Michinori Hatayama

The RoboCup-Rescue project: a robotic approach to the disaster mitigation problem

This paper introduces the RoboCup-Rescue Simulation Project, a contribution to the disaster mitigation, search and rescue problem. A comprehensive urban disaster simulator is constructed on distributed computers. Heterogeneous intelligent agents such as fire fighters, victims and volunteers conduct search and rescue activities in this virtual disaster world. A real world interface integrates various sensor systems and controllers of infrastructures in the real cities with the virtual world. Real-time simulation is synchronized with actual disasters, computing complex relationship between various damage factors and agent behaviors. A mission-critical man-machine interface provides portability and robustness of disaster mitigation centers, and augmented-reality interfaces for rescue parties in real disasters. It also provides a virtual reality training function for the public. This diverse spectrum of RoboCup-Rescue contributes to the creation of the safer social system.

Marine heterogeneous multirobot systems at the great Eastern Japan Tsunami recovery

This field report describes two deployments of heterogeneous unmanned marine vehicle teams at the 2011 Great Eastern Japan Earthquake response and recovery by the Center for Robot-Assisted Search and Rescue (USA) in collaboration with the International Rescue System Institute (Japan). Four remotely operated underwater vehicles (ROVs) were fielded in Minamisanriku and Rikuzentakata from April 18 to 24, 2011, for port clearing and victim recovery missions using sonar and video. The ROVs were used for multirobot operations only 46% of the time due to logistics. The teleoperated ROVs functioned as a dependent team 86% of the time to avoid sensor interference or collisions. The deployment successfully reopened the Minamisanriku New Port area and searched areas prohibited to divers in Rikuzentakata. The IRS-CRASAR team planned to return from October 18 to 28, 2011, with an unmanned aerial vehicle (UAV), an autonomous underwater vehicle (AUV), and an ROV to conduct debris mapping for environmental remediation missions. The intent was to investigate an interdependent strategy by which the UAV and AUV would rapidly conduct low-resolution scans identifying areas of interest for further investigation by the ROV. The UAV and AUV could not be used; however, the ROV was able to cover 80,000 m2 in 6 h, finding submerged wreckage and pollutants in areas previously marked clear by divers. The field work (i) showed that the actual and planned multirobot system configurations did not fall neatly into traditional taxonomies, (ii) identified a new measure, namely perceptual confidence, and (iii) posed five open research questions for multirobot systems operating in littoral regions.

Modeling and control of a flexible solar array paddle as a clamped-free-free-free rectangular plate

Modeling and vibration control of a flexible solar array paddle as a clamped-free-free-free rectangular plate are considered. This problem has arisen, in particular, in the area of control of satellites and space stations that have solar array paddles. We consider a flexible plate in zero gravitational field and rotated about two of its axes by two motors. We first derive a partial differential equation and a set of boundary conditions that represent vibration of the flexible plate, and ordinary differential equations that represent the dynamics of the angles of rotation of the motors. Solving the related eigenvalue problem, the eigenvalues and the corresponding eigenfunctions are obtained. On the basis of a finite-dimensional modal model of the distributed-parameter system, an optimal controller with low-pass property and a robust H∞ controller for the flexible plate are constructed. Simulations and experiments have been carried out.

Robust Cooperative Control of Two Two-Link Flexible Manipulators on the Basis of Quasi-Static Equations

In this paper, a dynamic model of a distributed parameter system and a control architecture are developed for the closed-chain motion of two two-link flexible manipulators holding a common rigid object in a horizontal workspace. We derive the dynamic relation of deformation of the flexible links, constraint force, and rigid-object dynamics. Use of the quasi-static relation of the deformation, the constraint force, and the rigid-object dynamics gives quasi-static equations of joint angles which are not dependent on the variables related to the deformations of the flexible links. We design a robust cooperative controller of the two flexible manipulators considering measurement disturbances and modeling errors caused by the link-parameter uncertainty and the quasi-static approximation. A set of experiments for the cooperative control of the two flexible manipulators using a force sensor has been carried out. Several experimental results are shown.

Common Frameworks of Networking and Information-Sharing for Advanced Rescue Systems

Networking and information-sharing task force aims to develop common frameworks of robust networking and flexible information-sharing, which help to collect sensing data about damages and to control search-and-rescue devices like robots, sensor networks, PDA, and so on. Collecting disaster information at damaged area is the most important activity to help decision-making in rescue process, while normal infrastructure of information and communication itself is also damaged by the disaster. Ad-hoc network with wireless communication is one of important candidates to provide robust communication infrastructure. Our task force tries to figure out requirements of robot and sensor networks for search-and-rescue and tune-up middle-ware of ad-hoc networks for it. We also focus on common protocol to gather disaster information. Because the information will be provided by various types of sensors, robots and PDAs, quality of information depends on performance of the devices, conditions of environment, and human-factors. The common protocol should permit the wide-variated qualities of information

Robust Cooperative Control of Two Two-Link Flexible Manipulators

Abstract In this paper, a dynamic model of distributed parameter system and a robust control architecture are developed for the closed chain motion of two two-link flexible manipulators holding a common rigid object in a horizontal workspace. Several experimental results for the cooperative control of two flexible manipulators are shown.

An Introduction to the Spatial-Temporal GIS 'DiMSIS-Ex' and its Application for the Recovery and Restoration Process after Large Disasters in Düzce City: Construction of the New Residential Area and Traffic Network

To contribute to the improvement of regional safety, we have developed a spatial-temporal information system under the concept of a risk-adaptive regional management information system (RARMIS). This system can be characterized as follows: (1) Coordination between normal and emergency functions. (2) Integrated database for handling spatial-temporal data. (3) Implicit topological data descriptions. In this paper, technical matters about spatial-temporal GIS and its applicability for not only disaster prevention but also a broader kind of analyses and the daily tasks of local governments will be explained at first. Then, the case study of Duzce city will be mentioned as an example of the application of spatial-temporal GIS. Relatively soon after the earthquake, it was decided to develop a new residential area in the suburbs of the city and let 50,000 people emigrate there. However, because the road conditions were not so good, we tried to check whether the traffic capacity of the roads between the new residential area and the city center was adequate. Concretely, we surveyed traffic volumes and found that while no serious traffic jams occurred the trip took about 45 minutes. Accordingly, we suggested a new trunk road was needed and also, using vacant lots in the center of the city, small but numerous parking lots might be constructed. At the time of writing, this work has been completed almost according to our suggestions. Now, both areas are connected by a new 8 km-long trunk road and the trip takes only 6 minutes.