Browse > Article
http://dx.doi.org/10.7746/jkros.2021.16.4.291

A Multi-Sensor Module of Snake Robot for Searching Survivors in Narrow Space  

Kim, Sungjae (Smart Robot Convergence and Application Engineering, Pukyong National University)
Shin, Dong-Gwan (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO))
Pyo, Juhyun (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO))
Shin, Juseong (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO))
Jin, Maolin (Interactive Robotics R&D Division, Korea Institute of Robotics and Technology Convergence (KIRO))
Suh, Jinho (Dept. of Mechanical System Engineering, Pukyong National University)
Publication Information
The Journal of Korea Robotics Society / v.16, no.4, 2021 , pp. 291-298 More about this Journal
Abstract
In this study, we present a multi-sensor module for snake robot searching survivors in a narrow space. To this end, we integrated five sensor systems by considering the opinions of the first responders: a gas sensor to detect CO2 gases from the exhalation of survivors, a CMOS camera to provide the image of survivors, an IR camera to see in the dark & smoky environment, two microphones to detect the voice of survivors, and an IMU to recognize the approximate location and direction of the robot and survivors. Furthermore, we integrated a speaker into the sensor module system to provide a communication channel between the first responders and survivors. To integrated all these mechatronics systems in a small, compact snake head, we optimized the positions of the sensors and designed a stacked structure for the whole system. We also developed a user-friendly GUI to show the information from the proposed sensor systems visually. Experimental results verified the searching function of the proposed sensor module system.
Keywords
Multi-Sensor Module; Snake Robot; Disaster Response Robot; Narrow Space;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 J. H. Pyo, D. G. Shin, J. S. Shin, D. B. Shin, G. H. Seo, J. H. Suh, and M. Jin, "Development of Driving Module of Snake Robot for Detection and Rescue in Collapsed Area," Institute of Control, Robotics and Systems, pp. 196-197, 2020, [Online], http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE09410399.
2 P. Liljebck, K. Y. Pettersen, O. Stavdahl, and J. T. Gravdahl, "A review on modelling, implementation, and control of snake robots," Robotics and Autonomous Systems, vol. 60, no. 1, pp. 29-40, 2012, DOI: 10.1016/j.robot.2011.08.010.   DOI
3 J. Borenstein, M. Hansen, and A. Borrell, "The OmniTread OT-4 Serpentine Robot Design and Performance," Journal of Field Robotics, vol. 24, no. 7, pp. 601-621, 2007, DOI: 10.1002/rob.20196.   DOI
4 J. Whitman, N. Zevallos, M. Travers, and H. Choset, "Snake Robot Urban Search After the 2017 Mexico City Earthquake," IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1-6, Philadelphia, PA, USA, 2018, DOI: 10.1109/SSRR.2018.8468633.   DOI
5 G. Athanasiou, A. Amditis, N. Riviere, E. Makri, E. Makri, A. Bartzas, A. Anyfantis, R. Werner, Dan Alexsson, E. D. Girolamo, Nicolas Etienne, M. Schaap, N. Kerle, N. Bozabalian, G. Marafioti, J. Berzosa, and A. Gustafsson, "INACHUS: Integrated wide area situation awareness and survivor localisation in search and rescue operations," 5th International Conference on Earth Observation for Global Changes and 7th Geo-information Technologies for Natural Disaster Management (GiT4NDM), pp. 1-1, 2015, [Online], http://www.widm.ca/wp-content/uploads/2017/04/Abstract_IGRDG_GiT4NDM2015_20232_George-60-1.pdf.
6 K. S. Kang, H. S. Moon, W. S. Lee, and S. W. Kim "Barometer Information-Based 3D Localization for Rescuing a Buried Person in Disaster Environments," The Journal of Korean Institute of Communications and Information Sciences, vol. 32, no. 3, pp. 489-496, 2018, DOI:10.7840/kics.2018.43.3.489.   DOI
7 D.-Y. Kim, H.-J. Choi, J.-E. Lee, S.-H. Cha, S.-J. Kang, K.-H. Cho, and M.-H. Jo, "A Sensor Node Deployment Method Based on Environmental Factors Influencing Sensor Capabilities," The Journal of Korean Institute of Communications and Information Sciences, vol. 33, no. 10, pp. 894-903, 2008, [Online], http://ksci.kisti.re.kr/search/article/articleView.ksci?articleBean.atclMgntNo=GCSHCI_2008_v33n10B_894.
8 W. T. Higgins, "A Comparison of Complementary and Kalman Filtering," IEEE Transactions on Aerospace and Electronic Systems, vol. AES-11, no. 3, pp. 321-325, May, 1975, DOI: 10.1109/TAES.1975.308081.   DOI
9 J. J. Yoo and B. T. Jang "Design and Implementation of Sensor Network Monitoring Tool," The Korean Institute of Information Scientists and Engineers, vol. 35, no. 2(D), pp. 358-362, 2008, [Online], https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE01074790.
10 J. W. Starr and B. Y. Lattimer, "Evaluation of Navigation Sensors in Fire Smoke Environments," Fire Technology, vol. 50, no. 6, pp. 1459-1481, 2014, DOI: 10.1007/s10694-013-0356-3.   DOI
11 M. Y. Cho , D. I. Shin, and S. W. Jun "A Sensor Module Overcoming Thick Smoke through Investigation of Fire Characteristics," The Journal of Korea Robotics Society, vol. 13, no. 4, pp. 237-247, 2018, DOI: 10.7746/jkros.2018.13.4.237.   DOI
12 O.-H. Kwon and H.-J. Song, "Sensor Deployment Simulator for Designing Sensor Fields," The Journal of Korea Multimedia Society, vol. 16, no. 3, pp. 354-365, 2013, DOI: 10.9717/kmms. 2013.16.3.354.   DOI
13 H.-C. Shin, K.-M. Jeong, and J- J. Kwon, "Development of a Snake Robot with 2-DOF Actuator Modules," Journal of Institute of Control, Robotics and Systems, vol. 17, no. 7, pp. 697-703, 2011, DOI: 10.5302/J.ICROS.2011.17.7.697.   DOI
14 J. Bae, M. Kim, B. Song, M. Jin, and D. Yun, "Snake Robot with Driving Assistant Mechanism," Appllied Science, vol. 10, 2020, DOI: 10.3390/app10217478.   DOI
15 M. Mutlu, K. Melo, M. Vespignani, A. Bernardino, and A. J. Ijspeert, "Where to place cameras on a snake robot: Focus on camera trajectory and motion blur," IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR), pp. 1-8, West Lafayette, IN, USA, 2015, DOI: 10.1109/SSRR.2015.7442948.   DOI
16 M. K. Seo, B. J. Yoon, H. Y. Shin, and K. J. Lee "Development of an Integrated Sensor Module for Terrain Recognition at Disaster Sites," The Journal of Drive and Control, vol. 17, no. 3, pp. 1-8, 2020, DOI: 10.7839/ksfc.2020.17.3.009.   DOI
17 E.-J. Lee, K.-I. Lee, H.-S. Kim, and B.-S. Kang, "Develop of Agriculture Environment Monitoring System Using Integrated Sensor Module," The Journal of Korean Contents Association, vol. 10, no. 2, pp. 63-71, 2010, DOI: 10.5392/JKCA.2010.10.2.063.   DOI