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Paper Abstract and Keywords
Presentation 2013-02-18 15:20
On Evaluating the Effect of Micro-Robot Functinality on Target Discovery in Survivor Discovery Systems in Disaster Areas
Minoru Harada, Yuki Koizumi, Kohei Watabe, Hiroyuki Ohsaki, Makoto Imase (Osaka Univ.) CNR2012-22
Abstract (in Japanese) (See Japanese page) 
(in English) With the development of a sub-centimeter or sub-millimeter scale robots called micro-robots, many applications of micro-robots, such as drug delivery systems, environmental monitoring systems, planetary exploration systems, and survivor discovery systems in disaster areas, are proposed. However, the effect of functionality or abilities of micro-robots on the performance of such applications is not discussed appropriately. In this paper, we focus on a survivor discovery systems in disaster areas, in which survivors are in rubble made by a broken building and micro-robots search for these survivors, among such applications and evaluate the effect of abilities and functionality of micro-robots on target discovery. Through simulation, we show that the improvements in the abilities of micro-robot, movement speed or target detection range, have the little effect on the target discovery ratio. In contrast, an additional function, which allows micro-robot to detect the edge of rubble and to determine whether or not to fall down lower layer of the rubble stochastically, enables to achieve the same target discovery ratio with about 50\% of micro-robots compared to that without this function. Furthermore, adding the function of climbing wall of rubble greatly improves the target discovery ratio. We also show that the function detecting the edge of rubble outperfoms the function climbing wall in the sparse rubble.
Keyword (in Japanese) (See Japanese page) 
(in English) Micro-robot / disaster area / target discovery system / / / / /  
Reference Info. IEICE Tech. Rep., vol. 112, no. 436, CNR2012-22, pp. 21-26, Feb. 2013.
Paper # CNR2012-22 
Date of Issue 2013-02-11 (CNR) 
ISSN Print edition: ISSN 0913-5685    Online edition: ISSN 2432-6380
Copyright
and
reproduction		 All rights are reserved and no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopy, recording, or any information storage and retrieval system, without permission in writing from the publisher. Notwithstanding, instructors are permitted to photocopy isolated articles for noncommercial classroom use without fee. (License No.: 10GA0019/12GB0052/13GB0056/17GB0034/18GB0034)
Download PDF CNR2012-22

Conference Information
Committee CNR  
Conference Date 2013-02-18 - 2013-02-18 
Place (in Japanese) (See Japanese page) 
Place (in English) Kikai-Shinko-Kaikan Bldg 
Topics (in Japanese) (See Japanese page) 
Topics (in English) Cloud Network Robot Service, etc 
Paper Information
Registration To CNR 
Conference Code 2013-02-CNR 
Language Japanese 
Title (in Japanese) (See Japanese page) 
Sub Title (in Japanese) (See Japanese page) 
Title (in English) On Evaluating the Effect of Micro-Robot Functinality on Target Discovery in Survivor Discovery Systems in Disaster Areas 
Sub Title (in English)  
Keyword(1) Micro-robot  
Keyword(2) disaster area  
Keyword(3) target discovery system  
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1st Author's Name Minoru Harada  
1st Author's Affiliation Osaka University (Osaka Univ.)
2nd Author's Name Yuki Koizumi  
2nd Author's Affiliation Osaka University (Osaka Univ.)
3rd Author's Name Kohei Watabe  
3rd Author's Affiliation Osaka University (Osaka Univ.)
4th Author's Name Hiroyuki Ohsaki  
4th Author's Affiliation Osaka University (Osaka Univ.)
5th Author's Name Makoto Imase  
5th Author's Affiliation Osaka University (Osaka Univ.)
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Speaker Author-1 
Date Time 2013-02-18 15:20:00 
Presentation Time 25 minutes 
Registration for CNR 
Paper # CNR2012-22 
Volume (vol) vol.112 
Number (no) no.436 
Page pp.21-26 
#Pages 6 
Date of Issue 2013-02-11 (CNR) 

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