A safer way to search disaster sites

Weston, James

doi:10.1109/100.876911

Cited by 7 publications

(5 citation statements)

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“…When rescue robots are categorized, the locomotion of the robots is mostly either as tracked vehicles 12,13 or snaketype robots. 14,15 It is also suggested that if they can change their shapes, this will assist them to climb and maneuver in confined spaces. 16 The reason a wheeled robot cannot be used easily in rescue operations is that, the robot will have less ability to overcome the obstacles because of the fact that a wheel cannot go over an obstacle bigger than its radius.…”

Section: Introductionmentioning

confidence: 99%

“…The mechanical design advantage of a snake-type robot is that it can be small in cross section, which enables the robot to penetrate into the rubble easily compared to a tracked vehicle. 14,15,19 However, the snake-type robots are more difficult to control and their load to body weight ratio is smaller than a tracked-type robot. Most of the time, this type of a robot is used for observation.…”

Section: Introductionmentioning

confidence: 99%

“…14,15,19 However, the snake-type robots are more difficult to control and their load to body weight ratio is smaller than a tracked-type robot. Most of the time, this type of a robot is used for observation.…”

Section: Introductionmentioning

confidence: 99%

“…14,15 It is also suggested that if they can change their shapes, this will assist them to climb and maneuver in confined spaces. 16 The reason a wheeled robot cannot be * Corresponding author.…”

Section: Introductionmentioning

confidence: 99%

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Design and prototype of mobile robots for rescue operations

Keçeci

2008

Robotica

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SUMMARYThis study concerns the design and prototype of four different mobile robot platforms for rescue robot operations after an earthquake. At first, a test field is constructed to represent a mildly damaged earthquake zone. The test field consists of eight different sections: sand, gravel, ditch, water, bridge, incline, decline, and turn. The mechanical structure, electronics, software, communication, and possible sensory systems are explained. After the robots are manufactured, they are physically tested for their performance in the test field for 18 different parameters. The test results show the effective body structure. Challenges of the rescue robot design are explained and future expectations are given.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Design and prototype of mobile robots for rescue operations

Keçeci

2008

Robotica

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“…Pipe crawling inspection robots are commonly used for leakage inspection of oil and gas pipes [10][11][12]. Pipe crawler applications also include rescue and explosive detection [13]. None of the previous projects address underground power cables.…”

Section: Introductionmentioning

confidence: 99%

Autonomous robotic monitoring of underground cable systems

Jiang

Sample

Wistort

et al.

ICAR '05. Proceedings., 12th International Conference on Advanced Robotics, 2005.

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Abstract-Maintenance of distributed infrastructures requires periodic measurement of many physical variables at numerous locations. This task can potentially be accomplished with autonomous robotic mobile platforms. The challenges in realizing this vision include electromechanical design of the robot itself, integration of sensors able to estimate the physical properties of the infrastructure, and autonomous operation. This paper describes the electromechanical and sensing system design of the autonomous robot for the inspection of electric power cables. The multi-processor distributed control architecture developed in this project allows real-time operation of multiple sensors and a possibility to switch between an autonomous mode of operation and a remote-controlled one. The diagnostic sensor array includes thermal, visual, dielectric, and acoustic sensors for the measurement of cable status. Laboratory tests demonstrate the ability of integrated sensors to measure parameters of interest with the resolution required by the application. Field tests in the underground cable system demonstrate the ability of the designed platform to travel along the cable, navigate typical obstacles, and communicate with the host computer.

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The OmniTread OT‐4 serpentine robot—design and performance

Borenstein

Hansen

Borrell

2007

Journal of Field Robotics

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Serpentine robots are slender, multi-segmented vehicles designed to provide greater mobility than conventional mobile robots. Serpentine robots are ideally suited for urban search and rescue, military intelligence gathering, and for inspection tasks in hazardous or inaccessible environments. One such serpentine robot, developed at the University of Michigan, is the "OmniTread OT-4." The OT-4 comprises seven segments, which are linked to each other by six joints. The OT-4 can climb over obstacles that are much higher than the robot itself, propel itself inside pipes of different diameters, and traverse difficult terrain, such as rocks or the rubble of a collapsed structure.The foremost and unique design characteristic of the OT-4 is the use of pneumatic bellows to actuate the joints. The pneumatic bellows allow the simultaneous control of position and stiffness for each joint is important in serpentine robots, which require stiff joints to cross gaps and compliant joints to conform to rough terrain for effective propulsion.Another unique feature of the OmniTread design is the coverage of all four sides of each segment with driven tracks. This design makes the robot indifferent to roll-overs, which are bound to happen when the slender bodies of serpentine robots travel over rugged terrain.

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A safer way to search disaster sites

Cited by 7 publications

References 0 publications

Design and prototype of mobile robots for rescue operations

Design and prototype of mobile robots for rescue operations

Autonomous robotic monitoring of underground cable systems

The OmniTread OT‐4 serpentine robot—design and performance

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