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Robot-Assisted Urban Search and Rescueat the WTC Disaster
Prof. Robin MurphyDirector, Research CRASAR
also Associate Prof., Computer Science & Eng.
University of South Florida [email protected]
John Blitch, Jenn Casper, Mark Micire, Brian Minten www.crasar.org
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 2
NBC Today Show Sept 20, 2001
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 3
Outline
• Why Robots?
• What should robots do?
• What did they do?
• What is needed?
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 4
The First Known Robot-Assisted USAR• CRASAR stood up by John Blitch Sept. 2 to transfer military robots
for USAR: deploy, train, evaluate, & research robots for SAR• At WTC, CRASAR robots and personnel worked with FDNY, NYC,
and FEMA teams such as INTF-1, PATF-1, VATF-1, OHTF-1
Duration Tuesday, Sept 11 – Oct. 2
Victims found 10+
CRASAR
Teams/people
Defense Advanced Projects Research Agency (1), US Dept. of Defense (2), Foster-Miller (5), iRobot (8),
US Navy SPAWAR (3), University of South Florida (4)
Robots on site 17, 7 used on rubble pile
Field excursions through 9/22…
11 (8 on rubble pile with depths of 20-45ft)
1 min set up, avg. 7 minutes per run
USF brought 6,2 from NSF
USF team loggedmost hours on
The Pit in 1st 2 weeks(except Blitch)
USF was onlyUSAR certified team
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 5
photos courtesy of Justin Reuter
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 6
Why Use Robots?
• Things that humans can’t do or can’t do safely– “the human use of
humans” Norbert Wiener– and that applies to dogs
• 135 rescuers died Mexico City, 65 in confined spaces
• Not enough trained people– 1 survivor, entombed: 10
rescuers, 4 hours
– 1 survivor, trapped/crushed: 10 rescuers, 10 hours
photos courtesy of Justin Reuter
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 7
FEMA
DoD Liaison
Plan/Ops Safety
Haz Mat
Tech Search
2 CanineSearch Spec.
Search Team
2 Rescue Squads12 Rescue Spec.
Rescue Team
2 MedicalSpecialists
Medical Team
Logs Spec.
Comm. Spec.
PIO
Rigging
StructureSpecialist
Logistics Team
Task Force Leader
Local Jurisdiction
ESF9 Tasks: Search, Assessment, Medical
FEMA Task Force Organizational Chart
photo courtesy of Justin Reuter
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 8
Haz Mat
Tech Search
2 CanineSearch Spec.
Search Team Rescue Team Medical Team
StructureSpecialist
Logistics Team
Task Highlights
Rescue Phase9-11 through 9-21
worked with FDNY, FEMAfound 6+ victims
(equivalent to FLTF-2)
Rescue Phase9-11 through 9-21
worked with FDNY, FEMAfound 6+ victims
(equivalent to FLTF-2)
not usednot used
Recovery Phase9-23 through 10-02
NYC DDC engineersfound 3-5 victims
added HazMat sensors
Recovery Phase9-23 through 10-02
NYC DDC engineersfound 3-5 victims
added HazMat sensors
neededneeded
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 9
Search Task Priorities
• Rescue first, recover later– first responders (always take care of
your own)– civilians in rubble pile– civilians elsewhere
• Information for triage– where are the survivors?– where are the people likely to be?– where are the survivors likely to
have survived?– which pile of rubble do I remove
first?
• Typical resources– dogs, search cams, acoustics,
sledgehammers
SearchCam:camera on a pole
dogs:injured by sharp metal,smell only 0.3m due torain on 2nd day, lackof circulating air
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 10
Robots Compared with SearchCams
• SearchCams ~$10K, Robots ~$12K
• SearchCams reach up to 5 meters
• Robots reach up to 30 meters, averaged between 6 and 13 meters
• Robots can put light on the object, prod it, look at it from different angles
• Robots can go through more twisting tunnels
• SearchCams and small robots take <1.5 minutes to set up and insert
helped to recognize remains of a body
camera with zoom, lights couldn’t do this
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 11
History of Robot-Assisted USAR in USA
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 12
Timeline of Response(Rescue and Recovery, Inspection not shown)
BlitchFoster-Miller iRobot
JPO SPAWARUSF
11 12 13 14 15 16 17 18 19 20 21 22T W Th F S Su M T W Th F S
MooreCiholas/Alibozek
PrattScheinSmith
BlitchMangoldsHaglundMouruFrost
MooreCiholas
MurphyCasperMicireMinten
EverettBaruchLaird
LevanHudson
FrostPratt
Norman
MangoldsMouruFrostPratt
Norman
MangoldsMouru
MurphyCasperMicireMinten
Inuktuns
SolemU
11 4S DARPAUSF
Foster-Miller
rubble pile(The Pit)
Talon Packbot
UrBot
Foster-MilleriRobot
SPAWAR
collateralbuildings
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 13
Where The Robots Were in the Rubble Pile
New York Times 9/23/01
16
7
23
4
5
9/18/01
0-live4-dead
VATF-1
9/16/01
0-live
INTF-1
9/12/01
0-live1-dead
9/12/01
0-live
9/13/01
0-live1-dead
FDNYFDNYFDNY
Not shown:PATF-1OHTF-1NYC
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 14
Environment at Ground Zero
Personal Safety:-Thick dust for days - asbestos, glass -Rubble largely stable, but if fall, could be impaled - 1 injury: fell out of chairWeather:-45-70 deg F-rain 2 days, making rubble slick, slippery
Personal Safety:-Thick dust for days - asbestos, glass -Rubble largely stable, but if fall, could be impaled - 1 injury: fell out of chairWeather:-45-70 deg F-rain 2 days, making rubble slick, slippery
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 15
Contextual View: WTC 2
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 16
Confined Space using Tethered Bots
• 2 types (chemical & sewer, HVAC inspection, TRL 9 but not for USAR)– “polymorphic”: ~60 lbs, 7 hours
battery, fits in 1 backpack, $12K• height of mouse to height of squirrel
– “fixed geometry”: ~70 lbs., 7 hours battery, fits in 1 backpack, $10K
• Tethers: 100-300ft• Terrain & Environment
– voids ~6-12 inch diameter– dirt, rubble (but not mounds of
paper)– inclines: depends
• up steep, go with heavier microTracks
– water resistant– not intrinsically safe, can melt tracks
• 2 types (chemical & sewer, HVAC inspection, TRL 9 but not for USAR)– “polymorphic”: ~60 lbs, 7 hours
battery, fits in 1 backpack, $12K• height of mouse to height of squirrel
– “fixed geometry”: ~70 lbs., 7 hours battery, fits in 1 backpack, $10K
• Tethers: 100-300ft• Terrain & Environment
– voids ~6-12 inch diameter– dirt, rubble (but not mounds of
paper)– inclines: depends
• up steep, go with heavier microTracks
– water resistant– not intrinsically safe, can melt tracks
Inuktun microTracvideo, 2 way audio
Inuktun microVGTV,Inuktun pipe crawlervideo, 2 way audio
www.inuktun.com
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 17
Needed Image Processing and Object Recognition Technologies
-tracks of previous robot run -a watch-3, possibly 4 victims (covered in dust, burned) - head, arm socket?, nose, perhaps fingers
WTC 2, 9/18/01
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 18
State of Available Information
• what viewpoints have already been explored– example: boot?
• no one rewound tape far enough back to catch earlier viewpoint which disambiguated the object!
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 19
Confined Space, Structural Assessment using Wireless Bots
•1 type (military hostage rescue, special order, TRL 9 but not for USAR)– backpackable by 2 people, 1 for bot, 1
for OCU & batteries, 12 hours-7 days (standby)
– fast, can right itself with practice – can add sensors, payloads– ~$30K
•Wireless– depends on material
•Terrain & Environment– voids: mansize– dirt, rubble,inclines: depends– water resistant– not intrinsically safe
•1 type (military hostage rescue, special order, TRL 9 but not for USAR)– backpackable by 2 people, 1 for bot, 1
for OCU & batteries, 12 hours-7 days (standby)
– fast, can right itself with practice – can add sensors, payloads– ~$30K
•Wireless– depends on material
•Terrain & Environment– voids: mansize– dirt, rubble,inclines: depends– water resistant– not intrinsically safe
www.foster-miller.com
FM Solemvideo, striper, audio
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 20
Need Sensing of State of the Robot, World
• Need state of robot– pose, size relative to the
environment– health
• some UIs display• fault detection is hard• diagnostics and recovery is slow
(replace or 35 minutes)
• State of World– topological vs. metric– 3D mapping– 3D interpretation
• video overlay• structural reasoning
robot projected a grid to estimatedistance
WTC 4, 9/16/01
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 21
Search and Structural Assessment of Collaterally Damaged Buildings
• 3 types (military hostage rescue, special order research, TRL 4-6) ~$30-45K
– backpackable by 2 people, 1 for bot, 1 for OCU & batteries, 12 hours (UrBot), 20min (PackBot)
– fast, stairs, grasping
– self-righting or invertible
– can add sensors, payloads, software
• Wireless
• Terrain & Environment– buildings, large voids, 3 story drops
– dirt, rubble,inclines, stairs
– Packbot is water proof
– not intrinsically safe
• 3 types (military hostage rescue, special order research, TRL 4-6) ~$30-45K
– backpackable by 2 people, 1 for bot, 1 for OCU & batteries, 12 hours (UrBot), 20min (PackBot)
– fast, stairs, grasping
– self-righting or invertible
– can add sensors, payloads, software
• Wireless
• Terrain & Environment– buildings, large voids, 3 story drops
– dirt, rubble,inclines, stairs
– Packbot is water proof
– not intrinsically safe
www.spawar.navy.mil, www.irobot.com
FM Talonvideo, audio, gripper
iRobot PackBotvideo, FLIR, 2 way audio
SPAWAR UrBotvideo, audio
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 22
General Mobility & Hardware Problems• Lost 1 Solem robot
– lost wireless comms, left in hole, wasn’t there later
• Damage– detracked once (high heat)– speared on rubble– just wear and tear
• Tethers tangle– only twice not immediately recoverable
• 7.75 “stuck assists” per drop (or once a minute)
– but tether handling is significant• 9.25 “gravity assists” per drop
– still have tie a rope around the wireless ‘bots
• Wireless and dropouts– can’t compress and do image processing– too numerous/duration to count– make it hard to do image proxy processing
• Fear of flipping and getting stuck
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 23
HRI Issues Overall
• Warning: camera occlusion 12.3% of a drop– teleop doesn’t work well in those cases!
• Operator errors (Norman ‘91)
– Mistakes• 2: wrong robot, had to remove and try another
– microTracks bulldozes in deep dirt, can’t climb
– microVGTV too light to get traction
• 10% of duration of Inuktun runs spent significant time adjusting lights despite auto gain
– need image enhancement
– Slips• 0.25 collisions per drop (oversteer)
• 8.9% of duration, robot wheel slip (high centered, wrong configuration)
• Human-Robot Interfaces scared end-users off
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 24
iRobot: PackBot (experimental)
• game joystick plus laptop with video & audio• robot state: battery, comms, orientation, camera, encoders• scared off rescuers: too complicated, too long to train
iRobot PackBotvideo, FLIR, 2 way audio
2 people, 35 kg
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 25
9:00PM
11:00PM
1:00AM
3:00AM
5:00AM
7:00AM
65min
~355min
~6.5min
~6.5min
35min
~5min
~105min
~30min
1. Drive to Ground Zero from Javits Center
2. Parts of 9 member group splits off while the rest waits
3. 2 operators, 2 robots and VATF-2 search void; MicroTrac failure
4. 2 operator, 2 robots and VATF-2 search same void; VGTV failure
5. 2 members retrieve spare robot from Javits Center
6. 2 members fix 2 robots using parts from spare robot
7. 9 member group moves to new location to wait
8. Group returns to Javits Center from Ground Zero
12:00AM 2 operators return with robots after VATF-2 retreats
In route
Waiting
Searching
Timeline of Shift w/ VATF-2 (7:00PM 9/18/01 – 7:00AM 9/19/01)
• 13 minutes for entire shift (green)• No drop >7 minutes• <1.5 minute set up time or rescuers walk away• Found 3+ victims
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 26
Other problems: Asynergism
• Lack of interoperability / “on the other robot”– Image processing, intelligent assistance
– Software, sensors couldn’t be migrated between platforms (“plug and perceive”)
– Only the “dumbest” robots were well-used
• Known capabilities “lost” or “back in the lab”• robots as wireless repeaters
• self righting
• self reacquistion of comms signal
• general office navigation, obstacle avoidance
Demo, hardware focus, rather than Systems focus
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 27
Problems as Point of Departure for Theory• USAR robots can be generic, adapted in the field for the
particular task, thought of a system• Sensors and sensing need to be improved, miniaturized, $$
– State of robot: highly sensate robots, health monitoring– State of world: 3D maps plus understanding structure– State of available information
• Mobility and hardware need to be improved– Polymorphic and elephant trunk sensors masts– Teams of robots
• marsupialism for delivery, relay, proxy processing• physically coupled: tether managers, in-line collaborative teleoperation• distributed: hybrid tethers
• Human-robot Interaction needs to be improved– Perceptual user interfaces not well-defined, mapping & human models of
situational awareness– Training and access is an issue; over the internet
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 28
Robot-Assisted USAR as IT
HOSPITAL
Forward StationSection Chief
WARM ZONEBase of OperationsTeam Task Leader
personnel prep
HOT ZONESearch Teams
COLD ZONECommand Post& Staging Area
Incident Commander, Structural Engineers,
Robot Specialists
NEW-TECHLABS
UNIVERSITY
DECIDABILITY
CONNECTIVITY
USABILITY
MOBILITY
ADAPTABILITY
PERCEPT-IBILITY
CRASAR, GOVT LABS
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 29
Summary of Performance
• Robots were successfully used at the World Trade Center – Success: quick response (luck)
– effective performance • 12/11 equal to manual technical search for 24/10 days
• user acceptance– Training in Dec. 02 for East Coast firefighters
– Training in Apr. 02 at FDIC in Indianapolis
– ~30 copies of data sets to fire rescue teams to date
• USF as a university provided expertise from field research, managed data collection (and pushing data dissemination)
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 30
However, We Could’ve Done More…
• Had more robots, sensors, and people than were utilized due to credentialing, organizational issues– Lost days 3,4
– Never saw a 24/7 deployment cycle
– Only 75% of the available Inuktuns were deployed at any given time, despite effectiveness
– Buildings could have been surveyed, if necessary, stored on videotape
• Capabilities never exploited– Robots could place tubing to transport air/water/meds to survivors
• Dr. Eric Rasmussen, 3rd Fleet Surgeon, sent medical equipment
– Added air quality monitors on larger robots after 9/25
– AI Software on larger robots not interoperable with smaller and newer robots
Feb 19, 2002 Robot-Assisted Search and Rescue at WTC Disaster (NSF) 31
more information and public video & stills: [email protected]
Robots Can’t Replace the Real Heroes