Consise Systems Proposal
for the Modular De-Mining (MDM) System
Incorporating the 'Ground Claimer 3000'

Protected under United States of America, European and other International Patents.

Introduction
At De-Mining Systems UK Ltd. we intend to clear mines faster, more safely and more effectively than ever before. 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 technology.

In the past there had been a race in technology between those designing new methods of removing land mines and those trying to design new types of mines to "out-smart" the latest removal methods. Sadly, up until now there has been more money, technology and resources invested in developing the new mines than there has been in the methods of removal. The three main areas are; a). Detection (locating, identifying and being able to distinguish between ATMs (Anti Tank Mines) APMs (Anti Personnel Mines and UXOs such as mortars and bombs. b). Being able to get in with a machine and clear the bush, and c). the removal of the mines and UXOs themselves.

More recently many new detection techniques, vegetation clearance devices and mine removal systems have been and are being developed and brought on to the market. The problematic situation with land mine removal is that with these latest innovations there always seems to be a perpetual chicken and egg situation. Many minefields are in developing nations and most developing nations are in warm climates, therefore after the mines have been laid (causing the farmers to move off the land), mother nature then takes over and within one or two years the area is covered in dense and often tall vegetation. This causes secondary problems, because most mine detectors have to be operated close to the ground and you are unable to do this because of the vegetation. You cannot go in and clear the bush because of the mines and you can not clear the mines because you do not know where they are, because you could not use the detection system. Even with all of the new technology being developed, most mines are still being cleared by hand. These technologies may work in their singular tasks, but mine clearance is a multi-tasked operation. Other problems also creep into the equation such as logistics, cost, practicality and reliability both in the machine doing the job and in the job being done.

At De-Mining Systems UK Ltd we believe that we have developed an effective solution. This document provides a detailed overview of the operation of the Modular De-Mining System (known as the "MDM System") incorporating the 'Ground Claimer 3000' (GC3000) operates. There are a number of key issues that are fundamental to the success of the project, so in each case we have detailed what the issue is and explained the innovative solutions that address the issue concerned.

Scope
This document covers issues such as the operating widths of the MDM System's various working modes, the power and weight, the use of hydraulic power and power distribution. Also the combination of software with the ground speed radar and the metal detector's basic principles, Multi Headed Metal Profile Detector (MHMPD) incorporating the use of ground penetrating radar and infra-red for the detection of plastic ATMs (Anti Tank Mines) and other UXOs, such as buried mortars etc. We have outlined our use of the Global Positioning System (GPS) navigation and kinematics error correction techniques using the latest global communications. Also on the mechanical side, this document briefly explains how, by using a combination of hydraulics and gyroscopics, we have developed a trigonomical method where we are able to control the position of the suspended tractor relevant to that of the two GC3000 machines. We have also included how we propose to handle logistics and general system support issues of the MDM system.

Benefits
It is important to bear in mind the versatility of the machine that is outlined in this document, some points to note are as follows:

1. Independent transportation with road speeds of 50 mph.
2. Ability to drive on very rough (normally inaccessible) routes.
3. No dismantling, hooking up, or unhooking of machinery for transportation.
4. The tractor that the MDM System is built around is a multi-purpose vehicle/tractor that can also be used for haulage, construction and most infrastructural and development work, including a myriad of agricultural works such as seeding and fertilising, land preparation and most other routine arable activities.
5. When in the working position, the tractor/power unit lifts up above the ground surface protecting the driver, tractor unit and tyres from the effects of blast detonation.
6. With faster working ground speeds and a working width of up to 5.75 meters, massive areas can be simultaneously cleared of vegetation, de-mined and planted with a crop in a very short time.
7. Both front and rear GC3000 machines are the same, using the world wide standard category 2 and 3, three point linkage systems. This enables future systems, technology and other machines to be mounted back and front, or on top, allowing multiple tasks to be carried out simultaneously, ensuring that the MDM system does not become out dated.
8. The machine has been designed for maximum cost efficiency, in such a way that most parts are interchangeable. All wear plates and shear bars are of the same fitting format allowing them to be re-used thus dramatically cutting down on running costs.
9. The MDM system has the ability to work in wet weather and wet ground conditions, as it has three self cleaning/unblocking systems and as the MDM unit has low ground pressure, combined with good traction, this dramatically extends the workable seasons. It operates when other machines would be unusable.
10. The machine has been designed with cost and efficiency in mind:

• Most wearing parts are interchangeable.
• It has been designed so that it can be maintained in the field.
• The machine can be operated and maintained by people who may have suffered the loss of a limb due to a land mine accident.
• Wherever possible, it utilises currently available parts and technology.
• Designed to leave the soil in a condition that is beneficial to the end user of the land.

Proposed Choice of Tractor

One reason for proposing to select the JCB Fastrac is that JCB supplies military vehicles through its specialist Military Products Division to the British Army, Royal Navy, Royal Air Force, and to the overseas military markets.

While the Fastrac is in our opinion the best choice of agricultural tractor to be altered for this use, it is also able to be adapted with blast protective armour for de-mining activities.

Although there are many other higher-powered tractors on the market, they do not have such good power-to-weight ratios and are sometimes heavy and difficult to operate in the types of conditions that we will be encountering.

Potential logistical problems are alleviated with the Fastrac's ability to travel at road speeds of 50 + MPH.

MDM System's Working Modes and Positions

Road Transport Position
For moving to, and from, places of work.

The MDM is a modular system that is capable of being attached to any large ('off the shelf') agricultural tractor. However, we are aiming to use a specially adapted 500Hp JCB Fastrac, as it is capable of lifting both the front and rear mounted machines and carrying them at speeds of 50 + MPH. With this system there is no need to detach and re-attach the machinery for transportation, thereby saving time and money when travelling between jobs and the home base.

A clear cost and time advantage of the whole unit being able to travel between jobs at such high speeds, is that this renders it unnecessary to have wagons or other forms of transporters involved in the project. (The MDM can be driven on public roads with a normal driving licence, in most countries)

With the MDM using a 500Hp four-wheel drive tractor, there are few places that this machine is unable to get to. For instance, if a bridge is unsafe, the MDM machine may well be able to drive down the riverbank, over the river, up the other side and back onto the road again.

An aerial view of the MDM driving along a road.

How the system operates in the Road Transport Position

The road transport position operates in the same way as any other agricultural tractor. It is able to pick up both machines on the 3PL (three point linkage) hydraulics and drive to the next location. The main difference with using a JCB Fastrac is the road holding and suspension qualities, allowing the whole MDM system to be driven on the road at speeds similar to that of a truck. It is able to pull a trailer with servicing, fuel, lubrication and maintenance equipment, making each MDM system a fully and 'vertically integrated' self-sufficient unit. The tractor will also be fitted with a self-recovery winch.

3 Metre Working Position
For clearing dense bush while (simultaneously) de-mining and/or planting a crop.

This enables the clearing of dense bush while (simultaneously) de-mining with the option to seed, fertilise and roll, all in a single pass. This transforms areas of densely overgrown bush, including trees up to 8 inches (200mm) in diameter, clearing anti-personnel mines, registering the position coordinates of ATMs & UXOs, cultivating the earth to a high standard, including seeding, fertilising, rolling and covering in mulch, if required.

Literally "Turning minefields into cornfields" in one go.

An aerial view of the 3 metre working position:

How the system operates in the 3 Metre Working Position
Once the machine has been driven to the place of work and before embarking on mine removal, the front and rear GC3000 machines are lowered to rest on the ground. Then with these machines being attached to the tractor via 'double acting' hydraulic Three Point Linkage systems, they continue to be 'lowered' (forced down). This causes the tractor to rise up into the air, about two feet (600mm) off the ground.

Both GC3000 units are fitted to a TIGHT 3PL unit (The Intelligent Gyroscopic Hydraulic Trigonomical 3 Point Linkage unit) and this TIGHT 3PL unit is fitted to the tractor's own three point linkage. With this automated contour following system, each GC3000 can be controlled easily and accurately, automatically following the contours of undulating ground. One significant and dangerous drawback with many of the other de-mining systems on the market today is that they have not been designed to automatically and accurately follow the contours of undulating ground, causing opportunities for mines to be missed.

The TIGHT 3PL units are designed to easily withstand being able to not only carry and control the position of the suspended tractor in the 3 metre working mode (in-line) but also to do the above in the 5.75 and 6 metre modes (offset). This suspended tractor controlling system using solid state gyroscopics is explained here.

The TIGHT 3PL unit allows the GC3000 machines to be controlled in all three directions. 'Tilt and Crowd' on the rear machine is normally allowed to flow ('free will') thus allowing the machine to hug the ground (move with the undulations). If the machine has been set to dig up and grind 250mm of soil then it will stay at a constant 250mm depth following the ground's contours and not being influenced by the position of the tractor.

The 'roll left-to-right' movements on the front machine would normally be operated in 'free will' mode allowing the GC3000 to roll back-and-forth as the ground dictates, rather than as the tractor dictates. The steering 'left to right' movements on both machines are controlled simultaneously by the operator's movement of the steering wheel. When the tractor lifts up off the ground steering is no longer via the wheels but is now achieved by use of the TIGHT 3PL unit so, as the driver operates the steering wheel, both machines twist around simultaneously and in unison to the drivers actions. This method gives the same turning lock and control as 'four wheel steer' resulting in the whole MDM machine being nimble, agile and able to turn in and around a tight area. This is ideal for de-mining around trees, poles and obstacles in awkward sites.

The whole MDM machine is propelled along on the four hydraulically driven ground traction rollers. These rollers are high traction low ground pressure allowing work to carry on even in very wet conditions. When working in the 3 metre position, the front GC3000 is tilted back on to its rear traction roller, so that only three rollers are propelling the MDM machine. The front traction roller of the front GC3000 is now suspended and has the job of pushing over the vegetation and feeding it into the grinding drum.

Some Advantages of the MDM's Simultaneous and Multi-Functional Systems
The MDM system uses two GC3000 machines. These machines are identical to each other, cutting down on manufacturing costs, while at the same time enhancing inter-change-ability. This has the effect of reducing running costs and maximising productivity.

The MDM system using the forward and rear mounted G3000 machines can do all or any combination of the following tasks, at the same time:

1. Detect the presence of ATMs & UXOs before deciding either to go ahead and grind up the detected object or leave it behind for later removal by the hand de-mining team. (The decision can be based upon pre-set parameters built into the software, or can allow the driver to make his/her own decision). If the decision is to leave the object behind, then the machine accurately registers the item's statistics and location co-ordinates. We are using real time kinetics to improve accuracy of the GPS co-ordinates of the objects left behind, for later removal.
2. Clear (grind up/detonate) all below surface, surface and above surface APMs.
3. Clear bush and small trees, including pulling up most of the roots and then grinding it all up for use as a beneficial mulch.
4. Mulch can be used for providing a seed germination cover, or be 'baled' into fuel bricks for domestic use. The mulch blower propels the mulch off to one side, into the path of a mulch collector (trailer), or propels it up, over and behind the whole MDM machine, landing it on top of the seeded ground as a seedbed/germination mulch covering.
5. The rear mounted GC3000 machine, will maintain any pre set depth, between 150mm and 300mm, (this cannot be changed while moving) and digs up all of the earth material and pulverises it, detonating and/or destroying APMs.
6. The soil then has to pass through a pre set gap in-between the grinding drum and a shear bar, thus grinding up any remaining mines, stones and all other objects, leaving the material now completely safe.
7. Before the soil returns to the ground it passes through a 'filter grid' system.
8. This process leaves the soil in a clean smooth and highly tilthed state, resulting in a seed-bed prepared to a very high standard. This is then (if required) seeded, fertilised and rolled, all by the same machine, at the same time.
9. If required, the mulch blower outlet at the front can be directed to land the mulch over the seeded ground coming out of the back of the machine, as described in item (4).

The Front GC3000 Unit
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. The GC3000 is designed specifically with this problem in mind.

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. (All four of the surface traction rollers are hydraulically driven)

The front and rear GC3000 machines are able to move three dimensionally but independently of each other, this makes it possible to set the depth control. 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 gyroscopics 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 (this is explained in more detail later).

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. The grinding drum is situated between the two traction rollers. 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.

UXO Detection Units
The Multi-Headed Metal Profile Detector (MHMPD) is an extensive array of highly sensitive 'minimum metal' detector heads, mounted into a fixed framework inside the front rollers. This may be complemented with the addition of infra-red and ground penetrating radar. By combining the data obtained from the ground speed radar and the MHMPD, the resulting output is a comprehensive diagram on the drivers digital 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.

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 ATMs 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 designed and built to grind them up (rendering them harmless). The grinding action often causes them to detonate inside the blast chamber. The CTBS System (Counter Torque Blast Suppression System is explained on page 18.

The blast power of an APM is much lower than most laymen imagine; the fundamental difference being the close proximity and softness of human flesh on a land mine compared with the toughness of the high tensile steel in a de-mining machine.

Clearly, in 'mine clearing mode' the basic vehicle would need additional protective armour. Another reason for selecting the JCB Fastrac is that JCB supplies military vehicles through its specialist Military Products Division to the British Army, Royal Navy, Royal Air Force, and to the overseas military markets.

Use of GPS Navigation
Registering the location co-ordinates of the area under suspicion, being worked and completed or location registration of any remaining UXO's left behind for later removal by the sappers (removal by hand).

The advantages of this form of 'surveying' technology are many and are well documented by the commercial companies in this industry, so we do not propose to add anything further in this section. However, it has already been observed that certain companies are well established and have systems that could be utilised almost from day-one with minimum modification.

In many areas, mines have been laid to prevent civilian access to clean water supplies, a problem that can quickly lead to disease. One way we are able to establish un-moveable waypoints is to drill water boreholes and use these as the waypoints. We are developing a Quick Drill system that is able to work in association with the MDM system's tractor. This is a double-acting forklift mast that fits to the tractor's standard three point linkage system and is able to be used as an ordinary all terrain fork lift for development projects. This forklift can then be driven into a drilling device. This being fixed to the mast doubles up into a drilling rig. We are developing an innovative and low cost method of drilling bore holes and a new type of water pump that will have a benefit to communities as they become free of land-mines.

By fitting the waypoints to these wells there may also be a commercial value for this work from companies interested in natural resources and/or from government organisations. It is not known to what extent Western commercial companies have surveyed these areas, but it is highly likely that companies would have an interest in using the GPS locations as a start point to survey and search for natural resources. There may be some other funding benefits from this GPS work.

Each GC3000, has a governing device called the WLG (Work Load Governor) that either regulates the amount of vegetation being fed into the front unit grinder (in this working position), or the amount of soil being fed into the rear machine. If either machine is struggling to cope with the workload then each WLG respectively can slow down the forward speed of the machine reducing the amount of material being fed in. Also if either grinder is not working to full capacity then it increases the forward speed.

There is an efficiency differential operating between both front and back GC3000 units preventing a potential failure to use all the available power from occurring. This works by all four traction rollers being driven from the one hydraulic pump, but being divided into the front machine and rear machine via a flow divider valve and again being divided in each machine through another flow divider valve. (This has the same effect as a limited slip differential) All four rollers are driven together, with the power being divided on an 'as needed' basis, allowing unused power from one roller to help the others, a form of equilibrium/efficiency.

Each WLG unit is linked to another unit on the tractor called the APDG unit (Available Power Differential Governor) unit. This unit detects the engine RPM (Revs Per Minute) and if the RPMs fall below a pre set parameter then the APDG slows down the forward speed of the MDM machine. This reduces the power required by both GC3000's allowing the correct RPM to be maintained. Also if this unit detects that the engine RPM is too high then it increases the forward speed, effectively finding the point of equilibrium between available power, workload and ground speed. These system's combined, ensure that maximum efficiency is obtained at all times. This has a beneficial knock-on effect with savings on running, fuel and environmental costs.

Another innovative aspect of the GC3000 unit is the CTBS system (Counter Torque Blast Suppression) system. One way of avoiding blast damage is to give the blast an escape route (venting it) in other words 'not confining it'. The CTBS system is connected to the two innovative hydraulic pump's that drive the grinding drum in such a way that it allows a method of harnessing the counter toque via a linkage system.

The CTBS allows the blast to throw open the CTBS lid so not confining it. Also as the grinding drum momentarily encounters resistance from the blast, a hinge/lever mechanism operated by the counter torque force from the hydraulic pump also pushes the CTBS lid open so both directions of the blast pressure work together to open the CTBS lid thus helping to dissipate the blast energy. This method vents the blast and dissipates potential stress on the machine while reducing potential fatigue on the hydraulic motors. With the CTBS unit working in conjunction with the WLG it slows the forward speed, so the WLG and the CTBS both work together on each GC3000 unit individually.

The grinding drums work in much the same way, with one hydraulic pump driving both front and back sets of grinding drum motors via an in line flow divider valve. Although both grinding drums are driven together, the flow divider valve prevents the oil flow from diverting to drive the freest drum. An example of this would be if the front machine came across a clean piece of ground, it would not allow all the driving force to go into the front machine speeding it up at the cost of slowing down the rear machine (differential). The flow divider valve would allow the potential power that has become available (due to the front machine now not requiring as much power because it is not grinding up trees), to be given to the rear drum. This allows the Available Power Differential Governor (APDG) to increase the forward speed so no power, potential power or fuel/energy is wasted and both grinding drums spin at the correct rate, resulting in the whole MDM machine moving forward at the maximum rate possible.

It is very important to grind up the vegetation separately to the grinding up of the soil. Both materials have their own but very different characteristics. Both materials are easy to grind up and handle separately but their consistency and handling characteristics alter dramatically if they are mixed together. The MDM system solves this problem:

A mulch blower fitted on to the front GC3000 unit vacuums up and propels the mulch up and out of the grinding drum area. The mulch is either blown up over the top of the whole MDM unit to land behind and on top of what the rear machine has seeded (if required); or it is blown off to one side, landing it on top of what has already been cleared/sown with seed on the previous pass. This provides a good protective germination layer for new seeds. Simultaneously all surface and above surface APMs are destroyed either through detonation, or by being ground into harmless fragments, by the grinding drums.

The Rear GC3000 Unit
Now it is the turn of the rear GC3000 to do its job. By now the ground passing underneath the (suspended) tractor unit is cleared of vegetation, all surface APMs and the UXOs have been detected and avoided, so effectively the ground is clean and safe for the tractor and driver to pass over. However, for safety reasons the underneath and sides of the tractor and the whole of the cab are fitted with blast protection material.

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 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 the 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 it 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 every square inch of surface area is ground up but also every cubic inch 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.

Working in Adverse Weather Conditions
Before the ground up soil/material is allowed to return to the field it has to pass through a screen-sieve. This process helps to even out the soil distribution giving an even layer and producing a clean surface ready to be seeded into. The screen-sieve is attached to the GC3000 in such a way that it is able to swing closer to and from the area where the soil is exiting from in between the shear bar and grinding drum. This suppressed swinging action allows the screen to automatically find the optimum position or point of equilibrium between being too close and blocking up and being too far away and not screening as much of the soil as it could.

Each tine on the screen is fitted independently of the next and is individually sprung allowing movement independently along with the synchronised movement of the whole screen. This has the twin benefits in both a higher percentage of the soil being screened and preventing the screen from becoming blocked in wet ground conditions.

There are two other features that allow the machine to be used in wet weather without becoming blocked up. This dramatically increases the available working days per year. As the grinding drum does not use angled blades such as a rotovator or conventional stone burier but rather uses teeth that are unable to hold wet soil this combined with the high speed of the rotation (250-300 RPM) causes a strong centrifugal self cleaning action.

The two main problems causing soil cultivation machines to stop working in wet weather are:

1. The back roller becoming jammed up with mud and causing a resistance to turning.
2. A loss of driving wheel traction, making it more difficult to progress forward.

The second problem is normally exaggerated by the first. By having hydraulically driven 'high traction low ground pressure rollers' with scraper bars to remove any build up of sticky wet soil, both of these problems are resolved.

Combining the self cleaning features of the MDM machine i.e., the hydraulically driven low ground pressure high traction rollers with scrapers; the self governing and cleaning screener and the centrifuge or self cleaning action of the grinding drum, with the WLG unit, means that the MDM machine is, to a degree, unblockable and unstoppable even in very wet ground conditions. This will dramatically extend the working seasons for de-mining.

Future-proofing
Both machines have outward and inward facing 3PL (3 point Linkage) allowing other devices and 3PL machinery to be fitted. This will be particularly useful when future machines are invented and new systems are developed. Therefore this MDM system can grow with technology.

A few examples of machines that we will be working on are:

• a mulch baler, so the mulch can be harvested,
• a pelletising machine, to turn the mulch into useful fuel bricks,
• a 'magnetic signature mine' clearing device.

The GC3000 machine has been designed in such a way that other machines can be attached to the back, front, or on top. One major advantage to this is the ability to mount on top of the GC3000 a seeding and fertilising unit. There are many such units already on the market and some have the ability to handle a variety of seed sizes and types.

With the soil coming out of the screening grid already tilthed, we are able to determine the depth of seeding by the position of the seeding tubes in relation to the flow of soil coming out of the grid. Therefore, many different crops will be able to be planted and fertilised if required, simultaneously, as we de-bush and de-mine while the back traction roller rolls the seed in.

The machine will be able to grow and adapt as new types of detection systems and other technologies are developed so ensuring that the MDM system never becomes out dated. Even after all the mines are cleared it can still be used for crop production and enhancing the agricultural economies of the former mine infested areas.

The TIGHT 3PL Unit
By using a combination of recent innovations in flow divider valves, intelligent rams incorporating linear transducers and encoder, electro-hydraulic valves and software to manage trigometrics from solid-state gyroscopics, we are able to develop a TIGHT 3PL unit (The Intelligent Gyroscopic Hydraulic Trigonomical Three Point Linkage) unit. The rear TIGHT 3PL unit is the same as that on the front. The hydraulic rams controlling the 'rock' movement of both TIGHT 3PL units are piped in together to avoid conflict and they are controlled either manually, or automatically, by the solid-state gyroscopics on the tractor. This allows sideways ground following (hugging) of both machines, while maintaining control of the suspended tractor.

The accuracy of the machine control, or hugging of the surface, is very important in ensuring that no mines are missed, while the TIGHT unit also takes any conflicting stress off the linkages. The TIGHT 3PL units simultaneously allow both GC3000 units to be directionally controlled, while allowing them free-will to follow the ground contours (hugging) while also keeping the tractor suspended in a 'level plane' without systems conflicting with each other.

The tractor is able to be held on a straight and level plane while being suspended up off the ground on the two GC3000 machines, connected via their respective TIGHT 3PL units. This method is achieved by allowing the machines on the ground to control the position of the suspended tractor, rather than the conventional way of having the tractor on the ground controlling the positions of suspended machines.

One way of illustrating is to use the analogy of a bird keeping it's head still while it is sitting on a moving branch. The illusion looks to us as if the bird is holding its head still, when in reality it is moving its head around, but exactly opposite to that of the moving branch. If you can imagine the birds head is the tractor and the GC3000 machines are its body, then the machines can move and rock with the contours of the ground while the tractor in comparison stays on a level plane as the whole system moves forward.

This is done by having solid-state gyroscopic chips inside a small software management device fixed along with the satellite tracking device, inside the body of the Fastrac. The information from the gyroscopic chips via the software management device controls the twist or rocking movement of the TIGHT 3PL unit 's 'rock' rams, so holding the tractor straight. There is an added bonus of improved operator comfort, as it also allows the machine to be operated in steep sloping terrain while the tractor and driver remain level. An audible and visual alarm is able to signal the operators attention if the machine is being operated beyond safe slope limits, not only adding to the operator's comfort but also to their safety.

Satellite tracking devices in conjunction with the GPS system will be fixed to all Fastracs for security and audit purposes, to ensure that an accurate record is kept of the whereabouts of all machines, past and present and what area, when and where, has been worked on. Future developments aim to include special security measures that will not only assist in tracking any stolen or misused machines, but also in supporting a world-wide database for the task of global de-mining.

5.75 Metre Working Position
For de-mining in areas of little or no bush with the option of simultaneously planting a crop.

This position is used for de-mining and simultaneous crop planting if required when working in areas of little or no bush. It should be borne in mind when calculating the length of time required to de-mine in the 5.75 metre working position, that a minimum overlap area of 250mm is required on each 'pass' of the machine, as an overlap safety margin, resulting in a total worked pass width of 5.5 meters. (Two GC3000 machines working off-set, side by side, would have a safety overlap of 250mm. Add this to the 250mm overlap of the previously worked strip and it totals 500mm).

How the system operates in the 5.75 Metre Working Position
The tractor is suspended as in the 3 metre position to protect the tractor and operator from mine blasts. The GC3000s' are off-set to each other, effectively doubling up on the width of the overall machine. This is achieved by the TIGHT unit's ability to crab steer as well as normal steer. This is directed by the driver operating an 'off-set' joystick to control the degree of off-set, as well as the conventional steering wheel for direction. Most of the machine's operations are controlled by the one joystick. As the operator is not chopping down bush in this working mode it allows the option to take the mulch blower off the front machine and if required attach a seeding and fertilising unit giving the ability to accomplish a 5.75 metre working strip, simultaneously, turning minefields into cornfields.

In this working mode the front machine is doing the same work as the back machine. The front roller of the front machine is on the ground, acting as a traction roller and also providing the detection coverage for the area which that machine is working on. With having the detectors inside the front rollers at a 45 degree forward facing angle it guarantees the detection of larger UXOs' before being processed by the GC3000. When a working width is altered i.e. 3metre to 5.75 metres, so altering the positions of the detectors in relation to the tractor, the GPS program is altered accordingly to maintain the accuracy of the registering of any UXO co-ordinates.

6 Metre Working Position
For one pass cultivation and crop planting in areas of no mines or areas recently cleared of mines such as commercial agriculture, or humanitarian famine prevention projects.

Other Humanitarian Aspects to Consider
With the other working modes there has been the option to clear bush and/or de-mine and plant a crop or de-mine only. 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 military 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.

How the system operates in the 6 Metre Working Position
In this working mode, if there is no threat of mines, the tractor wheels can be used on the ground as with normal agricultural work. The driver uses the joystick to set the machines to the offset position and then uses the tractor's own crab-steer abilities (in the case of a JCB Fastrac) to drive at the correct angle. The hydraulic drive to the rollers can be bypassed and the tractor uses it's own draft and position controls.

Alternatively, the MDM system can be used for crop making in the same way as previously described (off the ground) for mine clearing, with the tractor suspended. This is possible since the GC3000s have their own drive system with a lower ground pressure and higher traction than that of the tyres as wheel-slip consumes much energy. With the TIGHT, WLG and APDG units activated, the 'suspended' method becomes more efficient.

A very large area of land can be effectively ploughed, cultivated, de-stoned, seeded, fertilised and rolled in a day, with the whole machine now covering a width of 6 metres (forward speed can be increased if not cultivating so deep).

This may well become on of the most economical method of food or crop production available.

The JCB Fastrac
For the MDM machines built at the British manufacturing base we suggest that we use the "off the shelf" JCB Fastrac. Some of the Fastrac specifications are as follows, but remember that these specifications refer to the tractor before it is altered and the MDM system is fitted to it. These following specifications do not refer to the MDM system it's self.

Hydraulic Power

• The flow control spool valve provides variable flow control between 20-55 LPM for accurate speed control of implements.
• Four position spool valve with float position. In the fully forward lever position, the hydraulics can float to find the best position for soil engaged implements. Load hold check valves allow near zero 'leakback' to hold implement rams in set positions.
• Optional adjustable slip control works in conjunction with a radar sensor which measures true ground speed. It adjusts weight transfer from the implement to the tractor for optimum traction. It can be set to suit varying ground conditions.

3 Point Linkage Control

• Electronic draft / position intermix, rate of drop, adjustable lift height, plus external lift and lower.
• Rear Hitch 2115 5250kg Cat II
• Quick attach hook ends, eye end top link
• Front Hitch (Optional) - Lift capacity at link ends - 2500kg (5625lb)
  - Cat II - Folding, quick attach type

Electric Power Demand

• Standard agricultural tractor range:
  • 12v system
  • Alternator - 100amps.
  • Battery - 1 x 83 Ahr
  • Electrical wiring - To IP67 standard

Weight

• On 480/70 R28 Tyres + Front Linkage / PTO
  • Front axle - 3320kg
  • Rear axle - 2845kg
  • Total - 6165kg

Power Take Off Shafts

• Type; Fully independent to front and rear (front optional)
• Actuation- Electro-hydraulic
• Speeds; 540 rpm @ 1894 engine rpm 1000 rpm @ 2088 engine rpm
• Speed change - By in cab lever, 540 : neutral : 1000 rpm
• Front and rear always rotate at same speed.
• Output spline 6 or 21 spline 1.375" diameter standard. Source: JCB

Transport and Support Services
De-Mining Systems UK can also supply a 'Mercy Truck' type trailer transportation system. This is a system of two 45 foot (13.84 Metres) hydraulically operated folding platform, double-decker trailers. One trailer carries the machinery, while the other trailer is a mobile accommodation unit for the staff.

The machinery trailer can either carry two whole MDM systems plus the ancillary equipment and be pulled by a truck unit. As the Fastrac is able to travel at normal road speeds, the GC3000s can be left on the machinery trailer and both trailers can be pulled by the Fastracs themselves.

The machinery trailer can also carry some essential machine spares, tools and materials required to carry out well drilling and GPS waypoint surveying, along with a 3PL cement mixer, forklift, backhoe digger, fuel and water bowsers etc. If the trailer is unloaded (empty) it can be used for normal haulage with the added bonus of having two decks, or if the top deck is lowered it can be used to transport the standard and extended land-sea containers.

The purpose of the bottom deck of the accommodation trailer could be to provide a mobile prosthetics and counselling unit and a health clinic, with skilled medical staff. Also, agricultural development and education programs could be run from the bottom deck. In one half of the bottom deck the laundry, kitchen, canteen and staff recreation area will be housed. On one side of the bottom deck a large room folds out while on the other a set of gantries fold out to give access to the top deck.

The trailer has been designed in such a way that when it comes to clearing and packing up at one site and moving to another, all the furniture and room partitions in the bottom deck are folded down and stowed on the floor and the top deck is lowered down into the bottom deck. It only takes about two hours to completely pack up for transportation, or unpack after transportation.

The top deck does not require packing as it is a 45 feet long 'Land Sea' container that contains 6 en-suite bedrooms (2 sharing), sleeping 12 people comfortably. The back end of the top deck houses the generator, air conditioning, water purification plant, storage tanks and waste water tanks. This means that the top deck is a self contained modular system. It can be dropped off at a site and more modules collected and transported to the same, or other sites, or just kept with the unit as a complete system to support the already 'hard-pressed' villagers or medical and mine clearing staff at remote locations.

Other Aspects of the MDM System

If the MDM becomes stuck because of it being operated in boggy ground, the TIGHT three point linkage unit is designed in such a way that it is able to 'walk' or 'shuffle' itself sideways out of the boggy ground. It is also able to lift and turn itself around, so that it can drive out.

Jack stands are fixed to the sides of the GC3000. This safety feature allows for maintenance work to be carried out underneath the machine such as changing the teeth and adjusting or renewing the wear plates.

We have tried to design the whole MDM system, ie, operating and maintenance of the machinery, with the end user in mind. We have attempted to design the driving controls in such a way that it can be easily adapted for drivers who may only have one arm, or one leg and who may otherwise have remained disabled. The operating joystick can be moved to either side of the driver's seat and we have designed a one handed tool for changing the machine teeth.

It is advisable that the system is used in conjunction with long established de-mining and farm work driving techniques, such as working in 'sets' and doing both 'headlands' first. Further information and training on these issues will be available. As in agricultural work the correct machine settings and adjustments are vital for safety and efficiency. It will be a requirement that all operators attend a training program in mine awareness and removal and also learning how to drive and maintain the MDM system.

When undertaking research and trials of a GC3000 machine we found that we could do up to 50 acres (20 Hectares) with one set of the tungsten-carbide teeth. With each tooth costing around 2 or 3 dollars and being able to change a worn or broken tooth in under 20 seconds, it is a very low cost machine to run.

We have designed the wear plates and shear bar with the same 'fitting format'. This allows a worn shear bar to then become a new side wear plate, or a scraper for the traction roller. This cuts down on the number and overall cost of replacement parts and consequently the amount of replacement parts needed to be in stock.

We have attempted to use as many "off the shelf" world wide available parts as possible, such as hydraulic motors, pumps, hydraulic fittings and hoses. The machine is designed so it is easy to manufacture cutting down on production costs and easy to maintain, cutting down on running costs.

The low ground pressure feature of using the hydraulically driven rollers to support the weight of the machine, while providing the high traction characteristics to propel it along, mean that the machine is not encountering wheel slip. By incorporating the WLG and the APDG it means that the machine is not struggling to do the work. The result of this is high workload efficiency with outstanding fuel economy, ie, fuel to work ratio.

With the efficiency characteristics of the MDM system, we are able to utilise a mere 500HP, driving two 3 metre grinding drums (total 5.75 metre working width) and operating at a depth of 300mm. The whole MDM system only weighs approximately 17 tonnes. This dramatically reduces the fuel consumption for all the work it does, resulting in environmental, logistical and work accomplishment benefits.

We are planning on having a number of manufacturing and training bases. This will give us global coverage and the facilities we need to provide training with a world-wide back up of parts and service with exchange and/or repair of the machines. The GC3000 machines can be stacked on top of each other to cut down on shipping and storage costs.

The MDM tractor can also be used for other infrastructural development works such as haulage. An array of machines can be attached to this modular system such as cement mixers, diggers, backhoes, fork-lifts and well-drilling rigs for water wells and GPS reference points (fixed way points) and all standard agricultural machinery can be utilised through this type of tractor. This option increases the versatility of the MDM system.

As well as selling, hiring and leasing the machines to both government and non government organisations, we will also have our own operators to provide a fully integrated service. We plan to be involved in commercial and humanitarian de-mining and food production projects with the commercial part of our organisation helping to fund the humanitarian side.

There are many commercial aspects to this project, using this modular machine, such as the various parts and variations of these parts that go to make up the MDM system. It can be manufactured and sold to different markets. To give some examples of this, we could sell the TIGHT 3PL unit for all front 3 point linkage machinery and also to the tractor manufacturers as it gives control to the machine on the front of a tractor, especially useful for soil cultivation machinery.

Another important aspect to the GC3000 is that it can be used in forestry work such as after a 'clear fell' has taken place. The problem at the moment is that the branches have to be stacked up for about a year to dry so they can be burned, clearing the area and allowing new trees to be planted. New laws may come into force in Europe that will prohibit such burning.

With the GC3000 fitted to any 130+ HP tractor, an operator could drive over an area that had been felled and grind up all the vegetation, stones, branches and tree stumps, allowing immediate re-planting. A tree planter could be made and put on the GC3000 so an area could be cleared and re-planted in one go, immediately after the tree harvesting had taken place. The machine could also be used for putting in forestry fire-breaks, roads and forest fire fighting etc.

Another market for a variation of the GC3000 is for cultivation and stone burying in the sports field and golf course construction industry, but the main market potentially worth many millions of dollars and one which could help to fund the final push in global de-mining is the agricultural market. A variation of the MDM system could revolutionise the world's agricultural industry as it effectively ploughs, de-stones, cultivates, seeds, fertilises and rolls all in one pass. As this machine also extends the working season by being un-blockable and unstoppable and doing all the processes at once, it means that fewer machines will be able to do more work, more efficiently. It will also help conserve energy and the environment. This makes the MDM system an altogether low cost, feasible and self-sustaining process for the benefit of mankind.

We will soon be able to combine the MDM system into a "Mercy Truck" style mobile unit, incorporating; well drilling, construction, health clinics, prosthetics units, education, agricultural development and general community and infrastructure improvement works.

The MDM system has been developed with thought and compassion going to the owner or the end user of the land. Sadly many other methods of de-mining leave the land 'supposedly safe' but also, in some cases, useless in agricultural terms, having mixed together top soil and subsoil and leaving an uneven surface. The MDM system leaves the soil prepared to a high standard dramatically increasing the agricultural viability and value of the land. With the MDM system 100% of the soil down to the pre set depth is pulverised and ground up thus rendering the area 100% mine free and safe for families to return to and begin a new life.

This machine could bring global land mine removal up to date as well as revolutionise the world's agricultural industry. One exciting point about this de-mining machine is its ability to deal with the vegetation/overgrowth, detect UXO's, leave the land in a more valuable condition and even plant a crop simultaneously. By entering into agreements with the land owners/governments for future crop production, we are now able to aim at making de-mining a sustainable or even a profitable operation. Thus hopefully more organisations will become involved and the massive task of global de-mining will be done more rapidly thus dramatically reducing unnecessary suffering.

We are hoping to not only stand by our machine, but also to work behind it.

De-Mining Systems UK Ltd.