Formulating earthquake response modes in Iran

Thesis (M. Eng.)--Massachusetts Institute of Technology, Dept. of Electrical Engineering and Computer Science, 2004.Includes bibliographical references (leaves 50-51).The objective of this paper was to try and find the optimal distribution of rescuers after an earthquake with a very large magnitude caused major damage in two different cities. A model was developed to optimally divide all of the available rescuer workers such that the expected number of lives saved was maximized. When the method was tested on random sets of data on average a 5% improvement in lives saved was found. However it was also determined that there was a positive relationship between percent improvement and severity of the earthquake. This shows that the method is especially effective when extreme amounts of damage occur.by Michael D. Metzger.M.Eng

PROFILING THE VOCABULARY OF NEWS TEXTS AS CAPACITY BUILDING FOR LANGUAGE TEACHERS

Abstract: The importance of vocabulary in reading has been discussed extensively in the literature. Researchers claim that vocabulary is essential and has a central role in comprehension.   Development in ICT and easy access to information from the internet necessitate language teachers to have relevant knowledge and skills to utilize pedagogical tools to use authentic online materials for learning purposes.  One of such a tool is the Vocabulary Profiler that can be used to categorize lexical words in a text into different frequency levels: high, low, and academic word list. This paper discusses how to use the Vocabulary Profiler to classify words in a text into the different categories.  The utilization of this tool can significantly alleviate the workload of teachers in selecting vocabulary in  reading text which is conventionally based on teachers’ intuition and perception. The sample text in this paper was selected from VOA website which may not be found in the textbooks currently used at schools. The paper ends with some implication for teaching about vocabulary selection

Opportunistic communication schemes for unmanned vehicles in urban search and rescue

In urban search and rescue (USAR) operations, there is a considerable amount of danger faced by rescuers. The use of mobile robots can alleviate this issue. Coordinating the search effort is made more difficult by the communication issues typically faced in these environments, such that communication is often restricted. With small numbers of robots, it is necessary to break communication links in order to explore the entire environment. The robots can be viewed as a broken ad hoc network, relying on opportunistic contact in order to share data. In order to minimise overheads when exchanging data, a novel algorithm for data exchange has been created which maintains the propagation speed of flooding while reducing overheads. Since the rescue workers outside of the structure need to know the location of any victims, the task of finding their locations is two parted: 1) to locate the victims (Search Time), and 2) to get this data outside the structure (Delay Time). Communication with the outside is assumed to be performed by a static robot designated as the Command Station. Since it is unlikely that there will be sufficient robots to provide full communications coverage of the area, robots that discover victims are faced with the difficult decision of whether they should continue searching or return with the victim data. We investigate a variety of search techniques and see how the application of biological foraging models can help to streamline the search process, while we have also implemented an opportunistic network to ensure that data are shared whenever robots come within line of sight of each other or the Command Station. We examine this trade-off between performing a search and communicating the results

The Constitution of Highly Reliable Practices: Materializing Communication as Constitutive of Organizing

National and international crises in the early 21st Century, whether natural, technological or man-made, emphasize the need for highly reliable organizations (HROs) to conduct emergency response in a relatively error-free way. Urban search and rescue units provide a pivotal intermittent role in these high-risk environments. Traditional HRO research focuses on a concept known as "collective mind" -- heedful interactions of responders that accomplish reliability. Rather than focusing on collective mind, this study uses a practice-based communication approach to examine the material interplay of bodies, objects, and sites using ethnography and grounded theory. In-depth interviews, participant observations, and organizational documents were coded and contrasted to find patterns in material interplay. More specifically, this study examines how these material features interact to orchestrate reliable practices through ecological coherence, a bonding of multiple forces to construct meaning and improvisation. The study has implication for HRO theory through focusing on the role of the body rather than emphasizing cognitive judgment in collective action. Collective body shifts the discussion of mindful processes to embodied practices and offers insights into the ways responders enact safety and perform responses in dynamic, high-risk environments

Design study of an earthquake rescue robot

This thesis describes the design of a brush robot for earthquake rescue and for traversing pipes with varied cross sectional shape. Earthquake rescue is a very dangerous, difficult and challenging task, in which emergency services rescue people who are trapped in man-made structures, such as collapsed buildings after an earthquake. The building collapse may have been caused by natural or man-made events. This technology is also applicable to tunnel collapse and land slips. The focus of this work is finding the location of victims and provision of primary life support and communications. To illustrate the concept of the robot, the thesis first discusses the current development of rescue robots and pipe robots. Then the thesis focuses on the description of a brush based pipe robot, developed by the University of Durham, which would be used as the basis of an earthquake rescue robot. The concept of the robot was illustrated and compared with other current rescue robots and pipe robots. After outlining the advantages of this robot concept, a robot body shape change theory was proposed and theoretical simulations were used to verily the practicality of the robot shape change theory. The thesis also illustrates the design of the working principle and design of a robot sensor, which was subsequently used in the robot shape change experiments. The robot body shape change experiments and the experimental results are described and discussed. The experimental results illustrate the robot concept and support the robot body shape change theory. Chapter 6 focuses on the brush unit traction investigation, bristle theory and mathematical model. Furthermore, the bristle theory and mathematical model were used to explain the variation of traction force in the traction experiments

Human factors of semi-autonomous robots for urban search and rescue

During major disasters or other emergencies, Urban Search and Rescue (USAR) teams are responsible for extricating casualties safely from collapsed urban structures. The rescue work is dangerous due to possible further collapse, fire, dust or electricity hazards. Sometimes the necessary precautions and checks can last several hours before rescuers are safe to start the search for survivors. Remote controlled rescue robots provide the opportunity to support human rescuers to search the site for trapped casualties while they remain in a safe place. The research reported in this thesis aimed to understand how robot behaviour and interface design can be applied to utilise the benefits of robot autonomy and how to inform future human-robot collaborative systems. The data was analysed in the context of USAR missions when using semi-autonomous remote controlled robot systems. The research focussed on the influence of robot feedback, robot reliability, task complexity, and transparency. The influence of these factors on trust, workload, and performance was examined. The overall goal of the research was to make the life of rescuers safer and enhance their performance to help others in distress. Data obtained from the studies conducted for this thesis showed that semi-autonomous robot reliability is still the most dominant factor influencing trust, workload, and team performance. A robot with explanatory feedback was perceived as more competent, more efficient and less malfunctioning. The explanatory feedback was perceived as a clearer type of communication compared to concise robot feedback. Higher levels of robot transparency were perceived as more trustworthy. However, single items on the trust questionnaire were manipulated and further investigation is necessary. However, neither explanatory feedback from the robot nor robot transparency, increased team performance or mediated workload levels. Task complexity mainly influenced human-robot team performance and the participants’ control allocation strategy. Participants allowed the robot to find more targets and missed more robot errors in the high complexity conditions compared to the low task complexity conditions. Participants found more targets manually in the low complexity tasks. In addition, the research showed that recording the observed robot performance (the performance of the robot that was witnessed by the participant) can help to identify the cause of contradicting results: participants might not have noticed some of the robots mistakes and therefore they were not able to distinguish between the robot reliability levels. Furthermore, the research provided a foundation of knowledge regarding the real world application of USAR in the United Kingdom. This included collecting knowledge via an autoethnographic approach about working processes, command structures, currently used technical equipment, and attitudes of rescuers towards robots. Also, recommendations about robot behaviour and interface design were collected throughout the research. However, recommendations made in the thesis include consideration of the overall outcome (mission performance) and the perceived usefulness of the system in order to support the uptake of the technology in real world applications. In addition, autonomous features might not be appropriate in all USAR applications. When semi-autonomous robot trials were compared to entirely manual operation, only the robot with an average of 97% reliability significantly increased the team performance and reduced the time needed to complete the USAR scenario compared to the manually operated robot. Unfortunately, such high robot success levels do not exist to date. This research has contributed to our understanding of the factors influencing human-robot collaboration in USAR operations, and provided guidance for the next generation of autonomous robots

A formal agent-based personalised mobile system to support emergency response

Communication may be seen as a process of sending and accepting information among individuals. It is a vital part of emergency response management, sharing the information of situations, victims, family and friends, rescue organisations and others. The obtained contextual information during a disaster event, however, is often dynamic, partial and may be conflicting with each other. Current communication strategies and solutions for emergency response have limitations - in that they are often designed to support information sharing between organisations and not individuals. As a result, they are often not personalisable. They also cannot make use of opportunistic resources, e.g. people nearby the disaster-struck areas that are ready to help but are not a part of any organisation. However, history has told us such people are often the first responders that provide the most immediate and useful help to the victims. On the other hand, the advanced and rich capabilities of mobile smartphones have become one of the most interesting topics in the field of mobile technologies and applied science. It is especially interesting when it can be expanded to become an effective emergency response tool to discover affected people and connect them with the first responders and their families, friends and communities. At present, research on emergency response is ineffective for handling large-scale disasters where professional rescuers could not reach victims in disaster struck-areas immediately. This is because current approaches are often built to support formal emergency response teams and organizations. Individual emergency response efforts, e.g. searching for missing people (inc. families and friends), are often web-based applications that are also not effective. Other works focus on sensory development that lacks integrated search and rescue approaches. In this thesis, I developed a distributed and personalisable Mobile Kit Disaster Assistant (MKA) system that is underpinned by a formal foundation. It aims at gathering emergency response information held by multiple resources before, during and after a large-scale disaster. As a result, contextual and background information based on a formal framework would be readily available, if a disaster indeed strikes. To this end, my core contribution is to provide a structural formal framework to encapsulate important information that is used to support emergency response at a personal level. Several (conceptual) structures were built to allow an individual to express his/her own individual circumstances, inc. relationships with others and health status that will determine how he/she may communicate with others. The communication framework is consisting of several new components: a rich and holistic Emergency Response Communication Framework, a newly developed Communication and Tracking Ontology (CTO), a newly devised Emergency Response Agent Communication Language (ER-ACL) and a brand-new Emergency Response Agent Communication Protocol (ER-ACP). I have framed the emergency response problem as a multi-agent problem where each smartphone would act as an agent for its user; each user would take on a role depending on requirements and/or the tasks at hand and the above framework is aimed to be used within a peer to peer distributed multiagent system (MAS) to assist emergency response efforts. Based on this formal framework, I have developed a mobile application, the MKA system, to capture important features of EM and to demonstrate the practicalities and value of the proposed formal framework. This system was carefully evaluated by both domain experts and potential users of targeted user groups using both qualitative and quantitative approaches. The overall results are very encouraging. Evaluators appreciated the importance of the tool and believe such tools are vital in saving lives – that is applicable for large-scale disasters as well as for individual life-critical events

Self–organised multi agent system for search and rescue operations

Autonomous multi-agent systems perform inadequately in time critical missions, while they tend to explore exhaustively each location of the field in one phase with out selecting the pertinent strategy. This research aims to solve this problem by introducing a hierarchy of exploration strategies. Agents explore an unknown search terrain with complex topology in multiple predefined stages by performing pertinent strategies depending on their previous observations. Exploration inside unknown, cluttered, and confined environments is one of the main challenges for search and rescue robots inside collapsed buildings. In this regard we introduce our novel exploration algorithm for multi–agent system, that is able to perform a fast, fair, and thorough search as well as solving the multi–agent traffic congestion. Our simulations have been performed on different test environments in which the complexity of the search field has been defined by fractal dimension of Brownian movements. The exploration stages are depicted as defined arenas of National Institute of Standard and Technology (NIST). NIST introduced three scenarios of progressive difficulty: yellow, orange, and red. The main concentration of this research is on the red arena with the least structure and most challenging parts to robot nimbleness