Showing papers on "Rescue robot published in 2012"

SENEKA - sensor network with mobile robots for disaster management

Abstract: Developed societies have a high level of preparedness for natural or man-made disasters. But such incidents cannot be completely prevented, and when an incident like an earthquake or an accident in a chemical or nuclear plant hits a populated area, rescue teams need to be employed. In such situations it is a necessity for rescue teams to get a quick overview of the situation in order to identify possible locations of victims that need to be rescued and dangerous locations that need to be secured. Rescue forces must operate quickly in order to save lives, and they often need to operate in dangerous environments. Hence, robot-supported systems are increasingly used to support and accelerate search operations. The objective of the SENEKA concept is to network the various robots and sensor systems used by first responders in order to make the search for victims and survivors more quick and efficient. SENEKA targets the integration of the robot-sensor network into the operation procedures of the rescue teams. The aim of this paper is to inform on the goals and first research results of the ongoing joint research project SENEKA.

A decade of rescue robots

Abstract: This video offers a retrospective of the 26 disasters where land, marine, or aerial robots have been deployed, starting with the first use of rescue robots at the 2001 World Trade Center Collapse and continuing through the 2011 Tohoku Tsunami/Fukushima nuclear event. While robots have not found a living survivor, possibly because they arrive on average 4.5 days after the event, the video clips illustrate the contributions of robots to searching for survivors, reconnaissance and mapping, inspection of buildings, and inspection of bridges and shipping channels. The clips also highlight four open research questions: human-robot interaction, mobile manipulation, reliable wireless networks, and obstacle avoidance for UAVs and UMVs. Use of robots is accelerating and their contributions to disaster prevention, preparedness, response, and recovery will grow and lead to new challenges for research.

RoboCup Rescue Robot and Simulation Leagues

Abstract: The RoboCup Rescue Robot and Simulation competitions have been held since 2000. The experience gained during these competitions has increased the maturity level of the field, which allowed deploying robots after real disasters (for example, Fukushima Daiichi nuclear disaster). This article provides an overview of these competitions and highlights the state of the art and the lessons learned.

Development of multi-wheeled snake-like rescue robots with active elastic trunk

Abstract: A practical robot for search and rescue operation is demanded. We believe that one of the most promising robot is a snake-like robot with a slim and active trunk. This paper proposes a new multi-wheeled snake-like robot with active elastic trunk. We choose active wheels for the propulsive device due to mechanical robustness and simplicity, and increase locomotion capability by serially arranging many active wheels along to the trunk. We also propose a new mechanism for the trunk which satisfies both active bending motion and passive compliance. The active elastic trunk consists of deformable elastic segments made of sponge and rigid (or semi-rigid) segments, where active wheel is attached, stacked in layers. The active bending motion is generated by pulling the cables passing through the trunk from the head to tail. We develop three prototypes named “Souryu-VII”, “Souryu-VIII” and “Souryu-IX”. The mechanical design and features for each prototypes are explained and their performances are evaluated through the experiments with various measures.

Search and Rescue Robots: The Civil Protection Teams of the Future

Abstract: After an earthquake or the collapse of a built structure, and facing a scenario of large destruction, the response time to search and locate trapped survivors is crucial. The human intervention of urban search and rescue (USAR) teams, including USAR dogs, has to be done cautiously so as to protect the rescue workers from further collapses. Debris may be so cluttered that prevent the close human access to the victims. Also, potential risk of further landslide requires the propping of the structures before human intervention. Rescue preparation operations may be time consuming, and a fast action to locate survivors and to take them human voices, light and/or water is a crucial factor for life. Therefore, there is the clear need for search and rescue robots that can be released immediately after a disaster in which the conditions are too dangerous and too cluttered for people and dogs to begin searching for victims. Teams of such robots should desirably be heterogeneous (e.g., aerial robots to perform scenario reconnaissance, powerful land robots to remove debris, small agile land robots to reach survivors buried under the debris), be able to perform with a given level of adjustable autonomy (as the presence of humans in the team to take crucial decisions will always be required) and be easy-to-learn and simple to launch and friendly to operate. In this paper we refer to some of the achievements in the area of USAR robots worldwide, and then focus on R&D work towards increasing the autonomy of USAR robots that has been done over the past 10 years at the Institute for Systems and Robotics of the Instituto Superior Te 'cnico, TU Lisbon, in collaboration with Portuguese companies and Civil Protection institutions, including a land tracked wheel robot and aerial robots of different types (blimp, quad copters).

Dog and snake marsupial cooperation for urban search and rescue deployment

Abstract: One of the many challenges in developing ground response robots for Urban Search and Rescue (USAR) is endowing them with mobility that allows traversal of challenging terrain. In a preliminary study we introduced a new approach to the mobility problem that utilizes USAR dogs to deliver robots close to human victims in rubble. The results indicated that some search dogs are able to carry a small robot to a victim. This paper extends the original work - this time employing a more capable snake robot. Snake robots have much better maneuverability within rubble than wheeled or tracked robots. Unfortunately they are very slow - making timely rubble traversal a moot point. The premise of this work is that our hybrid system exhibits the advantages of rapid canine mobility with the flexibility and sensing capability of a snake robot.

An active binocular integrated system for intelligent robot vision

Abstract: Rescue robots possessing human-like active binocular systems would allow high quality remote control by 3D viewing and stable robot vision. However, this type of system has not been researched thoroughly because it is difficult to control, and there are few accurate integrated eye motion control models. In this paper, we propose an integrated eye motion control system for a rescue robot, which integrates smooth pursuit, saccade, Vestibulo-ocular reflex (VOR) and Optokinetic response (OKR) into a binocular model. To simplify this system, we also include aspects of the human visual system, in which only the saccade command is externally applied, whereas the smooth pursuit, VOR and OKR commands are internally auto-implemented.

Wireless-sensor-network-based remote control rescue robot system and control method

Abstract: The invention discloses a wireless-sensor-network-based remote control rescue robot system, which comprises a ZigBee wireless sensor node, a mobile robot platform and a robot remote control operation device. The ZigBee wireless sensor node comprises a controller, an environment monitoring sensor interface, a working indicator lamp, a radio frequency module and a power module. The mobile robot platform comprises a controller, a six-wheel mobile base plate, a camera module, a wireless audio and video transmission module, a node releasing module, a wireless communication module, a high-power motor driving module and a power module. The robot remote control operation device comprises a controller, a rocker handle module, a video management module, a wireless communication module and a power module. The system adopts the six-wheel robot base plate so as to move fast, is adapted to various complex terrains and has a damping device. A robot is relatively lower, and can fully utilize a space with relatively higher visibility in the vicinity of the ground. Wireless communication is performed by utilizing a ZigBee protocol, so the system is reliable in communication, wide in range and low in energy consumption.

Motion planning for actively reconfigurable mobile robots in search and rescue scenarios

Abstract: In disaster scenarios, mobile robots can be employed in hazardous environments where it is too dangerous for human rescuers. Robotic systems can assist rescue personnel as they can be used to explore those inaccessible areas and to assess the situation. Tracked platforms with actuators have been proven to be well suited for such deployments because they are agile enough to overcome quite challenging terrain. A very demanding task for operators is the navigation of the robotic system in complex disaster environments. Hence, an important capability of future systems for search and rescue missions is autonomous navigation in disaster scenarios. In this paper we introduce a two-phase motion planning algorithm for tracked robots with actively controlled actuators to find a fast and stable path to a user specified goal. In the first phase, we generate an initial path considering the platform's operating limits and the terrain roughness. In the second phase, we limit the search space to the area around the initial path and refine the preliminary solution accounting for the complete robot state including actuators and the robot's stability and traction. A main distinction of our method is that it does not rely on a previous classification of the terrain, thus, can be applied to a variety of environments. We present experiments evaluating our algorithm in simulation and in two real-world scenarios to demonstrate the validity and feasibility of our approach.

Intelligent fire-fighting rescue robot

Abstract: The invention discloses an intelligent fire-fighting rescue robot, which comprises a vehicle body with a travelling mechanism and a mechanical arm which is hinged with the vehicle body and is provided with a power mechanism, wherein a fixed mount for placing a fire extinguisher is arranged on the top surface of the vehicle body; a temperature sensor and a flame sensor are arranged on the mechanical arm; a barrier shunning module for inducing barriers is arranged on the vehicle body; the travelling mechanism is provided with a driving motor; the driving motor, the temperature sensor, the flame sensor, the barrier shunning module and the power mechanism of the mechanical arm are connected to a master control module; and the master control module is connected with a wireless transceiving module for wireless communication. The intelligent fire-fighting rescue robot can provide multiple operations such as safety control and the like for personnel in fire sites, and can help and even replace fire fighters to enter fire disaster sites and put out a fire or search and rescue in accident sites.

Learning based semi-autonomous control for robots in urban search and rescue

Abstract: Robotic urban search and rescue (USAR) is a challenging yet promising research area which has significant application potentials. This paper presents the development of a hierarchical reinforcement learning (HRL) based semi-autonomous controller for a rescue robot team working in cluttered and unstructured USAR environments. The HRL technique is introduced to address the robot exploration and victim identification problem in USAR environments, allowing rescue robots to learn from their previous experiences, their current surrounding settings, as well as the experience of other team members. Experiments conducted in a USAR-like environment verify the robustness of the proposed HRL-based semi-autonomous robot controller in unknown cluttered scenes.

Distributed sensors for hazard detection in an urban search and rescue operation

Abstract: Urban search and rescue is a dangerous and difficult task. The amount of information required to mount a rescue is staggering. This coupled with the time constraints of a rescue operation, mean that decisions are sometimes made without all the facts. Gas leaks or structural weaknesses put everyone in danger and can be difficult to detect without being in the environment itself. Robots can penetrate these disaster zones much more easily than humans or dogs and can detect unseen hazards like gas or radiation or can relay images of structural supports. By using robots we can quickly increase the amount of information available to first responders and help them make informed decisions that see more lives saved. The research at Massey University aims to build a system that will provide, amongst other features, a distributed sensor network that can monitor environmental factors and report them to the rescue team. This paper outlines the concept of these sensors, or Daughters, and the results of the tests on the sensors implemented.

On potential security threats against rescue robotic systems

Abstract: Remotely operated robots can be used for rescue and recovery in natural disasters and man-made catastrophes, including battlefield environments. But, what if the robot is taken over and turned into a weapon? In this paper, we consider the type of attacks that might occur and their implications on rescue and recovery missions. From this, we introduce a notion of telerobotic security and propose some ideas to ensure that rescue systems are “teleoperation secure” against one likely exploit.

Second-level coal mine rescue robot system

Abstract: The invention discloses a second-level coal mine rescue robot system. The system comprises a detection robot and a carrying robot, wherein the detection robot detects related environmental information at a place where a coal mine accident occurs in real time; the carrying robot transports the detection robot to a place nearby the place where the coal mine accident occurs from the ground along theexisting transportation channel which is formed in a coal mine underground tunnel and synchronously detects related environmental information in the coal mine underground tunnel in real time in the transportation process; and the carrying robot is a wheel robot and the detection robot is a crawler robot. The system has a reasonable design, high intelligentization degree and reliable working performance and is convenient to use and operate; and the carrying robot and the detection robot second-level robot system effectively solves the problems that: the underground conditions of a coal mine are severe, the place where the accident occurs is far away from a well head, the crawler rescue robot has a limited moving range and cannot effectively monitor the environmental information of the place where the accident occurs, and the like.

Control system of wireless sensing mine rescue robot

Abstract: The utility model discloses a control system of a wireless sensing mine rescue robot, relates to a control system of a robot and solves the problems that the existing rescue robot sensor has a single type and a small number and underground cables are possibly damaged in accidents to cause system breakdown. A first input/output end of a main controller is connected with an input/output end of a wireless communication system based on the zigbee technology; a second input/output end of the main controller is connected with an input/output end of an ultrasonic obstacle avoiding system; a third input/output end of the main controller is connected with an input/output end of a life detection system; an output end of a positioning system is connected with a fourth input end of the main controller; an output end of a vision system is connected with a fifth input end of the main controller; an output end of an underground environment detection system is connected with a sixth input end of the main controller; and an output end of a power module is connected with a seventh input end of the main controller. The control system disclosed by the utility model is mainly used for collecting the complicated environment information underground in the case of mine disasters, and realizes real-time, accurate and comprehensive information collection.

Planning stable paths for urban search and rescue robots

Abstract: Rescue robots are platforms designed to operate in challenging and uneven surfaces. These robots are often equipped with manipulator arms and varying traction arrangements. As such, it is possible to reconfigure the kinematic of robot in order to reduce potential instabilities, such as those leading to vehicle tip-over. This paper proposes a methodology to plan feasible paths through uneven topographies by planning stable paths that account for the safe interaction between vehicle and terrain. The proposed technique, based on a gradient stability criterion, is validated with two of the best known path search strategies in 3D lattices, i.e. the A* and the Rapidly-Exploring Random Trees. Using real terrain data, simulation results obtained with the model of a real rescue robot demonstrate significant improvements in terms of paths that are able to automatically avoid regions of potential instabilities, to concentrate on those where the freedom of exploiting posture adaptation permits generation of optimally safe paths.

Utilization of Robot Systems in Disaster Sites of the Great Eastern Japan Earthquake.

Abstract: In this paper, we report our activities in the real disaster areas damaged by the Great Eastern Japan Earthquake. From March 18–21, 2011, we tried to apply a ground rescue robot to the real disaster sites at Aomori Prefecture and Iwate Prefecture. On March 18, we carried out inspection mission in a damaged gymnasium. From March 19–21, we went to other sites to identify possibility of usage of robots, and we found the potential needs for not only ground robots but also underwater robots. Then, after the first activity we established a joint United States-Japanese team for underwater search. From April 19–23, 2011 the joint team brought four ROVs to Miyagi Prefecture for port inspection and to Iwate Prefecture for searching for submerged bodies. The joint team returned to Miyagi Prefecture October 22–26 with an AUV and two ROVs for cooperative debris mapping needed to assist with resuming fishing. Based on these experiences, we discuss the effectiveness and problems of applying the rescue robot in the real disaster sites.

Experimental Tests of ‘Bidi-bot’: A Mechanism Designed for Clearing Loose Debris from the Path of Mobile Search and Rescue Robots

Abstract: Urban search and rescue robots have the potential of identifying the location of trapped people following a disaster. The majority of survivors in open spaces will be rapidly located and extracted by rescue personnel. Therefore, the greatest challenge for rescue robotics is to penetrate deep within collapsed buildings to search for survivors. In this paper, several robotic challenges are presented to represent some of the challenges faced within a collapsed building. A robotic mechanism, termed the sweep-extend mechanism is proposed as a means for mobile search and rescue robots to clear a path through loose debris. The mechanism has been mounted on a mobile platform and tested against the proposed scenarios. The mechanism was demonstrated to move debris, such as bricks, away from the path of the robot. The work also highlights limitations in the mechanism’s ability to deal with densely packed debris, collections of large debris, and the need for robust dust shielding.

Electric vehicle automation through a distributed control system for search and rescue operations

Abstract: In search and rescue operations, time plays an important role; therefore, an automatic or teleoperated deployment service to bring rescue robots near to or on a target location is desired. We propose to use a distributed control architecture to automate an electric vehicle that, after instrumentation and automation, serves as carrier robot for smaller rescue robots. Distributed control architectures rely heavily on communication networks for information exchange. The control architecture discussed on this paper is based on Controller Area Network (CAN) protocol, to which different nodes have been attached. Three main control loops are closed through the network: speed, steering and deployment mechanism for transported rescue robots. Tests were carried out to prove reliability and effectiveness of the distributed control architecture. Such tests indicated that a distributed control network based on CAN protocol is suitable for controlling different loops at real time and in hostile environments.

Disaster resistant rescue robot with variable wheel tread and adjustable center height

Abstract: The utility model discloses a disaster resistant rescue robot with a variable wheel tread and an adjustable center height. The disaster resistant rescue robot comprises a traveling chassis component, a conveying device component and a mechanical arm component, a traveling mechanism by the aid of a symmetrical double parallelogram mechanism is mounted at the bottom of a sweeping board, a driving device is provided with conveyor belts, and a mechanical arm provided with a two-degree-of-freedom large flare angle simple gripping mechanism is mounted on the sweeping board. The symmetrical double parallelogram mechanism of gear transmission is simple in structure, the wheel tread and the center height of the robot can be synchronously changed, the disaster resistant rescue robot is high in part interchangeability, low in cost, low in freedom degree, wide in implementation range, simple in structure, simple to operate, high in stability and low in rescue injury probability, the whole mechanism is stable in movement and wide in use range, the gripping mechanism has a large bore and low freedom degree, and the disaster resistant rescue robot can be applied to a large machine by means of hydraulic transmission.

Application independent supervised autonomy

Abstract: In this paper, a general methodology is presented, that allows a human to supervise autonomous robots for different types of tasks. The commands to advise the robots are classified in two general categories: commands that modify the tasks, and commands that modify the allocation of tasks to robots. The method is not tailored to a specific task allocation algorithm, because only the input data for the algorithm are modified. In that way, the task allocation is influenced implicitly, without the need to change the actual algorithm. This implies that different approaches to task allocation can be exchanged transparently, which enables to apply the supervision concept to fundamentally different problem classes. Experiments in simulation with a rescue robot show, that the robot's performance with respect to the number of detected victims and the covered area can be significantly improved.

Application of robot technology in search and rescue in earthquake ruins

Abstract: Destructive earthquakes usually lead to a large number of people buried in the ruins.Therefore,searching and rescuing these people become an important task.The efficiency of search in ruins directly determines the success rate of the rescue,an important factor in improving the survival rate of trapped people.However,following a strong earthquake,there are usually many aftershocks,making the ruins more and more dangerous and complex,and bring many difficulties to the rescue team and threaten their lives.In this paper,the authors introduced the current rapid development of search and rescue robotics and some practical problems about earthquake emergency rescue,trying to figure out the real request for the research of rescue robots which is necessary to the rescuing team.Meanwhile,earthquake search and rescue robot series,which are designed by National Earthquake Response Support Service(NERSS) and other institutes,are introduced.Their advantages and disadvantages are analyzed.This work can improve the efficiency of earthquake search and rescue,and give a reference to the research development and industrialization of earthquake rescue robot.

Virtual reconstruction using an autonomous robot

Abstract: Advances in sensing technology and algorithm design make it possible for a robot equipped with a laser range-finder to generate a map and localise itself within the map as the robot explores its environment.We describe a system for mapping and virtual reconstruction developed as part of a robot for urban search and rescue. The process of mapping and, at the same time, localising the robot within the map, is called Simultaneous Localisation and Mapping (SLAM). In many applications, such as urban search and rescue, information from wheel encoders is inaccurate and cannot be used for odometry to obtain a position estimate. However, iterative closest point scan matching algorithms make it possible for a robot to perform accurate positioning in unstructured environments where wheel slip is common. When this positioning is combined with a mapping algorithm such as FastSLAM, the robot can construct an accurate map in real-time as it moves. Given the generated map and the robot's position within it, a variety of exploration algorithms allow the robot to autonomously explore its environment. The robot is also equipped with an RGB-D camera. The 3D information as well as the colour video images are incorporated into the map to produce a 3D virtual reconstruction of the environment as the robot explores. This robot won the award for best autonomous robot in three successive RoboCup Rescue Robot competitions [1], 2009 – 2011.

Evaluation of rescue support stretcher system

Abstract: A Sarin gas attack occurred in the Tokyo subway system on March 20, 1995. This fatal gas attack sickened many passengers. Since the disaster broke out underground, the main job of the rescue personnel was to transport victims on stretchers to a first-aid station above the ground. Therefore, we researched the development of a rescue support stretcher system for handling heavy casualties in underground areas or at stations in a quick and effective manner. The stretcher system is expected to help firefighters achieve efficient rescue operations. In this paper, we introduce a rescue support stretcher system for going up and down stairs. We also propose an upgrade technique. Finally, we experimentally examine the effectiveness of the system.

Design of a Rescue Robot Assist at Fire Disaster

Abstract: The present manuscript comes with an innovative thought of designing a rescue robot, which aims in aiding human caught on fire. The proposed robotic system will rescue into the fire and detect the human (being alive). The fire protective object detection sensor is used, as it has the ability to reserve its features even in the environment surrounded with smoke and high degree centigrade temperature (due to the fire explored). The body of the robot is made-up of a metal that protect its internal components. Arm 7 Micro controller to provide control and co-ordination between every component is adopted. The information regarding the victim can be communicated with the aid of mobile ad-hoc networks. Wireless communication system assists the robot by enabling the communication between the victim and the RT (Rescue Team). Mobile Ad Hoc Networking (MANET) based wireless communication algorithm has been used to provide the back and forth message transmission. The robot can send the feedback to an operator generally located at certain distance, which can guide the rescue team by providing in time information that saves the lives of victims. The entire robot deign is fire and heat protective so that it can easily enter into the regions where a rescuer cannot and can communicate to the RT (Rescue Team) by sending feedback regarding those who trapped on fire.

Search-and-rescue-operation with an autonomously acting rescue boat

Abstract: A novel, satellite-guided rescue system is under development, utilizing an autonomously acting rescue boat to salvage a person overboard to increase significantly the chance of survival. This advanced technology requires new approaches for naval architecture and integration of computer-aided tools to develop and operate such devices. A substantial challenge is the design and the automation of the self-acting autonomous rescue boat which navigates to the person overboard automatically. The design of this free fall rescue vessel guarantees that it will be self-righting. The developed cascaded control concepts were designed to ensure the fastest possible approach to the casualty without endangering the person. A specifically integrated monitoring system supports the entire rescue operation. In this paper, a complex Search-and-Rescue-System for a satellite-supported rescue operation at sea will be presented which couples efficiently independent engineering tasks like naval architecture, control system design as well as information processing and monitoring.

Agent-based approaches for exploration and pathfinding in unknown environments

Abstract: This work evaluates and improves agent-based approaches for exploration of unknown terrain and finding (shortest) paths to a goal with an unknown location. This scenario is typically found in emergency incidents and for technically assisted search and rescue cases, e.g. when a building or a block of a city has been damaged by an earthquake and as a result, former maps are not valid anymore. In our approach we simulate the exploration of the unknown environment by agents that have different capabilities typically found in the technical assistance systems used in search and rescue operations, such as cameras, sensors, and limited communication abilities. The outcome of our simulation experiments indicates, which composition of a population of agents is best suited for efficient exploration of the unknown terrain, in terms of speed and path length. The results give hints which agent populations should be tried in a real world setting, in a search and rescue test scenario with real robots and sensors.

Cylindrical crawler unit based on worm rack mechanism for rescue robot

Abstract: In Japan, since the Great Earthquake, attention has surrounded development of disaster victim relief activity using robots. Development of a robot that is adaptive to various environments in irregular places, rubble, and confined areas is needed. A wheel movement type robot, a robot in the shape of a snake, a crawler type robot and a multi-leg robot are all described in the relevant literature as rescue robots that are currently studied. Although these robots are high efficiency and/or high ground-covering ability, they need comparatively large space to move. In this study, a cylindrical crawler robot based on worm-rack mechanism, that doesn't need large space to move and has high ground-covering ability, is proposed. In this report, structure, driven mechanism, design, prototype, and experimental evaluation are reported.

Behavior based rescue robot audio navigation and obstacle avoidance

Abstract: Rescue robots usurally work in unknown complex enviroment with mess obstacles caused by the disaster. So the model based robot navigation methods are of less feasiblity. Moreover, in most cases, the resure targets are unvisualable. When there is a call for help from a survival wouned man blocked behind a wall in a earthquake, the rescue robot can not find the target via the visual, infrared, laser or utralsonic senors. As the sound can bypass obstacles, an audio navigation system is developed to guide the rescue robot run to the target in complex unknown and unvisalable enviroment, which can remedy the inadequacy of visual, utalsonic and infrared sensors. As the moudle based methods can not deal with the complicated conditions in the ruins, so a behavir-based audio navigation and obstacle avoidance systems is proposed. And ideal effects are obtained in experiments.