Land, Sea, and Air How unmanned platforms can be ... · Disaster Robotics Land, Sea, and Air –...
Transcript of Land, Sea, and Air How unmanned platforms can be ... · Disaster Robotics Land, Sea, and Air –...
Disaster Robotics Land, Sea, and Air – How unmanned platforms can be
incorporated into disaster response with an example from Fort Bend County OEM
Dr. Robin Murphy Texas A&M Engineering Experiment Station
Center for Robot-Assisted Search and Rescue Roboticists Without Borders
Lachlan Mullen Fort Bend County OEM
Justin Adams Roboticists Without Borders
Presenter: Robin Murphy • Professor, Texas A&M • Director, Center for Robot-
Assisted Search and Rescue • 25 disasters in 5 countries • founder Roboticists Without
Borders – deploy robots for free – free classes on COAs, UAS
awareness, UAS best practices
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Presenter: Lach Mullen
• Planner, Fort Bend County
• Emergency Public Information Technology
• Summer Institute Participant
• Licensed FAA sUAS pilot (yep, that’s a thing)
Overview
• What is Disaster Robotics?
• How can UAS benefit you in a disaster operation?
• What are successful strategies for partnering with the public?
• How to plan to use robotics?
• How can jurisdictions tap into using UAS?
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WHAT IS DISASTER ROBOTICS?
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Disaster Robotics
• Started in 1995 in US and Japan
• Prevention, preparedness, response, recovery
• Historically been focused on using robots to enable expert decisions by publicly-accountable stakeholders
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Video
50 Disasters in 18 Countries: Chile, China, Cyprus, Ecuador, Germany, Greece, Haiti, Italy, Japan,
Nepal, New Zealand, Philippines, Serbia, South Korea, Taiwan, Thailand, USA, Vanuatu
By Type UGVs: 23 UAVs: 27 UMVs: 7
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Unmanned Ground Robots • Maxi
• Mini
– Man-portable – Man-packable
• Micro
• Snake
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Three Types of UMVs
• AUV
• ROV
• USV
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Two Types • Fixed Wing
• Rotary-craft • Hybrid VTOL (still experimental)
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Small UAS Have Other Variations
Tethered Indoor
HOW CAN UAS BENEFIT YOU IN A DISASTER OPERATION?
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Small UAS
• Strategically – Cheaper and faster than satellites or manned assets
– Can produce the same GIS products
– Higher resolution: 4cm-10cm per pixel
• Tactically – Immediate, control what is seen, can be embedded
with boots-on-the-ground
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Low
er Co
st
Ab
ility to co
ntro
l viewin
g an
gle
High
er Reso
lutio
n
Imm
ed
iacy
Co
verage
Satellite
Civil Air Patrol
Man-packable SUAS
Man-portable SUAS, manned helicopter
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Disasters & UAS • Flooding
• Wilderness, missing person search (with, without water)
• Mass marine casualty
• Hurricane, Earthquake, Other large geospatial extent incidents (wide area search)
• Structural collapse
• Critical infrastructure: transportation, power grid
• Chemical train derailment, hazmat
• Mining and nuclear
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Basic Mission Types
• Strategic situation awareness, reconnaissance, survey
• Detailed inspection or structural inspection
• Ground search
• Water search
• Debris, damage, or flood estimation
• Tactical situation awareness
• Delivery
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Strategic SA, survey
• 360 view of area (images-> master ortho) – does not have to be
geo-referenced
• Typically will use pre-programmed flights and photogrammetrics
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Structural Inspection • Often viewpoint dependent, more
elevation views and than plane views
• Generally 10 feet away from structure
– GPS signal is poor, wind shear
– Some DJI have (large) obstacle avoidance
• Better to have expert on the team in FPV to re-direct as needed
• Check data to make sure it isn’t corrupted
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Ground Search
• High resolution images, not video
• Thermal may not be a silver bullet
• Must be geotagged
• Need to know altitude, FOV
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Debris, flood estimation
• Consider fixed-wing or manned assets
Cartofusion Situ Map
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Tactical Situation Awareness
• What’s the condition of the road ahead?
• Are there any meadows or features we need to move to?
• Any additional hazards or concerns?
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Delivery
• Ad hoc delivery is dangerous
Strategicsituationawareness,
reconnaissance,survey
detailedinspectionorstructural
inspection
groundsearch
watersearch
debris,damage,orfloodestimation
Tacticalsituationawareness
delivery
Flooding
Wilderness,missingpersonsearch
Wilderness,missingpersonsearchwithwater
Massmarinecasualty
Hurricane
Earthquake
Otherlargegeospatialextentincidents(wideareasearch)
Structuralcollapse
Criticalinfrastructure:transportation,powergrid
Chemicaltrainderailment,hazmat
Miningandnuclear
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Example: Fort Bend Floods
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Other Uses...
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Strategic CONOPS/ Workflow
• Try to fly and get DSM in advance (quarterly?)
• Fly daily to monitor flood
• Couriers
• Data manager in field and at EOC
– Terabytes of data, cloud computing
– Summary flight slide for each flight
– Backup and maintain chain of custody
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Tactical CONOPS/ Workflow
• have a county or agency rep with each UAS team conducting surveys to answer questions from citizens and diffuse any public perception issues
• Have a “mirrored” display so expert can see and direct pilot
• Data manager pro-actively annotate and inform
• Embed small UAS with ESF9, ESF8, and other teams so they can have tactical SA
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WHAT ARE SUCCESSFUL STRATEGIES FOR PARTNERING WITH THE PUBLIC?
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Public Perception: Negative
• 2013 Oso Mudslides: flights were terminated due to (unfounded) concerns over privacy – victims’ families
– flying over personal property
...Fire Department called/talked to residents along boundary
Public Perception: Positive
• 2016 Fort Bend County, Tangiphoa Parish, Washington Parish Floods: citizens enthusiastic about sUAS
– uniforms (don’t look like press)
– agency representative in an agency vehicle in field to answer questions in general
– posted to YouTube and directed questions to
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HOW TO PLAN TO USE ROBOTICS?
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UAS Costs • Platform costs: $1K -$70K
– But may want to buy them as a set of 3
• Training costs – Manufacturer’s training
• generally will NOT include best practices* – hours needed for skill maintenance, frequency and
content of refresher training is unknown
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Justify Based on Capability, Not Reduced Manpower
• Manpower
– 2:1 ratio mandated by FAA
– Will need a data manager
Multi-Use
• Can you share with other agencies?
• What can use them for before an incident- routine inspection, documentation, ...?
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How To “Kick The Tires” • Remember, these are as sophisticated as a car or airplane and software is
like cellphone
• Can you both record and take photos? Geotagged? Record the display?
• Can you ship the batteries on an airplane or do they have to go ground? – If not, the batteries may be very specialized, expensive, special storage, and take
up space
• What is the Mean Time Between Failures (MTBF) or ISO9000? – If they don’t know, they don’t have a manufacturing process
• Is the software open source? From more than one source? – If so, increased odds of interaction errors
HOW CAN JURISDICTIONS TAP INTO USING UAS?
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Texas Options
• CRASAR/Roboticists Without Borders
• Mutual Aid, for example AFD RED Team
• Public Partnerships
• Buy some and start a team
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Garner Hype Curve for Tech
https://en.wikipedia.org/wiki/Hype_cycle
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Conclusions: Ignore the Hype!
• UAS are good enough
• Will not get better until you use them more and the best uses emerge
• We’re happy to help
https://en.wikipedia.org/wiki/Hype_cycle
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BACKUP
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EMILY
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Rescue Trackbots
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DJI Inspire sUAS
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Benefits to using Robots
• Cleaner
• Safer
• More Interesting
• More Precise
• The four D’s of Robotics
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Cleaner
• Robots can go where people can’t
• Chiggers don’t bite robots
• Robots don’t get sick and tired of mud
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Safer
• Helicopters are filled with meat and when they fall meat gets damaged
• Robots cost money but don’t have next-of-kin
• Robots can go into dark and tight spaces and don’t have to breathe
• Deer ticks don’t give robots lime disease
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More Interesting
• The same picture takin with a robot is cooler to look at
• Robots don’t get bored taking the same picture for the 10th time
• Robots don’t make mistakes because they’re so bored they’re daydreaming
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More Precise
• Robots can take very careful measurements over time (those 10 “identical” pictures help!)
• Robots can measure 100’s of times per second
• Robots can see things humans can’t see
• Robots hands don’t shake the camera when they see a rattlesnake
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How Can Robots Help?
• Example 1 (FBC Flooding? - Lach)
• Example 2 (Austin Rescue? - Robin)
• Example 3 (Damage assessment? - Justin)
• Example 4 (Mitigation/Data capture?)
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Example 1 FBC Flooding?
• How we did it
• What we learned
• What we’re doing now
• What we need to get done
• How it should be better next time
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Example 2
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Example 3
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Example 4
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Planning to Incorporate Robotics
• Pilot training and licensing for sUAS
• Mission planning
• Air Operations Unit
• Field Communications and Data Processing
• Chain of custody and accountability
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