Abstract-We propose a rescue robot sensor network system in which a teleoperated rescue robot sets up a wireless sensor network (WSN) to gather disaster information in post-disaster underground spaces. In this system, the rescue robot carries wireless sensor nodes (SNs) and deploys them between gateways in an underground space on demand by the operator's command to establish a safe approach path before rescue workers enter. However, a single communication path only is setup, because the rescue robot linearly deploys SNs between gateways. Hence, the rescue robot cannot be operated remotely if the communication path is disconnected by, for example, SN failure or changes in the environmental conditions. Therefore, SNs must be adaptively deployed so as to maintain WSN communication connectivity and negate such situations. This paper describes an SN deployment strategy for construction of a WSN robust to communication disconnection, caused by SN failure or deterioration of communications quality, in order to maintain communication connectivity between SNs. We thus propose an SN deployment strategy that uses redundant communication connection and ensures communication conditions between end-to-end communications of the WSN. The proposed strategy maintained communication conditions such that throughput between end-toend communications in the WSN. Experimental results verifying the efficacy of the proposed method are also described.

Purpose -The purpose of this paper is to propose a novel wireless sensor node (SN), with impact resistant capability, for launch deployment into closed areas. In disaster areas, gathering disaster area information is crucially important to prevent secondary disasters. However, gathering information is usually associated with the risk of death and/or accident for rescue workers in closed areas. The authors propose the SN for gathering information in dangerous places, inaccessible to rescue workers and robots, by utilizing launch deployment. Design/methodology/approach -Buffer material is essential when designing an impact-resistant structure. The authors adopted the air cushion as general buffer material when considering the directional characteristics of sensor mounting and wireless communication quality and developed the expression for determining the thickness of the air cushion using the parameters of SN size, mass, air pressure and acceleration. The authors developed a sensor node with impact resistant structure by utilizing the proposed determination method of air cushion thickness. Findings -In the evaluation of impact resistant structure in free fall, launch deployment, the authors verified that the impact resistant structure protected the SN, and the performance of configured devices on the SN. Then, the authors examined the effect of the impact-resistant structure on wireless communication between SNs. The structure had no effect on electric field intensity, throughput, or packet jitter, which confirmed that the wireless communication capacity was unaffected by the structure. Originality/value -In this paper, a new design method is stated for a sensor node with an impact-resistant structure by utilizing an air cushion as a general buffer material.

Abstract-We propose a wireless sensor networks deployment strategy for constructing wireless communication infrastructures for a rescue robot with considering a throughput between sensor nodes (SNs). Recent studies for reducing disaster damage focus on a disaster area information gathering in underground spaces. Since information gathering activities in such post disaster underground spaces present a high risk of personal injury by secondary disasters, a lot of rescue workers were injured or killed in the past. Because of this background, gathering information by utilizing the rescue robot is discussed in wide area. However, there are no wireless communication infrastructures for teleoperation of rescue robot in the post-disaster environment such as the underground space. Therefore, we have been discussing the construction method of wireless communication infrastructures for remotely operated the rescue robot by utilizing the rescue robot. In this paper, we evaluated the proposed method in field operation test, and then it is confirmed that maintaining communication connectivity and throughputs between End to End of constructed networks.

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