Vid ett antal större fartygskatastrofer till havs de senare årtiondena har sjöräddningskapaciteten inte räckt till för att rädda alla eller ens en majoritet av de ombordvarande. Detta trots att stora insatser har gjorts för att förbättra livräddningsutrustningen ombord. Handelsfartyg som påträffar nödställda är skyldiga enligt lag att hjälpa till med räddningsarbetet. Denna studie belyser vilka resurser som finns i Sverige för att klara en större fartygsolycka till havs och i vilken utsträckning handelsflottan har möjlighet att hjälpa till. Studien har gjorts som en litteraturstudie som kompletterades med ett par intervjufrågor till rederier. Både handelsfartyg och Sjöfartsverkets specialiserade räddningsenheter har visat sig vara alldeles för dåligt utrustade eller för få för att klara att utföra sin uppgift vid dåliga väderförhållanden vilket ofta råder vid fartygskatastrofer. Mycket av ansvaret för att sätta nödställda i säkerhet efter en olycka hamnar istället på helikoptrar som flygs ut till olycksplatsen från land. En hel del tekniska problem har visat sig försvåra arbetet med evakuering via helikopter vid flera fartygskatastrofer då även dessa är känsliga för hårt väder. En utveckling av utrustning för handelsfartyg som effektivt och säkert kan användas vid dåliga väderförhållanden utan att behöva förflytta människor en och en mellan olika farkoster skulle behöva ske. Att enbart förlita sig på helikoptrar vid masslivräddning har visat sig vara alltför tidskrävande och sårbart. / During the last decades there have been several great ship disasters where rescue capability has not been sufficient to save all or even a majority of the victims of a number of larger marine disasters. This is despite the fact that great efforts have been made to improve the life-saving equipment on board. Merchant ships which encounter any other ship in distress are required by law to assist in the rescue. This study was made to illustrate what resources exist in Sweden to handle major ship emergencies at sea and to what extent the merchant fleet is able to help. The study was done as a literature study with a few additional questions to shipping companies. Both merchant ships and the Swedish Maritime Administration's specialized rescue units have proven to be far too poorly equipped or too few to handle their task in rough weather conditions, which are often associated with ship disasters. Much of the responsibility for getting crew and passengers to safety after an accident is instead transferred to helicopters which fly out to the emergency location from land. Many technical problems have been found that makes it difficult to evacuate via helicopters during multiple ship disasters, as helicopters are sensitive to severe weather. A development of equipment that can be used in rough weather conditions without having to move people one by one between different crafts needs to be developed. Relying solely on helicopters for mass evacuation has proved to be too time-consuming and vulnerable.

在世界各地，自然或人為災難隨時可能發生。災難回應作為災難處理的重要環節顯得尤為重要，隨著科學技術的進步和提高，人們希望通過使用各種科學手段來提高災難的回應效率。機器人技術作為21世紀高科技結合的產物被廣泛應用於這一領域。一般情況下，設計者會採用功能集成的思想對機器人進行設計，他們的主要設計思想是根據自己對環境的理解和認知得到機器人的設計需求，然後針對設計需求，通過功能集成和疊加的方式來完成對機器人的設計，採用這種方式機器人一旦設計完畢，其功能也隨之確立並不可更改，這種設計思想是基於環境狀況的，即一旦災難現場的環境不符合預先的設定，機器人的執行能力將大幅下降，同時功能疊加的設計方式會產生功能與功能之間相互約束，影響其專業性。 / 本文介紹了一種基於分散式設計思想的全新設計理念，並且根據這一理念設計了一套基於任務需求的救援機器人系統。機器人系統不會根據設計者對災難現場的預先理解和認知而被一體化設計，相反根據"如何到達"和"如何操作"把機器人系統拆分成移動單元和操作單元兩個環節，針對每個環節分別設計了符合現場需求的通用移動模組和任務執行模組，救援人員可以根據災難現場的即時任務需求而迅速搭建出有針對性的機器人系統任務解決方案，和傳統的機器人系統相比，具適應性廣、靈活性高、針對性強等特點。 / 在本論文中，對三種通用的移動平臺和兩種通用的模組化關節以及一個快速連接器分別進行了結構設計、理論分析及樣機設計，並採用基本的通用模組，根據即時的任務需求構建出有針對性的多個機器人系統。實驗表明該機器人系統可以提供對災難環境有針對性的系統解決方案，具有一定容錯性、經濟性及災難環境的適應性。文章的創新點如下，首次針對于救援機器人提出分散式的設計思想，並以該思想為基礎設計了基於通用模組的救援機器人系統，針對不同任務對移動性能的不同要求設計了三種移動平臺，為滿足不同的救援操作要求設計了兩種模組化關節以及快速連接器。同時，文中為實際的地震救援任務提出了一套救援機器人系統解決方案。 / Natural and man-made disasters nowadays still present a large amount of risk. Disaster response is an important phase of disaster management, and the enhancement of its effectiveness and accountability has attracted an increasing amount of attention. Robots can help rescuers in doing this task because of its wide range of applications. In general, the rescue robot concept assumes one or more targeted tasks while design, and one or a set of robot(s) is/are designed by integrating different functions to accomplish those tasks. Once the design of a robot is finished, its function cannot be changed. However, this kind of design is environment-dependent, as once a disaster environment changes, the execution performance of the robot will reduce. Furthermore the function-integrated design concept may cause internal constraints between functions, and fail to provide a targeted solution for different disaster environments. / This dissertation introduces a novel design concept, based on which a requirement-oriented rescue robot system is developed. This design concept adopts a distributed strategy, according to which tasks are no longer seen as a whole but divided into two parts: traversability and operation. Several functional modules are designed to meet the different requirements of the two parts separately, and the entire robot system can be assembled using different functional modules according to the real-time requirements of the disaster environment. Compared with the traditional rescue robot system, this system can provide a more targeted solution for different disaster situations, and is more adaptable and flexible. / This dissertation details the basic functional modules, including three kinds of mobile bases for traversability and two sets of modular joints for operation, and analyzes a quick connector that makes the connection easier and more convenient. Several possible combinations of the rescue robot system are displayed to show how to construct a rescue robot system according to different requirements. This kind of rescue robot system can provide targeted solutions to different disaster tasks. Robustness is also enhanced, as the replacement of the functional modules is flexible and easy to overhaul. Furthermore, the functional modules can be decomposed and reused to make the robot system more economical. This dissertation makes several contributions. It presents a systematic solution for rescue robot, develops three mobile bases for high traversability and two kinds of modular joints and a quick connector for rescue operation. Furthermore, it also develops a rescue robot system for missions in earthquake. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Detailed summary in vernacular field only. / Yang, Yong. / Thesis (Ph.D.) Chinese University of Hong Kong, 2014. / Includes bibliographical references (leaves 226-236). / Abstracts also in Chinese.

<p>The interest in robots in the urban search and rescue (USAR) field has increased the last two decades. The idea is to let robots move into places where human rescue workers cannot or, due to high personal risks, should not enter.In this thesis project, an application is constructed with the purpose of teleoperating a simple robot. This application contains a user interface that utilizes both autonomous and semi-autonomous functions, such as search, explore and point-and-go behaviours. The purpose of the application is to work with USAR principles in a refined and simplified environment, and thereby increase the understanding for these principles and how they interact with each other. Furthermore, the thesis project reviews the recent and the current status of robots in USAR applications and use of teleoperation and semi-autonomous robots in general. Some conclusions that are drawn towards the end of the thesis are that the use of robots, especially in USAR situations, will continue to increase. As robots and support technology both become more advanced and cheaper by the day, teleoperation and semi-autonomous robots will also be seen in more and more places.</p><p> </p>

Artificial immune systems (AIS), biologically inspired from natural immune functions, can be reactive as well as adaptive in handling generic and varying pathogens, respectively. Researchers have used the immunological metaphors to solve science and engineering problems where unknown/unexpected scenarios are plausible. AIS can be a suitable choice for various robotic applications requiring reactive and/or deliberative control. This research aims to translate modern trends in immunology, to develop an immunity-based framework, to control a team of heterogenous robots on varying levels of task allocation and mutual interactions. The presented framework is designed to work as a multi-agent system in which safe environment is treated reactively through innate immunity, whereas unsafe situations invoke adaptive part of immune system, simultaneously. Heterogeneity is defined in terms of different sensing and/or actuation capabilities as well as in terms of different behavior-sets robot(s) possess. Task allocation ranges from primitive to advanced behaviors. Mutual interactions, on the other hand, range from simpler one-to-one interaction to mutual coordination. In this context, a new immunity-based algorithm has been developed & tested, combining innate and adaptive immunities, to regulate cell populations and corresponding maturations, along with internal health indicators, in order to effectively arbitrate behaviors/robots in a heterogenous robotic system, in environments that are dynamic and unstructured. / text

This thesis focuses on the finite element modeling and analysis of wood shoring towers used by Urban Search and Rescue (US&R) teams during emergency response situations. These shores are constructed on site to provide temporary stabilization to a damaged structure. A high demand exists for experimental testing of the performance of these shores under non-ideal loading conditions, and for possible design modifications that could improve their overall behavior. To respond to this need, a total of thirteen vertical shores of the type laced post (LP) and plywood laced post (PLP) were constructed and tested at the Ferguson Structural Engineering Laboratory (FSEL) in Austin, Texas. The tests conducted on these shores aimed to investigate their performance under purely vertical load as well as various combinations of vertical and lateral loads. Finite element models for eight of the shores tested at FSEL were built and analyzed in Abaqus to compare the computed results with the actual linear elastic response of the shores. Material properties for the posts in each shore were obtained through further material testing at the conclusion of each shore test. Shore members were assumed to be isotropic. Solid elements were used to model each member, and Cartesian connector elements with a predefined nonlinear stiffness were used to model each nail. In general, the vertical load-displacement response computed from Abaqus exhibited good agreement with the laboratory results for the linear elastic range. The same general modeling scheme was then used to make design changes to the original shores based on observations gained during testing as well as modeling. Each design change was modeled, analyzed, and then compared with the computed results from the original shore design as well as the other design changes. The basis for evaluating the effectiveness of a given shore design involved comparing the bending moment diagrams for each post and the maximum first story nail slips (connector displacements). Recommendations were made for improved shore designs to be verified by experimental testing. / text

A common problem in existing Search And Rescue (SAR) systems is that they must be activated by the missing person in order to work. This requires an awareness of the the risk of becoming distressed, which in many cases is not feasible. Furthermore, most of the localization systems require specialized hardware.In this thesis, the victim is assumed to wear a cellphone that could be located using readily available consumer electronics. A method of estimating the position of a transmitter, given radio signal measurements at different locations, is developed and verified with real and simulated data. A proof-of-concept system is built in which several users can jointly collect received signal strength data at different locations using mobile phones. The system analyzes the data in real-time and guides the users in the search by estimating the origin of the signal.An outdoor field test is conducted in which the searchers using the system are able to locate the hidden target phone without prior knowledge regarding the position. We are able to localize the victim with an accuracy of 10-20 meters in a timely manner using android smartphones. This shows the potential of a similar system in \abbrSAR scenarios. However, more work is needed to make the system viable in real scenarios and to remove some of the delimitations of the current implementation.

In this thesis work, a mobile robot is designed to be used in search and rescue operations to help the human rescue workers. The difficult physical conditions in the ruins obstruct the movement. Therefore, it is aimed to design a search and rescue robot which can move easily on rough terrain and climb over the obstacles. The designed robot is made up of three modules. A connecting unit is designed that is situated between each module. This connecting unit which is composed of two universal and one revolute joint gives 5 DOF relative motions to the modules. On the other hand, the wheel&rsquo / s continuous contact with the ground is important while moving on rough terrain. In order to increase the adaptation of the robot to the rough terrain the rear axle is connected to the body with a revolute joint. Besides, skid steering system is used in the design of the robot to attain a compact and light solution which requires few parts. In the study, kinematic equations and dynamic equations of the robot are obtained to be used by the control program. The dynamic equations are obtained by using the Newton &ndash / Euler formulation. The forces, which are transmitted by the connecting unit to the modules, and the reaction forces formed between the wheels and the ground are derived by using these equations. &ldquo / Follow-the-Leader approach&rdquo / is used as a control strategy to make the modules move in formation and to reduce the tracking problem. In this approach, the first module is the leader and the second and third modules follow it. A Matlab program is written to control the robot by using the constructed mathematical model of the robot. The reaction forces between the wheels and the ground are calculated through using the Matlab program written. Moreover to make the simulations of the robot for some cases, a model is constructed in ADAMS program.

Thesis (M.S.)--Brigham Young University. Dept. of Computer Science, 2007. / Includes bibliographical references (p. 113-119).

abstract: Although current urban search and rescue (USAR) robots are little more than remotely controlled cameras, the end goal is for them to work alongside humans as trusted teammates. Natural language communications and performance data are collected as a team of humans works to carry out a simulated search and rescue task in an uncertain virtual environment. Conditions are tested emulating a remotely controlled robot versus an intelligent one. Differences in performance, situation awareness, trust, workload, and communications are measured. The Intelligent robot condition resulted in higher levels of performance and operator situation awareness (SA). / Dissertation/Thesis / Masters Thesis Applied Psychology 2015

abstract: Humans and robots need to work together as a team to accomplish certain shared goals due to the limitations of current robot capabilities. Human assistance is required to accomplish the tasks as human capabilities are often better suited for certain tasks and they complement robot capabilities in many situations. Given the necessity of human-robot teams, it has been long assumed that for the robotic agent to be an effective team member, it must be equipped with automated planning technologies that helps in achieving the goals that have been delegated to it by their human teammates as well as in deducing its own goal to proactively support its human counterpart by inferring their goals. However there has not been any systematic evaluation on the accuracy of this claim. In my thesis, I perform human factors analysis on effectiveness of such automated planning technologies for remote human-robot teaming. In the first part of my study, I perform an investigation on effectiveness of automated planning in remote human-robot teaming scenarios. In the second part of my study, I perform an investigation on effectiveness of a proactive robot assistant in remote human-robot teaming scenarios. Both investigations are conducted in a simulated urban search and rescue (USAR) scenario where the human-robot teams are deployed during early phases of an emergency response to explore all areas of the disaster scene. I evaluate through both the studies, how effective is automated planning technology in helping the human-robot teams move closer to human-human teams. I utilize both objective measures (like accuracy and time spent on primary and secondary tasks, Robot Attention Demand, etc.) and a set of subjective Likert-scale questions (on situation awareness, immediacy etc.) to investigate the trade-offs between different types of remote human-robot teams. The results from both the studies seem to suggest that intelligent robots with automated planning capability and proactive support ability is welcomed in general. / Dissertation/Thesis / Masters Thesis Computer Science 2015