The force measurement is performed synchronously with the module position, once for every millimeter of penetration. A module is extruded with determined speed, which depends on the soil hardness. The force is continuously measured and analyzed. If the probe touches the obstacle, the module is stopped. Otherwise the module is stopped when it reaches the maximal extrusion.
Measured distance is transfered to the host controller for further analysis.
A linear module is placed into the reference position. A described cycle should be repeated for each measuring point. Collected data can be displayed and analyzed using various methods, described in the following chapters. The landmine search procedure, shown at fig. If an obstacle is detected, terrain is searched around that point at every 2.5 cm.