灾难救援机器人研究现状、关键性能及展望
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摘要
对日本、美国和中国等国家灾难救援机器人的研究现状和研究计划进行综述。根据世界各国救援机器人技术的研究现状,结合救援机器人在实际应用中取得的经验和教训,归纳和总结出救援机器人的关键性能为：存活能力、运动能力、感知能力、通信能力和作业能力。研究结果表明,灾难救援机器人研究逐步从试验研究转入到实际应用,多种技术融合化、多智能体网络化是今后灾难救援机器人研究的发展方向。防灾、减灾和救灾事关人民生命和财产安全,是国家公共安全的重要组成部分。救援机器人技术是国家发展迫切需要的战略必争的核心技术之一,将在国民经济和安全中起着重要作用并具有重大的战略意义。
A survey of the research status for search and rescue robots in Japan,USA,China,and other countries is provided. According to current research,the experience,and the lessons learned from application,there are four key performances for search and rescue robot,which are,survivability,mobility, sensing,communicability,and operability.It is proved that, research of search and rescue robot is converted to practice from experiment gradually,Multi-technique fusion and multi-agent intelligent network are considered to be the future development requirement of the search and rescue robot.Dis- aster prevention,disaster reduction,and disaster rescue are important parts of the national public safety.And they are also crucial issues in the safety of citizens and their estates. Search and rescue robotic technique is an urgently needed, strategic,and core technique for national development.It will have important and strategic effect on the national economy and the national safety.
A survey of the research status for search and rescue robots in Japan,USA,China,and other countries is provided. According to current research,the experience,and the lessons learned from application,there are four key performances for search and rescue robot,which are,survivability,mobility, sensing,communicability,and operability.It is proved that, research of search and rescue robot is converted to practice from experiment gradually,Multi-technique fusion and multi-agent intelligent network are considered to be the future development requirement of the search and rescue robot.Dis- aster prevention,disaster reduction,and disaster rescue are important parts of the national public safety.And they are also crucial issues in the safety of citizens and their estates. Search and rescue robotic technique is an urgently needed, strategic,and core technique for national development.It will have important and strategic effect on the national economy and the national safety.
引文
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[11]TAKAMORI T.KOBAYASHI S,OHIRA T,et al.Devel-opment of UMRS (Utility Mobile Robot for Search) and searching system for sufferers with ceilphone[C]//Systems and Human Science,for Safety,Security,and Dependability:Selected Papers of the 1st International Symposium,November,2003,University of Osaka,Osaka.Amsterdam Boston:Elsevier,2005:47-52.
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[14]NONAMI K.Research project in NOMANI's lab[OL].[2005-08-25].http://mec2.un.chiba-u.jp/～nonami.
[15]YUGUCHI Y,SATOH Y.Development of a robotic system for nuclear facility emergency preparedness-observing and work-assisting robot system[J].Advanced Robotics,2002,16 (6):481-484.
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[17]MICIRE M.Analysis of the robotic-assisted search and rescue response to the World Trade Center Disaster[D].South Florida:University of South Florida,2002.
[18]MURPHY R.Marsupial and shape-shifting robots for urban search and rescue[Y].IEEE Intelligent Systems,2002,15(2):14-20.
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[20]LARSON A,VOYLES R.TerminatorBot:a novel robot with dual-use mechanism for locomotion and manipulation[J].IEEE/ASM Transactions on Mechatronics,2005,10(1):17-25.
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[22]WOLF A,BROWN H B,CASCIOLA R,et al.A mobile hyper redundant mechanism for search and rescue tasks[C]//IEEE/RSJ International Conference on Intelligent Robotics and Systems,Oct.27-31,2003,Bally's Las Vegas Hotel,Las Vegas.Piscataway:IEEE,2003:2889-2899.
[23]SHEN W M,SALEMI B,WILL P.Hormone-inspired adaptive communication and distributed control for CONORO self-reconfigurable robots[J].IEEE Transactions on Robotics and Automation,2002,18(5):700-712.
[24]Snakebots To The Rescue[OL].[2005-08-25].http://media.nasaexplores.com/lessons/02-014/fullarticle.pdf.
[25]YIM M,ZHANG Y,LAMPING J,et al.Distributed control for 3-D metamorphosis[J].Autonomous Robots,2001,10(1):41-56.
[26]Uibre Hybrid[OL].[2005-08-25].http://robotics.jpl.nasa.gov/tasks/tmr/hybrid.html.
[27]Autonomous Helicopter Project[OL].[2005-08-25].http://www-2.cs.cmu.edu/afs/cs/project/chopper/www/ind ex.html.
[28]MICHAEL F,ROBERT H.Human-interaction challenges in UAV-based autonomous surveillance[OL].[2005-08-25].http://human-factors.arc.nasa.gov/apex/docs/papers/aaaiss 04/aaaiss04.html.
[29]Air Search Rescue Helicopter Division[OL].[2005-08-25].http://www.airsearchrescue.com/helicopter main.htm.
[30]李科杰．危险作业机器人发展战略研究[J]．机器人技术与应用，2003，5：14-22．
[31]李斌．蛇形机器人的研究及其在灾难救援中的应用[J]．机器人技术与应用，2003，3：22-26．
[32]王越超．我国危险作业机器人研究开发取得新进展[J]．机器人技术与应用，2005，6：11-14，18．
[33]上海强师消防装备有限公司消防机器人[OL]．[2005-08-25].http://www.qs119.corn/asp/product_list.asp.
[34]LIU Jinguo,WANG Yuechao,LI Bin,et al.Link-type shape shifting modular robot for search and rescue[J].High Technology Letters,2004,10(Sup):179-183.
[35]LIU Jinguo,WANG Yuechao,MA Shugen,et al.Aanlysis of tipover stability for novel shape shitting modular robot[J].Chinese Journal of Mechanical Engeering,2006,19(2):187-192.
[36]Rescue Robot[OL].[2005-08-25].http://linux.ce.sharif.ac.ir/～mobasser/RESCUE 1.htm.
[37]Rescue Project[OL].[2005-08-25].http://www.dis.uniromal.it/～rescue.
[38]BLACKBURN M R,EVERETT H R,LAIRD R T.After action report to the joint program office:center for the robotic assisted search and rescue (CRASAR) related efforts at the world trade comer[R].SSC San Diego,Space and Naval Warfare Systems Command,2002.
[39]王野，王田苗，裴葆青，等．危险作业机器人关键技术综述[J]．机器人技术与应用，2005，6：23-31．
[40]MURPHY R,CASPER J,HYAMS J,et al.Mobility and sensing demands in USAR [C]//IEEE International Conference on Industrial Electronics,Control and Instrumentation,Oct.22-28,2000,Nagoya University,Nagoya.Piscataway:IEEE,2000:138-142.
[41]冯长根．2004年我国事故与灾害状况综述．安全与环境学报[J]．2005，5(2)：1-11．
[42]张建忠．2000-2005年我国重大气象灾害性事件回顾[J]．气象知识，2006，2：14-19．
[43]崔清新．我国自然灾害损失世界第三[J]．科学咨询，2005，11s：64-64．
[44]李学举．我国的自然灾害与灾害管理[J]．中国减灾，2004，6：6-8．
[45]马宗晋．我国地震减灾系统工程[J]．中国减灾，2004，6：11-12．
[46]彭珂珊．我国主要自然灾害的类型及特点分析[J]．北京联合大学学报(自然科学版)，2000，14(3)：59-65．
[2]CASPER J,MURPHY R.Human-robot interaction during the robot-assisted urban search and rescue response at the World Trade Center[J].IEEE Transaction on System,Man.,and Cybernetics—Part B:Cybernetics,2003,33(3):367-383.
[3]HIROSE S.Snake,walking and group robots for super mechano-system[C]// IEEE International Conference on Systems,Man.and Cybernetics,October 12-15,1999,Tokyo International Forum,Tokyo.Piscataway:IEEE,1999:129-133.
[4]HIROSE S,FUKUSHIMA E F.Development of mobile robots for rescue operations[J].Advanced Robotics,2002,16(6):509-512.
[5]HIROSE S.RObot[OL].[2005-08-25].http://www-robot.mes.titech,ac.jp/robot.html.
[6]KAMEGAWA T,YAMASAKI T,SATO N,et al.Sequentially connected multiple-unit rescue robot platform[C]//First International Workshop on Synthetic Simulation and Robotics to Mitigate Earthquake Disaster,Padova,July 5th,2003,University of Rome,Rome.Rome:University of Rome,2003:29-30.
[7]OSUKA K,KITAJIMA H.Development of mobile inspection robot for rescue activities:MOIRA[C]//IEEE/RSJ International Conference on Intelligent Robotics and Systems,Oct.27-31,2003,Bally's Las Vegas Hotel,Las Vegas.Piscataway:IEEE,2003:3373-3377.
[8]TABATA K,INABA A,AMANO H.Development of a transformational mobile robot to search victims under debris and rubble,2nd report:improvement of mechanism and interface-[C]//International Workshop on Safety,Security and Rescue Robotics,Jun.6-9,2005,Kobe University,Kobe.Piscataway:IEEE,2005:19-24.
[9]YANG Z X,ITO K,SAIJO K,et al.A rescue robot for collecting information designed for ease of use[J].Advanced Robotics,2005,19(3):249-272.
[10]Rescue robots[OL].[2005-08-25].http://usm.sys.okayamau.ac.jp/～keiji/Research/Prj-Rescue/rescue.html.
[11]TAKAMORI T.KOBAYASHI S,OHIRA T,et al.Devel-opment of UMRS (Utility Mobile Robot for Search) and searching system for sufferers with ceilphone[C]//Systems and Human Science,for Safety,Security,and Dependability:Selected Papers of the 1st International Symposium,November,2003,University of Osaka,Osaka.Amsterdam Boston:Elsevier,2005:47-52.
[12]Development of Remote Surveillance Robots for Use in Nuclear Facility Accidents[OL].[2005-08-25].http://www.jaeri.go.jp/english/press/2001/010314.
[13]SHIBANUMA K.Development of Radiation-proof Rescue Robot[OL].[2005-08-25].http://www.jaer/.go,jp/english/press/2001/010809.
[14]NONAMI K.Research project in NOMANI's lab[OL].[2005-08-25].http://mec2.un.chiba-u.jp/～nonami.
[15]YUGUCHI Y,SATOH Y.Development of a robotic system for nuclear facility emergency preparedness-observing and work-assisting robot system[J].Advanced Robotics,2002,16 (6):481-484.
[16]大型灾难救援机器人援龙[OL].[2005-08-25].http://pc.watch.impress.co.jp/docs/2004/0325/tmsuk.htm.
[17]MICIRE M.Analysis of the robotic-assisted search and rescue response to the World Trade Center Disaster[D].South Florida:University of South Florida,2002.
[18]MURPHY R.Marsupial and shape-shifting robots for urban search and rescue[Y].IEEE Intelligent Systems,2002,15(2):14-20.
[19]SASCHA A S,PAUL B B,MARIA G.Autonomous stair-hopping with scout robots[C]//IEEE/RSJ International Conference on Intelligent Robotics and Systems,Sep.30-Oct.4,2002,Swiss Federal Institute of Technology,Lausanne.Piscataway:IEEE,2002:721-728.
[20]LARSON A,VOYLES R.TerminatorBot:a novel robot with dual-use mechanism for locomotion and manipulation[J].IEEE/ASM Transactions on Mechatronics,2005,10(1):17-25.
[21]DANIEL M H,STERGIOS I R,MICHAE C M,et al.Multi-sensor,high speed autonomous stair climbing[C]//IEEE/RSJ International Conference on Intelligent Robotics and Systems,Sep.30-Oct.4,2002,Swiss Federal Institute of Technology,Lausanne.Piscataway:IEEE,2002:733-742.
[22]WOLF A,BROWN H B,CASCIOLA R,et al.A mobile hyper redundant mechanism for search and rescue tasks[C]//IEEE/RSJ International Conference on Intelligent Robotics and Systems,Oct.27-31,2003,Bally's Las Vegas Hotel,Las Vegas.Piscataway:IEEE,2003:2889-2899.
[23]SHEN W M,SALEMI B,WILL P.Hormone-inspired adaptive communication and distributed control for CONORO self-reconfigurable robots[J].IEEE Transactions on Robotics and Automation,2002,18(5):700-712.
[24]Snakebots To The Rescue[OL].[2005-08-25].http://media.nasaexplores.com/lessons/02-014/fullarticle.pdf.
[25]YIM M,ZHANG Y,LAMPING J,et al.Distributed control for 3-D metamorphosis[J].Autonomous Robots,2001,10(1):41-56.
[26]Uibre Hybrid[OL].[2005-08-25].http://robotics.jpl.nasa.gov/tasks/tmr/hybrid.html.
[27]Autonomous Helicopter Project[OL].[2005-08-25].http://www-2.cs.cmu.edu/afs/cs/project/chopper/www/ind ex.html.
[28]MICHAEL F,ROBERT H.Human-interaction challenges in UAV-based autonomous surveillance[OL].[2005-08-25].http://human-factors.arc.nasa.gov/apex/docs/papers/aaaiss 04/aaaiss04.html.
[29]Air Search Rescue Helicopter Division[OL].[2005-08-25].http://www.airsearchrescue.com/helicopter main.htm.
[30]李科杰．危险作业机器人发展战略研究[J]．机器人技术与应用，2003，5：14-22．
[31]李斌．蛇形机器人的研究及其在灾难救援中的应用[J]．机器人技术与应用，2003，3：22-26．
[32]王越超．我国危险作业机器人研究开发取得新进展[J]．机器人技术与应用，2005，6：11-14，18．
[33]上海强师消防装备有限公司消防机器人[OL]．[2005-08-25].http://www.qs119.corn/asp/product_list.asp.
[34]LIU Jinguo,WANG Yuechao,LI Bin,et al.Link-type shape shifting modular robot for search and rescue[J].High Technology Letters,2004,10(Sup):179-183.
[35]LIU Jinguo,WANG Yuechao,MA Shugen,et al.Aanlysis of tipover stability for novel shape shitting modular robot[J].Chinese Journal of Mechanical Engeering,2006,19(2):187-192.
[36]Rescue Robot[OL].[2005-08-25].http://linux.ce.sharif.ac.ir/～mobasser/RESCUE 1.htm.
[37]Rescue Project[OL].[2005-08-25].http://www.dis.uniromal.it/～rescue.
[38]BLACKBURN M R,EVERETT H R,LAIRD R T.After action report to the joint program office:center for the robotic assisted search and rescue (CRASAR) related efforts at the world trade comer[R].SSC San Diego,Space and Naval Warfare Systems Command,2002.
[39]王野，王田苗，裴葆青，等．危险作业机器人关键技术综述[J]．机器人技术与应用，2005，6：23-31．
[40]MURPHY R,CASPER J,HYAMS J,et al.Mobility and sensing demands in USAR [C]//IEEE International Conference on Industrial Electronics,Control and Instrumentation,Oct.22-28,2000,Nagoya University,Nagoya.Piscataway:IEEE,2000:138-142.
[41]冯长根．2004年我国事故与灾害状况综述．安全与环境学报[J]．2005，5(2)：1-11．
[42]张建忠．2000-2005年我国重大气象灾害性事件回顾[J]．气象知识，2006，2：14-19．
[43]崔清新．我国自然灾害损失世界第三[J]．科学咨询，2005，11s：64-64．
[44]李学举．我国的自然灾害与灾害管理[J]．中国减灾，2004，6：6-8．
[45]马宗晋．我国地震减灾系统工程[J]．中国减灾，2004，6：11-12．
[46]彭珂珊．我国主要自然灾害的类型及特点分析[J]．北京联合大学学报(自然科学版)，2000，14(3)：59-65．
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