Tadokoro / Tadokoro. Rescue Robotics

DDT Project on Robots and Systems for Urban Search and Rescue
1. Auflage 2009
ISBN: 978-1-84882-474-4
Verlag: Springer
Format: PDF
Kopierschutz: 1 - PDF Watermark

E-Book, Englisch, 205 Seiten

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.

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.

Autoren/Hrsg.

Tadokoro., Satoshi

Tadokoro, Satoshi

Inhaltsverzeichnis

1;Preface;6
1.1;References;7
2;Contents;8
3;List of Contributors;14
4;Acronyms;19
5;Earthquake Disaster and Expectation for Robotics;21
5.1;1.1 Frequent Occurrence of Large-Scale Earthquakes;21
5.2;1.2 Damage Caused by Earthquake Disasters;25
5.3;1.3 Japanese Government Disaster Management Plan;26
5.4;1.4 Examples of Countermeasures;29
5.5;1.5 Urban Search and Rescue (USAR);30
5.6;1.6 Current Advanced Equipment for Urban Search and Rescue;32
5.7;1.7 Expected Contribution of Robotics;33
5.8;1.8 Conclusions;35
5.9;References;36
6;An Overview of the DDT Project;37
6.1;2.1 Objective of the DDT Project;38
6.2;2.2 Roadmap for Practical Solutions;39
6.3;2.3 Disaster Response Scenario Using Developed Robots and Systems;42
6.4;2.4 Brief Overview of Major Results;44
6.5;2.5 Conclusions;50
6.6;References;51
7;Disaster Information Gathering Aerial Robot Systems;52
7.1;3.1 Introduction;53
7.2;3.2 Aerial Robot Systems for USAR;53
7.3;3.3 Designing Aerial Robot Systems;56
7.4;3.4 Aerial Robot Systems Developed by AIR MU;59
7.5;3.5 Field Test of Aerial Robot Systems at Yamakoshi;68
7.6;3.6 Summary of R&D Results by the AIR MU;71
7.7;3.7 Conclusions;72
7.8;References;73
8;Information Infrastructure for Rescue Systems;75
8.1;4.1 Introduction;76
8.2;4.2 Rescue Infrastructure;76
8.3;4.3 Development of Ubiquitous Devices for Collecting and Providing Information;78
8.4;4.4 Disaster Information Collection and Data Integration Using Dynamic Communication Networks;83
8.5;4.5 Conclusions;86
8.6;References;86
9;In-Rubble Robot System for USAR Under Debris;88
9.1;5.1 Collection of Information Under Debris;89
9.2;5.2 In-Rubble Search System;90
9.3;5.3 Components of In-Rubble Searching System;95
9.4;5.4 Advanced Tools;105
9.5;5.5 BENKEI-2: Carrier Vehicle for Rescue Materials and Equipment for Operation on Irregular Ground Surfaces;115
9.6;5.6 Conclusions;119
9.7;References;119
10;On-Rubble Robot Systems for the DDT Project;121
10.1;6.1 Introduction;122
10.2;6.2 Development of HELIOS;123
10.3;6.3 Development of HELIOS Carrier;125
10.4;6.4 Development of Leg-in-Rotor-V;127
10.5;6.5 UWB Radar System;131
10.6;6.6 Rescue Dummy;134
10.7;6.7 Human Interface;138
10.8;6.8 3D Map Building and 3D Virtual Bird’s-Eye-View for Control Interface;141
10.9;6.9 Concluding Remarks;144
10.10;References;145
11;Design Guidelines for Human Interface for Rescue Robots;146
11.1;7.1 Introduction;147
11.2;7.2 Guidelines for Display Design;148
11.3;7.3 Standardized Interface;155
11.4;7.4 Conclusions;158
11.5;References;159
12;Information Sharing and Integration Framework Among Rescue Robots/ Information Systems;160
12.1;8.1 Motivation;160
12.2;8.2 Information System in the DDT Project;161
12.3;8.3 Flexible Representation for Disaster Information;166
12.4;8.4 System Integration via DaRuMa/MISP;169
12.5;8.5 Conclusions;172
12.6;References;173
13;Demonstration Experiments on Rescue Search Robots and On- Scenario Training in Practical Field with First Responders;175
13.1;9.1 Introduction;176
13.2;9.2 Who Is the User?;176
13.3;9.3 Progress of the Development of the Rescue Search Devices and IRS- U;177
13.4;9.4 Toward Practice Experiments and Training;180
13.5;9.5 Details of Experiments and Training at the Underground Town of JR East Kawasaki Station;182
13.6;9.6 Conclusions;188
14;Summary of DDT Project, Unsolved Problems, and Future Roadmap;189
14.1;10.1 Summary of DDT Project;189
14.2;10.2 Unsolved Technical Problems;192
14.3;10.3 Common Problems of Robot Technologies;196
14.4;10.4 Future Roadmap;199
14.5;10.5 Conclusions;203
14.6;References;203
15;Index;204