SNAKE ROBOTS TO THE RESCUE - PowerPoint

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					SNAKE ROBOTS
TO THE RESCUE!
                  Introduction

 Intelligent robots in SAR dealing with tasks in complex
  disaster environments

 Autonomy, high mobility, robustness, modularity

 Biologically inspired mobile robots

 Serpentine search robot hardware, sensor based path
  planning and control design
               Rescue Robots
 Government’s Inadequate
  preparedness
  in dealing with disasters

 Utilization of robotics
  technology for human
  assistance in any phase
  of rescue operations

 Detection and
  identification of living
  bodies
 Functions of Rescue Robots

 Detection and
  identification of living
  bodies

 Clearing of debris in
  accessing the victim

 Physical,emotional and
  medical stabilization by
  him/her for first aid


 Transportation of victim
    The Major Rescue Problems

 Generally destructive tools

 Heavy construction of debris clearing machines

 Slow and tedious tool operation

 Search based on sniffing dogs and human
  voices

 Retrieval of bodies can generate extra injuries
Requirments of Rescue Robots

              Basic Real Disaster
Disaster infromation   Real world        Action
collector transm:      interface        command




   1.Seisometer                     1.Traffic signals
   2.Tsunamimeters                  2.Eletricity controls
   3.Vedio camers                   3.Rescue robots
 Virtual experience and traning

 Conditioning of optimal action in disaster

 Action simulator of parties of rescue,fire,fighters
  and back supports

 Equipped with multitude of sensors
     Snake robotsSensor based
         online path planning
 Multisensor based on line
  path planning

 Six identical segments –
  two way,two DOF,
  total 12controllable DOF

 Ultrasound sensor,12
  infrared sensors and
  thermal camera
Different types of movement
 It is achived by adapting the natural snake
 motions to the multisegment robot
 configuraion:
               1)Move forward with rectilinear
 or lateral motion.
               2)Move right/left with flapping
 motion.
               3)Change of direction.
  Specification of prototype

Actutor           Stepping motor
Material          Alluminium alloy
Dimension         82*82*67 cubic mm
Weight            300g
Max: Torque       20kgf/cm
Max: angle ve-    50degrees per sec:
locity
     Development of Prototype Mechanism

   Effectively adapt to uncertain circumstances
    and carry activates with necessary flexibility

 Twisting mode:
     -folds certain joints to generate a twisting motion
     -within its body, resulting in a side-wise movement

 Wheeled-locomotion mode:
       -where passive wheels are attached on units
       -increasing the friction
 Bridge mode:
 -two-legged walking-type locomotion
 -left-right swaying of the center of gravity

 Ring mode:
 - two ends of the robot body are brought together by
 its own actuation to form a circular shape
 -uneven circular shape rotate is expected to be
  achieved by proper deformation and shifting of
  center of gravity as necessary.

 Inching mode:
 -undulatory movements of serpentine mechanisms
 -generates a vertical wave shape using its units
      A GA Based Planning of Shape
               Transition
 Transform shape of hyper redundant robotic
  mechanism, without losing structural stability
  proper planning methodology is essential.

 The desired result is to make robot stand on its
  two ends in vertical position.

 The transformation from the initial to the final
  configuration is divided in k intermediate
  configurations
 to find the optimal set of those k configuration
  sequences through which the robot shape is to be
  transformed

 Each configuration describes the sequence of
  relative joint angles of the body.
 The whole structure is encoded as :
             Conclusion

Aiming at the enhancing the quality of
rescue and life after rescue, the field of
rescue robotics is seeking dexterous devices
that are equipped with learning ability ,
adaptable to various types of situations.
Research and development are going on for
further modification of rescue robots.
Considering various natural disasters and
man-made catastrophes need for rescue
robots is focused.
              References
   Snake Robots to the Rescue : by Aydan
    M.Erkmen, Ranjaith Chatterjee and Tetsushi
    Kamegawa

   Working with Robots in disasters : by
    Tomoichi takahashi and Satoshi Tadokoro

   Be Prepared : by Louise K.Comfort

   www.snakerobots.com
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