2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)最新文献_第4页

Interacting with a virtual Destroyed Environment constructed from real disaster data 与基于真实灾难数据构建的虚拟破坏环境进行交互

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017654

A. Ferworn, Scott Herman, Christopher Kong, Alex Ufkes, Jimmy Tran

引用次数: 5

Fast and viewpoint robust human detection for SAR operations 快速、视点鲁棒的SAR人体检测

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017675

Paul Blondel, A. Potelle, C. Pégard, Rogelio Lozano

引用次数: 17

Simulated environment for wirelessly controlled robots using the natural behavior of radio waves 利用无线电波的自然行为模拟无线控制机器人的环境

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017651

M. Shimizu, Tomoichi Takahashi

{"title":"Simulated environment for wirelessly controlled robots using the natural behavior of radio waves","authors":"M. Shimizu, Tomoichi Takahashi","doi":"10.1109/SSRR.2014.7017651","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017651","url":null,"abstract":"We propose a method for estimating connectable Wi-Fi areas in order to use response robots in stable disaster areas. Robots were used at the site of the World Trade Center (WTC) disaster, and they are also being used to explore the interior of the Fukushima Daiichi Nuclear Plant (FDNP), which was severely damaged by a tsunami on March 11, 2011. To provide healthy working conditions at the FDNP, Wi-Fi technology is used to control the response robots remotely while the operators remain at a safe location. Robots will continue to be used for several decades at the FDNP as part of the work to decommission the nuclear reactor. Wi-Fi technology is important for the use of robots for a variety of tasks. The next generation of response robots should be designed and evaluated with regard to their Wi-Fi connectivity. Thus, a simulator offers a means of verifying the operation of a response robot when the Wi-Fi connectivity is unstable, which is preferable to performing checks in the field. In this paper, we propose a simple simulation method for checking the Wi-Fi connectivity and creating a map of connectable Wi-Fi areas. We report several measurements of the real Wi-Fi radio-wave power indoors and outdoors to correct our method' s parameters.","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":"114440746","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

A hybrid lossless and lossy compression scheme for streaming RGB-D data in real time 一种用于实时流RGB-D数据的无损和有损混合压缩方案

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017650

Mark Coatsworth, Jimmy Tran, A. Ferworn

{"title":"A hybrid lossless and lossy compression scheme for streaming RGB-D data in real time","authors":"Mark Coatsworth, Jimmy Tran, A. Ferworn","doi":"10.1109/SSRR.2014.7017650","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017650","url":null,"abstract":"Mobile and aerial robots used in urban search and rescue (USAR) operations have shown the potential for allowing us to explore, survey and assess collapsed structures effectively at a safe distance. RGB-D cameras, such as the Microsoft Kinect, allow us to capture 3D depth data in addition to RGB images, providing a significantly richer user experience than flat video, which may provide improved situational awareness for first responders. However, the richer data comes at a higher cost in terms of data throughput and computing power requirements. In this paper we consider the problem of live streaming RGB-D data over wired and wireless communication channels, using low-power, embedded computing equipment. When assessing a disaster environment, a range camera is typically mounted on a ground or aerial robot along with the onboard computer system. Ground robots can use both wireless radio and tethers for communications, whereas aerial robots can only use wireless communication. We propose a hybrid lossless and lossy streaming compression format designed specifically for RGB-D data and investigate the feasibility and usefulness of live-streaming this data in disaster situations.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"11 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":"124928792","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: 12

Development of robotic spreader for earthquake rescue 地震救援机器人吊具的研制

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017679

Zhang Guowei, Liao Bin, L. Zhiqiang, Wang Cong, Zhang Handuo, Shengxin Hong, Huang Weijian, Zhang Tao

引用次数: 7

Characteristics of indoor disaster environments for small UASs 小型无人机室内灾害环境特点

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017661

Siddharth Agarwal, R. Murphy, J. Adams

{"title":"Characteristics of indoor disaster environments for small UASs","authors":"Siddharth Agarwal, R. Murphy, J. Adams","doi":"10.1109/SSRR.2014.7017661","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017661","url":null,"abstract":"This paper provides a formal analysis of indoor disaster environments that impact the design of small unmanned aerial systems (SUASs), their navigational algorithms, and their sensors. Four characteristics of a region of space: scale, degree of deconstruction, location of obstacles, and tortuosity are described. The analysis compares the value of these characteristics for Prop 133 at Disaster City® with twelve SUASs that have flown inside a disaster damaged building or other physical or computer simulated indoor space; the analysis normalizes the platform size. Eleven of the twelve systems were tested in more spacious regions (habitable) than the regions typified by Prop 133 (restricted maneuverability). Only one of the twelve systems was tested in a deconstructed environment; likewise only one testbed placed obstacles in equivalent configurations to those in Prop 133. The tortuosity of the testbeds was at best half of the tortuosity of Prop 133. The paper concludes that current obstacle avoidance and simultaneous localization and mapping algorithms vetted with those testbeds may not perform well in actual disaster environments.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"1279 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":"132549855","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: 6

Time-variant chemical plume tracing inspired by the silk moth 受蚕蛾启发的时变化学羽流追踪

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-10-01 DOI: 10.1109/SSRR.2014.7017684

Jouh Yeong Chew, Shigaki Shunsuke, D. Kurabayashi

引用次数: 0

A sound-based online method for estimating the time-varying posture of a hose-shaped robot 基于声音的软管型机器人时变姿态在线估计方法

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-01-21 DOI: 10.1109/SSRR.2014.7017665

Yoshiaki Bando, Katsutoshi Itoyama, M. Konyo, S. Tadokoro, K. Nakadai, Kazuyoshi Yoshii, HIroshi G. Okuno

{"title":"A sound-based online method for estimating the time-varying posture of a hose-shaped robot","authors":"Yoshiaki Bando, Katsutoshi Itoyama, M. Konyo, S. Tadokoro, K. Nakadai, Kazuyoshi Yoshii, HIroshi G. Okuno","doi":"10.1109/SSRR.2014.7017665","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017665","url":null,"abstract":"This paper presents an online method that can accurately estimate the time-varying posture of a moving hose-shaped robot having multiple microphones and loudspeakers. Sound-based posture estimation has been considered to be promising for circumventing the cumulative error problem of conventional integral-type methods using differential information obtained by inertial sensors. Our robot emits a reference signal from a loud-speaker one by one and estimates its posture by measuring the time differences of arrival (TDOAs) at the microphones. To accurately estimate the posture of the robot (the relative positions of the microphones and loudspeakers) even when the robot moves, we propose a novel state-space model that represents the dynamics of not only the posture itself but also its change rate in the state space. This model is used for predicting the current posture by using an unscented Kalman filter. The experiments using a 3m moving hose-shaped robot with eight microphones and seven loudspeakers showed that our method achieved less than 20 cm error at the tip position even after the robot moved over a long time, whereas the estimation error obtained by a conventional integral-type method increased monotonically over time.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-01-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124159437","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: 3

On-line optimization of flexibility and low energy for redundant manipulator 冗余度机械臂柔性和低能量在线优化

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-01-21 DOI: 10.1109/SSRR.2014.7017645

Long Wu, Wei Song, Linyong Shen, Yanan Zhang, M. Minami

引用次数: 0

Evaluation of snake robot's behavior using randomized EARLI in crowded obstacles 基于随机EARLI的蛇形机器人在拥挤障碍物中的行为评价

2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014) Pub Date : 2014-01-21 DOI: 10.1109/SSRR.2014.7017666

T. Kamegawa, Ryoma Kuroki, A. Gofuku

引用次数: 10