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PROJECT OVERVIEW & RESULTS

10/02/2014

Brussels, Belgium

Geert De Cubber, Royal Military Academy

PROBLEM STATEMENT

• Disasters disrupt our society• Disasters are very difficult to manage

Source: Wikimedia Commons

ICARUS: PROVIDING ROBOTIC SOLUTIONS FOR SEARCH & RESCUE

CURRENT SAR WORKFLOW

Disaster

Search & Rescue

Humanitarian Assistance

Relief

Recovery

Rebuilding

Continued Humanitarian

Assistance

• Disaster Phases

Source: B-FAST

CURRENT SAR WORKFLOW

• Search & Rescue actions:• Labour-intensive• Slow

Source: B-FAST

ICARUS - CONSORTIUM

• Integrated Components for Assisted Rescue and Unmanned Search operations

• Participants:• 24 partners• 10 countries• 2 end-users:

• B-FAST• Portuguese Navy

• 3 large industrials• NATO / CMRE

• Total Budget: 17.5 M€Source: Wikimedia Commons

ICARUS - CONSORTIUM

ICARUS – OBJECTIVE 1: VICTIM DETECTION SENSOR

• Objective 1: Development of a light sensor capable of detecting human beings

• WP210• Based on QCD technology• Minimal levels of weight (500 g),

dimensions (12x12x6 cm) and total power consumption (5 W) are being targeted

• Image and video processing algorithms for detecting human survivors will be developed and combined to obtain sufficient detection performance

• UNINE, TUV, IZM, EPFL, ETHZ, RMA, UKL

Source: RMA

• Modular system consisting of analog/digital PCB’s and housing – ready for field testing

Source: UNINE

• Field studies evaluating real-life scenarios with both MWIR and LWIR cameras

Source: UNINE

ICARUS – OBJECTIVE 2: UAS FOR SAR

• Objective 2: Development of cooperative Unmanned Aerial System (UAS) tools for unmanned SAR

• WP220• Used for:

• Mapping of topography and scenario• Target observation• People search outdoors and indoors• Kit delivery• Communication relay

• Multi-Scale Approach

• ETHZ, ASCAMM, SBX, JTH

• Fixed-wing solar airplane for endurance-operations

Source: ETHZ

Design Goals:• Prolonged endurance (24h continuous

flight – virtually endless flight)• Rapid deployment and easy hand launch• Increased robustness• Easier manufacturing techniques

Implementation• Design of the aerodynamics and manufacturing of

several prototypes• Integration of Solar Panels and validation of

efficiency• Integration of identical flight control and

navigation units• Currently improving the motor/propeller

configuration for further improvement

Source: ETHZ

• Quadrotor for low-altitude operations

Source: ASCAMM

• Gyropendulum for harsh-weather operations

• Full 3D Carbon Cage Exoskeleton

Source: JTH

• Small quadrotor for indoor operations

Source: ETHZ , SBX

• Small quadrotor for indoor operations

ICARUS – OBJECTIVE 3: UGVS FOR SAR

• Objective 3: Development of cooperative Unmanned Ground Vehicle (UGV) tools for unmanned SAR

• WP230• Development of a large UGV which

can be used as a mobile base• Development of a small UGV which is

able to enter in collapsed buildings to search for human victims

• UKL, META, RMA, SPACE, BFAST

Source: META, UKL

• Tele-operated control of SUGV implemented• Simulation environment for LUGV and SUGV setup

• 3D Processing for terrain analysis and situational awareness

• First test of controlling large robotic arm on excavator using small haptic interface

Robotic Excavator Haptic Control Device

ICARUS – OBJECTIVE 4: UMS FOR SAR

• Objective 4: Development of cooperative Unmanned Surface Vehicle (USV) tools for unmanned SAR

• Sensing and perception for target detection and tracking.

• Mission planning and control for operations with single or multiple vehicles.

• Capsule deployment system (life-rafts).

• INESC, CMRE, CAL, CINAV Source: INESC, CAL

• Objective 4: Development of cooperative Unmanned Surface Vehicle (USV) tools for unmanned SAR

• Sensing and perception for target detection and tracking.

• Mission planning and control for operations with single or multiple vehicles.

• Capsule deployment system (life-rafts).

• INESC, CMRE, CAL, CINAV Source: INESC, CAL

• ROAZ USV

• Operation in real scenario• Waypoint navigation• Station keeping

• Deployment of UCAP from carrier USV

• Release of live raft• Detection of victims on surface

Source: INESC

• Unmanned Rescue Capsule

• Robotic hull carries uninflated raft• Life raft is inflated when deployed

from the hull• Inflated life raft remains loosely

coupled to the hull• The hull can be adapted to stay

tightly coupled to life raft

Source: INESC

• U-Ranger high-speed rescue vehicle• Detection of victims on surface• U-Ranger/CMRE integration validation

• U-Ranger controlled by IvP-Helm• Automatic obstacle avoidance

behavior

Source: CAL

• U-Ranger high-speed rescue vehicle• behavior

Source: CAL

ICARUS – OBJECTIVE 5: ROBOT COLLABORATION

• Objective 5: Heterogeneous robot collaboration between Unmanned SAR devices

• WP250• Robot Interoperability• Coordination between

multiple UXV• Heterogeneous operations

UAS + UGV in a SAR context• Heterogeneous operations

UAS + USV in a SAR context

• ASCAMM, RMA, SPACE, IMM, INESC, ETHZ, UKL, CAL, CINAV, BFAST

WP2X0 Unmanned PlatformWP2X0 Unmanned Platform

WP2X0 Unmanned Platform

UXV Hardware

Actuators Sensors

Framework (ROS, FINROC, etc)

ICARUS Communication framework (WP310)

Transport Layer Manager

WP3X0 System (RC2, mobile, MPCS)

C2I Functionality

C2I Framework

ICARUS ICD

Handles low level comms (routing, etc)

ICARUS ICD

ICARUS MSGs

Source: ASCAMM

ICARUS – OBJECTIVE 6: COMMUNICATION

• Objective 6: Development of a self-organisingcognitive wireless communication network, ensuring network interoperability• WP310• Focus:

• Mobile and wireless ad-hoc communications in combined land-air-sea environments.

• Self-coordination and optimisation of spectrum resources by using cross-layer cognitive radio techniques

• Self-managed network able to adapt to varying and extreme conditions by using power-efficient, failure-resilient protocols.

• Flexible security scheme. • Harmonised management and control overlay, able to encompass

several data-link technologies (WLAN, GSM).

• ISYS, RMA, QUOBIS

RF and throughput simulations VHF-UHF field tests

• Preliminary tests

ICARUS – OBJECTIVE 7: C2I

• Objective 7: Integration of Unmanned Search And Rescue tools in the C4I systems of the Human Search And Rescue forces• WP320• 3 objectives:

• Collection of data/information from the robots, operators, human teams deployed, …

• Collation and merging of data from different sources, including allowing for differing reliability of sources and integration with GIS and GDACS information;

• Monitoring and control interfaces that can provide high level command capabilities to appropriate users

• SPACE, ATOS, ASCAMM, ISYS, INESC, IMM, E-GIS, UKL

• Multi-sensor data fusion for C2I

Map fusion

Feature Extraction

3D reconstruction

• Development of an interface for control of the robotic manipulator (see WP230) using an exoskeleton that includes haptic feedback

Rugged laptop for running RC2 located at OSOCC

Force-feedback exoskeleton for tele-operating robotic arms

Arm control and force feedback

• Command and control interfaces

OSM Base Map

Sector creation

Layer Selector

Camera Views

Robot Task Planner

Health and platform data

• Command and control interfaces validated in real scenarios

ICARUS – OBJECTIVE 8: TRAINING & SUPPORT

• Objective 8: Development of a training and support system of the developed Unmanned Search And Rescue for the Human Search And Rescue teams

• WP330• Development of PC-type trainers-

simulators for training operators of SAR robots

• Development of an e-learning methodology training tool with virtual robots use of semantic information in a human-machine-interface

• IMM, ISYS, INESC, ESRISource: IMM

• Design of methodology of training for human operators

• Design of the architecture of training tools for multi robot missions

• Improvement of 6DSLAM for data fusion module to provide realistic scenarios

• Design of a networkemulator for software testing

• Design of Support System using GPU virtualization for parallel computing

• The competency certification process (approach)• Analyze situations and scenarios of training/certification. • The competences profiles of the target group must be

defined, as well as those that must be used to obtain the correct outcomes of each mission/scenario.

Source: IMM

DEMONSTRATIONS - LAND

Team 1: Blocks: LUGV + AROT• Outdoor aerial assessment• Outdoor victim search• Outdoor Collaborative

navigation• Route clearing• Entry breaching• Medical assessment• Rescue kit delivery• Shoring• …

Team 2: School: SUGV + SROT• Indoor aerial assessment• Indoor victim search• Indoor Collaborative navigation• Navigation in low and no

communication bandwidth areas

• Structural Assessment• …

Team 1 + Team 2: CBRN danger• Indoor + Outdoor assessment• Indoor victim search• Indoor hazard search• Indoor Collaborative navigation• Navigation in low and no

communication bandwidth areas• Structural Assessment• Entry breaching• Medical assessment• …

DEMONSTRATIONS - WATER

10/02/2014

PROJECT OVERVIEW & RESULTS

Brussels, Belgium

Geert De Cubber, Royal Military Academy

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