Semi-Automated Ferrous Material Scouring System
MR-201102
Objective
The objective of this project is to integrate and demonstrate a flexible semi-automated ferrous material scouring system (SAFMSS) for cost-effective removal of ferrous clutter on the surface and upper band of soil. Both day and night operations will be evaluated at Department of Defense (DoD) ranges and compared to manual approaches. In Phase I, a production rate of 1 acre per day (0.6 at night) is targeted to clear vegetation and remove ferrous debris. The removal of subsurface ferrous debris will be measured since this metric drives SAFMSS cost savings. The removal target is 25% (15% at night) subsurface ferrous debris. Phase II will conclude with a 2-week experiment that targets a production rate of 1.3 acres per day (0.8 at night) and 40% (25% at night) subsurface debris removal.
Technology Description
Built upon a commercially available Caterpillar excavator, SAFMSS gathers the ferrous debris with a high-strength electromagnet and scarifying implement installed on the excavator boom that sweeps out a 40-ft-wide path to produce a fairly smooth, vegetation-free surface for effective geophysical mapping. The system supports teleoperation and a "safe scour" operator-assist mode where the robot sweeps the magnet and releases the scrap into designated piles for inspection by unexploded ordnance (UXO) technicians and further segregation. The robot uses its lasers and cameras to perform obstacle detection (OD) and notifies the remote operator when the intended boom, stick, or bucket motion will result in a collision with an unexpected obstacle. The operator can either remove the obstacle using the bucket/thumb, inform the robot to continue, or maneuver around the obstacle. When the operator is satisfied that the work area is completed, he advances the machine forward approximately 20 ft using GPS positioning. The cycle then repeats.
The system to be demonstrated includes several sensors to support the "safe scour" mode of operation. A scanning laser sensor maps the ground surface and detects obstacles. Several cameras complement laser-based obstacle detection in certain situations. An innovative software/sensor package, SACR, provides a synthetic 3-D view for the remote operator. A high bandwidth radio link between robot and control station is used to transmit operator commands to the robot and return imagery and data from the robot.
Benefits
In comparing SAFMSS costs to traditional munitions and explosives of concern (MEC) remediation for a 200-acre range clearance project, a savings of $2.4 million or 29% of the total project cost is estimated (assumes that SAFMSS removes 33% of subsurface debris). If SAFMSS removes 50% of subsurface debris, the savings increase to $3.7 million or 43%. SAFMSS can lower MEC remediation costs for any DoD ground test range with primarily ferrous munitions, flat to gentle rolling terrain, moderate to light vegetation, and any soil type although soils with higher sand or loam content are ideal. Thus, SAFMSS has applicability to at least portions of the majority of DoD ranges. Successful night operation demonstrations of SAFMSS can enable 24/7 operations, reducing range downtime and providing active ranges with more operational flexibility. (Anticipated Project Completion - 2013)
Points of Contact
Principal Investigator
Mr. Christopher Fromme
National Robotics Engineering Center, Carnegie Mellon
Phone: 412-559-9766
Document Types
- Fact Sheet - Brief project summary with links to related documents and points of contact.
- Final Report - Comprehensive report for every completed SERDP and ESTCP project that contains all technical results.
- Cost & Performance Report - Overview of ESTCP demonstration activities, results, and conclusions, standardized to facilitate implementation decisions.
- Technical Report - Additional interim reports, laboratory reports, demonstration reports, and technology survey reports.
- Guidance - Instructional information on technical topics such as protocols and user’s guides.
- Workshop Report - Summary of workshop discussion and findings.
- Multimedia - On demand videos, animations, and webcasts highlighting featured initiatives or technologies.
- Model/Software - Computer programs and applications available for download.
- Database - Digitally organized collection of data available to search and access.