A SIMULATION ALGORITHM CAPABLE OF MODELLING SPATIAL IMPACT POINTS FROM THE NEUTRALIZATION OF AN IMPROVISED EXPLOSIVE DEVICE By Christopher Chan Bachelor of Science Computer Science, Ryerson University 2013 Master of Science Computer Science, Ryerson University 2015 A dissertation presented to Ryerson University in partial fulfillment of the requirements for the degree of Doctor of Philosophy in the program of Computer Science Toronto, Ontario, Canada, 2018 © Christopher Chan, 2018 Author’s Declaration I hereby declare that I am the sole author of this dissertation. This is a true copy of the dissertation, including any required final revisions, as accepted by my examiners. I authorize Ryerson University to lend this dissertation to other institutions or individuals for the purpose of scholarly research. I further authorize Ryerson University to reproduce this dissertation by photocopying or by other means, in total or in part, at the request of other institutions or individuals for the purpose of scholarly research. I understand that my dissertation may be made electronically available to the public. ii Abstract A SIMULATION ALGORITHM CAPABLE OF MODELLING SPATIAL IMPACT POINTS FROM THE NEUTRALIZATION OF AN IMPROVISED EXPLOSIVE DEVICE Christopher Chan Doctor of Philosophy, Computer Science, Ryerson University, 2018 An improvised explosive device (IED) is a bomb constructed from unknown materials, often concealed, such as inside an innocuous container, and deployed in unconventional ways resulting in a potentially deadly weapon. Public safety personnel such as Explosive Disposal Units (EDUs), are trained in the safe handling of explosives and the threats posed by IEDs. One method of neutralizing a suspect IED is to use water fired from a high-powered dispersion weapon commonly known as a disrupter cannon. Our research proposes an algorithm for developing an IED neutralization simulation that can emulate real-world physical effects of the successful neutralization of an IED without danger to the public or first responders. This algorithm includes 6 methodologies with the goal of providing EDU with additional information on the potential physical dispersion of the components of an IED and any major points of impact (splatter) and possible actionable intelligence on the pose and direction of a disrupter cannon for a successful neutralization of an IED. We have developed a prototype simulation based on this algorithm and evaluated the simulation with an appropriate real-world disrupter and compared the real-world splatter to our simulation’s splatter. We argue systems developed with our algorithm may provide relevant information directly from the simulation and can be accurately used to analyze particle dispersion for the purposes of augmenting EDU IED neutralization processes. iii Acknowledgements I would like to thank my gracious wife, Jessica Lin Zhang, for her relentless love and support. She went above and beyond to be ever so patient and tolerating me at my very best and at my very worst. I dedicate my hard work and zest for life to her and our baby girl, Isabelle. I would like to thank my supervisor Dr. Alexander Ferworn for his direction and support. Dr. Ferworn introduced me to a great niche in computer science for the field of robotics for computational public safety and provided tremendous guidance, support and aid throughout my studies. I would like to acknowledge the support I have received from the following groups and individuals. Without their help, my work would have not been possible: Craig Dunfield and Mark Running of the Durham Regional Police Service for their advice on neutralization processes and for their help on gathering essential data for my final experiments. Andy Olesen of the Halton Regional Police Service for his expert advice on neutralization equipment and EDU tactics. The Emergency Task Force (ETF) of the Toronto Police Service (TPS) for the use of their facilities and equipment--especially the assistance of Explosive Force Entry Coordinator Peter Svitak, whose explanations and guidance helped me understand a very unfamiliar world. Sunnybrook Hospital for the use of their medical imaging systems, especially Dr. Lee Chin who did not mind when I asked him to help me scan and process inert explosives in his hospital. iv The Network-Centric Applied Research Team (N-CART) for the advice, pressure and assistance provided to me by my peers and advisors, Rodney Yip, Jimmy Tran, Alex Ufkes, Dalia Hanna, Christopher Kong, Scott Herman, Nhan Tran, and Ben Waismark. Also, Tyler Zannon, for his assistance in scanning and importing 3D models into the Unity game engine and assistance in simulation programming. Finally, I would like to thank my family, Dora, Elvic, Michael, Angela, Devin, Heidi, Vincent, Lana, Jacqueline, and Josephine for being there every step of the way and a constant source of support, without their gentle care and love, I would not be the person that I am today. v TABLE OF CONTENTS Author’s Declaration .................................................................................................................................................. ii Abstract ........................................................................................................................................................... iii Acknowledgements .....................................................................................................................................................iv List of Tables ............................................................................................................................................................ix List of Figures ............................................................................................................................................................xi List of Abbreviations ................................................................................................................................................ xix Chapter 1 Introduction ....................................................................................................................................... 1 1.1 INTRODUCTION........................................................................................................................................ 1 1.2 PROBLEM DEFINITION ........................................................................................................................... 5 1.3 OBJECTIVE ................................................................................................................................................ 9 1.4 CONTRIBUTIONS .................................................................................................................................... 12 1.5 THESIS ORGANIZATION ....................................................................................................................... 16 Chapter 2 Background ...................................................................................................................................... 18 2.1 IED THREATS .......................................................................................................................................... 19 2.1.1 Improvised Explosive Devices ............................................................................................................... 21 2.1.2 Mine Warfare ......................................................................................................................................... 25 2.2 EDU TACTICS .......................................................................................................................................... 28 2.2.1 Explosives Disposal Unit ....................................................................................................................... 28 2.2.2 Disrupter Cannon .................................................................................................................................. 30 2.2.3 EDU Scanning Equipment ..................................................................................................................... 33 2.3 MEDICAL IMAGING ............................................................................................................................... 35 2.3.1 X-Radiation Imaging Systems ................................................................................................................ 35 2.3.2 Computed Tomography .......................................................................................................................... 38 2.3.3 Imaging Techniques for Threat Objects ................................................................................................. 42 2.3.4 Other Imaging Systems .......................................................................................................................... 43 2.4 THREE-DIMENSIONAL MODEL RECONSTRUCTION ...................................................................... 43 2.4.1 DICOM Data ......................................................................................................................................... 44 2.4.2 3D Model Reconstruction using DICOM Data ...................................................................................... 44 vi 2.4.3 3D Model Reconstruction using Multiple Images .................................................................................. 45 2.5 GAME ENGINES AND PHYSICS ENGINES ........................................................................................