A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot...A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.展开更多
This paper proposes a new approach for detecting human survivors in destructed environments using an autonomous robot. The proposed system uses a passive infrared sensor to detect the existence of living humans and a ...This paper proposes a new approach for detecting human survivors in destructed environments using an autonomous robot. The proposed system uses a passive infrared sensor to detect the existence of living humans and a low-cost camera to acquire snapshots of the scene. The images are fed into a feed-forward neural network, trained to detect the existence of a human body or part of it within an obstructed environment. This approach requires a relatively small number of images to be acquired and processed during the rescue operation, which considerably reduces the cost of image processing, data transmission, and power consumption. The results of the conducted experiments demonstrated that this system has the potential to achieve high performance in detecting living humans in obstructed environments relatively quickly and cost-effectively. The detection accuracy ranged between 79% and 91% depending on a number of factors such as the body position, the light intensity, and the relative color matching between the body and the surrounding environment.展开更多
目的通过尼泊尔地震医学救援实例,探讨地震救援中不同等次救援队的医疗救治模式。方法结合联合国对城市搜救队和世界卫生组织(World Health Organization,WHO)对外国医疗队(foreign medical team,FMT)的能力分类及救援重点,对三支中国...目的通过尼泊尔地震医学救援实例,探讨地震救援中不同等次救援队的医疗救治模式。方法结合联合国对城市搜救队和世界卫生组织(World Health Organization,WHO)对外国医疗队(foreign medical team,FMT)的能力分类及救援重点,对三支中国国家级救援队在尼泊尔地震医学救援中发挥的作用及其模式进行回顾性分析。结果中国国际救援队为联合国重型城市搜救队,以早期到达灾区同步实施搜索、营救、医疗为一体的救援模式为特点,并于废墟下搜救出2名幸存者。中国政府医疗队和中国红十字国际救援队以医疗救助为中心,前者达到WHO 2型FMT水平,为院内创伤救治模式,在13天内开展创伤手术284台;后者达到WHO 1型FMT水平,为门诊创伤救治模式,平均日门诊量194人次。结论医疗救援贯穿救援始终,创伤救治是医疗救援的重点,不同等次的救援队在地震救援中起到的作用及运作模式不同,三支国家级救援队的医疗救援模式适应了地震救援不同阶段的需求。展开更多
基金National Natural Science Foundation of China(No. 60375029)National Hi-tech Research and Development Program of China(863 Program,No.2006AA04Z254)
文摘A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.
文摘This paper proposes a new approach for detecting human survivors in destructed environments using an autonomous robot. The proposed system uses a passive infrared sensor to detect the existence of living humans and a low-cost camera to acquire snapshots of the scene. The images are fed into a feed-forward neural network, trained to detect the existence of a human body or part of it within an obstructed environment. This approach requires a relatively small number of images to be acquired and processed during the rescue operation, which considerably reduces the cost of image processing, data transmission, and power consumption. The results of the conducted experiments demonstrated that this system has the potential to achieve high performance in detecting living humans in obstructed environments relatively quickly and cost-effectively. The detection accuracy ranged between 79% and 91% depending on a number of factors such as the body position, the light intensity, and the relative color matching between the body and the surrounding environment.
文摘目的通过尼泊尔地震医学救援实例,探讨地震救援中不同等次救援队的医疗救治模式。方法结合联合国对城市搜救队和世界卫生组织(World Health Organization,WHO)对外国医疗队(foreign medical team,FMT)的能力分类及救援重点,对三支中国国家级救援队在尼泊尔地震医学救援中发挥的作用及其模式进行回顾性分析。结果中国国际救援队为联合国重型城市搜救队,以早期到达灾区同步实施搜索、营救、医疗为一体的救援模式为特点,并于废墟下搜救出2名幸存者。中国政府医疗队和中国红十字国际救援队以医疗救助为中心,前者达到WHO 2型FMT水平,为院内创伤救治模式,在13天内开展创伤手术284台;后者达到WHO 1型FMT水平,为门诊创伤救治模式,平均日门诊量194人次。结论医疗救援贯穿救援始终,创伤救治是医疗救援的重点,不同等次的救援队在地震救援中起到的作用及运作模式不同,三支国家级救援队的医疗救援模式适应了地震救援不同阶段的需求。
