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Copyright (c) Hajime Asama, Univ. of Tokyo. All rights reserved 2015 1

2015.6.29


•  2011 3 11 14:46 •  M9.0 •  7

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Situation of Black Out) (15:39)

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•  –  1979 3 28 –  Level 5

•  –  1986 4 26 –  Level 7

•  JCO –  1999 9 30 –  Level 4

•  –  2011 3 11 –  Level 7

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• – – – – 

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ROBOTADROBOtics Task force for Anti-Disaster (ROBOtics - Temporary Active Duty)

http://roboticstaskforce.wordpress.com/

•  3 31• • 

– – – 

• – –  HP–  PT

•  5•  (IRS)

Anchorman: Chairman:


2011 4 6

• •  JV •  4/6

–  1 2–  0 1–  11t 1 3–  1 2–  1 9


1991


Packbot 2011 4 17, 18

• 

• –  iRobot Packbot 2–  70× 53× 18 [cm] –  35[kg] – 


Packbot

Quince

2011 6 24 Quince

LED

LED

500m

50m

Quince


Quince1 5 2011 10 20


Packbot Quince CS

2011 7 22 26

• CS

• 


2013 11 13


1/2号機3Dレーザースキャンによる3D環境モデルの作成 (2013年12月26日)


2014 3 13 14 2014 3 21 22

Warrior Packbot MEISTeR

Warrior


IRID GE


GE

4


PCV GE 2015 4 12 19


2015年4月13日

PCV GE 2015 4 12 19


2015年4月19日

PCV GE 2015 4 12 19


Putzmeister

iRobot Packbot

Honeywell T-HAWK

QinetiQ Talon

QinetiQ Bob Cat

Brokk Brokk-90

Brokk Brokk-330

iRobot Warrior Pentek Moose


FRIGO-MA

Survey Runner

4

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2011.4.3


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AIMARS

1983-1990

1999-2003


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MARS-T

SMERT-M

SMERT-K

SWAN

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JCO2001

RESQ-A RESQ-B RESQ-C

RESQ: Remote Surveillance Squad

: 1, Vol.19, No.6, pp.706-709, 2001.

: 2, Vol.19, No.6, pp.710-713, 2001.

RaBOT: Radiation-proof Robot


•  –  M 50% 4

•  –  – 

10 10 – 

Anchoriver III�

Hexa-rotor MAV

Kohga3�Quince�

Survey Runner��

ASTACO-SoRa�

Inspiration and Goals

47 Distribution Statement "A" (Approved for Public Release, Distribution Unlimited)

1.  Target disaster response in dangerous

environments, and important DoD capability for

HADR (Humanitarian Assistance and Disaster

Relief) missions

2.  Advance supervised autonomy, mobility,

manipulation, and energetic efficiency.

3.  Catalyze the robotics industry by developing a

validated, real-time, operator-interactive

simulator.

4.  Welcome a wide range of international

contributors including traditional and non-

traditional DARPA performers from a variety of

fields.

Man-Computer Symbiosis J. C. R. Licklider (head of DARPA IPTO 1962)

IRE Transactions on Human Factors in Electronics, volume HFE-1, pages 4-11, March 1960

“… close study of the disaster’s first 24 hours, before the cascade of failures carried reactor 1 beyond any hope of salvation, reveals clear inflection points where minor differences would have prevented events from spiraling out of control.” IEEE Spectrum, November 2011 pg. 36.

Fukushima - 2011

Example Disaster Challenge Scenario


Autono

my121P

ercep6

on

Autono

my1–1De

cisio

n2making

Mou

nted

1Mob

ility

Dism

ounted

1Mob

ility

Dexterity

Strength

Endu

rance

1.11Drive1u6lity1vehicle1to1site X X X X

2.11Travel1dismounted1across1rubble X X X

3.11Remove1debris1blocking1entryway X X X X X

4.11Open1door,1enter1building X X X X

5.11Climb1industrial1ladder,1traverse1industrial1walkway X X X

6.11Use1tool1to1break1through1concrete1panel X X X X X

7.11Locate1and1close1valve1near1leaking1pipe X X X X X X

8.11Replace1component X X 1 1 X 1 1

Task

s

Capabilities

Participation Options


Track A - Funded Teams design and build platform systems to participate in Disaster Response Challenge. Track B –– Teams develop algorithms using DARPA provided Simulator. Disaster Virtual Challenge conducted to identify which teams will be provided Government Furnished Equipment (GFE) Robot and additional funding to participate in Disaster Response Challenge Track C – Unfunded teams use Simulator to and develop algorithms and participate in Disaster Virtual Challenge and will compete along with Track B teams for GFE Robot and funding award Track D – Unfunded teams develop platforms to compete in Disaster Response Challenges

Planned Schedule and Funding


2013.12 2014.12

15/07/07 51 Further dissemination only as directed by DARPA Public Release Center or higher DoD authority.


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M Lã ° ªÙ ¼ ² Ê qõ È ° ¤ ¹ ° õ á ä ( D ç ã...2015/06/29 · i Ê è Ð Ä & LM...

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