D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification 17 StateoftheArt in Robotic Systems for examining Hazardous Environments One of two demonstrators that will be used in CORBYS project to demonstrate and evaluate technologies developed is an existing autonomous robotic system consisting of a robot arm mounted on a mobile platform that can be used for inspection of contaminated/hazardous environments in teleoperation application or as a co-worker of a human. Disaster management aims to reduce, or avoid, potential damage from the hazards, to assure prompt and appropriate assistance to victims of disaster, and to achieve rapid and effective recovery. The main prerequisite of effective management of devastation is a fast and clear verification of possible contamination. Dependent on occurred scenario the first response teams are equipped with different techniques. For example the auxiliary fire brigades in Germany deploy NBC (nuclear-biological-chemical) Reconnaissance Vehicles (NBC RVs). The NBC RVs are mainly used for measuring, detecting and reporting radioactive and/or chemical as well as for recognising and reporting biological contamination (Meissner et al., 2005). However, the NBC RV is not permitted to enter contaminated area. In case of required measurements inside contaminated zone, the crew members, dressed in special overalls, has to leave the vehicle and continue the measurements. One of the common techniques for the verification of contamination is collection of samples in affected zones. Bruemmer (Bruemmer et al. 2002) describes baseline sample collection for laboratory analysis as a three phase process where, after an initial radiation survey performed by radiation control technician and after collecting of video coverage by a video technician, in the last phase a team of sampling technicians is sent into the facility to collect samples used to determine contamination levels (Figure 52). Typically, this data is then used to aid decontamination and decommissioning planning activities. Figure 52: Baseline sample collection for laboratory analysis (Bruemmer et al. 2002) In order to reduce humans’ exposure to danger during the exploration of contaminated/hazardous environments, in recent years significant effort has been made in developing and employment of mobile robotic systems. Existing Reconnaissance Robots, also known as Security Robots, enable mainly a visual investigation of the affected areas and/or chemical measurements which, however, do not require collection of samples. Security Robots consist of mobile platforms equipped with different sensors (cameras, laser scanners, etc.) which allow autonomous or teleoperated navigation. They can be used for indoor or outdoor applications. For example OFRO robot of a leading robotics company Robowatch Industries Ltd. from Berlin (http://www.robowatch.de) is the first mobile security robot worldwide for outdoor surveillance being able to determine the actual cause of an alarm, evaluate the situation and take counter measures. Mobile security robots are often equipped also with microphones and are used as rescue robots such as CRASAR robots used, among other incidents, in the World Trade centre (http://www.crasar.org) or KOHGA3 ground robot (Figure 174
D2.1 Requirements and Specification 53) used by Japanese roboticists to assist with rescue and recovery operations after the http://spectrum.ieee.org/static/japans-earthquake-and-nuclear-emergencyearthquake that struck Japan in March 2011 (Guizzo, 2011). Robotic systems for Clearing of Explosive Devices represent a important group of Mobile Security Robots (http://www.rheinmetall-detec.com). The bomb disposal robotic systems consist of robot arm with gripper mounted on a mobile platform (Figure 53) and different sensors enabling remote robot control. Mobile platforms enable applications on staircases, flat or mountain areas. However, even equipped with robot arms, robots which are mainly used for clearing of explosive devices can not provide satisfactory sample quality required for reliable analysis. KOHGA3 robot EOD-Robot for clearing of explosive devices Rheinmetall robotic system Figure 53: Mobile security robots 17.1 Robotic system for automated sampling (a) (b) 175 Mobile security robot OFRO (RoboWatch) The University of Bielefeld designed a robotic system, which handles samples in a laboratory environment [Poggendorf, 2004]. Further significant systems belonging to the group of mobile security robots for sampling are the Packbot developed by iRobot Corporation [Yamauchi, 2004], Telerob’s Safety Guard and tEODor [Saffiotti, 2004] and the NAT-II and T.S.R. EOD-robots from Elektroland [http://www.elektroland.com.tr]. However, most of those systems focus on teleoperation where the robot arm serves as an elongation of the human arm leading to a low level of automation. In contrast the mobile robotic system for safe automated sampling, which will be used as the second CORBYS demonstrator, includes a redundant robot arm for dexterous manipulation in unstructured environment. RecoRob is navigated by the user but it performs the collection of samples autonomously. It has been developed within the German national project RecoRob (Kuzmitcheva et al., 2009). The RecoRob objective is that the mobile investigation and robotic sampling platform replace the human investigation team and transfer the sampling/investigation circle from conventional manual (Figure 54(a)) to the structure shown in the Figure 54(b).
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CORBYS Cognitive Control Framework
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D2.1 Requirements and Specification
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D2.1 Requirements and Specification - CORBYS

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