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Salient Features of Unmanned NBC Reconnaissance System

Operating conditions                        All weather, day/night

Detection of nuclear radiation Gamma and high energy X-rays

Sectors of detection                        Overlapping three sectors of 1400

Detection of CWA                            G and H agents

Detection of TIC                            A large and customisable library

Detection of BA                             Bacteria, virus, spores and biological toxins

Biological agent size                       0.7 µm to 10 µm

Measurement of weather                      Wind speed, wind direction, humidity, ambient air temperature and
parameters                                  atmospheric pressure

Collection of soil samples                  24 solid and 16 semi-solid samples

Collection of air sample                    One sample

Picket firing device                        Explosively fired colour coded steel pickets; (30 for N, 30 for C and 20 for B)

Software framework                          JAUS over Linux

Mine Detection Payload

    This payload is implemented on the      algorithm for detecting the buried mines   by combining many detection techniques
MUNTRA-M UGV, which is meant for            within 200 ms while the vehicle is on the  like clutter removal, parabola estimation,
unmanned mine detection and marking         move and stopping the UGV on detection     feature extraction and classification,
missions. The primary mine detection        is a significant achievement by CVRDE.     etc. The parabola estimation process is
sensor is the Ground Penetrating Radar                                                 depicted in Fig.
(GPR) and the confirmation is given by          The real time algorithm was developed
the Vapor Detection System (VDS).
                                                                    MUNTRA-M during validation trials
    The GPR is mounted on two six-axis
parallel manipulator arms and the VDS
is carried by a five-axis manipulator arm.
Once the mine is detected by the GPR,
the vehicle is automatically stopped.
Then, the mine will be confirmed by the
deployment of the VDS.

    Once the mine is confirmed, its
location will be automatically marked
by using paint spray as well as will be
marked in the GUI in the base vehicle.
The mine detection system can be
tele-operated from the base vehicle
MUNTRA-B or manually operated
from MUNTRA-M. The deployment of
the MUNTRA-M is also shown.

    The processed GPR data is
transmitted to the base vehicle for the
visualisation of the mine by the base
vehicle operator. This data includes
information about the depth, size and
position of the detected mine-like

    The development of a real time

16 March-April 2018 							                                                     Unmanned Ground Vehicles: Present and Future
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