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SECOND ON-SITE IARP WORKSHOP on HUMANITARIAN DEMINING PRISHTINA, KOSOVO June 19-20, 2003 Introduction INTRODUCTION The International Advanced Robotics Programme (IARP) has, till now, organized four workshops devoted to the possible use of Robotics Systems for speeding the demining of infested countries: the map shown on the first page summarizes the importance of the problem and the on this map coloured countries still suffer on this plague. The first IARP Workshop took place in Toulouse (France): a scientific meeting which gave some scientists the opportunity to present their theoretical results in the domain of the Outdoor applications for mobile robots; the most papers focused on the navigation and the control of robots while some papers also described existing advanced mechanical detection-devices (example: the UAV Camcopter) and their possibilities. Following this first workshop, a working group HUDEM has been entrusted to Dr Tom Martin (Germany) who organized a first ON-SITE workshop in Zimbabwe (more precisely at the border Zimbabwe-Mozambica in the vicinity of Mutare, where the company MINETECH, funded by the UNO, hosted the members of the WG ) The first members of the WG Hudem received there a realistic perception of the demining problems, allowing some of them to re-orientate their research activities by taking into account with the operational requirements of such an application. Dr Tom Martin concluded this workshop by inviting the members of the WG to introduce scientific proposals under FW-5 European Programme. The third Workshop, hosted by Professor P.Kopacek in the Technical University of Vienna, and co- chaired by Prof Y.Baudoin, new chairman of the WG Hudem, again gave some scientists the opportunity to present the last results of their research in the domain of the detection of anti-personnel mines, of the mechanical mine-clearance and of the roboticized demining tasks. Prof Yvan Baudoin concluded this workshop by inviting the members of the WG to pursue their efforts and to take into account with the ITEP directives (International Testing and Evaluation Programme), while Prof Peter Kopacek underlined the necessity to extend the detection tasks ( entrusted to mobile robots or other automated systems) to the mine-removal tasks (the effective mine-clearance) The fourth workshop, again cosponsored by Austria and Belgium, is the second On-Site IARP workshop on Hudem and is hosted by the Technical University of Prishtina: a ‘come-back’ to the reality of the Demining problems in very unstructured infested areas where the use of mobile robots is far from obvious… On behalf of the the cosponsoring members of the IARP, let us thank the National Organizing Committee and the participants to this workshop: their experience will allow us to prepare a detailed state-of-the-art report that will be sent to all the members of the Working Group Hudem and to the Secretary of the ITEP as well as to the Secretary of the GICHD (Geneva International Center for Humanitarian Demining) : we hope that this report will allow an efficient cooperation between those institutions and the End-Users in charge of the ON-SITE Demining EUDEM-2, the funded European Network focusing on Hudem, will organize a (by the EC funded) scientific international symposium (Brussels, 15-19 September 2003) : don’t hesitate to join this event: it will be our next Rendez-Vous this year. We also hope to organize a fifth IARP Workshop in 2004, in close cooperation with the ITEP. Be ready to contribute… Yvan Baudoin (BE) Peter Kopacek (Austria) 2 SECOND On-Site IARP WORKSHOP on Humanitarian Demining Background of of IARP and IARP WG-HUDEM The International Advanced Robotics Programme (IARP) is an international project initiated at the Versailles Economic Summit of 1982. All countries/members of the IARP have agreed on the general objective: ”to foster international cooperation aiming to develop robot systems able to dispense with human exposure to difficult activities in harsh, demanding or dangerous conditions or environments. All members of the WG Hudem have agreed to foster international cooperation aiming to develop performant techniques and robotics systems speeding up the demining of infested countries.” Why this Workshop in Kosovo? Short History of Kosovo Kosovo covers an area of 10.887 km2, 53% are mountains and with about 2 million inhabitants. It is surrounded by Albania, Macedonia, Serbia and Montenegro. The capital of Kosovo is Prishtina and other major cities are Prizren, Peja, Mitrovica, Gjakova, Gjilan and Ferizaj. The highest mountains are situated in the southwest (Mali i Sharrit with peaks up to 2750m), in the west (Bjeshket e Nemura with peak Gjeravica of 2.656m) and in the north (Kopaonik). From Kosovo flow rivers toward three seas: Adriatic Sea, Aegean Sea and Black Sea. It is very rich with minerals which is a good foundation for industrial development. In the former times it was an important commercially crossroad between Adria and the Balkans. The earliest known inhabitants of Kosovo were called Illyrians by both Greeks and Romans. In 1389, in the famous Battle of Fushe Kosove / Kosovo Polje, the Serbs and their allies were defeated by the Ottoman Turks and shortly Kosovo became part of the Ottoman Empire. Kosovo was reoccupied by Serbs during the First Balkan war 1912 and remained a part of Yugoslavia until 1999 when NATO-led forces entered and set a United Nations administration. Places of interest: The Kllokot Spa, The Rugova Gorge, Brezovica, The Marble Cave, The Mirusha Canion. Heritage: Decan Monastery, Peja Patriarchy, Bajrakli Mosque in Peja, Hadum Mosque in Gjakova, Gracanica Monastery near Prishtina, Novo Brdo Castle, Prizren Castle etc. Facts about Prishtina Prishtina is Kosovo’s capital with more than 500,000 inhabitants. It’s a administrative, economic, cultural and education center. The history of Prishtina goes back to the Neolithikum and is situated near the ancient town called Ulpiana. Because of the minerals it was in the mid age (14th and 15th century) a very important market place. Now, it’s a modern city with three national TV stations, University with more than 20,000 students, National Library, National Theatre, National Museum, Academy of Science and Arts, Catholic Church, Orthodox Church and many old Mosques. Near Prishtina is based Airport as a link with outside world. In outskirts of city Thermo Power Plants are installed which supply Kosovo with electric power. Recreative and sportive center is situated about two kilometers from the center in Germia Valley. Memorial for the Kosovo Battle and Sultan Murat’s Tomb are just few kilometers outside Prishtina. Demining Problem in Kosovo At least 120 people have been killed and 370 wounded by landmines and cluster bombs left over from the Kosovo war since the conflict ended in June 1999. More than 4,500 mined fields were marked by international agencies. By the end of 2001 the United Nations Mine Action Coordination Centre (UNMACC) has disposed of 20,000 landmines and international peacekeepers have removed 7,000 of around 45,000 located. Since then Kosovo Protection Corps (KPC-TMK) is in charge for demining and explosive device clearance. According to international standards mine clearance can be guaranteed up to 99.6% and Kosovo needs up to seven years to reach that rate. Therefore, the Workshop in Pristina, Kosovo will examine how it could be possible to speed up the demining process using sophisticated devices as are mobile (wheeled, tracked or legged) robots and other modern equipments. http://www.ihrt.tuwien.ac.at/HUDEM03/HUDEM.htm - background 3 Sponsorship This Workshop is sponsored by Austria and Belgium and co-sponsored by France, Russia, United States. The IARP representatives of the sponsoring and co-sponsoring countries are : Austria P. Kopacek Vienna University of Technology Belgium Y. Baudoin Royal Military Academy, Brussels Canada E. Dupuis, Canadian Space Agency, Quebec J.C. Piedboeuf France G. Giralt LAAS-CNRS, Toulouse Russia V. Gradetsky Russian Academy of Sciences Spain M. Armada Instituto de Automatica Industrial (CSIC) USA E. Marsh National Science Foundation (NSF) International Programme Committee: A. Almeida (PRT) M. Armada (ESP) Y. Baudoin (BEL) : Chair T. Borangiu (ROM) S. Buza (KOS) N. Caplan (USA) : IARP President J.G. Fontaine (FRA) : Representative P. Gonzalez (ESP) V. Gradetsky (RUS) M. Jimenez (ESP) P. Kopacek (AUT) : Chair B. Kuchen (ARG) C.W. Lee (KOR) E. Marsh (USA) T. Martin (GER) A. Pajaziti (KOS) C.E. Pereira (BRA) J. Sa Da Costa (PRT) Local Organizing Committee • I. Gojani (University of Pristina, Mechanical Engineering Faculty, Kosovo) • A. Pajaziti (University of Pristina, Mechanical Engineering Faculty, Kosovo) • Sh. Buza (University of Pristina, Mechanical Engineering Faculty, Kosovo) Mechanical Engineering Faculty University of Prishtina Bregu i Diellit pn. Prishtina Kosovo, UNMIK Tel/fax. +381 38 554 997 4 PROGRAMME JUNE 19, 2003 09.30-10.00 H Opening - Welcome Dean of the M.E.Faculty (Ko) Prof P.Kopacek (AU) Prof Y.Baudoin (BE) Dr A.Pajaziti (Ko) 10.00-10.30 H Demining Problem in Dr S.Buza (M.E.F Kosovo Prishtina) 10.30-11.00 H Demining in Kosovo Major D.Rexha (Kosovo Protection Corps) 11.00-11.30 H Coffee Break 11.30- 12.00 H Anti-Personnel mines JC. Robert-Peillard, neutralisation Y.Riebernon (Hitachi Furukawa, FR) 12.00-12.30 H Fuzzy-genetic algorithm Dr A.Pajaziti, and obstacle path I.Gojani,S.Buza,A.Shala generation for walking (MEF, Prishtina, KO) robot 12.30-13.45 H Lunch Break 13.45- 14.15 H Robotics for humanitarian
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