PRE2020 4 Group2

Group members

Name	Student ID
Jasmijn de Joode	id
Robin Foppen	id
Mirre Bosma	1266489
Dirk de Leeuw	id
Job van Heumen	id

Problem statement

Rescue robots

plm 25 articles state of the art with short description

1

https://ieeexplore.ieee.org/abstract/document/1337826?casa_token=pN9v8U00o7oAAAAA:SrqVmUgxtNj50gayQ6GINthgxb1eqMULfJktEnxgYIOEgQ3QRSTgmNr_ajzFdm3PHfasbkWD 9/11 search robots: Robots were used for USAR activities in the aftermath of the WTC attack on 11 September 2001. The robots were on site from 11 September until 2 October 2001. This was the first known actual use of robots for USAR. The robots were used for ◆ searching for victims ◆ searching for paths through the rubble that would be quicker to excavate ◆ structural inspection ◆ detection of hazardous materials In each case, small robots were used because they could go deeper than traditional search equipment (robots routinely went 5–20 m into the interior of the rubble pile versus 2 m for a camera mounted on a pole), could enter a void space too small for a human or search dog, or could enter a place still on fire or posing great risk of structural collapse. → situaties waar er veel debris/rubble is, moeilijk voor search & rescue bepaalde gebieden te bereiken (e.g. 9/11 gebouw instorting, aardbevingen, maar ook tsunami’s of na een brand etc)

2

https://onlinelibrary.wiley.com/doi/abs/10.1002/rob.21439?casa_token=apEE7nd6AxwAAAAA:_eQ6UBm4eernhZvDRFEbZbhjEWW1-W8WT_yDIU_B40iDzhhfj4wrr4r3vXkOBKjGIo6tpNZnSiARANo Emergency response to the nuclear accident at the Fukushima Daiichi Nuclear Power Plants using mobile rescue robots too dangerous for humans to enter the buildings to inspect the damage because radioactive materials were also being released. In response to this crisis, it was decided that mobile rescue robots would be used to carry out surveillance missions. important features of these robots: ◆ First, the radiation tolerance of the electronic components was checked by means of gamma ray irradiation tests, which were conducted using the facilities of the Japan Atomic Energy Agency (JAEA). ◆ Next, the usability of wireless communication in the target environment was assessed. ◆ the team mounted additional devices to facilitate the installation of a water gauge in the basement of the reactor buildings to determine flooding levels.

3

https://ieeexplore.ieee.org/abstract/document/1291662?casa_token=5HN-bnWlk0QAAAAA:_ZoNHNTy3rTc3ADkS4MCzecsVU7G0pqXwJHAViLitb1BYsGaCarNQskce5gSd0XO2mjnDwWS Human–Robot Interaction in Rescue Robotics: Humans have to communicate directly with the robots, either as operators or as victims, but humans may be consumers of robot information without having any prior knowledge of how a rescue robot works or even awareness of the source of the information. URBAN SEARCH AND RESCUE (USAR) is the emergency response function which deals with the collapse of man-made structures → e.g. WTC 9/11 small robots which can fit inside a backpack have a unique capability to collect useful data in USAR situations. Robots can enter voids too small or deep for a person, and can begin surveying larger voids that people are not permitted to enter until a fire has been put out or the structure has been reinforced, a process that can take over eight hours. They can carry cameras, thermal imagers, hazardous material detectors, and medical payloads into the interior of a rubble pile far beyond where a boroscope can reach.

4

https://ieeexplore.ieee.org/abstract/document/999224?casa_token=jjYRhb1yYxYAAAAA:dO_Y5U1W68miTTW94iAmv6O68Z77lo7zQpIb-zUKJJxuQFT5rmMi7nYCXQRhnxq_hT2T2vZj Urban search & rescue robots algemene beschrijving van 9/11 en andere rampen, wedstrijden, future, objectives etc.

5

https://iopscience.iop.org/article/10.1088/1757-899X/912/3/032023/meta Multiple oriented robots for search and rescue operations (2020) Search and rescue (SAR) operations in a tragedy affected area is challenging. The rescue robots help in the exploration of unknown, confined and cluttered environments. Multiple robots are developed to explore the disaster affected region and will be able to detect any people or living beings present there. The robots have living beings as their targets in tragedy affected areas. The multiple robots deployed in the field, traverse through the tragedy affected area. A novel algorithm has been developed which helps in finding the target. The rescue robots are programmed to find the shortest and less obstacle path to reach the target. Due to the tragedy affected environment, the robots decide the moving direction based on the information gathered by sensors such that the optimal path between start and goal positions can be found. The path to target by the robots are shared among them and the best path is chosen among them. The robots explore and search the region avoiding the obstacles and whenever it comes into contact with a living being it shares the information among other robots. The CO2 level of the particular region is also checked to know whether the person is in a breathing state. The algorithm will be developed in order to increase the pace of the search and to locate the living being. The SAR robots have application over tragedy affected areas like earthquake, avalanche, etc.

6

https://www.spiedigitallibrary.org/conference-proceedings-of-spie/6230/62301V/Performance-standards-for-urban-search-and-rescue-robots/10.1117/12.663320.full?casa_token=tOJtsJ-FBFYAAAAA%3aMd1XW6fEX9G4kNKz-VLKb_552BZK2s1vq9Cwbe3Lot2LXOmPw8LtTFX8I5ugzMw_aKCE1Jmw&SSO=1 Performance standards for urban search & rescue robots

7

https://dl.acm.org/doi/abs/10.1145/3382507.3418871?casa_token=ZSY3tOVSEaQAAAAA:QRUmlQTF87rkUOPNLSUZ65SQJfRyKvfP0PBshaZaX1S2VFdrbQomqTlGo0MwpWkuJ4cyo1DK740v Human-robot interaction: using emotions to complement urban search & rescue robots An experiment is presented to investigate whether there is consensus in mapping emotions to messages/situations in urban search and rescue scenarios, where efficiency and effectiveness of interactions are key to success.

8?

Rescue robots research: In fire, help understand the scalp of the fire, position of the environment, search for persons 🡪 first responders cannot see (drone) 🡪 fire fighter robot (notre dam) https://www.youtube.com/watch?v=qqZJci3C8HQ

9

https://ieeexplore.ieee.org/abstract/document/1337826?casa_token=ying5I3BO6cAAAAA:pnElgXCYVQ4FIZu14XMEl-O1Wza1ChWmo9YzWFb4nHgOvTj2IF9gCKvYd-IkDu-ahrAztkDKeA On September 11, 2001, the Center for Robot-Assisted Search and Rescue (CRASAR) responded within six hours to the World Trade Center (WTC) disaster; this is the first known use of robots for urban search and rescue (USAR). The University of South Florida (USF) was one of the four robot teams, and the only academic institution represented. The USF team participated onsite in the search efforts from 12-21 September 2001, collecting and archiving data on the use of all robots, in addition to actively fielding robots. This article provides an overview of the use of robots for USAR, concentrating on what robots were actually used and why. It describes the roles that the robots played in the response and the impact of the physical environment on the platforms. The quantitative and qualitative performance of the robots are summarized in terms of their components (mobility, sensors, control, communications, and power) and within the larger human-robot system. Lessons learned are offered and a synopsis of the current state of rescue robotics and activities at the CRASAR concludes the article.

10

https://ieeexplore.ieee.org/abstract/document/1195276?casa_token=kxgOzUKGc24AAAAA:5umqepOYw4UepT4eD9kpg44szsGnVl46pFxefEVEjvUBD9_GPQDkHxHpT7vz2JkrNl2FbAG2yg Firefighting and rescue activity are considered risky mission. They are an ideal target for robot technology to keep away fire fighters from danger. Moreover, it makes possible to rescue much more victims. Some fire departments have already developed and deployed fire fighting and rescue robots. However, the performance of the robots is not enough. The author considers and examines them from two points of view: "size and weight" and "cost and performance". Base on the considerations, the author proposes five important elements to develop useful and reasonable priced robots for fire departments. The robots should make possible to save and rescue much more lives. https://ieeexplore.ieee.org/abstract/document/8272649?casa_token=82oetxA3YwAAAAAA:-hXcPWcxkbtcK9RkdC1Wv5r1LeuzaepaQj736jLoA3Em8vKvVFclp0lzmEVigvXTcX3wtWlrzA With the advent of technology, humans are replaced with robots in life-threatening situations. We aim to design a robot capable of detecting and suppressing fires. By designing and implementing an autonomous robot capable of detecting and extinguishing flames, disasters can be avoided with minimal risk to human life. In this research, we illustrate an autonomous robot capable of detecting flames indoors and maneuvering towards the flame to extinguish it with the help of carbon dioxide.

11 & 12

Naar boven klimmen en openen van deuren: ghost miniatuar https://www.asme.org/topics-resources/content/robots-to-the-rescue https://www.hackster.io/news/meet-ghost-minitaur-a-quadruped-robot-that-climbs-fences-and-opens-doors-bfec23debdf4

13

all robots (those who creep, fly, crawl etc) are based on animals: https://www.asme.org/topics-resources/content/vinelike-robot-grows-the-rescue

14 & 15

example of robot: https://ieeexplore.ieee.org/abstract/document/8816327 https://citris-uc.org/research/project/void-networks-collapsed-structures-guide-development-rescue-millirobots/

16

https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8816327&casa_token=WpsDS4oGT2AAAAAA:iJbQgfzjKcnf21cUPZxHEAkCra6RpuMpBTYBvv8hOuDF6QOZfi7cUsPKLS_fYvwbQpcaz4OV&tag=1 Hybrid locomotion robot. Can fly and move over flat surfaces. Can search for victims and transport goods. In the article is explained technically how the robot works and some experimental results.

17

http://www.iaarc.org/publications/fulltext/isarc2000-183_TC1.pdf Niet over robots, maar een case study van wat er moet gebeuren in case of a collapsed buidling.

18

https://www.researchgate.net/publication/329439908_Search_and_rescue_with_autonomous_flying_robots_through_behavior-based_cooperative_intelligence about UAV’s. Not as a new kind of robot. But behavior based intelligence. Which algorithms can help speed up the process of finding people using UAV’s.

19

https://onlinelibrary.wiley.com/doi/epdf/10.1002/admi.202001300 Hoe insecten/dieren gebruikt kunnen worden als inspiratie voor robots. Hoe ze zich voortbewegen en ook adhesion aan materialen (tegen muur aan bijv)

20

https://www.scopus.com/record/display.uri?eid=2-s2.0-85093081692&origin=resultslist&sort=plf-f&src=s&nlo=&nlr=&nls=&sid=7bd983d88e1798184fce5a0e1071169f&sot=b&sdt=b&sl=39&s=TITLE-ABS-KEY%28robots+search+and+rescue%29&relpos=22&citeCnt=0&searchTerm= This robot has a special way of moving. It can move over flat terrain, rough terrain and can climb stairs. Can be used for search and rescue.

21

https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5981564&casa_token=cxK4I_t1RV4AAAAA:3aeaFhY96rh8KRs3NGsWOYrYBU8foZO2zc1YcUTSjEBeeLttnqpoMe-c1c1JC2M1dWJjuIwu&tag=1 Dogs are very helpful in locating victims. This article describes how robots can help overcome the flaws of using dogs. For example collecting data and the location where the dog found the survivor. This way the location is known even when rescue workers could not follow the dog to the location. Using dogs, transportation is not a problem, since the dog can bring the robot to the desired location.

22

https://www.sciencedirect.com/science/article/abs/pii/S0921889018300861 An overview of different kinds of snakebods. How well do they do in different environments in comparison to each other.

23

https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8468633&casa_token=Z494rUBUxg4AAAAA:K90fM7I63ioYbOmgKj4__7mvA7QkL_AEFHxnBVDy6N6RVTZAnlW_mKTAPO9LfHbC0ciX0G0F This article explains how a certain snakebod was used after an earthquake in mexico. Procedure, outcome and limitations are discussed.