SGER: Hurricane Katrina- Documenting Damage to Multi-Story Commercial Structures along the Gulf Coast using Rotary-Wing Unmanned Aerial Vehicles

摘要本项目使用微型直升机从以前不可能的角度拍摄密西西比墨西哥湾沿岸沿着多层商业建筑的损坏情况。 高度稳定的电池供电的微型直升机在卡特里娜飓风响应的第一天被机器人辅助搜索和救援中心（CRASAR）用于密切调查损失。 这些微型直升机已经配备了改进的光学系统，以更好地捕捉结构性故障的细节。 直升机可以进入或调查工程师由于损坏本身或缺乏通道而不可能到达的结构（例如，坐在水中或被碎片包围），其中进入可能对工程师构成重大风险，并提供来自结构故障的感兴趣点的观点（例如，从外面看屋顶的特写，从侧面看水面的景色）。 密西西比墨西哥湾沿岸的多层结构非常少，CRASAR拥有丰富的现场经验，因此，在重要细节被额外的天气所掩盖之前，预计将完成快速的文件工作。 所有数据均可供结构工程师、应急响应规划者和一般科学界使用。 该项目还有一个次要的使命：改进有效载荷和程序，以促进更大的工程界采用和有效使用直升机。 除了基础科学贡献外，该项目预计将在应急响应、土木和机械、保险和机器人领域产生更广泛的影响。

ABSTRACT This project uses miniature helicopters to photo-document damage in multi-story commercial structures along the Mississippi Gulf Coast from viewpoints that have never before been possible. Highly stable, battery-powered miniature helicopters were used in the first days of the Hurricane Katrina response by the Center for Robot-Assisted Search and Rescue (CRASAR) to closely survey damage. These miniature helicopters have been outfitted with improved optics to better capture details of structural distress. The helicopters can enter or survey structures that may not be possible for engineers to reach due to the damage itself or lack of access (e.g., sitting in water or surrounded by debris), where entry may pose a significant risk to engineers, and supply viewpoints from interesting points of structural failure (e.g., close up of roofs from the outside, views from the side on the water). The Mississippi Gulf Coast has comparably few multi-story structures and CRASAR has extensive field experience so a rapid documentation effort is expected to be completed before important details are obscured by additional weather. All data are available to structural engineers, emergency response planners, and the general scientific community. The project has a secondary mission: refining the payloads and procedures needed to foster the adoption and effective use of helicopters by the larger engineering community. In addition to the fundamental science contributions, the project is expected to have significant broader impacts spanning the emergency response, civil and mechanical, insurance, and robotics communities.