Mine Countermeasures Research Articles

Research on multi-UUV mission planning for mine countermeasures based on preferred multi-objective optimization

Facing rising maritime security threats, this study presents T-MOEA/D, a sophisticated evolutionary algorithm enhancing UUVs’ capabilities in mine detection and neutralization. The algorithm tackles the multi-objective challenge by balancing time and energy, integrating user preferences into its optimization process. It leverages genetic operators such as dual chromosome encoding and partially mapped crossover to evolve efficient solutions, outperforming T-NSGA-II and T-NSGA-III in hypervolume and operational time. The UUV, directed by T-MOEA/D, navigates to operational areas and employs StyleGAN and YOLOv9 for accurate mine perception, crucial for executing mine countermeasure tasks. The system’s effectiveness is confirmed through Unity3D simulations and real-world tests, demonstrating its practicality and reliability. The study’s findings offer strategic guidance for planning large-scale mine countermeasure missions with multiple UUVs, ensuring operational efficiency and safety in complex underwater environments. The Pareto optimal solutions align with user preferences, reflecting a tailored approach to mine countermeasure missions.

A Method for Multi-AUV Cooperative Area Search in Unknown Environment Based on Reinforcement Learning

As an emerging direction of multi-agent collaborative control technology, multiple autonomous underwater vehicle (multi-AUV) cooperative area search technology has played an important role in civilian fields such as marine resource exploration and development, marine rescue, and marine scientific expeditions, as well as in military fields such as mine countermeasures and military underwater reconnaissance. At present, as we continue to explore the ocean, the environment in which AUVs perform search tasks is mostly unknown, with many uncertainties such as obstacles, which places high demands on the autonomous decision-making capabilities of AUVs. Moreover, considering the limited detection capability of a single AUV in underwater environments, while the area searched by the AUV is constantly expanding, a single AUV cannot obtain global state information in real time and can only make behavioral decisions based on local observation information, which adversely affects the coordination between AUVs and the search efficiency of multi-AUV systems. Therefore, in order to face increasingly challenging search tasks, we adopt multi-agent reinforcement learning (MARL) to study the problem of multi-AUV cooperative area search from the perspective of improving autonomous decision-making capabilities and collaboration between AUVs. First, we modeled the search task as a decentralized partial observation Markov decision process (Dec-POMDP) and established a search information map. Each AUV updates the information map based on sonar detection information and information fusion between AUVs, and makes real-time decisions based on this to better address the problem of insufficient observation information caused by the weak perception ability of AUVs in underwater environments. Secondly, we established a multi-AUV cooperative area search system (MACASS), which employs a search strategy based on multi-agent reinforcement learning. The system combines various AUVs into a unified entity using a distributed control approach. During the execution of search tasks, each AUV can make action decisions based on sonar detection information and information exchange among AUVs in the system, utilizing the MARL-based search strategy. As a result, AUVs possess enhanced autonomy in decision-making, enabling them to better handle challenges such as limited detection capabilities and insufficient observational information.

A Visual-Inertial Pressure Fusion-Based Underwater Simultaneous Localization and Mapping System.

Detecting objects, particularly naval mines, on the seafloor is a complex task. In naval mine countermeasures (MCM) operations, sidescan or synthetic aperture sonars have been used to search large areas. However, a single sensor cannot meet the requirements of high-precision autonomous navigation. Based on the ORB-SLAM3-VI framework, we propose ORB-SLAM3-VIP, which integrates a depth sensor, an IMU sensor and an optical sensor. This method integrates the measurements of depth sensors and an IMU sensor into the visual SLAM algorithm through tight coupling, and establishes a multi-sensor fusion SLAM model. Depth constraints are introduced into the process of initialization, scale fine-tuning, tracking and mapping to constrain the position of the sensor in the z-axis and improve the accuracy of pose estimation and map scale estimate. The test on seven sets of underwater multi-sensor sequence data in the AQUALOC dataset shows that, compared with ORB-SLAM3-VI, the ORB-SLAM3-VIP system proposed in this paper reduces the scale error in all sequences by up to 41.2%, and reduces the trajectory error by up to 41.2%. The square root has also been reduced by up to 41.6%.

Automatic Classification of Unexploded Ordnance (UXO) Based on Deep Learning Neural Networks (DLNNS)

Abstract This article discusses the use of a deep learning neural network (DLNN) as a tool to improve maritime safety by classifying the potential threat to shipping posed by unexploded ordnance (UXO) objects. Unexploded ordnance poses a huge threat to maritime users, which is why navies and non-governmental organisations (NGOs) around the world are using dedicated advanced technologies to counter this threat. The measures taken by navies include mine countermeasure units (MCMVs) and mine-hunting technology, which relies on the use of sonar imagery to detect and classify dangerous objects. The modern mine-hunting technique is generally divided into three stages: detection and classification, identification, and neutralisation/disposal. The detection and classification stage is usually carried out using sonar mounted on the hull of a ship or on an underwater vehicle. There is now a strong trend to intensify the use of more advanced technologies, such as synthetic aperture sonar (SAS) for high-resolution data collection. Once the sonar data has been collected, military personnel examine the images of the seabed to detect targets and classify them as mine-like objects (MILCO) or non mine-like objects (NON-MILCO). Computer-aided detection (CAD), computer-aided classification (CAC) and automatic target recognition (ATR) algorithms have been introduced to reduce the burden on the technical operator and reduce post-mission analysis time. This article describes a target classification solution using a DLNN-based approach that can significantly reduce the time required for post-mission data analysis during underwater reconnaissance operations.

Multiple views in single‐path synthetic aperture sonar for mine counter‐measures classification and pre‐identification

AbstractThe authors present exploitation of Multiple Views in Single‐Path (MVSP) Synthetic Aperture Sonar (SAS). The authors demonstrate the interest of MVSP SAS for underwater Mine Counter‐Measures (MCM) with unmanned vehicles, to comply with requirements for performances of detection and classification and time constraints. The authors here lay the emphasis on exploitation in reduction of false alarms of classification by alleviating the ambiguity between mines and natural bottom objects. Finally, the authors show that MVSP SAS is offering a pre‐identification tool with high impact on MCM process duration.

Hardware accelerated ray-tracing in ocean acoustics

Due to the expense and complexity of real-world data collection, machine learning applications in ocean acoustics demand ever-faster and more realistic models for training. In this talk, I discuss some recent GPU technologies which support hardware accelerated ray tracing and how they can be exploited to boost the throughput of certain types of calculations. Firstly, I describe RTX-Prop, which is a large-scale range-dependent Gaussian beam model which benefits from hardware-acceleration of bounding volume hierarchy searches and geometry intersection calculations. Designed to ingest oceanographic forecasts from the Royal Australian Navy’s Bluelink system, RTX-Prop has been developed as an embedded model to support tactical decisions by autonomous underwater vehicles. In the second application, I discuss hardware acceleration in the context of high-frequency sonar simulation. By synthesising fine-scale environmental detail, we have previously shown that simulated imagery can be almost indestinguishable from real data. Simulated sidescan and SAS imagery from our S4 model has recently become the basis of a machine-learning pipeline for training detectors and classifiers for naval mine countermeasures. [Work supported by the Trusted Autonomous Systems Defence Coorperative Research Centre.]

FEATURE SUPPLICATION AND CLASSIFICATION MARITIME UNMANNED SURFACE VESSELS IN UKRAINE NAVAL FORCES

The work examines the relevance of the issue of the comprehensive development of the class of unmanned surface vehicles for the implementation of civil and military tasks at sea. The list of tasks that can be most successfully solved using unmanned surface vehicles has been determined. The most typical and relevant tasks at sea are various monitoring activities, search operations in accident areas, support of industrial activities, compilation and refinement of models of the sea floor relief, coastline, and so on. The circle of relevant military tasks has also been outlined, namely reconnaissance, damage to the enemy, protection of coastal areas, setup of mines, mine countermeasures, delivery of personnel and cargo to designated areas, and so on. An analysis of the characteristics of existing unmanned surface vehicles of the leading countries of the world has been conducted, as well as the possibilities of their application for the performance of a wide range of civil tasks at sea and features of their use as vehicles for carrying out military missions. It has been determined that in the process of further development, the main priorities are seen as increasing autonomy, equipping unmanned surface vehicles with modular executive systems, introducing artificial intelligence for direct control of unmanned vehicles and weapons, increasing the system's survivability, improving the technical characteristics of communication channels for information and task exchange. Currently, the most relevant channel for control is considered to be the satellite communication channel, as it is distance-independent, resistant to jamming and interception, and does not require significant energy consumption. Proposals have been made regarding the distribution of unmanned surface vehicles into classes, namely small, medium, and large, which cover all existing types of unmanned surface vehicles. The main terms and definitions of unmanned surface vehicles that are using in NATO countries have also been analyzed, and the main terms and definitions in this direction have been proposed. The purpose of the article is to make proposals for the development of unmanned surface vehicles and to identify promising areas for their use in solving various tasks at sea.

System based on autonomous aerial and maritime surface vehicles to identify sea mines and support the intervention team in the neutralization mission

As naval forces continue to be increasingly present in today's operational environment, European maritime forces are poised to successfully exploit autonomous mine countermeasures (MCM) technology, not only to save manpower but also to increase operational efficiency. Successfully detecting and removing mines from the maritime environment (especially drifting mines, which have re-emerged in the spotlight following the outbreak of war in Ukraine in February 2022) remains a key requirement for maritime forces trying to maintain the security of waterways and oceans around the world. The overall objective of the project, which is the subject of this paper, is to develop and integrate autonomous means (UAVs and USVs) into the concept of action of specialized forces for the search and identification of sea mines. As a starting point in the definition of the overall objective, it has been taken into account that the intervention of specialized forces to neutralize explosive devices involves a series of complex actions, including search, detection, identification, location-based assessment, safe destruction/neutralization, recovery, and destruction of improvised explosive devices or munitions.

MINE ACTION CENTER: MAIN ASPECTS OF ACTIVITY AND DEVELOPMENT PROSPECTS

Statement of the Problem. Ukraine is one of the ten countries with the most explosive contaminated territory, and this situation tends to worsen due to the scale of military operations and the use of so-called “mine warfare” tactics. Therefore, the сreation of an effective mine action system, taking into account the needs of safe demining of the territory of Ukraine from explosive objects, is a priority task at the national level.
 Analysis of recent research and publications. The analysis of professional literature has shown that the issues of creating an effective mine action system, improving the regulatory framework based on international experience, problems and ways to solve humanitarian demining, and the impact of explosive hazards on the environment are in the focus of attention of the scientific community. The issue of development and improvement of the mine action system has become even more urgent and requires further development taking into account the principles of international humanitarian law and measures to minimize the danger caused by explosive hazards.
 The purpose of the article is to study the activities and identify promising ways of development of the Center for Mine Action in the conditions of the legal regime of martial law.
 In Ukraine there is an effective mine action system with clear subordination to the National Mine Action Agency. In order to implement mine action measures in practice, the Mine Action Center was established, which has an effective mine clearance quality management system, including certification of mine action operators (Certification Agency) and control of demining quality (Inspection Agency).
 Within the framework of international cooperation, joint projects are implemented with foreign countries, international organizations and institutions, in which the Mine Action Center is an active participant. A system of training and advanced training of the Mine Action Center’s personnel involved in demining has been implemented.
 Promising ways of developing mine action within the competence of the Mine Action Center include the following: expanding the scope of accreditation of the Certification Agency; improvement of normative and legal acts of mine countermeasures (amendments to existing ones and creation of new ones); increasing the effectiveness of mine action tasks by conducting applied and fundamental research within the authority of the scientific research laboratory.

Underwater acoustic performance of SiC foam ceramic materials

One of the major tasks of the underwater warfare is to detect underwater objects such as vehicles, vessels, weapons and equipment. The conduct of underwater warfare mostly depends upon the advancement of detection and identification sensors and materials. The wide variation in types and characteristics of materials may affect the underwater detection capabilities despite recently developed sonar systems. The materials with high porosity are known to provide lower acoustical signature than conventional metallic plates in common. The aim of this study is to examine the acoustical signature and the efficiency of open celled SiC foam ceramics as covering and/or casing material for naval mines. Sonar frequencies widely used in mine countermeasure operations for detection purposes, 80 kHz, 85 kHz, 90khZ, 95 kHz and 100 kHz were applied to the acoustic tests. The experimental results obtained from the study shows that the SiC foam ceramic plate leads a 19,2% reduction in reflection, 90,5% and 96% lower values are obtained in transmission and 78,4% and 68,6% lower values are obtained at 60° and 30° in scattering compared to the reference steel plate.Article HighlightsThis study investigates underwater acoustic performance of open celled SiC foam ceramics the range of 80–100 kHz in the acoustic test pool environment for the very first time.Highly tortuose and porous structure of open celled SiC foam ceramic leads a considerable decrease in scattering, reflection and transmission properties.The study reveals that SiC foams ceramics are potential candidates in reducing acoustical signature as covering and/or casing material for future naval mine applications.

Experimental Study of Sandwich Strength Materials Made from Banana Fiber, as Advance Materials of the Unmanned Mine Sweeper (UMS) Hull

Mine countermeasures (MCM) is a sea operation that is very risky for personnel and material losses. The development of mine technology with the discovery of modern digital mines technology currently makes mine warfare strategies change, namely by relying on the unmanned minesweeper (UMS) as a mine detector, to mitigate the impacts and risks of sea mines on naval operations. UMS vessel size is 4.8m LoA, speed 2.57m/s and beam 2.24m. The main requirements for UMS are low magnetic, low vibration, and low hydrostatic. In this study, the author will make a sandwich material made from banana fibre as an Unmanned Mine Sweeper gastric material. The choice of banana fibre is because in addition to low magnetic, its availability is very abundant in Indonesia and the price is relatively cheaper than kevlar fibre. This study uses the technique of manufacturing vacuum assessed resin infusion (VARI). Then the strength test will be carried out with a tensile test, impact test and hardness test using the ASTM standard and compared with wood and fibre materials. The test results show that abaca banana fibre is capable of being used as an unmanned minesweeper hull material.

Absolute Localization of Targets Using a Phase-Measuring Sidescan Sonar in Very Shallow Waters

The detection, classification, and localization of targets or features on the seafloor in acoustic data are critical to many disciplines. This is most important in cases where human safety is in jeopardy, such as hazards to navigation, mitigation of mine countermeasures, or unexploded ordnance. This study quantifies the absolute localization of targets, in the form of inert unexploded ordnance, in very shallow waters (2–3 m) on two intertidal bottom types in a meso-tidal environment (tide range = ~3.0 m). The two sites, a sandy intertidal flat and a mixed sand and gravel beach with abundant cobble-sized material, were seeded at low tide with targets (wax-filled 60-, 81-, 105- and 155-mm, projectile and mortar shells). An RTK-GPS was used to collect positional data for the targets and an unoccupied aerial system (UAS) survey was conducted on both sites. At the next high-tide, a vessel-based acoustic survey was performed, and at the subsequent low tide, the targets were re-surveyed with RTK-GPS. We focus here on the sidescan backscatter from a phase-measuring sidescan sonar (PMSS) and the sources of uncertainty for absolute localization. A total of 1426 calls of acoustic targets were made within the sidescan backscatter data, yielding an accuracy of 0.41 ± 0.26 m, with 98.9% of all calls <1 m from their absolute location. Distance from nadir was the most significant source of uncertainty, and targets between 3–7 m had the lowest uncertainty (0.32 ± 0.23 m) with increasing values toward and away from nadir. Bathymetry and bathymetry-mode backscatter were less useful for the detection and classification of targets compared to sidescan backscatter, but once detected, the accuracy of absolute localization were similar. This is likely due to target calls from these two datasets that were orders of magnitude less and that focused on the larger sized targets, thus more work is needed to better understand these differences. Lastly, the absolute localization of targets detected on sandy and cobble bottoms for all datasets were statistically similar. These acoustic instruments, their datasets, and methods presented herein can better document the absolute localization within acoustic data for many uses in very shallow waters.

Experimental Study on the Vibration Transfer Function of a Small Autonomous Underwater Vehicle

This paper presents the experimental results about vibration characteristics of a small autonomous underwater vehicle (AUV) named OKPO 300. The autonomy of AUVs leads to the increased use of AUVs in scientific, military, and commercial areas because their autonomy makes it possible for AUVs to be utilized instead of humans in hazardous missions such as mine countermeasure missions (MCMs). It is impossible to use devices with electro-magnetic waves for gathering information in an underwater environment. Only sonar systems that use sound waves can be utilized underwater, and the performance of sonar can strongly affect the autonomy of AUVs. Since a thruster system that combines a motor and propeller in a single structure is widely used as the propulsion system of an AUV and is mounted on the outside of the AUV’s stern, the vibration generated by the thruster system can be transferred throughout the shell of the AUV from the stern to the bow. The transferred vibration can affect the performance of various sonar systems that are installed in the AUV such as side-scan sonar or forward-looking sonar. Therefore, it is necessary to identify the effect of the transferred vibration of the AUV on the sonar systems. Even if various numerical methods were used to analyze the vibration problem of surface ships, it would be hard to apply numerical methods of the surface ships to identify the vibration phenomena of an AUV because of the underwater environment. In this work, an experimental study with OKPO 300 and an impact hammer was carried out to analyze vibration features of an actual small AUV in the air. Based on the experimental results, the frequency response function of vibration is presented. Based on the experimental results of this study, the natural frequency of OKPO 300 was confirmed, and the possibility of estimating the vibration characteristics of AUV using the transfer function method was shown.

A prototype autonomous robot for underwater crime scene investigation and emergency response

AbstractUnderwater crime scene investigation and emergency response are tasks typically carried out by divers constituting part of a specialist team. Operating in such dynamic environments, often with poor visibility and risk of concealed hazards, can be time consuming and dangerous. Autonomous uncrewed vessels with underwater acoustic imaging sensors have been used for similar purposes in other fields (e.g., hydrography, naval mine countermeasures [MCMS], etc.) but have not been adopted in this specific application domain. The Police Robot for Inspection and Mapping of underwater Evidence (PRIME) is an autonomous uncrewed surface vessel that is being developed for this purpose. It is a novel application of existing robotic technology that is intended to be used within an end‐to‐end police and emergency underwater search process. It aims to enhance the effectiveness, efficiency, and safety of divers by autonomously locating and highlighting target objects or regions of interest, as well as benign regions, thereby reducing their time spent underwater. Side‐scan imaging sonars are used to sense the underwater environment using techniques leveraged from the similar application domain of naval MCMs. The system autonomously generates actionable intelligence in the form of simplified coverage and anomaly maps for easy interpretation by the dive team. These are communicated to shore in real‐time and georeferenced on satellite maps. This paper details the PRIME system prototype and presents results from initial field experimentation. The prototype has been operated in various urban, shallow‐water environments. The experimental results shown here were collected in Bristol Harbour (the UK) with a water depth of approximately 5 m. In the experiment, a clothed mannequin resembling a human body was deployed on the muddy floor. Autonomous searches were executed and the body was detected successfully as an anomaly against the background, illustrating the feasibility and viability of the system as an autonomous robotic aid for locating missing persons in a representative, unstructured, and dynamic real‐world environment.

Peculiarities of legal regulation of mine action in the country (based on modern international experience)

The problem of demining territories is very painful and relevant for all mankind, and especially for those countries that were in a state of armed confrontation or military conflict, because all civilians and soldiers, children and adults suffer from the unauthorized explosion of an explosive object. The purpose of the article is to conduct a well-founded and meaningful research in accordance with the specified topic, namely, regarding the activities of the countries of the world regarding the effective clearance of territories from explosive objects. During the scientific research and writing of the article, comparative, terminological, system-structural, statistical, dialectical, logical special and general scientific methods of scientific knowledge were used. In particular, the results of mine countermeasures of different countries of the world were specified using a comparative method; the system-structural method determines the sequence of presentation of the material from general information to more specific information; the statistical method was used for the analysis of actual data regarding the calculations of the features of mine action in various countries of the world in relation to Ukraine. The article proposes ways to implement mine countermeasures in Ukraine, taking into account world experience and features of the state's readiness for demining. The definition of the concept of mine action has been formulated. It was established that all mine action activities must be regulated in accordance with international legal acts. An analysis of the financial costs of mine action was carried out. It has been determined that it is necessary to conduct negotiations with specialized foreign organizations that would help organize the work on cleaning the territory of the state from explosive objects. The information presented in the article should be useful for scientists and practitioners studying the problems of mine action

ANALYSIS OF FACTORS AFFECTING THE PROCESS OF DEMINING THE TERRITORY CONTAMINATED BY EXPLOSIVE OBJECTS

The experience of conducting military operations in modern military conflicts has shown that one of their dangerous consequences is the contamination of territories with explosive objects which pose a threat to both the military and the civilian population. At the same time, one of the main problematic issues is the significant excess of the rate of mine weapons development in comparison with the rate’s development of mine countermeasures. Ukraine, due to the full- scale aggression of the Russian Federation is no exception, as it has found itself among the countries that are the most contaminated by explosive objects in the world that in its turn requires a large amount of time, forces and means for reconnaissance and demining of territories. At the same time the enemy uses the entire range of mine weapons available to him despite the prohibition of using some of their types by international conventions. In addition to mine weapons, unexploded ordnance poses a great danger. In order to carry out combat tasks related to the reconnaissance of the area for the presence of mines and the development of passages in minefields, clearance units are created from among servicemen of the engineering forces which are equipped with reconnaissance and demining kits. Demining teams from other ministries and agencies are created in addition to servicemen of the Armed Forces of Ukraine to clear territories of explosive objects under conditions of the absence enemy’s fire. The effectiveness of the above-mentioned tasks will largely depend on a number of external and internal factors.
 The article analyzes the main factors that affect the task effectiveness in reconnaissance of the area for the presence of explosive objects and demining as well as the creation and functioning of the remote-controlled demining system.

Diving Technology Design in a Mine Countermeasure System Part II Reliability

Abstract The article is another paper in an unintended series on designing the technology of diving [1,2,3]. It refers to the elements of the methodology1 used in the works to develop the technology of using the Mx/O_2-SCR CRABE SCUBA2 type diving apparatus in the mine countermeasure system as an example [4,5]. The previous article focused on the impact of the NATO Standardization Organization requirements on the purpose of the main process implemented in the system that constitutes the aforementioned diving technology. The present article discusses the reliability of the process implemented in the system.

Automatic Target Recognition for Mine Countermeasure Missions Using Forward-Looking Sonar Data

The detection of objects on the seafloor is a complex task. The domain of the detection and classification of naval mines is additionally complicated by the high risk nature of the task. Autonomous underwater vehicles (AUVs) have been used in naval mine countermeasures (MCM) operations to search large areas using sensors such as sidescan or synthetic aperture sonars. These sensors generally have a high coverage rate, while sacrificing spatial resolution. Conversely, sensors with higher resolution but lower coverage (such as forward-looking sonars and electro–optical cameras) are employed for the later classification and identification stages of the MCM mission. However, to autonomously execute a target reacquisition mission, it is important to be able to collect and process data automatically and, in near real time, onboard an AUV. For this purpose, an automatic target recognition (ATR) system is required. This article proposes an ATR, which can be used onboard an autonomous vehicle, capable of detecting mine-like objects in forward-looking sonar data. The ATR combines a detector and a classifier, based on convolutional neural network models, with a probabilistic grid map that filters out false positives and combines reported detections at nearby locations. A strategy, combining a survey pattern with target-mapping maneuvers automatically activated by the ATR, has been designed to maximize the performance of this ATR. The whole system has been tested in simulation as well as using data from previous MCM exercises, the results of which are presented here.

ФОРМУЛЮВАННЯ ПРОБЛЕМИ СТВОРЕННЯ ПЕРСПЕКТИВНИХ ДИСТАНЦІЙНО-КЕРОВАНИХ КОМПЛЕКСІВ РОЗМІНУВАННЯ НА ОСНОВІ АНАЛІЗУ РЕЗУЛЬТАТІВ ВЕДЕННЯ БОЙОВИХ ДІЙ ВУКРАЇНІ

The experience of conducting combat operations in modern military conflicts has shown that one of their dangerous consequences is the territory contamination with explosive objects, which pose a threat to both the military and the civilian population. At the same time, one of the main problems is the significant development rate excess of mine weapons compared to the development rate of mine countermeasures. Ukraine is not exception, which, due to the full-scale aggression of the Russian Federation, found itself among the most contaminated countries by explosive objects in the world, which in turn requires a large amount of time, forces and means for reconnaissance and demining of territories. The analysis of the explosive objects use in the Russian Federation war against Ukraine shows the enemy use of all available mine weapons, including prohibited by international conventions. A characteristic feature of the enemy mining of terrain is the wide use of remote mining systems, random mining, new mining methods and the installation of explosive objects in an uncooperative state. The analysis of the available demining means in the Ukrainian Armed Forces engineering units shows their obsolescence and low efficiency, as well as the absence of remote-controlled demining complexes. At the same time, the main method of performing demining tasks both in the combat operations conditions and in their absence is manual, which poses a great danger to sappers. Therefore, the creation of remote-controlled demining complexes is an urgent task.The specified problem is proposed to solve through the development of new operation principles of promising remote-controlled demining complexes, the justification of possible options for use the standard portable means of explosive objects search on remote-controlled mobile platforms according to the concept “Front-line Sapper”, the requirements justification for the structure and parameters of the specified complexes and the idea implementation of creating a database of technical images of known explosive objects on the basis of obtained experimental data on selected indicators (amplitude, period and signal frequency). The article, based on the posed scientific problem formalization using a theoretical-multiple approach, provides a functioning model of a promising remote-controlled demining complex, taking into account the experience of the enemy explosive objects use during the Russian Federation war against Ukraine, the means characteristics of their search and destruction.

A Review of Underwater Mine Detection and Classification in Sonar Imagery

Underwater mines pose extreme danger for ships and submarines. Therefore, navies around the world use mine countermeasure (MCM) units to protect against them. One of the measures used by MCM units is mine hunting, which requires searching for all the mines in a suspicious area. It is generally divided into four stages: detection, classification, identification and disposal. The detection and classification steps are usually performed using a sonar mounted on a ship’s hull or on an underwater vehicle. After retrieving the sonar data, military personnel scan the seabed images to detect targets and classify them as mine-like objects (MLOs) or benign objects. To reduce the technical operator’s workload and decrease post-mission analysis time, computer-aided detection (CAD), computer-aided classification (CAC) and automated target recognition (ATR) algorithms have been introduced. This paper reviews mine detection and classification techniques used in the aforementioned systems. The author considered current and previous generation methods starting with classical image processing, and then machine learning followed by deep learning. This review can facilitate future research to introduce improved mine detection and classification algorithms.