USAR robotics Dr. Hossein Mahbadi Amir H. Soltanzadeh ME Dep @ IAUCTB  Saving lives by technology Photograph courtesy of C...
Acknowledgement <ul><li>Dr. Robin R. Murphy </li></ul><ul><li>Raytheon Professor of Computer Since and   Engineering </li>...
Outlines <ul><li>Introduction to  </li></ul><ul><ul><li>USAR robotics </li></ul></ul>
USAR robotics
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...
What is USAR robotics? <ul><li>Developing robots to be used in USAR application </li></ul><ul><li>Search </li></ul><ul><li...
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 ...
Why use robots for USAR? <ul><li>3-D law </li></ul><ul><li>Robots can help in   Dirty,  Dangerous , Dull   Tasks. </li></u...
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>...
Robots Compared with SearchCams <ul><li>Dogs at WTC: </li></ul><ul><li>injured by sharp metal </li></ul><ul><li>smell only...
Taxonomy of USAR Robots USAR robots UGV MAV Man-packable Man-portable Big-size USV UAV
Brief history of USAR robotics <ul><li>Oklahoma City bombing (1995) </li></ul><ul><li>The Idea of using robots in USAR dom...
Robots at WTC 9/11
Lesson learned after WTC 9/11 [1] <ul><li>Research in  image processing  is needed for fast and accurate victim detection....
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Urban Search And Rescue (USAR) robotics

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An introduction to USAR robotics.

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Urban Search And Rescue (USAR) robotics

  1. 1. USAR robotics Dr. Hossein Mahbadi Amir H. Soltanzadeh ME Dep @ IAUCTB Saving lives by technology Photograph courtesy of CRASAR 1990
  2. 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. 3. Outlines <ul><li>Introduction to </li></ul><ul><ul><li>USAR robotics </li></ul></ul>
  4. 4. USAR robotics
  5. 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. 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. 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. 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. 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. 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. 11. Taxonomy of USAR Robots USAR robots UGV MAV Man-packable Man-portable Big-size USV UAV
  12. 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. 13. Robots at WTC 9/11
  14. 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. 15. Thank you

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