| Presentation | 2013-02-18 On Evaluating the Effect of Micro-Robot Functionality on Target Discovery in Survivor Discovery Systems in Disaster Areas Minoru HARADA, Yuki KOIZUMI, Kohei WATABE, Hiroyuki OHSAKI, Makoto IMASE, |
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| PDF Download Page |  PDF download Page Link |
| Abstract(in Japanese) | (See Japanese page) |
| Abstract(in English) | With the development of a sub-centimeter or sub-millimeter scale robots called micro-robots, many applications of micro-robots, such as drug delivery systems, environmental monitoring systems, planetary exploration systems, and survivor discovery systems in disaster areas, are proposed. However, the effect of functionality or abilities of micro-robots on the performance of such applications is not discussed appropriately. In this paper, we focus on a survivor discovery systems in disaster areas, in which survivors are in rubble made by a broken building and micro-robots search for these survivors, among such applications and evaluate the effect of abilities and functionality of micro-robots on target discovery. Through simulation, we show that the improvements in the abilities of micro-robot, movement speed or target detection range, have the little effect on the target discovery ratio. In contrast, an additional function, which allows micro-robot to detect the edge of rubble and to determine whether or not to fall down lower layer of the rubble stochastically, enables to achieve the same target discovery ratio with about 50% of micro-robots compared to that without this function. Furthermore, adding the function of climbing wall of rubble greatly improves the target discovery ratio. We also show that the function detecting the edge of rubble outperfoms the function climbing wall in the sparse rubble. |
| Keyword(in Japanese) | (See Japanese page) |
| Keyword(in English) | Micro-robot / disaster area / target discovery system |
| Paper # | CNR2012-22 |
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| Committee | CNR |
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| Conference Date | 2013/2/11(1days) |
| Place (in Japanese) | (See Japanese page) |
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| Topics (in Japanese) | (See Japanese page) |
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| Paper Information | |
| Registration To | Cloud Network Robotics (CNR) |
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| Language | JPN |
| Title (in Japanese) | (See Japanese page) |
| Sub Title (in Japanese) | (See Japanese page) |
| Title (in English) | On Evaluating the Effect of Micro-Robot Functionality on Target Discovery in Survivor Discovery Systems in Disaster Areas |
| Sub Title (in English) | |
| Keyword(1) | Micro-robot |
| Keyword(2) | disaster area |
| Keyword(3) | target discovery system |
| 1st Author's Name | Minoru HARADA |
| 1st Author's Affiliation | Graduate School of Infomation Science and Technology, Osaka University() |
| 2nd Author's Name | Yuki KOIZUMI |
| 2nd Author's Affiliation | Graduate School of Infomation Science and Technology, Osaka University |
| 3rd Author's Name | Kohei WATABE |
| 3rd Author's Affiliation | Graduate School of Infomation Science and Technology, Osaka University |
| 4th Author's Name | Hiroyuki OHSAKI |
| 4th Author's Affiliation | Graduate School of Infomation Science and Technology, Osaka University |
| 5th Author's Name | Makoto IMASE |
| 5th Author's Affiliation | Graduate School of Infomation Science and Technology, Osaka University |
| Date | 2013-02-18 |
| Paper # | CNR2012-22 |
| Volume (vol) | vol.112 |
| Number (no) | 436 |
| Page | pp.pp.- |
| #Pages | 6 |
| Date of Issue | |