Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
Session WedAT1 Pegaso A Wednesday, October 10, 2012 ... - Lirmm
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<strong>Session</strong> WedDT3 <strong>Pegaso</strong> B <strong>Wednesday</strong>, <strong>October</strong> <strong>10</strong>, <strong>2012</strong>, 14:00–15:00<br />
Outdoor, Search and Rescue Robotics I<br />
Chair Robin Murphy, Texas A&M<br />
Co-Chair Shigeo Hirose, Tokyo Inst. of Tech.<br />
14:00–14:15 WedDT3.1<br />
LineScout Power Line Robot: Characterization of<br />
a UTM-30LX LIDAR for Obstacle Detection<br />
Nicolas Pouliot, Pierre-Luc Richard, and Serge Montambault<br />
Hydro-Québec’s Research Institute (IREQ), Canada<br />
• Although popular, LIDAR obstacle<br />
detection was never before applied<br />
for Power Line Robot applications<br />
• Before its introduction onto<br />
LineScout plateform, formal<br />
characterization of the Hokuyo<br />
UTM-30LX LIDAR is realized<br />
• LIDAR’s performances while<br />
scanning cylindrical objects and<br />
power line cable samples are also<br />
assessed.<br />
• Preliminary analysis and detection<br />
criteria appear as promising<br />
14:30–14:45 WedDT3.3<br />
Vehicle Localization in Mountainous<br />
Gravelled Paths<br />
Yoichi Morales and Takashi Tsubouchi<br />
Systems and Information Engineering University of Tsukuba, Japan<br />
Shigeru Sarata<br />
Field Systems Research, Advanced Industrial Science and Technology, Japan<br />
• Vehicle localization in real mountainous<br />
non-paved roads of a quarry<br />
• For 3D elevation map elaboration using<br />
data from dead reckoning, RTK-GPS and<br />
a laser sensor<br />
• Terrain traversability analysis is performed<br />
and scan points are voted in an elevation<br />
map which is probabilistically updated<br />
• Localization experiments were evaluated<br />
towards RTK-GPS used as ground truth.<br />
Localization in Mountainous<br />
Gravelled Paths<br />
14:15–14:30 WedDT3.2<br />
Mobile Robotic Fabrication on Construction<br />
Sites: dimRob<br />
Volker Helm, Selen Ercan, Fabio Gramazio, and Matthias Kohler<br />
Architecture and Digital Fabrication, ETH Zürich, Switzerland<br />
• In dimRob (ECHORD - European Clearing<br />
House for Open Robotics Development,<br />
7 th Framework Programme) viable<br />
applications for mobile robotic units on<br />
construction sites are explored.<br />
• The aim is also to build upon innovative<br />
man-machine interaction paradigms via<br />
the cooperation of the precision of<br />
machine with innate cognitive human<br />
skills.<br />
• dimRob is intended as a first step in the<br />
evolution of mobile robotics for<br />
architecture on construction sites.<br />
<strong>2012</strong> IEEE/RSJ International Conference on Intelligent Robots and Systems<br />
–153–<br />
The fabrication unit of dimRob:<br />
An industrial robot, ABB IRB<br />
4600, mounted on a compact<br />
mobile track system that is<br />
designed to fit through a standard<br />
door frame on construction sites<br />
14:45–15:00 WedDT3.4<br />
Casting Device for Search and Rescue<br />
Aiming Higher and Faster Access in Disaster Site<br />
Hideyuki Tsukagoshi, Eyri Watari, Kazutaka Fuchigami,<br />
and Ato Kitagawa Tokyo Institute of Technology, Japan<br />
• As a new tool for rescue<br />
operation in dangerous<br />
buildings, a method for casting<br />
and fixing a tube to collect<br />
information is proposed.<br />
• To realize it, a deformable<br />
anchor ball, a retrieving<br />
device, and a gondola robot<br />
are introduced.
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