“Hand Gesture Based Fire Fighting Robots”

by

ACKNOWLEDGEMENT

I would take this opportunity to thank my research supervisor, family and friends for their support and guidance without which this research would not have been possible.

DECLARATION

I, [type your full first names and surname here], declare that the contents of this dissertation/thesis represent my own unaided work, and that the dissertation/thesis has not previously been submitted for academic examination towards any qualification. Furthermore, it represents my own opinions and not necessarily those of the University.

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ABSTRACT

The development of remote controlled emergency handling and fire-fighting robot is discussed. The design of the robot is based on a small multi-function crawler hydraulic excavator. The structure and operating principle of the robot are introduced. The original crawler hydraulic excavator is modified and a new remote control system is implemented. The function of walking, turning, roadblock striding and many functions of the robot are accomplished through the remote control system. The performance testing of the robot shows that the performance of the robot can meet the anticipated requirements.

TABLE OF CONTENTS

CHAPTER 1: INTRODUCTION6

Background of the Study9

Research Aims and Objectives10

CHAPTER 2: LITERATURE REVIEW11

Human-robot interaction and learning issues11

Typical models of human-robot interaction (HRI)11

Learning issues for human-friendly robot in service environment14

The Four Elements of Hri Study20

Human20

Task and world22

The relationships23

Robot23

Communicating emotions and mental states to robots in a real time24

CHAPTER 3: RESEARCH METHODOLOGY28

Research Design28

Literature Search28

CHAPTER 4: DISCUSSION AND ANALYSIS29

System of the remote controlled emergency-handling and firefighting robot29

Basic working principle of the robot31

The concrete realization of the remote control modification of the robot31

Cohesion of wireless remote control system and hydraulic system31

Realization of the remote operation of working equipment and traction mechanism34

Relay control of whole vehicle36

Performance testing of the robot37

NRL designs robot for shipboard firefighting39

CHAPTER 5: CONCLUSION42

CHAPTER 1: INTRODUCTION

The existing robots are generally grouped into three types such as industrial robots, service robots and robots with special missions. The robots that we see in manufacturing sites belong to the first group while the robots built for special tasks such as Mars Rover and fire-fighting robots are of the last type. The robots that perform works and service activities directly for human beings are called service robots. Recently, service robots are getting increased attention because of their potential applications for enhancing human well-being and quality of life. In particular, service robotic systems are often viewed as one of the primary alternative solutions for the arising caregiver-shortage problem in many advanced nations which are soon to confront with the demographic crisis of aged population (Nielsen, 2005, pp. 568).

Since a service robot interacts with human frequently during its operation, symbiotic coexistence, and safety are of great concern for the potential users, which is well reflected in a paper by Leifer who proposed three rules of service robot design in the following context: (1) service robot design should be a social activity and service robots should be social agents: (2) service robots must tolerate ambiguity: (3) all applications should be reapplications. As a matter of fact, design of service robots should be carried out from the start in the ...