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T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
“Housekeeping”
Twitter: #ACMLearning
• Welcome to today’s ACM Learning Webinar, “Disasters: Robots, Computing, and Informatics” by Robin R. Murphy. The presentation starts at the top of the hour and lasts 60 minutes. Slides will advance automatically throughout the event. You can resize the slide area as well as other windows by dragging the bottom right corner of the slide window, as well as move them around the screen. On the bottom panel you’ll find a number of widgets, including Twitter, Sharing, and Wikipedia apps.
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T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
Disasters: Robots, Computing & Informatics
Dr. Robin Murphy
Center for Robot-Assisted Search and Rescue Texas A&M University
This work has been supported by numerous grants from the National Science
Foundation and represents tremendous work by fantastic graduate students and members of Roboticists Without Borders and international partners such as the
International Rescue System Institute
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
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ACM Highlights
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
“Housekeeping”
Twitter: #ACMLearning
• Welcome to today’s ACM Learning Webinar, “Disasters: Robots, Computing, and Informatics” by Robin R. Murphy. The presentation starts at the top of the hour and lasts 60 minutes. Slides will advance automatically throughout the event. You can resize the slide area as well as other windows by dragging the bottom right corner of the slide window, as well as move them around the screen. On the bottom panel you’ll find a number of widgets, including Twitter, Sharing, and Wikipedia apps.
• If you are experiencing any problems/issues, refresh your console by pressing the F5 key on your keyboard in Windows, Command + R if on a Mac, or refresh your browser if you’re on a mobile device; or close and re-launch the presentation. You can also view the Webcast Help Guide, by clicking on the “Help” widget in the bottom dock.
• To control volume, adjust the master volume on your computer. If the volume is still too low, use headphones.
• If you think of a question during the presentation, please type it into the Q&A box and click on the submit button. You do not need to wait until the end of the presentation to begin submitting questions.
• At the end of the presentation, you’ll see a survey open in your browser. Please take a minute to fill it out to help us improve your next webinar experience.
• You can download a copy of these slides by clicking on the Resources widget in the bottom dock.
• This session is being recorded and will be archived for on-demand viewing in the next 1-2 days. You will receive an automatic email notification when it is available, and check http://learning.acm.org/ in a few days for updates. And check out http://learning.acm.org/webinar for archived recordings of past webcasts.
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
Talk Back
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T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ACM Webinar (C) 2015 Robin R. Murphy 6
Outline
• About Texas A&M • What are Disaster Robots? • Phases of a Disaster • Challenges for Intelligent Robotics • Emergency Informatics • Conclusion
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ACM Webinar (C) 2015 Robin R. Murphy 7
ABOUT US
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ACM Webinar (C) 2015 Robin R. Murphy 8
Not Just a Top Engineering School 3rd in Engineering Research (MIT, Georgia Tech)
• Center for Emergency Informatics – >50 faculty in 3 colleges, 9
departments
• Texas A&M Engineering Extension Service – Train 280,000 emergency
professionals each year and all 28 FEMA teams
– Texas Task Force 1, Disaster City, Brayton Fire Fields, EOTC
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ACM Webinar (C) 2015 Robin R. Murphy 9
Center for Robot-Assisted Search and Rescue
• Since 2001 • Promote the use of all
types of robots for disasters
• Training courses and exercises
20 Deployments
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ACM Webinar (C) 2015 Robin R. Murphy 10
Roboticists Without Borders
• Engage and train industry BEFORE a disaster
• Deploy under direct invitation
• Companies donate equipment and up to 10 days of their time
AirRobot, Black Swift, Draganfly, Field Innovation Team, Global UAI, Infinitum Humanitarian Services, Leptron, OceanServer, PrecisionHawk, R-T Aerostat, SeaBotix, UAVRG, …
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ACM Webinar (C) 2015 Robin R. Murphy 11
Disaster Robotics, MIT Press 2014
• Distills 34 disasters through 2013
• Data on types of robots, missions, environments
• Heuristics for selecting a robot
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ACM Webinar (C) 2015 Robin R. Murphy 12
WHAT ARE DISASTER ROBOTS?
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ACM Webinar (C) 2015 Robin R. Murphy 13
You May Have Noticed
• Robots were small: man-packable or man-portable
… If a person (or dog) could have done it, they probably would have … If it requires a trailer, a boat ramp, or landing zone, there wasn’t one
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
• “Rescue” often refers to the large set of missions in the separate Rescue and Recovery phases
• Robots considered are tactical, organic assets directed by the immediate decision-makers not strategic assets such as Global Hawk or Predator – Mitigation, response, recovery which is by civil authorities and
often requires engineering expertise, not on humanitarian relief
• The majority of the missions for robots are formative not normative – New area is emerging in medical disasters
Disaster Robotics: Definitions
copyrighted 2013 by Robin Murphy [email protected] Workshop on Advanced Technologies for Disaster Management
14
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ACM Webinar (C) 2015 Robin R. Murphy 15
47 Disasters in 15 Countries: China, Cyprus, Germany, Haiti, Italy, Japan, Nepal, New
Zealand, Philippines, Serbia, South Korea, Taiwan, Thailand, USA, Vanuatu
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Deployments By Type of Robot
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ACM Webinar (C) 2015 Robin R. Murphy 17
PHASES OF A DISASTER
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
Types of Disasters
• Natural disasters
• Man-made disasters
• Mining, mineral, or energy related disasters*
18
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
Disasters
• 700 disasters per year but impact is increasing due to urbanization
• 1.1M killed (2000-9)
• 2.5M affected (2000-9)
• $987 Billion USD
19
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ACM Webinar (C) 2015 Robin R. Murphy 20
Incidents Versus Disasters
Disaster
Multiple agencies, exceeds local resources
Incident
“Routine” emergencies in law enforcement, fire rescue, emergency medicine
1M people killed each year 2.5M displaced or disabled
$B economic losses
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ACM Webinar (C) 2015 Robin R. Murphy 21
Disaster: Phases
Disaster
Focuses on individual citizens, smaller groups
Mitigation, Response, Recovery
(Humanitarian) Relief
Focuses on critical infrastructure, agency coordination
Prevention, Preparedness
Focuses on planning, inspection, monitoring
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ACM Webinar (C) 2015 Robin R. Murphy 22
Biggest Gains in Life Saving & Economic Recovery
Disaster
Mitigation, Response, Recovery
Focuses on critical infrastructure, agency coordination
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ACM Webinar (C) 2015 Robin R. Murphy 23
Different Events, Different Robots
Disaster
Localized to a small area or buildings
Medical Urban Wide Area
Diverse and distributed geographically
Infectious diseases versus casualties
Mitigation, Response, Recovery
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Notes: Disaster Phases and Robots
• No FEMA team owns a robot • Robots have been primarily designed and
promoted for Response – Ignores Prevention/Preparedness and Relief
phases – Generally arrive too late to be effective
• Push to share data from Response with Recovery (US&R UAV data with Insurance companies)
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ACM Webinar (C) 2015 Robin R. Murphy 25
CHALLENGES FOR ROBOTICS
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
UN Disaster Risk Reduction 2015 26
Broad Set of Actual and Postulated Uses for Land, Sea, Air • Search • Reconnaissance and
mapping • Rubble removal • Structural inspection and
forensics • In situ medical assessment
and intervention • Medically sensitive
extraction of casualties
• Mobile beacon or repeaters • Surrogate for a team
member • Victim recovery • Logistics support • Adaptive shoring of rubble • Estimation of debris
volume and types • Direct intervention
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
• Extreme terrains and operating conditions
• GPS- and wireless-denied environments
• Extreme human-robot interaction
Have to Operate Under Extreme Conditions
Workshop on Advanced Technologies for Disaster Management
copyrighted 2013 by Robin Murphy [email protected] 27
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ACM Webinar (C) 2015 Robin R. Murphy 28
Which Control Style to Use?
Remote Presence* • Look and act through the
robot in real-time
Taskable Agent • Preprogram and hope it
comes back
http://www.startribune.com/sports/outdoors/241746511.html
http://targetingdoctors.com/know-your-customersthink-vulcan-mind-meld/
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
Reliability Failure Taxonomy updated Carlson & Murphy 2005
29
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30
“Human” Error
50% of mission failures were “human error”
Remote Presence • Too fatiguing, 20
minutes == 2 hours
Taskable Agent • Human Out of the
Loop Control Problem
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
SSRR 2011 Tutorial
31
OOTL Control Problem
• When autonomy fails
• Human out-of-the-loop (OOTL) control studies since 70’s show that people may not seamlessly not take over from automation failures (Kaber & Endsley; Kessel & Wickens, Young)
copyrighted 2011 by Robin Murphy [email protected]
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ACM Webinar (C) 2015 Robin R. Murphy 32
Notes: Challenges for Robots
• Extreme event • Matching control style with mission and
context • Need for reliability • Preventing human factors unsafe
preconditions
Human-robot interaction is the barrier!
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ISR DIstinguished Lecture 33
Other challenges…
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EMERGENCY INFORMATICS
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ACM Webinar (C) 2015 Robin R. Murphy 35
Right PersonS: One-to-Many
~25 agencies/organizations involved in every disaster; often multiple, independent incident commands
Small # of Responders in Hot Zone
Large # of Experts in Cold Zone
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ACM Webinar (C) 2015 Robin R. Murphy 36
It’s Not the Robot, It’s the Data
• Getting the right data (or enabling remote action)
• To the right person • In the right format • In time to make an effective decision
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ISR DIstinguished Lecture 37
In Time…
Data from UAV to Incident Commander Avg. 28 Minutes, 4 transforms
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
“Connectivity is Not a Problem”
38
2015 Texas floods washed out Verizon landline in Hays County but alternate comms was available to responders within 6 hours
http://www.dallasnews.com/news/state/headlines/20150525-8-corpus-christi-residents-missing-after-flash-floods-in-wimberley.ece
In progress: $7B FirstNet dedicated public safety cellular system
+
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ASC 2015 39
In Right Format: Example from Disaster City
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ASC 2015 40
ICE Orthomosaic (5 minutes)
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ASC 2015 41
ICE Orthomosaic: Looks Good!
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ASC 2015 42
But…Misalignment
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ASC 2015 43
Agisoft (30 minutes)
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ASC 2015 44
Produces a Different Problem: Wavy and Ghosting
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ACM Webinar (C) 2015 Robin R. Murphy 45
The Right Information
• 1 UAV mission 800 HD images, ~2Gb of data
• Tedious inspection • ~13 hours
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Post Processing: Computer Vision and Machine Learning
With University of Maryland and University of California Berkeley
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ACM Webinar (C) 2015 Robin R. Murphy 47
Notes: Emergency Informatics
• Operators aren’t the only “information consumers” or decision makers
• Broadcasting everything to everyone isn’t practical
• Connectivity isn’t the big problem now, it’s the data avalanche
• Correct post-processing is essential
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
ACM Webinar (C) 2015 Robin R. Murphy 48
CONCLUSIONS
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ACM Webinar (C) 2015 Robin R. Murphy 49
Summative Lessons Learned
From 47 disasters in 15 countries since 2001: • Robots assist, not replace experts • Ground and aerial systems are the king and the
queen of the prom, but marine vehicles may be the most valuable
• Human-robot interaction is the barrier- how to use the robots reliably and what information robots/computers should provide
• Information, not data, is the value proposition
T E E S C e n t e r f o r R o b o t - A s s i s t e d S e a r c h a n d R e s c u e c r a s a r. o r g
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