Category: Rescue Robots

Tornadoes and robots

I’m getting asked about why aren’t robots being used in Alabama, below is an informal description of the utility of air, land, and sea vehicles for these situations. Our hearts go out to the families- having seen 400 miles of this type of devastation we know that every square inch is a person’s life or livelihood.

Aerial vehicles are probably the most useful in these situations. Micro fixed wing UAVs that responders can literally throw to launch can quickly give the respond team a view of the situation and allows them to control what they are looking at. Medium resolution but on-demand with immediate viewing and feedback (“no– over there”) is  superior for immediate operations to getting super high resolution images with almost everything you wanted to see a couple of hours after you asked for it.  The responders and other decision makers need different resolutions of data and at different times.

Ground robots are less useful– the rubble isn’t particularly deep- remember, in general the sweet spot for a rescue robot is to penetrate further than 20 feet. Plus it’s the houses and non-engineered structures that get wiped out, so the density and style of collapse is different from the World Trade Center, parking garage collapses (e.g., Berkman Plaza II in Jacksonville or the Hackensack NJ apartment building), and building collapses (e.g., Cologne Germany Archives Building) where robots have been used by CRASAR and New Jersey Task Force 1.

Also, just a reminder to people thinking about IED “Hurt Locker” robots, in these situations you are often standing on the top of the rubble/roof and trying to work down into the rubble. So you want very small robots on a tether/belay to wiggle in and find voids. Mark Micire’s analysis of the use of tethered robots at the WTC for his Masters showed that tethers actually help the operators get the robot through the rubble in these vertical descents.

Canines give a great indication is someone is buried and a search camera (camera on a pole) is a great one-two high tech/low tech combination and search teams are incredibly fast. Rescue robots make sense where they do things that people and dogs can’t do or can do significantly faster.

Marine vehicles can help with victim and economic recovery- lots of things get pushed into ponds and lakes- but this is usually of interest later after the initial rescue phase.

CRASAR back from Japan: 6 sites, 5 days, 4 new research areas, 3 robots

CRASAR-IRS team photo, courtesy of CRASAR and NSF (Robin Murphy, Karen Dreger, Eric Steimle, Sean Newsome, Tetsuya Kimura, Jesse Rodocker, Satoshi Tadokoro, Kenichi Makabe)

We’re now all back in the US. Our third day at Rikuzen Takada, in the pouring rain and high wave activity, did not find any victims, so we were a bit disappointed. We participated in a press conference held by our hosts, the International Rescue Systems institute at the Chiba Institute of Technology on Sunday morning (Dr. Anne Emig from NSF Tokyo was there and it was great to meet her in person- she’s been a tremendous help), then dropped off gear at Continental cargo (huge thanks!), boarded our flights, and flew home. We cannot thank our host Prof. Tetsuya Kimura, Prof. Fumitoshi Matsuno, their grad students, and the IRS team enough for their help! We hope to obtain NSF funding to return with a different set of robots better tuned to searching for bodies under flotsam or underwater debris within a month.

It was nice to see that Minami Sanriku Mayor Hitoshi Sato publicly stated that the new port facility was being reopened because of our search.  The Rikuzen Takada City Manager, like the Minami Sanriku fisheries expert, also was interested in the ROVs for use with fishing and oyster farming- a positive, unintended consequence of being there.

Here’s some numbers about our work:

In total we searched six sites in Japan over 5 days.

Of the four robots in our cache, we only used 3. We used the SeaBotix SARbot at each site- it was definitely engineered for underwater search and rescue making it easy to quickly deploy. The SeaBotix LBV-300 was not used, as the SARbot was sufficient for the areas of interest and using the LBV-300 at the same time as the SARbot would require them to have to work in different areas to avoid their sonars from interfering with each other.  The Seamor was used twice and its DIDSON sonar (which doesn’t interfere with the SARbot Gemini sonar) had some advantages but wasn’t intended to be a rapidly deployable system. The Access AC-ROV, essentially a camcorder with thrusters, was also used twice in clear water to assess debris in very shallow water. It was fun to literally throw it in the water.

At the press conference we reported out on four preliminary findings on needed research:

1. Simulation and Geographical Information Systems- we’d like to see work in projecting the location of victims, and mechanisms to then update models as bodies were recovered

2. Cyber-physical systems- we definitely see the need for autonomous station-keeping to keep objects in view and accurate control in all kinds of water conditions
3. Computer vision & cognitive engineering- while underwater search and recovery is something that is perceptually a bit like Supreme Court Justics Potter Stewart’s quote about pornography (“I’ll know it when I see it”), we believe that cooperative computer vision algorithms permitting object cueing (“look here dummy”)  and  sensor fusion of sonar and video would be of great benefit.
4. Human-robot interaction- I suspect based on my rough observations that the operators never got beyond Level 2 Situation Awareness using Dr. Mica Endsley’s scheme, so help with visualization of surrounding clutter and advances in multi-modal interfaces would be useful.

Day 2 at Rikuzen-Takada: more video

Our CRASAR/IRS team continues to work in Rikuzen-Takada searching coves and flotsam jams that the Japanese Coast Guard divers cannot check. Today will be our last day and then we will return home on Sunday. The devastation is unimaginable and we have made only the tiniest dent in the victim recovery process and haven’t even touched critical infrastructure inspection and recovery operations.

These videos show the value of the image enhancement software on the SARbot, which has been our “go to” ROV. (And yes, we did all gasp when we first saw the glove, thinking it was a hand.) We were told to expect victims either trapped under flotsam or partially buried in slit on the sea bottom.

[youtube]http://www.youtube.com/watch?v=cdN2-LCCUR8[/youtube]

[youtube]http://www.youtube.com/watch?v=fJ_V2t79h7I[/youtube]

Rikuzen-Takada: robots go where divers cannot

We worked at two sites in the Rikuzen-Takada area after meeting with the Mayor yesterday and then this morning with the City Manager in the city offices overlooking the spectacular bay. The Mayor lost his wife, and the City Manager, his wife and daughter,  in the tsunami as they were at home by the water while they were at work when the wave hit. A reminder of why we’re here- it’s not the technology, it’s about people.

Japanese Coast Guard examining SARbot at IRS/CRASAR deployment to Rikuzentakada, courtesy Eric Steimle, CRASAR, NSF

Our hosts, the International Rescue Systems institute, coordinating the search  with the Japanese Coast Guard.

The Coast Guard divers were very enthusiastic about the ROVs because the divers are forbidden to dive under structures or flotsam such as these houses here. But victims may be trapped under that rubble…

This video is from the SARbot (which was able in less than 10 minutes from car stopping to robot getting across the landing to get under the house).

We also used the AC-ROV for the first time on the trip– it’s essentially a camcorder with thrusters!

No sign of bodies, but we were able to check off two areas that the Coast Guard had been unable to explore. More today.

[youtube]http://www.youtube.com/watch?v=YUvymnvsXq4[/youtube]

Finished with Minami-sanriku-choy, on to Rikuzen-Takada

[youtube]http://www.youtube.com/watch?v=Duh0i7U10W8[/youtube]  We finished yesterday (Wednesday) surveying the “new port” area of Minami-sanriku-choy today, finding debris but all at depths greater than 5m. That means the fishing boats can safely start using that area again. The SARbot and Seamore (and their teams) performed admirably, while the other robots stayed back at the city sports arena that serves as the emergency center. You can see the video of them against the bulldozers stacking up rubble and burning it. We’re in Rikuzen-Takada for the next 2 days.

We were surprised at the lack of cars and other big objects underwater. The lower portions of the town is one rumbled mass of cars, piers, metal pilings, and such all twisted about, so we expected to see at least some of the same in the water. We did find a 15 meter long structure, possibly the framing of one of the unfortunate buildings

Mostly we found the anchor stones for the harbor and some ropes (but none drifting high enough to foul propellers) and lots of small, low debris.

[youtube]http://www.youtube.com/watch?v=-ocMtWPyooA[/youtube]

So, one lesson learned for future research is that we need simulation software that predicts where debris will go after a tsunami or hurricane (different versions since we believe the water behavior is different for those events).

We did not find any victims, which is bittersweet as there are so many people missing and so many families try to reach closure. Minami-sanriku had a population of 20,000 and 2,000 are dead or missing. But it is always so sad to find remains, too easy to see life cut short.

ROVs working in the rain (and snow) at Minami-sanriku-choy

SeaBotix SARbot on a trial run 4/19/11 at Minami-sanriku-choy. Courtesy of Karen Dreger, CRASAR, and NSFWe’re at Minami-sanriku-choy for the first full day of work. Yesterday we put the SeaBotix SARbot in the water in the afternoon in the light rain to conduct a general assessment of the area around the fishing pier and to show the general capabilities. Today we’re back (in the light snow), with the SARbot and the Seamor unit to conduct a coordinated sweep of the area. The Seamor has excellent sonar imaging, while the SARbot has excellent location abilities so the Seamor will spot debris or objects of interest and the SARbot will (later- they are working in separate 100m radii areas) zoom to the approximate location and get the precise location. The SARbot is also estimating the depth of debris- as the fishing boats vital to the economy need 5-10m of clearance.

We haven’t found anything particularly unexpected or dangerous to boats (or victims), but we’ve just started.

Dr. Kimura’s team has been super and we’re enjoying our collaboration!

CRASAR now in Japan with the International Rescue Systems institute, heading to Minami-Sanriku-Cho

Our five person, four marine robot team has arrived in Japan to assist the International Rescue Systems Institute (IRS) with inspecting damaged bridges, docks, and pipelines, as well as with victim recovery for five days. We’ll be experimenting with four different suitcase-sized remotely operated vehicles (ROV), smaller versions of the tethered ROVs used at the BP Oil Spill but just as capable.

Dr. Eric Steimle, AEOS, and Karen Dreger of the University of South Florida’s Center for Ocean Technology have brought a Seamor ROV with advanced imaging sonars and a smaller-than-a-soccer-ball AC-ROV with video. Sean Newsome and Jesse Rodocker have brought two Seabotix ROVs, the SARbot which is optimized for responders to put in the water in 3 minutes to save a person trapped underwater and the LBV-300-5, their powerful work horse ROV. I’ll profile each of the platforms in later blogs.

CRASAR logo peeking out from the back of Dr. Kimura's crowded minivan.

We are traveling with funding from the National Science Foundation (thanks!) and Continental and United- thanks to John Chapman and Hiro Donoshita have been extremely helpful with transporting the gear and expediting us through customs, with lots of help from Dr. Anne Emig and Ms. Kazuko Shinohara of NSF.  Dr. Tetsuya Kimura of IRS has made all the travel arrangements within Japan, including the 3 car convoy needed to haul us north to our first mission at the coastal city of Minami-Sanriku-Cho.

Everyone is donating their time and equipment through the Roboticists Without Borders program- really big shout out to Sean, Jesse, Karen, and especially Eric who has been marshaling the ROVs. It’s hard to believe that we’ve got so many top experts and gear to support our Japanese colleagues and people. I’m sure they are going to be able to do good and that we will all learn from their efforts.

Check out the press release for more details or how to contact us.

Back from Japan, expect to return in a week

I’m back from Japan- interesting work going on with robots at Fukushima. CNN is running the story about the T-Hawks, though the picture looks suspiciously like the shot from the fixed wing taken earlier on March 24 by Air Photo Services (and the caption is ambiguous). I’m reluctant to post with what I’ve heard or been working on due to lack of permission or lack of verification, but I believe there are more robots being used in useful, rational ways than the press knows about. The robotics community is pulling together and supporting the efforts discretely, as press is very distracting during a crisis.

Dr. Eric Steimle and I believe that the last pieces are falling into place to allow us to deploy next week to assist IRS with marine vehicles. Lots of work to be done and we’re excited!

CRASAR in Japan! Fukushima, Recovery Operations Update

I’m in Tokyo. CRASAR has had to turn down one request for marine robots,  is responding to another request for marine vehicles for recovery operations, and I’m here without robots to advise on unmanned systems for the Fukushima reactor response.

It was a difficult week as the CRASAR team had to turn down the request of the Port of Hachinohe and nearby surrounding areas to use unmanned marine vehicles. Our colleagues at the International Rescue Systems Institute, particularly Prof. Fumi Matsuno and the Hachinohe Institute of Technology, set up logistics and gave generously  of their time. But delays in approvals and funding (travel exceeded our reserves so we had to get outside funding)  here in the US caused us to be unable to travel, so we lost that opportunity. Dr. Eric Steimle has pulled together an amazing set of five different marine vehicles and sensors from our members and his contacts- all man portable and can go through check through luggage- through our Roboticists Without Borders program. Everyone on the marine team remains on standby.

In the meantime, I was contacted to advise with the use of robots for the Fukushima reactor incident and am here now in Japan. No robots (the authorities have already lined up the ones they want) and I am not getting within 50 miles of the plant.  Just here with our experience in post-disaster inspection with land, marine, and aerial vehicles to help transfer that experience as needed (or IF needed, as sometimes the most helpful thing to do in a disaster is just to stay out of the way). I haven’t checked in with the Public Information Officer so I hope to be able to provide details within the next day.

And Prof. Tetsuya Kimura from IRS has just sent a request for marine vehicles from Minami-Sanriku-Cho!   Our newest member of Roboticists Without Borders, Seabotix, has a distributor in Japan who is looking at coming to join IRS at Minami-Sanriku-Cho immediately. Then the US team would join them with a different, complementary set of marine vehicles when funding and approvals get in place.

So why marine vehicles? Aren’t the Japanese Self Defense Forces and the Marines (I used to be on that group’s technical advisory board- go CBIRF!) with people and ships doing a massive operation? Sure- but they appear to be focusing on victim recovery and from “human assessable” approaches (wading). This still leaves critical infrastructure inspection (bridges, seawalls, navigational channels, pipelines, etc.) undone- all essential to getting the economy back going, to getting shipments of food and water in, and utilities restored. And also there is the recovery of victims under deeper water.

I’ll try to post more as the situation and PIO approvals permit.

In the end, it’s not about the technology, it’s about people. So we all are keeping the Japanese people in our thoughts and prayers- the terrible impact of the disasters, the sacrifices of the Fukushima plant workers,  the awfulness of not being to find or recover the bodies of loved ones- it’s just hard to comprehend.