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

提案编号：CNS 11- 38674 PI（s）：Andrews，Anneliese Mahoor，Mohammed机构：丹佛大学标题： 快速：CRAWLER机器人与两用肢体运动和操纵虚空inspectionProject建议：这个快速项目，开发和制造定制的机器人工具的基础上正在进行的工作，在CRAWLER机器人与可重构附件，旨在部署该工具在受影响的地区2011年海啸和核灾难在福岛，日本。该机器人将捐赠给仙台东北大学的国际救援系统研究所，将基于最近的改进，使CRAWLER更防水，更清洁和更可维护。该系统扩展了该团队开发的现有机器人系统，使紧急救援人员能够使用多摄像头，正交视觉系统，这些系统将连接到机器人上，以增强态势感知。这个新的视觉子系统构成了其新奇的一部分。日美学术研究团队将从事以下活动：-开发方法来分析改进后的机器人的功效？的视觉系统。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。研究人员与搜索和救援研究员Satoshi Tadokoro博士（东北大学）合作。Tadokoro博士已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（在美国国家科学基金会的单独资助下开发），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。还要求提供额外资金，以便前往日本进行合作研究和实验。 此外，还提议与正在组织日本灾难后续工作研讨会的Robin Murphy（TAMU）开展互动和协调工作（相关差旅资金不包括在本提案中）。更广泛的影响：本提案承诺通过参与性研究范式支持日本的经济复苏工作，从而为社会带来直接利益。此外，对未来灾害的长期利益是显而易见的，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智能，以人为本的系统。此外，拟议工具的使用将成为机器人技术的一个重要里程碑，使核电工业能够更好地在未来迅速应对灾害。最后，该项目旨在培训本科生和研究生，使他们接触高影响力的应用领域。PI在指导代表性不足的学生方面有着良好的记录。

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.