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Preface |
6 |
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References |
7 |
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Contents |
8 |
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List of Contributors |
14 |
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Acronyms |
19 |
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Earthquake Disaster and Expectation for Robotics |
21 |
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1.1 Frequent Occurrence of Large-Scale Earthquakes |
21 |
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1.2 Damage Caused by Earthquake Disasters |
25 |
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1.3 Japanese Government Disaster Management Plan |
26 |
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1.4 Examples of Countermeasures |
29 |
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1.5 Urban Search and Rescue (USAR) |
30 |
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1.6 Current Advanced Equipment for Urban Search and Rescue |
32 |
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1.7 Expected Contribution of Robotics |
33 |
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1.8 Conclusions |
35 |
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References |
36 |
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An Overview of the DDT Project |
37 |
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2.1 Objective of the DDT Project |
38 |
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2.2 Roadmap for Practical Solutions |
39 |
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2.3 Disaster Response Scenario Using Developed Robots and Systems |
42 |
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2.4 Brief Overview of Major Results |
44 |
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2.5 Conclusions |
50 |
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References |
51 |
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Disaster Information Gathering Aerial Robot Systems |
52 |
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3.1 Introduction |
53 |
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3.2 Aerial Robot Systems for USAR |
53 |
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3.3 Designing Aerial Robot Systems |
56 |
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3.4 Aerial Robot Systems Developed by AIR MU |
59 |
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3.5 Field Test of Aerial Robot Systems at Yamakoshi |
68 |
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3.6 Summary of R&D Results by the AIR MU |
71 |
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3.7 Conclusions |
72 |
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References |
73 |
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Information Infrastructure for Rescue Systems |
75 |
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4.1 Introduction |
76 |
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4.2 Rescue Infrastructure |
76 |
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4.3 Development of Ubiquitous Devices for Collecting and Providing Information |
78 |
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4.4 Disaster Information Collection and Data Integration Using Dynamic Communication Networks |
83 |
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4.5 Conclusions |
86 |
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References |
86 |
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In-Rubble Robot System for USAR Under Debris |
88 |
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5.1 Collection of Information Under Debris |
89 |
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5.2 In-Rubble Search System |
90 |
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5.3 Components of In-Rubble Searching System |
95 |
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5.4 Advanced Tools |
105 |
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5.5 BENKEI-2: Carrier Vehicle for Rescue Materials and Equipment for Operation on Irregular Ground Surfaces |
115 |
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5.6 Conclusions |
119 |
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References |
119 |
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On-Rubble Robot Systems for the DDT Project |
121 |
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6.1 Introduction |
122 |
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6.2 Development of HELIOS |
123 |
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6.3 Development of HELIOS Carrier |
125 |
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6.4 Development of Leg-in-Rotor-V |
127 |
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6.5 UWB Radar System |
131 |
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6.6 Rescue Dummy |
134 |
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6.7 Human Interface |
138 |
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6.8 3D Map Building and 3D Virtual Bird’s-Eye-View for Control Interface |
141 |
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6.9 Concluding Remarks |
144 |
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References |
145 |
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Design Guidelines for Human Interface for Rescue Robots |
146 |
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7.1 Introduction |
147 |
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7.2 Guidelines for Display Design |
148 |
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7.3 Standardized Interface |
155 |
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7.4 Conclusions |
158 |
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References |
159 |
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Information Sharing and Integration Framework Among Rescue Robots/ Information Systems |
160 |
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8.1 Motivation |
160 |
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8.2 Information System in the DDT Project |
161 |
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8.3 Flexible Representation for Disaster Information |
166 |
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8.4 System Integration via DaRuMa/MISP |
169 |
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8.5 Conclusions |
172 |
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References |
173 |
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Demonstration Experiments on Rescue Search Robots and On- Scenario Training in Practical Field with First Responders |
175 |
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9.1 Introduction |
176 |
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9.2 Who Is the User? |
176 |
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9.3 Progress of the Development of the Rescue Search Devices and IRS- U |
177 |
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9.4 Toward Practice Experiments and Training |
180 |
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9.5 Details of Experiments and Training at the Underground Town of JR East Kawasaki Station |
182 |
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9.6 Conclusions |
188 |
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Summary of DDT Project, Unsolved Problems, and Future Roadmap |
189 |
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10.1 Summary of DDT Project |
189 |
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10.2 Unsolved Technical Problems |
192 |
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10.3 Common Problems of Robot Technologies |
196 |
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10.4 Future Roadmap |
199 |
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10.5 Conclusions |
203 |
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References |
203 |
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Index |
204 |
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