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IOT Based Human Search and Rescue Robot using Swarm Robotics
Abstract
Natural calamities and disasters such as building collapse, post-tsunami, earthquakes are some of the most disastrous situation mankind faces and, in such situations, rescuing of survivors is the most critical job. This paper discusses the design and development of swarm robotics, which can be used in such disasters in order to search for survivors and several other research purposes. The swarm robots in the current project are controlled by a centralized system where all the bots connect to a common IOT cloud. Through which they communicate and store all the accumulated data. The bots also use several sensors such as GPS location tracker, an ultrasonic sensor for obstacle and edge detection for maneuvering purposes, LM35 temperature sensor. The current system also is developed with a unique novel hybrid 6-wheel design which will help in easy maneuvering over rough terrain.
In the aftermath of a disaster, such as an earthquake or the collapse of dilapidated buildings, it is necessary to enter the ruins to rescue the wounded, which is often accompanied by the casualties of rescuers. We propose a wounded body reconstruction system for rescue operations in disaster zones to replace humans with robots for rescue in hazardous environments. However, many limitations such as self-scanning constraints, reliable human semantic parsing, accurate surface reconstruction, and plausible motion tracking make this work even more challenging. We employ a parametric model to break the self-scanning constraints and obtain human semantic parsing fundamentally. To enable the parametric model to present human detail, we improved the human parametric model by defining a detail layer applying to the template as an additional offset. We propose automatically changing the viewpoint according to the human pose with the help of a robotic arm to obtain a dense and complete observation and achieve a high precision surface reconstruction. To meet the requirements of the rescue operation, we propose a new pipeline to track the wounded motion accurately. The experiments demonstrate that our method can accurately recover the surface of the human body and achieve accurate motion tracking free from the constraints of self-scanning and preserving reliable human semantic parsing.
Rescue robots can replace rescue workers in search and rescue missions in unknown environments and hence play an important role in disaster relief. To realize the advantages of high carrying capacity, easy control, and simple structure to adapt to a complex disaster scene, a novel wheel-legged rescue robot, integrated with rescue function modules, was designed for the present work. Three motion states were analyzed in detail. Mechanical properties were studied to provide basis for parameter optimization. The performance indices, which include mechanical properties, motion amplitudes and movement stability, were proposed, and the structural parameters were further analyzed and optimized based on these performance indices to make the overall performance of the robot achieve the best. Results show that the motion state of the wheel-legged rescue robot can perform real-time transformations and hence can be used in complex environments.
A wheel-legged rescue robot design with strong environmental adaptability is proposed. The design presented is aimed at helping rescue workers complete their missions, such as environmental and personnel search, quickly and accurately. So it has broad application prospects. In order to achieve the advantages of simple structure, easy control, small occupation space, and wide motion range, a wheel-legged rescue robot is designed in this paper, and the robot can realize three kinds of motion states, which include wheel state, rotation center lifting process, and leg state. Then the motion states are analyzed in detail, which provides a reference for motion control. Considering the wheel state and leg state share the same structure to contact with the ground, the effect of the stiffness of wheel-legged structure to the motion performance is analyzed. Then the experiment is carried out to prove the feasibility of the structure design. This study offers a design and quantitative analysis for wheel-legged rescue robot. Furthermore, a basis for future control research and engineering applications is established.
Mobile phones can be used to transmit the signal to control devices. A method to transmit digital data to control a number of devices installed in a remote place is presented. DMTF (Dual Tone Multi-Frequency) coding technique is used to convert digital content to analog which is then transmitted over a line. DMTF is popularly known for analog telephone communication. Once the signal is converted and sent to the receiver the receiver decodes the signal into its digital form. All mobile phones and land line telephones keypad are DTMF generators for their corresponding digit. A DMTF decoder is attached to the telephone line and a microcontroller is used. When a ring is detected by the microcontroller then the call needs to be attended and by giving the feedback tone we can send DMTF code to control the remote device attached to the system using the sent data and then by terminating the call the device can be stopped. Using AVR Studio the programs are designed to control the AVR microcontroller. The binary combination of the number for the corresponding DMTF is fed into the microcontroller. Microcontroller controls the connected devices through relays and interfacing circuits. A password is also attached to this system for avoiding the improper usage. Hardware connections are first simulated in Fritzing simulation software.
Many areas of the world are getting affected due to natural calamities. Disasters are either man made or natural such as earthquakes, terrorist attacks and flood etc. Rescue personnel must make quick decision under stress and try to get victims to safety at their own risk. Previously, trained dogs and rescue personnel were employed to perform all these tasks. The main objective of this paper is to develop a fully automated mobile robot without using a camera, which can rescue more number of people from the adverse conditions of dying due to natural calamities. By using this robot, we can quickly get the amount of information available to the rescuers and more lives can be saved. The robot is designed for detecting humans in an unmanned area that can be done using sensor units and track their location using GPS and transmit the data to the receiver using IoT.
Search and rescue robot is developed mainly to move through rubbles and debris. When a natural disaster such as an earthquake struck causing the building to collapsed, this robot can be used to search for victims and transfer to safe place. Search and rescue robot is equipped with a robotic arm to perform the evacuation process. With this robotic arm, robot can easily grab the victim in collapsed building and bring to safe place. Generally, there is a lot of robot like this used for rescue operation in collapsed building. But non of them is control by using mobile devices. So this paper is purposely designed to develop a prototype of robotic vehicle using mobile devices as controller by using Bluetooth transmission. The distance can vary from 10 meter to 100 meter depending on the type of Bluetooth module used. This robot is powered by Arduino Uno R3 board using 9V AA battery for power supply. In order to control this robot using mobile devices, an application was designed by using MIT Inventor to create an application interface between robot and mobile devices. While for the robotic arm will be design by using Autocad software. In addition, robotic arm will also use four servos to move.
Embedded system devices are used to detect changes in the environment through sensors and other hardware and respond to human commands. The sensors used to detect changes in the environment, in the already existing systems are fixed in a certain place and cannot be moved easily. A small device is built which can be used for movement of the sensors to different locations effortlessly. It can be used in industries to mount the temperature sensors and move them to remote locations to detect changes in the environment. The data collected by the sensors can further be used for analysis. This is achieved using the microcontroller (ATmega8) which uses the embedded C program for control of the device and the interface. LM35 is the temperature sensor used to detect the temperature. L293D is the IC used for the stepper motor and microcontroller interface. The device controlled by the user moves to different locations senses temperature. If the temperature is above a given threshold, the output is given as buzzer. An algorithm is written to combine the movement, temperature measurement and the buzzer.
Urban search and rescue is a difficult domain for autonomous mobile robots to operate in. The environment can be expected to be highly unstructured, with many obstacles and hazards for a robot to deal with. In addition, if human rescue teams are going to accept robotic assistance, they need to be assured that the robots are going to be helpful, not a hindrance. With these factors in mind, we have been working toward the development of an autonomous swarm of small, inexpensive search and rescue robots. The robots should be autonomous in order to provide useful information to human rescuers without requiring specialized knowledge in operating robots. A swarm is useful because it allows for losses of individual robots and for redundant communications pathways, without losing overall effectiveness of the swarm. The robots should be small so they will not pose a danger to rescuers or the victims being searched for. And they should be inexpensive because worrying about the loss of robots should not be a consideration for human rescuers. Blue Swarm 2.5 is the latest incarnation in our quest for an autonomous rescue robot swarm. This paper describes our efforts to develop an effective rescue robot swarm. The paper starts by describing the past incarnations of the swarm, including the research objectives being pursued and the results obtained. Then the most recent version of the swarm, Blue Swarm 2.5, is described. Finally, the plans for Blue Swarm 3, the first fully functional rescue swarm, will be described.
One of the current trends in technology is an IoT. IoT stands for Internet of Things. It is interpreted as the communication between devices using IP address. Usage of IoT technology in coal mines reduces the number of untoward incidents. Rescue operation in coal mine deals with the risky mission. The work force inside the mine doesn’t know some explosions taking place in the proximity of mines. The rescue team also cannot understand the conditions inside the mine. The environmental parameters include toxic gases, excessive temperature, Methane leakage as well as the Oxygen. Information from the deployed sensor is transmitted to the control room through Wi-Fi. In order to address the problems in real life conditions prevailing inside the coal mine, we propose a new method to extract the related information and process the same to alert the people who are working in the vicinity of the mine. For this purpose, a framework is designed using a robotic machine integrated with the raspberry pi3 version. A camera is used in the robot so that the live video is transmitted to the Control room. A cooling fan is deployed to reduce the temperature whenever the value exceeds the threshold level. The workers get an alarm through buzzer whenever any hazardous gas is detected. The robot is controlled by means of navigation buttons, which are in turn managed internally by web server.
This paper presents a survey on multi-robot search inspired on swarm intelligence, thus classifying and discussing the theoretical advantages and disadvantages of the existing studies so far. Subsequently, the most attractive techniques are evaluated and compared by highlighting the most relevant features one should expect under such distributed exploration task. This is motivated by the gradual growth of swarm robotic solutions in situations where conventional search cannot find a satisfactory solution. For instance, exhaustive multi-robot search techniques, such as sweeping the environment, allow avoiding local solutions but requires too much time to find the optimal one. Moreover, such techniques tend to fail in finding targets within dynamic and unstructured environments. This paper presents simulated and real experiments conducted to benchmark five state-of-the-art algorithms on cooperative exploration tasks in unknown scenarios. The simulated experimental results show the superiority of the previously presented Robotic Darwinian Particle Swarm Optimization (RDPSO), evidencing that sociobiological inspiration can be useful to meet the challenges of robotic applications that can be described as optimization problems (e.g., search and rescue applications). Moreover, the RDPSO is further compared with the best performing algorithms within a population of 14 e-pucks. It is observed that the RDPSO algorithm provably converges to the optimal solution faster and more accurately than the other approaches without significantly increasing the computational demand, memory and communication complexity.
The unprecedented number and scales of natural and human-induced disasters in the past decade has urged the emergency search and rescue community around the world to seek for newer, more effective equipment to enhance their efficiency. Search and rescue technology to-date still rely on old technologies such as search dogs, camera mounted probes, and technology that has been in service for decades. Intelligent robots equipped with advanced sensors are attracting more and more attentions from researchers and rescuers. This paper presents the design and application of a distributed wireless sensor network prototyping system for tracking mobile search and rescue robots. The robotic system can navigate autonomously into rubbles and to search for living human body heat using its thermal array sensor. The wireless sensor network helps to track the location of the robot by analyzing signal strength. Design and development of the network and the physical robot prototype are described in this paper.