GUARDIANS final report

Emergencies in industrial warehouses are a major concern for firefghters. The large dimensions together with the development of dense smoke that drastically reduces visibility, represent major challenges. The Guardians robot swarm is designed to assist fire fighters in searching a large warehouse. In this report we discuss the technology developed for a swarm of robots searching and assisting fire fighters. We explain the swarming algorithms which provide the functionality by which the robots react to and follow humans while no communication is required. Next we discuss the wireless communication system, which is a so-called mobile ad-hoc network. The communication network provides also one of the means to locate the robots and humans. Thus the robot swarm is able to locate itself and provide guidance information to the humans. Together with the re ghters we explored how the robot swarm should feed information back to the human fire fighter. We have designed and experimented with interfaces for presenting swarm based information to human beings

Applying MDA and OMG Robotic Specification for Developing Robotic Systems

Robotics systems have special needs often related with their realtime nature and environmental properties. Often, control and communication paths within the system are tightly coupled to the actual physical configuration of the robot. As a consequence, these robots can only be assembled, configured, and programmed by robot experts. Traditional approaches, based on mainly writing the code without using software engineering techniques, are still used in the development process of these systems. Even when these robotic systems are successfully used, several problems can be identified and it is widely accepted that new approaches should be explored. The contribution of this research consists in delineating guidelines for the construction of robotic software systems, taking advantage of the application of the OMG standard robotic specifications which adhere to the model-driven approach MDA. Thereby the expert knowledge is captured in standard abstract models that can then be reused by other less experienced developers. In addition part of the code is automatically generated, reducing costs and improving quality.Laboratorio de Investigación y Formación en Informática Avanzad

Applying MDA and OMG Robotic Specification for Developing Robotic Systems

Robotics systems have special needs often related with their realtime nature and environmental properties. Often, control and communication paths within the system are tightly coupled to the actual physical configuration of the robot. As a consequence, these robots can only be assembled, configured, and programmed by robot experts. Traditional approaches, based on mainly writing the code without using software engineering techniques, are still used in the development process of these systems. Even when these robotic systems are successfully used, several problems can be identified and it is widely accepted that new approaches should be explored. The contribution of this research consists in delineating guidelines for the construction of robotic software systems, taking advantage of the application of the OMG standard robotic specifications which adhere to the model-driven approach MDA. Thereby the expert knowledge is captured in standard abstract models that can then be reused by other less experienced developers. In addition part of the code is automatically generated, reducing costs and improving quality

A model-driving approach to constructing robotic systems

Most robotic systems tend to be complex to maintain and reuse because existing frameworks are based mainly on code-driven approaches. This means the software development process is reduced to the implementation of systems using specific programming languages. During the constant evolution, the systems grow in size and in complexity. Even when these approaches address the needs of robotic focused markets, currently used methodologies and toolsets fail to cope with the needs of such complex software development process. The general objective of our work is the definition of a methodological framework supported by a set of tools to deal with the requirements of the robotic software development process. A major challenge is to make the step from code-driven to model-driven in the development of robotic software systems. Separating robotics knowledge from short-cycled implementation technologies is essential to foster reuse and maintenance.Facultad de Informátic

The Good, the Bad and the Indispensable - Insights into the Practical Potential of Emergency Response Information Systems and Drones for Firefighters

The introduction of innovative information technologies is frequently pursued to improve the on-site decision-making and hence the effectiveness of emergency response processes. Yet, the practical potential of innovative firefighter information technologies hardly has been investigated so far. In this paper, we present the results of a study, in which we interviewed 21 members of German fire departments about the potential of emergency response information systems and drones. The results suggest that firefighters find both technologies to deliver potential improvements. They also pointed to several possible drawbacks and critical requirements, however. The results of our study do not only provide a multifaceted overview of the potential benefits and risks that ought to be taken into account when introducing emergency response information systems or drones for firefighters. They also call for a systematic investigation of the practical potential of firefighter information technologies in general

Space assets and technology for bushfire management

The financial, emotional, and ecological impacts of bushfires can be devastating. This report was prepared by the participants of the Southern Hemisphere Space Studies Program 2021 in response to the topic: “How space assets and technologies can be applied to better predict and mitigate bushfires and their impacts.” To effectively reach the diverse set of stakeholders impacted by bushfires, Communication was identified as a key enabler central to any examination of the topic. The three pillars “predict”, “mitigate” and “communicate” were identified to frame the task at hand. Combining the diverse skills and experience of the class participants with the interdisciplinary knowledge gained from the seminars, distinguished lectures, and workshops during the SHSSP21 program, conducted a literature review With specific reference to the 2019-20 Australian fire season, we looked at the current state of the art, key challenges, and how bushfires can be better predicted and mitigated in the future. Comparing this to the future desired state, we identified gaps for each of the three domains, and worked across teams to reach consensus on a list of recommendations. Several of these recommendations were derived independently by two or more of the three groups, highlighting the importance of a holistic and collaborative approach. The report details a number of recommendations arising from this Where applicable, we also aligned our discussion with the experience and lessons from other countries and agencies to consider,learn from and respond to the international context, as others develop systems using space technology to tackle similar wildfire issues

Robotic Wireless Sensor Networks

In this chapter, we present a literature survey of an emerging, cutting-edge, and multi-disciplinary field of research at the intersection of Robotics and Wireless Sensor Networks (WSN) which we refer to as Robotic Wireless Sensor Networks (RWSN). We define a RWSN as an autonomous networked multi-robot system that aims to achieve certain sensing goals while meeting and maintaining certain communication performance requirements, through cooperative control, learning and adaptation. While both of the component areas, i.e., Robotics and WSN, are very well-known and well-explored, there exist a whole set of new opportunities and research directions at the intersection of these two fields which are relatively or even completely unexplored. One such example would be the use of a set of robotic routers to set up a temporary communication path between a sender and a receiver that uses the controlled mobility to the advantage of packet routing. We find that there exist only a limited number of articles to be directly categorized as RWSN related works whereas there exist a range of articles in the robotics and the WSN literature that are also relevant to this new field of research. To connect the dots, we first identify the core problems and research trends related to RWSN such as connectivity, localization, routing, and robust flow of information. Next, we classify the existing research on RWSN as well as the relevant state-of-the-arts from robotics and WSN community according to the problems and trends identified in the first step. Lastly, we analyze what is missing in the existing literature, and identify topics that require more research attention in the future

Firefighting Remote Exploration Device

Fire environments are dangerous and constantly changing. The goal of this project was to design and build a robot to provide firefighters with additional information about a fire environment to help them make more informed decisions when fighting a fire. We have built a prototype robot that is compact and quick to deploy, with a heat, water, and impact-resistant chassis designed to function in unpredictable firegrounds. The remote-controlled robot returns a real-time video feed and a heat map of a designated area in a building