HUMANITARIAN DEMINING OF SHALLOW WATER AREAS: TECHNOLOGIES AND ROBOTIC SUPPORT

摘要

The article formulates the applied scientific problem of humanitarian demining of shallow waters of the state with the help of marine robotics, proposes the structure and content of works, organizational and resource support for their implementation.The study uses system analysis methods to identify the main stages of humanitarian demining, theoretical foundations for the creation and application of marine robotics to select effective robots, and the basics of matrix theory to mathematically describe the processes of robotic support for humanitarian demining.The ways to restore the safety of using shallow water bodies in the interests of territorial communities through the use of underwater, surface and flying vehicles for various purposes, which implement the concept of introducing unmanned technologies and allow to minimize the participation of divers in the implementation of humanitarian demining of shallow waters, are determined.A unified robotic technology for such demining includes the main stages of searching, identifying and mapping explosive objects, neutralizing the found objects at the place of their discovery, underwater and/or surface transportation of explosive objects to the place of long-term and safe underwater storage and documentary inspection of the cleared areas for their safe further operation.Separate types of resource support are proposed, including robotic, navigation and personnel support.It is proposed to determine the types of robotics for performing such work and equipping marine robots with special devices and tools using matrices containing the characteristics of marine operations and the technical characteristics of robotic equipment for their implementation.The obtained results form the theoretical basis for organizing the transition from diving technologies for humanitarian demining to robotic technologies for humanitarian demining of shallow waters.The practical value of the research results lies in the recommendations for robotic and instrumentation support for such works.