2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)最新文献_第3页

Task priority control for aerial manipulation 空中操纵的任务优先级控制

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017672

Angel Santamaria-Navarro, V. Lippiello, J. Andrade-Cetto

引用次数: 24

Field report: Civil protection exercise gas storage 现场报道:民防演习储气

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017681

Gerald Steinbauer, Johannes Maurer, Andreas Ciossek

{"title":"Field report: Civil protection exercise gas storage","authors":"Gerald Steinbauer, Johannes Maurer, Andreas Ciossek","doi":"10.1109/SSRR.2014.7017681","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017681","url":null,"abstract":"There is a lot potential for mobile robots supporting responders mitigating various kinds of disasters ranging from manmade accidents with hazard materials to natural earthquakes with collapsed buildings. Although, there are many examples of application of robots in research and disasters response exercises examples in real missions are rare. Reasons for that are that the deployment of robot systems is not trivial and that many systems are yet not robust and stable enough. Therefore, actually there are basically no disasters response teams that possess and deploy robots in the field. As a consequence currently robot systems come from external institutions like universities or companies and are operated by external experts. Such requests for external support for disaster relief are already common. For instance see the example in [1] using the European Civil Protection Mechanism (EUCP). As this situation has to be accepted until robots will be really easy to use and stable procedures that allow to deal with this setup have to be found. A crucial factor for the acceptance of such setups by the responder is the easy integration of the robots and the external experts in the mission. In this paper we present the results of an emergency response exercise (a fire in a gas storage) where particularly care about these factors was taken. In the remainder of the paper we will motivate and discuss the team structure we used for the external robot team and present the outline and the results of the exercise. We will conclude the paper with some lessons learned during the exercise.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"14 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126416368","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Passive brachiation. Towards motion in trees with robotic snakes 被动的臂力摆荡。用机器蛇在树上运动

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017683

A. Trujillo, Juan Igua, Kamilo Melo

引用次数: 0

An interactive visualization system for urban search & rescue mission planning 城市搜救任务规划交互式可视化系统

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017652

A. Bock, A. Kleiner, Jonas Lundberg, T. Ropinski

引用次数: 3

Rendezvous through obstacles in multi-agent exploration 在多智能体探索中通过障碍物会合

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017656

V. Spirin, S. Cameron

引用次数: 10

Experimental determination of control parameter intervals for repeatable gaits in modular snake robots 模块化蛇形机器人可重复步态控制参数区间的实验确定

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017664

Kamilo Melo, L. Paez

{"title":"Experimental determination of control parameter intervals for repeatable gaits in modular snake robots","authors":"Kamilo Melo, L. Paez","doi":"10.1109/SSRR.2014.7017664","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017664","url":null,"abstract":"Controlling motion in a Modular Snake Robot can be achieved by reducing the high dimensionality of the robot's configuration space Q. This can be done by using cyclic motions programed by functions whose parameters conform to a parameterized space P. In the scope of this research P = ℝ9, wich leads to an infinite set of possible gaits. However, not every combination of parameters leads to feasible and effective gaits. The paper outlines practical limitations of P related to mechanical constraints and theoretical rules that analyze the behavior of the parameterized functions that control the robot's motion. Once these limits were imposed on the parameterized space, an experimental sweep along the feasible parameter intervals was carried out. The aim of this sweep was to verify and analyze the type of locomotion output produced, in order to select a set of gaits according to a criteria that measures their repeatability. The value of select repeatable gaits based on the control parameters relies on the possibility of using them as a basis for determining general locomotion models that are scalable to different numbers of DoF.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128935902","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 21

Observation and measurement in disaster areas using industrial use unmanned helicopters 利用工业用无人直升机在灾区进行观测和测量

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017671

A. Sato, H. Nakanishi

引用次数: 7

R3: Request a rescue robot 请求救援机器人

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017682

Gerald Steinbauer, Johannes Maurer, Heimo Krajnz

引用次数: 4

Real-time point-cloud data transmission for teleoperation using H.264/AVC 基于H.264/AVC的远程操作实时点云数据传输

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017673

Ga-Ram Jang, Yong-Deuk Shin, Jae-Han Park, M. Baeg

引用次数: 5

Improvement of slope traversability for a multi-DOF tracked vehicle with active reconfiguration of its joint forms 主动重构多自由度履带车辆坡面可通过性的研究

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017678

Genki Yamauchi, Takahiro Noyori, K. Nagatani, Kazuya Yoshida

{"title":"Improvement of slope traversability for a multi-DOF tracked vehicle with active reconfiguration of its joint forms","authors":"Genki Yamauchi, Takahiro Noyori, K. Nagatani, Kazuya Yoshida","doi":"10.1109/SSRR.2014.7017678","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017678","url":null,"abstract":"During volcanic activity, people are restricted from coming within a certain distance to the volcano crater because of the danger posed. However, observing the restricted area is very important to reduce the risk to residents from eruptions such as pyroclastic and debris flows. Therefore, teleoperated mobile robots are being developed to observe conditions in such restricted areas, remotely. However, such volcanic environments include loose soil slopes of volcanic ash and lapillus, which may be impossible to traverse using current mobile robotics technology. Thus, we propose a contact angle control method for a multi-degrees of freedom (DOF) tracked vehicle. This controls the contact angle of the tracks and decreases the potential for the robot to sideslip on loose ground. To evaluate this method, we installed a contact load sensing system in each tracks. The effectiveness of the method was verified on an indoor simulated volcanic field and an outdoor field. In this paper, we explain the proposed method, introduce our developed robot and sensing system, and report the results of our evaluation experiments.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134234577","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 5