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					   Utjecaj novih tehnologija na
sigurnost u pomorstvu i djelovanje
      u kriznim situacijama

  Impact of new technologies to
 safety and emergency actions in
             marine
                          Maritime Faculty, University of Split,
                          Privatna praksa medicine rada, Ploĉe
                                FESB, University of Split,
                             FER, University of Zagreb , HHI
    Igor Vujović, ivujovic@pfst.hr, Danko Kezić, danko@pfst.hr, Zlatan Kulenović,
      zlatan@pfst.hr, Ivica Kuzmanić, ikuzman@pfst.hr, Zdeslav Jurić,Radovan
       Vlašić, Rosanda Mulić,Mirjana Vujović, Sloboda Beroš, Ivan Petrović, Eli
                          Marušić, Matić Petar, Domljan Ţeljka
  PODDJELOVI PROJEKTA
• SUSTAV ZA UPRAVLJANJE ROBOTIMA
  U KRIZNIM SITUACIJAMA – DIO A
• TERORIZAM I RAT – SPRJEĈAVANJE
  NEGATIVNIH POSLJEDICA – DIO B
• MOGUĆNOSTI RAZVOJA ORUŢANIH
  NANOTEHNOLOŠKIH SUSTAVA – DIO C
• EKONOMSKI ASPEKTI – DIO D
• EKOLOŠKI ASPEKTI – DIO E
• MEDICINSKI ASPEKTI – DIO F
        INTRODUCTION - SOME
       EMERGENCY SITUATIONS
•   Traffic accidents,
•   fires,
•   terrorism,
•   environment pollution,
•   war,
•   earthquakes,
•   supervolcano / volcano eruptions,
•   flood,
•   dryness,
•   asteroid, comet or meteor fall, etc.
INTRODUCTION – USUALLY
    TAKEN ACTIONS
  •   Medical intervention,
  •   Fire distinguishing (or control),
  •   Ruins management,
  •   Search and rescue in:
       - ruins,
       - fire locations,
       - mountings,
       - marine accidents’ locations,
       - traffic accidents’ locations, etc.
    INTRODUCTION - SYSTEM
Center for emergency
situations
                   Communication system



                                          Action




                       Surveillance
          PARTS OF SYSTEM
It is important to point out the vital role of communication
    systems. Without it, there is no mean of information
    transfer.

Internet can be used as communication media. However,
   wireless Internet link must be used when mobile units
   are on the sight.

Surveillance information must be           transferred    to
  communication system to the center.

The center assigns executable units, which take necessary
  actions.
            WORLDS’ EXAMPLES



Search-and-Rescue
Robots Practice
Emergency Response                             Search-and-Rescue
                          Robots Prepare for   Robots Practice
to Simulated
                          Search/Rescue        Emergency Response
Earthquake
                          Mission              to Simulated
Researchers see how
robots respond in real-                        Earthquake
world rescue
operations with
FEMA's Indiana Task
Force 1
        DIO A: SUSTAV ZA
    UPRAVLJANJE ROBOTIMA U
      KRIZNIM SITUACIJAMA
Konkretni istraţivaĉki rad:
- Algoritmi robotskog vida,
- Algoritmi kodiranja prijenosa informacija komunikacijskim
  medijem (Internet, bezţiĉne komunikacija, itd),
- Algoritmi saţimanja slike i uklanjanja šuma s posebnim
  naglaskom na valiće,
- Sustav upravljanja zasnovan na diskretnim dogaĊajima
  (ukljuĉujući i rješavanje zagušenja Petrijevim mreţama),
- Sustavi video nadzora zbog sigurnosti u pomorstvu,
- Analize slike i prepoznavanja meta u oteţanim uvjetima
  (ukljuĉujući i superrezolucijske metode).
       ROBOT DEPLOYMENT
Robot’s role can be vital in environments where human
    lives are endangered. This is known in nuclear reactor’s
    disasters, where radiation levels is to high. Control of
    robots over distance is already used.
It is possible to use robots in hostile atmospheres (due to
    terrorist atomic, chemical or biological attack, chemicals
    in industry or as a product of fire).
Robots can supply quarantines (with i.e. food or drugs) and
    therefore prevent risk of further contamination.
Control over distance can be used in deactivation of mines,
    explosives and bombs.
                 TELEOPERATION
                 ARCHITECTURE




Direct teleoperation lies on a teleoperation architecture, through which
setpoints and state variables are exchanged between an operator and
remote system. The remote system includes the communication with the
base (server block) and the local control of the robot state variables,
position ones as it happens (controller block).
DELAY REGULATOR PRINCIPLE
Since transmission introduce time delay, there have to be a
  ways to fight these delays.
The delay regulator ensures the compensation of the delay
  variation by means of a stack.
DELAY REGULATOR PRINCIPLE
One of the solutions is to compensate the varying time
  delays through a stack able to handle the effect of the
  delay.

However, in some applications it is not possible to save
  data, because unfortunate event can happen. I.e. robot
  can fall into hole and operator sees that a few moments
  later. Or in telesurgery when un-damaged organ can be
  i.e. cut.

So, we propose that image is calculated and interpolated
  when data is missing. This is possible when motion
  estimation is used.
   SYSTEM FOR EMERGENCY
    ACTION OVER INTERNET
Such system:
- must have tolerance for time delays, which are random,
- preferable has a way to prevent problems related to the lost
  packets,
- very likely have a part of communication system with
  wireless protocol, because wires could make it difficult to
  react and maneuver in some situations.
- in some situations (i.e. toxins, radiations, heat) mobile
  robots are very far from human operator, but there is no
  difference whether operator is on the different continent or
  only a few kilometers from the sight,
- since several workstations can be involved in the
  teleoperation system, UDP must be implemented instead of
  TCP...
               Environment
               of emergency




Wireless UDP




               Center for
               emergencies
            VISUAL FEEDBACK IN
              TELEOPERATION
Visual feedback enables that
  teleoperator sees the
  “Present” look of the
  distance environment.
More robots enable more
  perspectives to the scene.
The main obstacle is a large
  amount of information for
  transfer over communica-
  tion channel.
Task is to obtain interactivity,
  unobservable time delay
  and un-interrupted image
  change in the operator’s
  window.
CONTROL INTERFACE
   DIO B: TERORIZAM I RAT –
  SPRJEĈAVANJE NEGATIVNIH
          POSLJEDICA
Cilj ovog dijela brojekta je izrada studije o
  utjecaju nadolazeće nanotehnologije na
  naĉin djelovanja i kontramjere kod
  terorizma i u voĊenju ratnih sukoba.
DIO C: MOGUĆNOSTI RAZVOJA
ORUŢANIH NANOTEHNOLOŠKIH
         SUSTAVA
Razmatra se mogućnosti raznih drţava da razviju razne
  vrste napadaĉkog i obrambrenog oruţja. Posebno
  poglavlje treba biti posvećeno izradi strategije razvoja
  HV s obzirom na nadolazeću tehnologiju.
   DIO D: EKONOMSKI ASPEKTI
      ECONOMICAL ASPECT
Finally, we must ask our self:

    Is there an economical reason for doing all of this?

Casualties won’t pay any more than they are paying social
  and health insurance already!

Of course, there is use of it! Human life is priceless and by
  saving one we save a fortune. Is there anything else?

For other, insurance companies should be interested,
  because they will pay less for life insurances, damages,
  etc.
PREGLED SREDSTAVA ULOŢENIH
    U NANOTEHNOLOGIJU
  DIO E: EKOLOŠKI ASPEKTI
• Utecaj nanomaterijala na okoliš i ljude
• Utjecaj na razvoj novih goriva i
  iskorištenost postojećih
• Razgradivost nanomaterijala
• Mogućnost zaštite od neţeljenih
  djelovanja nanotehnologije svih oblika.
  DIO F: MEDICINSKI ASPEKTI
 Telemedicine and virtual reality
To be able to react more accurate, different VR systems
  are developing. The benefits of such systems are high
  quality services from the best doctors, which are very far,
  brought to the sight of event.
This means less casualties, better health care and less
  expenses to the health and life insurances.
   Telesurgery (computer assisted
              surgery )




One of actions is medical intervention over communication
  systems, such as the Internet. It is useful that distant
  doctor have not only visual but also force and tactile
  feedback. That can enable operations of quarantined
  patients from safe distance.
Telesurgery
MOGUĆI ZAKLJUĈCI
 PROJEKTA?????
    IMPLEMENTATION OF NEW
        TECHNOLOGIES
New technologies, such as nanotechnology, can offer new
  solutions:
- new nanomaterials can be resistant to many accidents’
  types,
- new materials can absorb toxic gases, which could
  prevent search and rescue to act,
- nanorobots or suites of new materials can take care of
  wounds automatically,
- nanomaterials can produce light to help rescue teams...
              CONCLUSIONS
• There is a need for a strong agency for emergency
  actions such as FEMA in the USA. It could control
  mobile robots from different sights.

• Agency need to manage not only available resources,
  but research in new technologies which could potentially
  help in rescue, i.e. nanotechnology, robotics, new
  materials. (Development of new materials and devices
  can be guided toward necessities for search and rescue
  operations)

• UDP have to be improved to prevent pocket lost or client
  application must interpolate lost data pockets.

• Time delays must be handled by interpolation and
  motion estimation and not by stocks.
SURADNICI I ISTRAŢIVAĈI NA
       PROJEKTU

				
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