Showing papers on "Rescue robot published in 2007"

Multi-objective Exploration and Search for Autonomous Rescue Robots

Abstract: “Exploration and search” is a typical task for autonomous robots performing in rescue missions, specifically addressing the problem of exploring the environment and at the same time searching for interesting features within the environment. In this paper, we model this problem as a multi-objective exploration and search problem and present a prototype system, featuring a strategic level, which can be used to adapt the task of exploration and search to specific rescue missions. Specifically, we make use of high-level representation of the robot plans through a Petri Net formalism that allows representing in a coherent framework decisions, loops, interrupts due to unexpected events or action failures, concurrent actions, and action synchronization. While autonomous exploration has been investigated in the past, we specifically focus on the problem of searching interesting features in the environment during the map building process. We discuss performance evaluation of exploration and search strategies for rescue robots, by using an effective performance metric, and present evaluation of our system through a set of experiments. © 2007 Wiley Periodicals, Inc.

Using a Mini-UAV to Support Wilderness Search and Rescue: Practices for Human-Robot Teaming

Abstract: Wilderness Search and Rescue can benefit from aerial imagery of the search area. Mini Unmanned Aerial Vehicles can potentially provide such imagery, provided that the autonomy, search algorithms, and operator control unit are designed to support coordinated human-robot search teams. Using results from formal analyses of the WiSAR problem domain, we summarize and discuss information flow requirements for WiSAR with an eye toward the efficient use of mUAVs to support search. We then identify and discuss three different operational paradigms for performing field searches, and identify influences that affect which human-robot team paradigm is best. Since the likely location of a missing person is key in determining the best paradigm given the circumstances, we report on preliminary efforts to model the behavior of missing persons in a given situation. Throughout the paper, we use information obtained from subject matter experts from Utah County Search and Rescue, and report experiences and "lessons learned" from a series of trials using human-robot teams to perform mock searches.

Development of an unit type robot "KOHGA2" with stuck avoidance ability

Abstract: To search victims in the narrow space at the disaster site, we have developed the snake-like rescue robot called "KOHGA". The robot is constructed by connecting multiple crawler vehicles serially by active joints. KOHGA has a problem that obstacles are caught to the joints and then the robot is stuck. To solve this problem, we developed an unit assembled robot "KOHGA2". It can be rearranged. The robot can swing crawler-arms and avoid the stuck. In this paper, we report the construction of the hardware and the control system of KOHGA2, the basic mobility performance, and the stuck avoidance strategy.

Exploration Transform: A stable exploring algorithm for robots in rescue environments

Abstract: Autonomous robots in rescue environments have to fulfill several task at the same time: They have to localize themselves, build maps, detect victims and decide where to go next for further exploration. In this contribution we present an approach that provides a robust solution for the exploration task: Based on the knowledge of the environment that the robot has already acquired, the algorithm calculates a path to the next interesting "frontier". Our comprehensive approach takes into account the distance to the next frontier and the difficulty of the path for the robot. Those difficulties can result from narrow passages but also from wide, open spaces where the sensors cannot detect any landmark. For the native exploration task, the algorithm is fed with occupancy grids. For the search task, it can also process maps that encode additional information, e. g. places that have not been searched by other sensors yet. The Exploration Transform was successfully implemented on our mobile system Robbie and was used during the RoboCup German Open 2007 and the RoboCup World Championship 2007. Using this approach, our Team "resko" achieved the "Best in Class Autonomy Award" in the Rescue Robot League in both competitions.

Current research, key performances and future development of search and rescue robots

Abstract: Frequent natural disasters and man-made catastrophes have threatened the safety of citizens and have attracted much more attention. The rescue mission under disaster environment is very complicated and dangerous for a rescue team. Search and rescue (SAR) robots can not only improve the efficiency of rescue operations but also reduce the casualty of rescuers. Robots can help rescue teams and even replace rescuers to perform dangerous missions. Search and rescue robots will play a more and more important role in the rescue operations. A survey of the research status of search and rescue robots in Japan, USA, China and other countries has been provided. According to current research, experiences and the lessons learned from applications, the five key performances of a search and rescue robot are survivability, mobility, sensing, communicability and operability. Multi-technique fusion and multi-agent intelligent network are considered to be requirements for the future development of the search and rescue robot. Disaster prevention, disaster reduction and disaster rescue are the important parts of national public safety. They are also crucial for the safety of citizens and their estates. Search and rescue robotic technique is an urgent needed, strategic and core technique for national development. It will be important and strategic for national economy and safety.

Multi-objective exploration and search for autonomous rescue robots: Research Articles

Abstract: “Exploration and search” is a typical task for autonomous robots performing in rescue missions, specifically addressing the problem of exploring the environment and at the same time searching for interesting features within the environment. In this paper, we model this problem as a multi-objective exploration and search problem and present a prototype system, featuring a strategic level, which can be used to adapt the task of exploration and search to specific rescue missions. Specifically, we make use of high-level representation of the robot plans through a Petri Net formalism that allows representing in a coherent framework decisions, loops, interrupts due to unexpected events or action failures, concurrent actions, and action synchronization. While autonomous exploration has been investigated in the past, we specifically focus on the problem of searching interesting features in the environment during the map building process. We discuss performance evaluation of exploration and search strategies for rescue robots, by using an effective performance metric, and present evaluation of our system through a set of experiments. © 2007 Wiley Periodicals, Inc.

Development of a Remote-controlled Double Headed Snake-like Rescue Robot KOHGA

Abstract: The long and thin snake-like robots have became popular for searching narrow spaces, such as debris of the collapsed buildings under the impact of large-scale disasters. Till now, most of the previous research efforts on snake-like robots have primarily focused on development of its mobility or its locomotion. In this research we present the development of a snake-like robot under remote control operation. The present paper gives a detailed description of the mechanism and the construction of the developed snake-like rescue robot KOHGA. This double headed snake-like rescue robot KOHGA can present an operator the image from the viewpoint of a robot's rear side by changing its form into scorpion shape mode. The usefulness of the scorpion mode is amply verified by performing several successful experiments.

Obstacle negotiation for the rescue robot with variable single-tracked mechanism

Abstract: The purpose of this paper is to provide a practical introduction to a mobile robot developed for rescue operations. The robot has a variable single-tracked mechanism for the driving part, making it inherently able to overcome indoor obstacles such as stairs. In this research, the robot is given the capacity of obstacle negotiation as a hardware attachment in order to realize autonomous navigation that is well matched to an original target, rescue operation. There are three driving modes to choose from, and the robot recognizes the forward environment once and estimates whether or not any obstacles are there. Experimental results show that the robot moves in opposition to several obstacles, reflecting the proposed algorithm ultimately.

Kinematics analysis for obstacle-climbing performance of a rescue robot

Abstract: A tracked robot is designed for destroyed mine search and rescue. The mechanical system is introduced from reconfigurable structure, suspension system and anti- explosive and waterproof. The sensors include CCD camera, CO, CH4, temperature and air speed are equipped on the robot. Two pairs of swing arms are equipped on the robot. Their motions help robot climb up obstacle. Because the center of gravity (CG) plays an important role in the process of climbing up an obstacle, the CG kinematics model is built. Using this model, the CG change situation is obtained, and the maximum height of the obstacle which can be climbed up is obtained, and the stability angle margin is obtained too. The relationship between the robot pitch angle and the height of the obstacle is obtained. Using this relationship, the geometry parameter of the uncertain environment can be known. These analysis help to design and control the robot.

Fully Autonomous Operations of a Jacobs Rugbot in the RoboCup Rescue Robot League 2006

Abstract: This paper describes the latest version of an integrated hardware and software framework developed for autonomous operation of rescue robots. The successful operation of an autonomous rugbot -short for "rugged robot -was especially demonstrated during several runs at the RoboCup world championship 2006 in Bremen. The design of the autonomous system is described in detail with an emphasis on extendibility and the specific requirements of a typical unstructured rescue scenario.

Methods and techniques for intelligent navigation and manipulation for bomb disposal and rescue operations

Abstract: Handing a teleoperated robotic mechanism demands special skills and involves particular problems. Especially in cases of robots dealing with rescue operations or bomb disposal. In such cases any lost in communications might arise unpredictable results. Also either a bomb or a survivor need attentional handling. In this paper we describe automatic methods and techniques developed on a multifunctional teleoperated robot. These intend to assist both the robot and the human operator in accomplishing their mission towards rescue or bomb disposal.

Development of Rescue Robot Technology and Its Application in Disaster

Abstract: The complexity,danger and emergency of rescue work make the rescue work very difficult. Rescue robot attracts wide attention all over the world for its virtues such as small and agile. In this paper we have analyzed the necessity and feasibility of using rescue robot.Meanwhile, we have investigated the state of art and the development tendency of rescue robot and then compared several types of mobiles and their controlling modes. Furthermore, the hotspot of rescue robot research has been discussed. The future direction of research in the field of Disaster Search and Rescue Robot has been clearly indicated.

Variable transformation shapes of single-tracked mechanism for a rescue robot

Abstract: Urban search and rescue (USAR) involves locating, rescuing (extricating), and medically stabilizing victims trapped in confined spaces. In this paper we state the current approach to USAR, address the limitations and discuss the way for moving in rugged topography. To achieve objectives such as surveillance, reconnaissance, and rescue, it is necessary to develop a driving mechanism that can handle rugged geographical features. We propose a new type of driving mechanism for a rescue robot that has a variable shape single-track. By using a variety shapes, it can get the gain of steering and rotating and the ability to overcome stairs. In this paper, we analyzed the design parameters for making variable transform shapes and determined the specifications of the robot to enhance adaptability to stairs.

Measuring the Performance of Urban Search and Rescue Robots

Abstract: The Department of Homeland Security is sponsoring development of standards for urban search and rescue (USAR) robots. This program is being coordinated by the National Institute of Standards and Technology and will result in consensus standards developed through ASTM International. Robot deployment categories and performance requirements have been identified by emergency responders, These requirements are being translated into tests and metrics with which to measure the performance of robots. Several test methods have been entered into the standards process. Three major exercises have been held at US&R training facilities, in which responders work side-by-side with robot manufacturers to experiment with robot deployments in relevant scenarios and to refine and expand performance requirements. To date, over forty robots, including ground, aerial, and aquatic, have been involved. Supporting projects are developing an ontology of robot capabilities and situational constraints. In general, these efforts will enable responders to enhance their effectiveness while reducing risk to personnel during disasters through use of robotic assets.

Multiple Target Tracking for Mobile Robots Using the JPDAF Algorithm

Abstract: Mobile robot localization is taken into account as one of the most important topics in robotics. In this paper, the localization problem is extended to the cases in which estimating the position of multi robots is considered. To do so, the joint probabilistic data association filter (JPDAF) approach is applied for tracking the position of multiple robots. To characterize the motion of each robot, two models are used. First, a simple near constant velocity model is considered and then a variable velocity model is applied for tracking. This improves the performance when the robots change their velocity and conduct maneuvering movements. This issue gives an advantage to explore the movement of the manoeuvring objects which is common in many robotics problems such as soccer or rescue robots. Simulation results show the efficiency of the JPDAF algorithm in tracking multiple mobile robots with maneuvering movements.

WiFi repeater deployment for improved communication in confined-space urban disaster search

Abstract: lie examine the use of WiFi repeaters to extend the range of wireless devices employed in confined space search in an Urban Search and Rescue (USAR) environment. Confined spaces are often encountered by emergency responders at disaster sites. They typically are too small or hazardous to be searched by humans but may be accessible by rescue robots controlled and monitored from outside the space. We employed a purpose-built confined space training area constructed of steel reinforced sewer tubing to determine strategies for maintaining a usable signal for devices deployed within spaces with similar characteristics at disaster sites.

Canine as Robot in Directed Search

Abstract: One of the goals of rescue robotics has been to allow machines to sense and act where people cannot go. Deployed with various sensors and under the guidance of trained operators these systems have shown great potential for finding victims in rubble. However, the current state of mobility of all deployed rescue robots is such that they can only be employed in very constrained circumstances where surfaces are mostly regular and acceptable for various modes of tracked and wheeled mobility. We have been exploring an alternative employing the existing abilities of trained US.4R canines to search nibble both quickly and effectively. This paper discusses one of the potential areas where canines might be augmented to deliver the desired sensing and remote control of a robot.

Obstacle Performance Analysis of Mine Research Robot Based on Terramechanics

Abstract: A tracked robot is designed for mine research and rescue. The robot is introduced from mechanism, hardware system to software system. As an outdoor all-terrain research and rescue robot, it should have some special designs, such as reconfigurable structure, suspension system and anti-explosive and waterproof. Two pairs of swing arms are equipped in the front and the rear of the robot. Their motions improve robot's obstacle performance. The sensors equipped on the robot consist of CCD cameras, CO, CH4, temperature and air speed. Because the robot runs in a destroyed mine, the common methods of obstacle performance analysis do not fit the robot in this unstructured environment. The gravity center of robot and the type of terrain play a very important role in the obstacle performance analysis, so the effect of CG position is discussed, and the interaction between robot and terrain are analyzed based on terramechanics. These results are valuable to design and control the robot.

Obstacle Negotiation for the Rescue Robot with Variable Single-Tracked Mechanism

Abstract: In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

Development of a Laser Range Finder for 3D Map-Building in Rubble; Installation in a Rescue Robot

Abstract: In order to search and rescue the victims in rubble effectively, a 3D map of the rubble is required. As a part of the national project of rescue robot system, we are investigating a method for constructing a 3D map of rubble by teleoperated mobile robots. In previous work, we have developed the second prototype of laser range finder for rubble measurement. The prototype laser range finder consists of a ring laser beam module and two omni-vision cameras. Also, the third prototype, which is more compact than the second one, is newly developed. Our range finder has the features that the omni-directional distance around the range finder can be measured at once and the omnidirectional picture image can be captured at the same time. In this paper, the third prototype laser range finder is described, and an example installation of the range finder into a rescue robot is reported. Taking into consideration of mechanism stowing the range finder into the robot, we mount the third prototype on the snake-like rescue robot "Souryu-IV". Availability of the robot with the range finder is verified by results of experiments constructing 3-D maps of rubble using the robot.

An immuno robotic system for humanitarian search and rescue

Abstract: The unprecedented number and scales of natural and human-induced disasters in the past decade has urged the emergency search and rescue community around the world to seek for newer, more effective equipment to enhance their efficiency Tele-operated robotic search and rescue systems consist of tethered mobile robots that can navigate deep into rubbles to search for victims and to transfer critical on-site data for rescuers to evaluate at a safe spot outside of the disaster affected area has gained the interest of many emergency response institutions To fully realize the promising characteristics of robotics search and rescue systems, however, mobile robots must first be free from their tether and be granted the ability to navigate autonomously even when wireless control commands from the operator cannot reach them For search and rescue robots to go autonomous in exceedingly unstructured environment, the control system must be highly adaptive and robust to handle all exceptional situations This paper introduces the control of a low-cost robotic search and rescue system based on an immuno control framework, GSCF, which was developed under the inspiration of the suppression mechanism of the immune discrimination theory The robotic system can navigate autonomously into rubbles and to search for living human body heat using its thermal array sensor Design and development of the physical prototype and the control system are described in this paper

Stable Navigation Solutions for Robots in Complex Environments

Abstract: During the initial phase of a disaster response it is essential for responders to quickly and safely assess the overall situation. The use of rescue robots that can autonomously navigate and map these environments can help responders realize this goal while minimizing danger to them. In order for rescue robots to be of service to the responders, they must be able to sense the environment, create an internal representation that identifies victims and hazards to responders, and provide an estimate of where they are and where they have been. Methods for developing a stable navigation solution are based on sensors that can be broadly classified into two approaches, absolute (exteroception) and relative (proprioception). Commonly, two or more of these approaches are combined to develop a stable navigation solution that is insensitive to and robust in the presence of the errors that plague partial solutions by taking into account errors in the vehicle's pose, thus bounding the uncertainty in the navigation solution. Since the capabilities and limitations of these approaches vary, it is essential for developers of robotic systems to understand the performance characteristics of methodologies employed to produce a stable navigation solution. This paper will provide quantitative analysis of two proprioceptive approaches, namely encoder-based odometry and inertial navigation system, and an exteroceptive approach namely visual odometry that uses scan matching techniques.

Localization Using Triangulation in Swarms of Autonomous Rescue Robots

Abstract: A challenge for autonomous rescue robots is determining their position in an unstructured environment. Landmarks are rarely useful since any floor plan for a structure that predates a disaster scenario is likely to have been disrupted by the event that necessitated the rescue response. Navigational aids useful for outdoor navigation, like GPS, are not generally useful in a structure and aids like beacons require too much manual setup. To address this problem, we have been researching methods for localizing rescue robots in a robot swarm, using triangulation between cells of three robots. This paper describes the real-world problem of localization in unstructured environments and some of the approaches taken by other researchers to address the problem. The approach we have been researching is then described in some detail, together with simulation results. There have been three attempts to implement this approach on small rescue robots at Utah State University. These implementations and the lessons learned from them are described. Finally, an implementation that addresses the issues with the earlier implementations is proposed.

Autonomous Exploration for Search and Rescue Robots

Abstract: This paper describes how search and rescue scenarios offer a wide variety of tasks where the experimentation of mobile robots is possible. Specifically, the paper describes some of the issues arising from scenarios where full autonomy of the robot is required. After briefly describing the robot configuration and basic functionalities, the paper addresses the exploration problem for a rescue robot and presents a fully autonomous strategy for this task. The paper also explains algorithms and methods used for this process and presents typical experimental results.

Research and Application Status and Development of Search and Rescue Robot for Mine Disaster

Abstract: Research and development of search and rescues robot for mine disaster are a far-reaching meaningful issue.The current research status of search and rescue robots both at home and abroad is introduced thoroughly.Some key techniques,such as mobile configuration,communication technique,environment information acquiring and navigation,detecting victim life signs and human-robot interaction system,etc.are investigated,and their developing tendencies are put forward.The development of the mine disaster search and rescue robot is introduced.

FUMA : Platform Development and System Integration for Rescue Missions

Abstract: Human rescuers who carry out urban search and rescue (USAR) missions, frequently enter dangerous zones to search for survivors. In these zones, rescuer's life may be threatened. For this reason, rescue robots are expected to become useful work partner for urban search and rescue missions. This paper presents platform design and system integration of FUMA, which is a wheeled rescue robot with a 1-DOF arm for environment information gathering. Using this arm, FUMA can climb over high obstacles. Human rescuers can operate FUMA at a safe distance while the missions are carry out. To teleoperate robot system efficiently, the key is the interface between the robot system and the operator. We focus attention on understanding the environment of the disaster site, understanding the states of victims and advancement of operability. This paper will present mechanical development and system integrations of FUMA for rescue missions.

Current Status and Technical Problems in the Research of Coal Mine Rescue Robot

Abstract: With an introduction of the safety misadventure and heavy casualties occurred in coal mines of China in recent years,this paper points out the importance and urgency to research and develop coal mine rescue robotsThe paper further proceeds to give an analysis of the research status of coal mine rescue robots worldwide,advance some research proposals,and point out some problems need to be solved

FUMA :Platform Development andSystemIntegration forRescueMissions

Abstract: Humanrescuers whocarry outurbansearch and andtheefficiency ofinteraction between humanoperator and rescue (USAR)missions, frequently enterdangerous zonesto robot(3). searchforsurvivors. Inthesezones, rescuer's life may be Thecoredesign principle ofFUMA platform istoachieve threatened. Forthisreason, rescuerobots areexpected to .. becomeuseful workpartner forurbansearch andrescuefast mobility efficiency withasimple mechanical structure missions. Thispaperpresents platform design andsystemandmoreimportantly, abletobecontrolled byanyinex- integration ofFUMA,whichisawheeled rescue robot witha perience operator withuser-friendly GUI.A 1-DOFarm 1-DOFarmforenvironment information gathering. Using thisisinstalled attherearendoftherobot toprovide ahigh arm,FUMA canclimboverhighobstacles. Humanrescuersviewing position andacenter ofgravity (COG)balancing canoperate FUMA atasafedistance whilethemissions are carry out. Toteleoperate robot system efficiently, thekeyisthe device whenclimblng overlarger obstacles. ItSigenerally interface between therobot system andtheoperator. Wefocusunderstood that wheeled robots, without special mechanisms, attention onunderstanding theenvironment ofthedisasterencounter manydifficulties whenclimbing overobjects that site, understanding thestates ofvictims andadvancement of arehigher thantheradius ofitswheels. Nevertheless, in- operability. Thispaperwillpresent mechanical development corporating this simple structure arm, FUMA iscapable of andsystem integrations ofFUMA forrescuemissions. climbing overobstacles that aremuchlarger thantheradius

Research on rescue robots with force sensors on the fingertips for rubble withdrawal works

Abstract: This research is concerned with a rubble withdrawal method using force sensors attached on fingertips in order to not break down rubbles during operating for advanced autonomous rescue robots. In rescue fields, mass, shapes, materials and so on of rubbles are unknown. Thus, it is necessary to recognize or estimate a good grasping position without breaking rubbles case by case at the time. Therefore, it is important to detect points on the rubble for that stacked rubble are not broken down by robot !C hand during working. We research an algorithm to estimate characteristics of dynamics of the grasping rubble and grasping position by time response of changes of forces which sensed by force sensors attached on robot ! sG fingers and tracking results of changes of posture obtained by camera images. In this research, we aim to build a rescue robot system for deciding a grasping position without breaking unknown rubbles using force sensors and cameras. In this paper, we show relationships between changes of grasping forces, grasping positions and posture of the rubbles for the basic study. It will be considered that characteristics of dynamics and a grasping position of rubble can be estimated depending on grasping forces. Then, a grasping position is estimated by obtained forces and the validity of the estimation method is shown.