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Publications

Scientific publications

A concept of walking robot for Humanitarian Demining

I.Doroftei (TUI), Y.Baudoin (RMA), International Journal Industrial Robot, Vol 39, Issue 5, p441-449, Sep 2012, ISSN: 0143-991

A new densely-sampled Ground Penetrating Radar array for landmine detection

Authors: L.Nuzzo, G. Alli, R. Guidi, N. Cortesi, A. Sarri, G. Manacorda (Ingegneria Dei Sistemi S.p.A).

Title: A new densely-sampled Ground Penetrating Radar array for landmine detection. Presentation delivered at the 15th International Conference on Ground Penetrating Radar (GPR 2014) in Brussels (Belgium). (30 June - 4 July, 2014).

 

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Advanced Intelligence Decision Support System (AIDSS)

Presentations delivered by Milan Bacjic (CTDT) and Andrija Krtalic (FGUNIZ) during the TIRAMISU workshop "Sensor Data and Imagery" in Oberpfaffenhofen (Munich) from the 17th to the 20th of September, 2012.

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Analytical assessment for the process of collecting additional data on a Suspected Hazardous Area in Humanitarian Demining

Cedo Matic, Davor Laura, Roman Tursic, Andrija Krtalic, Zagreb 2014

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Bayesian sensor fusion for land-mine detection using a dual-sensor hand-held device

José Prado, Gonçalo Cabrita and Lino Marques (Department of Electrical Engineering and Computers, University of Coimbra).

39th Annual Conference of the IEEE Industrial Electronics Society, Vienna (Austria), 10-13 November 2013. 

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Billy Goat Radio: MRE in Sahrawi Refugee Camps

Luisa Scapolla and Emanuela Cepolina, The Journal of ERW and Mine Action, December 2014

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Bluebot - Navigation and communication capabilities for robots in harsh environments

Publication on how BLUEBOT improves the usability and integration capabilities of robots or remotely-controlled mobile manipulators in order to be used successfully in a wide range of applications. This article presents the preliminary phase and the first results from the BLUEBOT prototype version. 

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Computer training for operators of unmanned vehicles in application to Humanitarian Demining activities

Marek Kasprzak,A.Kaczmarczyk, A.Mas?owski, Kaczmarczyk, A. Mas?owski (IMM)
6th IARP Workshop RISE’2012, Warsaw, 11-13 Sep 2012

Construction of mine clearer and trailers for the transport of explosives - the project TIRAMISU,

Marcin Szczepaniak (IMM), Ph.D. Eng.; Wies?aw Jasi?ski, MSc (WITI)
6th IARP Workshop RISE’2012, Warsaw 11-13 Sep 2012

Convention on Cluster Munitions - Ottawa status

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Deploying Field Robots for Humanitarian Demining: Challenges, Requirements and Research Trends

Authors: David Portugal and Lino Marques (Institute of Systems and Robotics, University of Coimbra); Manuel Armada (Centre for Automation and Robotics).

Publication presented at the 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2014) in Poland. 21-23 July, 2014.

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Design of a training tool for improving the use of hand-held detectors in humanitarian demining

Roemi Fernández, Héctor Montes, Carlota Salinas, Pablo González de Santos, Manuel Armada,Industrial Robots international Journal, Vol 39, Issue 5, pp. 450 – 463, ISSN: 0143-991

Divergence-based odor source declaration

Authors: Gonçalo Cabrita and Lino Marques. 
Publication presented at the Asian Control Conference (ASCC 2013). Istanbul. 

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Evaluation of a sensory tracking system for hand-held detectors in outdoor conditions

The Consejo Superior de Investigaciones Científicas (CSIC), one of the TIRAMISU partners, has developed a sensory tracking system to improve the accuracy of deminers in the use of hand-held detectors in outdoor environments.

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Ground Penetrating Radar for close-in detection

Similarities and differences between humanitarian demining and C-IED (route clearance) by Giovanni Alli and Antonio Sarri (Ingegneria Dei Sistemi).

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Indicators of Mine Presence: Focus on Trenches

Vinciane Lacroix, Sabine Vanhuysse, 
CISS Department, Royal Military Academy, Belgium, IGEAT, Université Libre de Bruxelles, Belgium
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Land Release in Action: In-field study of practices in use in six countries

This document summarises the results of an in-field survey across six countries carried out over a three month period, from April 2nd to July 8th, 2012.

During the study current practices used in land release processes were documented in details. Some conclusions were drawn from the responses, suggestions and opinions collected from relevant stakeholders on technologies used in technical surveys and the best way to test and evaluate them.
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LED pumped polymer laser sensor for explosives

Y Wang, P.O. Morawska, A.L. Kanibolotsky, P.J. Skabara, G.A. Turnbull*, I.D.W. Samuel, Laser & Photonics Reviews 7, pages L71-L76 (2013) DOI: 10.1002/lpor.201300072
LED pumped polymer laser sensor for explosives (pages L71–L76)

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Levels of data within Advanced Intelligence Decision Support System (AI DSS)

Scientific article and presentation delivered by Andrija Krtalic during the 9th International Humanitarian Demining Symposium on the 24th of April, 2012. 

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Mobile Demining Device Modelling for Training Purposes Using the Vortex Framework

Proceedings of the XIII conference "Military Engineering, problems and perspectives”, WITI, Military Institute of Engineer Technology, Wroclaw 2014, pp. 233-240.

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Multi-Robot Odor Distribution Mapping in Realistic Time-Variant Conditions

Authors: Ali Marjovi and Lino Marques (Institute of Systems and Robotics, University of Coimbra).

Presented at the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014) In Hong Kong (China). 31 May - 7 June, 2014.

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Object-based image analysis for detecting indicators of mine presence to support suspected hazardous area re-delineation

Abstract: In the framework of Mine Action, the extent of Suspected Hazardous Areas (SHAs) is often overestimated. This study investigates the potential of Object?Based Image Analysis (OBIA) for extracting Indicators of Mine Presence (IMP) to support a more precise delineation of SHAs, with the aim of ensuring an optimal use of demining resources.

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Optimal spatial formation of swarm robotic gas sensors in odor plume finding

Authors: Ali Marjovi and Lino Marques.

Article published in the Autonomous Robots publication (2013). This publication reports on the theory and application of robots that have some degree of autonomy. Papers that include performance data on actual robots being used in real-life scenarios are featured. Coverage includes: the control of autonomous robots, real-time vision, autonomous wheeled and tracked vehicles, legged vehicles, computational architecture for autonomous systems, and distributed architecture for learning, control and adaptation, among many others. 

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Organic optoelectronic devices for sensing of explosives and tissue oxygenation

A.K. Bansal, Y. Wang, M.E. Giardini, E Bowman,G.A. Turnbull, I.D.W. Samuel, SPIE Optics & Photonics 2012, San Diego, 12-16 August 2012

Organic semiconductors for light-emission, solar cells and laser sensing

I.A. Wright, A.K. Kanibolotsky, S.J. Coles, P.J. Skabara, C.T. Howells, Y. Wang, G.A. Turnbull, S. Gambino. I.D.W. Samuel, World Polymer Congress, Virginia Tech, 24-29 June 2012

Polymer laser vapor sensors for explosives (Invited Paper)

Graham A. Turnbull, Yue Wang, Ying Yang, P. Morawska, Ifor D. W. Samuel, SPIE Defence and Security 2013 (Dresden, Sept 2013)

Presentation of the exploitation of the TIRAMISU project

Presentation delivered by Volfgang Rhomberg and Andrea Kurz, Brimatech Services GmbH (November, 2013).

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Presentations during the 10th edition of the IARP Workshop HUDEM 2012

Scientific presentations during the 10th edition of the International Advanced Robotics Programme (IARP) Workshop HUDEM 2012 which took place on 24-26 April in Šibenik (Croatia). The event was dedicated to Robotics and Mechanical Assistance in Humanitarian Demining and Similar Risky Interventions.

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Presentations during the 8th edition of the IARP Workshop RISE 2015

Scientific presentations during the 18th edition of the International Advanced Robotics Programme (IARP) Workshop RISE 2015 which took place on January 2015 in Lisbon (Portugal). 

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Publications presented in the 11th IARP Workshop HUDEM 2013

A list of scientific publications presented at the 11th edition of the International Advanced Robotics Programme (IARP) Workshop HUDEM 2013 which was coupled with the 10th International Symposium on Humanitarian Demining. The workshop took place on the 23rd of April in Šibenik (Croatia).

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Remote Controlled Wheeled Mobile Robot for Humanitarian Demining Purposes

DOROFTEI Ioan, MALHERBE Romain, BRED Gaetan, BAUDOIN Yvan, and CONDURARU Ionel,
“Gheorghe Asachi” Technical University of Iasi, Mechanical Engineering, Mechatronics and
Robotics Department, Blvd. D. Mangeron, No. 43, 700050 - Iasi, Romania, Universite d’Artois, 9 rue du Temple, France, Royal Military Academy of Brussels, Department of Mechanics, Av. De La Renaissance 30,
B1000 Brussels, Belgium
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Scientific publications presented at the ROBOT 2013 conference

Authors: José Prado and Lino Marques. Institute of Systems and Robotics (University of Coimbra).

Publications: "Energy efficient area coverage for an autonomous demining robot" and "Estimation of Gaussian Plum Model Parameters using the Simulated Annealing Algorithm". Presented at the First Iberian Robotics Conference (ROBOT 2013) in Madrid. November 2013.

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Scientific publications presented in the 12th IARP Workshop HUDEM 2014

A list of scientific publications presented at the 12th edition of the International Advanced Robotics Programme (IARP) Workshop on Robotics for Humanitarian Demining - HUDEM 2014 - which was coupled with 11th International Symposium and Equipment Exhibition “Mine Action 2014”. The workshop took place on the 23rd, 24th and 25th of April in Zadar (Croatia).

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Scientific publications presented in the International Workshop Robotics for Risky Environment-Extreme Robotics (RISE-ER 2013)-

Studies produced by José Prado, Gonçalo Cabrita and Lino Marques.

"Area coverage studies for an autonomous demining robot" and "Novel dual-technology hand-held device for mine detection" were presented during the International Workshop Robotics for Risky Environment-Extreme Robotics (7th IARP RISE-ER'2013) in the context of the VI St. Petersburg International Innovation Forum and the XVII International Forum "Russian Industrialist" from the 1st to the 3rd October 2013.

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Sensors for close-in detection of explosive devices in the framework of FP7-TIRAMISU project

L.Marques (ISR-UC), NATO Conference, from the 18th to the 20th September 2012.
“Detection as a unified effort of involved parties to defeat new emerging threats and protect human life and environment”, Trencin (Slovakia).

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Spatial assessment of social vulnerability in the context of landmines and explosive remnants of war in Battambang province, Cambodia

Hagenlocher, M., Hölbling, D., Kienberger, S., Vanhuysse, S., Zeil, P.

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Speeding Up Rao-Blackwellised Particle Filter SLAM with a M

Authors: Bruno D. Gouveia, David Portugal and Lino Marques. Institute of Systems and Robotics, Department Electrical and Computer Engineering (University of Coimbra).

Presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems in Chicago (Illinois). 14-18 September, 2014. 

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Swarm Robotic Plume Tracking for Intermittent and Time-Variant Odor Disp

Authors: Ali Marjovi and Lino Marques (Department of Electrical Engineering and Computers, University of Coimbra).

Scientific publications: Swarm Robotic Plume Tracking for Intermittent and Time-Variant Odor Dispersion. This work was carried out in the Institute of Systems and Robotics, University of Coimbra, Portugal and was supported by the TIRAMISU project.

This work was presented at the 6th European Conference on Mobile Robots (ECMR 2013) in Barcelona. September 2013.

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The Triple Impact Technique

Georgios Kechagiadakis, Royal Military Academy, Brussels, Belgium, December 2014

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TIRAMISU - Technical survey, close-in-detection and disposal mine actions in Humanitarian Demining: challenges for Robotics Systems.

TIRAMISU - Technical survey, close-in-detection and disposal mine actions in Humanitarian Demining: challenges for Robotics Systems by prof. Yvan Baudoin. Royal Military Academy. Brussels, Belgium.

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TIRAMISU : FP7-Project for an integrated toolbox in Humanitarian Demining: focus on Technical Survey and Close-in-Detection

L. Marques (ISR-UC), Y. Baudoin (RMA), G. Muscato (UNICT), G. Turnbull (USTAN), D. Hoja (DLR), G. Alli (IDS) , A. Ginestet (NOVELTIS) , J. Braunstein (VALLON), M. Zoppi (DIMEC), E. Cepolina (PIERRE)
Vallon Workshop from the 8th to the 10th October 2012. 

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Tiramisu newsletter - Issue 2

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TIRAMISU: Progress in developing new tools for mine action

Author: Dr. Ir Yann Yvinec.

Date of publication: 2015

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UAV / UGV cooperation for surveying operations in humanitarian demining

Publication developed in the framework of the TIRAMISU project by L. Cantelli, M. Manigameli, C.D. Melita and G. Muscato and presented during the 11th IEEE International Symposium on Safety Security and Rescue Robotics organised in Linkoping (Sweedend) from the 21st to the 26th of October, 2013.

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Using robots in hazardous environments by Y.Baudoin and Maki K.Habib

Publication by Y. Baudoin and Maki K. Habib on Landmine detection, de-mining and other applications.

Virtual Cancelation Plume for Multiple Odor Source Localisation

Authors: Gonçalo Cabrita, Lino Marques and Veyse Gazi. 

Work presented at the IEEE/RSJ International Conference on Intelligent Robots and Systems in Tokyo (Japan). 3-8 November 2013.

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Dissemination publications

Presentation Leaflet: ALIS (a dual sensor detector)

Information on a new hand-held land mine dual sensor/detector (ALIS) which is equipped with both a metal detector and a ground-penetrating radar (GPR). The most unique feature of ALIS is its capability to visualise the readings of the two sensors on a LCD screen.

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Presentation leaflet: Billy Goat radio

The 'Billy Goat' radio toolbox aims to enable MRE operators to write and produce short educational serial dramas. The productions can then be broadcasted by radio stations and/or performed live by local actors at various locations in order to raise awarness of the dangers of Explosive Remnants of War /ERWs).

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Presentation Leaflet: biosensors

Presentation of the method developed by the University of Zagreb to train honeybees to detect explosives.

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Presentation Leaflet: LOCOSTRAv2 Tractor

An innovative and versatile tool for area preparation verification and technical survey

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Presentation Leaflet: T-IMS

TIRAMISU Information Managemen System (T-IMS): field collection tool for demining missions.

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Presentation Leaflet: TIRAMISU Repository System (TRS)

Tiramisu Repository Service (TRS): Centralised data management for demining missions

 

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Presentation Leaflet: TriDem

TriDem is a wheeled high mobility robot for Humanitarian Mine Clearance developed by the Royal Military Academy of Belgium.

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TIRAMISU handbook

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TIRAMISU Information Management System (T-IMS) Poster A1

TIRAMISU poster released in 2015 for the 13th IARP Workshop HUDEM. 

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TIRAMISU map symbols

This table shows the map symbols that were designed for T-REX and for T-IMS.

T-IMS includes IMSMA symbols, and notably symbols from the new set developed by the GICHD in 2015, in line with the IMAS 07.11 Land Release (http://mwiki.gichd.org/IM/Symbology).  

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Tiramisu newsletter - Issue 1

Welcome to the first issue of the TIRAMISU newsletter!

This first issue lists some of the robotic tools that were tested last year. It also describes a concept for labels that could help understand visually the main characteristics of a given tool, whether it is a detector, mechanical equipment, software, personal protective equipment, etc.

An introduction to our work to propose guidelines to test and evaluate personal protective equipment and propose acceptance tests for demining machines that are not designed to damage or destroy mines is also given.

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Tiramisu Presentation Leaflet

Leaflet of the Tiramisu project - Toolbox Implementation for Removal of Anti-personnel Mines, Submunitions and UXO- funded by the FP7 Programme.

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Tiramisu Presentation Leaflet

Leaflet of the Tiramisu project - Toolbox Implementation for Removal of Anti-personnel Mines, Submunitions and UXO- funded by the FP7 Programme.

(Updated: May 2014)

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