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Robotics in Hazardous Applications

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Springer Handbook of Robotics

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Abstract

Robotics researchers have worked hard to realize a long-awaited vision: machines that can eliminate the need for people to work in hazardous environments. Chapter 60 is framed by the vision of disaster response: search and rescue robots carrying people from burning buildings or tunneling through collapsed rock falls to reach trapped miners. In this chapter we review tangible progress towards robots that perform routine work in places too dangerous for humans. Researchers still have many challenges ahead of them but there has been remarkable progress in some areas. Hazardous environments present special challenges for the accomplishment of desired tasks depending on the nature and magnitude of the hazards. Hazards may be present in the form of radiation, toxic contamination, falling objects or potential explosions. Technology that specialized engineering companies can develop and sell without active help from researchers marks the frontier of commercial feasibility. Just inside this border lie teleoperated robots for explosive ordnance disposal (GlossaryTerm

EOD

) and for underwater engineering work. Even with the typical tenfold disadvantage in manipulation performance imposed by the limits of today’s telepresence and teleoperation technology, in terms of human dexterity and speed, robots often can offer a more cost-effective solution. However, most routine applications in hazardous environments still lie far beyond the feasibility frontier. Fire fighting, remediating nuclear contamination, reactor decommissioning, tunneling, underwater engineering, underground mining and clearance of landmines and unexploded ordnance still present many unsolved problems.

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Abbreviations

3-D:

three-dimensional

AP:

antipersonnel

ASM:

advanced servomanipulator

AT:

anti-tank mine

AV:

anti-vehicle

CB:

cluster bomb

CEA:

Commissariat à l’Énergie Atomique

D&D:

deactivation and decommissioning

EMS:

electrical master–slave manipulator

EOD:

explosive ordnance disposal

GICHD:

Geneva International Centre for Humanitarian Demining

GPS:

global positioning system

HD:

high definition

HMD:

head-mounted display

HSTAMIDS:

handheld standoff mine detection system

ICBL:

International Campaign to Ban Landmines

IED:

improvised explosive device

MACA:

Afghanistan Mine Action Center

MEMS:

microelectromechanical system

MR:

magnetorheological

MSM:

master–slave manipulator

NASA:

National Aeronautics and Space Agency

ROV:

remotely operated vehicle

RRSD:

Robotics and Remote Systems Division

SNS:

spallation neutron source

TNT:

trinitrotoluene

TSEE:

teleoperated small emplacement excavator

UAV:

unmanned aerial vehicle

UXO:

unexploded ordnance

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Author information

Authors and Affiliations

  1. School of Mechanical and Chemical Engineering, The University of Western Australia, 35 Stirling Highway, WA 6009, Crawley, Australia

    James Trevelyan

  2. Mechanical, Aerospace, and Biomedical Engineering, University of Tennessee, 414 Dougherty Engineering Building, TN 37996-2210, Knoxville, USA

    William R. Hamel

  3. Center for Bionics, Korea Institute of Science and Technology, 39-1 Hawolgok-dong, Wolsong-gil 5, Seongbuk-gu, Seoul, Korea

    Sung-Chul Kang

Authors
  1. James Trevelyan
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  2. William R. Hamel
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  3. Sung-Chul Kang
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Corresponding author

Correspondence to James Trevelyan .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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UNMACCA: Demining Afghanistan available from http://handbookofrobotics.org/view-chapter/58/videodetails/571

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IED hunters available from http://handbookofrobotics.org/view-chapter/58/videodetails/572

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Bozena 5 remotely operated robot vehicle available from http://handbookofrobotics.org/view-chapter/58/videodetails/574

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DALMATINO available from http://handbookofrobotics.org/view-chapter/58/videodetails/575

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PT-400 D:Mine available from http://handbookofrobotics.org/view-chapter/58/videodetails/576

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DIGGER DTR demining destroying anti-tank mines available from http://handbookofrobotics.org/view-chapter/58/videodetails/577

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Remote-control heavy equipment used in debris removal at Fukushima reactor 3 available from http://handbookofrobotics.org/view-chapter/58/videodetails/578

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iRobots used to examine interior of Fukushima powerplant available from http://handbookofrobotics.org/view-chapter/58/videodetails/579

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iRobots inspecting interior of Fukushima powerplant available from http://handbookofrobotics.org/view-chapter/58/videodetails/580

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Robot being used to carry vacuum cleaner head at Fukishima powerplant available from http://handbookofrobotics.org/view-chapter/58/videodetails/581

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Views of robot control screen – inspecting Fukushima power plant available from http://handbookofrobotics.org/view-chapter/58/videodetails/582

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Promotional video of robot for cleaning up Fukushima available from http://handbookofrobotics.org/view-chapter/58/videodetails/583

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Sukura robot developed for reconnaissance missions inside nuclear reactor buildings available from http://handbookofrobotics.org/view-chapter/58/videodetails/584

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HD Stock Footage 1950s atomic power plants – nuclear reactors available from http://handbookofrobotics.org/view-chapter/58/videodetails/586

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Radioactive material handling 1954 available from http://handbookofrobotics.org/view-chapter/58/videodetails/587

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Nuclear manipulator remote handling equipment (1960) available from http://handbookofrobotics.org/view-chapter/58/videodetails/588

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1961 nuclear reactor meltdown: The SL-1 accident – United States Army Documentary available from http://handbookofrobotics.org/view-chapter/58/videodetails/589

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Jean Vertut master-slave manipulator arms available from http://handbookofrobotics.org/view-chapter/58/videodetails/590

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NanoMag magnetic crawler for remote inspection available from http://handbookofrobotics.org/view-chapter/58/videodetails/591

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Remote handling and inspection with the VT450 available from http://handbookofrobotics.org/view-chapter/58/videodetails/592

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Robots answer nuclear waste challenges at SRS available from http://handbookofrobotics.org/view-chapter/58/videodetails/593

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Trevelyan, J., Hamel, W.R., Kang, SC. (2016). Robotics in Hazardous Applications. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_58

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