Showing papers on "Rescue robot published in 2022"

Reinforcement Learning and Particle Swarm Optimization Supporting Real-Time Rescue Assignments for Multiple Autonomous Underwater Vehicles

Abstract: Rescue assignments strategy are crucial for multiple Autonomous Underwater Vehicle (multi-AUV) systems in three dimensional (3-D) complex underwater environments. Considering the requirements of rescue missions, multi-AUV systems need to be cost-effective, fast-rescuing, and less concerned about the relationship between rescue missions. The real-time rescue plays a vital role in the multi-AUV system with the characteristics mentioned above. In this paper, we propose an efficient Reward acting on Reinforcement Learning and Particle Swarm Optimization (R-RLPSO), to provide a strategy of real-time rescue assignment for the multi-AUV system in the 3-D underwater environment. This strategy consists of the following three parts. Firstly, we present a reward-based real-time rescue assignment algorithm. Secondly, we propose an Attraction Rescue Area containing a Rescue Area. For the waypoints in each Attraction Rescue Area, the reward is calculated by a linear reward function. Thirdly, to speed up the convergence of the R-RLPSO and mark the rescue states of Attraction Rescue Area and rescue area, we develop a Reward Coefficient based on the reward of all Attraction Rescue Areas and Rescue Areas. Finally, simulation results show that the system based on R-RLPSO is more cost-effective and time-saving than that of based on comparison algorithms ISOM and IACO.

BIT-DMR: A Humanoid Dual-Arm Mobile Robot for Complex Rescue Operations

Abstract: Using robots to assist or even replace rescuers for searching and rescuing has always been a research hotspot. Robots that can carry out dexterous operations at the scene are of great significance to reduce the life threat of rescue workers. Aiming at the characteristics of narrow space and frequent physical interaction in rescue scene, a dual-arm mobile robot BIT-DMR composed of humanoid upper body and tracked mobile platform is developed in this letter. The main work is as follows: a) A high-performance lightweight and heavy payload human-machine cooperative manipulator is developed, which has a slender shape and a large flexible workspace, improving the operation ability of the robot in complex rescue environment. b) A highly integrated tracked mobile platform is developed, which can change a variety of forms leading to a high trafficability in complex terrain. The flexibility of BIT-DMR to carry out rescue operation is verified by a series of experiments like payload testing, mobile platform performance, obstacle removing, door opening and casualty rescuing. This letter provides technical reserves for robots to assist or replace human beings to carry out rescue operations at the scene.

Fast Active Aerial Exploration for Traversable Path Finding of Ground Robots in Unknown Environments

Abstract: This article proposes an autonomous aerial exploration framework for traversable path finding of ground robots in unknown environments to achieve a fast response in search and rescue (SAR) missions. Different from existing works, our method provides a task-oriented active exploration strategy that makes the aerial robot fully autonomous during the exploration and does not require human intervention. To identify the candidate regions which ground robots can go through, a fast incremental traversability estimation algorithm is presented, which can evaluate the traversability of the region of interest (ROI) efficiently. Based on the traversability map, we propose a highly efficient frontier detection algorithm that can guarantee both reachability and safety of the extracted frontiers. To reduce the total response time of the whole robot system, a new cost function considering both the time costs of the aerial and ground robots is designed that aims to avoid back-and-forth motion behavior during aerial exploration. The performance of our approach is evaluated in both simulation and real-world experiments. The results show that the proposed method outperforms existing methods in terms of traversability estimation and frontier detection time (about one order of magnitude faster) as well as the response time (at least 13% shorter on average).

Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise

Abstract: This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst GmbH (KHG) in Karlsruhe, Germany. The German nuclear industry established KHG to provide a robot-assisted emergency response capability for nuclear accidents. We present a systematic description of the equipment used; the robot operators' training program; the field exercise and robot tasks; and the protocols followed during the exercise. Additionally, we provide insights and suggestions for advancing disaster response robotics based on these observations. Specifically, the main degradation in performance comes from the cognitive and attentional demands on the operator. Furthermore, robotic platforms and modules should aim to be robust and reliable in addition to their ease of use. Last, as emergency response stakeholders are often skeptical about using autonomous systems, we suggest adopting a variable autonomy paradigm to integrate autonomous robotic capabilities with the human-in-the-loop gradually. This middle ground between teleoperation and autonomy can increase end-user acceptance while directly alleviating some of the operator's robot control burden and maintaining the resilience of the human-in-the-loop.

Selection of a Best Humanoid Robot Using “TOPSIS” for Rescue Operation

Abstract: A rescue robot is introduced and built to reduce people’s work and to rescue people. The rescue robots are needed in cases of urban disasters, mining accidents, research endeavors, high-powered explosions, hostage situations, and military operations involving victim location and explosives detection. Rescue robots prove worthy since they reduce people’s work, reduce corresponding fatigue, and withstand high temperature since robots are made up of high temperature withstanding materials like aluminum. A rescue robot can access areas with ease, where humans find it difficult to reach. The advances in the field of robotic technologies are quite high these days. Recent developments are oriented on producing machines that have the capability of traversing along debris in building collapses, rescuing people from marine disasters, military reconnaissance and mapping, aiding in surgeries, and meticulous evacuations. This research paper proposes a selection method of an ideal humanoid robot by utilizing the multiple criterion decision model: “technique for order of preference by similarity to ideal solution” (TOPSIS) for rescue operation. Five important attributes of the robot were shortlisted to function as the criterion for selection. The simulated study of the robotic structure’s capabilities pertaining to rescue missions is considered.

Rescue Robots for the Urban Earthquake Environment

Abstract: Abstract Robotics have important applications in the field of disaster medical rescue. The deployment of urban rescue robots at the earthquake site can help shorten response time, improve rescue efficiency and keep rescue personnel away from danger. This discussion introduces the performance of some robots in actual rescue scenarios, focuses on the current research status of robots that can provide medical assistance, and analyzes the merits and shortcomings of each system. Based on existing studies, the limitations and development directions of urban rescue robots are also discussed.

Design and Research of an Articulated Tracked Firefighting Robot

Abstract: Aiming to improve the situation where a firefighting robot is affected by conditions of space and complex terrain, a small four-track, four-drive articulated tracked fire-extinguishing robot is designed, which can flexibly perform fire detection and fire extinguishing tasks in a narrow space and complex terrain environment. Firstly, the overall structure of the robot is established. Secondly, the mathematical model of the robot’s motion is analyzed. On this basis, the kinematics simulation is carried out by using ADAMS, and the motion of the robot is analyzed when it overcomes obstacles. Finally, the prototype was produced and tested experimentally. The robot has good obstacle-surmounting ability and excellent stability, is a reasonable size, and can perform various firefighting tasks well.

Fire Detection and Water Discharge Activity for Fire Fighting Robots using IoT

Abstract: A fire is a calamity that can result in the loss of life, property damage, and the victim's lasting incapacity. Our obstacle remover and fireman Robot has been declared. In the case of a fire, we are compelled to employ human resources, which are not safe, to rescue people and put out the fire. With the advent of technology, particularly in robotics, it is now possible to respond quickly to fire locations and combat fires. This would increase firefighter efficiency while simultaneously preventing them from putting their lives in danger. In this project, we created a prototype robot using Arduino that detects and extinguishes fires autonomously. When the flame sensor detects a fire, the water pump and servo motor are activated. The capacity to detect fire sites automatically and extinguish fire remotely at a distance of 20 cm from the fire. The robot is designed to locate fires and spray water into them in order to decrease the amount of damage.

SMURF software architecture for low power mobile robots: experience in search and rescue operations

Abstract: Search and rescue personnel is facing many challenges when deployed in the field after a natural or man-made disaster. In some cases they are exposed to safety risks, for instance when searching for trapped victims under a partially collapsed building after an earthquake. Robots could be a tool that the search and rescue teams could use to search in areas that are too dangerous or too difficult to reach. In this paper, part of the effort made by the CURSOR project is described. In particular, we present a software architecture designed and developed for the Soft Miniaturised Underground Robotic Finder (SMURF). The SMURF is a robotic platform designed and built to assist the search and rescue teams during their operations. Finally, we describe the main components of the SMURFs and share our findings and our acquired experience when developing and testing the SMURFs in realistic environments.

Land-Mobile Robots for Rescue and Search: A Technological and Systematic Review

Abstract: Due to the large number of emergencies and disasters happening around the globe, the technology development to face these difficulties has risen in different areas, one of them being the robotics field: rescue robots. A great amount of incentives have been presented over the years to increase the numbers of studies in the creation of rescue robots, like competitions and funding opportunities. The objective of writing this paper is to document and review different rescue robot works to provide, to interested individuals in the research area, a basis to start in this field. Twenty-six articles on rescue robotics development, ranging from 2017 to 2021, were found and selected using academic search engines.

Leader-follower Behavior in Multi-agent Systems for Search and Rescue Based on PSO Approach

Abstract: Natural disasters happen when no one expects them, and they can cause human casualties. The disaster’s victims can include rescue personnel in most cases. For this reason, the use of robotic systems for disaster relief and mitigation has been proposed. The robots usually carry out search, rescue, and assistance tasks for victims in the disaster zone. We propose using leader-follower behavior for victim assistance tasks development in disaster zones. The multi-robot system follows a team leader who knows the victim’s location. The leader-follower behavior is generated through the use of the PSO approach. The proposed method is evaluated using virtual models of the physical drone platforms. The evaluation of the proposed system was performed using the PyBullet system. The test evaluates aggregation and leader-follower behavior. The PSO approach demonstrates the generation of Leader-follower behavior, and the formation error is evaluated.

Real-time obstacle detection in a darkroom using a monocular camera and a line laser

Abstract: Abstract When a disaster strikes, one of the highest priorities is to save the lives of the victims. The proportion of victims that rescuers can save is strongly related to how quickly rescue efforts can begin. Therefore, early detection of disaster victims is very important. However, significant risks are involved in rescue operations immediately after a disaster. In fact, in the Great East Japan Earthquake, approximately 250 firefighters died while rescuing victims. Under such circumstances, rapid and safe rescue operations are needed at disaster sites. For this purpose, it is important to improve the technology of disaster relief robots. In this paper, we propose an algorithm to measure the linear distance to an obstacle in real time using only a line laser and a monocular camera. This approach allows the use of a camera to obtain more information than the one-dimensional information such as that obtained by ultrasonic sensors. Moreover, this method of obstacle detection for disaster rescue robots is smaller and more durable than large measurement systems such as LiDAR that have been used in the past. In addition, since only one camera is used, the processing cost is low and the processing equipment is expected to be small. The proposed method’s effectiveness is indicated by comparing the distance measured from the image processing results in a dynamic environment with the actual distance between the obstacle and a crawler robot by having the robot move straight toward to an obstacle.

Bluetooth Low Energy for Close Detection in Search and Rescue Missions With Robotic Platforms: An Experimental Evaluation

Abstract: In the field of rescue robotics, data collection about the environment and efficient communications are fundamental for the success of search and rescue missions. Digitalization provides new ways of detecting and localizing potential victims via the wireless devices carried by the users. Nowadays, the number of personal Bluetooth low energy wearables in use (smartbands, smartwatches, earbuds...) increases constantly, being a yet-to-be-exploited personal radio frequency beacon in the case of an emergency, where the user may not be localized and unconscious. In this paper, the results of experimental tests of a Bluetooth low energy based detection system ported by terrestrial and aerial robots are provided, in order to test the feasibility of such system for the localization of the victims in unknown complex disaster areas. The results show that the tested devices can be reliably detected up to 15 meters away when using transmission power values typical of a smartphone, while being able to detect even lightly burdened devices. These results support the idea of developing an algorithm for the delimitation of areas of interest for the search and rescue groups, influencing the routes followed by the robot with the objective of exploring the detected devices area in the search of victims.

Reconstructing Detailed Human Body Using a Viewpoint Auto-Changing RGB-D Sensor for Rescue Operation

Abstract: In the aftermath of a disaster, such as an earthquake or the collapse of dilapidated buildings, it is necessary to enter the ruins to rescue the wounded, which is often accompanied by the casualties of rescuers. We propose a wounded body reconstruction system for rescue operations in disaster zones to replace humans with robots for rescue in hazardous environments. However, many limitations such as self-scanning constraints, reliable human semantic parsing, accurate surface reconstruction, and plausible motion tracking make this work even more challenging. We employ a parametric model to break the self-scanning constraints and obtain human semantic parsing fundamentally. To enable the parametric model to present human detail, we improved the human parametric model by defining a detail layer applying to the template as an additional offset. We propose automatically changing the viewpoint according to the human pose with the help of a robotic arm to obtain a dense and complete observation and achieve a high precision surface reconstruction. To meet the requirements of the rescue operation, we propose a new pipeline to track the wounded motion accurately. The experiments demonstrate that our method can accurately recover the surface of the human body and achieve accurate motion tracking free from the constraints of self-scanning and preserving reliable human semantic parsing.

Deep Learning for Victims Detection from Virtual and Real Search and Rescue Environments

Abstract: Robotic interventions in post-disaster environments to carry out search and rescue explorations allow optimizing time for identifying victims and safeguarding the rescuer’s integrity. The rising in the neural networks field and their application in image detection algorithms have made it possible to facilitate the early detection of victims in these first phases of exploration. This article analyses the effectiveness of applying neural network models obtained from training with different datasets of both: images captured in real environments and synthetic images from recreated virtual post-disaster environments for detecting victims. For this development, tests have been carried out in environments at the ETSII-Universidad Politécnica de Madrid, generating models from images obtained with the ARTU-R robot (A1 Rescue Task UPM Robot) and have been validated with real search and rescue exercises at the University of Malaga. The main results show that the models obtained from virtual environments apply to real ones.

Research on Path Planning Strategy of Rescue Robot Based on Reinforcement Learning

Abstract: How rescue robots reach their destinations quickly and efficiently has become a hot research topic in recent years. Aiming at the complex unstructured environment faced by rescue robots, this paper proposes an artificial potential field algorithm based on reinforcement learning. Firstly, use the traditional artificial potential field method to perform basic path planning for the robot. Secondly, in order to solve the local minimum problem in planning and improve the robot’s adaptive ability, the reinforcement learning algorithm is run by fixing preset parameters on the simulation platform. After intensive training, the robot continuously improves the decision-making ability of crossing typical concave obstacles. Finally, through simulation experiments, it is concluded that the rescue robot can combine the artificial potential field method and reinforcement learning to improve the ability to adapt to the environment, and can reach the destination with the optimal route.

Investigating the Obstacle Climbing Ability of a Coal Mine Search-and-Rescue Robot with a Hydraulic Mechanism

Abstract: Due to the perilous conditions in coal mine accidents, trapped people need to be rescued as soon as possible. The danger and complexity of this environment have brought great difficulties for search and rescue. The emergence of rescue robots has addressed this problem, and the improvement of their search-and-rescue ability is a key concern for rescue robot designers. Based on previous experience of a tracked mobile robot, this paper proposes a new solution via the addition of adjustive rocker arms. For this purpose, a hydraulic unit is installed between the rocker arms and the robot, which enables the rocker arms to be pulled back and forth, enabling its adaptation to more complex environments. In addition, based on kinematics equations, by analyzing the motion rules and characteristics of climbing typical obstacles including stairs, grooves, and lug steps, the present research not only works out the centroid coordinates but also explores the maximal obstacle height. The results show that when the rocker arms are extended by hydraulic pressure, the obstacle-climbing height of the robot increases 16.7 percent. This demonstrates the improvement in obstacle climbing ability and rescue efficiency in complex environments.

Design and path planning for a Worm-Snake-Inspired Metameric(WSIM) Robot

Abstract: Compared with the traditional wheeled and legged robots, limbless metameric robots such as snake-like and worm-like robots are more efficient in moving in an unstructured environment, which can better satisfy the requirements of special tasks such as earthquake rescue and pipeline inspection. To this end, this paper presents a renewed sense of design and the path-planning algorithm for the WSIM robot. Then, a robot prototype is established and analyzed. Experiments reveal that the robot has the ability of multi-modal locomotion, which is suitable for both open and narrow terrains. In addition, a collision-free path planning method considering kinematic constraints is proposed based on the trajectory library, bounding box, and discrete A* algorithm. The simulation results show that the algorithm is robust and well fits the WSIM robot with multi-modal locomotion capability.

Robot-Assisted Nuclear Disaster Response: Report and Insights from a Field Exercise

Abstract: This paper reports on insights by robotics researchers that participated in a 5-day robot-assisted nuclear disaster response field exercise conducted by Kerntechnische Hilfdienst GmbH (KHG) in Karlsruhe, Germany. The German nuclear industry established KHG to provide a robot-assisted emergency response capability for nuclear accidents. We present a systematic description of the equipment used; the robot operators' training program; the field exercise and robot tasks; and the protocols followed during the exercise. Additionally, we provide insights and suggestions for advancing disaster response robotics based on these observations. Specifically, the main degradation in performance comes from the cognitive and attentional demands on the operator. Furthermore, robotic platforms and modules should aim to be robust and reliable in addition to their ease of use. Last, as emergency response stakeholders are often skeptical about using autonomous systems, we suggest adopting a variable autonomy paradigm to integrate autonomous robotic capabilities with the human-in-the-loop gradually. This middle ground between teleoperation and autonomy can increase end-user acceptance while directly alleviating some of the operator's robot control burden and maintaining the resilience of the human-in-the-loop.

A hexapod robot for Outdoor Environment Data Acquisition based on STM32 Single Chip Microcomputer and Gizwits

Abstract: Every year in the world, a large number of natural disasters and man-made disasters, such as earthquakes, mudslides, mining disasters and so on. These disasters will inevitably cause serious building collapse and casualties, after the disaster is faced with a crucial problem, is the search for survivors, however, in the complex ruins of the environment of search and rescue missions, but also to rescue workers, trapped people will bring huge security threats, such as secondary collapse, which also led to the difficulties of rescue work. This paper introduces a six-legged robot based on stm32 microcontroller and witty cloud applied to post-disaster environmental monitoring, which can adapt to various complex terrains through triangular gait algorithm, six-legged robot can pass the obtained data to the database through various sensors, users can view real-time environmental data by accessing the cloud platform, convenient for rescue workers to understand the disaster situation in a timely manner to implement rescue, this paper briefly introduces the background of the project, the main technology and implementation methods developed.

IoT Based Solar Panel Driven Electric Robot for Rescue Operation in Remote Areas

Abstract: Real-time communication between sophisticated human-machine interfaces is one of the challenges of the fourth industrial revolution. Robots are significantly contributing to this industry by improving human lifestyle, lowering workload, and carrying out risky activities. Robots are utilized repeatedly and accurately in the crucial field of rescue since it is a question of life and death. This paper focuses on developing an IoT based electric robot for rescue operation running on solar power making it more environment friendly. This robot can be operate in either solar mode or in battery powered mode which makes it unique and efficient. The integration of IoT with robot makes it wholesome as it can be operated from anywhere over Wi-fi along with real time monitoring. The camera is equipped with image processing which gives a upper hand for detecting humans quickly and alerting the authority.

An innovative pick-up and transport robot system for casualty evacuation

Abstract: This paper addresses the search and rescue scenario Casualty Evacuation (CasEvac) at the European Land Robot Trial (ELROB). A disaster response robot can be sent into areas to rescue victims where it is too dangerous for human rescue due to environmental issues like the danger of collapse or radioactivity. If injured persons are no longer able to move, the robot must be able to rescue them from the danger zone. This paper addresses this scenario and describes our system design, the manipulator tool and the innovative control mechanism for transporting victims. The experiment was tested at the competition and compared with other solutions from the participating teams and currently implemented developments.

Lessons from Robot-Assisted Disaster Response Deployments by the German Rescue Robotics Center Task Force

Abstract: Earthquakes, fire, and floods often cause structural collapses of buildings. The inspection of damaged buildings poses a high risk for emergency forces or is even impossible, though. We present three recent selected missions of the Robotics Task Force of the German Rescue Robotics Center, where both ground and aerial robots were used to explore destroyed buildings. We describe and reflect the missions as well as the lessons learned that have resulted from them. In order to make robots from research laboratories fit for real operations, realistic test environments were set up for outdoor and indoor use and tested in regular exercises by researchers and emergency forces. Based on this experience, the robots and their control software were significantly improved. Furthermore, top teams of researchers and first responders were formed, each with realistic assessments of the operational and practical suitability of robotic systems.

On substantiating the diameter of a rescue rope for people self-rescue in a structural fire

Abstract: PURPOSE. The article describes experiments on identifying the optimal diameter of a fire rescue rope, which ensures a safe descent speed for a self-rescuing person. For a physically developed person, self-rescue in a fire does not require a specialized rescue device. It is enough to have a rescue rope and gloves that prevent burns resulting from rubbing the palms on the rope surface. METHODS. The authors carried out a static experiment to identify the optimal rescue rope diameter at which the descent speed of a self-rescuing person will be safe. Using probability theory methods and mathematical statistics, parameters of a rescue rope that can bear up a self-rescuing person are calculated. FINDINGS. The authors experimentally substantiate parameters values of a rescue rope, which an average person can use for self-rescue from height in case of fire. The identified optimal theoretical diameter of a rescue rope for self-rescue in case of fire is 23.1 mm for men and 21.2 mm for women. The closest standard diameter (i.e. the diameter produced by the industry) is 22 mm. Using rope of such a diameter, the average duration of a self-rescuing person hanging on a rescue rope is 68.4 s for men and 41.8 s for women. RESEARCH APPLICATION FIELD. The results of the study can be used when organizing self-rescue of physically developed people starting from the second floor and above in buildings of any functional purpose, including hotels, hostels, educational institutions. CONCLUSIONS. The obtained results require confirmation by dynamic tests namely by sliding of a self-rescuing person along a rescue rope of an experimentally determined diameter at a safe speed. Tests will define a safe speed and develop a method to determine the height at which each working age individual (an individual with rather strong arms) can use a rescue rope for self-rescue from the second floor and above.