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20 SELECTION ANALYSIS Selection Rationale Many comparative studies on robot systems have been performed in the past. Some have examined highly specialized robots such as tele-operated road construction equipment and small stealth fleet robots for gathering large-area intelligence. Competitions among research and academia robots such as RoboRescueCup have provided another arena for comparison. For the most part, however, homeland security studies have had similar requirements to this study and resulted in similar selections. To provide objective evaluations of performance, a standardized testing course is used such as that built by the National Institute of Standards and Technology (NIST). A standardized testing course could include overturned furniture, collapsed floors, broken pipe, and mannequin victims. Agencies such as the Center for Robot-Assisted Search and Rescue (CRASAR) at the University of South Florida, using such test courses, have selected a group of robot systems that have demonstrated their performance at the World Trade Center rescue effort and other emergency robotic mobilizations. Other programs, such as the military competition, MTRS, presently in progress, have attracted these same candidates. These programs and selecting agencies have fairly consistently chosen a small group of robot systems for search and rescue, explosive ordnance device (EOD) detection and disposal, and perpetrator location and stabilization. Robotic device requirements for transit applications are very similar to requirements for military and EOD applications except that the application environment is more specific. Although transit vehicles have a myriad of configurations, the main difference in requirement specifications for robotic devices in the transit environment is stair-climbing ability in tight quarters. Available candidates can be sorted by comparing the transit environment requirements specification, Table 1, with the available robotic systems, Table 2. Some robot systems met most of the requirements but have one severe shortcoming: typically a delicate (non-robust) design (which compromises survivability), the lack of a manipulator arm, or a lack of articulation (degrees of freedom) in the manipulator arm. Width, turning radius, and weight were other severe shortcomings for a generic solution. It should be emphasized that this illustration of initial robot identification is based on manufacturersâ marketing literature and that the selection analysis is a best-fit effort rather than a one-for-one comparison of requirements and specifications. In any robotic device selection process, demonstrations of candidate systems should be performed before final selection and purchase. Robot systems not chosen as good all-in-one solutions should be considered if the need arises for specialized missions utilizing their abilities or if a specific requirement not met by the systems is of greater importance to the end user than recognized here. As with any major purchase of a product produced by several manufacturers, a comparison demonstration should be performed as a final evaluation. The available systems have unique strengths and weaknesses, and these need to be weighed by an end user in an actual environment.
21 Operator Demands, Training, and Maintenance Demands on the operator of a robotic device start with deployment. Robot systems for consideration should be man transportable, meaning they weigh from 50 to 100 lbs, and, the entire system, including OCS and accessories, can be carried by two people. Deployment can be as demanding as throwing the robot vehicle through a window or backpacking it to a remote area. Operational demands, on the other hand, are not as physical as deployment demands. However, operational demands require mental concentration, good manual dexterity, the ability to multitask, and the ability to process input from a number of sources. As an example, an operator might have to precisely guide the manipulator to place a sensor next to a suspect package in tight quarters, monitor two other cameras for encroaching fire or perpetrators, and listen for sounds of survivors. In addition to the abilities listed above, operating the vehicle and manipulator to a fine degree of control takes practice. Operators should be selected who not only possess the skills required for the mission, but who are also proficient at similar hand-eye coordination tasks such as operating radio-controlled model cars or planes. Training will then be mostly a matter of learning the robot system features; just a few hours will be needed to become familiar with the feel of the controls. Manufacturers provide training courses for learning the system features and capabilities. A typical two-day course costs about $3,000 per person. The curriculum includes the following: ⢠OCS set-up, operator controls, display screen functions, and radio link theory; ⢠Vehicle set-up, major components and modules installation, fiber-optic use, camera use, auxiliary systems use, manipulator and gripper capabilities, and battery charging and care; and ⢠Practical training in packing and setting up, basic operation, practice missions, and trouble- shooting, and providing a question and answer session. Usually training is held at the manufacturerâs location in classes for multiple purchasers. Training can be arranged at the users' location if tuition for many students is purchased or if the trainerâs transportation and accommodation expenses are paid. Maintenance contracts are also available for extending the typical 90-day warranty. These contracts vary with manufacturer size. Smaller manufacturers require the device to be sent to their factory; larger manufacturers have 24-hour turn-around field service. The yearly price is typically 5% to 10% of the sales price. Maintenance training is available from larger manufacturers and is about the same cost as user training. EOD and NBC accessories such as X-ray equipment, chemical agent detectors, nuclear sensors, and so forth should be considered along with the purchase of a robotic system. These can sometimes be purchased or recommended through the robot manufacturer or found on the Internet. An independent purchase should be coordinated with the robot system manufacturer for mechanical and electrical compatibility.
