Human Robot Interaction - Ryerson University€¦ · threat.･P.E.R.T. members will be trained as Police Explosives Technicians through the Canadian Police College･ All P.E.R.T

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Department of Computer Science

Human Robot InteractionEOD and US&R Robots

(deal with bombs and help people)

Inuktun polymorphic robot can change its geometry.

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LEADERS OF TOMORROWDepartment of Computer Science

About This Class

• Source Material– Explosive effects– Evaluation of HRI Awareness in SAR

• Topics– EOD robotics– US&R robotics

Available on the course web site.

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What is EOD

• Explosive Ordinance Disposal• Originally a military term• the location, identification, evaluation,

safe rendering, recovery and finaldisposition of chemical, biological,nuclear, foreign or domestic,conventional, improvised, and previouslyunknown ordnance used world wide.

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How do humans do it?

• The Bomb DisposalSuit

• Problems– The obvious one– USMC heuristic

• You lose 50% ofcognitive ability witheach level ofprotective gear

The EOD HELMET is the world's first Threat Level IIIA ballistichelmet available to military and law enforcement agencies.ﾊ EODHELMET is the only EOD helmet in the world that provides completeand absolute 360 degree protection at the stated Threat levels.The EOD BOMB DISPOSAL SUIT also employs the most advancedtechnology in design and state-of-the-art fragmentation-defeatingmaterials available in the world today. Through extensive researchand development spanning more than a decade in actual fieldtests, and the leading Bomb Disposal Suit ensemble capable ofdefeating record setting specifications against the number onethreat faced by modern day EOD technicians... fragmentation.Theuse of state of the art materials underlines goal to increase thebomb technician's survival rate by improving the fragmentprotection characteristics of the suit without increasing overallweight. It has been proven that the greatest threat faced in a blastsituation is the threat of fragments of different sizes and shapestearing into the human body at supersonic velocities.Theexceptional performance in the other 3 major threats faced by EODtechnicians; overpressure, impact and heat. New V50 and V0 (NOPENETRATION) specifications meet US MIL-SPEC 622E,superseding the non-ratified NATO STANAG 2920. The newﾊ EODsuit is the result of a combination of over ten years of actual fieldtesting with the United States and the Canadian Governments. It isthe product of high technology materials derived from U.S. militaryapplications. These state-of-the-art ballistic materials, until now,have only been used by the United States Department of Defensefor the protection of its personnel. These new materials have nowbeen employed in the new lightweight chest and groin plates.These plates have achieved ground breaking V0 (NOPENETRATION) fragment defeating capabilities of ... 5471 FPS or1667 M/S.The use of lightweight armor materials offers the bestavailable protection in the world today. In fact, all live IED testing istaking place at a distance of 1 to 2 meters, not at the old testingstandard of 3 meters (10 feet), since military and law enforcementEOD technicians may be required to work inside a 3 meterraduis. The most current testing data on fragments,overpressures, impact and burn protection. This EOD suit iscurrently being used in 49 countries around the world.

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How do EOD robots do it?

• As easily as opening a door

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How do EOD robots do it?

• As easily as going up or down stairs.

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And what about finding a bomb?• Choices

– Blow in situ– Neutralize– Move elsewhere

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How bad could it be?

• Effects ofExplosions– Fireball– Blast Effects– Crater– Fatal Injuries– Air Pressure

Explosive EffectsType of effect

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What is Urban Search andRescue?

• Urban search-and-rescue (US&R) involves the– location,– rescue (extrication), and– initial medical stabilization

• of victims trapped in confined spaces.• Trapped

– Structural collapse– transportation accidents,– mines and– collapsed trenches.

FEMA definition

Urban search-and-rescue is considered a "multi-hazard" discipline,as it may be needed for a variety of emergencies or disasters,including earthquakes, hurricanes, typhoons, storms and tornadoes,floods, dam failures, technological accidents, terrorist activities, andhazardous materials releases. The events may be slow indeveloping, as in the case of hurricanes, or sudden, as in the case ofearthquakes.

http://www.fema.gov/usr/about.shtm

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Some Disasters• Gujarat Earthquake, India, 2001• World Trade Center, USA, 2001• Bam Earthquake, Iran 2003• Hurricane Ivan, Caribbean Sea, Southeastern

United States, 2004• Hurricane Jeanne, Greater Antilles, Eastern

United States, 2004• Indian Ocean tsunami, Indonesia, 2004• Maharashtra floods, India, 2005• Hurricane Katrina, 2005• Mudslide, Philippines, 2006

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What about Canada• National Search and Rescue Secretariat• Royal Canadian Mounted Police are the

operational authority for GSAR in allCanadian provinces and territoriesexcept Ontario, Quebec, and parts ofNewfoundland and Labrador.

• Authority in Ontario is the OPP– Provincial Emergency Response Team

(PERT)

Provincial Emergency Response Team - P.E.R.T.The ProvincialEmergency Response Team was formed as a result of theconsequences stemming from the terrorist events ofSeptember 11, 2001. P.E.R.T. was developed with anobjective to counter terrorist threats through the provisionof a rapid mobilization capability to address acts ofterrorism in Ontario that exceed the O.P.P.ﾕs currentcapacity both locally, regionally and provincially. Thepotential urgency and magnitude of a terrorist attack in theProvince emphasizes the need to ensure that speciallytrained members be prepared to ensure domestic securitywithin the Province. P.E.R.T. will work closely with otherministries, agencies and organizations to ensure a tightlyknit relationship and process that will assist in protectingOntarioﾕs critical infrastructure sites should an emergencyarise. P.E.R.T. also provides assistance to specialized O.P.P.units in countering terrorist threats and will assist theO.P.P., other agencies and municipalities in developing ordefining that part of their program that relates toP.E.R.T.P.E.R.T. also provides the O.P.P. with the ability torespond specifically to terrorist incidents in which there is aChemical, Biological, Radiological or Nuclear (C.B.R.N.)threat.･P.E.R.T. members will be trained as PoliceExplosives Technicians through the Canadian Police College･All P.E.R.T. members will receive C.B.R.N. and Weapons ofMass Destruction training at the Michigan State PoliceHazardous Materials Training Centre

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US&R Characteristics?• Dangerous

– Mexico City Earthquake (1985): 135 rescuers died,65 in confined spaces

• Responder Intensive– 1 survivor, entombed: 4 hours of effort: 10 rescuers– 1 survivor, crushed/trapped: 10 hours of effort: 10

rescuers• Need for Multidisciplinary Management

– Fire, Police, EMS, Management, Military, dog teams• Need for speed

– Victim found within 1 day: 81% survival rate– Victim found after 2 days: 36%

Michoacan, Mexico 1985 September 19 13:17:47 UTC Magnitude8.0 At least 9,500 people were killed, about 30,000 were injured,more than 100,000 people were left homeless, and severe damagewas caused in parts of Mexico City and in several states of centralMexico. According to some sources, the death toll from thisearthquake may be as high as 35,000. It is estimated that the quakeseriously affected an area of approximately 825,000 squarekilometers, caused between 3 and 4 billion U.S. dollars of damage,and was felt by almost 20 million people. Four hundred twelvebuildings collapsed and another 3,124 were seriously damaged inMexico City. About 60 percent of the buildings were destroyed atCiudad Guzman, Jalisco. Damage also occurred in the states ofColima, Guerrero, Mexico, Michoacan, Morelos, parts of Veracruz andin other areas of Jalisco.

Stats: L. Hengjian, M. Kohiyama, K. Horie, N. Maki, H. Hayashi and S.Tanaka, Building damage and casualties after an earthquake, Natural Hazards29

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Why use robots for US&R?

• Go where humans can’t go• Go where humans shouldn’t go• “Void” search• Aerial search• Why not,

– “We’d use a refrigerator if we thought it wouldwork”

• Toronto Fire Services, Fire Captain, Heavy UrbanSearch And Rescue (HUSAR)

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US&R Research Pioneer

• Prof. Robin Murphy• University of South

Florida• CRASAR--the place

for Robotic US&R• Very good robotics

credentials• And then something

happened

Center for Robotic-Assisted Search And Rescue

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911

2001, before 9/11. A study in July, 2001, with FLTF-3established methods of minimally disruptive data collectionand dentified tasks within the visual technical search taskfor a downed fire fighter. It concluded that two humans areneeded for visual search with a teleoperated robots,because operator kept missing obvious signs of victimswhile a supervisor who was not controlling the robot wasable to easily notice the downed fireman. The field workwith FLTF-3 was pivotal for the successful use of robots atthe WTC. On September 1, 2001, Lt.Col. Blitch, then intransition between retiring from the Army and from DARPA,chartered the Center for Robot-Assisted Search and Rescuethrough the auspices of NIUSR and became the firstdirector.9/11. This was the first known actual use of robotsfor urban search and rescue was at the World TradeCenter disaster on 9/11/2001. The robots were usedfor1.searching for victims2.searching for paths through therubble that would be quicker to excavate3.structuralinspection4.detection of hazardous materials.In each case,the robots were used because they could go deeper thantraditional search equipment (robots routinely went 5-20meters into the interior of the rubble pile versus 2 metersfor a camera mounted on a pole), could enter a void spacetoo small for a human or search dog, or could enter a placestill on fire or posing great risk of structural collapse. Therobots performed all their tasks well, though no survivorswere discovered by any method. The robots did find manysets of remains and, more importantly, were accepted bythe rescue community. All robots were teleoperated due tothe unexpected complexity of the environment, thelimitations of the sensors, and user acceptanceissues.CRASAR worked as independent team under theauspices of the Army Reserve National Guard, New YorkFire Department, or New York Police Department, or servedas an adjunct to Indiana Task Force 1, Pennsylvania TaskForce 1, and Virginia Task Force 2. providing robots, teamsof operators, and training. Blitch and Murphy mobilizedimmediately after the collapse of Tower 2. Murphy and theUSF team packed the cache of robots and drove to NewYork since all air traffic was suspended. Blitch, inWashington DC, coordinated the response, requestingFoster-Miller (led by Arnie Mangolds), iRobot (led by TomFrost), and SPAWAR (led by Bart Everett), to provide man-packable robots developed for his DARPA TMR program tojoin the effort. The Foster-Miller and iRobot teams were inBoston and joined Blitch in NY in mid-afternoon of Sept. 11,though were not actually able to get cleared and get onthe rubble pile until the early morning hours of Sept. 12.USF arrived on the morning of Sept. 12, and SPAWARarrived from San Diego on Sept 15.Not all of the robotsfielded by CRASAR were used on the rubble pile. TheInuktun micro-Tracs and micro-VGTV models and the Foster-Miller Solem and Talon models were the only robots usedon the pile, while the iRobot Packbot (a brand newprototype) and the larger SPAWAR Urbot were usedunofficially in nearby collaterally damaged buildings. Otherrobots and sensors from other organizations have beenreported as being present, but were not fielded. Forexample, the US Department of Justice brought inequipment from the Savannah River Energy Laboratory, butonly the sensors were used

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Robots Officially andUnofficially Used

• Officially– Inuktun micro-VGTV (with micro-tracs)– Foster-Miller Solem and Talon

• Unofficially– iRobot-Packbot– SPAWAR-Urbot

Micro VGTVThe Micro VGTVｪ, or Variable Geometry Tracked Vehicle, is a uniquesystem for remote inspection or observation applications. Thesystem can transform from conventional crawler tracks to triangulartracks during operation allowing the vehicle to negotiate obstaclesand operate in confined spaces and rough terrain.

TalonTALON LIGHTWEIGHT, TRACKED ROBOTS robots are powerful,durable, lightweight tracked vehicles that are widely used forExplosive Ordnance Disposal (EOD), reconnaissance,communications, sensing, security, defense and rescue. They haveall-weather, day/night and amphibious capabilities and can navigatevirtually any terrain.How are they different from other robots on themarket?･Man-Portable ﾐ At less than 100lb (45kg), TALONｪ can beeasily transported and is instantly ready for operation･Rugged ﾐTALONｪ robots can take a punch and stay in the fight. One was blownoff the roof of a Humvee in Iraq recently while the Humvee wascrossing a bridge over a river. It flew off the bridge and plunged intothe river below. Soldiers later used its operator control unit (OCU) todrive it back out of the river and up onto the bank so they couldretrieve it.･Fast ﾐ TALONｪ is the fastest robot on the market today withseven speed settings･High Payload Capacity ﾐ Long-term systemversatility optimizes investment. TALONｪ has the highest payloadcapacity and payload-to-weight ratio, allowing for the incorporation ofa broad array of sensor packages.･Mobile ﾐ Climbs stairs, negotiatesrock piles, overcomes concertina wire, plows through snow; can rightitself･Intuitive ﾐ Easiest robot to operate; joystick operator controls;quad screen display･Outstanding Situational Awareness ﾐ Can holdup to seven color cameras, including night vision and zoom options･Long Battery Life ﾐ TALON robots have the longest battery life of allman-portable robots･Best Service History ﾐ Easy to maintain andsustain; best spare parts, service and repair history in Iraq･Withstands Repeated Decontamination ﾐ Demonstrated at GroundZero after 2001 World Trade Center attack. Electronics withstood 45straight days of being decontaminated twice a day without failing.

PackbotPackBot was first used by US ground troops in Afghanistan in 2002 tohelp clear caves and bunkers, search buildings and cross live anti-personnel minefields. They were used again in 2003 in Iraq in urbanwarfare scenarios, as well as in vehicle searches.PackBot uses aunique propulsion system developing a road speed of up to 14 km/h.The system is characterized by distinctive "flippers" which offercontinuous 360 degrees rotation and negotiation of rough terrain andobstacles such as stairs, rocks, logs, rubble and debris. Theplatform can climb grades up to 60% and survive submersion inwater up to two meter deep. It is built to survive drop from two meterheight, on a concrete surface, or being thrown through a window ortumbling downstairs. The 18 kg robot can be carried in a backpack,and deployed in a few minutes. The PackBot chassis is integratedwith a GPS receiver, electronic compass, orientation and temperaturesensors. The robot is controlled by an integral Pentium basedcomputer. It uses a modular payload system offering standard (USB,Ethernet) communications and networking.

URBOTMan Portable Robotic System (MPRS/URBOT)Funded by theDepartment of Defense Joint Robotics Program, the MPRS programgoal is to develop lightweight, man-portable mobile robots foroperation in urban environments (indoor, outdoor and underground).The technical strategy calls for optimizing a realistic and robustsolution to an appropriate set of articulated user requirements, usingpredominantly off-the-shelf components. The capabilities andsophistication of these systems will expand with time as newtechnologies become available from various sources. TheUnmanned Ground Vehicle/Systems Joint Program Office (UGV/SJPO) is the Program Manager for MPRS, while SPAWAR isresponsible for all technical design and system integration.The initialMPRS system was implemented under a reflexive teleoperatedcontrol interface (developed on ROBART III), supported by ultrasonicand near-infrared collision avoidance sensors. A preliminaryprototype was developed to facilitate meaningful user feedback thatinfluenced the follow-on design of a more capable second-generation solution. This first-generation MPRS prototype wasevaluated in conjunction with the US Army Combat Engineers Tunneland Sewer Concept Experimentation Program (CEP) held at Ft.Leonard Wood in the fall of 1999. The purpose of the CEP was tovalidate the concept of employing small robots to conduct tunnel,sewer, and bunker reconnaissance in urban combat.The prototypewas based on a modified Foster-Miller Lemming base. The stockLemming is a small, inexpensive (basically expendable) trackedrobot that can be remotely operated with a simple joystick or push-button controller via a serial RF link. The MPRS configuration (Figure1) employed the mechanical elements (chassis, drive motors,gearboxes, tracks, and drive sprockets) of the Lemming, butsubstituted more sophisticated electronics, sensors, and anupgraded Operator Control Unit (OCU).Sensors included threeforward- and two side-looking sonars, and two five-element arrays ofSharp near-infrared triangulation ranging sensors, a pair of PrecisionNavigation electronic compasses, and four miniature pin-holecameras with dual halogen headlights. The platform was designedto be fully invertable (i.e., it can operate upside down or rightside upwith no preference), as opposed to self-righting. An attitude sensorautomatically determines which set of Sharp rangefinders and whichvideo camera to use in case the robot flips over. The onboardsoftware also inverts the sense of incoming drive and steeringcommands to preserve a normal mobility response.

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iRobot-Packbot

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Inuktun micro-VGTV

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Talon

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Urbot

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Problems

• No robot self-awareness• Transmission dropout• Human factor problems

– Poor interface, difficult to learn and use• Operator Fatigue

– Repetitive tasks but highly critical• Fragile Robots

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Innovation

Documents

Human Robot Interaction - Ryerson University€¦ · threat.･P.E.R.T. members will be trained as Police Explosives Technicians through the Canadian Police College･ All P.E.R.T