use of robots in rescue operations - ecology labfaculty.cs.tamu.edu/murphy/tcip 2008.pdf · use of...
TRANSCRIPT
10/31/08 2008 TCIP ([email protected])
Use of Robots in Rescue
Operations
Dr. Robin Murphy Raytheon Professor of Computer Science
Director, Center for Robot-Assisted Search and Rescue
Texas A&M University
With special thanks to Dr. Jeffery Kravitz & Rod Gust (MSHA), Sam
Stover, Dr. Satoshi Tadokoro, Jacksonville Fire Rescue, Bracken
Engineering, Newmont Mining
1
CRASAR Responses
•! World Trade Center (01),
Jacksonville Collapse (07)
•! Hurricanes Charley (04), Dennis
(05), Katrina (05), Wilma (05)
•! La Conchita Mudslides (05)
•! Midas Nevada Gold Mine (07),
Crandall Canyon Coal Mine (07)
Midas Gold Mine (NV) Incident
Crandall Canyon Mine (UT) Incident
Jacksonville (FL) Collapse Plus ~20 exercises
10/31/08 2008 TCIP ([email protected]) 2
Use of Rescue Robots in US
10/31/08 2008 TCIP ([email protected])
Disaster Deployment UAV UGV USV 2001 World Trade Center, New
York, USF Man-packable
man-portable
2005 La Conchita, California
mudslides, USF man-packable
2005 Hurricane Katrina, USA Man-packable
fixed-wing Man-packable
Man-packable
rotary-wing
2005 Hurricane Rita, USA Maxi fixed-
wing
2005 Hurricane Wilma, USA Maxi fixed-
wing
2006 Sago Mine, West Virginia,
USA Maxi
2007 Midas Nevada Gold Mine,
USA
man-packable
man-portable 2007 Crandall Canyon Mine,
Utah, USA man-packable
2007 Berkman Plaza II Collapse,
Jacksonville FL, USA
tethered
rotary-wing man-packable
3
Use of Rescue Robots in US
10/31/08 2008 TCIP ([email protected])
Disaster Deployment UAV UGV USV 2001 World Trade Center, New
York, USF Man-packable
man-portable
2005 La Conchita, California
mudslides, USF man-packable
2005 Hurricane Katrina, USA Man-packable
fixed-wing Man-packable
Man-packable
rotary-wing
2005 Hurricane Rita, USA Maxi fixed-
wing
2005 Hurricane Wilma, USA Maxi fixed-
wing
2006 Sago Mine, West Virginia,
USA Maxi
2007 Midas Nevada Gold Mine,
USA
man-packable
man-portable 2007 Crandall Canyon Mine,
Utah, USA man-packable
2007 Berkman Plaza II Collapse,
Jacksonville FL, USA
tethered
rotary-wing man-packable
4
Use of Rescue Robots in US
10/31/08 2008 TCIP ([email protected])
Disaster Deployment UAV UGV USV 2001 World Trade Center, New
York, USF Man-packable
man-portable
2005 La Conchita, California
mudslides, USF man-packable
2005 Hurricane Katrina, USA Man-packable
fixed-wing Man-packable
Man-packable
rotary-wing
2005 Hurricane Rita, USA Maxi fixed-
wing
2005 Hurricane Wilma, USA Maxi fixed-
wing
2006 Sago Mine, West Virginia,
USA Maxi
2007 Midas Nevada Gold Mine,
USA
man-packable
man-portable 2007 Crandall Canyon Mine,
Utah, USA man-packable
2007 Berkman Plaza II Collapse,
Jacksonville FL, USA
tethered
rotary-wing man-packable
5
Midas Gold Mine Floor Cave In
10/31/08 2008 TCIP ([email protected]) 6
Use of Rescue Robots in US
10/31/08 2008 TCIP ([email protected])
Disaster Deployment UAV UGV USV 2001 World Trade Center, New
York, USF Man-packable
man-portable
2005 La Conchita, California
mudslides, USF man-packable
2005 Hurricane Katrina, USA Man-packable
fixed-wing Man-packable
Man-packable
rotary-wing
2005 Hurricane Rita, USA Maxi fixed-
wing
2005 Hurricane Wilma, USA Maxi fixed-
wing
2006 Sago Mine, West Virginia,
USA Maxi
2007 Midas Nevada Gold Mine,
USA
man-packable
man-portable 2007 Crandall Canyon Mine,
Utah, USA man-packable
2007 Berkman Plaza II Collapse,
Jacksonville FL, USA
tethered
rotary-wing man-packable
11
Use of Rescue Robots in US
10/31/08 2008 TCIP ([email protected])
Disaster Deployment UAV UGV USV 2001 World Trade Center, New
York, USF Man-packable
man-portable
2005 La Conchita, California
mudslides, USF man-packable
2005 Hurricane Katrina, USA Man-packable
fixed-wing Man-packable
Man-packable
rotary-wing
2005 Hurricane Rita, USA Maxi fixed-
wing
2005 Hurricane Wilma, USA Maxi fixed-
wing
2006 Sago Mine, West Virginia,
USA Maxi
2007 Midas Nevada Gold Mine,
USA
man-packable
man-portable 2007 Crandall Canyon Mine,
Utah, USA man-packable
2007 Berkman Plaza II Collapse,
Jacksonville FL, USA
tethered
rotary-wing man-packable
15
Berkman Plaza II Collapse
10/31/08 2008 TCIP ([email protected]) 16
Active Scope Camera
10/31/08 2008 TCIP ([email protected]) 17
Useful for
•! Search and rescue
•! Determining aggregate
types
•! Presence of shoring
structures
•! Density of structural elements
10/31/08 2008 TCIP ([email protected]) 18
Take Home Lessons
•! Bomb squad and rescue robots may not be
interchangeable
•! Sensors will always get muddy, there won’t be
enough light, or there will be dust and smoke
•! Size matters- smaller is better
•! Good interfaces are a must
10/31/08 2008 TCIP ([email protected]) 19
Growing Research Community
10/31/08 2008 TCIP ([email protected]) 20
Application Area
Urban Wilderness Underground
Mine Forest Fire CBRNE
Task
Search Mapping Rubble
removal
Structural
inspection
Medical
assessment
Victim
extraction Repeater Surrogate Shoring Logistics
support
Robot Subsystem
Mobility Sensors Comms Control Power
Systems
Human-Robot
Interaction Teams Efficiency Reliabililty
We’ve Been Trying to Reuse Robots
Really Designed for Other Apps
10/31/08 2008 TCIP ([email protected])
GOVT
AGENCY
One Size
Fits All
21
Come Join Us!
•! Disaster City
•! Full Emergency Operations Center
•! Train 81,000 fire rescue, law
enforcement, secret service per year
•! 35 Faculty active in emergency
response technologies and policy 10/31/08 2008 TCIP ([email protected]) 22