Abstract-We propose a rescue robot sensor network system in which a teleoperated rescue robot sets up a wireless sensor network (WSN) to gather disaster information in post-disaster underground spaces. In this system, the rescue robot carries wireless sensor nodes (SNs) and deploys them between gateways in an underground space on demand by the operator's command to establish a safe approach path before rescue workers enter. However, a single communication path only is setup, because the rescue robot linearly deploys SNs between gateways. Hence, the rescue robot cannot be operated remotely if the communication path is disconnected by, for example, SN failure or changes in the environmental conditions. Therefore, SNs must be adaptively deployed so as to maintain WSN communication connectivity and negate such situations. This paper describes an SN deployment strategy for construction of a WSN robust to communication disconnection, caused by SN failure or deterioration of communications quality, in order to maintain communication connectivity between SNs. We thus propose an SN deployment strategy that uses redundant communication connection and ensures communication conditions between end-to-end communications of the WSN. The proposed strategy maintained communication conditions such that throughput between end-toend communications in the WSN. Experimental results verifying the efficacy of the proposed method are also described.
This paper discusses a wireless sensor node with impact resistance capability. We have been discussing the development of disaster information gathering system utilizing wireless sensor network deployed by rescue robots for underground facility such as metro station. For convenient and efficient deployment of a sensor network, we proposed throwing deployment method. To realize throwing deployment, we developed a wireless sensor node with impact resistance capability for withstanding landing impact. An impact resistance capability and throughput of communication of sensor nodes were confirmed.Keywords -wireless sensor node, impact resistance capability, launching deployment, rescue robot SUMMARY The demo shows a prototype of sensor node with impact resistance capability for gathering disaster information in metro station (Fig. 1). We have been discussing the development of the gathering disaster information system for metro station by utilizing rescue robots and wireless sensor networks (Fig. 2). In past research of sensor node deployment by the robot, mobile robot deploys sensor nodes at the target area by manipulating them directly [1]. However, such deployment method has some problems. The major problem is that the robot is incapable to deploy sensor nodes in remote area. Therefore we developed the sensor node with impact residence capability for launching deployment from rescue robot. And we evaluated the impact resistance and throughput of between two wireless sensor nodes. In the throughput measurement of between two sensor nodes, we verified the infection of the impact resistance cover to the throughput. Fig. 3 shows a throughput of between two wireless sensor nodes. Experimental results are included to verify the performance of the wireless sensor node with impact resistance capability.
In the current study, we tested a prototype of an isokinetic exercise device for the lower limbs, named the ERIK. The ERIK enables a type of single-limb squat exercise with a translational load on the swing leg in a closed kinetic chain, putting load on the muscles of the stance leg in the standing position. This training applies load to the gluteal muscles, which is effective for avoiding excessive knee valgus moment, a major factor in anterior cruciate ligament injuries. To enhance the quality of the load, an electro-rheological (ER) fluid brake system is implemented in the ERIK. The ER brake can reversibly control resistive torque with a rapid response. This paper reports a prototype of the device with four training modes, verifying its performance through basic experiments. Although high resistance is created within a wide motion area and requires isokinetic training by controlling the velocity of the trainee's legs, the ERIK has the advantage of a high level of safety because of its passive resistive function.
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