Rescue Robot System Research Articles

Modeling and safety analysis for collaborative safety-critical systems using hierarchical colored Petri nets

ContextCollaborative systems enable multiple independent systems to work together towards a common goal. These systems can include both human-system and system-system interactions and can be found in a variety of settings, including smart manufacturing, smart transportation, and healthcare. Safety is an important consideration for collaborative systems because one system's failure can significantly impact the overall system performance and adversely affect other systems, humans or the environment. GoalFail-safe mechanisms for safety-critical systems are designed to bring the system to a safe state in case of a failure in the sensors or actuators. However, a collaborative safety-critical system must do better and be safe-operational, for e.g., a failure of one of the members in a platoon of vehicles in the middle of a highway is not acceptable. Thus, failures must be compensated, and compliance with safety constraints must be ensured even under faults or failures of constituent systems. MethodIn this paper, we model and analyze safety for collaborative safety-critical systems using hierarchical Coloured Petri nets (CPN). We used an automated Human Rescue Robot System (HRRS) as a case study, modeled it using hierarchical CPN, and injected some specified failures to check and confirm the safe behavior in case of unexpected scenarios. ResultsThe system behavior was observed after injecting three types of failures in constituent systems, and then safety mechanisms were applied to mitigate the effect of these failures. After applying safety mechanisms, the HRRS system's overall behavior was again observed both in terms of verification and validation, and the simulated results show that all the identified failures were mitigated and HRRS completed its mission. ConclusionIt was found that the approach based on formal methods (CPN modeling) can be used for the safety analysis, modeling, validation, and verification of collaborative safety-critical systems like HRRS. The hierarchical CPN provides a rigorous way of modeling to implement complex collaborative systems.

Development of a search and rescue robot system for the underground building environment

AbstractThe underground building environment plays an increasingly important role in the construction of modern cities. To deal with possible fires, collapses, and so on, in underground building space, it is a general trend to use rescue robots to replace humans. This paper proposes a dual‐robot system solution for search and rescue in an underground building environment. To speed up rescue and search, the two robots focus on different tasks. However, the environmental perception information and location of them are shared. The primary robot is used to quickly explore the environment in a wide range, identify objects, cross difficult obstacles, and so on. The secondary robot is responsible for grabbing, carrying items, clearing obstacles, and so on. In response to the difficulty of rescue caused by unknown scenes, the Lidar, inertial measurement unit and multiview cameras are integrated for large‐scale 3D environment mapping. The depth camera detects the objects to be rescued and locate them on the map. A six‐degree‐of‐freedom manipulator with a two‐finger gripper is equipped to open doors and clear roadblocks during the rescue. To solve the problem of severe signal attenuation caused by reinforced concrete walls, corners and long‐distance transmission, a wireless multinode networking solution is adopted. In the case of a weak wireless signal, the primary robot uses autonomous exploration for environmental perception. Experimental results show the robots' system has high reliability in over‐the‐horizon maneuvering, teleoperation of the door opening and grasping, object searching, and environmental perception, and can be well applied to underground search and rescue.

SafeSoCPS: A Composite Safety Analysis Approach for System of Cyber-Physical Systems.

The System of Cyber-Physical Systems (SoCPS) comprises several independent Cyber-Physical Systems (CPSs) that interact with each other to achieve a common mission that the individual systems cannot achieve on their own. SoCPS are rapidly gaining attention in various domains, e.g., manufacturing, automotive, avionics, healthcare, transportation, and more. SoCPS are extremely large, complex, and safety-critical. As these systems are safety-critical in nature, it is necessary to provide an adequate safety analysis mechanism for these collaborative SoCPS so that the whole network of these CPSs work safely. This safety mechanism must include composite safety analysis for a network of collaborative CPS as a whole. However, existing safety analysis techniques are not built for analyzing safety for dynamically forming networks of CPS. This paper introduces a composite safety analysis approach called SafeSoCPS to analyze hazards for a network of SoCPS. In SafeSoCPS, we analyze potential hazards for the whole network of CPS and trace the faults among participating systems through a fault propagation graph. We developed a tool called SoCPSTracer to support the SafeSoCPS approach. Human Rescue Robot System—a collaborative system—is taken as a case study to validate our proposed approach. The result shows that the SafeSoCPS approach enables us to identify 18 percent more general faults and 63 percent more interaction-related faults in a network of a SoCPS.

WITHDRAWN: Design and development of rescue robot in borewell environment

Abstract This work majorly focused on development of rescue robot systems for children falling into bore well environment. The countries like India there have been several accidents and dead are happening particularly children below 3 years due to bore well environment which is left uncovered. The lifesaving team even army members spend hours to days but 70% of the attempts are unsuccessful to save these little kids because of complicated process. Our robot system mainly involves following process; Approaching the children, Supervision the children, Taking children out. And also our work focused on Safe Handling of the children. Therefore our work deals with concepts of rescue robot systems in bore well environment with semi-automated mechanisms.

Specially Designed Multi-Functional Search And Rescue Robot

In digital era, robots are becoming an integral part of human life due to their efficiency and high performance. In recent years, search and rescue robot systems are used tremendously in a natural disaster. Nowadays, many areas of the world are getting affected due to natural disasters. Disasters can be exceptional and unstoppable events that are either man-made or natural, such as building collapse, earthquakes, wildfires, and floods, etc. This witnesses the importance of search and rescue robot systems in the emergency field. In the emergency field, a variety of sensing and wireless technologies are used in remote and vision control. The use of these technologies, the rescuers instead of going inside in the ruined area, can control remotely search and rescue robot systems when natural calamity occurs. These robot systems have the ability to move and monitor in the ruined area as a result of natural disasters such as building collapse, earthquakes, wildfires, and floods. In this paper, we design a sensor-based multi-functional search and rescue robot system for use in emergency situations. The system consists of an Arduino Mega board, Raspberry Pi 3 Model B+ board, servo motor, camera, Direct Current motor, motor driver module, stepper motor, Darlington Transistor Arrays, and ultrasonic sensor. The multi-functional search and rescue robot system has the ability to help the rescuers to search and show the ruined area from far away. The rescuers also could save their lives using this robot system. The main objective of this paper is to design a multi-functional, easy to control, microcontroller and Vision control based rescue robot system.

小型UGVを用いた日常からシームレスに運用可能な対災害用情報収集システムの開発

We have been developing a rescue robot system for sediment-related disasters using small size UGV. However, victims of disaster told us that the system is impractical if it can used only when disaster occurs. Therefore, we propose the system that can operate seamlessly both usual day and unusual day by implement the task given by human. In this paper, we think the case that we give task that “ patrol the field ”. Then we propose concept of the system and describe configuration of the robot. In addition, we report result of preliminary experiment whose autonomous mobile by learning of operating by human.

Workspace calculating and kinematic modelling of a flexible continuum manipulator constructed by steel-wires

Purpose – The purpose of this paper is to present a new method to establish a kinematic model for a continuum manipulator, whose end can be controlled to move in a three-dimensional workspace. A continuum manipulator has significant advantages over traditional, rigid manipulators in many applications because of its ability to conform to the environment. Moreover, because of its excellent flexibility, light weight, low energy consumption, low production cost, it has a number of potential applications in areas of earthquake relief, agricultural harvesting, medical facilities and space exploration. Design/methodology/approach – This paper uses basic theory of material mechanics to deduct motion equations of the manipulator. Unlike other published papers, the manipulator is not based on segments tactics, but regarded as an integrated flexible system, which simplifies its kinematics modelling and motion controlling. The workspace of the manipulator is analysed by theoretical deducing and simulation modelling. For verification of the presented theory, simulation based on ADAMS software was implemented, while a prototype of the manipulator was developed. Both the software simulation and prototype experiment show that the theoretical analysis in this paper is reasonable. The manipulator can move accurately along the desired trajectories. Findings – This paper developed a novel and fully continuous manipulator driven by steel wires. A kinematic model of the manipulator was established. The physical manipulator developed for verifying the kinematic model can effectively track the prescribed trajectory. The presented kinematic model agrees with not only the simulation but also with the experiment. Research limitations/implications – The manipulator presented in this paper is constructed by steel wires. It possesses the advantages of structural continuity, high flexibility and low production cost. It can be extensively used in many fields, such as search and rescue robotic systems. The limitation of this research is that the dynamic model of the manipulator is not yet clear, which is one of the directions for future research. Practical implications – The manipulator breaks through the limitation of the joint-type or flexible-link-type manipulator, which can also be extensively used in many fields such as search and rescue robotic systems. Social implications – The manipulator developed in this paper, currently, is a prototype under the project of “Automatic Picking Manipulator Research”. It possesses a good market value. Originality/value – The value of this research is that the manipulator breaks through the limitation of the joint-type or flexible-link-type manipulator and establishes the kinematic model for a fully continuous manipulator by a simple strategy. This is the first study that uses such a strategy for establishing the motion equations of a monolithic continuum manipulator.

Mine Rescue Robot System – A Review

Underground mining is beset with numerous problems such as ground movement (fall of roof/sides), inundation, air blast, etc.; apart from gas explosions and dust explosions that are restricted to coal mines. Whatever may be the cause and type of accident or the extent of damage caused, it is a horrendous task for the rescue team to reach the trapped miners. The accident/irrespirable zone contains increased levels of harmful gases like carbon dioxide and carbon monoxide and explosive gases like methane apart from a deficiency of Oxygen. The entire gallery or roadway is filled with dust and smoke, or water in case of inundation, hindering the visibility of rescue personnel. Thus, it is not an ideal situation for the rescue team to perform the operations. The first few hours after the disaster are the critical moments that could be the difference between life and death of the trapped miners. Hence, the ideal solution in such cases would be to deploy a wireless robot equipped with various gas sensors and cameras to aid visibility even in extremely low light conditions. This paper reviews some notable examples from the past and highlights important requirements for rescue robots along with some limitations encountered in the design of such robots.

Design and implementation of grouped rescue robot system using self‐deploy networks

AbstractIn this study, we propose a new system for searching the inside of a damaged building using grouped rescue robots. Because the assumed target environment is broad and variable, the proposed system is designed to have adaptability, scalability, and usability. The system consists of robots, sensors, a network, a communication protocol, user interfaces, and database management systems; their complementary capabilities allow them to satisfy the requirements for the system. This study presents the requirements and design of the proposed system, briefly describes each element, and provides examples of how the elements function as an integrated system. © 2011 Wiley Periodicals, Inc.

1A1-C03 シロアリ防除ロボットの性能評価実験

We develop termite prevention-of-the-breeding and extermination robots system. This robot system is applied technology of rescue robot system. The most important feature of this robot system is in collaboration with a worker to protect house from termites. Therefore, these robots are design according as safety guideline for service robots. The name of the robots system is named "mirubo". This research shows the method of evaluations for the mirubo III. The evaluations include main five examinations as mobility exam, velocity exam, illumination exam, injection exam and step-over-performance exam.

1A2-H03 複数台のレスキューロボットを遠隔操縦するためのGUIと被災地用マルチホップ無線ネットワーク機器を自動配置するシステムの評価

We developed new rescue robot system that plural rescue robots are remotely controlled by one operator. In this system, a pioneer type robot put multi hop wireless network devices to extend area that surveyor type robots are able to search victims and surroundings in a damaged building. In this paper, evaluation of GUI interface to operate plural rescue robots and distributing system of wireless network device are shown.

Current Trends in Research and Development of Rescue Robot Systems

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Mobile Robotic Issues for Urban Search and Rescue

The paper considers three important issues in the design and utilisation of teleoperated urban search and rescue robot systems, namely localisation, locomotion and human-robot interfaces. Prototype systems are designed, developed and presented. For the localisation aspects a cost effective infrared beacon based system is presented for 2D applications. For the locomotion aspects a four-limbed adaptive articulated tracked vehicle is presented having the capability of changing its mode of operation to overcome large obstacles and move effectively in unstructured environments. For the human-robot interaction aspects, key user-centric metrics are proposed and investigated to assess the effect on overall system performance. The metrics considered are situation awareness, tele-presence and workload. Experimental results for all three aspects are presented.

2A1-A17 シロアリ防除ロボットシステムの開発(安全・安心なロボットを目指して)

We develop termite prevention-of-the-breeding-and-extermination robots system. This robot system is applied technology of rescue robot system. The most important feature of this robot system is in collaboration with a worker to protect house from termites. Therefore, these robots are design according as safety guideline for service robots.

Development of a laser range finder for three-dimensional map building in rubble

In order to search and rescue victims in rubble effectively, a three-dimensional (3D) map of the rubble is required. As a part of the national project on rescue robot systems, we are investigating a method for constructing a 3D map of rubble by teleoperated mobile robots. In this paper, we developed a laser range finder for 3D map building in rubble. The developed range finder consists of a ring laser beam module and an omnivison camera. The ring laser beam is generated by using a conical mirror and it is radiated toward the interior wall of the rubble around a mobile robot on which the laser range finder is mounted. The ominivison camera with a hyperbolic mirror can capture the reflected image of the ring laser on the rubble. Based on the triangulation principle, cross-section range data is obtained. Continuing this measurement as the mobile robot moves inside the rubble, a 3D map is obtained. We constructed a geometric model of the laser range finder for error analysis and obtained an optimal dimension of the laser range finder. Based on this analysis, we actually prototyped a range finder. Experimental results show that the actual measurement errors are well matched to the theoretical values. Using the prototyped laser range finder, a 3D map of rubble was actually built with reasonable accuracy.

A rescue robot system for collecting information designed for ease of use — a proposal of a rescue systems concept

A remote controlled robot for collecting information in disasters, e.g. earthquakes, is one of most effective applications of robots, because it is very dangerous for human beings to locate survivors in collapsed buildings and, in addition, small robots can move into narrow spaces to find survivors. However, previous rescue systems that use robots have a significant problem — a shortage of operators. In catastrophic disasters, in order to save victims, we must explore wide areas within a limited time. Thus, many rescue robots should be employed simultaneously. However, human interfaces of previous rescue robots were complicated, so that well-trained professional operators were needed to operate the robots and, thus, to use many rescue robots, many professional operators were required. However, in such catastrophic disasters it is difficult to get many professional operators together within a short time. In this paper we address the problem and propose a concept of rescue team organization in which professional rescue staff and volunteer staff work together for handling a catastrophic disaster. We point out the necessity for rescue robots which can be operated easily by non-professional volunteer staff. To realize a rescue robot which can be operated easily, we propose a rescue robot system which has a human interface seen in typical, everyday vehicles and a snake-like robot which has mechanical intelligence. We have demonstrated the validity and the effectiveness of the proposed concept by developing a prototype system.

人間を直接ハンドリングする救助ロボットシステムの試作

人間を直接ハンドリングする救助ロボットシステムの試作

Overview of Development of Rescue Robot Systems

Overview of Development of Rescue Robot Systems

Human–Robot Interaction in Rescue Robotics

Rescue robotics has been suggested by a recent DARPA/NSF study as an application domain for the research in human-robot integration (HRI). This paper provides a short tutorial on how robots are currently used in urban search and rescue (USAR) and discusses the HRI issues encountered over the past eight years. A domain theory of the search activity is formulated. The domain theory consists of two parts: 1) a workflow model identifying the major tasks, actions, and roles in robot-assisted search (e.g., a workflow model) and 2) a general information flow model of how data from the robot is fused by various team members into information and knowledge. The information flow model also captures the types of situation awareness needed by each agent in the rescue robot system. The article presents a synopsis of the major HRI issues in reducing the number of humans it takes to control a robot, maintaining performance with geographically distributed teams with intermittent communications, and encouraging acceptance within the existing social structure.

操作性を考慮した情報収集ロボット : システムの設計概念とシステム構成の提案(レスキューシステム・レスキュー工学1)

操作性を考慮した情報収集ロボット : システムの設計概念とシステム構成の提案(レスキューシステム・レスキュー工学1)