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Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
Urban Search And Rescue (USAR) robotics
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Urban Search And Rescue (USAR) robotics

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An introduction to USAR robotics.

An introduction to USAR robotics.

Published in: Technology, Health & Medicine
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  • 1. USAR robotics Dr. Hossein Mahbadi Amir H. Soltanzadeh ME Dep @ IAUCTB Saving lives by technology Photograph courtesy of CRASAR 1990
  • 2. Acknowledgement <ul><li>Dr. Robin R. Murphy </li></ul><ul><li>Raytheon Professor of Computer Since and Engineering </li></ul><ul><li>Texas A&M </li></ul><ul><li>Director of Center for Robot Assisted Search And Rescue (CRASAR) </li></ul>
  • 3. Outlines <ul><li>Introduction to </li></ul><ul><ul><li>USAR robotics </li></ul></ul>
  • 4. USAR robotics
  • 5. What is USAR? <ul><li>Urban Search And Rescue </li></ul>Search To look through in a place or in an area carefully in order to find something missing or lost Rescue To free or deliver victim from confinement.
  • 6. What is USAR robotics? <ul><li>Developing robots to be used in USAR application </li></ul><ul><li>Search </li></ul><ul><li>To look through in a place or in an area carefully in order to find something missing or lost </li></ul><ul><li>Rescue </li></ul><ul><li>To free or deliver victim from confinement. </li></ul>
  • 7. Why use robots for USAR? <ul><li>They can do what rescuers or rescue dogs can’t! </li></ul><ul><ul><li>voids smaller than person can enter </li></ul></ul><ul><ul><li>voids on fire or oxygen depleted </li></ul></ul><ul><ul><ul><li>Lose ½ cognitive attention with each level of protection </li></ul></ul></ul>Void on fire Void:1’x2.5’x60’
  • 8. Why use robots for USAR? <ul><li>3-D law </li></ul><ul><li>Robots can help in Dirty, Dangerous , Dull Tasks. </li></ul><ul><ul><li>The most important person in a rescue attempt is the rescuer! </li></ul></ul><ul><ul><ul><li>Not enough trained people </li></ul></ul></ul><ul><ul><ul><ul><li>1 survivor, entombed: 10 rescuers, 4 hours </li></ul></ul></ul></ul><ul><ul><ul><ul><li>1 survivor, trapped/crushed: 10 rescuers, 10 hours </li></ul></ul></ul></ul><ul><ul><ul><li>135 rescuers died Mexico City, 65 in confined spaces </li></ul></ul></ul>
  • 9. Why use robots for USAR? <ul><li>Robots save time! </li></ul><ul><ul><li>Time is very critical </li></ul></ul><ul><ul><ul><li>setup time ~1.5 min </li></ul></ul></ul>Golden 24 hours
  • 10. Robots Compared with SearchCams <ul><li>Dogs at WTC: </li></ul><ul><li>injured by sharp metal </li></ul><ul><li>smell only 0.3m due to rain on 2 nd day </li></ul><ul><li>lack of circulating air </li></ul>Price: ~$10K Operational Range <5 m Setup time <1.5 minutes Price: ~$12K Operational Range <30m Setup time <1.5 minutes
  • 11. Taxonomy of USAR Robots USAR robots UGV MAV Man-packable Man-portable Big-size USV UAV
  • 12. Brief history of USAR robotics <ul><li>Oklahoma City bombing (1995) </li></ul><ul><li>The Idea of using robots in USAR domain (by R. Murphy and J. Blitch) </li></ul><ul><li>Hanshi-Awaji earthquake in Kobe City (1995) </li></ul><ul><li>The trigger for the RoboCup Rescue initiative </li></ul><ul><li>WTC 9/11 (2001) First practical usage of robots in real USAR application </li></ul><ul><li>After 2001 rescue robots were applied in several occasions: </li></ul><ul><ul><li>Boat robots (USV) were used after hurricanes Charley, Dennis, Katrina and Wilma </li></ul></ul><ul><ul><li>Aerial robots (UAV) were used after earthquake in L’Aquila, Italy </li></ul></ul>0 6 14
  • 13. Robots at WTC 9/11
  • 14. Lesson learned after WTC 9/11 [1] <ul><li>Research in image processing is needed for fast and accurate victim detection. </li></ul><ul><li>Automated tether management is needed for robot mobility assistance. </li></ul><ul><li>Methodologies to increase the quality of wireless communication is required for robots traveling deep into void structures. </li></ul><ul><li>Research must continue for small robots that can adaptively optimize their shape in difficult void structures. </li></ul><ul><li>Localization and mapping must be expanded to include highly unstructured domains. </li></ul><ul><li>Operator assistance through size and depth estimation techniques should be researched. </li></ul><ul><li>Assisted navigation techniques in highly irregular confined spaces must be explored to limit the number of pose and robot state errors. </li></ul>[1] M. Micire, &quot;Analysis of the Robotic-Assisted Search and Rescue Response to the World Trade Center Disaster,&quot; Masters Thesis, University of South Florida, July 2002.
  • 15. Thank you

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