RAPID: CRAWLER Robot with Dual-Use Limbed Locomotion and Manipulation for Void Inspection

提案#：CNS 11-38674PI(S)：Andrews，Anneliese Mahoor，穆罕默德研究所：丹麦大学标题：RAPID：两用四肢行走和操纵无效检查项目建议：这个快速项目是在现有可重构附件履带机器人工作的基础上开发和制造一个定制的机器人工具，旨在将该工具部署在2011年日本福岛海啸和核灾难影响的地区。该机器人将捐赠给仙台东北大学的国际救援系统研究所，基于最近的改进，这些改进将使爬行器更耐水，更容易清洗和维护。该系统对该团队开发的现有机器人系统进行了扩展，以便能够使用多摄像机、用于应急人员的正交视觉系统，该系统将连接到机器人以增强态势感知。这个新的视觉子系统构成了它的新颖性的一部分。日美学术研究团队将从事以下一些活动：-开发分析改进后的机器人的功效的方法？S视觉系统。-设计并部署机器人，以收集有关污染程度的数据。-通过仙台东北大学国际救援系统研究所的日本同事在日本部署机器人。调查人员与搜救研究员Satoshi Tadokoro博士(东北大学)合作。Tadokoro博士已经为拟议的联合研究提交了一封支持信。该项目预计将在极端环境测试中制造机器人的改进版本(由美国国家科学基金会单独拨款开发)，并将该机器人捐赠给日本实验室进行联合实验和现场测试。还要求为前往日本进行合作研究和实验提供额外资金。还建议与Robin Murphy(TAMU)进行互动和协调工作，TAMU正在组织一次关于日本灾难的后续研讨会(相关的旅行基金不在本提议的一部分)。广泛影响：该提议承诺通过参与性研究范式支持日本的经济复苏努力，从而立即造福社会。此外，对未来灾难的长期好处是显而易见的，因为应急响应和无人驾驶系统都是形成领域，收集的数据将促进在不可预测的情况下发现和理解以人为中心的智能系统。此外，拟议工具的使用应该会在机器人领域建立一个重要的里程碑，使核电行业能够更好地在未来快速应对灾难。最后，该项目旨在培养本科生和研究生，让他们接触到高影响力的应用领域。在向代表不足的学生提供咨询方面，私人投资机构有着良好的记录。

Proposal #: CNS 11-38674PI(s): Andrews, Anneliese Mahoor, MohammadInstitution: University of DenverTitle: RAPID: CRAWLER Robot with Dual-Use Limbed Locomotion and Manipulationfor Void InspectionProject Proposed:This RAPID project, developing and fabricating a custom robotic tool based on the ongoing work in the CRAWLER robot with reconfigurable attachments, aims to deploy the tool in the areas affected by the 2011 tsunami and nuclear disaster in Fukushima, Japan. The robot, to be donated to International Rescue System Institute at Tohoku University in Sendai, will be based on the recent improvements that would make CRAWLER more resistant to water and more cleanable and maintainable. The system expands on the present robotic systems developed by the team to enable the use of multi-camera, orthogonal vision system for emergency responders that would be attached to the robot for enhanced situational awareness. This new vision subsystem constitutes part of its novelty. The Japanese-USA academic researcher team will be engaged in some of the following activities:- Develop methods to analyze the efficacy of the improved robot?s vision system.- Engineer and deploy the robot to collect data about the degree of contamination. - Deploy the robots in Japan through Japanese colleagues at the International Rescue System Institute at Tohoku University in Sendai.The investigators collaborate with Dr. Satoshi Tadokoro (Tohoku University), a search and rescue researcher. A support letter has been submitted by Dr. Tadokoro for the proposed joint research. The project is expected to fabricate an improved version of the robots (developed under a separate NSF grant) in extreme environment tests, and donate this robot to the Japanese lab for joint experimentation and in-situ testing. Additional funding is also requested to travel to Japan for collaborative research and experimentation. Proposed are also interactions and coordinating efforts with Robin Murphy (TAMU) who is organizing a workshop following up on the disaster in Japan (the related travel funds are not part of this proposal).Broader Impacts: This proposal promises an immediate benefit to society by supporting economic recovery efforts in Japan through a participatory research paradigm. Moreover, long term benefits for future disasters are in evidence since emergency response and unmanned systems are both formative domains and the data collected will advance the discovery and understanding of intelligent, human-centered systems in unpredictable situations. In addition, the use of the proposed tool should establish an important milestone in robotics allowing the nuclear power industry to be better positioned to rapidly respond to disasters in the future. Finally, the project aims to train undergraduate and graduate students and expose them to high-impact application areas. The PIs have strong track record in advising underrepresented students.