{"title":"A microphone array configuration for an auditory quadrotor helicopter system","authors":"Takahiro Ishiki, M. Kumon","doi":"10.1109/SSRR.2014.7017653","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017653","url":null,"abstract":"In order to achieve acoustic surveillance by using a multirotor helicopter, a microphone array specially tailored for the helicopter is considered in this paper. Several preliminary experiments were conducted to evaluate how the noise generated by rotors distorted the target sound signal from the view point of sound source localization, and the microphone array was developed based on results of the experiments. The microphone array was also installed on the helicopter, and it was tested to record the human voice during an autonomous waypoint flight in an outdoor environment. Investigating the measured auditory signal, it was shown that the proposed mechanism was capable to be utilized for the acoustic search in the outdoor environment.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"58 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":"131049956","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}
{"title":"Safety considerations for small Unmanned Aerial Systems with distributed users","authors":"Brittany A. Duncan, R. Murphy","doi":"10.1109/SSRR.2014.7017648","DOIUrl":"https://doi.org/10.1109/SSRR.2014.7017648","url":null,"abstract":"This paper identifies three categories of safety risks posed by allowing multiple users to engage with small Unmanned Aerial Systems (sUAS) and offers five recommendations on how to reduce or mitigate these vulnerabilities. Data from sUAS can benefit multiple experts at a disaster who may not be familiar with robots or colocated with the pilot. Two different styles of interfaces have been developed and tested with responders conducting exercises to facilitate team coordination with a quadrotor at Texas A&M Engineering Extension Service's Disaster City® over a four year period. The two interfaces illustrate three distinct categories of safety concerns: unsafe control regimes, loss of situation awareness, and increased stress. Five recommendations are proposed to mitigate or eliminate the safety concerns: separate the payload camera from the platform, giving the pilot a dedicated “pilot-cam” and the experts a fully gimbaled payload; use artificial intelligence to resolve conflicts between competing directives from multiple experts; allow the pilot, or a software agent, to turn off the expert's ability to control or communication; use multi-modal warnings rather than rely on visual cues; and add guarded motion to prevent collisions.","PeriodicalId":267630,"journal":{"name":"2014 IEEE International Symposium on Safety, Security, and Rescue Robotics (2014)","volume":"2 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":"127940515","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}