Remote chemical biological and explosive agent detection using a robot-based Raman detector

Abstract

Current practice for the detection of chemical, biological and explosive (CBE) agent contamination on environmental surfaces requires a human to don protective gear, manually take a sample and then package it for subsequent laboratory analysis. Ground robotics now provides an operator-safe way to make these critical measurements. We describe the development of a robot-deployed surface detection system for CBE agents that does not require the use of antibodies or DNA primers. The detector is based on Raman spectroscopy, a reagentless technique that has the ability to simultaneously identify multiple chemical and biological hazards. Preliminary testing showed the ability to identify CBE simulants in 10 minutes or less. In an operator-blind study, this detector was able to correctly identify the presence of trace explosive on weathered automobile body panels. This detector was successfully integrated on a highly agile robot platform capable of both high speed and rough terrain operation. The detector is mounted to the end of five-axis arm that allows precise interrogation of the environmental surfaces. The robot, arm and Raman detector are JAUS compliant, and are controlled via a radio link from a single operator control unit. Results from the integration testing and from limited field trials are presented.

An agent based approach for improvised explosive device detection, public alertness and safety

“…In addition, that so many terrorist groups have successfully hidden their online pro-crime activities (p.95). Conversely, the work of [10] and [11] focused on the identification and detection of chemical, biological and explosive (CBE) substances using the Raman detector --an unmanned ground vehicle. The Raman detector is a sensor that can identify the presence of CBE, and can reveal the molecular composition of organic or inorganic materials.…”

“…It is capable of remote sensing and compliant with the Joint Architecture for Unmanned Systems (JAUS). In [10] the following: RDX -Cyclotrimethylene-trinitramine, HMX -Cyclotetramethylene-tetranitramine, PETN -Pentaerythritol-tetranitrate were identified as chemical and explosive substances. Similarly, in [12], from the in-depth analysis of explosives and IED, methods of detection and tools were presented.…”

System-Level Testing and Evaluation Plan for Field Robots: A Tutorial with Test Course Layouts

“…The courses are adapted for general field robotic platforms to conduct systems analysis, finding and fixing performance issues, and defining capability limitations in a general basic field robotic platform. Field robotic systems may tackle a variety of jobs, such as agricultural work [28][29][30][31][32][33][34][35][36] (Figure 1a,b), firefighting [37][38][39], construction/demolition [40][41][42] (Figure 1c), search-and-rescue missions [43][44][45] (Figure 1d), and work in explosive or hazardous environments [46][47][48][49][50] (Figure 1e), among others. They are generally small platforms (i.e., small vehicles) and may be controlled by-wire (manual control), semi-autonomous or tele-operated control (SA/TO), or may be controlled autonomously.…”

Continued development of a portable widefield hyperspectral imaging (HSI) sensor for standoff detection of explosive, chemical, and narcotic residues

“…HSI is widely used in remote sensing applications such as forestry, geology, agricultural applications, emission control, and chemical agent detection. [1][2] [3] Hyperspectral data cubes are multidimensional megabyte-sized files that require significant processing power and ample storage capacity for real-time applications. These hyper-and multispectral systems usually have a large SWaP (Size, Weight, and Power) footprint to support internal hardware and complex processing.…”