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ROBOCUP RESCUE 2022 TDP COLLECTIONAIRobot is equipped with variety of actuators and hardwarepackages like manipulator arm, four changeable independentflippers, replaceable end-effectors, thermal camera, digitalcameras and laser pointer. This robot is design to fulfillcapacity of a rough terrain robot in terms of strength, searchand manipulation as majority of requirements for DisasterResponse Force (DRF) and Military Forces (MF) in field ofTRR.AIRobot is designed to be light weight around 60 Kg (10Kg lighter than TeleOp VI), efficient in terms of actuationenergy consumption, mechanism simplicity, selectable camerato reduce processing and consequently saving energy. It is amodular robot regarding component installations and maintenance simplicity; moreover, it has configurable controllingsystem for flipper angulation. For instance, the flipper partis designed to be altered with another with a fast connectormechanism. It is also possible to alter right side flipper withleft side one to make a new configuration for the situationsthat robot needs longer flippers.To save weight, majority of robot subcomponents aremade of engineering plastics (EPs) and minority of thoseare reinforced carbon fiber, reinforced aluminum- carbon fiberand steel. The non-metal materials have the advantages like:strength, rust resistance and low density; however, using themneeds much of attention and analysis in terms of fatigueand nonlinear displacement [7]. EPs intrinsically are not onlybe able to damp the vibration and impacts, but also, theyare inexpensive material with high performance and highmachinability which nominate them as the low-cost resourcescomparing to light metals like aluminum. In TeleOp VII, designed components have as both structural role and suspensionrole; however, to predict the behavior of this combined characteristics, all critical parts were analyzed by finite elementmethod FEM software.TeleOp VII is passing task-based plan which means Basedon the anticipated tasks robot is designed and our stepscan be listed as: first, its conceptual design introduced thenoverall CAD model and consequently weight evaluated. Byhaving these, power of propulsion and flipper drives havebeen calculated and verified by power method to check ifthe maximum mechanical powers meet those of electrical.These loops have been checked through each mobility andmaneuvering tests to see if the robot can accomplish them ornot (See Fig. 15).A. Hardware1) Locomotion: TeleOp VII has high mobility and flexibility thanks to four independent chain-rubber-equipped flippers(FICF) and light weight (see Fig.3). Each flipper can beinstalled by a mechanical fast connector. One Flipper playstwo roles as: propulsion and angulation. On the other hand,flipper run the robot forward/backward and at the same timeits angle is adjustable. A hypoid gearbox and a Maxon motor(24V, 170W) connected to the flipper’s sprocket for propulsiondrive. At the same time, telescopically another geared motorwith different gear ratio connected to the body of the flipper toprovide angulation movement (see Fig. 6). Apart from bearings3Fig. 3. TeleOp VII flipper is designed to be triangle to handle different terrainsand obstaclesand their housings all parts are plastic (Fig. 4). BARTLAB hashad a great experience of using track belt, chain-rubber andtiming belt; however, we found combination of chain and rubber very simple, light and reliable. The disadvantages of usingchain are being heavy and noisy, but using plastic sprocket,plastic guide rail, non- metal components and particular typeof rubber reduced those unwanted effects significantly (seeFig. 4 and Fig. 5).Rubber teeth on the flippers are intended to cope with variety of surfaces and reduces the noise taking place during robotturning (Fig. 7). To increase power transmission efficiencyfrom motor to sprocket, a gearbox is manufactured to transmitthe power (see Fig. 7). This unit can independently assembleor dismantle for maintenance. Displacement and deflection thechassis would not affect the gears contact area so that having arigid-stiff structure would not be necessary. The gearbox itselfis plastic and reinforce by carbon steel.2) Manipulation: Manipulation is performed with an aidof a six degrees of freedom arm consisting of a gripper asthe end-effector. The first three joints of the manipulator areactuated by Dynamixel XM540-W270-R actuators interfacedwith planetary gears for essential reduction and the self-

ROBOCUP RESCUE 2022 TDP COLLECTION4Fig. 7. New Motor-gearbox combination made by BARTLABFig. 4. Manufactured flipper componentsFig. 8. Electrical components of our Robots: (A) Cameras (B) Carbon dioxidesensor (C) Heat sensor (D) Sensor Range Finder (E) Thermal sensorFig. 5. Chain-rubber-equipped propulsion system the rubber teeth are designed to reduce the noise, damp impact and make a great surface contact onvariety of groundsFig. 6. Sample of rubber teeth, designed and manufactured for TeleOp VIIlocking ability. Rest of the joints are directly driven by thesame actuator model. The joints are connected with each otherusing aluminum tube and most of the linkages are constructedusing acetal for significant strength to weight ratio. The overallmanipulation span is about one meter while it can supporta maximum payload of 1500 grams in an extensively flexedposition. The manipulator comprises of a depth camera to aidin manipulation and navigation.3) Power (Batteries): Majority of time TeleOp VII is goingto use 4 of 24V Li-Po batteries, with 6000 mAh, as a mainpower source for both platform and manipulator. For someexperiments a new generation battery as OXIS will probablytest.4) Sensors and cameras: There are two DC brushlessmotors for each corner of robot, each has one Hall Effectsensor as an encoder. In addition, each flipper has its ownHall Effect sensor to find the home position physically. On theplatform, there are four cameras, MCM-4350FISH for frontand back. For inertial and platform angle measurements, MPU6000 6 axis IMU has been used. The robots are equipped witha victim sensing unit including Carbon dioxide sensor (C) Heatsensor (D) Sensor Range Finder (E) Thermal sensor to searchfor the vital signs. The sensors utilized in our system are listedas shown in Fig. 8.A detecting system for the autonomous function is dividedinto 2 types: 1- image detection from camera is used to monitorand analyze the data from victim such as motion detection,QR code detection, and reading the text in an image and 2Thermal sensor to detect heat of a victim inside any area.Thermal sensors are mounted on the manipulator to be ableto search and swing for any heat source as the victim. QRcode detection is a task, which is achieving through imageprocessing. It can be done by taking a video or photo. TheQR code detection flow chart is shown below (Fig. 9).The hazmat detection is implemented based on SIFT andSurf to detect key point on a photo. The template of hazmathas a detection database. In real-time searching the extracted

ROBOCUP RESCUE 2022 TDP COLLECTIONFig. 9. QR code detection processFig. 10. This diagram illustrates the control scheme for TeleOp VIIkey points are continuously comparing with the database.B. CommunicationBART LAB Rescue Robotics team employs an access pointsconnected via Wireless LAN 802.11AC 5 GHz to communicate through the robot and station with bridging technique.The default setting is Channel 36 which is a modifiable toany other requested available channel.C. Software and Human-Robot InterfaceRefer to Table IV in the Appendix. Our control method andhuman-robot interface can be separated into two groups: 1Control and interface on tele-operative function. 2- Controland interface on autonomous function. These two groups arediscussed in further detail below.1) Control Method and Human-Robot Interface of TeleOperative Function: The control system for the tele-operativerobots is illustrated in the Fig. 10. The onboard controllingsystem communicates with the operator station via WirelessLAN 802.11AC access points. Another onboard access pointon the robot with a fanless onboard computer would receivethe commands and send the processed data to the station. Thisdata is come from USB devices and sensors (e.g. cameras,microphones, speakers and Hokuyo laser range finder orHokuyo scanning range finder). The computer communicateswith the robot via USB ports and serial ports. The on-the-robotcomputer controls the propulsion, manipulator, other actuatorsand hardware by PID control system. The robot also has anemergency button system which stops or recovers the robotcontrol system.Operator station, similar to previous model, is a suitcasesized mobile unit. Moreover, there are laptop, robot controllers, backup power, power-connection, wireless access5point and a monitor. The Rescue operator station is shownin Fig. 11. Each subunits of the operator station is discussedin detail below: Wireless Access Point: The Wireless Access Point isconnected to the on board laptop. Monitor System: We modified lid of suitcase to attach thetouch screen monitor (300 250 50mm or 12inch). Monitorwill display the real time cameras output on the robot andalso GUI, sensor data display (e.g. heat, CO2, etc.) robotheading, communication controller, configuration displayof robot platform, pre-set robot configuration controller,and a controller for inverse- kinematic manipulator. Backup Power: We used UPS for backup and to protectthe operator station. We need to use electricity just afew minutes to setup the operator station system beforecompetition. The UPS has a capacity of 1000VA/550watts and it can backup power for about 20-30 minutes. Laptop: Laptop is the main processor in the operatorstation as a server. It should have at least 1 LAN channel,1 USB channel, 1 speaker channel and 1 VGA port. Suitcase: We used Pelican 1520. It is watertight, crushproof and dust proof and very strong. The Pelican 1520offers an interior storage area of 18.0612.896.72 inch. Robot Controllers: We used gamepad type controllers.It is a type of controller held in two hands, where thefingers, especially the thumbs are used to provide inputsignal. It is used to control the robot flipper and robotmanipulator. Fig. 12 displays information on the GUI.(A) Showing 4 view from 4 onboard cameras, sensordata (e.g. Heat, CO2), robot posture, communicationcontroller, pre-set controller configuration, and the manipulator inverse-kinematic controller.2) Control Method and Human-Robot-Interface of the Autonomous Function: The control scheme utilized for theautonomous function is similar to that of the tele-operativefunction. The difference of this control system is that the robotnavigates itself autonomously and can also detect a victimautomatically. More aspects of the autonomous navigation,like: map generation, navigation and localization, are discussedlater. At the starting point, the autonomous robot has to belaunched manually, after that it would travel autonomously.3) Map generation/ printing: Our robot is mainly governedby ROS operation. G-Mapping package from the open SLAMis used to generate a map. First, the map is defined by anoccupancy grid, which has a high resolution, of about 0.05meter per pixel. There are two inputs that create the mapwhich are: 1-the laser range finder which is used to measurethe distance of objects or structures around the robot at 180degrees and 2) the odometry of the robot which is used by thewheel encoder to calculate the distance the robot has traveledin the axial direction. At the same time inertia measurementunit (IMU) measures the robot orientation. Fig. 13 showsgenerated map in RoboCup Iran Open 2015 competition.4) Fuzzy Logic Algorithm for Autonomous Running withObstacle Avoidance: Our autonomous robot uses the fuzzylogic algorithm to run and avoid obstacles. The fuzzy logicalgorithm uses distance information collected by the laserrange finder. This device provides data from ten directions

ROBOCUP RESCUE 2022 TDP COLLECTION6fuzzy outputs using the If-Then Rule based on the orientationof the robot and the velocity of each driving motor. The outputis computed in real-time based on the environment and sent tothe propulsion unit to respond to the environment immediately.III. A PPLICATIONA. Set-up and Break-DownFig. 11. BART LAB Rescue Robotics operator station: (A) CAD design (B)Our Operator’s StationThe operator station like the previous one is an easy-to-usesuitcase-sized unit. This system is employed to control andcommunicate the AIRobot. Start a task is as easy as switchingthe laptop and robot on, and the operator can access to therobots via Wi-Fi.B. Mission StrategyFig. 12. Image shows the framework of (A) GUI of the tele-operative (B)GUI of the autonomous functionStrategically, the robot has a configuration mode to specifythe task. On the other hand, for each task robot will configureits mechanical, sensory and control part to reduce driver’sconsiderations. Since the robot has lower weight and highstrength, so it has relatively lower inertia which would increasethe mobility and maneuverability. With the same approach, itis expected the new carbon fiber manipulator also be moreagile and accurate.C. ExperimentsExperiments can be categorized as components experimentsand Robot experiment. Since the flipper has a critical role,its model has been analyzed with FEM and subjected tothe different forces and bending moments. The flipper partshas been tested under specific weigh (830N, flexural test) tomake sure that it confirm FEM data. BART LAB at MahidolUniversity, Salaya campus, Thailand has a construction forpracticing and training. In the arena, majority of rescue robottests including the maneuvering, mobility and dexterity areavailable.D. Application in the FieldFig. 13. The generated map in RoboCup Iran Open 2015following the pan scan direction. These directions are chosento reduce the amount of data and computation time withinthe algorithm. A filter is applied to reduce the error before thedata is turned into the membership function for Fuzzy sets. Themembership function has a range from zero to one as algorithminput. For the fuzzy rule design, obstacle avoidance anddistance decrease as the robot moves around the area, thereforethe robot reduces its speed at each side of the driving system.The fuzzy set is divided into three categories: low, mediumand far. These fuzzy categories correspond to obstacles andchoose the minimum distance for obstacle avoidance. TheOn August 11, 2014, U-place condo tale, the six-floorsbuilding under construction, collapsed in Pathumthani, THAILAND. There were a number of injured people trapped inthe collapsed building. BART LAB Rescue Robotics teamwas called by the rescue team to join the survey and rescuemission on site. At 01.00 am on August 12, BART LABRescue Robotics team arrived and col-laborated with DirectorGeneral of Department of Disas-ter Prevention and Mitigationwho was in charge of the rescue operation. The top floorof the building was under construction and collapsed intothe sandwich structure. Some of the injured were trapped atdifferent depths that were difficult to access from the outside.BART LAB Rescue Robot is designed to operate in roughand com-plex terrain. However, the height of the robot is 60cm, which limits the regions the robot is able to gain accessto. During the operation the rescue team made the hole toaccess 3 to 4 floors to locate survivors. The pre-observationwas possible to indicate a survivor. BART LAB Rescue Robotwas assigned to survey the scene and provide more informationon the location of survivors and the structure of the collapse.

ROBOCUP RESCUE 2022 TDP COLLECTION7Fig. 14. On-site experienced at U-place condo, Pathumthani, THAILANDThe robot was remotely operated from the outside station andpassed through the 6th floor to the 4th floor. The hole becamenarrower and lower, additional obstacles included the steelrods that reinforce the concrete structure. Due to these majorob-stacles, the movement of robot was limited. However, thisis the first mission that BART LAB Rescue Robotics teamexperienced as part of an on-site operation (Fig. 14). Thecollaboration with the rescue team provided the team withvaluable feedback for future improvement and development.Our ultimate goal is to produce a reliable rescue robot,through research and development, for application in a realdisaster site around the world. We strongly believe that ourteam robots are prepared to perform a rescue task in the realworld. BARTLAB has developed several rescue robots since2006 and one of them have been used in a real disaster asa collapsed building in August 11, 2014 [7]. Since then, thison-site experience has motivated team to work on improvingand optimizing of both mechanical and communication system. It is expected, TeleOp VII shows better performance inboth mobility, dexterity and communicating comparing to thelast Tele-operative version. Overall this robot is another steptoward real disaster response. The installed manipulator wouldnot be able to manipulate with a force higher than 1Kg. Thisteam is planning to enhance capability of this part in nextversion. Reducing robot weight, size and cost.Fig. 15. eleOp VII overall sizeFig. 16. ask simulation by new flipper Nantida NillahootPittawat ThiuthipsakulBranesh Madhavan PillaiMayur KishorePanuwat OiamwongTanadul SomboonwongDaral MaesinceeThitamorn PanyawongngamSenior Member and HRITeam LeaderControl SupervisorMechanical DesignerMechanical DesignerProgrammerSystem IntegratorMechanical DesignerA PPENDIX BCAD D RAWINGSA PPENDIX CL ISTSA. Systems ListFFor the operator station list, please refer to Table IIIV. C ONCLUSIONIn conclusion, over these years we have improved andnow our motives, experience and knowledge make the wayclearer. Since the finished robot has yet to come, we cannotexperimentally show how much better we become comparingto the previous robot, but improvement and learning will beinevitable on this way.B. Hardware Components ListFor the hardware components, please refer to Table III.C. Software ListFor software list, please refer to Table IVACKNOWLEDGMENTA PPENDIX AT EAM MEMBERS AND T HEIR C ONTRIBUTIONS Jackrit SuthakornSongpol OngwattanakulExecutive AdvisorCo-AdvisorBART LAB team would like to express its special thanks ofgratitude to Mahidol University and our major sponsors, e.g.,TCELS – Ministry of Science and Technology of Thailand,PTT, PEA and ERAWAN rubber. We also would like to

ROBOCUP RESCUE 2022 TDP COLLECTIONTABLE IM ANIPULATION S er trackedSystem Weight55kgWeight including transportation case75kgTransportation size0.6 x 0.6 x 0.5 mTypical operation size803 x 532 x 587 mmUnpack and assembly time120 minStartup time (off to full operation)15 minPower consumption (idle/ typical/ max)60 / 200 / 800 WBattery endurance (idle/ normal/ heavy load) 2240 / 120 / 60 minMaximum speed (flat/ outdoor/ rubble pile)4 / 1 / - m/sPayload (typical, maximum)1/ 2 kgArm: maximum operation height100 cmArm: payload at full extend1kgSupport: set of bat. chargers total weight4kgSupport: Charge time batteries (80%/ 100%)90 / 120 minSupport: Additional set of batteries weight2kgCost25000 USDTABLE IIO PERATOR S TATIONAttributeValueNameAIRobot-OPSystem Weight6kgWeight including transportation case12kgTransportation size45.5 x 32.7 x 17 cmTypical operation size45.5 x 32.7 x 62 mUnpack and assembly time1 minStartup time (off to full operation)1 minPower consumption (idle/ typical/ max)60 / 80 / 90 WBattery endurance (idle/ normal/ heavy load)10 / 5 / 4 hCost1600 USDTABLE IIIH ARDWARE C OMPONENTS L ISTPartBrand & ModelPrice( )Drive motorsMaxon EC 40 170WGearheadMaxon GP 42 C1126.7Motor driversEPOS4 compact 50/8Flipper MotorMaxon EC 40 170WGearheadMaxon GP 42 C1528.2Motor driversPOS4 compact 50/8Gripper MotorDYNAMIXEL XL430-W250-TManipulator MotorDynamixel XM540-W270-R2454ReducersMatex LGU75MRaspberry PiRaspberry Pi 3B Computing UnitAxiomtek with Intel Core i7-6600 1392WiFi AdapterMetal 5shpn mikrotik100IMUMTi-7-DK500CamerasHDQ13 140 HD 1080P WIFI60Depth CameraRealsense d435i200Infrared CameraFLIR Lepton Dev Kit V2240CO2 SensorExplorIR CO2 sensor120Battery ChargersRugged Operator LaptopTABLE IVS OFTWARE L ISTNameVersion LicenseUsageUbuntu18.04openROSMelodic BSD Hazmat DetectionOpenCV [8], [9]3BSD2D SLAM 3DHector SLAM [10] 0.4.0BSDMappingEPOS StudioBSDOperator Station8thank NIST, RoboCup Federation, and RRL members for theircontribution to the Rescue Robot Research. Lastly, we wouldlike to thank every family of all BART LAB members whounderstand, support, help and guide us a lot in finalizing thisproject within the limited time.R EFERENCES[1] B. M. Pillai and J. Suthakorn, “Challenges for novice developers inrough terrain rescue robots: A survey on motion control systems,”Journal of Control Science and Engineering, vol. 2019, 2019.[2] J. Sutha

ROBOCUP RESCUE 2022 TDP COLLECTION 1 RRL2022 BART LAB Rescue Robotics Team Thailand Jackrit Suthakorn, Songpol Ongwattanakul, Nantida Nillahoot, Pittawat Thiuthipsakul, Branesh Madhavan Pillai,