R2C2 Robo Clearance
Transcript of R2C2 Robo Clearance
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 1/22
Force Protection BranchRobotics Research Team
850-283-3725
Air Force Research LaboratoryAirbase Technologies Division
Tyndall Air Force Base, Florida
Active Range Clearance
DISTRIBUTION STATEMENT A: Approved for Public Release, distribution unlimited.
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 2/22
2
Overview Overview
Contact InformationContact Information
MissionMission
ARC Robots ARC Robots
ARC Overview ARC Overview
ARC Experiments ARC Experiments
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 3/22
3
Robotics Mission Robotics Mission
The Air Force’s Robotics Research Team conducts research and
development of advanced robotic technologies and systems to protect,
support and augment the warfighter in the accomplishment of
Dull, Dirty, Dangerous, and Impossible Missions.Dull, Dirty, Dangerous, and Impossible Missions.
Robotics Research Team Mission
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 4/22
4
ARC Mission ARC Mission
Active Range Clearance (ARC) Mission
Active Range Clearance Technologies focus on developing solutions
to support autonomous robotic construction machinery to perform
geophysical mapping, ordnance clearance, removal of residue
on DoD ranges, Formerly Used Defense Sites (FUDS), and Base
Realignment and Closures (BRAC) Sites. Remote systems will be
capable of operating independently for mapping, neutralizing, collecting,
and processing unexploded military munitions and range scrap.
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 5/22
5
Development of a system of platforms operatingcooperatively to support andaugment EOD personnel in thedisposal of UXO and removal of residue on military trainingranges
Address multi-servicerequirements for mine fieldbreaching and area clearance
Reduce range decontaminationcosts and time
Improve range managementprocesses
Meet DoD objective to reducerisk of inadvertently transferringproperties containing munitionitems or hazardous constituentsto the public
Active Range Clearance Active Range Clearance
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 6/22
6
AFRL Equipment AFRL Equipment
AOE Excavator AOE Excavator AOE Excavator AOE Excavator
Command PostCommand PostCommand PostCommand PostAMRADSAMRADSAMRADSAMRADS
ARTS PlatformARTS PlatformARTS PlatformARTS Platform
Command Center Command Center Command Center Command Center
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 7/227
ARTS & Attachments ARTS & Attachments
All All- -Purpose Transport Purpose Transport System (ARTS) System (ARTS)
• 3 mile line-of-sight remote control
• “Bobcat” type interface
• Variety of off-the-shelf attachments(bucket, fork, etc.)
Power Rake
ARTS with Brush Cutter
Grapple Bucket
Rotary Tiller
Kwik-Mag
Cherrington Screener
FAE Mulcher
Tree Shear Surf Rake
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 8/228
Excavator & Attachments Excavator & Attachments
AOE Excavator AOE Excavator • Caterpillar 325L
• Long-reach boom stick
• 69” available reach
• 4 cu yd digging bucket
• Operating weight of 64,460
•3.3 mph travel speed
Bucket
AOE Excavator
MagnetMulcher
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 9/229
MMR operations consisted of UXO removal onmultiple ranges using a variety of remote
equipment
- Vegetation Removal
- Sifting Operation
- Geophysical Surveys
- UXO Removal
- Fire Break Clearance
ARTS
- Brush Cutter
- Tree Shear
- Standard Bucket
- Tiller
-Grapple Bucket
- Remote Arm
- Cherrington Beach Cleaner
- Harley Power Rake
AOE
- Sifter Bucket
- Brontosaurus Mulcher
- Magnet
AMRADS
Massachusetts Military Massachusetts Military
Reservation Reservation
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 10/2210
Massachusetts Military Massachusetts Military
Reservation Reservation
JJ--1 Range1 Range BermsBermsJJ--1 Range1 Range BermsBermsBeforeBeforeBeforeBefore
After After After After
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 11/2211
Surf Rake Surf Rake AMRADS AMRADS • Barber Surf Rake
• Rotating belt of tines that scrapeground surface
• Operational speeds between 1 and 15mph
• Cleans 2-7 acres per hour
• Advanced Mobility Research and
Development System
• Autonomous geophysical mapping
• Modular architecture for ordnance
detection/location
Massachusetts Military Massachusetts Military
Reservation Reservation
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 12/2212
Aberdeen Proving Ground Aberdeen Proving Ground
Conducted operations at Aberdeen Proving Grounds
to remove DU from catch boxes
- Around the clock 24 hour operations
- Removed 28,038 lbs of DU
- Removed 20+ UXO items
-Operations were conducted utilizing the AOE with Sifter Bucket
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 13/2213
Fort Bliss Fort Bliss
Demonstrated the use of robotics for new rangeconstruction
- AMRADS used for geophysical surveying and subsurface
UXO mapping
- Several ARTS platforms with brush cutter attachments were
used for vegetation removal
- Vegetation clearance of 54 Acres
- Demonstrated the use of AOE with Magnet to recover surface
and subsurface UXO items
- Used AOE with Sifter Bucket to recover subsurface UXO items
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 14/2214
Honey Lake Honey Lake
US Army Corps of Engineers,Engineering and Support Center,Huntsville
Requested AFRL Robotics to assistclean up of Sierra Army DepotHoney Lake Demolition Site
AFRL deployed within 2 weeks of request
2600 acres total site
Heavily contaminated demolitionarea containing 155mm and smaller ordnance frag and scrap from
unfused burn pit demolition From This
To This
ResultsResults
Average of 8 acres per day
Operations ResultsOperations Results
261 operating hours, 285 acres cleared, 95,600 lbs scrap, Average 1.02 acres/hr
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 15/2215
ARTS w/Surf Rake
ARTS on Grid
Robot controlled from mobile command post – up to 1.5 miles distance.
ARTS with Rock Picker
Honey Lake Equipment Honey Lake Equipment
Operator night view
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 16/2216
Rock Picker Scrap Piles
Scrap Pile Start of Project
Scrap Pile End of Project
Surf Rake Scrap Piles
Starting process produced piles with a large amount of soil – Process was
Optimized to minimize soil. Rock Picker produced cleaner piles than Surf Rake.
Honey Lake Operations Honey Lake Operations
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 17/2217
Rock Picker performed better but slower than Surf Rake
Surf Rake not good to pick up
very large and very small objects
Night robotic operations are
safe and effective
Logistics & maintenance
challenges at remote sight
Maintenance and setup versus
operating time – separate
maintenance responsibilities fromoperators
Robots proved to be robust and
reliable operating for a 10-week
period in the open environment
ARTS working in Sandstorm
Robots are an efficient and safe
alternative to manual clearance
methods in areas with high levels of UXO contamination
Multiple robotic platforms can
operate simultaneously with no RF
interference
Results & ObservationsResults & Observations
Honey Lake Operations Honey Lake Operations
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 18/2218
Potential Benefits Potential Benefits
• Assures the clearance of land by performing validationsweeps
• Improves response to MEC problem as a whole
• System comprised of off-the-shelf technologies for ease inexpansion and availability
• Robotic or manual deployment by relation station use
MURS System MURS System
• UXO technicians typically excavate andremove UXO by manual methods fromtest ranges and FUDS exposing thetechnicians to explosive risks.
• MURS seeks to reduce associatedrisks, costs, and liabilities of UXOremoval to lead to more effective FUDSand BRAC transfers to public use and
reduce active range maintenance byeliminating manual operations.
• During field experiments, MURSsuccessfully retrieved a 1,000 lbsurface bomb, 100 and 500 lb bombs ata 6” depth, and 60 and 81 mm mortar rounds from a 1’ depth. Submunitionsand 40 mm grenades were removedfrom a 6” depth. Shallow water testing
was also successful during theexperiment.
• The conceptual design for MURS wasdeveloped as an National DefenseCenter for Energy and Environment(NDCEE) task, system developmentand testing is supported under theEnvironmental Security TechnologyCertification Program (ESTCP).
Magnetic UXO Magnetic UXO Recovery System Recovery System
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 19/2219
New Boston Air Force Station New Boston Air Force Station
• New Boston Air Force Station (NBAS) is a 2,826 acreformer bombing range in NH
• Utilized the Magnetic UXO Recovery System (MURS)
• This consisted of the AOE, Electromagnet, andCommand & Control Vehicle
• The purpose of the experiment was to evaluaterobotic range clearance and remediation on or near
shallow water
• Onsite EOD techs were responsible for disposal
New Boston Air Station New Boston Air Station
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 20/2220
New Boston Air Force Station New Boston Air Force Station
• Roughly 690 ft of shoreline cleared duringapproximately 1 week
• Distance of 15 ft out from shore
• Over 50 ordnance items removed
• .50 caliber cartridges, 20 mm cartridges, 2.25 inpractice targets, 3 lb mini practice bombs, 100 lb
practice bombs
• MURS successfully removed surface debris
• The post-GPR study will determine the removal depth
• Follow-on experimentation could result
New Boston Air Station New Boston Air Station
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 21/2221
8/2/2019 R2C2 Robo Clearance
http://slidepdf.com/reader/full/r2c2-robo-clearance 22/22
Points of Contact Points of Contact
Robotics Research Team Points of Contact:Robotics Research Team Points of Contact:
Robotics Group LeadRobotics Group Lead
Mr. Walt WaltzMr. Walt Waltz
850850--283283--3725 DSN 5233725 DSN 523--37253725
[email protected]@tyndall.af.mil
Robotics Technical LeadRobotics Technical Lead
Mr. Brian SkibbaMr. Brian Skibba
850850--283283--3725 DSN 5233725 DSN 523--37253725
[email protected]@tyndall.af.mil