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SmokeBot

Mobile Robots with Novel Environmental Sensors for Inspection of Disaster Sites with Low Visibility

Total Cost €

EC-Contrib. €

Partnership

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Outcomes and
results

SmokeBot project word cloud

Explore the words cloud of the SmokeBot project. It provides you a very rough idea of what is the project "SmokeBot" about.

demonstrated prototype sensing staff advisory model robots made dust thermal cameras cognitive 3d crucially corresponding prior radar integration group industry maps fires navigation modalities company industrial close hardware form world environment taur explorer operations integrate restricted shortcoming fog brigades source perform bandwidth fddo domains mapping software sketch search post supporting sensors sensor situational human demanding occasionally tunnel visibility harsh smoke commercial camera robotics market citizens operate inclusion safety robot civil disaster smokebot gas components lidar platform fire rescue crude penetrate missions cope fusion

Project "SmokeBot" data sheet

The following table provides information about the project.

Coordinator	OREBRO UNIVERSITY Organization address address: FAKULTETSGATAN 1 city: OREBRO postcode: 70182 website: www.oru.se contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.
Coordinator Country	Sweden [SE]
Project website	http://www.smokebot.eu
Total cost	3˙817˙417 €
EC max contribution	3˙817˙417 € (100%)
Programme	1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
Code Call	H2020-ICT-2014-1
Funding Scheme	RIA
Starting year	2015
Duration (year-month-day)	from 2015-01-01 to 2018-06-30

Partnership

Take a look of project's partnership.

#	participants	country	role	EC contrib. [€]
1	OREBRO UNIVERSITY OREBRO UNIVERSITY Organization address address: FAKULTETSGATAN 1 city: OREBRO postcode: 70182 website: www.oru.se contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	SE (OREBRO)	coordinator	1˙260˙660.00
2	FRAUNHOFER GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. FRAUNHOFER GESELLSCHAFT ZUR FOERDERUNG DER ANGEWANDTEN FORSCHUNG E.V. Organization address address: HANSASTRASSE 27C city: MUNCHEN postcode: 80686 website: www.fraunhofer.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (MUNCHEN)	participant	771˙240.00
3	GOTTFRIED WILHELM LEIBNIZ UNIVERSITAET HANNOVER GOTTFRIED WILHELM LEIBNIZ UNIVERSITAET HANNOVER Organization address address: Welfengarten 1 city: HANNOVER postcode: 30167 website: www.uni-hannover.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (HANNOVER)	participant	685˙640.00
4	THE UNIVERSITY OF WARWICK THE UNIVERSITY OF WARWICK Organization address address: Kirby Corner Road - University House city: COVENTRY postcode: CV4 8UW website: www.warwick.ac.uk contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	UK (COVENTRY)	participant	546˙127.00
5	TAUROB GMBH TAUROB GMBH Organization address address: Perfektastrasse 57/7 city: Wien postcode: 1230 website: n.a. contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	AT (Wien)	participant	512˙500.00
6	STADT DORTMUND STADT DORTMUND Organization address address: FRIEDENSPLATZ 1 city: DORTMUND postcode: 44122 website: http://www.feuerwehr.dortmund.de contact info title: n.a. name: n.a. surname: n.a. function: n.a. email: n.a. telephone: n.a. fax: n.a.	DE (DORTMUND)	participant	41˙250.00

Map

Project objective

SmokeBot is driven by the application needs for robots that operate in domains with restricted visibility. The focus is on civil robots supporting fire brigades in search and rescue missions, e.g. in post-disaster management operations in response to tunnel fires. Existing sensor technology and the related cognitive approaches cannot cope with such demanding conditions. SmokeBot addresses this shortcoming and can thus bring about a step change for robotics. It will deliver software and hardware components which facilitate robot systems to perform under harsh conditions of smoke, dust or fog. This will be demonstrated through integration of the project results in an industrial prototype of a Low Visibility Explorer Robot for providing situational awareness based on a commercial platform from partner TAUR. In close collaboration with TAUR (robotics industry) and end users (FDDO, end users in the advisory group), SmokeBot will crucially improve the abilities of the selected platform, thus increasing safety of rescue staff and European citizens as well as improving the product of a European robotics company in an important market. An even wider impact is expected through the development of a novel sensor unit and the corresponding cognitive approaches. In addition to traditional sensors such as LIDAR and cameras, which are affected by smoke or dust, this sensing unit includes also a novel 3D radar camera, a thermal camera, and high-bandwidth gas sensors. Fusion of sensor modalities will allow the inclusion of measurements from LIDAR and camera into the world model when they occasionally penetrate through e.g. smoke. In addition, we will develop the means to integrate prior knowledge in the form of crude human sketch maps to allow for robust mapping and navigation even under low visibility in a harsh environment. Sensor technology from SmokeBot will result in new products to be brought to market after the project. Software developed will be made available as open source.

Deliverables

List of deliverables.
Gas Source Localization	Documents, reports	2019-09-09 12:28:55
Signal processing algorithms for high-bandwidth chemical sensors	Documents, reports	2019-09-09 12:28:55
Technical Description for Correction of Radiation Disturbances	Documents, reports	2019-09-09 12:28:55
Software Toolkit - Indoor Surface Temperature Mapping	Other	2019-09-09 12:28:55
Software Toolkit - Algorithms for sensor planning	Other	2019-09-09 12:28:55
Technical specifications for multi-layered information storage model	Documents, reports	2019-09-09 12:28:55
Evaluation of the low visibility explorer robot prototype in realistic scenarios	Documents, reports	2019-09-09 12:28:55
Software Toolkit - Hazard prediction based on multi-modal perception	Other	2019-09-09 12:28:55
Software Toolkit - SLAM Toolkit for the navigation sensors	Other	2019-09-09 12:28:55
Technical specifications for return procedures after communication loss	Documents, reports	2019-09-09 12:28:55
Software Toolkit - Navigation Sensor Fusion Algorithm	Other	2019-09-09 12:28:55
Software toolkit for visualization of GDIM information and operator guidance	Other	2019-09-09 12:28:55
Characterisation of response of high-bandwidth chemical sensor to pulses and plumes of gas in a wind tunnel	Documents, reports	2019-09-09 12:28:55
Sketch Maps	Documents, reports	2019-09-09 12:28:55
Hazard Maps	Documents, reports	2019-09-09 12:28:55
Technical specifications for bandwidth supervision and data transfer adaption	Documents, reports	2019-09-09 12:28:55
Software Toolkit - Thermal Stereo Vision	Other	2019-09-09 12:28:55
Second iteration of the requirement analysis and use case definition	Documents, reports	2019-09-09 12:28:55
Gas Distribution and Airflow Mapping	Documents, reports	2019-09-09 12:28:55
Characterisation of response of HBW sensor to target gases and with interferences	Documents, reports	2019-09-09 12:28:55
Fabricated sensor and interface circuitry for integration of high-bandwidth chemical sensor on robot platform	Documents, reports	2019-09-09 12:28:55
Gas Detection and Identification	Documents, reports	2019-09-09 12:28:55
Software Toolkit - Navigation algorithms for hazardous environments	Other	2019-09-09 12:28:55
Initial requirement analysis and use case definition	Documents, reports	2019-09-09 12:28:55
Mechanical pivoting Radar	Documents, reports	2019-09-09 12:28:55

Take a look to the deliverables list in detail: detailed list of SmokeBot deliverables.

Publications

List of publications.
year	authors and title	journal	last update
2018	Simon Kueppers, Siying Wang, Harun Cetinkaya, Reinhold Herschel, and Nils Pohl. Imaging Characteristics of a Highly Integrated Millimeter Wave MIMO Radar published pages: , ISSN: , DOI:	19th International Radar Symposium IRS 2018	2019-09-09
2018	T.A. Vincent, Y. Xing, M. Cole, and J.W. Gardner. Thermal modulation of a high-bandwidth gas sensor array in real-time for application on a mobile robot published pages: , ISSN: , DOI:	Eurosensors 2018 conference	2019-09-09
2016	BjÃ¶rn Zeise and Bernardo Wagner Temperature Correction and Reflection Removal in Thermal Images using 3D Temperature Mapping published pages: , ISSN: , DOI:	13th International Conference on Informatics in Control, Automation and Robotics (ICINCO), 2016	2019-09-09
2018	T.A. Vincent, Y. Xing, M. Cole, and J.W. Gardner. Investigation of response of high-bandwidth MOX sensors to gas plumes for application on a mobile robot in hazardous environments published pages: , ISSN: , DOI:		2019-09-09
2017	Timothy A. Vincent, Yuxin Xing, Marina Cole, Julian W. Gardner High Bandwidth Sensor Module for Mobile Robot Applications-Wind Tunnel Characterization published pages: 421, ISSN: 2504-3900, DOI: 10.3390/proceedings1040421	Proceedings 1/4	2019-09-09
2018	Paul Fritsche, Simon Kueppers, Gunnar Briese, Bernardo Wagner Fusing LiDAR and Radar Data to Perform SLAM in Harsh Environments, In: Madani K., Peaucelle D., Gusikhin O. (eds) Informatics in Control, Automation and Robotics. published pages: 175-189, ISSN: , DOI: 10.1007/978-3-319-55011-4_9	Electrical Engineering 430	2019-09-09
2017	S. Kueppers, H. Cetinkaya, and N. Pohl A Compact 120 GHz SiGe:C Based 2x8 FMCW MIMO Radar Sensor for Robot Navigation in Low Visibility Environments for MIMO Radar Applications using the Bootstrapped Gilbert-Cell Doubler Topology published pages: , ISSN: , DOI: 10.23919/EURAD.2017.8249162	4th European Radar Conference (EuRAD), 2017	2019-09-09
2018	Han Fan, Victor Hernandez Bennetts, Erik Schaffernicht, Achim J. Lilienthal A cluster analysis approach based on exploiting density peaks for gas discrimination with electronic noses in open environments published pages: 183-203, ISSN: 0925-4005, DOI: 10.1016/j.snb.2017.10.063	Sensors and Actuators B: Chemical 259	2019-09-09
2017	Tomasz Piotr Kucner, Martin Magnusson, Erik Schaffernicht, Victor Hernandez Bennetts, Achim J. Lilienthal Enabling Flow Awareness for Mobile Robots in Partially Observable Environments published pages: 1093-1100, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2660060	IEEE Robotics and Automation Letters 2/2	2019-09-09
2017	Victor Hernandez Bennetts, Tomasz Piotr Kucner, Erik Schaffernicht, Patrick P. Neumann, Han Fan, Achim J. Lilienthal Probabilistic Air Flow Modelling Using Turbulent and Laminar Characteristics for Ground and Aerial Robots published pages: 1117-1123, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2661803	IEEE Robotics and Automation Letters 2/2	2019-09-09
2016	Paul Fritsche, Bjorn Zeise, Patrick Hemme and Bernardo Wagner New Perception Approaches for Mobile Robots in Low VisibilityEnvironments published pages: , ISSN: , DOI:	Proceedings of DGR Days, 2016	2019-09-09

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