-In May 2012, two major earthquakes occurred in the Emilia-Romagna region, Northern Italy, followed by further aftershocks and earthquakes in June 2012. This sequence of earthquakes and shocks caused multiple casualties, and widespread damage to numerous historical buildings in the region. The Italian National Fire Corps deployed disaster response and recovery of people and buildings. In June 2012, they requested the aid of the EU-funded project NIFTi, to assess damage to historical buildings, and cultural artifacts located therein. To this end, NIFTi deployed a team of humans and robots (UGV, UAV) in the red-area of Mirandola, EmiliaRomagna, from Tuesday July 24 until Friday July 27, 2012. The team worked closely together with the members of the Italian National Fire Corps involved in the red area. This paper describes the deployment, and experience.

The paper describes experience with applying a user-centric design methodology in developing systems for human-robot teaming in Urban Search and Rescue. A human-robot team consists of several semi-autonomous robots (rovers/UGVs, microcopter/UAVs), several humans at an off-site command post (mission commander, UGV operators) and one on-site human (UAV operator). This system has been developed in close cooperation with several rescue organizations, and has been deployed in a real-life tunnel accident use case. The human-robot team jointly explores an accident site, communicating using a multi-modal team interface, and spoken dialogue. The paper describes the development of this complex socio-technical system per se, as well as recent experience in evaluating the performance of this system

This paper describes our experience in designing, developing and deploying systems for supporting human-robot teams during disaster response. It is based on R&D performed in the EU-funded project NIFTi. NIFTi aimed at building intelligent, collaborative robots that could work together with humans in exploring a disaster site, to make a situational assessment. To achieve this aim, NIFTi addressed key scientific design aspects in building up situation awareness in a human-robot team, developing systems using a user-centric methodology involving end users throughout the entire R&D cycle, and regularly deploying implemented systems under real-life circumstances for experimentation and testing. This has yielded substantial scientific advances in the state-of-the-art in robot mapping, robot autonomy for operating in harsh terrain, collaborative planning, and human-robot interaction. NIFTi deployed its system in actual disaster response activities in Northern Italy, in July 2012, aiding in structure damage assessment.

This paper contains a description of the project TRADR: Long-Term Human-Robot Teaming for Robot Assisted Disaster Response. As robotic disaster relief systems are still scarce, any incident serious enough to render robot involvement will most likely involve a sequence of sorties over several hours, days and even months. TRADR focuses on the persistence of environment models, multi-robot action models, and human-robot teaming, in order to allow incremental capability improvement over the duration of a mission. TRADR applies a user centric design approach to disaster response robotics, with use cases involving the response to a medium to large scale industrial accident by teams consisting of human rescuers and several robots (both ground and airborne). The paper overviews the project objectives and motivation, the structure and approach, as well as the partners and related work.Keywords disaster response robotics · persistent environment models · persistent multi-robot action models · persistent human-robot teaming · user-centric design

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We provide key facts about the TRADR project deployment of ground and aerial robots in Amatrice, Italy, after the major earthquake in August 2016. The robots were used to collect data for 3D textured models of the interior and exterior of two badly damaged churches of high national heritage valu

Noise has already been shown to play a constructive role in neuronal processing and reliability, according to stochastic resonance (SR). Here another issue is addressed, concerning noise role in the detectability of an exogenous signal, here representing an electromagnetic (EM) field. A Hodgkin-Huxley like neuronal model describing a myelinated nerve fiber is proposed and validated, excited with a suprathreshold stimulation. EM field is introduced as an additive voltage input and its detectability in neuronal response is evaluated in terms of the output signal-to-noise ratio. Noise intensities maximizing spiking activity coherence with the exogenous EM signal are clearly shown, indicating a stochastic resonant behavior, strictly connected to the model frequency sensitivity. In this study SR exhibits a window of occurrence in the values of field frequency and intensity, which is a kind of effect long reported in bioelectromagnetic experimental studies. The spatial distribution of the modeled structure also allows to investigate possible effects on action potentials saltatory propagation, which results to be reliable and robust over the presence of an exogenous EM field and biological noise. The proposed approach can be seen as assessing biophysical bases of medical applications funded on electric and magnetic stimulation where the role of noise as a cooperative factor has recently gained growing attention.

In this paper we propose a framework for trajectory planning and control of tracked vehicles for rescue environments, based on Augmented Reality (AR). The framework provides the human operator with an AR-based interface that facilitates both 3D path planning and obstacle negotiation. The interface converts the 3D movements of a marker pen, handheld by the operator, into trajectories feasible for the tracked vehicle. The framework implements a trajectory tracking controller to allow the tracked vehicle to autonomously follow the trajectories, decided by the operator. This controller relies on a localization system which provides, at real-time, position feedback. The localization system exploits the performance of a Dead Reckoning System together with the accuracy of an ICP-based SLAM in pose estimation, to determine the pose of the tracked vehicle within the 3D map. We demonstrate the application of the planning framework in autonomous robot navigation for evaluating the robot capabilities in rescue environments. Our experiments show the effectiveness of the trajectory tracking control method. © 2013 IEEE