Rescue Robotics

DDT Project on Robots and Systems for Urban Search and Rescue

By: Satoshi Tadokoro (Editor)

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Hardcover | 5 March 2010

At a Glance

Hardcover
216 Pages

Dimensions(cm)
22.86 x 15.88 x 1.91

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Rescue Robotics presents the most significant findings of the DDT Project on robots and systems for urban search and rescue. This project was launched by the Japanese government in 2002 with the aim of applying a wide variety of robotics technologies to find a solution to the problem of disaster response, especially urban search and rescue in large-scale earthquakes.

From 2002 to 2007 more than 100 researchers took part in the DDT Project, coming from a wide spectrum of research and development to make up four research groups: Aerial Robot Systems MU (Mission Unit), Information Infrastructure System MU, In-Rubble Robot System MU, and On-Rubble Robot System MU. This book discusses their development and testing of various robotic systems and technologies such as serpentine robots, traced vehicles, intelligent human interface and data processing, as well as analysing and verifying the results of these experiments.

Rescue Robotics will be of interest to researchers and students, but will also prove useful for emergency response personnel. It offers an insight into the state of the art of rescue robotics and its readers will benefit from a knowledge of the advanced technologies involved in this field.

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List of Contributors	p. xv
Acronyms	p. xxi
Earthquake Disaster and Expectation for Robotics	p. 1
Frequent Occurrence of Large-Scale Earthquakes	p. 1
Damage Caused by Earthquake Disasters	p. 5
Japanese Government Disaster Management Plan	p. 6
Examples of Countermeasures	p. 9
Urban Search and Rescue (USAR)	p. 10
Current Advanced Equipment for Urban Search and Rescue	p. 12
Expected Contribution of Robotics	p. 13
Conclusions	p. 15
References	p. 16
An Overview of the DDT Project	p. 17
Objective of the DDT Project	p. 18
Roadmap for Practical Solutions	p. 19
Disaster Response Scenario Using Developed Robots and Systems	p. 22
Brief Overview of Major Results	p. 24
Aerial Robot System MU	p. 24
Information Infrastructure MU	p. 25
In-Rubble Robot System MU	p. 26
On-Rubble Robot System MU	p. 27
Integration of Gathered Information	p. 29
Verification Experiments and Exercise	p. 30
Conclusions	p. 30
References	p. 31
Disaster Information Gathering Aerial Robot Systems	p. 33
Introduction	p. 34
Aerial Robot Systems for USAR	p. 34
Utilization of Aerial Robot Systems	p. 34
Information Gathering from the Sky	p. 35
Distinctive Aspects of Aerial Robot Systems	p. 35
Designing Aerial Robot Systems	p. 37
Three Phases of USAR Operations	p. 37
Aerial Robot Team for USAR	p. 37
Action Scenario of Aerial Robot Systems for USAR	p. 38
Aerial Robot Systems Developed by AIR MU	p. 40
Autonomous Unmanned Helicopter (Medium-Sized Vehicle)	p. 40
Autonomous Unmanned Helicopter (Small Vehicle)	p. 42
Autonomous Blimp-Type Robot System	p. 43
Cable-Driven Balloon Robot System	p. 44
Captive Balloon Robot System	p. 47
Image Clearing for Field Camera Systems	p. 48
Field Test of Aerial Robot Systems at Yamakoshi	p. 49
Summary of R&D Results by the AIR MU	p. 52
Conclusions	p. 53
References	p. 54
Information Infrastructure for Rescue Systems	p. 57
Introduction	p. 58
Rescue Infrastructure	p. 58
Information Collection and Sharing in the DDT Project	p. 58
R&D Activity Overview in Infra-MU	p. 59
Development of Ubiquitous Devices for Collecting and Providing Information	p. 60
Development of Rescue Communicator	p. 60
Verbal Victim Search by R-Comms	p. 61
RF-ID-Based Emergency Information Collection and Delivery System	p. 63
Disaster Information Collection and Data Integration Using Dynamic Communication Networks	p. 65
Protocols for Rescue Information Collection and Common-Use Database for Data Integration	p. 65
Experiments on Rescue Information Collection and Integration	p. 66
Conclusions	p. 68
References	p. 68
In-Rubble Robot System for USAR Under Debris	p. 71
Collection of Information Under Debris	p. 72
In-Rubble Search System	p. 73
In-Rubble Search Robot System: Hyper Souryu IV	p. 73
Advanced In-Rubble Searching Tool	p. 75
Carrier Vehicle for Rescue Materials and Equipment for Operation on Irregular Surfaces	p. 76
Components of In-Rubble Searching System	p. 78
Development of In-Rubble Searching Serpentine Robot Souryu IV	p. 78
Generation of Three-Dimensional Map of Rubble by Mobile Robot	p. 79
Development of Built-in-Type Multiple Vision System	p. 81
Bird's-Eye-View Synthesis Control System	p. 83
Flexible Sensor Tube	p. 86
Hyper Souryu IV	p. 87
Advanced Tools	p. 88
Human-Powered Moving Search Cam	p. 88
Jack Robot, Compact Jack Robot, and Cutter Robot	p. 90
Jack-Up Mobile Body (Bari-Bari-I and II)	p. 92
Intelligent Search Cam	p. 93
Pneumatic Jack	p. 96
Active Scope Camera	p. 97
BENKEI-2: Carrier Vehicle for Rescue Materials and Equipment for Operation on Irregular Ground Surfaces	p. 98
Conclusions	p. 102
References	p. 102
On-Rubble Robot Systems for the DDT Project	p. 105
Introduction	p. 106
Development of HELIOS	p. 107
HELIOS VII Concept	p. 107
Development of HELIOS VIII	p. 109
Development of HELIOS Carrier	p. 109
HELIOS Carrier	p. 109
HELIOS Carriers Connected with an Arm Using Pneumatic Artificial Rubber Muscles	p. 111
Development of Leg-in-Rotor-V	p. 111
UWB Radar System	p. 115
Equipments	p. 115
Experiments	p. 115
Rescue Dummy	p. 118
Development of Integrated Model	p. 118
Whole-Body Tactile Force Sensor System	p. 120
Simulation of Body Temperature Using MEPCM	p. 120
Passive Musculoskeletal Model of Shoulder Complex	p. 121
Quantification of Pains by Pressure Stimulus	p. 122
Human Interface	p. 122
Robot Teleoperation	p. 122
Synthesis of Bird's-Eye-View Images to Improve Remote Controllability	p. 123
3D Map Building and 3D Virtual Bird's-Eye-View for Control Interface	p. 125
3D Scanner and 3D Map Building Method	p. 126
Virtual Bird's-Eye-View for Control Interface	p. 126
Dense 3D Map Building and Its Coloring	p. 128
Concluding Remarks	p. 128
References	p. 129
Design Guidelines for Human Interface for Rescue Robots	p. 131
Introduction	p. 132
Guidelines for Display Design	p. 133
Multiple Image Display	p. 133
Situational Arrangement of Windows	p. 137
Visibility of Display Devices	p. 138
Pointing Device and Dust/Water Proofing	p. 139
Standardized Interface	p. 140
Window Arrangement Utility	p. 140
High-Intensity Display	p. 141
Optical Touch Screen	p. 141
Standardized Interface Prototype	p. 141
Conclusions	p. 143
References	p. 144
Information Sharing and Integration Framework Among Rescue Robots/Information Systems	p. 145
Motivation	p. 145
Information System in the DDT Project	p. 146
Requirements for the Rescue Information System	p. 146
Mitigation Information Sharing Protocol	p. 148
DaRuMa	p. 149
Advantage of DaRuMa/MISP	p. 149
Flexible Representation for Disaster Information	p. 151
Representation for Sensed Data	p. 151
Flexible Time Representation	p. 152
System Integration via DaRuMa/MISP	p. 154
Conclusions	p. 157
References	p. 158
Demonstration Experiments on Rescue Search Robots and On-Scenario Training in Practical Field with First Responders	p. 161
Introduction	p. 162
Who Is the User?	p. 162
Progress of the Development of the Rescue Search Devices and IRS-U	p. 163
Toward Practice Experiments and Training	p. 166
Policies	p. 166
Commentaries	p. 167
Details of Experiments and Training at the Underground Town of JR East Kawasaki Station	p. 168
Scenario and Snapshots of the Experiments and Training	p. 168
Observation Report from the IRS-U Staff	p. 171
Overall Evaluation from the Robot Development Team	p. 173
Conclusions	p. 174
Summary of DDT Project, Unsolved Problems, and Future Roadmap	p. 175
Summary of DDT Project	p. 175
Unsolved Technical Problems	p. 178
Collection of Overview Information of Disasters	p. 179
Search and Diagnosis of Victims and Quantitative Investigation of Structural Damage	p. 179
Physical Rescue of Victims and Prevention of Damage Propagation	p. 182
Common Problems of Robot Technologies	p. 182
Mobility and Task Execution Performance	p. 182
Human Interface for Teleoperation and Information Transfer	p. 183
Wireless Communications	p. 183
Localization, Information Mapping, and Integration	p. 184
Cooperative Task Execution	p. 184
Reliability in Disaster	p. 184
Evaluation Metrics	p. 185
Improvement of Fundamental Performance	p. 185
Future Roadmap	p. 185
Roadmap for 2010	p. 185
Roadmap for 2015	p. 187
Conclusions	p. 189
References	p. 189
Index	p. 191
Table of Contents provided by Ingram. All Rights Reserved.

Rescue Robotics

DDT Project on Robots and Systems for Urban Search and Rescue

At a Glance

Hardcover

Shipping

How to return your order

Defective items

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