Illah Nourbakhsh | DHS visit | March 2004
Robotic Technology for USAR
Illah NourbakhshRobotics Lead
NASA/Ames Research Center
Illah Nourbakhsh | DHS visit | March 2004
Background – Key Secondary Affiliations
University Carnegie Mellon Associate Professor (on leave) University of California Santa Cruz Adjunct Professor University of Pittsburgh, Stanford, USF collaborations
Government NSF Co-PI on Agent Architectures for Urban Search & Rescue NIST PI on Instrumented Facilities for USAR standardization Chair, 2003 National Robocup Rescue exhibition
Industry Intel Corporation embedded robotics processor development Intel Pittsburgh robotics university lead Robotics Engineering Task Force Evolution Robotics advisor
Illah Nourbakhsh | DHS visit | March 2004
Role of Robotics in USAR
Lower latency of first entry HAZMAT scheduling, preparation Structural analysis and approval
Lower very high human risk Increase accessible domain Broaden operating conditions (heat, lack of oxygen)
Human sensing augmentation Sensing: Infrared imaging, Environmental modeling Force multiplier
Illah Nourbakhsh | DHS visit | March 2004
Role of Robotics in USAR
Lower latency of first entry Lower human risk Human sensing augmentation
Increase survival chance and outcome for victims, decrease risk exposure and hazards to first responders.
Illah Nourbakhsh | DHS visit | March 2004
Role of Robotics in Space Exploration
Lower latency of first entry Lower human risk Human sensing augmentation
Space Exploration and USAR share common goals and therefore common technological trajectories. - synergy
Illah Nourbakhsh | DHS visit | March 2004
Barriers to Success
Effective human-robot interaction USAR robot operating system standardization Mechatronic robot innovation Robot – sensor interfaces Systems-level field testing and validation
Illah Nourbakhsh | DHS visit | March 2004
Barriers to Success
Effective human-robot interactionCurrent interfaces: fragile, inefficient and need extensive training Human factors analysis must be applied to USAR case Iterative interaction design of interfaces This investment has high payoff, imagine 1:6 human:robot
USAR robot operating system standardization Mechatronic robot innovation Robot – sensor interfaces Systems-level field testing and validation
Illah Nourbakhsh | DHS visit | March 2004
ROBOTS AT GROUND ZERO
Photos courtesy of University of South Florida
Illah Nourbakhsh | DHS visit | March 2004
Barriers to Success
Effective human-robot interaction USAR robot operating system standardization
To maximize effectiveness across research efforts, we need standardized integrations of heterogeneous robot platforms.
Decouple physical robot structure, embedded processing and high-level interaction design
USAR O.S. will lower barrier to entry for industry and research partners
Mechatronic robot innovation Robot – sensor interfaces Systems-level field testing and validation
Illah Nourbakhsh | DHS visit | March 2004
Barriers to Success
Effective human-robot interaction USAR robot operating system standardization Mechatronic robot innovation
No single robot design serves all search & rescue needs. Consider USAR robotics as a set of tools dynamically
assembled based on real-time demands Robustness and price point: essential to commercial viability
Robot – sensor interfaces Systems-level field testing and validation
Illah Nourbakhsh | DHS visit | March 2004
Barriers to Success
Effective human-robot interaction USAR robot operating system standardization Mechatronic robot innovation Robot – sensor interfaces
Retooling existing USAR sensors for robot use. Human-readable sensors must be dual-use Overcome mechanical, electronic and AI obstacles
Systems-level field testing and validation
Illah Nourbakhsh | DHS visit | March 2004
Barriers to Success
Effective human-robot interaction USAR robot operating system standardization Mechatronic robot innovation Robot – sensor interfaces Systems-level field testing and validation
We must build foundational knowledge rather than individual engineered solutions.
Design > Implementation > Testing > Evaluation > Refinement > Dissemination
Instrumented test facilities, standards and evaluation methodologies are required
Illah Nourbakhsh | DHS visit | March 2004
ARC and Partner Roles
ARC has the on-base physical and intellectual resources and collaborators to be a prime center for rapidly maturing research and development for USAR robotics.
Illah Nourbakhsh | DHS visit | March 2004
ARC Instrumented Test Facility
Instrumentation for robotics per NIST direction Additional instruments for human factors From NIST 3-level to ARC: spectrum of
realism and continuity No test facility for robotics would be complete
without real first responder training
Illah Nourbakhsh | DHS visit | March 2004
Cooperative Test Facilities
Illah Nourbakhsh | DHS visit | March 2004
YEAR-ROUND ARENAS
NISTMARYLAND, USA (2000)
Museum of Emerging ScienceTOKYO, JAPAN (2002)
Carnegie Mellon UniversityPENNSYLVANIA, USA (2003)
Istituto Superiore AntincendiROME, ITALY (2003)
University of New OrleansLOUSIANA USA (2004)
Bremen UniversityBREMEMN GERMANY (2004)
Portugal TBDLISBON, PORTUGAL (2004)
PREVIOUS COMPETITIONS
AAAI Conference 2000AUSTIN, TEXAS, USA
IJCAI/AAAI Conference 2001SEATTLE, WASHINTON, USA
RoboCupRescue 2002FUKUOKA, JAPAN
AAAI Conference 2002EDMONTON, ALBERTA, CANADA
American Open 2003PENNSYLVANIA, USA
Japan Open 2003NIIGATA, JAPAN
RoboCupRescue 2003PADUA, ITALY
IJCAI/AAAI Conference 2003ACAPULCO, MEXICO
2004 COMPETITIONS
American Open
German Open
Japan Open
RoboCupRescueLISBON, PORTUGAL
AAAI ConferenceCALIFORNIA, USA
USAR Test Arena ProliferationFOSTERING COLLABORATION THROUGH STANDARDS
Illah Nourbakhsh | DHS visit | March 2004
USAR Interaction Design & Testing
ARC Human Factors division ARC Human-centered Computing Area JPL MER operation lessons U. Pitt. Psychology test instruments
Illah Nourbakhsh | DHS visit | March 2004
Modeling and Visualization
Migration of ARC tools used by scientists at MER mission ops in JPL Model visualization Image refinement
Illah Nourbakhsh | DHS visit | March 2004
USAR Robotics Operating System
ARC, Intel and CMU cooperation Modular robot architecture developed by JPL and ARC Embedded robot control board produced by Intel Robot control API for Intel XScale released by CMU
Illah Nourbakhsh | DHS visit | March 2004
USAR Robotics Operating System
ARC, Intel and CMU cooperation Modular robot architecture developed by JPL and ARC Embedded robot control board produced by Intel Robot control API for Intel XScale released by CMU
Illah Nourbakhsh | DHS visit | March 2004
Sensor Integration
USF expertise in first responder sensor needs CMU expertise in embedded sensor interfacing
electronics and software ARC expertise in local reasoning and interpretation
Illah Nourbakhsh | DHS visit | March 2004
Sensor Integration
USF expertise in first responder sensor needs CMU expertise in embedded sensor interfacing
electronics and software ARC expertise in local reasoning and interpretation
Illah Nourbakhsh | DHS visit | March 2004
Sensor Integration
USF expertise in first responder sensor needs CMU expertise in embedded sensor interfacing
electronics and software ARC expertise in local reasoning and interpretation
Illah Nourbakhsh | DHS visit | March 2004
Sensor Integration
USF expertise in first responder sensor needs CMU expertise in embedded sensor interfacing
electronics and software ARC expertise in local reasoning and interpretation
Illah Nourbakhsh | DHS visit | March 2004
Mechatronic Robot Innovation
ARC robot control development CMU rapid prototyping facilities
Illah Nourbakhsh | DHS visit | March 2004
Mechatronic Robot Innovation
ARC robot control development CMU rapid prototyping facilities
Illah Nourbakhsh | DHS visit | March 2004
Mechatronic Robot Innovation
ARC robot control development CMU rapid prototyping facilities
Illah Nourbakhsh | DHS visit | March 2004
Mechatronic Robot Innovation
ARC robot control development CMU rapid prototyping facilities
Illah Nourbakhsh | DHS visit | March 2004
Mechatronic Robot Innovation
ARC robot control development CMU rapid prototyping facilities
Illah Nourbakhsh | DHS visit | March 2004
Simulation and Training U. Pitt. / CMU Unreal simulation, chosen for broad dissemination
as the NIST standard Sensor model characterization: only possible in most realistic
possible environments: ARC Scorpion EarBot dynamic modeling and neural net – controlled
V.O.R. research
Illah Nourbakhsh | DHS visit | March 2004
Simulation and Training U. Pitt. / CMU Unreal simulation, chosen for broad dissemination
as the NIST standard Sensor model characterization: only possible in most realistic
possible environments: ARC Scorpion EarBot dynamic modeling and neural net – controlled
V.O.R. research
Illah Nourbakhsh | DHS visit | March 2004
Simulation and Training U. Pitt. / CMU Unreal simulation, chosen for broad dissemination
as the NIST standard Sensor model characterization: only possible in most realistic
possible environments: ARC Scorpion EarBot dynamic modeling and neural net – controlled
V.O.R. research
Illah Nourbakhsh | DHS visit | March 2004
Simulation and Training U. Pitt. / CMU Unreal simulation, chosen for broad dissemination
as the NIST standard Sensor model characterization: only possible in most realistic
possible environments: ARC Scorpion EarBot dynamic modeling and neural net – controlled
V.O.R. research
Illah Nourbakhsh | DHS visit | March 2004
Systems-level Field Testing
ARC Robotics acts as a whole-system hub Continuity extending beyond a student or academic year Test facility combined with evaluation methodology Industry, government and academic partnerships
Illah Nourbakhsh | DHS visit | March 2004
Conclusion
ARC has the on-base physical and intellectual resources and collaborators to be a prime center for rapidly maturing research and development for USAR robotics.
First milestones for success: Training center for USAR robotics Quantitative measurement of team effectiveness Robot prototypes that have viable commercial potential
Illah Nourbakhsh | DHS visit | March 2004
Questions
Thank you
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