Rescue Robotics (eBook)

Professor Satoshi Tadokoro currently works for the Graduate School of Information Sciences at Tohoku University, Japan. His areas of research include intelligent mechanics/mechanical systems; perception information processing/intelligent robotics and; design engineering and machine functional elements/tribology.

Preface 6
References 7
Contents 8
List of Contributors 14
Acronyms 19
Earthquake Disaster and Expectation for Robotics 21
1.1 Frequent Occurrence of Large-Scale Earthquakes 21
1.2 Damage Caused by Earthquake Disasters 25
1.3 Japanese Government Disaster Management Plan 26
1.4 Examples of Countermeasures 29
1.5 Urban Search and Rescue (USAR) 30
1.6 Current Advanced Equipment for Urban Search and Rescue 32
1.7 Expected Contribution of Robotics 33
1.8 Conclusions 35
References 36
An Overview of the DDT Project 37
2.1 Objective of the DDT Project 38
2.2 Roadmap for Practical Solutions 39
2.3 Disaster Response Scenario Using Developed Robots and Systems 42
2.4 Brief Overview of Major Results 44
2.5 Conclusions 50
References 51
Disaster Information Gathering Aerial Robot Systems 52
3.1 Introduction 53
3.2 Aerial Robot Systems for USAR 53
3.3 Designing Aerial Robot Systems 56
3.4 Aerial Robot Systems Developed by AIR MU 59
3.5 Field Test of Aerial Robot Systems at Yamakoshi 68
3.6 Summary of R& D Results by the AIR MU
3.7 Conclusions 72
References 73
Information Infrastructure for Rescue Systems 75
4.1 Introduction 76
4.2 Rescue Infrastructure 76
4.3 Development of Ubiquitous Devices for Collecting and Providing Information 78
4.4 Disaster Information Collection and Data Integration Using Dynamic Communication Networks 83
4.5 Conclusions 86
References 86
In-Rubble Robot System for USAR Under Debris 88
5.1 Collection of Information Under Debris 89
5.2 In-Rubble Search System 90
5.3 Components of In-Rubble Searching System 95
5.4 Advanced Tools 105
5.5 BENKEI-2: Carrier Vehicle for Rescue Materials and Equipment for Operation on Irregular Ground Surfaces 115
5.6 Conclusions 119
References 119
On-Rubble Robot Systems for the DDT Project 121
6.1 Introduction 122
6.2 Development of HELIOS 123
6.3 Development of HELIOS Carrier 125
6.4 Development of Leg-in-Rotor-V 127
6.5 UWB Radar System 131
6.6 Rescue Dummy 134
6.7 Human Interface 138
6.8 3D Map Building and 3D Virtual Bird’s-Eye-View for Control Interface 141
6.9 Concluding Remarks 144
References 145
Design Guidelines for Human Interface for Rescue Robots 146
7.1 Introduction 147
7.2 Guidelines for Display Design 148
7.3 Standardized Interface 155
7.4 Conclusions 158
References 159
Information Sharing and Integration Framework Among Rescue Robots/ Information Systems 160
8.1 Motivation 160
8.2 Information System in the DDT Project 161
8.3 Flexible Representation for Disaster Information 166
8.4 System Integration via DaRuMa/MISP 169
8.5 Conclusions 172
References 173
Demonstration Experiments on Rescue Search Robots and On- Scenario Training in Practical Field with First Responders 175
9.1 Introduction 176
9.2 Who Is the User? 176
9.3 Progress of the Development of the Rescue Search Devices and IRS- U 177
9.4 Toward Practice Experiments and Training 180
9.5 Details of Experiments and Training at the Underground Town of JR East Kawasaki Station 182
9.6 Conclusions 188
Summary of DDT Project, Unsolved Problems, and Future Roadmap 189
10.1 Summary of DDT Project 189
10.2 Unsolved Technical Problems 192
10.3 Common Problems of Robot Technologies 196
10.4 Future Roadmap 199
10.5 Conclusions 203
References 203
Index 204