The Experts below are selected from a list of 45210 Experts worldwide ranked by ideXlab platform
Masakatsu G. Fujie - One of the best experts on this subject based on the ideXlab platform.
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design of four arm four crawler Disaster Response robot octopus
International Conference on Robotics and Automation, 2016Co-Authors: Mitsuhiro Kamezaki, Tatsuzo Ishida, Ken Ichiryu, Masatoshi Seki, Yo Kobayashi, Shigeki Sugano, Hiroyuki Ishii, Kenji Hashimoto, Atsuo Takanishi, Masakatsu G. FujieAbstract:We developed a four-arm four-crawler advanced Disaster Response robot called OCTOPUS. Disaster Response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional Disaster Response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.
Mitsuhiro Kamezaki - One of the best experts on this subject based on the ideXlab platform.
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preliminary study of a separative shared control scheme focusing on control authority and attention allocation for multi limb Disaster Response robots
Advanced Robotics, 2020Co-Authors: Mitsuhiro Kamezaki, Tatsuzo Ishida, Kui Chen, Takahiro Katano, Shigeki SuganoAbstract:We previously developed a four-arm, four-flipper Disaster Response robot called OCTOPUS to perform complex tasks at severe Disaster sites. Its 22 degrees of freedom (DOF) enable advanced mobility a...
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analysis of operation strategy in a multi operator control system for four arm Disaster Response robot octopus
IEEE SICE International Symposium on System Integration, 2016Co-Authors: Kui Chen, Tatsuzo Ishida, Ken Ichiryu, Masatoshi Seki, Mitsuhiro Kamezaki, Takahiro Katano, Shigeki SuganoAbstract:Disaster Response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation strategy in multi-operator control systems. Thus, three different types of essential Disaster Response tasks were conducted by using OCTOPUS and we analyzed results of operations and work performance, by focusing on each operator and each pair. As the results, we derived basic operation strategies as follow; operators with higher number of simultaneously-operated joints (Ns) can control OCTOPUS more smoothly, and pairs with higher rate of cooperated operations (Rc) can finish tasks more efficiently. We also found that Ns and Rc can be used to quantify operational skills. Revealed strategies and parameters could be useful to design new human-machine interface and intelligent control system.
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design of four arm four crawler Disaster Response robot octopus
International Conference on Robotics and Automation, 2016Co-Authors: Mitsuhiro Kamezaki, Tatsuzo Ishida, Ken Ichiryu, Masatoshi Seki, Yo Kobayashi, Shigeki Sugano, Hiroyuki Ishii, Kenji Hashimoto, Atsuo Takanishi, Masakatsu G. FujieAbstract:We developed a four-arm four-crawler advanced Disaster Response robot called OCTOPUS. Disaster Response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional Disaster Response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.
Shigeki Sugano - One of the best experts on this subject based on the ideXlab platform.
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preliminary study of a separative shared control scheme focusing on control authority and attention allocation for multi limb Disaster Response robots
Advanced Robotics, 2020Co-Authors: Mitsuhiro Kamezaki, Tatsuzo Ishida, Kui Chen, Takahiro Katano, Shigeki SuganoAbstract:We previously developed a four-arm, four-flipper Disaster Response robot called OCTOPUS to perform complex tasks at severe Disaster sites. Its 22 degrees of freedom (DOF) enable advanced mobility a...
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analysis of operation strategy in a multi operator control system for four arm Disaster Response robot octopus
IEEE SICE International Symposium on System Integration, 2016Co-Authors: Kui Chen, Tatsuzo Ishida, Ken Ichiryu, Masatoshi Seki, Mitsuhiro Kamezaki, Takahiro Katano, Shigeki SuganoAbstract:Disaster Response robot with four arms and flippers OCTOPUS has high mobility and task-execution capabilities. Owing to the higher number of degrees of freedom, OCTOPUS is controlled by two operators, however this kind of robots is inherently difficult to be operated. To design easy-to-use human machine interfaces and intelligent control systems, we need to analyze and quantify a reasonable operation strategy in multi-operator control systems. Thus, three different types of essential Disaster Response tasks were conducted by using OCTOPUS and we analyzed results of operations and work performance, by focusing on each operator and each pair. As the results, we derived basic operation strategies as follow; operators with higher number of simultaneously-operated joints (Ns) can control OCTOPUS more smoothly, and pairs with higher rate of cooperated operations (Rc) can finish tasks more efficiently. We also found that Ns and Rc can be used to quantify operational skills. Revealed strategies and parameters could be useful to design new human-machine interface and intelligent control system.
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design of four arm four crawler Disaster Response robot octopus
International Conference on Robotics and Automation, 2016Co-Authors: Mitsuhiro Kamezaki, Tatsuzo Ishida, Ken Ichiryu, Masatoshi Seki, Yo Kobayashi, Shigeki Sugano, Hiroyuki Ishii, Kenji Hashimoto, Atsuo Takanishi, Masakatsu G. FujieAbstract:We developed a four-arm four-crawler advanced Disaster Response robot called OCTOPUS. Disaster Response robots are expected to be capable of both mobility, e.g., entering narrow spaces over very rough unstable ground, and workability, e.g., conducting complex debris-demolition work. However, conventional Disaster Response robots are specialized in either mobility or workability. Moreover, strategies to independently enhance the capability of crawlers for mobility and arms for workability will increase the robot size and weight. To balance environmental applicability with the mobility and workability, OCTOPUS is equipped with a mutual complementary strategy between its arms and crawlers. The four arms conduct complex tasks while ensuring stabilization when climbing steps. The four crawlers translate rough terrain while avoiding toppling over when conducting demolition work. OCTOPUS is hydraulic driven and teleoperated by two operators. To evaluate the performance of OCTOPUS, we conducted preliminary experiments involving climbing high steps and removing attached objects by using the four arms. The results showed that OCTOPUS completed the two tasks by adequately coordinating its four arms and four crawlers and improvement in operability needs.
Charles R Doarn - One of the best experts on this subject based on the ideXlab platform.
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development and validation of telemedicine for Disaster Response the north atlantic treaty organization multinational system
Telemedicine Journal and E-health, 2018Co-Authors: Charles R Doarn, Rifat Latifi, Ronald K Poropatich, Natasa Sokolovich, Donald Kosiak, Filip Hostiuc, Claudiu Zoicas, Adrian Buciu, Raed ArafatAbstract:Abstract Background: Disasters, whether natural or manmade, are unpredictable. While there may be some forewarning as in natural Disasters like a hurricane, Response is often suboptimal. There is a need for an integrated and structured action for all three well defined phases of Disaster management (pre-, during, and postDisaster) that must be addressed to ameliorate the impact on life and the necessary steps for recovery. Over the past several decades, telemedicine has been integrated in some form of Disaster Response. This adoption and integration has been shown to be effective. Since 2013, North Atlantic Treaty Organization (NATO), under the auspices of the Science for Peace and Security Programme, has worked on developing a Multinational Telemedicine System (MnTS) for Disaster Response. Methods: A group of subject matter experts from Europe and the United States developed the MnTS by establishing the network and a concept of operations, to be used in Disaster management between countries. Results: An ...
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telemedicine and e health in Disaster Response
Telemedicine Journal and E-health, 2014Co-Authors: Charles R Doarn, Ronald C MerrellAbstract:Telemedicine over the past several decades has been used effectively and judiciously in the aftermath of Disasters caused by both humans and natural occurring events. Natural Disasters cannot be predicted precisely as to where and when they will occur, although significant technology available today provides some levels of awareness or an alert to pending tornadic activity, the destructive path of hurricanes, tsunamis, and earthquake fault zones. This awareness does little to prepare population centers other than to get as many people as possible to a safe location. This awareness capability differs significantly across the globe, and often parts of the developing world suffer larger loss of life and property as a result. Consider the recent earthquakes in Haiti, Japan, and Chile with respect to the destruction and devastation, and of course the needs of the population. With respect to Disasters caused by humans such as industrial, nuclear, biological, or chemical, these are often precipitated by some egregious acts of ineptness, war, or terrorism. In industrial settings there may be a Response plan to an accident that can precipitate into a Disaster, but the community may be unaware of the true danger. Consider the fertilizer plant in Texas that blew up in the summer of 2013 or the gas explosion in Bopal, India in 1984. A medical Response to these kinds of events is also varied depending on the location, region of the world, and resources. Telemedicine and e-health have been used both in preplanning and in post-Disaster Response. It can be a challenge to utilize telemedicine and e-health during or immediately following a Disaster due to many factors, including telecommunications infrastructure and resource constraints. Over the past 20 years, this Journal has brought you several significant articles that have helped shape the discussion on telemedicine and e-health in Disaster Response. The knowledge from the work reported here comes from actual Disaster Response, the application of technology in Disasters, or the manifestation of disease outbreak and how telemedicine has been of value. In all Disasters, there is significant disruption of services and in many cases significant trauma. In 2011, Dr. Ronald Weinstein reviewed a wonderful text from Dr. Rifat Latifi entitled Telemedicine for Trauma Emergencies and Disaster Management.1 This review highlighted the importance of this text as a tool for teaching and implementing telemedicine in support of Disaster Response. In 2007, the American Telemedicine Association Special Interest Group (SIG) on Emergency Preparedness and Response also developed an inventory of what capabilities were available. A white paper, prepared by Dave Balch, reported on the SIG's efforts to develop a framework and infrastructure that could be used at the local, regional, and national levels in Response to mass casualty events.2 One of the most significant applications of telemedicine in Disaster Response was summarized in 1998 by Doarn et al.3 when they discussed the National Aeronautics and Space Administration's (NASA's) significant role in telemedicine and Disasters in the 1980s in the Mexico City earthquake and the Spacebridge to Armenia. In 2011, two articles were published that looked back at the impact of this Spacebridge and the lessons learned and often forgotten. Doarn and Merrell4 addressed the 20th anniversary of the Spacebridge to Armenia and its impact on the growth of telemedicine. Nicogossian and Doarn5 further elucidated the lessons from this effort by presenting significant issues related to support in 1988–1989 and how those same issues are often minimized in today's Response. They also provided some prerequisites as well as near- and long-term consequences for successful telemedicine implementation. Although NASA's role has been significant, it is often the U.S. Military that is called into action for a humanitarian Response. Consider recent history in Port au Prince, Haiti and the devastation there. The United States deployed assets to ensure communications, air traffic control, and a host of other capabilities and resources. To better understand what can be done by the U.S. Military in collaborative partnerships with nongovernmental organizations and other organizations, the U.S. Army's Telemedicine and Advanced Technology Research Center (TATRC) held a summit in 2010 to review the application of health technology in humanitarian Response, specifically using deployed U.S. Military assets. The summit was summarized in a 2011 report for TATRC, and the executive summary was published in this journal.6 Several early articles from U.S. Military personnel also provided strong evidence of the utility of telemedicine in Disasters. In 1996, Gomez et al.7 discussed tertiary telemedicine support during global military humanitarian missions; they reported on the use of satellite-based consultations of 240 cases between 12 remote sites and the facilities at Walter Reed Army Medical Center. Case presentations were both synchronous and asynchronous and were responded to within 24 h of receipt.7 Military capabilities were further discussed by Meade and Lam8 in 2007 in their article about deployable telemedicine capability in support of humanitarian operations; their focus was on operational initiatives of military assets, including a mobile army surgical hospital, in the European Regional Medical Command and Medical Command, Control, Communication and Telemedicine Special Medical Augmentation Team and the Army Knowledge Online Remote Consultation Program. These assets and capabilities were applied in Pakistan after an earthquake in Muzzaffarabad in 2005. In addition to the U.S. Military Response, Gul et al.9 reported in 2008 on their work using telemedicine and paraplegic rehabilitation at a hospital in Rawalpindi, Pakistan; the authors discussed 194 patients from the epicenter region using the telemedicine training capabilities in Rawalpindi for rehabilitation. Recent news reports present a significant epidemiological problem with an Ebola virus outbreak in Guinea and Liberia in West Africa. Although an outbreak may be contained, the determinants of health in one part of the world may affect other parts—even microscopically. Although telemedicine was not applied in this case, it was used in relation to a cholera outbreak in Makakumbh Mela, India during a large gathering of people. A telemedicine capability was deployed to support this large gathering. Through microbial swabs and examination, Vibrio cholerae was isolated. This prompted health officials to respond accordingly and reduced the severity of diarrheal cases and averted an epidemic Disaster.10 Research has also been conducted in support large gatherings where any kind of Disaster may impact the public. During the 2003 Super Bowl (XXXVII) in San Diego, CA, several of our colleagues conducted a series of experiments in and around the stadium to determine readiness and utility of telemedicine in large events.11 This project, known as Shadow Bowl, demonstrated the value of telemedicine when infrastructure is impeded in some way (i.e., overtaxed, overloaded, etc.). It also highlighted several key attributes that must be addressed in responding adequately. Over the past 20 years the U.S. government through NASA, the Department of Health and Human Services' Office for the Advancement of Telehealth (OAT), and the National Institutes of Health's National Center for Research Resources (NCRR) has held several seminars and conferences that have discussed telemedicine and telehealth as tools for responding to Disasters. NASA held two such conferences in 1991 and 1994.3 In 2009, a gathering of subject matter experts by NCRR in Bethesda, MD produced a large number of articles as outcomes from its conference on “The Future of Telehealth: Essential Tools and Technologies for Clinical Research and Care.” Alverson et al.12 prepared a summary report on telehealth tools for public health, emergency, or Disaster preparedness and Responses. A year earlier, in 2008, OAT funded its Midwest Alliance for Telehealth & Technology Resource Center to conduct an invitation-only conference to develop a roadmap to propel telemedicine to its next stage. One of the breakout sessions was on applying telehealth in natural and anthropogenic Disasters. Simmons et al.13 provided a compelling piece with recommendations and a roadmap that can be used to guide us forward. Most recently, telemedicine and telehealth have been used in the aftermath of Hurricanes Katrina and Ike. The authors of these articles, Kim et al.14 and Vo et al.,15 highlighted post-recovery on the Gulf Coast and how these tools were used in South East Texas after Hurricane Ike. Often medical services must rapidly transition from nominal or normal operations to that of a Disaster mode. With your editors, you may recall the rapidly changing needs of all medical services along the Eastern Seaboard on that dreadful morning of September 11, 2001. Reynolds et al.16 set a wonderful stage in their article on the tele-intensive care unit during a Disaster and seamless transition. In 2005, we published an editorial entitled “Disasters—How Can Telemedicine Help?”17 This was nearly 10 years ago. The last paragraph was a sort of call to arms. We have seen since that time 11 articles published. Of the 17 highlighted here, that is 65% of the work. Clearly, Disasters will continue to happen. Recent news reports from Washington indicate climate change is real, and that will result in all kinds of problems that impact our health. Telemedicine may not prevent these events, but it will surely be a significant tool in responding for the public good. Whether it is through seeing patients in an earthquake zone using national or international systems, the utilization of information technology and communications will provide the necessary foundation and structure to move forward.
Mark Neerincx - One of the best experts on this subject based on the ideXlab platform.
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TRADR Project: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response
KI - Künstliche Intelligenz, 2015Co-Authors: Ivana Kruijff-korbayova, Joachim De Greeff, Petter Ögren, Francis Colas, Mark Neerincx, Fiora Pirri, Koen Hindriks, Malossini Gianni, Tomáš Svoboda, Rainer WorstAbstract:This paper describes the project TRADR: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response. Experience shows that any incident serious enough to require robot involvement will most likely involve a sequence of sorties over several hours, days and even months. TRADR focuses on the challenges that thus arise for the persistence of environment models, multi-robot action models, and human-robot teaming, in order to allow incremental capability improvement over the duration of a mission. TRADR applies a user centric design approach to Disaster Response robotics, with use cases involving the Response to a medium to large scale industrial accident by teams consisting of human rescuers and several robots (both ground and airborne). This paper describes the fundamentals of the project: the motivation, objectives and approach in contrast to related work.
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Designing, developing, and deploying systems to support human-robot teams in Disaster Response
Advanced Robotics, 2014Co-Authors: Geert-jan M. Kruijff, S. Keshavdas, B. Larochelle, Milan Janicek, Ivana Kruijff-korbayova, Francis Colas, Mark Neerincx, François Pomerleau, Roland Siegwart, Min LiuAbstract:This paper describes our experience in designing, developing and deploying systems for supporting human–robot teams during Disaster Response. It is based on R&D performed in the EU-funded project NIFTi. NIFTi aimed at building intelligent, collaborative robots that could work together with humans in exploring a Disaster site, to make a situational assessment. To achieve this aim, NIFTi addressed key scientific design aspects in building up situation awareness in a human–robot team, developing systems using a user-centric methodology involving end users throughout the entire R&D cycle, and regularly deploying implemented systems under real-life circumstances for experimentation and testing. This has yielded substantial scientific advances in the state-of-the-art in robot mapping, robot autonomy for operating in harsh terrain, collaborative planning, and human–robot interaction. NIFTi deployed its system in actual Disaster Response activities in Northern Italy, in July 2012, aiding in structure damage assessment.
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distributed collaborative situation map making for Disaster Response
Interacting with Computers, 2011Co-Authors: Lucy T Gunawan, Hani Alers, Willempaul Brinkman, Mark NeerincxAbstract:A situation map that shows the overview of a Disaster situation serves as a valuable tool for Disaster Response teams. It helps them to orientate their location and to make Disaster Response decisions. It is, however, a complicated task to rapidly generate a complete and comprehensive situation map of a Disaster area, particularly due to the centralized organization of Disaster management and the limited emergency services. In this study, we propose to let the affected population be utilized as an additional resource that can actively help to make such a situation map. The aim of this study was to investigate the possibility of constructing a shared situation map using a collaborative distributed mechanism. By examining earlier research, a detailed list of potential problems is identified in the collaborative map-making process. These problems were then addressed in an experiment which evaluated a number of proposed solutions. The results showed that more collaboration channels led to a situation map of better quality, and that including confidence information for objects and events in the map helped the discussion process during the map-making. © 2011 Elsevier B.V. All rights reserved.
