RoboCupRescue 2013 - Robot League Team
Contents
1. M Ito T eds Theoretical Aspects of Computer Software Lecture Notes in Computer Science Vol 1281 Springer Verlag Berlin Heidelberg New York 1997 415 438 3 van Leeuwen J ed Computer Science Today Recent Trends and Developments Lecture Notes in Computer Science Vol 1000 Springer Verlag Berlin Heidelberg New York 1995 4 Michalewicz Z Genetic Algorithms Data Structures Evolution Programs 3rd edn Springer Verlag Berlin Heidelberg New York 1996 1 The footnote numeral is set flush left and the text follows with the usual word spacing Sec ond and subsequent lines are indented Footnotes should end with a period2. WriteLn repeat Year Year 1 Factorl Factorl 1 07 Factor2 Factor2 1 08 Factor3 Factor3 1 10 WriteLn Year 5 Factorl 7 3 Factor2 7 3 Factor3 7 3 until Year MaxYears end 0 2 6 Footnotes The superscript numeral used to refer to a footnote appears in the text either directly after the word to be discussed or in relation to a phrase or a sentence following the punctuation sign comma semicolon or period Footnotes should appear at the bot tom of the normal text area with a line of about 2cm in TeX and about 5cm in Word set immediately above them 2 7 Citations The list of references is headed References and is not assigned a number in the decimal system of headings The list should be set in small print and placed at the end of your contribution in front of the appendix if one exists Please do not insert a pagebreak before the list of references if the page is not completely filled An exam ple is given at the end of this information sheet For citations in the text please use square brackets and consecutive numbers 1 2 3 2 8 Page Numbering Your paper should show no printed page numbers these are allocated by the volume editor References 1 Baldonado M Chang C C K Gravano L Paepcke A The Stanford Digital Library Metadata Architecture Int J Digit Libr 1 1997 108 121 2 Bruce K B Cardelli L Pierce B C Comparing Object Encodings In Abadi
3. 3 level heading Headings Text follows 10 point bold 4 level heading Remark Text follows 10 point italic 2 3 Figures and Photographs 0 025 0 02 0 015 0 01f 0 005 J Ro a 20 15 10 5 oo 5 10 Fig 1 One kernel at xs dotted kernel or two kernels at xi and xj left and right lead to the same summed estimate at xs 2 4 Formulas Displayed equations or formulas are centered and set on a separate line with an extra line or halfline space above and below Displayed expressions should be numbered for reference The numbers should be consecutive within each section or within the contribution with numbers enclosed in parentheses and set on the right margin For example X yY Z d Please punctuate a displayed equation in the same way as ordinary text but with a small space before the end punctuation LaTeX users can find more examples of how to typeset equations in the file lncs dem see Sect 3 2 5 Program Code Program listings or program commands in the text are normally set in typewriter font e g CMTT10 or Courier Example of a Computer Program from Jensen K Wirth N 1991 Pascal user manual and report Springer New York program Inflation Output Assuming annual inflation rates of 7 8 and 10 years const MaxYears 10 var Year 0 MaxYears Factorl Factor2 Factor3 Real begin Year Factorl 1 0 Factor2 1 0 Factor3 1 0 WriteLn Year 7 8 10
4. LAN frequencies For example our Rescue Robot League may have only one 802 11B G channel to use of the three non overlapping channels CH1 CH6 or CH11 and maybe two or three of the eight non overlapping 802 11A channels So we STRONGLY RECOMMEND using 802 11A 5GHz radio communications for your wireless LANs since the league will have more 802 11A channels to use and we ve seen far better performance on A channels over B G channels You will be expected to set up your own team access points APs but must strictly adhere to the single channel we assign you APs THAT USE FREQUENCY HOPPING TO FIND THE BEST CHANNEL ARE NOT ALLOWED as they may end up on another league s channel and be cause for disqualification NetGear APs can be set to a stay on a specific channel and others manufacturers should allow this as well See the website for final details on all radio channels all competi tion venues handle their radio frequency restrictions differently Initially teams using LINUX had problems finding drivers but that should be remedied by now try the mailing list noted on the website or the FAQs if you re still having trouble Once onsite at the competition we will reserve and schedule chan nels for practice sessions and competitive missions If you do plan to use radio transmissions of any type please modify the table be low to specify which frequencies your team expects to use Fill in the rows that apply add other specific f
5. RoboCupRescue 2013 Robot League Team lt NIIT BLUE Japan gt Katsuji Oogane Kohsuke Shibano Niigata Institute of Technology 1719 Fujihashi Kashiwazaki Niigata 945 1195 Japan robocup niit blue info 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 Introduction Please use this Team Description Paper TDP template to answer the following questions about your team s approach to designing fabricating controlling and oper ating your urban search and rescue robot team We will likely have many more teams interested in participating than we can accommodate so we will use this paper to ini tially qualify your team for final registration We are looking for teams showing solid progress toward a functioning system particularly innovative approaches and well formulated and well described team strategies Timely submittal of this and other documents is also appreciated It is very important that you follow this particular template regarding formatting paragraph types figures footnotes everything This template is the exact format used to publish these Team Description Papers in the RoboCup Book following each c
6. ease use this section to describe what kind of training is required to use your sys tem and what kind of skills are beneficial for operators of your system Also how you went about training your team members for the competition gt 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 Please use this section to describe how close your system is to practical application at a real disaster site What part of your system do you think is robust enough to handle field testing right now and what would you want to improve upon before attempting such field trials Of course you will have a much better idea of this after the competi tion But hopefully you have seen some inspiring successes in your practice sessions gt In real disaster site it is hard to operate this robot But we think that if two peo ple a robot driver and a leader move a robot a rescue operation becomes easy 12 System Cost Please use this section to total the costs of key system components and the overall expense of your system In this section we re looking for particular information that other teams could use to replicate your successful approaches So part numbers prices and websites are much appreciated This information will only be available to the other teams and the public when it is
7. hed in less than 10 minutes The rules from last year may be modified to apply penalties for taking longer As with previous years there will be a table and chairs available for your use It is extremely critical that your operator station be set up with a minimum number of operators preferably the same operators that run the robots Eventual deployment at a real dis aster site will likely require your system to be backpack able along with your robots So consider climbing a ladder with your robot and operator controls as the ultimate goal For the purposes of this competition you may be larger and heavier this year But we encourage you to at least start considering a system that is integrated into a movable chassis with wheels handles operator seat whatever Large roller tool boxes or storage containers may be useful Your efforts in this regard will not go overlooked gt 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 Please use this section to describe your plan for communicating with your robots passive tether active tether radio etc Keep in mind that radio transmissions are inherently problematic in complex environments due ton conflicting radio traffic obstacles in the envir
8. ompetition published by Springer as part of their series called Lecture Notes on Artificial Intelligence Consider this the beginning of the process of documenting your team s approach for eventual publication We ask that you follow the headings below as an outline to describe your team personnel robots interfaces and team strategies We understand that at this early date your system is likely not fully realized so we expect this document to be incomplete in parts We do not expect a polished paper at this time but rather a comprehensive discussion of your team s approach How ever We expect you to articulate at least some ideas in each area outlined below The more comprehensive your approach appears the more favorably it will be reviewed If you have hardware implemented please add lots of pictures as you describe your system and give details regarding the parts themselves sensors motors joysticks etc If you have drawings of your system please include them If you have particular team strategies please describe them Otherwise please attempt to describe at least the direction you are going in any given section and what we can expect to see at the competition Please also describe how your operator s plan to interact with your system As mentioned earlier this is only a preliminary draft of your Team Description Paper It is meant to prompt you into considering all aspects of the task so that you are not surprised or thwar
9. onment and range issues So don t expect perfect radio signals ever and plan for radio drop out because it will happen Even the relatively saturated radio frequencies at the RoboCup as problematic as they are don t compare to the radio transmission problems experienced at an actual disaster response So plan to make your system functional in adverse environments If you are using radio communications we specifically caution that CERTAIN RADIO FREQUENCIES WILL BE RESTRICTED FOR USE AT THE COMPETITION CHECK THE WEBSITE FOR THE LATEST AVAILABLE IN FORMATION REGARDING DISALLOWED FREQUENCIES ASSIGNED CHANNELS FOR EACH LEAGUE AND USE OF YOUR OWN ACCESS POINTS http robotarenas nist gov competitions htm We have had problems in the past conflicting with other leagues using the same frequencies so we must negotiate usage agreements among the leagues at these large venues We simply cannot interfere with other leagues which rely on radio to admin ister their games too especially with streaming video EFFECTIVE USAGE OF RADIO FREQUENCY CANNOT BE GUARANTEED TRANSMITTING ON ANOTHER LEAGUE S ASSIGNED FREQUENCY OR ON ANOTHER TEAM S ASIGNED FREQUENCY EVEN INADVERTENTLY IS GROUNDS FOR DISQUALIFICATION We have to be very strict on this as these are huge events and difficult to manage we re trying to be considerate of other teams and leagues Each league will have cer tain channels assigned to it in the popular wireless
10. perator of the intensive ongoing workload associated with remote situ ational awareness We want to see improvements over having your operator watch a video stream and draw a map So please describe how you intend to track arena fea tures mark victims and generally produce maps of the environments gt We use handwriting by information from web camera and sensor 6 Sensors for Navigation and Localization Please use this section to describe the sensors you use for navigation tactile acoustic ultrasonic infrared visual laser chemical encoder other and explain how you use them gt These measure an angle Fig Angle sensor Angle sensor For know the situation of robot 7 Sensors for Victim Identification Please use this section to describe the sensors you use for victim navigation tactile acoustic ultrasonic infrared visual laser chemical encoder other and explain how you use them Fig Temperature sensor Microphone For catch a information of a victim such as groan cry ing and tapping 8 Robot Locomotion Please use this section to describe your system of locomotion wheeled tracked legged air propulsion other and explain how you use them Robot No 1 NAME BLUE R2 9 Other Mechanisms Please use this section to describe other innovative mechanisms in your system not described in a previous section gt Nothing 10 Team Training for Operation Human Factors Pl
11. published in the Springer Book long after the competition is complete gt Total cost is about 5 000 13 Lessons Learned After the competition is over please use this section to add your thoughts on the lessons your learned from deploying your robot and watching others Your system will change leading up to the event and during the event as you react to changes in your assumptions This section should capture those changes although you may also modify all the previous sections as well and articulate the lessons you took from the experience which will refine your system design gt This robot through the tournament so far proved to be agood re sult that the design of the center of gravity forward crawler unit References See Appendix for proper citation formatting APPENDIX General Formatting Hints you may delete this section to the end of the document prior to submitting Please use the general formats below in your document where appropriate The easi est way is to simply copy and paste the following item and edit the content as appro priate to insert your information Table 1 Font sizes of headings Table captions should always be positioned above the tables The final sentence of a table caption should end without a period Heading level Example Font size and style Title centered Lecture Notes 14 point bold 1 level heading 1 Introduction 12 point bold 2 level heading 2 1 Printing Area 10 point bold
12. requencies and power levels if necessary and delete the rows that don t apply to your team If there is overlap across teams we ll need to co ordinate schedules for those other frequencies as well 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 11la W52 36 40 44 48 10 mW W53 52 56 60 64 2 4 GHz 802 11b g 1 14ch 10 mW 2 4 GHz Bluetooth spread spectrum 2 4 GHz Other 1 2 GHz 74 1 3 10 16 900 MHz 40 MHz 27 MHz lt FILL IN OTHER gt lt FILL IN OTHER gt 4 Control Method and Human Robot Interface Please use this section to describe your plan for controlling your robot remote teleop eration partial autonomy full autonomy and your human robot interface for robot control and victim recognition Also explain what your operator will be doing during missions and which tasks are autonomous Control PC Wireless a N Cai 5 Map generation printing Please use this section to describe your plan for generating the map that you will submit immediately after each mission The rules and the performance metric clearly highlight the need for easy to understand accurate maps You ll see that automati cally generated sensor based maps are clearly encouraged Operators may annotate items of interest like victims or correct data The intent is to improve accuracy and relieve the o
13. ted by any particular area After the competition you will have another opportunity to add modify and enhance your team description prior to publication in the RoboCup book After a week of intensive collaboration with other teams at the competition and the inevitable last minute development that occurs your system will likely change for the better We ll want to capture that development and publish your successful implementations so that others may benefit from your experi ence That is the ultimate goal of this paper So remember add many pictures and drawings below to help explain your ap proach See the Appendix at the end of this document for guidelines to insert figures tables computer code and references in the document text according to the Springer format Pay attention to these details the first time and you won t have to do it over prior to publication Finally good luck with your preparations We re very much looking forward to seeing what you ve developed 1 Team Members and Their Contributions Please use this section to recognize all team members and their technical contribu tions Also note your advisors and sponsors if you choose e Katsuji Oogane Advisor Director e Kohsuke Shibano Mechanical design and Operator 2 Operator Station Set up and Break Down 10 minutes Please use this section to describe your plan for set up and break down of your opera tor station Note that this task must be accomplis
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