SNAKE ROBOTS TO THE RESCUE!

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SNAKE ROBOTS TO THE RESCUE!
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Introduction

• Intelligent robots in SAR dealing with tasks in
  complex disaster environments
• Autonomy, high mobility, robustness, modularity
• Biologically inspired mobile robots
• Serpentine search robot hardware, sensor based
  path planning and control design

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Rescue Robots

• Governments Inadequate preparedness
• in dealing with disasters
• Utilization of robotics technology for human
  assistance in any phase of rescue operations
• Detection and identification of living bodies

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Functions of Rescue Robots

• Detection and identification of living bodies
• Clearing of debris in accessing the victim
• Physical,emotional and medical stabilization by
  him/her for first aid
• Transportation of victim

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The Major Rescue Problems

• Generally destructive tools
• Heavy construction of debris clearing machines
• Slow and tedious tool operation
• Search based on sniffing dogs and human voices
• Retrieval of bodies can generate extra injuries

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Requirments of Rescue RobotsBasic Real Disaster
Real world interface
Action command
Disaster infromation collector transm
1.Seisometer 2.Tsunamimeters 3.Vedio
camers
1.Traffic signals 2.Eletricity
controls 3.Rescue robots
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• Virtual experience and traning
• Conditioning of optimal action in disaster
• Action simulator of parties of rescue,fire,fighter
  s and back supports
• Equipped with multitude of sensors

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Snake robots?Sensor based online path planning

• Multisensor based on line path planning
• Six identical segments two way,two DOF,
• total 12controllable DOF
• Ultrasound sensor,12 infrared sensors and
• thermal camera

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Different types of movement

• It is achived by adapting the natural
  snake motions to the multisegment robot
  configuraion
• 1)Move forward with
  rectilinear or lateral motion.
• 2)Move right/left
  with flapping motion.
• 3)Change of
  direction.
• 
  

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Specification of prototype

• Actutor ? Stepping motor
• Material ? Alluminium alloy
• Dimension ? 828267 cubic mm
• Weight ? 300g
• Max Torque ? 20kgf/cm
• Max angle ve- ? 50degrees per sec
• locity

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Development of Prototype Mechanism

• Effectively adapt to uncertain circumstances
• and carry activates with necessary flexibility
  
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• Twisting mode
• -folds certain joints to generate a
  twisting motion
• -within its body, resulting in a side-wise
  movement
• Wheeled-locomotion mode
• -where passive wheels are attached on
  units
• -increasing the friction

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• Bridge mode
  
  -two-legged walking-type locomotion
• -left-right swaying of the center of gravity
• Ring mode
• - two ends of the robot body are brought
  together by its own actuation to form a
  circular shape
• -uneven circular shape rotate is expected to
  be
• achieved by proper deformation and shifting
  of
• center of gravity as necessary.
• Inching mode
• -undulatory movements of serpentine mechanisms
• -generates a vertical wave shape using its
  units

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A GA Based Planning of Shape Transition

• Transform shape of hyper redundant robotic
  mechanism, without losing structural stability
  proper planning methodology is essential.
• The desired result is to make robot stand on its
  two ends in vertical position.
• The transformation from the initial to the final
  configuration is divided in k intermediate
  configurations

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• to find the optimal set of those k configuration
  sequences through which the robot shape is to be
  transformed
• Each configuration describes the sequence of
  relative joint angles of the body.

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• The whole structure is encoded as

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Conclusion

• Aiming at the enhancing the quality of rescue
  and life after rescue, the field of rescue
  robotics is seeking dexterous devices that are
  equipped with learning ability , adaptable to
  various types of situations. Research and
  development are going on for further modification
  of rescue robots. Considering various natural
  disasters and man-made catastrophes need for
  rescue robots is focused.

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QUESTIONS
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• THANK YOU