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This paper describes the design and evaluation of the "gestural joystick," a wearable 2-D pointing controller for mobile robots in hazardous environments that uses hand gestures. Hazardous environments, such as that of a collapsed building search, require operators to wear a significant amount of protective clothing. This protective clothing, which may(More)
In this paper, we describe a novel routing mechanism to create a low power, high-bandwidth Wireless Video Sensor Network (WVSN) for miniature distributed robots in urban search and rescue (USAR) applications. WVSN features: 1) high-bandwidth, high-quality lossless images, 2) low power, and 3) low la-tency of data traffic. Traditional proactive network(More)
Limbs are an attractive approach to certain niche robotic applications, such as urban search and rescue, that require both small size and the ability to locomote through highly rubbled terrain. Unfortunately, a large number of degrees of freedom implies there is a large space of non- optimal locomotion trajectories (gaits), making gait adaptation critical.(More)
— In this paper, we describe usability tests to evaluate a gestural joystick as a new input device. The usability of a device addresses five main issues: learnability, efficiency, memorability, errors, and satisfaction. These different measures of usability are used in an attempt to compare the gestural joystick, called " wearable joystick " , with four(More)
Small-size robots provide access and maneuverability in the tight confines of highly rubbled and uncertain environments such as those encountered in Urban Search and Rescue (USAR). Small size also provides easy portability and deployability and the potential for redundancy through multi-robot teaming. Unfortunately, small size does not diminish the data(More)
A custom version of the TerminatorBot is described for core bored inspection during search-and-rescue operations. "Core bored inspection" refers to visual inspection of a void by passing a small camera through an access hole into the void. This is the classic "camera-on-a-stick" approach. Sometimes the access hole occurs naturally. Sometimes a suspected(More)
— For controlling robots in an urban search and rescue (USAR) application, we present a wearable joystick with improved sensing capability as well as Giant Magneto-Resistance(GMR) sensor model for rare-earth magnet. Scientists have already begun to try to apply existing interactive devices to control USAR robots in a disaster. In a USAR task, the selection(More)
  • Neeraj Anturkar, Ashwin Adhav, +26 authors “Smart
  • 2017
Pervasive computing also called ubiquitous computing is nothing but embedding microprocessors in everyday objects so they can communicate information. With the advancements in Internet technologies, a new trend in the era of ubiquity is being realized. Today, whenever we go out to buy grocery we may forget to buy any particular, which may cause(More)
— Limbs are an attractive approach to certain niche robotic applications, such as urban search and rescue, that require both small size and the ability to locomote through highly rubbled terrain. Unfortunately, a large number of degrees of freedom implies there is a large space of non-optimal locomotion trajectories (gaits), making gait adaptation critical.(More)
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