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Advances in Robotics: Modeling, Control and Applications
Title
Advances in Robotics: Modeling, Control and Applications
Editor
Calin Ciufudean and Lino García
Price
USD$139.00
ISBN
978-1-461108-443
Clicks
33283

Chapter 15

Advances in Robotics: Modeling, Control and Applications

Sensor Network Deployment by Dropping and Throwing Sensor Nodes to Gather Information in Underground Spaces in a Post-Disaster Environment

by Tsuyoshi Suzuki, Kei Sawai, Hitoshi Kono and Shigeaki Tanabe

Viewed: 1856

Abstract

The authors have been proposing a RSNS (Robot Sensor Network System), in which teleoperated mobile rescue robots deploy a WSN (Wireless Sensor Networks) to gather disaster information in indoor spaces such as office buildings, shopping centers, subway stations and underground malls in post-disaster environment. In our system, the robots carry wireless sensor nodes (SN) and deploy them linearly between gateways with dropping SN for prior confirmation of the approach path of rescue workers; the robots and WSN then gather and transmit information on the disaster via WSN connection. When it encountered insurmountable obstacles (e.g. fallen furniture, walls and ceilings) while the robots drop SNs, the robots throws a SN to gather information on the other side of obstacles. This paper describes development of SN deployment devices for dropping and throwing SNs by the robots. Experimental examples show that prototype systems can deploy SNs into the environment and gather information. Moreover, in the proposed system, only one communication path is established because the robots linearly deploy SNs between indoor gateways. The robots can’t be operated remotely when a communication path via WSN is disconnected because of such as a SN failure. Therefore, a WSN should be deployed adaptively by ensuring communication connection. Thus, this paper also proposes a deployment strategy for construction a WSN robust over disconnection of communication caused of SNs’ failure and deterioration of communications quality. Experiments verifying the proposed strategy are also described.

Author Details

Tsuyoshi Suzuki
Tokyo Denki University
Kei Sawai
Tokyo Denki University
Hitoshi Kono
Fujitsu Limited
Shigeaki Tanabe
Tokyo Denki University

Citation

Tsuyoshi Suzuki, Kei Sawai, Hitoshi Kono and Shigeaki Tanabe. Sensor Network Deployment by Dropping and Throwing Sensor Nodes to Gather Information in Underground Spaces in a Post-Disaster Environment. In Advances in Robotics: Modeling, Control and Applications. ISBN:978-1-461108-443. iConcept Press. 0000.

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