Öz
Recent natural disasters have highlighted the need for technological solutions that enhance the speed and efficiency of search and rescue operations. This study focuses on the design and implementation of a mobile search and rescue robot integrated with a robotic arm, intended for use during natural disasters. The robot is capable of maneuvering in confined spaces and delivering essential supplies to survivors trapped under debris. Equipped with advanced technologies such as thermal cameras and sound sensors, the robot can effectively communicate with human rescue teams, thereby improving the efficiency of rescue operations. The robot's capabilities allow for rapid response in critical emergency situations, expediting the location and rescue of survivors. Furthermore, the robot's ability to operate in hazardous areas without requiring human entry enhances the safety of rescue teams. The advanced technologies and engineering solutions employed in the design and implementation of this robot could facilitate its widespread use in future search and rescue operations. This study offers technological innovation and employment opportunities to enhance the country's disaster response capabilities.
Anahtar Kelimeler
Mobile Robot Robotics Robotic Arm Search and Rescue Technologies
Proje Numarası
TÜBİTAK 2209A Öğrenci Projesi No:1919B012303729
Kaynakça
- 1. AFAD, “Türkiye Deprem Tehlike Haritası”, https://www.afad.gov.tr/turkiye-deprem-tehlike-haritasi, 2 Ocak 2024.
- 2. AFAD, “Türkiye'de Afetler”, https://www.afad.gov.tr/kurumlar/afad.gov.tr/35429/xfiles/Turkiye_de_Afetler.pdf, 4 Ocak 2024.
- 3. Alam, I. and Y. Ali. "Studying the effects of Türkiye earthquake disaster and its impact on real estate industry: A risk analysis based on input-output & non-linear optimization models," International Journal of Disaster Risk Reduction, Vol. 96, Pages 103920, 2023.
- 4. Hussain, E., S. Kalaycıoğlu, C.W. "Milliner, and Z. Çakir, Preconditioning the 2023 Kahramanmaraş (Türkiye) earthquake disaster." Nature Reviews Earth & Environment, Vol. 4, Issue 5, Pages 287-289, 2023.
- 5. Goldberg, D.E., et al., "Rapid characterization of the February 2023 Kahramanmaraş, Türkiye, earthquake sequence." The Seismic Record, Vol. 3, Issue 2, Pages 156-167, 2023.
- 6. İnce, O., "Structural damage assessment of reinforced concrete buildings in Adıyaman after Kahramanmaraş (Türkiye) Earthquakes on 6 February 2023." Engineering Failure Analysis, Vol. 156, Pages 107799, 2024.
- 7. Li, L. and Z. Zhao, Performance Test, Index System Establishment, and Comprehensive Evaluation of Earthquake Rescue Robots. Electronics, Vol. 13, Issue 7, Pages 1401, 2024.
- 8. Li, F., S. Hou, C. Bu, and B. Qu, "Rescue robots for the urban earthquake environment." Disaster medicine and public health preparedness, Vol. 17 Pages e181, 2023.
- 9. Park, S., Y. Oh, and D. Hong, "Disaster response and recovery from the perspective of robotics." International Journal of Precision Engineering and Manufacturing, Vol. 18, Pages 1475-1482, 2017.
- 10. Bogue, R., "Disaster relief, and search and rescue robots: the way forward." Industrial Robot: the international journal of robotics research and application, Vol. 46, Issue 2, Pages 181-187, 2019.
- 11. Akdemir, Derya Gümüş. Design of a rescue robot for search and mapping operation. MS thesis. Izmir Institute of Technology (Turkey), 2006.
- 12. Saha, S., et al. "Life Saver Robotic Car for Accidental or Disaster Place Emergency Situation." ICT Analysis and Applications: Proceedings of ICT4SD, Springer, Issue 2, 2021.
- 13. Yılmaz, M., & Yıldız, M. (2021). Dört ayaklı robotların modellenmesi, kontrolü ve engebeli yüzeylerde yürüyüşü üzerine bir literatür araştırması. İstanbul Teknik Üniversitesi Dergisi, Cilt 70, Sayı 1, Sayfa 1-15.
- 14. Bahadori, S., Iocchi, L., Nardi, D., Settembre, G.P., “Improved method for stereo vision-based human detection for a mobile robot following a target person”, South African Journal of Industrial Engineering, Vol. 26, Issue 1, Pages 1-10, 2015. 15. Güzel, B., Yılmaz, A., “Robotlar İçin Nesne Tespiti ve Haritalama Uygulamaları”, Journal of Robotics and Automation, Cilt 19, Sayı 3, Sayfa 45-58, 2023.
- 16. Hasan, İ., Kara, T., “Design, Construction and Control of an Autonomous Mobile Rescue Robot”, European Journal of Science and Technology, Vol. 37, Pages 65-71, 2022.
- 17. Bonarini, A., "Communication in human-robot interaction." Current Robotics Reports, Cilt 1 Sayı 4 Sayfa 279-285, 2020.
- 18. Çetin, G., Aksakal, E., & Taşkın, S. İnsan-Robot Etkileşimi Çalışmalarına yönelik İnsanın OctoMap ile Duygu Tanıma. Journal of Mechanical Engineering and Technology, Cilt 13, Sayı 1, Sayfa 1-10, 2021.
- 19. Bian, X., Zhao, W., Tang, L., Zhao, H., Mei, X., “FastSLAM-MO-PSO: A Robust Method for Simultaneous Localization and Mapping in Mobile Robots Navigating Unknown Environments”, Applied Sciences, Vol. 14, Issue 22, Pages 10268, 2024
- 20. Lin, R., H. Huang, and M. Li, "An automated guided logistics robot for pallet transportation." Assembly Automation, Cilt 41 Sayı 1 Sayfa 45-54, 2021.
- 21. Reddy, A.H., B. Kalyan, and C.S. Murthy, "Mine rescue robot system–a review." Procedia Earth and Planetary Science, Cilt 11 Sayfa 457-462, 2015.
- 22. TÜBİTAK Bilim Genç, “Arama Kurtarma Robotu”, https://bilimgenc.tubitak.gov.tr/proje/arama-kurtarma-robotu, 27 Nisan 2025.
- 23. Çetin, G., Aksakal, E., Taskın, S., “Göçük Altında Kalanların Tespiti için Biyonik Yılan Robot Tasarımı”, Journal of Materials and Mechatronics: A, Cilt 3, Sayı 1, Sayfa 63-78, 2022.
- 24. Chou, S.Y. and D. Chen, Emergent disaster rescue methods and prevention management." Disaster Prevention and Management: An International Journal, Cilt 22 Sayı 3 Sayfa 265-277, 2013.
- 25. Sheh, R., Schwertfeger, S., Visser, A., “16 years of RoboCup Rescue”, KI – Künstliche Intelligenz, Vol. 30, Issue 3-4, Pages 267-277, 2016.
- 26. Skinner, C. and S. Ramchurn. "The robocup rescue simulation platform." Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems, Sayı 1, 2010.
- 27. Gilpin, K. and D. Rus, "Modular robot systems." IEEE robotics & automation magazine, Cilt 17 Sayı 3 Sayfa 38-55, 2010.
- 28. Birk, A. "Fast robot prototyping with the cubesystem." IEEE International Conference on Robotics and Automation, Proceedings. ICRA'04. 2004.
- 29. Chen, S., et al., "Soft crawling robots: design, actuation, and locomotion." Advanced Materials Technologies, Cilt 5 Sayı 2 Sayfa 1900837, 2020.
- 30. Zhao, Z., et al. "Obstacle negotiation and driving mode decision for variable track robots in dynamic environments." Journal of Field Robotics, Vol. 39, Issue 1, Pages 68-82, 2023.
- 31. Çetin, G., Aksakal, E., Taşkın, S., “Göçük Altında Kalanların Tespiti için Biyonik Yılan Robot Tasarımı”, Journal of Materials and Mechatronics, Cilt 3, Sayı 1, Sayfa 63-78, 2022
- 32. Liljebäck, P., K.Y. Pettersen, Ø. Stavdahl, and J.T. Gravdahl, "A review on modelling, implementation, and control of snake robots." Robotics and Autonomous systems, Cilt 60 Sayı 1 Sayfa 29-40, 2012.
- 33. Lee, J., et al. "Dynamic obstacle avoidance and negotiation in tracked robots: A simulation and experimental study." Robotics and Autonomous Systems, Vol. 129, Pages 103562, 2020.
- 34. Zhao, M., et al. "Kinematic and dynamic modeling for a snake robot using a hybrid motion control approach." IEEE Transactions on Industrial Electronics, Vol. 68, Issue 8, Pages 6672-6682, 2021.
- 35. How To Mechatronics, “Arduino Robot Arm and Mecanum Wheels Platform Automatic Operation”, https://howtomechatronics.com/projects/arduino-robot-arm-and-mecanum-wheels-platform-automatic-operation/, 28 Mart 2024.
- 36. Granosik, G., Hansen, M.G., Borenstein, J., “The OmniTread serpentine robot for industrial inspection and surveillance”, Industrial Robot: An International Journal, Cilt 32, Sayı 2, Sayfa 139-148, 2005.
- 37. Biorobotics Lab, “Modular Snake Robots”, https://biorobotics.org/posts/2023/08/18/modular_snake/, 22 Mart 2024.
- 38. Choi, J., Kim, H., Oh, S., “Design of a Stair-Climbing Robot for Rescue Applications”, Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics, Sayfa 1-5, 2006.
Öz
Son yıllarda yaşanan doğal afetler, arama ve kurtarma operasyonlarının hızını ve etkinliğini artıracak teknolojik çözümlere duyulan ihtiyacı ortaya koymuştur. Bu çalışmada, doğal afetler sırasında kullanılmak üzere robotik kol entegreli mobil bir arama ve kurtarma robotu tasarımı ve gerçekleştirilmesi ele alınmaktadır. Robot, dar alanlarda manevra yapabilme ve enkaz altındaki hayatta kalanlara temel ihtiyaç malzemelerini ulaştırabilme kapasitesine sahiptir. Robotun termal kameralar, ses sensörleri gibi ileri teknolojilerle donatılması ve insan kurtarma ekipleri ile etkili bir şekilde iletişim kurabilmesi, kurtarma operasyonlarının verimliliğini artırmaktadır. Robotun kabiliyetleri, zamanın kritik olduğu acil durumlarda hızlı müdahale imkânı sunarak hayatta kalanların bulunmasını ve kurtarılmasını hızlandırmaktadır. Ayrıca, robotun riskli bölgelere insanların girmesine gerek kalmadan müdahale edebilme yeteneği, kurtarma ekiplerinin güvenliğini artırmaktadır. Robotun tasarımı ve gerçekleştirilmesi sürecinde kullanılan ileri teknolojiler ve mühendislik çözümleri, bu tür robotların gelecekteki arama ve kurtarma operasyonlarında yaygın olarak kullanılmasını sağlayabilir. Bu çalışma, ülkenin afetlerle başa çıkma yeteneğini artırmak için teknolojik yenilik ve istihdam fırsatları sunmaktadır.
Anahtar Kelimeler
Mobil robot Robotik Robotik Kol Arama ve Kurtarma Teknolojileri
Destekleyen Kurum
2209-A Üniversite Öğrencileri Araştırma Projeleri Destek Programı kapsamında 1919B012303729 numaralı proje ile maddi destek sağlayan TÜBİTAK’a teşekkür ederiz.
Proje Numarası
TÜBİTAK 2209A Öğrenci Projesi No:1919B012303729
Kaynakça
- 1. AFAD, “Türkiye Deprem Tehlike Haritası”, https://www.afad.gov.tr/turkiye-deprem-tehlike-haritasi, 2 Ocak 2024.
- 2. AFAD, “Türkiye'de Afetler”, https://www.afad.gov.tr/kurumlar/afad.gov.tr/35429/xfiles/Turkiye_de_Afetler.pdf, 4 Ocak 2024.
- 3. Alam, I. and Y. Ali. "Studying the effects of Türkiye earthquake disaster and its impact on real estate industry: A risk analysis based on input-output & non-linear optimization models," International Journal of Disaster Risk Reduction, Vol. 96, Pages 103920, 2023.
- 4. Hussain, E., S. Kalaycıoğlu, C.W. "Milliner, and Z. Çakir, Preconditioning the 2023 Kahramanmaraş (Türkiye) earthquake disaster." Nature Reviews Earth & Environment, Vol. 4, Issue 5, Pages 287-289, 2023.
- 5. Goldberg, D.E., et al., "Rapid characterization of the February 2023 Kahramanmaraş, Türkiye, earthquake sequence." The Seismic Record, Vol. 3, Issue 2, Pages 156-167, 2023.
- 6. İnce, O., "Structural damage assessment of reinforced concrete buildings in Adıyaman after Kahramanmaraş (Türkiye) Earthquakes on 6 February 2023." Engineering Failure Analysis, Vol. 156, Pages 107799, 2024.
- 7. Li, L. and Z. Zhao, Performance Test, Index System Establishment, and Comprehensive Evaluation of Earthquake Rescue Robots. Electronics, Vol. 13, Issue 7, Pages 1401, 2024.
- 8. Li, F., S. Hou, C. Bu, and B. Qu, "Rescue robots for the urban earthquake environment." Disaster medicine and public health preparedness, Vol. 17 Pages e181, 2023.
- 9. Park, S., Y. Oh, and D. Hong, "Disaster response and recovery from the perspective of robotics." International Journal of Precision Engineering and Manufacturing, Vol. 18, Pages 1475-1482, 2017.
- 10. Bogue, R., "Disaster relief, and search and rescue robots: the way forward." Industrial Robot: the international journal of robotics research and application, Vol. 46, Issue 2, Pages 181-187, 2019.
- 11. Akdemir, Derya Gümüş. Design of a rescue robot for search and mapping operation. MS thesis. Izmir Institute of Technology (Turkey), 2006.
- 12. Saha, S., et al. "Life Saver Robotic Car for Accidental or Disaster Place Emergency Situation." ICT Analysis and Applications: Proceedings of ICT4SD, Springer, Issue 2, 2021.
- 13. Yılmaz, M., & Yıldız, M. (2021). Dört ayaklı robotların modellenmesi, kontrolü ve engebeli yüzeylerde yürüyüşü üzerine bir literatür araştırması. İstanbul Teknik Üniversitesi Dergisi, Cilt 70, Sayı 1, Sayfa 1-15.
- 14. Bahadori, S., Iocchi, L., Nardi, D., Settembre, G.P., “Improved method for stereo vision-based human detection for a mobile robot following a target person”, South African Journal of Industrial Engineering, Vol. 26, Issue 1, Pages 1-10, 2015. 15. Güzel, B., Yılmaz, A., “Robotlar İçin Nesne Tespiti ve Haritalama Uygulamaları”, Journal of Robotics and Automation, Cilt 19, Sayı 3, Sayfa 45-58, 2023.
- 16. Hasan, İ., Kara, T., “Design, Construction and Control of an Autonomous Mobile Rescue Robot”, European Journal of Science and Technology, Vol. 37, Pages 65-71, 2022.
- 17. Bonarini, A., "Communication in human-robot interaction." Current Robotics Reports, Cilt 1 Sayı 4 Sayfa 279-285, 2020.
- 18. Çetin, G., Aksakal, E., & Taşkın, S. İnsan-Robot Etkileşimi Çalışmalarına yönelik İnsanın OctoMap ile Duygu Tanıma. Journal of Mechanical Engineering and Technology, Cilt 13, Sayı 1, Sayfa 1-10, 2021.
- 19. Bian, X., Zhao, W., Tang, L., Zhao, H., Mei, X., “FastSLAM-MO-PSO: A Robust Method for Simultaneous Localization and Mapping in Mobile Robots Navigating Unknown Environments”, Applied Sciences, Vol. 14, Issue 22, Pages 10268, 2024
- 20. Lin, R., H. Huang, and M. Li, "An automated guided logistics robot for pallet transportation." Assembly Automation, Cilt 41 Sayı 1 Sayfa 45-54, 2021.
- 21. Reddy, A.H., B. Kalyan, and C.S. Murthy, "Mine rescue robot system–a review." Procedia Earth and Planetary Science, Cilt 11 Sayfa 457-462, 2015.
- 22. TÜBİTAK Bilim Genç, “Arama Kurtarma Robotu”, https://bilimgenc.tubitak.gov.tr/proje/arama-kurtarma-robotu, 27 Nisan 2025.
- 23. Çetin, G., Aksakal, E., Taskın, S., “Göçük Altında Kalanların Tespiti için Biyonik Yılan Robot Tasarımı”, Journal of Materials and Mechatronics: A, Cilt 3, Sayı 1, Sayfa 63-78, 2022.
- 24. Chou, S.Y. and D. Chen, Emergent disaster rescue methods and prevention management." Disaster Prevention and Management: An International Journal, Cilt 22 Sayı 3 Sayfa 265-277, 2013.
- 25. Sheh, R., Schwertfeger, S., Visser, A., “16 years of RoboCup Rescue”, KI – Künstliche Intelligenz, Vol. 30, Issue 3-4, Pages 267-277, 2016.
- 26. Skinner, C. and S. Ramchurn. "The robocup rescue simulation platform." Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems, Sayı 1, 2010.
- 27. Gilpin, K. and D. Rus, "Modular robot systems." IEEE robotics & automation magazine, Cilt 17 Sayı 3 Sayfa 38-55, 2010.
- 28. Birk, A. "Fast robot prototyping with the cubesystem." IEEE International Conference on Robotics and Automation, Proceedings. ICRA'04. 2004.
- 29. Chen, S., et al., "Soft crawling robots: design, actuation, and locomotion." Advanced Materials Technologies, Cilt 5 Sayı 2 Sayfa 1900837, 2020.
- 30. Zhao, Z., et al. "Obstacle negotiation and driving mode decision for variable track robots in dynamic environments." Journal of Field Robotics, Vol. 39, Issue 1, Pages 68-82, 2023.
- 31. Çetin, G., Aksakal, E., Taşkın, S., “Göçük Altında Kalanların Tespiti için Biyonik Yılan Robot Tasarımı”, Journal of Materials and Mechatronics, Cilt 3, Sayı 1, Sayfa 63-78, 2022
- 32. Liljebäck, P., K.Y. Pettersen, Ø. Stavdahl, and J.T. Gravdahl, "A review on modelling, implementation, and control of snake robots." Robotics and Autonomous systems, Cilt 60 Sayı 1 Sayfa 29-40, 2012.
- 33. Lee, J., et al. "Dynamic obstacle avoidance and negotiation in tracked robots: A simulation and experimental study." Robotics and Autonomous Systems, Vol. 129, Pages 103562, 2020.
- 34. Zhao, M., et al. "Kinematic and dynamic modeling for a snake robot using a hybrid motion control approach." IEEE Transactions on Industrial Electronics, Vol. 68, Issue 8, Pages 6672-6682, 2021.
- 35. How To Mechatronics, “Arduino Robot Arm and Mecanum Wheels Platform Automatic Operation”, https://howtomechatronics.com/projects/arduino-robot-arm-and-mecanum-wheels-platform-automatic-operation/, 28 Mart 2024.
- 36. Granosik, G., Hansen, M.G., Borenstein, J., “The OmniTread serpentine robot for industrial inspection and surveillance”, Industrial Robot: An International Journal, Cilt 32, Sayı 2, Sayfa 139-148, 2005.
- 37. Biorobotics Lab, “Modular Snake Robots”, https://biorobotics.org/posts/2023/08/18/modular_snake/, 22 Mart 2024.
- 38. Choi, J., Kim, H., Oh, S., “Design of a Stair-Climbing Robot for Rescue Applications”, Proceedings of the IEEE International Workshop on Safety, Security and Rescue Robotics, Sayfa 1-5, 2006.
Ayrıntılar
| Birincil Dil | Türkçe |
|---|---|
| Konular | Kontrol Mühendisliği, Mekatronik ve Robotik (Diğer) |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Proje Numarası | TÜBİTAK 2209A Öğrenci Projesi No:1919B012303729 |
| Yayımlanma Tarihi | 30 Nisan 2025 |
| Gönderilme Tarihi | 2 Aralık 2024 |
| Kabul Tarihi | 27 Şubat 2025 |
| Yayımlandığı Sayı | Yıl 2025 Cilt: 9 Sayı: 1 |
Kaynak Göster
Uluslararası 3B Yazıcı Teknolojileri ve Dijital Endüstri Dergisi Creative Commons Atıf-GayriTicari 4.0 Uluslararası Lisansı ile lisanslanmıştır.