Design and Modeling of 9 Degrees of Freedom Redundant Robotic Manipulator

In disaster areas, robot manipulators are used to rescue and clearance of sites. Because of the damaged area, they encounter disturbances like obstacles, and limited workspace to explore the area and to achieve the location of the victims. Increasing the degrees of freedom is required to boost the adaptability of manipulators to avoid disturbances, and to obtain the fast desired position and precise movements of the end-effector. These robot manipulators offer a reliable way to handle the barrier challenges since they can search in places that humans can't reach. In this research paper, the 9-DOF robotic manipulator is designed, and an analytical model is developed to examine the system’s behavior in different scenarios. The kinematic and dynamic representation of the proposed model is analyzed to obtain the translation or rotation, and joint torques to achieve the expected position, velocity, and acceleration respectively. The number of degrees may be raised to avoid disturbances, and to obtain the fast desired position and precise movements of the end-effector. The simulation of developed models is performed to ensure the adaptable movement of the manipulators working in distinct configurations and controlling their motion thoroughly and effectively. In the proposed configuration the joints can easily be moved to achieve the desired position of the end-effector and the results are satisfactory. The simulation results show that the redundant manipulator achieves the victim location with various configurations of the manipulator. Results reveal the effectiveness and efficacy of the proposed system

Search and rescue (SAR) modeling for the coastal regions of Eastern Canada and the Arctic Gateway

The Search and Rescue (SAR) system plays a critical role in ensuring the safety of maritime activities in Eastern Canada and the Arctic Gateway. This thesis presents a comprehensive method for assessing SAR time in the region, specifically focusing on scenarios where helicopters are utilized as the primary rescue resource. The developed macro-scale SAR model incorporates a Discrete Event simulation approach with stochastic elements to account for uncertainties and variability inherent in SAR operations. By utilizing the SAR model, a wide range of scenarios can be analyzed, allowing users to define various factors such as helicopter deployment time variability, helicopter parameters, and more. The model employs a time-stepping approach, enabling real-time decision-making and operational adjustments at each time step. It considers multiple factors, including incident and helicopter location, weather conditions, and the number of individuals in distress, to assess SAR effectiveness. The model underwent rigorous verification tests, demonstrating close alignment with hand calculation methods. Furthermore, a validation test was conducted using data from a real-life incident involving the Viking Sky, where the model's predictions closely matched the actual incident timeline within a certain percentage of accuracy. The model was further utilized to examine the influence of incident location, the number of survivors, and refueling requirements systematically. Additionally, Arctic-based scenarios were explored to account for specific conditions in the Arctic region. The research findings indicate that incident location, the number of individuals in distress, and weather conditions significantly impact SAR time. Specifically, the total rescue time shows a greater increase with distance from the helicopter base compared to the number of survivors, particularly for smaller survivor groups. When the helicopter base was relocated to an Arctic location, the total rescue time for smaller survivor groups was halved. The importance of optimizing the location of SAR assets and facilities is emphasized throughout the research. The study also examines the effects of operating two or more helicopters simultaneously on SAR time, providing insights into its impact. Overall, this thesis underscores the importance of continuous improvement and collaboration to enhance SAR capabilities and ensure maritime safety in the coastal regions of Eastern Canada and the Arctic Gateway. The findings contribute valuable insights for policymakers, SAR organizations, and stakeholders involved in the maritime domain, aiming to reduce response times, increase operational efficiency, and ultimately save lives at sea

From the pixels up : processes and procedures in the construction of a neural-site geographic information system

This study examines the question, is it possible to develop a neutral-site Geographic Information System (GIS) that addresses information needs useful for the training of emergency management personnel? To answer this question a subordinate question requiring an answer is what specific steps are required to accomplish this goal? As a base for the data provided here, the history of cities as an initial root of civilization and the concept of emergency management are discussed. Direct intersections, where the specific applications of emergency management technology provide real benefits to local governmental organizations, such as those at the city level are also considered. One of these potential technologies is a Geographic Information System, or GIS. Using a qualitative method, with thick description, the process and procedures of creating a neutralsite GIS for use in training by organizations who do not currently have access to the technology is then described. The potential benefit for jurisdictions lacking a current GIS is clearly demonstrated. The study concludes with a summation of the research, development and construction of a neutral-site GIS. Specific lessons learned during the entire process are discussed. Finally, areas of further study the process brought to my attention are considered

Human factors investigation of the behavioural response to cues of a fire emergency

Safety is a significant priority in the contemporary building environment and a focus for many organisations and businesses. Studies have been conducted to review different factors regarding human behaviour during fire evacuation and to utilize the findings to model improved egress procedures and to train occupants on how to evacuate safely. However, much is still unknown about the processes of perceiving and responding to an emergency when cues from different information sources conflict. For example, when a fire evacuation warning has been issued, but the conditions in the area appear to be fine, some of the building occupants may have uncertainty about the correct action to take. There are several cues to an emergency, and some of these may not lead to optimum behaviour. For example, prior research has shown that, in cases where there has been a prevalence of nuisance alarms such as false alarms, occupants may not take action when a real fire alarm is sounded (Proulx, 2007). Moreover, cues to an emergency are often ambiguous and may not be immediately perceived as a threat. This research was conducted to understand the human responses to cues of an emergency in greater detail. It was based on the Protective Action Decision Model (PADM) (Lindell & Perry, 2012), which outlines the research framework conducted within this PhD. PADM provides a formal model of human behaviour during an emergency. Still, it should be expanded into a more comprehensive method of predicting how people behave in a fire or an evacuation (Kuligowski, 2013). The PADM model identifies several stages in the process of emergency detection and response. The first stage defines several factors that influence awareness of a fire scenario; environmental and social contexts, information sources, warning messages, channel access, and receiver characteristics. This PhD conducted a series of experimental studies to identify the influence of some of these factors on user response to fire alarm cues. The research also compared the use of different research methods, specifically, scenario talk through and virtual reality (VR) simulation, to evaluate user behaviour in response to a fire alarm. Four studies have been conducted: the first extended the talk-through method previously used by Lawson et al. (2013) by adding the influence of social cues to the fire scenario. The second study presented the same fire scenario and influence of social cues as study 1, using VR. The pattern of results was consistent with previous literature in that passive behaviour of others resulted in longer evacuation times for the participants. Thus, these methods can reveal the influence of social behaviour on predicting human responses to an emergency. Study three extended the VR scenario to include other factors from stage one of the PADM model. These factors include the source of information during an emergency, the content of the information, and the recipient's characteristics. Therefore, the source of information, level of details, and information channels were all identified as significant in emergencies such as fire evacuations. Finally, the fourth study was conducted to understand the effects of social cues (passive or active conflict) on an authority figure or siren in the evacuation process. Again, three groups were identified and exposed to three different messages in a virtual environment. Results showed that an authority figure in an active conflict situation showed a significant reduction in the evacuation times. Thus, this thesis will show that understanding behavioural response to fire emergency cues has potential value in predicting human behaviour in a fire emergency

Assessing the technical, economic and policy-centered feasibility of a proposed satellite communication system for the developing world

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics; and, (S.M.)--Massachusetts Institute of Technology, Sloan School of Management, Technology and Policy Program, 2005.Includes bibliographical references (p. 213-217).Satellite communication systems remain one of the most under utilized development mediums in less industrialized countries. This research proposes to establish a low cost satellite communications system tailored specifically for the developing world (+/- 30⁰ latitude). The technical, economic and policy related frontiers of the problem are integrated within a MATLAB based satellite communication constellation simulation which is used to assess the feasibility of the proposed satellite system. The analysis demonstrates that with technical advances that would allow higher capacity systems at lower costs and a renewed policy framework in line with the present state of the satellite system industry, it could be feasible to establish a low earth orbit satellite communications system for the developing world. The inputs to the satellite simulation are the proposed system's desired design variables and other relevant parameters. The outputs are system performance, capacity and cost. The Pareto optimal solution trade space is generated by the simulation model using a full-factorial run that probes the entire design space. The application of choice is short messaging services (SMS), chosen for its ability to provide proven connectivity at moderate costs. The capacity and cost of the most ideal Pareto architecture is contrasted against demand in the defined developing world region. The simulation also accounts for the necessary policy considerations and assesses the feasibility of the proposed system amidst the existing industry policy and regulatory framework. Additionally, data regarding the current economic standing of the region and how this forms an underlying basis for the digital divide is presented and assessed.(cont.) The policy and regulatory constraints on the acceleration of telecommunications development throughout the developing world are discussed. This thesis elaborates upon the need for a focus on design for affordability if satellite communication systems are to realize their immense potential for the delivery of needed social services to the world's marginalized.by Ayanna Terehas Samuels.S.M

Human factors investigation of the behavioural response to cues of a fire emergency

Safety is a significant priority in the contemporary building environment and a focus for many organisations and businesses. Studies have been conducted to review different factors regarding human behaviour during fire evacuation and to utilize the findings to model improved egress procedures and to train occupants on how to evacuate safely. However, much is still unknown about the processes of perceiving and responding to an emergency when cues from different information sources conflict. For example, when a fire evacuation warning has been issued, but the conditions in the area appear to be fine, some of the building occupants may have uncertainty about the correct action to take. There are several cues to an emergency, and some of these may not lead to optimum behaviour. For example, prior research has shown that, in cases where there has been a prevalence of nuisance alarms such as false alarms, occupants may not take action when a real fire alarm is sounded (Proulx, 2007). Moreover, cues to an emergency are often ambiguous and may not be immediately perceived as a threat. This research was conducted to understand the human responses to cues of an emergency in greater detail. It was based on the Protective Action Decision Model (PADM) (Lindell & Perry, 2012), which outlines the research framework conducted within this PhD. PADM provides a formal model of human behaviour during an emergency. Still, it should be expanded into a more comprehensive method of predicting how people behave in a fire or an evacuation (Kuligowski, 2013). The PADM model identifies several stages in the process of emergency detection and response. The first stage defines several factors that influence awareness of a fire scenario; environmental and social contexts, information sources, warning messages, channel access, and receiver characteristics. This PhD conducted a series of experimental studies to identify the influence of some of these factors on user response to fire alarm cues. The research also compared the use of different research methods, specifically, scenario talk through and virtual reality (VR) simulation, to evaluate user behaviour in response to a fire alarm. Four studies have been conducted: the first extended the talk-through method previously used by Lawson et al. (2013) by adding the influence of social cues to the fire scenario. The second study presented the same fire scenario and influence of social cues as study 1, using VR. The pattern of results was consistent with previous literature in that passive behaviour of others resulted in longer evacuation times for the participants. Thus, these methods can reveal the influence of social behaviour on predicting human responses to an emergency. Study three extended the VR scenario to include other factors from stage one of the PADM model. These factors include the source of information during an emergency, the content of the information, and the recipient's characteristics. Therefore, the source of information, level of details, and information channels were all identified as significant in emergencies such as fire evacuations. Finally, the fourth study was conducted to understand the effects of social cues (passive or active conflict) on an authority figure or siren in the evacuation process. Again, three groups were identified and exposed to three different messages in a virtual environment. Results showed that an authority figure in an active conflict situation showed a significant reduction in the evacuation times. Thus, this thesis will show that understanding behavioural response to fire emergency cues has potential value in predicting human behaviour in a fire emergency

Understanding computer game culture: the cultural shaping of a new medium

In the past few decades, video games have developed from a marginal technological experiment into a mainstream medium. During this period they have gone through several transformations, from arcade machines offering a few minutes of solitary fun for a quarter to monthly subscription-based online MMOs in which thousands of players spend hundreds or even thousands of hours and lead a significant part of their social life as a fantasy character. But what is it that has driven video games? development? Is it technology? Indeed, with every new generation of hardware, game designers were given a broader set of tools for evoking exhilarating experiences. But is not culture at least as important? What would games look like if Tolkien never had written Lord of the Rings, or if Nintendo had not brought Japanese manga drawing styles to the new medium? This book looks at the theoretical challenges and foundations on which to base a cultural shaping approach towards the evolution of video games and proposes a set of concepts for analyzing and describing this process

Live it! - An Interactive non-linear adventure

None provided

Design of autonomous sustainable unmanned aerial vehicle - A novel approach to its dynamic wireless power transfer

A thesis submitted in partial fulfilment of the requirements of the University of Wolverhampton for the degree of Doctor of Philosophy.Electric UAVs are presently being used widely in civilian duties such as security, surveillance, and disaster relief. The use of Unmanned Aerial Vehicle (UAV) has increased dramatically over the past years in different areas/fields such as marines, mountains, wild environments. Nowadays, there are many electric UAVs development with fast computational speed and autonomous flying has been a reality by fusing many sensors such as camera tracking sensor, obstacle avoiding sensor, radar sensor, etc. But there is one main problem still not able to overcome which is power requirement for continuous autonomous operation. When the operation needs more power, but batteries can only give for 20 to 30 mins of flight time. These types of system are not reliable for long term civilian operation because we need to recharge or replace batteries by landing the craft every time when we want to continue the operation. The large batteries also take more loads on the UAV which is also not a reliable system. To eliminate these obstacles, there should a recharging wireless power station in ground which can transmit power to these small UAVs wirelessly for long term operation. There will be camera attached in the drone to detect and hover above the Wireless Power Transfer device which got receiving and transmitting station can be use with deep learning and sensor fusion techniques for more reliable flight operations. This thesis explores the use of dynamic wireless power to transfer energy using novel rotating WPT charging technique to the UAV with improved range, endurance, and average speed by giving extra hours in the air. The hypothesis that was created has a broad application beyond UAVs. The drone autonomous charging was mostly done by detecting a rotating WPT receiver connected to main power outlet that served as a recharging platform using deep neural vision capabilities. It was the purpose of the thesis to provide an alternative to traditional self-charging systems that relies purely on static WPT method and requires little distance between the vehicle and receiver. When the UAV camera detect the WPT receiving station, it will try to align and hover using onboard sensors for best power transfer efficiency. Since this strategy relied on traditional automatic drone landing technique, but the target is rotating all the time which needs smart approaches like deep learning and sensor fusion. The simulation environment was created and tested using robot operating system on a Linux operating system using a model of the custom-made drone. Experiments on the charging of the drone confirmed that the intelligent dynamic wireless power transfer (DWPT) method worked successfully while flying on air