1. Investigation Report on the Rescue Problem at Hanshin-Awaji Earthquake in Kobe Satoshi Tadokoro, Kobe Univ. Toshi Takamori, Kobe Univ. Koichi Osuka, Kyoto Univ. Saburo Tsurutani, Kobe Steel IROS 2000, Takamatsu, Nov. 3, 2000

2. Hanshin-Awaji Earthquake January 17, 1995, 5:47 am Magnitude 7.2 Serious Damage Region 20 x 1 km (13 x 0.6 mi) People seriously effected: 2,300,000 Deaths: 6,432 ++Injured: 43,800 ++ Buildings Damaged: 530,000 fully destroyed: 104,906, fully burnt: 6,148, half destroyed: 144,272 Fire: 285 large scale: 14 (>10,000m 2 (3600 mi 2 )) largest: Nagata Ward Direct Damage: 10 trillion yen (100 billion US$)

3. Earthquake Disaster > 3 times/year Top 10 earthquakes in the 20 th century Taiwan

4. Cause of Death and Injury in Hanshin-Awaji (Kobe) Earthquake Death Crush and Suffocation by80% Building Destruction Burn10% Injury Collapse of Buildings andMost Tumble of Furniture

5. Typical Collapse of Buildings Crush of 1st floor  30cm (1ft) In a minute Kobe, 1995

8. Apartment House of a Student (by S. Fuji) Kobe, 1995

9. From the 2nd Floor (by S. Fuji) Kobe, 1995

13. Search and Rescue Residents, Civilians, Volunteers: --- Main rescuer Firefighters, Policemen: --- Too few in number Self-Defense Force --- Too late by information isolation of stricken area  The disaster was much larger than supposed possible damage. Taiwan

14. Expected Contribution of Robotics Industrial Robot Contribution Save workers from 3D jobs Demanding, Dirty, Dangerous Cost Reduction Efficiency Improvement Quality Improvement Rescue Robot Contribution …... (Kawasaki Heavy Industry Co.)

15. Dream of Robotics and AI If mighty robot heroes in SF and comics ….. (Mighty Atom, Osamu Tezuka)(Gundam)

16. Search & Rescue Process 1.Search Collect information Estimate the possibility of buried person Identify the position 2.Excavation of debris Dig a hole, Destroy obstacles, Take out debris Make secure space 3.Rescue Pull out the body outside, Treat victims Transfer to the hospital

17. Advanced Search Tools Optical fiber scope Acoustic investigator Heartbeat detector using microwave

18. Rescue Tools Removal Work MobileAir Jack Suspender Power Spreader/Cutter/Jack

19. Rescue Robots !! In Japan RoboFighter Fire Serarch RoboCue Wall Climbing Robot

20. Activities of robotics in Japan JSME Robotics & Mechatronics Div. Research Committee (1995.11 ～ 1996.11) Investigation of search & rescue activities in Hanshin- Awaji Earthquake for the purpose of research & development of rescue robotic infrastructure JSME Research Committee RC-150 (1997.4 ～ 1999.3) Research & development of robotic systems for search & rescue in large-scale disaster MITI Humanoid Robot Project

21. Activities of robotics in Japan SICE System Integration Division, Rescue Engineering TC ISCIE Rescue System Forum SICE Urban Disaster Prevention TC The RoboCup-Rescue Project Rescue Robot Contest JSME Robotics Mechatronics Conf., 1996, 1997, 1998, 1999, 2000 Robotics Society of Japan Annual Conf., 1996, 1997, 1998, 1999 JSME Robotics Mechatronics Symposia, 1997 JSME Annual Conference,1998 SICE Urban Disaster Prevention Symposium, 1998 AI Robot Fair, 1998 JSAI SIG-Challenge Symposium, 1999 RoboCup-Rescue Symposium, 1999 IROS, 1999 ICRA, 2000 SPIE-UMG, 2000 ICMAS, 2000 IROS, 2000 IECON, 2000 Global Disaster Information Network, 2000 RoboCup WC Melbourne, 2000 …………

22. Search Robot Specification (Committee Report) Searchable from out of debris Need no standard face/line Searchable faint victim Non-contact search Teleoperation Robustness against environment Transportable by human Rapid setting Need no accuracy Battery drive Need no special knowledge Usable in ordinary social life Easy maintenance Judge alive/death and health condition

23. Excavation Robot Specification (Committee Report) Ability for various tasks Robustness against environment Battery drive Teleoperation rather than autonomous system Safety support for human workers Task support for human workers Light weight Simple structure For easy maintenance For easy understanding of usage For reliability Transportable by human or having high self- mobility Easy operation without special knowledge

24. Victim Care Robot Specification (Committee Report) Judge of alive/death and health condition Ability of Life maintenance Ability to reduce the load Mobility to carry victim bodies out Transfer from debris to outside street Transfer from street to hospital Kobe, 1995

25. Emergency Response System Problems & Expected Functions Problems Insufficient supposed scale Damage of ER centers and members Cut and congestion of communication Information isolation of civilians and volunteers Insufficient information support in decision making Expected Functions Acquisition, accumulation, relay, selection, analysis, summarization, and distribution of necessary information Sufficient decision support Distribution of systems for reliability and robustness Continuity of operation from ordinary time

26. Essential Issues Number of systems Huge number of simultaneous break-out Continuousness from ordinary time Efficiency Cooperation with human Effective organization of local residents Variety of Problems Search Information support Rescue work Real-time Disaster Response Research Response “ Action ” Support for residents and civilians Thorough check of availability Cost reduction by standardization & open architecture Extensible mechanism Kobe, 1995

27. Distributed Search of Victims (Takamori, Kobe U.)

28. Marsupial Rescue Robot (Robin Murphy, South Florida U.)

29. Portable Rescue Manipulator (Tadokoro, Kobe U.)

30. Mobile Mechanisms in Debris (Hirose, Tokyo Inst. Tech.) Gembu IIParaWalker-II

31. Humanoid Robot Project (MITI)

32. Human Manipulation （ Masuda, Tokai U.)

33. Rescue Support （ Osuka & Tokuda, Kyoto U.)

34. InfoBaloon (Onosato, Osaka U.)

35. RoboCup-Rescue Simulation 2D log viewer by Kuwata 3D viewer by Shinjoh & Yoshida

36. Rescue Robot Contest (RoboFesta) (Osuka, Masutani)

37. For Creation of Safer Social Systems 1.Wide human groups concerned User … Market … Designer … Developer … Researcher … Scientists 2.Wide range/variety of R&D trials Practical … Prototype … Research level … Idea level Expert level … Civilian level For solutions against variety of disasters 3.Long-range & short-range R&D 1 year … 3 years … 5 years … 1 decade … 2 decades … 5 decades … 1 century

38. For the Future Social Safety International Cooperation of Researchers Industries Governments Experts Volunteers Agencies Mass Communications ……… R&D Scenario of search & rescue systems Disaster Mitigation Culture