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RoboCupRescue 2009 - Robot League Team NIIT BLUE (Japan)

Katsuji Oogane, Nariaki Hirokami

Niigata Institute of Technology

Abstract This robot have 4 arm.It moves by power of passive.This robot can get over an obstacle by power of the passiveness when arm came in contact with an obstacle.And it moves by actively too.This robot put hardware in 4 arms. In using these arms, the robot can run surely even in a stricken area. We performed miniaturization of a body to run at the small place.

1. Team Members and Their Contributions

Katsuji Oogane Advisor, Director Nariaki Hirokmai Program of robot Takeo Ikarasshi Operation of robot Kentaro Shimaoka Maintenance of robot Kenta Yuki Maintenance of robot Masato Ogawa Maintenance of robot

2. Operator Station Set-up and Break-Down (10 minutes)

Setup

1.Hardware ・Connection of battery ・Operation check of a robot ・Check of wireless camera and camera monitor 2.Software ・Boot computer ・Connection of wireless communication. ・Check of sensor information.

Break-down

We stop all systems and bring them back to staff room.

3. Communications

Communications Frequencies

Rescue Robot League
NIIT-BLUE(JAPAN)
MODIFY TABLE TO NOTE ALL FREQENCIES THAT APPLY TO YOUR TEAM
Frequency Channel/Band Power (mW)
5.0 GHz - 802.11a W52,36,40,44,48
W53,52,56,60,64		 10(mW)
2.4 GHz - 802.11b 1-14ch 10(mW)
2.4 GHz - 802.11g 1-13ch 10(mW)
1.2 GHz (Camera) 7,4,1,3,10,16

4. Control Method and Human-Robot Interface

Fig.1 The Control Method
Fig.1 The Control Method

5. Map generation/printing

We use "handwriting" by information from web camera and sensor.

6. Sensors for Navigation and Localization

These measure an angle.

Angle sensor:

For know the situation of robot.

Fig. 1 Angle sensor
Fig. 1 Angle sensor
Fig. 2 Angle sensor
Fig. 2 Angle sensor

7. Sensors for Victim Identification

Microphone:For catch a information of a victim such as groan, crying and tapping.

Fig. 2 Temperature sensor
Fig. 2 Temperature sensor

8. Robot Locomotion

This robot has a 4 arm.

Robot with 4 arms
Robot with 4 arms

9. Other Mechanisms

Nothing.

10. Team Training for Operation (Human Factors)

This robot can passively transformation. If it is a small step, the vehicle driver can run going straight only. If big step, robot is get over by doing arm move.

11. Possibility for Practical Application to Real Disaster Site

In real disaster site, it is hard to operate this robot. But we think that if two people, a robot driver and a leader move a robot , a rescue operation becomes easy.

12. System Cost

Total cost is about 500000 Japanese yen.