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

RAPID：具有两用肢体运动和操纵功能的履带式机器人，用于空隙检查

• 批准号: 1138674
• 负责人: Anneliese Andrews
• 金额: $ 5.64万
• 依托单位: University of Denver
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-07-01 至 2014-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1138674&HistoricalAwards=false
• 关键词: RAPID; CRAWLER; Robot; Dual; Use

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.

提案＃：CNS 11-38674PI（S）：Andrews，Anneliese Mahoor，Mohammadinstitution：Denvertitle大学：快速：crawler机器人，具有双重用途的自动和操纵性的crawler机器人。在日本福岛的2011海啸和核灾难影响的地区部署该工具。该机器人将捐赠给仙台Tohoku大学的国际救援系统研究所，将基于最近的改进，这将使爬虫对水具有更大的抵抗力，更可清洁和可维护。该系统扩展了团队开发的当前机器人系统，以实现用于应急响应者的多相机，正交视觉系统，这些系统将附加到机器人上，以提高情境意识。这个新型视觉子系统构成了其新颖性的一部分。日语 - 美国学术研究员团队将从事以下一些活动： - 开发方法来分析改进的机器人愿景系统的功效。-工程和部署机器人以收集有关污染程度的数据。 - 在仙台Tohoku大学的国际救援系统研究所通过日本同事在日本部署机器人。 Tadokoro博士已提交了一封支持信。预计该项目将在极端环境测试中制造改进的机器人（根据单独的NSF赠款开发），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。还要求额外的资金前往日本进行协作研究和实验。 提议的还包括与罗宾·墨菲（TAMU）的互动和协调努力，他正在组织一个关于日本灾难的研讨会（相关的旅行基金不是该提议的一部分）。公民的影响：这项提案有望通过参与性研究来支持日本的经济恢复努力，从而立即为社会带来好处。此外，由于应急响应和无人系统既是形成性领域，因此未来灾难的长期利益是有证据的，并且收集的数据将在不可预测的情况下提高对智能，以人为中心的系统的发现和理解。此外，提议的工具的使用应在机器人技术中建立一个重要的里程碑，从而使核电行业能够更好地适应未来对灾难的迅速反应。最后，该项目旨在培训本科生和研究生，并将其暴露于高影响力的应用领域。 PI在为代表性不足的学生提供建议方面具有良好的记录。