lunchtime learning session june 12, 2008 joe keranen joe eastman nemesis cambodia testing

Lunchtime Learning Session

June 12, 2008

Joe KeranenJoe Eastman

Nemesis Cambodia TestingNemesis Cambodia Testing

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Expanding the Realm of Possibility

OutlineOutline

1. Test Description and Purpose2. Customer Discussions3. Results4. Lessons Learned

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Test Description and PurposeTest Description and Purpose1. Test Description

a. 3 weeks durationb. KCTC lane types

i. 5 standard lanes (fairly flat) each with a different soil type

ii. 3 off road lanes (bumps, potholes, overgrown areas, etc.)

c. Collect data and set parameters on calibration section of lanes

d. On blind areas collect data at predetermined thresholds and give alarms to NVESD for blind scoring

2. Test Purposea. 100% probability of detection with

low false alarm ratesb. Characterize platform operation

and utility on off road lanesc. Prove system reliabilityd. Overseas logistics exercise

(shipping, packing, spares, etc.)e. Engage potential customers in

discussions of their operations and needs

f. Collect data from different soil types (clay, loam, sand, sandyclayloam, red laterite, native)

Kampong Chhnang

230

m

Standard Lanes

Off Road Lanes

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Test DescriptionTest DescriptionRed Laterite

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Test DescriptionTest DescriptionNative Dry

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Results – Offroad LanesResults – Offroad LanesNative Wet

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Customer Discussion HighlightsCustomer Discussion Highlights Golden West Humanitarian Foundation (Marcel)

• Golden West is based in United States (Los Angeles), non-profit• Deminers need a lot of tools in the tool box, take out the right tool for

the job (EMI, GPR, Mag, or combination of all of the above)• There is a distinction between road clearance and road reduction

- Road clearance is clearance of 100% of mines- Road reduction is clearance of 70-80% of mines, depends on how badly food needs to get to the end of the road

• Electromagnetic Induction, Ground Penetrating Radar, and Magnetometers are only sensors currently used in mine detection

• KCTC site was originally built to test chemical vapor (sniffer) sensors but sensors never performed well enough to warrant testing at KCTC

Cambodian Mine Action Center (Kinnett)• Three types of mine fields in Cambodia

1. Confirmed Mine Field2. Suspected Mine Field3. Residual Mine Field

• APs have been removed by locals but deeper ATs remain• Nemesis may work well in Eastern Cambodia (hard roads), not in Western

Cambodia (lots of flooding)• Eastern part of Cambodia is mostly UXO, Western part mostly mines• CMAC currently uses one Japanese flail system, bulldozer with tele-system• Average Cambodian deminer can barely read or write• Currently problems with mines near tree trunks and on slopes (per JS)• Impressed with video, GPS marking (per JS)

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Customer Discussion Highlights (cont.)Customer Discussion Highlights (cont.) Mines Action Group (UK, Nick)

• Knowledge of route clearance in Angola (low metal AT mines, No. 8)• Also knowledge of ongoing route clearance in South Sudan• Typically know what kind of mines you are going after• Max Plus system is used for brush cutting and sifting• Common practice to set up detectors for specific mines (calibration to

specific mine before beginning detection work)• Depth information needed with GPR detection alarms on OCU screen• A lot of mine strikes are on shoulders of roads (Sudan)• Off road lanes at KCTC are more harsh than roads in South Sudan• Currently they use a large loop system and push carts with automated

marking• Overpass wouldn’t be an issue if there were minimal ground pressure (ATs)• Deminer needs better images of GPR to call clutter himself, deminer doesn’t

necessarily need fully automated discrimination• He was impressed with speed of platform (1 kph)• He was given 15 km of roads to clear in Sudan, he found mine strike area and

focused on that several hundred meters, ran remaining 14 km quickly to assure they got everything

• May get local knowledge but not all the time• They will sometimes chase mines • Each situation is different• QA done with external sampling• Manual deminers chase mines, leave rest of area to dogs or mechanical

clearance

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Customer Discussion Highlights (cont.)Customer Discussion Highlights (cont.)• Waypoint nav, vector driving not practical for the most part• In Cambodia less than 1% road clearance, mostly fields

• Lebanon – no roads• Iraq – no roads• Sudan – 40% road clearance• Angola, no specific numbers but they have a route clearance team there

right now• Must overlap coverage to assure clearance• Physical marking is big with real deminers

Tour of CMAC training facility• Use large loop EMI for uxo, has audio signal and voltmeter• Use Minelab F3 to pinpoint center of uxo, mine• Use dogs to detect TNT• UXO depths

• 250 lb bomb – 3 meters• 500 lb bomb – 5 meters• MK84 – 8 meters, use magnetometer to get that deep

• 210 current deminers in CMAC• CMAC has a survey team that gathers information from locals• One week of training required to go after UXO• Three weeks required to go after land mines

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Results - TargetsResults - Targets

Diameter: 305 mm Height: 108 mm Operating pressure: 120–400 kg (21 kg tilt pressure) Weight: 8.6 kg Explosive content: 5.7 kg of TNT

Fuzes: MV-5 pressure, MVM pressure, MVSh-46 tilt rod

TM-46 AT Mine

Diameter: 316 mm Height: 102 mm Operating pressure: 120–400 kg or 21 kg tilt. Weight: 8.47 kg Explosive content: 6.34 kg of TNT, TGA (RDX/TNT/Aluminium) or MS (RDX/TNT/Aluminium/Wax) Fuse: MVZ-57 pressure,MVSh-57 tilt with MD019 detonator

TM-57 AT Mine

TYPE 69 Bounding Fragmentation AP MineDiameter: 60 mm Height: 168 mm Operating pressure: 120–400 kg or 21 kg tilt. Weight: 1.35 kg Explosive content: 104.9 g of TNTFuse: pull/pressure-actuated containing a spring-loaded, cocked firing pin

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Results – ROC CurvesResults – ROC CurvesStandard Lanes 1 - 4

Lane Types = Loam, Sand, Red Laterite, Sandy/Clay/Loam

Scoring Halo = 0.25 m17 TM - 46 depths 2.5 -30 cm9 TYPE 69 depths 2.5 -30 cmCoverage = 1550 m^2

Lane Type = ClayScoring Halo = 0.4 m4 TM - 46 depths 2.5 -30 cm2 TYPE 69 depths 2.5 -30 cmCoverage = 175 m^2

Standard Lane 0

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Results: TM - 46 ImagesResults: TM - 46 ImagesEMI - Mono GPR - YZ

2.5 cm

12 cm

20 cm

30 cm

Depth EMI – F8 GPR - XZ GPR - XY

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Lessons LearnedLessons Learned

Lots of potential discrepancies between blind scoring performance and true operational performance.

1. EMI can sense mines off to the side - Good operationally, potentially bad for blind scoring

Pass 1

Pass 2

Type 69 (s)

TM-46 (s)

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Lessons LearnedLessons Learned 2. Need to better incorporate roll and pitch into GPS position.

GPS Antenna

error

Ground

3. Heading from NCU very accurate, especially on curves, but spiky from time to time.

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Lessons Learned (cont.)Lessons Learned (cont.)

Clustering of mine with clutterMono F8 Decision Statistic Map

TM

- 46 TY

PE

69

CLUT

GPR false alarms when encountering berms

Situation

Ground

Gpr Array

GPR Alarms Berm and Non-Berm Channels

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Lessons Learned (cont.)Lessons Learned (cont.) Have to have sensor coverage on OCU

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Lessons Learned (cont.)Lessons Learned (cont.)

When testing overseas it’s a good idea to have a spare person in addition to spare hardware

Excellent job by Eastman, Wetzel, and Miller deciding what to be sent in first shipment and what to be sent in second shipment.

Lots of work making alarm GPS locations accurate- For scoring purposes only- Physical marking more important for actual demining operations.

Need to research how to statistically set thresholds

Investigate noise in gpr due to raising / lowering arms

Noisy raw dataminus normal raw data

Noise Issue

Create better detection display (different GPR views, GPS coverage, etc.)

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The EndThe End

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The EndThe End

lunchtime learning session june 12, 2008 joe keranen joe eastman nemesis cambodia testing

Documents

road lanes slide

realm of possibility

mines road reduction

road lanes c

road lanes bumps

js slide

test purpose

standard lanes