18/07/2014 ICARUS AND ITS OPERATIONAL USE IN BOSNIA. Geert De Cubber Royal Military Academy Brussels, Belgium

Transcription

1 18/07/2014 ICARUS AND ITS OPERATIONAL USE IN BOSNIA Geert De Cubber Royal Military Academy Brussels, Belgium

2 PROBLEM STATEMENT Disasters disrupt our society Disasters are very difficult to manage Source: Wikimedia Commons

3 CURRENT SAR WORKFLOW Search & Rescue actions: Labour-intensive Slow Source: B-FAST

4 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

5 ICARUS OBJECTIVES Victim Detection Sensor Unmanned Aerial Systems Unmanned Ground Vehicles Unmanned Maritime Systems Heterogeneous Collaboration Communication Command & Control Training & Support

6 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) Source: RMA 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

7 ICARUS OBJECTIVE 1: VICTIM DETECTION SENSOR Modular system consisting of analog/digital PCB s and housing ready for field testing Source: UNINE

8 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

9 ICARUS OBJECTIVE 2: UAS FOR SAR Fixed-wing solar airplane for endurance-operations Source: ETHZ

10 ICARUS OBJECTIVE 2: UAS FOR SAR 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

11 Quadrotor for low-altitude operations ICARUS OBJECTIVE 2: UAS FOR SAR Source: ASCAMM

12 Gyropendulum for harsh-weather operations Full 3D Carbon Cage Exoskeleton ICARUS OBJECTIVE 2: UAS FOR SAR Source: JTH

13 Small quadrotor for indoor operations ICARUS OBJECTIVE 2: UAS FOR SAR Source: ETHZ, SBX

14 Small quadrotor for indoor operations ICARUS OBJECTIVE 2: UAS FOR SAR

15 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

16 ICARUS OBJECTIVE 3: UGVS FOR SAR Tele-operated control of SUGV implemented Simulation environment for LUGV and SUGV setup

17 ICARUS OBJECTIVE 4: UMS FOR SAR Objective 4: Development of cooperative Unmanned Surface Vehicle (USV) tools for unmanned SAR WP240 Used for: 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

18 ICARUS OBJECTIVE 4: UMS FOR SAR 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

19 ICARUS OBJECTIVE 4: UMS FOR SAR 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

20 ICARUS OBJECTIVE 4: UMS FOR SAR 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

21 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

22 ICARUS OBJECTIVE 5: ROBOT COLLABORATION

23 ICARUS OBJECTIVE 6: COMMUNICATION Objective 6: Development of a self-organising cognitive wireless communication network, ensuring network interoperability WP310 Focus: Mobile and wireless ad-hoc communications in combined land-airsea 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

24 ICARUS OBJECTIVE 6: COMMUNICATION

25 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

26 ICARUS OBJECTIVE 7: C2I Multi-sensor data fusion for C2I 3D reconstruction Feature Extraction Map fusion

27 ICARUS OBJECTIVE 7: C2I Development of an interface for control of the robotic manipulator (see WP230) using an exoskeleton that includes haptic feedback Arm control and force feedback Force-feedback exoskeleton for tele-operating robotic arms Rugged laptop for running RC2 located at OSOCC

28 ICARUS OBJECTIVE 7: C2I Command and control interfaces validated in real scenarios

29 ICARUS OBJECTIVE 7: C2I Command and control interfaces validated in real scenarios

30 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 trainerssimulators 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, ESRI Source: IMM

31 ICARUS OBJECTIVE 8: TRAINING & SUPPORT 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

32 DEMONSTRATIONS - LAND

33 DEMONSTRATIONS - WATER

34 OPERATIONAL DEPLOYMENT DURING THE BALKAN FLOODS ICARUS tools were sent on an actual missions with end-users (B-FAST, THW, BH-MAC, Austrian and Estonian Rescue Team) A robotics-expert and a RPAS were deployed in Bosnia End users were brought into contact with the RPAS-tools

35 OPERATIONAL DEPLOYMENT DURING THE BALKAN FLOODS The RPAS was used to optimize the localization of the high-pressure water pumps

36 OPERATIONAL DEPLOYMENT DURING THE BALKAN FLOODS The RPAS provided valuable information for the end-users on dykebreaches

37 OPERATIONAL DEPLOYMENT DURING THE BALKAN FLOODS The RPAS was used for visual inspection and damage assessment

38 OPERATIONAL DEPLOYMENT DURING THE BALKAN FLOODS The RPAS was used for localizing the landmines which have been relocalized due to the landslides

39 OPERATIONAL DEPLOYMENT DURING THE BALKAN FLOODS The RPAS was used for providing 3D-maps of the environment to analyse the effects of the landslides, predicting the movement of ERW

40 18/07/2014 ICARUS AND ITS OPERATIONAL USE IN BOSNIA Geert De Cubber Royal Military Academy Brussels, Belgium

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