PRE2023 3 Group11

Storm Wilms - 1839993

Tessa Groeneveld - 1738941

Abel Galambos - 1846647

Elektra Katsikis - 1826654

Romans Sinickis - 1748939

Tessa Cuijpers - 1836927

Problem Statement

A fire in a residential building is a common and critical emergency in any big urban area.  Apart from the damage it does to the building, there are often people stuck inside whose lives depend on how quickly they are found and rescued by the firefighters. Sometimes, when the emergency services arrive at the scene, the entry to the building is already blocked by fire. The first question that a firefighting crew has, is how many people are inside and where they are. If the entry is blocked, or there are other complications, the search and rescue procedures can only be started after it is safe to enter the building. This delays the rescue and decreases the chances of people trapped inside surviving with every second. Often this leads to either firefighters entering the house even when it is still dangerous, or people not getting rescued in time.

Our solution is to come up with a robot (or another suitable system) that helps to locate survivors/people inside a building on fire.  This would be a tool used by firefighting crews, that would decrease the total time it takes to rescue a person and decrease the risks for firefighters themselves. Therefore, the robot must be heat and fire resistant to be deployed as soon as emergency services are on the scene, without spending time on decreasing the severity of fire, before beginning the search and rescue operation.

Objectives

This project will focus on designing a robot that can be used in a fire to find and help rescue people. At the end, the robot should have the following design features:

• The robot must be sturdy and fire resistant to endure the harsh environment during its operation.
• The robot needs a navigation system to find a way through the desired area.
• The robot needs multiple sensors that give intel about the environment in order to find trapped people inside.
• The robot must use a way of transportation that is suited for fires. It should be able to step over or avoid fallen debris that is produced by the fire.
• The robot must be easy for firefighters to use.
• The robot should be as small as possible for it to travel through all locations in a fire.

Given the purpose of the robot as well as its objectives, this project will focus on the design. Additional prototypes could be developed but is not the focus for now.

Users

The users are mostly the firefighters using the robots to locate people in a burning building. They need to be able to quickly and easily understand where the robot has found people. The stakes will be high and time is very much of the essence. Another user group is the people who are in need of saving. If they are still conscious, they need to understand the robot is trying to help them, they should remain in the place where the robot found them as long as possible for the firefighter to easily find them. Other helpful tips like stay low to the ground to avoid breathing in smoke can be given to the people in need.

What do the users require

The firefighters require, as mentioned, an easy to understand system. They cannot waste precious time on trying to figure out the cues the robot is giving because this will only interfere with the saving process instead of expedite it. They also need a product that is robust and will not break down in time of crisis, because that would again be wasting time. Another important factor is of course that the robot should not overlook people that can still be saved and should make clear that the firefighters should still keep their eyes peeled for potential victims it might have missed to avoid a mistake that would cost a life.

Furthermore the professionals need to be properly trained in the use of any given robot, but also in the use of robots in general. An idea proposed in the (now quite old) [After Action Report to the Joint Program Office: Center for the Robotic Assisted Search and Rescue (CRASAR) Related Efforts at the World Trade Center, section 4.3] is to provide a prototype that the personnel can train with, thus both giving them a head start in training and granting valuable feedback to the designers of the robot.

According to [Frauke Driewer et al, 2005 TODO] some of the most important jobs of a robot for firefighters are:

·        Exploring and going into dangerous places

·        Detecting the location of people

·        Detecting dangerous areas and hazardous materials

·        Sending information from the scene

And the most desired features to be included were

·        Data transfer

·        Working efficiently at high temperatures

·        Climbing stairs

But Moving and acting without exact instructions and Interacting with the rescue team on the scene were rated as less important features.

In [Harbers et al, 2017 TODO] we can see some of the most important ethical dilemmas that were derived based on conversations/workshops with professionals (in the field of SAR):

1.    “Should SAR robots be employed when they might help saving lives, but their application might also lead to casualties?

2.    Should one develop SAR technology that is intended for peaceful purposes even when it has clear military potential?

3.    Should one replace infield workers by robots if that leads to suboptimal performance?

4.    To what extent should information collected by robots be processed to make it more digestible, at the risk of losing or misrepresenting information?

5.    Should one deploy robots, knowing that this may raise false expectations and runs the risk of degraded performance?

6.    Should one deploy robots that may yield responsibility assignment problems?”

Thus for a robot to be deployed in a live situation it is almost necessary that the developer resolves these dilemmas, either generally or at least for the special case of the robot. Or else the users (specifically firefighters) might not be able to use the robot in good conscience.

The people in need of saving need a robot that does not scare them. It should be immediately be clear the robot is their friend and if instructions are given to these people it should be very clear for them to understand even if they cannot see or hear which is quite likely in a burning building.

Milestones & Deliverables

Materials & Fire resistance (Responsible: Roman):

Week 2: Look into different materials/ways to make the robot fire-resistant

Deliverables: List of all feasible techniques and materials required

Week 3: Decide which method is most appropriate for our design

Deliverables: One concrete decision with justification

Week 4: Figure out how to implement this and check if it is in agreement with the other design elements

Deliverables: Implementation plan and explanation

Week 5: Potentially check budgeting for the method, testing materials or any other part that is left unfinished

Deliverables: Update budget sheet, produce test report

Week 6: Set up a concrete proposal on the method of creating fire resistance, why this is the preferred method and what steps need to be taken to implement it.

Deliverables: Proposal with justification

Week 7: Finish this subject and finalize the full design with all elements

Deliverables: Final wikipage

Week 8: Finishing touches + prepare for presentation

Deliverables: Final wikipage

Sensors & Image recognition (Responsible: Tessa C.):

Week 2: Look into different sensors for recognizing potential survivors

Deliverables: List of sensors with summaries/ pros and cons

Week 3: Look into image detection for recognizing potential survivors

Deliverables: List of image detection methods and pros and cons

Week 4: Decide which of the two is most appropriate for our design and why

Deliverables: Concrete decision with written justification

Week 5: Check current capabilities of the method and check what could improve

Deliverables: Report on capabilities with reflection

Week 6: Figure out how this needs to be implemented

Deliverables: Report on implementation with methodology

Week 7: Finish this subject and finalize the full design with all elements

Deliverables: Final wikipage

Week 8: Finishing touches + prepare for presentation

Deliverables: Final wikipage

Navigation & Algorithm (Responsible: ):

Week 2&3: Research algorithms and software for navigating through unknown terrains

Deliverables: List of possible algorithms and/or software with summary and pros and cons

Week 4: Decide which method is most appropriate for our design

Deliverables: Concrete decision with justification

Week 5&6: Figure out how this needs to be implemented in the design

Deliverables: Report on implementation with methodology

Week 7: Finish this subject and finalize the full design with all elements

Deliverables: Final wikipage

Week 8: Finishing touches + prepare for presentation

Deliverables: Final wikipage

Transportation (Responsible: Storm):

Week 2: Research transportation methods for the robot

Deliverables: List of transportation methods with summaries/ pros and cons

Week 3: Decide which method is most appropriate for our design

Deliverables: Concrete decision with justification

Week 4: What physical elements are needed for this method

Deliverables: Materials list with explanation

Week 5: What algorithms are needed for this method

Deliverables: Report with explanation and link to algorithm section

Week 6: Figure out how this needs to be implemented in the design

Deliverables: Report on implementation with methodology

Week 7: Finish this subject and finalize the full design with all elements

Deliverables: Final wikipage

Week 8: Finishing touches + prepare for presentation

Deliverables: Final wikipage

Users & Ethical considerations (Responsible: Tessa G.):

Week 2: Further investigate different users and their needs

Deliverables: Report outlining user group & their needs

Week 3: Brainstorm ethical considerations

Deliverables: Report on ethical issues regarding user group and product

Week 4: Set up interviews with potential users (schedule them, make questions and consent forms)

Deliverables: Question sheets & consent forms

Week 5: Hold interviews and work these out in a way the results are clear

Deliverables: Interview transcripts and analysis

Week 6: Figure out how this needs to be implemented in the design

Deliverables: Report on implementation of issue considerations

Week 7: Finish this subject and finalize the full design with all elements

Deliverables: Final wikipage

Week 8: Finishing touches + prepare for presentation

Deliverables: Final wikipage

Communication Method (Responsible: ):

Week 2: Look into different ways of communication with the firefighters

Deliverables: Report on methods, possibly pros/cons

Week 3: Decide which method is most appropriate for our design

Deliverables: Concrete decision with justification

Week 4: What physical elements are needed for this method

Deliverables: Materials list with explanation

Week 5: What algorithms are needed for this method

Deliverables: Decision with justification

Week 6: Figure out how this needs to be implemented in the design

Deliverables: Report on implementation with methodology

Week 7: Finish this subject and finalize the full design with all elements

Deliverables: Final wikipage

Week 8: Finishing touches + prepare for presentation

Deliverables: Final wikipage

Literature review/State of the art:

Novel exterior cover design for radiant heat resistance of firefighting robots in large-scale petrochemical complex fires | ROBOMECH Journal | Full Text (springeropen.com)

Summary/Relevance to topic:

A big issue for firefighting robots is the heat radiated by the fire. There are existing ways for increasing the resistance to heat, used for example with water cannon robots. However, the current method requires a lot of water, increasing the weight of the robot by a lot. This obviously reduces the mobility of the robot a lot. This paper aims to find another way to make these robots heat resistant, using much less water, by implementing an exterior cover. This paper goes into the design specifics of this cover. Even though the aim of our robot is not to assist in the firefighting itself, but rather locating potential survivors, this robot obviously still needs to be heat resistant. Therefore, this design proposal might also be valuable for our robot design.

Robot-aided human evacuation optimal path planning for fire drill in buildings - ScienceDirect

Summary/Relevance to topic:

This paper researches algorithms to assist humans with evacuating, by calculating the fastest routes out. In our robot design, we would like to implement not only the locating of potential survivors, but also a fastest route for the firefighters to reach this person. A similar algorithm as that discussed in the paper can be implemented in our design as well.

Fire Fighter Robot with Deep Learning and Machine Vision by Amit Dhiman, Neel Shah, Pranali Adhikari, Sayli Kumbhar, Inderjit Singh Dhanjal, Ninad Mehendale :: SSRN

Summary/Relevance to topic:

Here, rather than the use of for example heat sensors, AI deep learning and machine vision is used top detect fires. This already works with a very high accuracy. Extending this, the machine vision could potentially also be used to differentiate between fire and potential survivors. This might be more accurate than using merely heat and motion sensors to locate people, thus improving how well our design would work.

A Robot Swarm Assisting a Human Fire-Fighter: Advanced Robotics: Vol 25, No 1-2 (tandfonline.com)

Summary/Relevance to topic:

This paper goes into the GUARDIANS robot swarm, which is designed to assist firefighters in searching big warehouses for survivors to save. This is very similar to what our design aims to do, although we would like to apply this in housefires/other smaller fires as well, not just large warehouses. However. a lot of the technologies discussed in this paper, such as the wireless communication system, are very relevant to our design.

The role of robots in firefighting | Emerald Insight

Summary/Relevance to topic:

This paper goes into the state of the art, as robotics in firefighting is a fairly new technology. So far, the most prevalent technologies include: all-terrain vehicles to assist the actual fire-fighters with getting to and operating at dangerous locations, also giving the firefighters a better overview of the situation by using sensors, and drones that are either equipped with fire extinguishing materials, can hold up a hose (both used for high up buildings), or to again create more awareness of the situation for the firefighters. This state of the art review can help assessing what elements of our design already exist, what needs to be improved, and what is still missing.

Automatic Fire Detection System Using Adaptive Fusion Algorithm for Fire Fighting Robot

Summary/Relevance to topic:

In this paper the authors describe a firefighting robot they have created, listing the materials and systems used to make the robot fire-resistant and robust and to allow it to detect fire and navigate the area. From this paper we can see what worked well to help us decide how to build our robot.

Deep learning assisted portable IR active imaging sensor spots and identifies live humans through fire

Summary/Relevance to topic:

In order to identify humans in a burning building we need software and sensors that can recognize human bodies despite the very hot temperatures that may stop traditional infrared detection from working well. This paper provides an alternative system using deep learning.

Internet of Robotic Things Based Autonomous Fire Fighting Mobile Robot

Summary/Relevance to topic:

Prevention is also important in firefighting; robot assistance can be in place before a fire starts to alert firefighters and monitor the situation allowing for early intervention. This paper outlines such a robot, which provides inspiration if we decide our robot should be more preventative.

Design of a cooling system for an all-terrain electric vehicle for firefighting

Summary/Relevance to topic:

A firefighting robot will contain electronic components in order to control the vehicle, and run navigational and fire detection software. The robot must be able to keep these electronics cool under extremely high temperatures to remain function. This article proposes a cooling system to accomplish this.

Present status and problems of fire fighting robots

Summary/Relevance to topic:

This paper summarizes the current state of firefighting and rescue robots, mentioning variables to consider when designing such a robot such as size and weight, and cost and performance.

Design and Fabrication of an Autonomous Fire Fighting Robot with Multi-sensor Fire Detection Using PID Controller.

Summary/Relevance to topic:

The text highlights the development of fire detection and extinguishing robots, their components, and testing procedures. The focus is on locally available materials and Arduino-based control systems. Sensitivity tests for flame sensors and LM35 (Temperature) sensors are conducted at different times and distances from fire sources. The robot is able to detect and extinguish small fires and shows promising results for the future of firefighting. However, the robot functions better in darker places due to sunlight disrupting the output values.

Portable Fire Evacuation Guide Robot System.

Summary/Relevance:

The text describes the development of a portable fire evacuation guide robot system. This system is designed to gather environmental data and locate people. It features a compact, cylindrical design with various sensors, a camera, and a microphone for communication. The robot is lightweight, remotely controlled and designed to withstand high temperatures and impacts. Firefighters are able to carry and throw this robot in various places to assist them during a fire.

Human–Robot Interaction in Rescue Robotics.

Summary/Relevance:

This paper analyzes human-robot interaction that is involved in rescue robotics. It emphasizes that rescue robots complement, rather than replace human efforts, highlighting the importance of teamwork in rescue operations. The current state involves operations with a 2:1 human to robot ratio. The paper identifies key human-robot interaction research questions and emphasizes the need for human-centered advances to ensure effective rescue operations.

The Application of Multi-agent Robotic Systems for Earthquake Rescue.

Summary/Relevance:

Rescue robots are used in a variety of situations, which include earthquakes. In relation to fire rescue robots, a lot can be learned from earthquakes since the environment is very similar. This paper covers various aspects of a rescue robot, such as the structure of multi-agent control systems, methods for searching victims, path planning and search algorithms. Many of these aspects can come in handy for the future of rescue robotics.

Thermal and structural analyses of firefighting robot.

Summary/Relevance:

A robot that has to endure harsh environments as well as rapid environmental changes requires materials that are well suited for these situations. The paper goes over a structural and thermal analysis that evaluates the performance of a robot that can be used in, for instance, a big house fire. The robot was designed with materials like galvanized steel as the main plate, cubic boron nitride coating for non-flammability and silica aerogel for thermal insulation. Results show that that after 1800 seconds, the inside of the robot only had a temperature change of 2 degrees. It can be concluded that these materials are very well suited for its application and can make sure that all systems on board of the robot can operate under harsh conditions.

Flying dragon robot used to help extinguish fires | frontiers

Summary/Relevance:

This paper delves into research about making a remotely controllabe firefighting robot. The idea is of course that less human fire fighters have to go into the dangerous fire and to instead send robots. How to let the robot move, what the optimal nozzle size is for the best water thrust, new waterproofing techniques, and a larger movable range of the nozzle unit are discussed. These things are relevant to our robot especially if we are able to encoorporate a water tank to help locally extinguish fire around a person, which would of course improve the functionality of the robot.

Ethical concerns about search and rescue (SAR) robots

Summary/Relevance:

This paper considers some ethical concerns surrounding SAR robots. Issues like the level of robot autonomy, laws surrounding robot design and behavior, but issues with the human response to the robots and who is responsible for the actions of the robot.

Improving the SAR robots feedback and interface

Summary/Relevance:

This paper summaries four studies done on what type of feedback and interface a SAR robot should give/have to be the most trusted and best understood. This is very important because having a robot that no one understands or trusts is virtually useless and will only add confusion and fear to an already terrifying situation. The main finding is that multi-sensory interfaces (having e.g., visual, olfactory, and audio feedback) can be very beneficial and have minor effects on the cognitive load. Or in other words you should exploit the redundancy gain.

Robot competition (RoboCup) to locate victims

Summary/Relevance:

This paper shows the results of a robot building competition that had the main goal of building a robot that locates victims and determines their health status. It discusses how the different teams tackled this challenge and the outcomes of their strategies. It gives an overview of a lot of different and unique ways to locate victims in a maze situation (which is similar to corridors in for instance a hospital) and how effective it was. We could use this to help inform and get inspiration about our decisions about building a robot that locates people in a building.

Process of human behavior in fires

Summary/Relevance:

This paper aims to give an overview of the behavior people display during a fire. It does this by breaking the process down into phases and describes what factors are relevant for an individuals response. For our robots design it is important to understand how people respond in a fire to antipate the interaction the human robot interaction.

Human Presence Detection using Ultra Wide Band Signal for Fire Extinguishing Robot | IEEE

Summary/Relevance to topic:

This paper describes a remote controlled, 4-wheeled fire extinguishing robot, that is capable of detecting various environmental factors such as temperature and smoke, and it can also detect human presence using something known as “ultra-wide band radar”. This appears to be quite similar to the system we are considering.

Humanoid robots rescuing humans and extinguishing fires for Cooperative Fire Security System using HARMS | IEEE

Summary/Relevance to topic:

This is a paper written as part of a cooperation between multiple universities, and provides some information about a humanoid fire-rescue robot that was designed. The scope of the project seems comparable to ours (though still larger), and thus it may be relevant despite being light on real-world applicability.

Ethical concerns in rescue robotics: a scoping review | Springer

Summary/Relevance to topic:

This is a somewhat fresh (2021) literature review about the ethics surrounding rescue robotics. While this source may not be relevant to any design activities that we would like to perform, it could serve as a great starting point for analysing any ethical aspects.

Exploring the Ethical Landscape of Robot-Assisted Search and Rescue | Springer

Summary/Relevance to topic:

This paper identifies ethical concerns and value conflicts that arises from the use of SAR robots. The paper mainly focuses on Values Assessment Workshops whose participants were professional (Italian) firefighters. The paper thus details concerns and dilemmas regarding SAR robots, it is meant as a ‘conversation starter’ and not as an answer.

Robot–human rescue teams: a user requirements analysis | tandfonline.com

Summary/Relevance to topic:

This paper is about the needs of professionals from the field of SAR. The paper includes the end-user requirements of these professionals, as well as some guidelines for rescue systems. This could help guide our endeavours if we want to design a human-robot interface.

An Indoor Autonomous Inspection and Firefighting Robot Based on SLAM and Flame Image Recognition | MDPI

Summary/Relevance to topic:

This article focuses on indoors firefighting robots. It is valuable for the project, as it discusses in detail the complexity of indoor fire environment and proposes a way for a robot to deal with high temperatures, smoke, and the complex geometry of a building. Moreover, it discusses SLAM (simultaneous localization and mapping) which should be used by our robot as well.

A High-Temperature Resistant Robot for Fixed-Point Firefighting | Springer

Summary/Relevance to topic:

This article is relevant as it has a design of a thermal protection structure which covers the robots and assures the normal operation of internal components. This design might be useful for our project as a ready solution or an inspiration source.

Research on Heat Transfer through a Double-Walled Heat Shield of a Firefighting Robot | MDPI

Summary/Relevance to topic:

This article provides another insight into heat resistance for robots and how it behaves. This article is a good source for preparing a test plan for our robot’s thermal-protective shield/cover. Not only a heat shield is designed, but it is also tested, and these tests are what makes this article so valuable within this project.

RoBoa: Construction and Evaluation of a Steerable Vine Robot for Search and Rescue Applications | IEEE

Summary/Relevance to topic:

The article gives a good insight into Vine Robots being used in search and rescue operations. The design proposed in the article can be used within our project, if we choose to base our robot on Vine Robot model. However, a lot of work still needs to be done to make the design fit for extreme thermal conditions (if it is possible).

An Arduino Uno Controlled Fire Fighting Robot for Fires in Enclosed Spaces | IEEE

Summary/Relevance to topic:

The article contains a basic design of a low-budget firefighting robot. If we decide to make a prototype of our robot, this article will be useful, as the Arduino system is indeed affordable and firefighting-robot mentioned in the article shares a lot of properties with a SOR robot for fires, that we have in mind.

Van Wynsberghe, A. A method for integrating ethics into the design of robots. Ind. Robot. 2013, 40, 433–440.

A paper about how to integrate ethics into robot design. "The approach for including ethics in the design process of care robots used in this paper is called the Care‐Centered Value Sensitive Design (CCVSD) approach. [...] In this paper, this approach's utility and prospective methodology are illustrated by proposing a novel care robot, the “wee‐bot”, for the collection and testing of urine samples in a hospital context."

Appendix A

Time Spent Table

Week 1
Person	Time spent	Task
Tessa G.	10 hours	Meeting deciding on subject and dividing roles (4 hrs) literature review and adding sources (4 hrs) , wrote on users and what do the users require (2 hrs)
Tessa C.	12 hours	Meeting deciding on subject and dividing roles (4 hrs), literature review/ finding 5 suitable source (4 hrs), dividing subjects of the design (1 hr), milestones for each subject per week (3 hrs)
Storm	9 hours	Meeting deciding on subject and dividing roles (4 hrs), literature review and adding sources (3.5 hrs), writing problem statement and objectives with Roman(1.5 hrs)
Abel	10 hours	Meeting deciding on subject and dividing roles (4 hrs) literature review and adding sources (3 hrs) , wrote on users and what do the users require (3 hrs)
Roman	9 hours	Group meeting for choosing the subject of our project (4 hrs), literature study (3 hrs), writing problem statement and objectives with Storm(1.5 hr), minor edits of the wiki page(0.5 hr)
Elektra	8 hours +	Meeting deciding on subject and dividing roles (4hrs) literature review and adding sources (4hrs), ...

Appendix B

Previous idea was a product for elderly. Related notes are stored here (for now)

Potential sources :

Training the Elderly in the Use of Electronic Devices | SpringerLink

A wearable device for the elderly: A case study in Malaysia | IEEE Conference Publication | IEEE Xplore

Innovation and technology for the elderly: Systematic literature review - ScienceDirect

Do‐it‐yourself as a means for making assistive technology accessible to elderly people: Evidence from the ICARE project - Mettler - 2023 - Information Systems Journal - Wiley Online Library

Digital health platforms for the elderly? Key adoption and usage barriers and ways to address them - ScienceDirect

Full article: What facilitates the acceptance of technology to promote social participation in later life? A systematic review (tandfonline.com)

Different subjects to focus on (for technology):

communication apps (eg. make contact with (grand)children easier)

entertainment (eg. the reading thing mentioned earlier)

services that are getting more and more digitalized (such as physical banks disappearing)

general approach to helping with technology (probably hard to realize)

rather than thinking of some device to help the problem, we could potentially also just focus on writing a paper on the issues that come with this, reasons for it, possible benefits of elders using tech etc. (as there are a lot of studies available for this)

assistive technologies (ones that for example improve healthcare)