Alexander Ferworn

MAX: wireless teleoperation via the World Wide Web

The N-CART team has developed a working prototype of a teleoperated device based on a control metaphor derived from the way people control dogs on leashes. MAX the robot dog is wireless, highly mobile and may be controlled over vast distance via the Internet using a common Java-enabled browser.

Urban search and rescue with canine augmentation technology

The agility, sense of smell, hearing and speed of dogs is put to good use by dedicated canine teams involved in search and rescue operations. Perhaps the weakest link in the human-dog team is the human. In comparison to dogs, humans hear less, cannot effectively follow a scent and actually slow the dog down when involved in area searches. To mitigate this problem the Network-Centric Applied Research Team has been working with the Ontario Provincial Police to augment SAR dogs with a suite of supporting technologies to extend the dogs potential area of operation and allow a greater distance between dog and handler. Through canine augmentation technology we hope to allow canine handlers to see what the dog sees, hear what the dog hears, know where the dog is and be able to communicate with the dog at extended distances

Initial experiments on 3D modeling of complex disaster environments using unmanned aerial vehicles

The use of unmanned aerial vehicles (UAVs) has the potential to significantly improve the situation awareness of emergency first responders working at urban disaster sites. Having the characteristics of being small, light-weight and quickly deployable, UAVs offer the ability to fly over an urban disaster and provide intelligence to Urban Search and Rescue (USAR) task force efforts before precious operational resources are committed on the ground. In this paper we discuss our experience with using a small UAV to perform the task of creating a 3D model of a rubble piles surface using commercial off the shelf (COTS) components in the form of an available UAV equipped with a modified video game sensing package.

Applying Model-Driven Development to Pervasive System Engineering

This paper provides an overview of model-driven software development methodologies and argues that they are well-suited for the purpose of pervasive software development. It also surveys some of the most notable model-driven pervasive software development frameworks that are available, including one of our own.

Low-cost 3D scene reconstruction for response robots in real-time

In this paper we discuss several methods for the creation of 3D models that can provide additional information to robot operators in order to improve their situation awareness of the robot being teleoperated. We derive the 3D models from spatial data gathered from an inexpensive, readily available, video game sensor. In addition, the paper introduces a new method for feature extraction as part of image registration in feature-sparse environments that operates in real-time.

Wireless estimation of canine pose for search and rescue

In this paper we discuss the use of accelerometers and Bluetooth to monitor canine pose in the context of common poses observed in urban search and rescue dogs. We discuss the use of the canine pose system in a disaster environment, and propose techniques for determining canine pose. In addition we discuss the challenges with this approach in such environments. The paper presents the experimental results obtained from the heavy urban search and rescue disaster simulation, where experiments were conducted using multiple canines, which show that angles can be derived from acceleration readings. Our experiments show that similar angles were measured for each of the poses, even when measured on multiple USAR canines of varying size. We also found measurable and consistent differences between each of the poses, making them clearly distinguishable from one another, again even when comparing with different USAR canines.

Rubble Search with Canine Augmentation Technology

We have been working to augment trained search and rescue canines with technological components to allow them to be monitored and controlled from greater distances in rubble caused by a disaster. Such rubble often precludes close interaction between a dog and its handler. In this paper we report the results of a set of trials involving augmented canines searching for simulated casualties in rubble. Two trials are reported on two different rubble piles.

Canine Pose Estimation: A Computing for Public Safety Solution

In this paper we discuss determining canine pose in the context of common poses observed in Urban Search and Rescue dogs through the use a sensor network made up of accelerometers. We discuss the use of the Canine Pose Estimation System in a disaster environment, and propose techniques for determining canine pose. In addition we discuss the challenges with this approach in such environments. This paper presents the experimental results obtained from the Heavy Urban Search and Rescue disaster simulation, where experiments were conducted using multiple canines, which show that angles can be derived from acceleration readings. Our experiments show that similar angles were measured for each of the poses, even when measured on multiple USAR canines of varying size. We also developed an algorithm to determine poses and display the current canine pose to the screen of a laptop. The algorithm was successful in determining some poses and had difficulty with others. These results are presented and discussed in this paper.

Dog and snake marsupial cooperation for urban search and rescue deployment

One of the many challenges in developing ground response robots for Urban Search and Rescue (USAR) is endowing them with mobility that allows traversal of challenging terrain. In a preliminary study we introduced a new approach to the mobility problem that utilizes USAR dogs to deliver robots close to human victims in rubble. The results indicated that some search dogs are able to carry a small robot to a victim. This paper extends the original work - this time employing a more capable snake robot. Snake robots have much better maneuverability within rubble than wheeled or tracked robots. Unfortunately they are very slow - making timely rubble traversal a moot point. The premise of this work is that our hybrid system exhibits the advantages of rapid canine mobility with the flexibility and sensing capability of a snake robot.

Enhancing canine disaster search

This paper describes canine augmentation technology (CAT) for use in urban search and rescue (USAR). CAT is a WiFi enabled sensor array that is worn by a trained canines deployed in urban disasters. The system includes, but is not limited to, cameras that provide emergency responders with real-time data to remotely monitor, analyze and take action during USAR operations. An analysis is made of the current tools available to USAR workers including rescue robots and canine search teams. From this analysis came the design of CAT-a system that extracts the strengths of each available USAR tool and combines them to compliment each other. Our experiments yield promising results that CAT may provide significant help to rescuers.