PRE2022 3 Group2

Group members

Name	Student Number	Study
Clinton Emok	1415115	BCS
Richard Farla	1420380	BCS
Yash Israni	1415883	BCS
Tessa de Jong	1498312	BPT
Kaj Scholer	1567942	BME
Pepijn Tennebroek	1470221	BPT

Week 1

Name	Total	Breakdown week 1
Clinton Emok		Meeting (1h), Literature(1h), User definition(1h)
Richard Farla	4h	Brainstorm session (1h), meeting (1h), literature research (1h), milestones (1h)
Yash Israni	3h	Meeting (1h), User Requirements(1h), Literature(1h)
Tessa de Jong	4h	Brainstorm session (1h), meeting (1h), problem statement (1h), literature research (1h)
Kaj Scholer		Brainstorm session (1h), meeting (1h), milestones (1h)
Pepijn Tennebroek	4h	Brainstorm session (1h), meeting (1h), problem statement (1h), literature research (1h)

Task division:

• Problem statement and objectives - Pepijn & Tessa
• Who are the users? - Clinton
• What do they require? - Yash
• Approach, milestones and deliverables - Kaj & Richard
• Who’s doing what? - Everyone
• State-of-the-art literature - Everyone
• Look at past projects - Everyone

Problem statement and objectives

“Two large earthquakes struck the southeastern region of Turkey near the border with Syria on Monday, killing thousands and toppling residential buildings across the region.” (AJLabs, 2023) The earthquakes were both above 7.5 on the Richter scale. Which caused buildings to be displaced from foundations with people still in it. Some people survived the fall when a building collapsed, but then they are still trapped between all of the rubble.

After earthquakes of high magnitude, it is necessary to rescue survivors from destroyed buildings as fast as possible. Namely, the chances of finding people alive in rubble fade with each passing day. However, it can be hard for human rescuers and rescue dogs to reach these areas due to the dangers of collapsing buildings. Therefore, the usage of robotics can be introduced in these rescue operations. In this report it is investigated how the usage of robotics could improve localizing alive people after earthquakes of high magnitude. This would hopefully increase the number of people that is saved after such a natural disaster. In order to do this, literature research is conducted …

Who are the users?

Spot robots have a wide range of applications and can be used by a variety of different target groups. One of the primary target groups for the Spot robot is the emergency services and first responders. These organizations can use the robot to quickly and safely assess the damage caused by natural disasters such as earthquakes, hurricanes, and wildfires. The robot's ability to navigate challenging terrain, its durability, and its range of sensors and cameras make it a valuable tool for these organizations in their rescue and recovery efforts. Spot robots can be used to locate survivors, evaluate the safety of damaged structures, and gather valuable data to help first responders make informed decisions about how best to proceed in a given situation.

Another key target group for the Spot robot is the construction and industrial industries. The robot can be used to inspect and monitor construction sites, pipelines, and other industrial facilities, reducing the need for human workers to perform these tasks in potentially dangerous environments. For example, the robot can be used to inspect the roofs of tall buildings or pipelines that run through rough terrain, providing workers with a safe and efficient way to access these areas. In addition, Spot can be equipped with cameras and sensors to gather valuable data about the condition of these structures and facilities, helping companies to make informed decisions about maintenance and repair. The robot's ability to operate in challenging environments and its ability to carry out a range of tasks make it a valuable tool for these industries, improving worker safety and efficiency.

A third target group for the Spot robot is the entertainment and media industries. Spot's ability to navigate complex environments and perform a range of movements has made it a popular tool for film and television production. The robot can be used to capture footage in difficult-to-reach locations, providing producers with new perspectives and angles that would be impossible to achieve with traditional camera equipment. Additionally, Spot's ability to perform a variety of movements and tricks has made it a popular choice for use in music videos and other types of creative content. The robot's unique combination of mobility and versatility makes it a valuable tool for content creators, allowing them to produce visually stunning and engaging content that resonates with audiences.

A fourth target group for the Spot robot is the military and defense sector. The robot's mobility and versatility make it a valuable tool for a range of military and defense applications, including reconnaissance, surveillance, and data collection. The robot can be used to gather intelligence in hazardous or difficult-to-reach environments, reducing the need for human soldiers to perform these tasks. Additionally, the robot's ability to operate autonomously or remotely makes it a valuable tool for missions that require stealth or where it may not be safe for human soldiers. The robot can be equipped with a variety of sensors, cameras, and other equipment to help gather and transmit important information, making it an essential tool for military and defense operations.

What do they require?

Emergency services, victims and first responders require rescue robots to have certain capabilities and characteristics to make them effective in supporting disaster response efforts. Rescue robots need to be able to traverse difficult terrain, navigate obstacles, and travel long distances to reach victims and other areas of interest. Additionally, rescue robots should be able to provide a reliable and robust communication link between emergency responders and remote locations. This includes sustaining video and audio feeds, as well as other data such as maps, images, and sensor data. To hammer home on this last point, the rescue robot will need to have enough sensors to provide an accurate representation of its surroundings while communicating, since it might be important for the respondent to take possession over control from the robot. They must have sensors that can provide information about the environment and potential hazards, such as temperature, air quality, radiation levels, and gas leaks. This information can help responders make informed decisions about their actions and ensure their safety. Lastly, aside from being able to communicate with responders, these robots must have a certain degree of autonomy to be effective. They should be able to operate without human intervention for a certain period of time, navigate and map their environment, and avoid obstacles. Overall, rescue robots are required to be reliable, rugged, and capable of providing a high level of support in a disaster scenario.

Approach, milestones and deliverables

Milestones/Deliverables

Week	Milestones
Week 1	Topic, problem identification, planning, state-of-the-art literature research
Week 2	Further literature study, user analysis, MoSCoW, CAD modelling, research for simulation possibility, research/order electronics
Week 3	Further literature study, complete CAD modelling, start simulation
Week 4	Work on prototype, work on simulation
Week 5	Work on prototype, finalize simulation
Week 6	Finalize prototype, gather results from testing
Week 7	Evaluate results and conclusion
Week 8	Complete wiki and finish final presentation

Approach

Literature Research

• Online (Articles, research papers, patent, etc.)

User Study

• Surveys
• Interviews

CAD Modelling

• Fusion 360

Simulation

• Unity

Prototype

• Collect all electronics
• 3D print CAD model

Wiki

• Keeping weekly track of progress

Who’s doing what?

Names	Tasks
Clinton Emok
Richard Farla	Simulation
Yash Israni
Tessa de Jong
Kaj Scholer	CAD Modelling
Pepijn Tennebroek

State-of-the-art literature

Clinton

1. Raibert, M. H. (2000). Legged Robots That Balance. MIT Press.

2. Tenreiro Machado, José & Silva, Manuel. (2006). An Overview of Legged Robots.

3. Murphy, R. R. (2017). Disaster Robotics. Amsterdam University Press.

4. Designing, developing, and deploying systems to support human–robot teams in disaster response => https://hal.science/hal-01143476

5.Sanfilippo F, Azpiazu J, Marafioti G, Transeth AA, Stavdahl Ø, Liljebäck P. Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities ^†. Applied Sciences. 2017; 7(4):336. https://doi.org/10.3390/app7040336

Richard

1. https://patents.justia.com/patent/11548151 --> closely related to traversing terrain that is riddled with fallen objects and debris
2. https://api.scienceweb.uz/storage/publication_files/648/326/617bd96706295___Specially%20Designed%20Multi-Functional%20Search%20And%20Rescue%20Robot.pdf --> proposed search and rescue robot
3. https://doi.org/10.1002/rob.21887 --> state-of-the-art and future outlook of rescue robots
4. https://www.mdpi.com/557488 --> drones to detect signs of life in dangerous areas
5. https://doi.org/10.1109/ICISET.2016.7856489 --> robot for alive human detection in unreachable points of a disaster area

Yash

1. Liu, Y., Nejat, G. Robotic Urban Search and Rescue: A Survey from the Control Perspective. J Intell Robot Syst 72, 147–165 (2013). https://doi.org/10.1007/s10846-013-9822-x
2. Anthes, Gary. Robots Gear Up for Disaster Response. Communications of the ACM (2010): 15, 16. Web. 10 Oct. 2012
3. Osumi, H. (2014). Application of robot technologies to the disaster sites. Report of JSME Research Committee on the Great East Japan Earthquake Disaster, 58-74.
4. Matsuno, F., Sato, N., Kon, K., Igarashi, H., Kimura, T., Murphy, R. (2014). Utilization of Robot Systems in Disaster Sites of the Great Eastern Japan Earthquake. In: Yoshida, K., Tadokoro, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 92. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40686-7_1
5. Kawatsuma, S., Fukushima, M., & Okada, T. (2013). Emergency response by robots to Fukushima-Daiichi accident: summary and lessons learned. Journal of Field Robotics, 30(1), 44-63. doi: 10.1002/rob.21416

Tessa

1. Matsuno, F., Sato, N., Kon, K., Igarashi, H., Kimura, T., & Murphy, R. (2013). Utilization of Robot Systems in Disaster Sites of the Great Eastern Japan Earthquake. Springer Tracts in Advanced Robotics, 1–17. https://doi.org/10.1007/978-3-642-40686-7_1 --> usage of robotics after earthquake in Japan
2. Lindqvist, B., Karlsson, S., Koval, A., Tevetzidis, I., Haluška, J., Kanellakis, C., Agha-mohammadi, A. A., & Nikolakopoulos, G. (2022). Multimodality robotic systems: Integrated combined legged-aerial mobility for subterranean search-and-rescue. Robotics and Autonomous Systems, 154, 104134. https://doi.org/10.1016/j.robot.2022.104134 --> Spot Boston Dynamics
3. Tadokoro, S. (Ed.). (2009). Rescue robotics: DDT project on robots and systems for urban search and rescue. Springer Science & Business Media.
4. De Cubber, G., Doroftei, D., Serrano, D., Chintamani, K., Sabino, R., & Ourevitch, S. (2013, October). The EU-ICARUS project: developing assistive robotic tools for search and rescue operations. In 2013 IEEE international symposium on safety, security, and rescue robotics (SSRR) (pp. 1-4). IEEE.
5. Lee, S., Har, D., & Kum, D. (2016, December). Drone-assisted disaster management: Finding victims via infrared camera and lidar sensor fusion. In 2016 3rd Asia-Pacific World Congress on Computer Science and Engineering (APWC on CSE) (pp. 84-89). IEEE.

Kaj

1.

2.

3.

4.

5.

Pepijn

1. K. Hatazaki, M. Konyo, K. Isaki, S. Tadokoro and F. Takemura, "Active scope camera for urban search and rescue," 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA, USA, 2007, pp. 2596-2602, doi: 10.1109/IROS.2007.4399386. --> Robotic worm with camera
2. Y. Ambe et al., "Use of active scope camera in the Kumamoto Earthquake to investigate collapsed houses," 2016 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), Lausanne, Switzerland, 2016, pp. 21-27, doi: 10.1109/SSRR.2016.7784272. --> Use of the robotic worm with camera
3. L. Zhao, G. Sun, W. Li and H. Zhang, "The design of telescopic universal joint for earthquake rescue robot," 2016 Asia-Pacific Conference on Intelligent Robot Systems (ACIRS), Tokyo, Japan, 2016, pp. 62-66, doi: 10.1109/ACIRS.2016.7556189. --> transmission system including the telescopic universal joint used for the snake like search and rescue robot
4. M. Kamezaki et al., "Design of four-arm four-crawler disaster response robot OCTOPUS," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, Sweden, 2016, pp. 2840-2845, doi: 10.1109/ICRA.2016.7487447. --> Four-arm four-crawler advanced disaster response robot called OCTOPUS
5. Park, S., Oh, Y. & Hong, D. Disaster response and recovery from the perspective of robotics. Int. J. Precis. Eng. Manuf. 18, 1475–1482 (2017). https://doi.org/10.1007/s12541-017-0175-4 --> reviews robotic operations in disaster situations

Look at past projects

Universal Swarm Robotics Software Project

PRE2018 3 Group17

References

AJLabs. (2023). Infographic: How big were the earthquakes in Turkey, Syria? Earthquakes News | Al Jazeera. https://www.aljazeera.com/news/2023/2/8/infographic-how-big-were-the-earthquakes-in-turkey-syria