2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)最新文献_第2页

Control modes validation for generalized point to point task executions application: Robuter/UML mobile manipulator 广义点到点任务执行应用程序的控制模式验证:罗布特/UML移动操纵器

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523882

A. Isma, H. Abdelfetah, B. Brahim

引用次数: 2

Trust in emergency evacuation robots 信任紧急疏散机器人

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523903

P. Robinette, A. Howard

引用次数: 15

Development of autonomous snake-like robot for use in rubble 用于碎石的自主蛇形机器人的研制

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523888

Motoki Mizutani, Haruo Maruyama, Kazuyuki Ito

引用次数: 10

Decision methods for distributed multi-robot patrol 分布式多机器人巡逻决策方法

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523869

David Portugal, R. Rocha

引用次数: 16

The 2012 Safety, Security, and Rescue Robotics Summer School 2012年安全、安保和救援机器人暑期学校

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523915

R. Sheh, H. Komsuoglu, A. Jacoff, Tetsuya Kimura, D. Nardi, J. Pellenz, Gerald Steinbauer

引用次数: 8

Drilling environment for robot operations and discussions on its usages 机器人作业的钻井环境及其用途探讨

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523867

M. Shimizu, Tomoichi Takahashi

引用次数: 2

Projected needs for robot-assisted chemical, biological, radiological, or nuclear (CBRN) incidents 机器人辅助化学、生物、放射或核(CBRN)事件的预测需求

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523881

R. Murphy, J. Peschel, Clint Arnett, David Martin

{"title":"Projected needs for robot-assisted chemical, biological, radiological, or nuclear (CBRN) incidents","authors":"R. Murphy, J. Peschel, Clint Arnett, David Martin","doi":"10.1109/SSRR.2012.6523881","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523881","url":null,"abstract":"This report projects the need for unmanned aerial and ground vehicles to assist with a response to a hazardous material incident, also called chemical biological radiological or nuclear (CBRN) events. The projected needs for the identification and containment phases were determined by a preliminary cognitive work analysis of CBRN response based on concept experimentation with 20 domain experts using a small unmanned aerial vehicle (UAV) to investigate a simulated chemical train derailment, lessons learned from the Fukushima Daiichi nuclear emergency, and an examination of the hazardous material response literature. The analysis answers “who?,” “what?,” “when?,” “where?” and “how?” robots can assist with CBRN. The analysis and experience leads to a set of “desirements,” that is idealized capabilities that responders expressed interest in or address known shortcomings, and concerns or comments about existing unmanned aerial and ground systems. The report is expected to be of use for developers in tailoring systems for the anticipated needs and adoption pattern of responders.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126799793","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: 34

3D change detection using low cost aerial imagery 使用低成本航空图像的3D变化检测

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523892

Aravindhan K. Krishnan, S. Saripalli, E. Nissen, R. Arrowsmith

{"title":"3D change detection using low cost aerial imagery","authors":"Aravindhan K. Krishnan, S. Saripalli, E. Nissen, R. Arrowsmith","doi":"10.1109/SSRR.2012.6523892","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523892","url":null,"abstract":"We present a method to register point clouds obtained from aerial images through Structure from motion (SFM) techniques with data from airborne LiDAR systems. The data was obtained by the United States Geological Survey (USGS) over a 800 sq km stretch in California using airborne LiDAR. The images were obtained by a downward looking camera on an autonomous helicopter along the San Andreas fault [9]. A 3D point cloud is built by fusing GPS information with the aerial images. Our approach to detect changes is to compare the LiDAR data with 3D point cloud derived from aerial images. This comparison necessitates the two point clouds to be in the same co-ordinate frame. We adopt a registration approach to bring the point clouds to the same co-ordinate frame. We highlight the challenges involved in registering aerial point clouds and propose a semi automated way for registration. We also present a simulation of a change detection scenario by introducing displacement fields in the source point cloud and obtaining a target point cloud by additionally simulating the GPS offsets. We recover the displacement vectors in two steps (1) globally registering the source and target point clouds using the method described in this paper (2) using our change detection module [5] for computing the displacement fields. We present results for global registration and change detection.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"279 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124483112","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

Community-driven development of standard software modules for search and rescue robots 社区驱动的搜索和救援机器人标准软件模块开发

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523917

S. Kohlbrecher, K. Petersen, Gerald Steinbauer, Johannes Maurer, P. Lepej, S. Uran, R. Ventura, C. Dornhege, Andreas Hertle, R. Sheh, J. Pellenz

引用次数: 11

Hexrotor UAV platform enabling dextrous interaction with structures — Preliminary work 六旋翼无人机平台实现与结构的灵巧交互-初步工作

2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) Pub Date : 2012-11-01 DOI: 10.1109/SSRR.2012.6523891

R. Voyles, Guangying Jiang

{"title":"Hexrotor UAV platform enabling dextrous interaction with structures — Preliminary work","authors":"R. Voyles, Guangying Jiang","doi":"10.1109/SSRR.2012.6523891","DOIUrl":"https://doi.org/10.1109/SSRR.2012.6523891","url":null,"abstract":"A force closure grasp is a term from dexterous manipulation that indicates a grasp that can resist any applied wrench, or force-torque. Force closure grasps are desirable because they can completely immobilize an object or impart an arbitrary wrench to an object. With fixed-base manipulators, determining the degree of force closure of a manipulation system is simplified to determining the degree of force closure of the gripper or end effector. In mobile manipulation, the manipulator base is not fixed to the ground so determining the set of wrenches that can be resisted is not strictly limited to the capabilities of the end effector. But due to the large differences in mass of the mobile base and end effector, it is generally safe to assume the degree of force closure is limited by the end effector and not by the ability of the mobile base to remain motionless. As aerial mobile manipulation has started to become an active area of research, the concept of force closure of the entire manipulation system needs to be considered. Conventional aerial platforms are not able to resist an arbitrary wrench so an end effector carried by such a vehicle will not be able to exhibit force closure. This is true because even current quad rotors lack both the number of degrees of freedom but also independence of the degrees of freedom due to the fact that the force vectors are all parallel. We have developed a hex-rotor system with six independent degrees of freedom providing force closure for a dexterous aerial vehicle for mobile manipulation tasks. The ability of the aerial mobile base to exert an arbitrary wrench coupled with a low degree of freedom manipulator will allow for an agile aerial mobile manipulator with true force closure.","PeriodicalId":408300,"journal":{"name":"2012 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)","volume":"35 19","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2012-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132836121","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: 44