Explanations of Proposed Technologies

Explanations of innovative methodologies and technologies being developed and/or implemented by De-Mining Systems in the development of a pre-production MDM (Modular De-Mining) machine

Introduction

The subject of mine/ordnance clearance is considerably more complex than many people imagine. There are a multitude of related issues such as dense vegetation and working methodologies that must be considered. There are now well over forty different systems available. However, out in the real world, none of these systems are able to clear the vegetation and anti personnel landmines to the required standards while simultaneously mapping the location coordinates of the larger ordnance and enhancing the agricultural viability to the efficiency necessary to create economic sustainability within the de-mining industry.

Sometimes, individuals respond in a negative manner to new ideas. This is understandable since there have been many so-called wonderful new ideas that have fallen flat. Some of these former ideas were developed by people with a strong academic ability to write comprehensive funding proposals, but when their designs were put to the test they did not perform since they often failed to consider one the main factors, that of reality. Landmine removing machines are the same as business plans, in that they both work on paper.

One of the main reasons that many past systems have only had limited successful is because most of them only operate in their singular task. However, landmine removal is a multi-tasked operation. By bringing together the means of transport, means of operation, vegetation removal and separation, personnel mine detonation, ordinance detection, GPS charting, soil conditioning, and crop planting, for the first time it has become possible to break the mould in mine clearance and implement a collaboration of technologies into a symphony of simultaneous production, carried out by one machine.

Through this "Turning Minefields into Cornfields" project, we are attempting to promote agricultural sustainability and make mine clearance more economically viable. By grasping new technologies and implementing new ideas, we now have an investment opportunity combined with an opportunity to help humanity. Let us begin to turn back the hands of time and start returning the land back to its original purpose, that of supporting humanity.

Defining the problem

One of the main problems is that, in general, most mines are laid in developing nations and most developing nations are in warm climates. After the local farmers have moved off because of the mines, mother nature often takes over and within a couple of years these often vast, mostly vital agricultural areas can become heavily overgrown with dense vegetation. This has caused a perpetual catch 22 situation for the de-mining operations, as most mine detection systems cannot be used close to the ground because of the bush/vegetation. Also, it is difficult to clear the bush/vegetation because of the mines and there is a problem in clearing the mines because of the difficulty to detect where they are.

There are many fatal misconceptions in the development of de-mining machinery and systems with many new machines being developed and brought on to the market. However, de-mining is a very complex subject and all too often, many of the real problems that arise during de-mining operations are not fully appreciated. (More information on this is available by requesting document V.)

Overcoming the present difficulties

Over the last seven years, De-Mining Systems have self funded the development of a basic machine to prove a new theory in soil grinding and simultaneous vegetation separation. The test machine worked beyond expectations with many spin off benefits. Now that the basic mechanical theory has been proven, it is now just a matter of developing and implementing other technologies such as detection, software and GPS plotting.

By combining a series of good ideas with recently developed technologies into the new MDM (Modular De-Mining) system, we believe that a workable and sustainable breakthrough can be formulated. It has only become possible over the last year to develop this machine through the use of recent advances in engineering, hydraulics, satellite communications and computer networking technologies.

Creating sustainability

World opinion is rapidly changing along with a growing awareness of the landmine problem and commercial de-mining is becoming a fast growing industry. We believe in long term sustainability, i.e. helping people to help themselves. Through the grasping and implementation of new technologies, what had been impossible yesterday is now possible today and with the correct investment can become reality tomorrow.

Our objective is to develop and produce machinery/systems that increase the safety and efficiency of the landmine removal industry while facilitating a reduction in the operating costs and an increase in revenue, thus making it possible for financial gain to be had from undertaking humanitarian works and so bring about a dramatic increasing in the number of companies and organisations undertaking these much-needed tasks.

One of the reasons that this has never been done before on such a large scale is because the commercial cost of removing landmines was higher than the potential agricultural returns. However, by reducing this cost through the novel Modular De-Mining System methodology and with the ability to simultaneously plant crops for food, or other modern crops for industrial starch etc or crops to help the environment and economy such as oilseed rape to produce bio-diesel as mineral oil reserves diminish and/or become more expensive, we believe that we are now able to tip the scales in favour of large-scale mine removal. Many countries have now signed up to the Ottawa treaty to remove landmines; the potential of this is huge.

Many of the technologies we are developing or proposing to develop for this project are in collaboration with other core partners and contractors. (Details of these are available by requesting document EC.1)

Below is a list of some of the devices/mechanisms and technologies we are developing and implementing and an explanation of their purpose within the project.

The first section relates to the host vehicle and control systems. The second section relates to the de-mining machines attached to the host vehicle, the GC3000 (Ground Claimer) machinery

1. 700 HP Engine with necessary modifications
The power requirement of the MDM (Modular De-Mining) machine is in the region of 700 hp. There is a, 100 hp motor in each end of each grinding drum (two grinding drums = four motors) With the grinding drums being powered from both ends, this will even out stress and allow the mechanism for the Counter Torque Blast Suppression unit explained later in item e. The four traction rollers that propel the whole unit are each driven by a 25hp motor. 100 hp is allocated to power the mulch blower. As the machine is powered/operated hydraulically often working in extremely hot climates there is a large requirement for efficient system cooling. 100 hp is available for this. Modifications that need to be added to the engine management system include the Available Power Differential Governor (APDG) explained later in item 4.

2. Sundry components for system hardware/software integration
As such, a large amount of high tech systems are being developed and built into the MDM unit, this necessitates the development and integration of a number sub systems to enable the primary systems to work together. The primary systems include most of the items listed below.

3. Integration of blast and ballistic protection materials
Because of the harsh environment, machine/system protection and safety issues of the operator, it is necessary to build and fit a complete armour protection system around the tractor. This will most probably include materials such as Hardox 400, Kevlar and other lightweight protective materials for blast/shrapnel absorption/dissipation and deflection.

4. Available Power Differential Governor (APDG)
This is a device that regulates the amount of oil flow or power/drive from the variable displacement pump to the traction rollers. The APDG is regulated by the engine RPM (Revolutions Per Minute).

If the workload of the grinding drums is too high and the engine begins to struggle, causing the RPM to drop, then the APDG reduces the forward speed of the whole machine. This reduces the amount of power required by the grinding drums. As a result the engine RPM increases and so the WLG increases the forward speed accordingly. The result of this is an automated efficiency control system between forward speed and available power. The APDG works in conjunction with the Work Load Governor item f, and the Counter Torque Blast Suppression (CTBS) unit item e.

5. Efficiency Differential
This phenomena occurs because both sets of hydraulic motors in both grinding drums are powered by one hydraulic pump. The flow/power from this pump is divided via a flow divider system and fed to each set of grinding drum motors respectively. The result is a dividing of power on a supply and demand basis i.e. the excess power from the grinding drum that is having an easier time is transferred to help the one that is having a harder time, so maximising the forward speed. If it were not for the flow dividers in the efficiency differential then one drum would speed up at the expense of the other slowing down, also causing the forward speed of the machine to slow down.

6. Cab, development, operator rescue/escape, cab cooling, pressure-dust integrity
Because of the extreme heat and dust when the machine is working the integrity of the cab to provide a pleasant working environment for the operator is of paramount importance. A high capacity air conditioning unit will be necessary along with effective door and escape hatch seals. The seals and design of the steel work will have a method of overlap to prevent shrapnel or blast force from entering the cab. The cab will be under a slight pressure by being fed with filtered and cooled air, the positive pressure within the cab will act as a means of repelling dust inflow to the cab. The cab will also be fitted with an escape roof hatch allowing driver escape and/or rescue should the vehicle tip over.

7. Cab, shrapnel and blast/force integrity, venting and cab glass
The cab structure will be made of blast and shrapnel resistant materials with deflection qualities built into the design along with further research into blast venting. Armoured glass may be used but further research will be undertaken into new materials such as transparent ceramics.

8. Cab, white working and strobe lighting
It is important to be able to extend the work time/use the machine and it will be necessary to undertake research and development work into new more efficient and effective methods of lighting. This may involve mixtures including white, strobe, ultraviolet etc and new methods of provision and light distribution such as defused strip type lighting to help eliminate shadowing. Poor work-lighting along with misting of windows is a drawback with many machines and in this case like many others it is also a safety issue. Like many of the technologies developed under this program, the resulting products may have a benefit to general use such as earthmoving and agricultural machinery.

9. Heated anti-misting windows, camera lenses and mirrors
It is intended to have electrical heating elements fitted onto the insides of the windows camera lenses and mirrors to combat moisture and misting.

10. Engine and hydraulic systems integration and cooling
Many of the machines currently on the market are let down by a lack of power and problems with overheating when working in very hot climates, both with the engine and the hydraulic system. We are intending to overcome this by using a 700 hp engine and a generous cooling system. Apart from the obvious cooling methods such as large radiators with fans that in themselves use energy that produces heat that has to be cooled, we are looking at other methods including having the hydraulic return passing through the rear traction rollers on the GC 3000's (as explained in item o). We are planning to research and develop other methods such as large filtered air intakes (see item 20,) under the machine allowing air to pass up and out through large radiators and/or solid radiators that act as blast protection covers for the engine housing.

11. Suspension, automatic gyroscopic self levelling and wheel lifting system.
The road wheels/tyres have to be able to retract up from the transport position to facilitate the minefield working mode. The easiest method of doing this is via a swing arm double acting hydraulic system with suspension being provided via a spring and/or accumulator on the ram. As we need a levelling method when the tractor/host vehicle is suspended up in the working mode, such as solid-state gyroscopic unit, this data could also be used to control a self levelling suspension system when in road transport mode. For vehicles such as earthmoving dump trucks etc, other sender units could be integrated for side-way G-forces, allowing an intelligent suspension system to lean the vehicle into corners and to remain upright when working on slopes.
There are other general-use advantages in this system such as dump trucks being able to sit down or even lean over for loading and to be able to raise up higher when travelling through deeper wheel ruts and wet site conditions.

Because this system allows for even ground pressure on each tyre, this will also help reduce site vehicles skidding and becoming stuck. For agricultural tractors, this system will reduce the energy loss of wheel-slip when undertaking ploughing etc. For the MDM machine, this system will facilitate the added design of allowing the wheel with the suspension unit to absorb and/or be blown off a sacrificial low cost housing, rather than the tractor taking the full force of the blast and being damaged and/or flipped over causing operator injuries.

12. Three point linkage, tractor/machine lifting, steering and self-levelling systems
The gyroscopic system mentioned in item 11, will supply the methodology for the tractor levelling when in the raised up (suspended on the two GC3000 units) working position. The raising and lowering of the two GC3000 machines is provided via the double acting hydraulic three point linkage systems on the front and rear of the tractor. (Using the agricultural standard; category 3 pin size, for the machine coupling). Steering of the MDM machine when the wheels are raised up from the ground is via hydraulic rams pushing/pulling the link arms, thus swivelling the GC3000 units into the required directions.

13. Tractor 2WS, 4WS delayed 4WS and crab steering and control system
There are four steering modes; 2 wheel steer, 4 wheel steer, delayed 4 wheel steer and crab steer, the latter is for the offset, 6 metre wide working position. (This is explained in the concise systems proposal, document C,)

14. Synchronisation of tractor steering with GC3000 steering
As mentioned in item 12, The steering of the MDM machine when the wheels are raised up from the ground is via hydraulic rams pushing/pulling the link arms, thus swivelling the GC3000 units into the required direction.

The steering system is controlled via an encoder on the steering wheel controlling a proportional valve that in-tern controls the hydraulic rams that operate the wheel steering. The steering rams are intelligent as they have linier transducers build in that communicate with the proportional vale and the encoder on the steering wheel operated by the driver. When the wheels are lowered in the transport mode the steering control signal is sent to the steering rams in wheels and when the tractor is raised up in the minefield working position the steering signal is sent to the rams on the link arms (also intelligent rams). When in working position the wheels remain stationary and visa versa with the GC3000 units when in transport position, except for the period of transition between modes as to avoid confliction. During this time they are both controlled simultaneously.

15. Transmission pumps and hydraulic wheel motors
As a high capacity hydraulic pump is required to drive the four motors in the grinding drums and it is necessary for the wheel to be able to retract up when in working position, it was decided to use hydraulic wheel motors to drive the unit in transport mode. (these could be the same as the grinding drum motors to help with interchange-ability) Over recent years, hydraulic wheel motors have become much more efficient and reliable, with duel speed gearing etc allowing for reasonable road transport speeds. (There are advantages within the controllability of hydraulic systems such as being able to automatically stop the machine when the detection system detects an object over a pre-set parameter). The power to the wheel motors can easily be controlled with hydraulic systems whereas problems could arise with a potential 700 hp being put through a light weight mechanical drive transmission system.

16. Drive/transmission control systems & synchronisation, displays and controls
In working position, the MDM unit is propelled by the 4 X 25 hp hydraulic motors in the traction rollers and when in transport position (as explained in item 15,) the wheel are driven by four hydraulic wheel motors. Through a series of encoders and flow meters on the motors and flow dividers on the pumps, the drive/transmission control system will be able to synchronise the transitions between working and transport positions. This will avoid conflicting ground speed differences between the traction rollers going up and the wheels coming down and visa versa, even though the wheel and grinding drums are driven by the same pump, (for reasons of cost and weight). Because the pump has variable displacement, the control system will be able to compensate for a smooth transition between driving the grinding drums and driving the wheels when ending or beginning a work pass. It is necessary to have visual monitoring of the current state of various modes and a well-designed control system.

17. Carbon fibre operator's console and ergonomic controls
It is necessary to design-in maximum safety, as well as operator comfort. The automatic weight adjusting air sprung (so as to absorb any excessive upward shock) driving seat will be housed in console of carbon fibre (or other strong material) for added protection. The controls will be ergonomically designed for maximum machine/system controllability as well as driver comfort, so as to minimise operator fatigue.

18. Dust and heat, camera/scanning and image projection system
We have found that working in the past, on dry dusty soil that as soon as we enter with a fast moving grinding drum, there is a serious problem for the operator due to lack of visibility caused by the dust in the air and that this can have a serious effect on the performance of the whole operation. We are planning to investigate the possibility of incorporating some sort of visual aid system. The system may for example scan through the dust and be able to reflect off the ground building up a picture/image that could be projected onto the inside of the operators windscreen. The operator could then look through the window to operate the machine, or when blinded by dust he could look at the image on the window, sometimes using a combination of both. (Other technologies could be added to this such as heat imaging to show up potential problems with the machine such as a bearing overheating or a hydraulic motor running at a too high temperature).

19. Cab Window, electro-static dust repelling system
A major problem when working in excessive dust conditions is the fine dust that is attracted to and settling onto the windows. Apart from the obvious, powerful multiple jet window washer/wiper, we are intending to develop a system that will put a repelling electro-static charge into the windows via the fine heat de-misting wires as mentioned in item 9.

20. Centrifuge, filter and electro-static air intake systems
With site/field earth moving, agricultural works, and military activities in hot dry climates, there are major problem in the lack of efficient air cleaning systems. Better systems are needed for the engine air intakes as well as cooling. The grinding drums of the MDM machine produce excessively high quantities of dust when operating in hot dry conditions. We are considering researching methods including elect-static repelling, centrifuge, blow-back and large surface area inverted air intakes or combinations of these techniques.

21. Tractor chassis/frame incorporating the fuel and oil tanks
There will be high stresses on the chassis/frame with the weight of the two GC3000 machines when in transport position and it is important to keep the chassis weight to a minimum because the tractor is suspended when in the working position, therefore efferent chassis design if very important. Other factors have to be considered such as keeping the centre of gravity as low as possible for stability when suspended and maximising the drivers' visibility of the two working machines. One efficient solution to these challenges is to make the chassis/frame of 300mm diameter steel piping. This would allow the vision impairing bulkiness of the normally higher fuel/oil tanks to be located out of the way and blast protected within this steel structure while also increasing stability for when the tractor is suspended. A good chasse/frame allows for a better fixing of the V-hull blast deflection and upper blast/shrapnel deflection and protection plates.

22. Integration of detection systems and GPS mapping system
Detection equipment will be mounted inside the front rollers of both GC3000s to identify the presence of the larger devices that could not be safely destroyed in the grinding drum. The on-board computer, using information from the detection units, is able to determine the statistics of an object. If the on-board software identifies the object size as being potentially capable of damaging the machine, if ground up/detonated, then the forward movement is halted. The machine backs up and then goes around the object.

The objects co-ordinates are recorded by the GPS technology for subsequent removal by hand. The fact that the location coordinates of the 'left behind' ordnance has been recorded is a major advantage. This will be done in association with and in compliance to the United Nations IMASA (Information Management System for Mine Action). The GPS location data along with the detection systems ordnance statistical data will be transmitted via satellite and fed onto an open database platform.

23. Machine protection, sensor and control systems
The machine protection system mentioned above in item 22 is important for operator safety. However, other machine protection warning and override systems will be implemented for issues such as engine temperature, engine oil pressure, hydraulic oil temperature, Air intake vacuum etc. These working data's will be recorded and transmitted to the control centre or HQ. If any of the levels rise above their intended operating mediums then the driver is alerted and if no action is taken then the machine will shut down as a means of mechanical and component/system protection.

24 Security systems for unauthorised use and theft.
Other security systems may be considered such as card, fingerprint, or iris recognition etc, to stop unauthorised machine use or machine theft. As new European legalisation comes into force, there is great need for a system to be developed to only allow the personnel who are authorized to operate certain machines on building sites, factories, earth moving jobs etc. On the MDM machine, incorporating the GPS location and working data transfer system, the ability would exist to record who is driving what, how and where.

25. Integration of web-cam data transfer and global communication system
We are intending to clip a video camera to a bracket at the inside, top of the front windscreen. This is so that the control centre is able to keep an eye on progress and operator methodology. This camera could be unclipped and used by the operator to send pictures of unknown objects back to the control centre or HQ for identification purposes so that methods of disposal can be considered. Another use for this system is for potential problems with the machine such as sending pictures back of the level of grinding drum teeth wear to determine the next change or the visual reporting of other problems. This method would allow close control of the machines use for the organisation/company who is operating or funding the machine.

Other benefits are possible such as in the transparency of charitably supported humanitarian demining. An example of this would be in the hope of implement a method through the De-Mining Systems charity where donors who donate on a direct debit basis and having a sense of ownership as they are sponsoring a particular machine, could go on the internet and see their machine working or a video clip of that days work. This system would also assist in persuading companies to take on the sponsorship of a machine, as their employees/customers could actually see it working.

Sundry development and integration of the Ground Claimer 3000 units

a, Hydraulic traction roller drives and control systems for both GC3000's
Each traction rollers is driven by a 25hp hydraulic motor. This allows for greater controllability such as the fast action of automatically halting of the machine when the detection system detects an object. Another feature made possible by hydraulic control is the ability to govern the speed via the variable displacement pump according to the work stresses loaded onto the grinding drums. The hydraulic control allows for the traction rollers to be in-sync with the wheels during transitions between the different working modes.

b, Hydraulic grinding drum drives and control systems for both GC3000's
Each grinding drum is driven by two (wheel type)100hp hydraulic motors, one in each end of the drum. Through this design, many secondary futures can be exploited such as being able to mount the motors via the holding shaft in a bearing and the holding shaft being connected via a linkage fixed to the (CTBS) Counter Torque Blast Suppression shield/lid, so allowing the motor to flinch back (with counter torque) when momentarily encountering resistance from the grinding teeth. This counter-torque flinching acts as a shock absorber to the motor and is able to reduce the pressure spikes within the hydraulic system in the same way as an accumulator, however, by having the linkage fixed to the CTBS shield this also pushes the shield away from the drum allowing blast force to dissipate in all directions. This ability to not confine the blast gasses reduces the machine stress as AP mine detonations occur.

This also allows the methodology basis for the other features such as the WLG Item f, and the APDG item 4. Other benefits of having the motors located inside the grinding drum are protection of the motors, the reduction in the overall width of the machine and the ability to go lower into the ground than that of the centre of the drive shaft. This is very important, if the drums were driven by gears, then the gear or chain housing reduced the ability to go as deep and if the diameter of the drum was increased to compensate for this drawback, then the larger drum diameter requires a significant increase in power to drive as the soil has to go further to get up, over and behind the drum allowing the drum to progress forward. The greater the diameter of the drum, then the greater the drag and the greater the power needed to drive it.

c, Development and implementation of the traction roller detection system
The MHMPD (Multi-Headed Metallic Profile Detector) is an extensive array of highly sensitive 'minimum metal' detector heads, mounted into a fixed/stationary (non rotating) framework inside the front rollers, made from an alloy or composite material explained in item d. This may be complemented with the addition of other detection systems such as smart ground penetrating radar or microwave holography etc. By combining the data obtained from the ground speed radar and the MHMPD, the resulting output is a comprehensive diagram on the operators display screen, showing the size, shape and statistical co-ordinates of the object encountered.

The system is also linked to the forward motion of the vehicle via the hydraulic drive system and this will automatically stop the vehicle when an object larger than that of the pre-set parameter in the software is encountered, even if the driver was not attentive.

As the machine suddenly and automatically stops, the operator is then able to use the 'on-board display' to make an informed judgement as to the size and nature of the object, based upon knowledge of the ordinance known, or expected, to be in that area. The operator can then decide whether to register the UXO statistics and location co-ordinates on the GPS system and/or mark it (with a fluorescent-dye spray system) for later removal, or to carry on and detonate or destroy it by grinding it up.

The MHMPD unit may also work in conjunction with other methods of detecting the more modern plastic ATMs. If another unit is not fitted, then the MDM machine should only be used in areas where it is absolutely certain that there are none of the modern plastic aunty tank mines or other large ordnance present. The MDM machine is built to continually withstand the blast, heat, energy and shrapnel from all current APMs. With this system, there is no need to detect, avoid or remove the plastic APMs as the machine is able to grind them up into harmless pieces, or causing deflagration or detonation to take place (rendering them harmless).

d, Traction roller development (composite material)
Because the detection systems are located inside the front traction rollers, further material research and development is necessary to find a suitable material allowing the detection to operate efficiently. This material will have to be light weight as the weight of the rollers is paramount as it is extending to the furthest distance away from the linkage on the lifting and steering system and stresses on the lifting system and frame of the host vehicle would be increased dramatically during transport position i.e. when the traction rollers are suspended.

The strength of the material used to make the traction rollers is important due to the close proximity of detonations and the weight of the machine that it has to support during working mode. It must also be hard wearing to combat prolonged wear due to friction driving on abrasive soils.

e, Counter Torque Blast Suppression (CTBS) unit
This unit allows the blast force to escape/dissipate, via the opening of the CTBS lid (venting). This lid opening mechanism controls the forward speed via the WLG. The further the lid opens, the slower the forward speed and 'vice versa'. When excessive resistance is encountered by the grinding drum (be it harder earth surface, or grinding friction such as hard vegetation, and/or blast force) the result is a 'counter torque' experienced by the motors that are fixed by a linkage to the grinding chamber lid and thus open the lid. Also as a blast occurs so dissipating the blast force with the lid acting as a shock absorber. As the lid (possibly made with a new composite material being developed) opens so proximity switches next to the lid send a signal to the WLG (see item f,) control on the variable displacement pump thus reducing the forward speed.

f, Work Load Governor (WLG)
The WLG unit is regulated by the opening of the CTBS lid and the WLG controls the oil flow to the traction drum motors. The more the lid opens, the slower the forward speed of the whole machine. The result is that if the forward speed of the machine is to fast, thus not giving the grinding drum enough time to process the vegetation into much or to grind up the soil, then the backlog pressure builds up under the lid forcing it further open. this slows the forward speed allowing it time to grind up and clear itself of the build-up.

g, Mulch blower
An optional item of "clip on" ancillary machinery, part of the MDM system's kit, that is used to vacuum the woodchip/mulch out from the front GC3000 grinding drum. It is able to propel/blow it up and over to behind the whole MDM, or to wherever else is chosen. The methodology of the MDM system is an innovative method of being able to keep the soil and vegetation separate from each other while working with both materials simultaneously. It is important to keep these materials separate while the varying processes are carried out, as the handling characteristics of the materials change when mixed together.

Through time, a high percentage of minefields have become overgrown with dense vegetation, many other de-mining machines are unable to progress forward through the area until this vegetation (bushes and small trees etc) has been removed. However, the mulch blower on the MDM machine removes the vegetation mulch as the detection, GPS mapping, de-mining, soil cultivating, seeding, fertilising and rolling process are being carried out simultaneously.

h, Another add on piece of equipment is a device to spray a bio liquid into the mulch blower shoot during the vegetation removal and mulching blowing process. This spray is able to speed up the rotting process of the mulch and help it to turn into the correct type of nutrients for the emerging crop.

i, Seeder/fertilising machine (front)
An optional item of "clip on" ancillary machinery, part of the MDM systems kit used to seed and fertilise the field simultaneously as it is being de-mined (with the option to seed only). A vast variety of seeding and fertilising machinery is available "off the shelf" allowing most types of crops to be planted.

As well as the obvious commercial benefits, other humanitarian aspects could be considered for uses of this facility. The front seeding unit would only be used when operating in the 5.75 or 6 metre (crab-steer) working modes. The 6 metre working mode is for planting a crop only (not de-mining). This will be useful in situations where large areas of land need to be put under crop very quickly, such as re-location of displaced peoples, or re-civilianisation programs, or to assist in getting people out of refugee and feeding camps. Also, famine avoidance programs could be operated by giving a population a ripening food crop to return home to. Please see figure 4 on page 7. There would be very little cost in implementing this onto the MDM system and seeding and fertilising units are available for £9,000.

j, Seeder/fertilising machine (rear)
The rear seeding and fertilising unit is the same as the front (item h,) The rear unit would also be used for the three metre working mode allowing vegetation clearance, mine removal, detection and charting, soil cultivation, seeding fertilising and rolling to be carried out simultaneously. (Minefields to Cornfields) allowing a financial return from the land to help in providing funding towards the mine clearance and in helping to promote agricultural sustainability.

k, GC3000 (front)
One of the slowest and most dangerous activities in mine clearance, can be the removal of the dense vegetation that has grown up during the years when the area has gone without cultivation. Because the handling characteristics of both materials (soil and vegetation) dramatically change when mixed together making it much more difficult to process, it is important to keep them separate while the simultaneous grinding processing is taking place. The GC3000 is designed specifically with this problem in mind, with the vegetation, small trees etc, being pushed over by the leading traction roller, this tends to expose or 'flick up' the roots, thus allowing the grinding drum to further rip up and tear out the roots this is then pulverized up into a mulch.

Although both front and rear GC3000 units are identical (cutting down on production costs and allowing inter-change-ability) when working in dense bush, the front unit is tilted back so that it is able to drive along on the back roller. The grinding drum is then able to skim the ground's surface with the front traction roller up in the air, pushing over the vegetation and guiding it into the grinding drum at the correct angle for a clean finish.

The front and rear GC3000 machines are able to move three dimensionally but independently of each other, this makes it possible to work on undulating ground while remaining at set the depth. Alternatively, in the case of the front machine in three metre working position, it is possible for the grinding drum to skim up and rip out the vegetation and the roots.

Both units are able to twist or rock sideways (free will) with the ground's contours and be steered left and right while also being able to 'tilt and crowd' in association with the steering movements dictated by the driver. This is achieved by using a TIGHT 3PL unit. It is able to move in all directions and automatically alter the 'angle of pivot' in relation to that of the 'tilt and crowd' and 'rock', while allowing the steering to be controlled, the 'rock' to be 'free will' and the 'tilt and crowd' to be either 'free will' or controlled.

The data from the solid-state gyroscopic on the tractor operate the 'rock' rams on both TIGHT 3PL units together. This allows the 'rock - free flow' and avoids contradictions between the two TIGHT 3PL units, while keeping the tractor suspended and level.

l, GC3000 (rear)
The rear GC3000 removes by grinding up and/or detonating any APMs remaining in the soil. As the grinding drum is counter rotating in relation to the direction of travel and as it is pre-set to a constant depth (for example 250mm). All of the soil or base material that the MDM is driving over has to pass through the grinding drum. Nothing at all is able to get past, or around, over or under the grinding drum without first being ground up, as long as a working overlap of 250mm is adhered to. (If this is not adhered to, then notification of potential missed danger spots are notified via the GPS system)

The operating depth can be pre-set on the GC3000 machines but once set, the depth can not be changed while moving. This stops the driver from altering the depth settings on the move in order to get finished quicker once an area has been started. The deeper the machine is set the more energy it requires hence the slower it goes. The depth settings are regulated depending on which set of holes the traction rollers are fixed to. It takes about twenty minutes to change the depth setting.

As both GC3000s are identical, the same features apply to the rear machine as to the front machine; these being the (WLG) Work Load Governor and the CTBS Counter Torque Blast Suppression unit. The rear GC3000 machine also has an MHMPD and/or other detection unit fitted inside its front roller.

The tungsten-carbide teeth on the drum dig up and pulverise the soil and before it is allowed back onto the field it must pass through in-between the drum and a shear bar. This ensures that everything; soil, stones, wood and mines are ground down to a particle size small enough to pass the pre-set parameter. (The parameter is the gap between the shear bar and the grinding drum).

Unfortunately, many times in the past this counter (or backwards) rotating technique has been overlooked and some other machines have allowed the grinding drum to effectively drive up over an obstacle, missing out a mine as the grinding drum follows the direction of travel. Another breakthrough is the technique that ensures everything is ground up; unlike other machines that merely pound or roll the surface. They will often just break open a dud mine thus revealing the detonator, or in many cases miss it out altogether.

The MDM system ensures that not only all the surface area is ground up but also everything vertically (cross section) is also pulverised. The MDM system is unable to skip over and miss out any objects because of the backward rotating digging up action of the drum. The machine is prevented from continuing forwards until what it has already dug up is ground up/cleared out of the way because of the WLG Work Load Governor unit.

m, Vibration sensors
There are four main reasons for the systems development, fitting and integration of vibration sensors to the GC3000's. Although the machine is able to withstand the blasts from anti personnel mines and the GPS system maps and registers the location of the larger (left behind ordnance) it is still necessary to be able to register the quantity and past locations of the mines that have been cleared/detonated. The vibration/shock sensors being coupled to the GPS mapping system allows for this to be done.

Although the location coordinates of the machine are being sent back to HQ via the GPS system, without the vibration sensors, it would not be possible to determine the action or working mode of the machine. If the information from vibration sensor is also transmitted, then HQ is able to determine/assume the following: Machine location in case of security such as a machine being stolen, lost, hidden, shipped etc. (This facility also enables better fleet management, monitoring and job allocation) Coordinated transport/work mode, blast detection/mapping and prioritising work schedules. (This is in conjunction with the UN IMASA database) If the machine is moving but less vibration is detected then the machine would transport mode. If the machine is moving slowly and vibration is detected then the machine would be in working mode.

As both the front and rear GC3000' are vibrating higher resonance frequencies when in working mode, these frequencies sometimes pulse or conflict causing metal fatigue on the host vehicle where the differing frequencies meet together. The control system is able to alter one of the machine frequencies to neutralise the pulsing by altering the setting within the flow divider valve that drive the two sets of grinding drums.

With having the encoder RPM information from the a motor on the grinding drum and knowing what the resonance frequency parameters should be, the system is able to determine the state of the grinding drum teeth and notify of any imbalance caused by broken teeth before the tooth holder is worn away.

n, Quality assurance, detection/scanning array and collection system.
Because the design of the overall system is modular, this facilitates the ability for extra futures to be added. As there are vastly differing types of topography, climates and ordnance to be cleared coupled with different methodologies in mine removing, having a modular system allowing varying combinations or removal methods is important. One such system being considered is the add-on rear scanning unit for quality assurance such as scintillation scanning and/or backscatter radar. Instead of the soil returning from the rear grinding drum and back to the ground it would land on a conveyer. The soil conveyor, would travel through a scanning device where scanning could be done from above as well as below.

The detection system would operate a removal system and collect suspect objects into a bin/skip. The suspect material could then be disposed of or tipped out at the ends of the working rows for the hand detectors to undertake further quality assurance works.

o, Hydraulic oil cooling system (radiator and/or traction roller system)
By having the hydraulic return passing through the rear traction rollers, this may act as an efficient cooling method as the rear traction rollers are constantly in contact with the cooler earth. This will allow the heat to dissipate from the roller into the cooler (freshly cultivated) sometimes damp soil. This may have the added benefit in helping to prevent the traction rollers from clogging up with the damp and often sticky soil. Costs to develop and test these systems are expected to be in the region of £2,200

p, Grinding tooth and holder development and manufacturing system
This invention relates to a new design of tooth and the method or system in which the tooth fits into the tooth holder. This new system may be utilized in soil engaging machinery such as soil and stone harvesters, stone burying machinery, landmine removal machinery and cultivation machinery used in industries such as mining, forestry, civil engineering and agriculture etc.

There are many drawbacks with conventional systems. These include the high cost of the standard rotovator type blade, nut and bolt system, the awkwardness and time taken to change a blade, the design weakness causing blades to often bend, the speed in which they wear out, the low amount of soil they carry over the rotor, the fact that they can cause the whole rotor to easily become blocked up in wet conditions, the paddle effect causing soil compaction, stones easily becoming jammed, not being able to work in wet conditions and the bolt holes becoming worn and oval shaped making it nearly impossible to keep the blade or teeth fixed tight to the main rotor shaft.

This new and innovative design of tooth and holder system can also be used on the new "once over" type agricultural, soil preparation and crop planting machinery such as the CropMaker. These machines fitted with the new tooth can cultivate the soil, in such a way as to turn in the old vegetation via a horizontal rotor method rather than the old vertical blade method.

The used worn tooth can be quickly de-attached from the tooth holder by knocking out the double roll pin thus allowing the tooth to be slid forward dislocating the rear holding lugs from the holder. The tooth can then be tilted forward pivoting the front bottom U part of the tooth against the front U part of the holder until the tooth becomes completely free of the tooth holder. A new tooth can be quickly re-attached to the tooth holder by following the above instructions in reverse order.

The teeth and holders can be constructed by stamping the correct shapes out of hot quality steel, forming and welding. There is the option to braise or sweat in a tungsten type hard-wearing face to the front of the tooth. A multitude of varying shapes, thickness and sizes of teeth can be produced for different purposes following this new manufacturing and fitting/coupling system.

q, Other add-on attachments fitted to the tractor for further post mine removal development work, may include a back-hoe for drainage/irrigation and construction, a cement mixer and we are developing a double-acting forklift that also becomes part of the new Quick-Drill system enabling the provision of clean water in the communities.