The temperature further increased to 3,000 K which was the maximum temperature recorded for the entire process. Case studies for different operating temperatures were also executed and it was concluded that the modeling approach and simulation results will serve as a basis for the effective design and operation of RDX incinerator.

Microbial degradation of expired slurry explosives in mines: a review

Minerals are mostly produced from opencast and underground mines and blasting is an essential operation in India. Mining explosives and initiating accessories are used for removing overburden rocks and to produce minerals. Ammonium nitrate fuel oil (ANFO), emulsion (Water-in-Oil) and water gel slurry explosives are used in the blasting operations. In India, the quantity of cartridge slurry and bulk slurry explosives used in mining is approximately 30% of the total mining explosives consumed in the country. Huge amounts of slurry explosives deteriorate in storage, as their properties become impaired, and they should be discarded safely. The only method for disposal of slurry explosives is open burning, which creates air pollution. This paper reviews the characteristics of uni-molecular and slurry explosives and their available disposal methods.

Study on the Grasping Ability and Optimization of Multi-Fingered Robot Hands under Different Postures

A multi-fingered hand has been used in the explosive Disposal Robot to improve the disposal ability of explosive. Grasping ability of the multi-fingered hand is a problem with the change of grasping posture. This paper discusses grasping ability of the multi-fingered robot hand. Screw theory and BP neural network are used to optimize the joint angle of the finger. The most favorite grasping posture is calculated when the multi-fingered robot hand can withstand the largest external wrench. In order to guarantee the explosive not to be exploded under the exceeding grasp force, the weight of the explosive the multi-fingered hand can hold is also discussed in this paper. It is an important theoretical guidance for the multi-fingered robot hand handling of hazardous items.

Self-Organizing Fuzzy Haptic Teleoperation of Mobile Robot Using Sparse Sonar Data

Mobile robot teleoperation has been used in many areas of industrial automation, such as explosives disposal, nuclear waste manipulation, freight handling, or transportation. Here, the commonly provided audio-visual feedback often resulted in an inadequate perception of the remote environment. Haptic augmentation was shown to improve and positively enhance the control of the mobile robot. This paper presents novel self-organizing fuzzy adaptive mapping algorithm (SOFAMap) for a haptic teleoperation of mobile robots. The SOFAMap algorithm was specifically developed for a mobile robot with a rotational sonar sensory system, constituting an alternative to a traditionally used multisonar array. The main contributions of this paper are the following: 1) development of a specific self-organizing environment mapping structure inspired by the growing neural gas algorithm; 2) incorporating a fuzzy controller into the algorithm to adapt to robot's motion; and 3) resolving typical issues such as sensor noise, communication time delay, and low sampling rate. The experimental testing was performed in both virtual environment and on a real robotic platform, consisting of a Lego NXT mobile robot and a Novint Falcon 3-DOF haptic interface. The results showed that a high-fidelity haptic feedback can be successfully generated using a simpler and more affordable rotational sonar sensory system, as opposed to the typical multisonar array. Furthermore, it was demonstrated that the SOFAMap algorithm improves the operator's awareness of unstructured environments, making it applicable to wide range of mobile robot teleoperation systems.

MIMO fuzzy sliding mode controlled dual arm robot in load transportation

The control problem of the cooperative motion of a two-link dual arm robot during handling and transportation of an object was studied in this paper. Since these types of robots are frequently preferred for hazardous applications such as transportation of radioactive materials and disposal of explosives, a robust non-chattering sliding mode controller (SMC) improved by a multiple-input multiple-output (MIMO) fuzzy logic unit was applied to the robot to track the desired trajectory with high accuracy and transport the load safely. In order to assess the performance of the proposed MIMO fuzzy sliding mode controller (MIMO-FSMC) in presence of parameter variations and external disturbances, a sudden load variation and noise were introduced to the robot system. If compared with classical SMC, tracking errors with smaller magnitudes and faster convergence to zero were obtained by using the proposed MIMO-FSMC. Numerical results suggest that this type of control method may safely be used for cooperative motion control of dual arm robots in load handling and transport applications in hazardous environments with high accuracy.

Load transportation by dual arm robot using sliding mode control

In this study, a sliding mode controlled dual arm robotic system was designed. Such multi-arm, collaborative and synchronous robots typically are employed in hazardous situations such as radioactive materials transport explosives disposal and industrial applications. In the present study, a high performance, robust, non-chattering sliding mode controller (SMC) was developed for the purpose of safe load handling, transportation and trajectory realization. First, dynamic equations of robot/load interaction were derived. Then, the robust SMC was designed for the dual arm robotic system. In order to test the robustness of the proposed SMC, parameter variations and external disturbances were introduced to the system. Furthermore, for comparative purposes, the conventional and widely used, PID controller was also applied to the dual arm robot. Significantly, it was found that the SMC made smaller trajectory tracking errors than the PID controller. An overall analysis of the numerical results confirmed that the dual-arm robotic systems with the proposed SMC can safely and effectively be used in hazardous applications.

Enhanced Transformation of TNT by Tobacco Plants Expressing a Bacterial Nitroreductase

The manufacture, disposal, and detonation of explosives have resulted in the pollution of large tracts of land and groundwater. Historically, 2,4,6-trinitrotoluene (TNT) is the most widely used military explosive and is toxic to biological systems and recalcitrant to degradation. To examine the feasibility of enhancing the ability of plants to detoxify the explosive TNT, we created transgenic tobacco (Nicotiana tabacum) constitutively expressing the nsfI nitroreductase gene from Enterobacter cloacae. The product of TNT reduction by the nitroreductase was found to be 4-hydroxylamino-2,6-dinitrotoluene (4-HADNT). Characterization of the transgenic lines in sterile, aqueous conditions amended with TNT demonstrated that these plants were able to remove all of the TNT from the medium at an initial concentration of 0.5 mM (113 mg L−1) TNT. In contrast, growth was suppressed in wild-type plants at 0.1 mM (23 mg L−1). Following uptake, transgenic seedlings transformed TNT predominantly to 4-HADNT and its high levels appeared to correlate with enhanced tolerance and transformation of TNT. Transformation products of TNT were subsequently conjugated to plant macromolecules to a greater degree in transgenic tobacco, indicating enhanced detoxification compared to the wild type.

Voltammetric determination of nitroaromatic and nitramine explosives contamination in soil

The contamination of soil by nitroaromatic and nitramine explosives is widespread during the manufacture, testing and disposal of explosives and ammunitions. The analysis for the presence of trace explosive contaminants in soil becomes important in the light of their effect on the growth of different varieties of plants and crops. 2,4,6-Trinitrotoluene (TNT), cyclotrimethylene trinitramine (Research Department explosive, RDX) and cyclotetramethylene tetranitramine (high melting point explosive, HMX), other related explosive compounds and their by-products must be monitored in soil and surrounding waterways since these are mutagenic, toxic and persistent pollutants that can leach from the contaminated soil to accumulate in the food chain. In this study, a voltammetric method has been developed for the determination of explosive such as RDX, HMX and TNT. The electrochemical redox behavior of RDX, HMX and TNT was studied through cyclic voltammetry and quantitative determination was carried out by using square wave voltammetry technique. Calibration curves were drawn and were linear in the range of 63–129 ppm for RDX with a detection limit of 10 ppm, 49–182 ppm for HMX with a detection limit of 1 ppm and 38–139 ppm for TNT with a detection limit of 1 ppm. This method was applied to determine the contaminations in several soil samples that yielded a relative error of 1% in the concentrations.

Uptake and Metabolism of TNT and GTN by Plants Expressing Bacterial Pentaerythritol Tetranitrate Reductase

The manufacture and improper disposal of explosives has resulted in a significant amount of land requiring remediation. The compound 2,4,6-trinitrotoluene (TNT) is the most persistent and toxic of the explosive pollutants with current treatment methods being energy intensive and costly. Bacterial enzymes such as pentaerythritol tetranitrate reductase (PETNR) from Enterobacter cloacae PB2 have been found to have activity against TNT; however, microbes often lack the biomassnecessary for remediation applications. The PETNRgene (onr1) was transformed into tobacco plants in an attempt to combine the metabolic diversity of microbes with the sequestering properties of plants. The resulting transgenic plants were shown to have enhanced tolerance to TNT during germination and as seedlings. Phytoremediation applications with these plants may provide an alternative treatment of TNT contamination.

Biological monitoring of dinitrotoluene by gas chromatographic–mass spectrometric analysis of 2,4-dinitrobenzoic acid in human urine

The method of analysis described permits the determination of 2,4-dinitrobenzoic acid down to the lower μg l −1 range in the urine of persons exposed to dinitrotoluene. 2,4-Dinitrobenzoic acid is the main metabolite of 2,4-dinitrotoluene and technical dinitrotoluene. After acidic hydrolysis, which served to release the conjugated part of the 2,4-dinitrobenzoic acid, the analyte was selectively separated from the urine matrix via various extraction steps and then derivatised to the methyl ester. Quantitative analysis was carried out using capillary gas chromatography and mass selective detection. 3,5-Dinitrobenzoic acid was used as an internal standard. The detection limit was 1 μg l −1 urine. The relative standard deviations of within-series imprecision were between 5 and 6%. The relative recoveries were between 91 and 110% depending on the concentration. The analytical method developed as part of this study was used to investigate a collective consisting of 82 urine samples from persons working in the area of explosives disposal. The concentrations of 2,4-dinitrobenzoic acid determined ranged from the detection limit to 95 μg l −1 urine. The method allowed the quantification of low-level internal exposure to dinitrotoluene.

Recycling and disposal of munitions and explosives

In the Netherlands, demilitarisation research is concentrated at the organisation for applied scientific research TNO. Over 150 years of experience with munitions and explosives of the TNO Prins Maurits Laboratory adds up to the almost 50 years of experience in waste treatment, incineration technology and exhaust cleaning of the TNO Institute of Environmental Sciences, Energy Research and Process Innovation. Starting with the reversed assembly of munitions, followed by the separation of explosives and metal parts, TNO studied possibilities for recycling these components. Metal parts and plastics can be recycled. From our investigations it turned out that controlled combustion is the most mature, promising and universally applicable technique for the disposal of organic explosives that are not suitable for recycling. Controlled combustion makes use of a closed furnace system; most promising for the situation in the Netherlands seems to be the Fluidised Bed OveN (FBO). Additional scrubbing systems (dry chemical/wet) are employed to remove the remaining hazardous products like HCl, SO 2, NO x.

CONVERSION OF HIGH EXPLOSIVES

The disposal of high explosives was not a problem prior to German reunification. Large quantities (300,000 tons) of old and substandard munitions were acquired when the former German Democratic Republic (GDR) was reunited with the Federal Republic of Germany (FRG). This paper evaluates processes available for the conversion of high explosives, and concludes that an affordable and readily available method for the destruction of high explosives from old ordnance is controlled burning.

CONVERSION OF HIGH EXPLOSIVES

The disposal of high explosives was not a problem prior to German reunification. Large quantities (300,000 tons) of old and substandard munitions were acquired when the former German Democratic Republic (GDR) was reunited with the Federal Republic of Germany (FRG). This paper evaluates processes available for the conversion of high explosives, and concludes that an affordable and readily available method for the destruction of high explosives from old ordnance is controlled burning.

An autonomous cable winding and pay-out system for mobile robots

A reliable communication link between a supervisory computer and a mobile robot is essential for achieving various mission goals, especially those related to hazardous and explosive material handling. Coaxial copper and fiber-optic cable proved to be much more reliable than aerial communication links. Aerial communication used with explosive disposal robots allows for possible terrorist interference making cable communication a requirement. The main problem in using a cable is that it has to be carefully paid out and stacked on the winding spool when the vehicle is moving from/towards the operator. Clearly, the cable can not be dragged by the robot since the typical radius of a mobile robot is 200 to 500 m. Therefore, building a winding system capable of performing smooth and neat cable winding and pay-out operation is crucial for the overall robot reliability. Unfortunately, research in the area of mobile robotic systems has traditionally been focused elsewhere. For this reason a winding system was developed conceptually, and a prototype was built. Hundreds of experiments were performed before completing the work. The developed prototype has unique features including: (i) full independence of the robot control/sensorial system, that is, it is autonomous with respect to the vehicle carrying it; (ii) handling different cables without any readjustment of the control system; and (iii) a sophisticated safety system to prevent irregular cable handling. The paper includes the description of the developed prototype, the underlying conceptual ideas, as well as experimental results.