PRE2018 1 Group1

Group members

Name	Study	Student ID
Cornet, N.	Industrial Design
Horssen, C.
Mouw, F.A.	Applied Physics
Stokbroekx, D.L.M.	Mechanical Engineering	1010326

Initial robotic concepts

After discussing several subjects from different fields in society, we came up with the following list of robotic concepts which have potential to solve problems faced by certain users.

• Fire fighter drone which can be used to aid fire fighters
• Cleaning drone for difficult to reach spots in buildings
• Pavement cleaning drone which can remove dirt from tiles
• Avalanche rescue drone that helps rescuing teams search for victims in an avalanche using already available beacons
• Weeding robot which can differentiate between wanted and unwanted plants in a garden and remove the weeds
• Referee robot using image processing to determine the state of a match in e.g. soccer or tennis
• Medical nanobots for drug delivery
• Fruit harvest robots

Chosen concept: Flying Fire Fighter

We eventually agreed upon the concept of a fire fighter drone. Fire fighting is one of the most dangerous jobs and every year people are still being killed by fires. Extra preparation and information on the fire site can make the difference between life and death. That is where we thought a drone could be of help.

Problem statement

How can a robot be used to assist in the rescue of victims of a fire and safekeeping of all people involved.

Objectives

• It needs to give victims information about what they can do to improve their chances of survival without injury
• It needs to be able to communicate the current state of the fire back to the fire department to inform and prepare firefighters
• Be able to enter and fly inside a building autonomously

Relevant users and their requirements

• Fire fighters will require a fast response time to the fire and an accurate analysis of the fire site
• Victims require information on how to reduce harm to themselves and others and a safe rescue

Relevance to society

• People living in range of the fire station using this drone will be subject to better rescuing in case of a fire
• If the drone is being used to aid at fighting a fire, the people living in the viscinity of that fire will have a smaller chance that the fire will affect them

Relevance to enterprise

• The government
• Fire department

Project setup

Before actually starting the project, a setup is made on how it will be executed.

Approach

• Decide functionality of the drone
• Do research on different subjects concerning the functionality of the drone
• Design drone and functions
• Make prototype
• Test prototype

Milestones

For the duration of this course, the following milestones are selected:

• Week 1: Every member will take the time to do research on robots and their interests, in order to broaden one's horizon on the possible subjects. Afterwards a subject for the project will be chosen.
• Week 2: Literature study and further research will be completed
• Week 3: USE analysis is finished
• Week 4: Design for the first prototype will be finished
• Week 6: First prototype will be finished
• Week 8: Final Design, final prototype and all other deliverables will be finished

Deliverables

The following deliverables will be created during this course:

• Thorough research and literature study
• Design research process and report
• A functional drone design
• (several) Prototypes
• Ethical evaluation
• A wiki page on this domain

Planning: Who's doing what

Week	All	Natanya	Chiel	Fabian	Daan	Undecided
1	Finding suitable projects + finding articles on the chosen subject	Basic user requirements			Formulating Problem statement
2		Further elaborating user requirements and USE analysis + making persona’s of the users	State of the art research	State of the art research	State of the art research	Further elaborating user requirements and USE analysis + start making designs for the robot
3	Checking wiki and correcting formulation if necessary					Continuing on design for the robot + finishing USE analysis
4			Starting on control software for the robot	Starting constructing of the prototype	Starting constructing of the prototype	Finishing robot design
5	Checking wiki and correcting formulation if necessary			Construction of the prototype	Construction of the prototype
6	Testing and evaluating prototype + find and analyse flaws in the design + fixing the design flaws			First prototype finished	First prototype finished
7	Find and analyse flaws in the design + fixing the design flaws + checking wiki and correcting formulation if necessary	Preparing presentation	Preparing presentation
8	Final design and robot finished + Presentation of the result

State of the art: Literature study

One of the most important facets of this project is to come to an understanding of the current state of technologic advancement that is relevant to the drone and its functionalities. Therefore, literature on different relevant catagories is studied to understand the state of the art. Here follows a list of the scientific research that was studied for this project, divided into the different relevant catagories.

General Drone Information

• Remington, Raquel, et al. "Multi-Purpose Aerial Drone for Bridge Inspection and Fire Extinguishing." Unpublished Thesis). Florida International University. Retrieved April 10 (2014): 2016. (Fabian)
• Suresh, Jayanth. "Fire-fighting robot." Computational Intelligence in Data Science (ICCIDS), 2017 International Conference on. IEEE, 2017.(Fabian)
• (Design of a portable robot/device that is able to gather environmental information about the fire and guide victims for evacuation)

Kim, Y.-D., Kim, Y.-G., Lee, S.-H., Kang, J.-H., An, J. “Portable fire evacuation guide robot system” (2009) IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, art. no. 5353970, pp. 2789-2794. (Daan)

Autonomous drone navigation

• (General controller for safer autonomous navigation)

Pestana, J., Mellado-Bataller, I., Fu, C., Sanchez-Lopez, J.L., Mondragon, I.F., Campoy, P. “A general purpose configurable navigation controller for micro aerial multirotor vehicles” (2013) International Conference on Unmanned Aircraft Systems, ICUAS 2013 - Conference Proceedings, art. no. 6564733, pp. 557-564. (Daan)

• (Complete navigation system using 3D laser scanner for omnidirectional environment perception, local and allocentric maps for positioning and a multi-layered approach for trajectory planning (global mission trajectory and local obstacle avoidance))

Nieuwenhuisen, M., Droeschel, D., Beul, M., Behnke, S. “Autonomous Navigation for Micro Aerial Vehicles in Complex GNSS-denied Environments” (2016) Journal of Intelligent and Robotic Systems: Theory and Applications, 84 (1-4), pp. 199-216. (Daan)

• (Obstacle avoidance and field planning using monocular sensory input)

Mac, T.T., Copot, C., Hernandez, A., De Keyser, R. “Improved potential field method for unknown obstacle avoidance using UAV in indoor environment” (2016) SAMI 2016 - IEEE 14th International Symposium on Applied Machine Intelligence and Informatics - Proceedings, art. no. 7423032, pp. 345-350. (Daan)

Autonomous victim detection

• (Detecting injured humans on images taken from aerial vehicles)

ANDRILUKA, Mykhaylo, et al. Vision based victim detection from unmanned aerial vehicles. In: Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on. IEEE, 2010. p. 1740-1747. (Chiel)

• (Building maps and marking victims on those maps using hyperspectral imaging)

TRIERSCHEID, Marina, et al. Hyperspectral imaging or victim detection with rescue robots. In: Safety, Security and Rescue Robotics, 2008. SSRR 2008. IEEE International Workshop on. IEEE, 2008. p. 7-12. (Chiel)

• (Victim detection using an adapted Viola-Jones algorithm)

DE CUBBER, Geert; MARTON, Gabor. Human victim detection. In: Third International Workshop on Robotics for risky interventions and Environmental Surveillance-Maintenance, RISE. 2009. (Chiel)

• (Using ad-hoc network with base station (firetruck or fire department?))

SUGIYAMA, Hisayoshi; TSUJIOKA, Tetsuo; MURATA, Masashi. Victim Detection System for Urban Search and Rescue Based on Active Network Operation. In: HIS. 2003. p. 1104-1113. (Chiel)

• (False positive reduction on victim detection from colored images)

KLEINER, Alexander; KUMMERLE, Rainer. Genetic MRF model optimization for real-time victim detection in search and rescue. In: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on. IEEE, 2007. p. 3025-3030. (Chiel)

• (Detecting victims using pseudo-noise radars, whose signals scatter from body motions of victims)

SACHS, Jürgen, et al. Trapped victim detection by pseudo-noise radar. In: Proceedings of the 1st International Conference on Wireless Technologies for Humanitarian Relief. ACM, 2011. p. 265-272. (Chiel)

Fire detection

• (Detecting fire from colored images, distinguishing fire and smoke)

CHEN, Thou-Ho; WU, Ping-Hsueh; CHIOU, Yung-Chuen. An early fire-detection method based on image processing. In: Image Processing, 2004. ICIP'04. 2004 International Conference on. IEEE, 2004. p. 1707-1710. (Chiel)

• (Detecting fire using space-time fluctuations on colored images)

YAMAGISHI, Hideaki; YAMAGUCHI, JUNICHI. Fire flame detection algorithm using a color camera. In: Micromechatronics and Human Science, 1999. MHS'99. Proceedings of 1999 International Symposium on. IEEE, 1999. p. 255-260. (Chiel)

• (Detecting fire using Gaussian distributions)

CELIK, Turgay, et al. Fire detection using statistical color model in video sequences. Journal of Visual Communication and Image Representation, 2007, 18.2: 176-185. (Chiel)

• (Fire detection in tunnels using cameras and infrared)

NODA, S.; UEDA, K. Fire detection in tunnels using an image processing method. In: Vehicle Navigation and Information Systems Conference, 1994. Proceedings., 1994. IEEE, 1994. p. 57-62. (Chiel)

Fire suppression

• (Experiments of different solid particulate aerosol suppressants in the form of a solid, gel or powder)

Kibert, C.J., Dierdorf, D. “Solid particulate aerosol fire suppressants” (1994) Fire Technology, 30 (4), pp. 387-399. (Daan)

• (Testing the effectiveness of using nanocomposites as additive to conventional powder suppressants)

Ni, X., Kuang, K., Wang, X., Liao, G. “A New Type of BTP/Zeolites Nanocomposites as Mixed-phase Fire Suppressant: Preparation, Characterization, and Extinguishing Mechanism Discussion” (2010) Journal of Fire Sciences, 28 (1), pp. 5-25. (Daan)

• (Experiments with a portable mist extinguisher for different types of fires)

Liu, Z., Kim, A.K., Carpenter, D. “A study of portable water mist fire extinguishers used for extinguishment of multiple fire types” (2007) Fire Safety Journal, 42 (1), pp. 25-42. (Daan)

Fire resistant materials

• Lyon, Richard E., et al. "Fire‐resistant aluminosilicate composites." Fire and materials 21.2 (1997): 67-73. (Fabian)
• Myeong, W. C., Kwang Yik Jung, and Hyun Myung. "Development of FAROS (fire-proof drone) using an aramid fiber armor and air buffer layer." Ubiquitous Robots and Ambient Intelligence (URAI), 2017 14th International Conference on. IEEE, 2017. (Fabian)
• Myeong, Wancheol, Kwang Yik Jung, and Hyun Myung. "Development of a fire-proof aerial robot system for fire disaster." World Congress on Advances in Nano, Bio, Robotics and Energy (ANBRE). IASEM Conferences, 2017.(Fabian)
• Abbott, N. J., M. M. Schoppee, and J. Skelton. Heat Resistant and Nonflammable Materials. FABRIC RESEARCH LABS INC DEDHAM MA, 1976. (Fabian)
• Luo, Qiu-Sheng, Shi-Feng Li, and Hui-Ping Pei. "Progress in titanium fire resistant technology for aero-engine." Journal of Aerospace Power 27.12 (2012): 2763-2768.(Fabian)

Not catagorized yet

• (Up from the Rubble: Lessons Learned about HRI from Search and Rescue)

Robin R. Murphy & Jennifer L. Burke

• (Improved Interfaces for Human-Robot Interaction in Urban Search and Rescue)

Michael Baker, Robert Casey, Brenden Keyes, and Holly A. Yanco

• (Exploring 3D Gesture Metaphors for Interaction with Unmanned Aerial Vehicles)

Kevin P. Pfeil, Seng Lee Koh, Joseph J. LaViola Jr.

• (Analysis of Human-Robot Interaction for Urban Search and Rescue)

Holly A. Yanco, Michael Baker, Robert Casey, Brenden Keyes, Philip Thoren, Jill L. Drury, Douglas Few, Curtis Nielsen, David Bruemmer

• (Drone Near Me: Exploring Touch-Based Human-Drone Interaction)

PARASTOO ABTAHI, DAVID Y. ZHAO, JANE L. E, and JAMES A. LANDAY

• (Evaluation of Human-Robot Interaction Awareness in Search and Rescue)

Jean Scholtz, Jeff Young, Jill L. Drury, Holly A.Yanco

• (Human-Drone-Interaction: A Case Study to Investigate the Relation Between Autonomy and User Experience)

Patrick Christ, Axel Hösl, Florian Lachner, Klaus Dieopold

• (Emotion Encoding in Human-Drone Interaction)

Jessica R. Cauchard*, Kevin Y. Zhai, Marco Spadafora, James A. Landay

• (Human-Robot Interaction in Rescue Robotics)

Robin R. Murphy

• (Human-Robot Teaming for Search and Rescue)

Illah R. Nourbakhsh, Katia Sycara, Mary Koes, and Mark Yong, Michael Lewis, Steve Burion

• (Natural User Interfaces for Human-Drone Multi-Modal Interaction)

Ramón A. Suárez Fernández, Jose Luis Sanchez-Lopez, Carlos Sampedro, Hriday Bavle, Martin Molina, and Pascual Campoy (Drone & Wo: Cultural Influences on Human-Drone Interaction Techniques) Jane L. E, Ilene L. E, James A. Landay, Jessica R. Cauchard

• (Drone & Me: An Exploration Into Natural Human-Drone Interaction)

Jessica R. Cauchard, Jane L. E, Kevin Y. Zhai, James A. Landay