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1. VGHT ROROT
1.1 INTRODUCTION
There are many different kinds of VGHT Robots in the world today. At the University of
South Floridas Center for Robot-Assisted Search and Rescue (CRASAR) technology was
improved to allow for the original idea, which was to look for downed fire fighters in a
burned out building. It concluded that two humans are needed for visual search with
teleported robots, because the operator kept missing obvious signs of victims while a
supervisor who was not controlling the robot was able to easily notice the downed fireman.
This technology was only in testing phase but events pressed the technologys use.
The 1st known use of one in a real world situation occurred in the rubble of the World Trade
Center during 9/11. The robots were used because they could go deeper than traditional
search equipment (robots routinely went 5-20 meters into the interior of the rubble pile
versus 2 meters for a camera mounted on a pole), could enter a void space too small for a
human or a search dog, or could enter a place still on fire or posing great risk of structural
collapse. They also had sensors that were used to examine the air for any chemicals, which
could be hazardous to the rescuers.[1]
Over time these robots have come to be very advanced. And their use in later disasters
further solidified the field of study, 2004 Utah mine collapse, Hurricanes Dennis, Katrina,
and Wilma. Working with different government agencies the center has developed a myriad
of robots unique to the set tasks and requirements asked of them.
Many of the robots are also being designed to do more specialized things than search. Plans
are looking at the development of robots to do more medical, HAZMAT, and structural tasks.
There is also a project to develop a medical victim triage sensor and medical reach back
procedures. Also research is being done with rescue responders to develop better techniques
to find victims.
Most of the them are similar to what we are going to build but VGHT Robots will have
Global Positioning Device that will send the data where the survivors will be detected via
real time video transmitting and GPS will give an exact location where the searchers and
rescuers are needed on precise location and will be sent there rather than going to disastrous
area by risking their lives. It will help save the life of humans. There have not been many
similar projects in the field; however there are some designed projects that are close to this
project.
1.1.1

HISTORICAL BACKGROUND

The idea of a machine that looks and behaves like a human being goes back at least 2,000 years.
According to Greek mythology, Hephaestus, the god of fire, constructed artificial women out of
gold. These women were able to walk, talk, and even to think.[2]

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By the eighteenth century, scientists and inventors had created an impressive array of mechanical
figures that looked and acted like humans and other animals. The French Jacquet-Droz brothers,
Pierre and Henri-Louis, for example, constructed a doll that was able to play the piano, swaying
in time with the music, and a young scribe who could write messages of up to 40 characters. [2]
Many of these early accomplishments had little practical value. They were built in order to
impress or charm viewers, or to demonstrate the inventor's creative and technological skills. That
line of research continues today. Many modern robots have little function beyond demonstrating
what can be done in building machines that more and more closely resemble the appearance and
function of humans. [2]
One function for such robots is in advertising. They are used to publicize some particular product
or to inform the general public about the robots themselves. Robots of this kind are most
commonly found at conventions, conferences, or other large meetings. As one example, a robot
named Argon was used in April 1983 to walk a dog through a veterinary congress in London,
promoting the "Pets Are Good People" program.
1.1.2

Theoretical Investigation

There are many different kinds of VGHT Robots and they tend to operate in certain situations
only, here we have found some of the best that relates to our project and how they will help us to
complete our project.
The article by Gao Junyao (Junyao, 2009) here is very helpful to our project and is very similar
to what we would like to accomplish. His project gives us insight of an Explosion-Proof design,
Design of vibration absorption, waterproof, mud-proof. And above all it gives great knowledge
on how can we make it the design of thermal balance. So when in a disastrous area the heat it
might produce in area such as forest fires, which may result in high temperature in that case
batteries may be fired or motors may be damaged. It also shows how we can implement cooling
system, which could be a great option to have, and gives us great background on how it can be
implemented.[3]
Masashi Koyama, Hiroshi Hatta, and Hiroshi Fukuda did a study on the bonding strength of
composites (Koyama, Hatta, & Fukuda, 2005). With composites, the fiber selection is important
but another thing that is more significant is the resins and the process of how they are formed
with the fiber. The fibers condensed together have certain strengths, depending on the fiber, but
the strength of the material will ultimately dictated by the resin and how it is bonded. From the
series of tests, some conclusions were reached. One conclusion was that bonding thickness from
the formation of gel of the resin was affected directly by gelation time. The longer the gel was
allowed to form, it thicker the bonding layer was. The results showed that the smaller bonding
layers had a higher strength. When carrying out the experiment, the material was cracked at
intervals. The cause of the cracks was in question. They could have either come from the
differences in coefficient of thermal expansions of the carbon fiber substrate and the phenolic
resins, or from shrinkage of the material from carbonization.[4]
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The results showed that there was no significant variation in the frequency of cracks and
increased temperature. If the cracks had become more frequent with increased temperature, it
would indicate that the cracks came from mismatch strain but this was not the case, the cracks
were a result of shrinkage strain. When the material incurred thermal stress it released it by
cracking the bonding material. The series of experiments prove that the properties of the
composite depend heavily on how it is manufactured. With the VGHT Robot , this knowledge
helps because when the material is ordered it must be manufactured with certain gelation time,
and a certain amount of time allotted for curing. There is an ideal curing time for which the
bonding thickness is smaller and more compact. Also when the product is exposed to high
temperature, it is much better for it to be cooled gradually so that the carbon does not escape and
shrinkage strain can be minimized.

1.1.3

HEALTH CONSEQUENCES

This section is dedicated to health and safety - from the dangers of manual welding to the
importance of robot safety design. Robots have dramatically altered the industrial work
environment. They handle hazardous, repetitive and demanding tasks, saving workers from
multiple psychological and physical dangers.
But robots have also introduced new safety challenges. While accidents are rare, safety measures
must be taken to protect machines and humans. Companies are working to make accidents a
thing of the past with layers of high-tech devices and increased safety standards.[5]
1.1.4

WORKING PRINCIPLE

The main function of the VGHT Robots is to detect survivors using real time video transmission
and send robot location via Bluetooth GPS receiver mounted on robot. The video camera will
also be connected to PC wirelessly for real time video transmitting. The GPS will also send
location data to computer via a software interface which will control and receive all the sensors
information and it will have the location where rescuers are to be sent. The robot is controlled by
Microcontroller and will be driven via looking at real-time video feedback received on via
software written in C# using .Net platform.
The Mechanical Engineers designed the actual platform for the robot to travel. The robot has a
track system similar to army, so that it can traverse rough terrain. This required an independent
suspension system on each wheel. The suspension system was constructed using the loading as
parameters for designing it. The axle system will be cut out and the braking system will be
attached. Finally a motor with the appropriate torque and speed was selected based on previous
weight parameters and it will be attached to the robot.

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1.1.5 Main features

Our objective is to design and construct a robot to be used in an emergency response

mission that will be able to venture into terrain.

The main function of the VGHT Robots is to detect survivors using real time video
transmission and send robot location via Bluetooth GPS receiver mounted on robot.

Environmental sensors are added to determine robots working status, operation

efficiency, saving energy and preventing accidents.

Environmental inspection includes air quality (hydrogen sulfide, methane, oxygen, and
carbon dioxide) inspection and detection of temperature and humidity.

Environmental information determines the effect on a human body to avoid rescuers

getting into the similar dangerous situation.

Thermal Camera is also another option that can replace the current camera, so it can
detect humans through debris with body heat.

A software interface written in C# on .Net platform to control the machine and to receive
the sensors data.

1.2

APPLICATION

VGHT Robot is helpful at the disaster areas for the rescue of survivors.

VGHT Robot can be used to conduct dangerous tasks like bomb disposal and handling
hazardous chemicals without fear of endangering human lives. This makes them ideally
suited to rescue operations after mine explosions or collapses, as they can access areas
that would be lethal to human rescuers.

VGHT Robot were used because they could go deeper than traditional search equipment

VGHT Robots will have Global Positioning Device that will send the data and via real
time video transmitting and GPS will give an exact location

1.3

Design methodology

1.3.1

Project Design

FIRST PHASE

MECHANICAL

For the mechanical part of the project the main objective is to transmit the power. There are two
main goals for building the project that have been set by the group.
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Lightweight the project should be less than 50 lbs. The purpose of the project is to have it
conveniently used, and it is not convenient when the its bulky and awkward to carry. Therefore
lightweight materials are desirable.
Sound Structure the project should not fail at any point structurally under static and dynamic
loading. The stress values on all of the components should be below the yield strength of the
material. Calculations are needed to make sure that this does not occur.
Other goals are that the project can traverse rough terrain and be able to travel about 3 feet per
second. These are the aims that are desired for building the structure.
SECOND PHASE

ELECTRICAL

Electrical team is responsible for Electrical design process; there are three main parts of
Electrical Design: Real-time video transfer, Microcontroller System, and GPS System.
LAST PHASE

COMPUTING

For Computing part of the project the main objective is Computer interfacing, controlling and
performing different function of VGHT Robot through Computer ( keyboard/ Mouse)

1.3.2

FLOW CHART

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PC

C Sharp .NET
Serial 2 USB
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ROBOT
2. COSTING
2.1

Transce
i
ver

Figure 1.0: Block Diagram of Robot

MATERIAL AND METHOD

2.1.1

MATERIALS
ELECTRICAL

Video Camera w/ transmitter

Bluetooth GPS Receiver

Microcontroller

Speed Controller

Power (Batteries. etc.)

RF Receiver
MECHANICAL
Motors

Materials

Chains Track

Sprockets, Springs

Bearing

Misc. (Gears, Shafts, Wheels)

2.1.2
2.1.2.1

Sensors
GPS

Transce
i
ver

Camera

MicroController
Motors

METHODS
PREPARATION OF PROJECT WITH RESPECT TO PHASES

FIRST PHASE

MECHANICAL

For the mechanical part of the project the main objective is to transmit the power. There are two
main goals for building the project that have been set by the group.
Lightweight the project should be less than 50 lbs. The purpose of the project is to have it
conveniently used, and it is not convenient when the its bulky and awkward to carry. Therefore
lightweight materials are desirable.

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Sound Structure the project should not fail at any point structurally under static and dynamic
loading. The stress values on all of the components should be below the yield strength of the
material. Calculations are needed to make sure that this does not occur.
Other goals are that the project can traverse rough terrain and be able to travel about 3 feet per
second. These are the aims that are desired for building the structure. The section below
describes the aims for programming the electrical applications.
SECOND PHASE

ELECTRICAL

Electrical team is responsible for Electrical design process; there are three main parts of
Electrical Design: Real-time video transfer, Microcontroller System, and GPS System.
LAST PHASE

COMPUTING

For Computing part of the project the main objective is Computer interfacing, controlling and
performing different function of VGHT Robot through Computer ( keyboard/ Mouse)

2.1.2.2

PROBLEMS ENCOUNTERED DURING PROJECT

In the first phase of mechanical part, the problem occurred is of selection of material for
manufacturing of Robot.

In the second phase of electrical part, the problem occurred is poor sensation of sensors,
manufacturing faults and burning of ICs.

In the third phase of computing part, the problem occurred is of interfacing.

2.1.3

FINAL LAYOUT OF PROJECT

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PC

Sensors

C Sharp .NET

GP
S
MicroController

Transce
Transce
ii
ver
ver

Serial 2 USB

Transce
Transce
ii
ver
ver

ROBO
T
Camera

Computer

Motors

Block Diagram Of VGHT Robot

Figure 1.1: Final layout of Project

3. RESULT

MECHANICAL

From the geometry of the area the extra length of the chain needed to wrap around the wheels and
sprockets was calculated.
Because the chain has so many parts press fitted together and it has to constantly rotate with
respect to each other part, there is a lot sliding friction that occurs.
1. Motor Mounts
When the motor turns on it converts the electrical energy into mechanical rotational energy by
spinning the shaft. The motors shaft spins the shaft and the gear that was attached to it relative so
the rest of the motor. In order to get the rotation motion useful for this projects application, the
motor needs to be fixed so that the shaft can spin relative to the base of the motor.
From there equations of equilibrium are set up. These equations depend on which way the motor
spins. The first two correspond to the motor spinning counter clockwise and the last two
equations correspond to the motor spinning clockwise.
That means there are different solutions for the tension and compression on the U-Bolts. But the
shear force solution is constant no matter which direction the motor spins. In order to simplify
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calculations the radial force was shifted to the middle of the plate, which causes a moment load
there. That means that the F3 is needed to act against the moment from all four bolts.
For the mechanical part of the project the main objective is to transmit the power. The electrical
applications are being programmed to control the voltage output of the motors. From the motors,
the power gets transmitted to the shafts, the clutch, the sprockets, and the chain. These are all
involved in transmitting the torque ultimately to the chain mechanism.
When transmitting power in this case, as in most cases, there is a force that the elements such as
the gears and shafts have to withstand. The force withstood translates to a stress on the material.
Stress is defined by a second order differential equation but it is averaged by taking the force on
the element and dividing by the cross section of the area considered. Every material used has been
tested for its yield strength and it ultimate strength. When designing it is the objective to keep the
value of stress below the yield stress.
This section describes the average stress for the worst case scenarios in the project. When there is
several of each element being used, for example, several bearings used, the conditions acting at
each bearing are usually different. The worst case scenario is where there are large values of force
and smaller cross sectional areas of the material and there would be the maximum stress. The idea
is that if the maximum stresses in the project are below the yield strength, then all of the other
elements should not fail.
2. Shafts
To design the shafts the main concern is how much stress is being applied to the shaft. An
additional concern is the stiffness of it. But there are various parameters that affect the stress
levels in the shaft. When calculating the stress statically, only the maximum stress values and
average stress values can be obtained. With this application, the 2 shafts closest to the sprockets
should be evaluated because they have the most torque being applied to them.
Another main concern is the placement of the shafts on the platform. Since their placement will
affect the bending-moment diagram it is important that this be done at the earliest time. Any
changes to this would also change the forces that the shafts would be put under.
The Von Mises stresses for the shaft are functions of the torsion and bending on the shafts. In
addition to those external loads there are other stress concentration factors that contribute to the
maximum stress.[6] They are going to be listed below

ka=.77
This found by the formula ka= aSut^b
a= 4.51a (machine design book), is what type of finish the surface is, Machined or Cold-drawn
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and b is the exponent in this case -.265. Sut is the ultimate strength of the material.[6]

kb=.94
This is determined by the diameter of the shaft. D=.50, so the formula is kb=1.51d^-.157

kc=.59
Is determined by what load the shaft will be supporting (bending, axial, torsion), and in this case
it is torsional, we need the torque from the shafts to generate the required power to turn the
sprockets. kc= .59

kd=.84
Is determined by the formula kd=ST/SRT, and a graph is checked of Ultimate strength curve and
yield strength curve vs. an increasing temperature.

Ke=. 87
Is found from table 6-5(Machine Design book) for 95% reliability.

Kf=1
Is usually to remind the engineer of the other factors that can cause failure of the shaft, so it is
normally kf=1.
There is also stress concentration factors kt, kts, kf, kfs that are related to the notches at the end of
the shafts. In order to fix a shaft to a bearing, or a gear, or whatever fixture it may be attached to,
a notch is cut at both of the ends of the shaft. The notch could be a slot or whole cut into the shaft
so that it can be fixed to something else. At the area of the notch, there is a decreased cross
sectional area, which means stress is concentrated proximal to the notches.[6]
2. Bearings
With this project, the bearings are used to hold shafts in place and keep them spinning with a
minimal amount of friction. The design of these bearings used is the journal bearing design as
opposed to the roller bearing design.
When placing bearings it is necessary to be sure that they can withstand the amount of stress
being put on them by the loading. The bearing has to take a lot of loads as well as the shafts.

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3. Bolts
In the design of the use of the bolts we used the maximum force that was calculated on the plate
from the force of the motors. We first had to find out the initial grip that the bolt would undergo
from being inserted into the plat and the bearings, 2 threads are also included. This is known as
the pre-load. From there we calculated the load taken by the bolt. We also had to learn the right
geometry of the bolt we were going to have to use. Looking at the calculations below, we had to
the different grip lengths, fastener coefficient, and area of threaded and unthreaded portion of the
bolt. This all leads to the correct size use bolt that we would need to bolts in our materials without
any bolt failure.
Fi= preload
P= external load
Pb= portion of P taken by bolt
Pm= portion of P taken by members
Fb=Pb +Fi=resultant bolt load
Fm= Pm-Fi= resultant load on members
C= fraction of external load P carried by bolt
1-C= fraction of external load P carried by members
Some other useful information
l= thickness of plate+ thickness of bearing+ washer
L= l + washer thickness+ two extra threads of bolts
ld= L-LT =Length of useful unthreaded portion
LT 2d+ (1/4) =determines washer thickness
At= tensile-stress area
Ad= major-diameter area of fastner
d=(1/4) in
lt= l-ld = Length of threaded portion
kb=(Ad*At*E)/(Ad*lt+Atld)= fastener stiffness
kt=(At*E)/lt
kd=(Ad*E)/ld
5. Gears
The gears used in the project helped to reduce the speed of the motor and increase the torque. The
motor was 4614 RPM and 2.81 lb-in. A desirable range of RPM was 60 70 RPM, which would
require a reduction of about 70. For large reductions such as this it was found that the use of spur
gears and miter gears would not suffice. One reduction with a spur gear and 1 large reduction
with a worm were carried out in the design.
The other forces on the worm and worm gears were calculated using the geometrical components,
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with the aid of a chart in a reference book that related values of sliding friction with the sliding
friction velocity.
A 32 pitch worm was purchased and therefore the axial pitch of the worm was calculated from
that.[7]
6. Chains (Belts)
When the power comes from the worm gears it spins that shaft that is connected to it. Attached to
the other end of that shaft are drive sprockets that have a pitch diameter of 2.62 inches. Those
drive sprockets were designed to pull the chain, which is attached to the ground, propelling the
whole plate forward on each side. On each side of the plate, there were two chains each connected
with machine screws in each of the hollow pin holes.
The length of the chains was calculated in pitches. Initially the shape of the chains was assumed
to be two equal circles the diameter of the sprockets with a center to center distance of 18 inches.
But there are actually wheels on that come into contact with the ground while the sprockets are
elevated. The height differential between the centers of the sprockets and the wheels is 4.56
inches.

Electrical

1. Video Transfer
Our main aim of this section is to achieve wireless real time video transmission for controlling the
rescue robot in field of fire and disastrous. The robot can control wirelessly from a distance via
watching the video, which we receive on PC and accordingly control the robot. Following figure
6 give good idea about how we did wirelessly real time video transfer.
At the beginning of the project, we had to find the small wireless video camera that provided
good resolution and a transfer rate. We did search for the video camera that fit in our design
objectives. We JMK WS-309as camera that worked well for the project prototype. The advantage
of this camera is that it was small in size (18 mm x 36 mm x 27 mm) and compact color video
with built in 1.2 GHz transmitters. It works on its own 9V rechargeable battery power. The video
camera mounted on the robot. When robot goes in disastrous area the video camera module
capture analog video signals and converts video signals into wireless radio frequency signals..

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Specifications Index

Color Series

Resolution

380 tv lines

Tv Signal

PAL

Lens Focus & Angle

52

Power Supply

6-9V

Power Consumption

120MW

weight

54

Temperature range

-20 ~ 60C
Table 1.0: Specification of the Camera

Module

Meters

Video

330
Table 1.1: Range Specification

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Specification

Results

Resolution

380 TV lines

Min. Illumination

0.5 Lux

Field Of View

52
Table 1.2: Video Specification

2. Microcontroller System
Microcontroller that used for this project is Atmel Microcontroller. The AT89C51 is a low-power, highperformance CMOS 8-bit microcomputer with 4K
bytes of Flash programmable and erasable read only memory (PEROM). The device
is manufactured using Atmels high-density nonvolatile memory technology and is
compatible with the industry-standard MCS-51 instruction set and pinout. The on-chip
Flash allows the program memory to be reprogrammed in-system or by a conventional
nonvolatile memory programmer. By combining a versatile 8-bit CPU with Flash
on a monolithic chip, the Atmel AT89C51 is a powerful microcomputer which provides
a highly-flexible and cost-effective solution to many embedded control applications.

3. Bluetooth GPS Receiver

The Bluetooth GPS receiver is the main component of a project. It has built-in rechargeable
lithium-ion batteries. It provides the Robot position and it is also provides GPS location in every
two seconds. Therefore, a little background on the GPS is provided in this section. Bluetooth GPS
receiver that used for this project is HOLUX M-1200. To use Bluetooth GPS, BT receiver is
needed to enable Bluetooth in PC. Once the Bluetooth is connected to PC, then Bluetooth device
is searched. After Bluetooth device is found, it will be connected with GPS receiver. The GPS has
three LED lights: First LED light is Orange, which is for satellite. When GPS is connected with
satellite, its blinking every 1time/3second. The second LED is red/green and its for battery. The
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third LED is blue; when GPS is connected with Bluetooth, its blinking every 1time/1seconds
shown in table 12 below.

SYMBOL

COLOR

STATUS

DESCRIPTION

Bluetooth

Blue

Blinking (1time/3sec)

Transferring
Data

Battery

Red/Green

Light ON/ Light ON

Power too low/

In charging

GPS (Satellite)

Orange

Blinking (1time/1sec)

Position Fixed

Table 1.3: LED Status

Learning about how the GPS unit should be connected with the PC took quite a long time. It
became possible only after the information about GPS communications (DePriest, 2007) was
obtained online, then the data was successfully retrieved. Compared to the passing of data
however, the actual GPS unit itself posed a greater difficulty. In the next section, information
about reading data from serial port is described.
4. Serial Port
Data is Receiving and Transmitting in to the computer through the serial port , Used Rs232 for
receive and transmit the RF signal , GPS signal and Microcontroller signal.

4. DISCUSSION
For the mechanical part of the project the main objective is to transmit the power. There are two
main goals for building the project that have been set by the group.
Lightweight the project should be less than 50 lbs. The purpose of the project is to have it
conveniently used, and it is not convenient when the its bulky and awkward to carry. Therefore
lightweight materials are desirable.

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Sound Structure the project should not fail at any point structurally under static and dynamic
loading. The stress values on all of the components should be below the yield strength of the
material. Calculations are needed to make sure that this does not occur.
Other goals are that the project can traverse rough terrain and be able to travel about 3 feet per
second. These are the aims that are desired for building the structure.
Electrical team is responsible for Electrical design process; there are three main parts of
Electrical Design: Real-time video transfer, Microcontroller System, and GPS System.

Figure 1.2 : Mechanical Block diagram

For Computing part of the project the main objective is Computer interfacing, controlling and
performing different function of VGHT Robot through Computer ( keyboard/ Mouse)

Figure 1.3: Electrical block diagram

Figure 1.4 : Computer block diagram

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4.1.1 PROBLEMS

In the first phase of mechanical part, the problem occurred is of selection of material for
manufacturing of Robot.

In the second phase of electrical part, the problem occurred is poor sensation of sensors,
manufacturing faults and burning of ics.

In the third phase of computing part, the problem occurred is of interfacing.

4.1.2

IMPROVEMENT FOR FUTURE

Carbon fiber can be used with a working fluid as a thermosyphon to cool electrical
equipment.

Now a days wifi /3GS Technology are also present in mobile phones, so VGHT robot will
also be controlled through it.

Thermal Camera is also another option that can replace the currect camera, so it can
detect humans through debris with body heat.

5. CONCLUSION
In the VGHT Robot the design and equipment used in the electrical portion were able to
interfaced with a GPS signal and transmit a video signal. The mechanical portion through a
miscalculation about the correct design later learned that, the calculations were correct but the
ability to machine the desired shaft diameters were not possible. This caused them to go back and
alter the original design in order to construct the robot platform. As a result the platform was
successfully machined as well as shafts, motors, bearings, gears, drive and driven sprockets,
installed on the platform but they were unable to get the motors to supply the power in order to
have the platform move linearly. So due to the mechanical portion of the project unable to use
the motors to cause any linear motion of the vehicle, the microcontroller was unable to be
interfaced with the originally designed platform. The microcontroller was used on another robot
to show that it could have been interfaced.
During the course of the project the splitting up of work assignments among the variety of
independent components between group members let everyone become a specialist in their own
area of the project. While having to bring these portions together gave us all valuable experience
of how to successfully integrate our experience into a working design. Unfortunately, certain
aspects of the project could not be completed as originally designed, because of unforeseen
technical problems, but these problems provide a learning platform to see where mistakes were
made, and ultimately will help all members of the group become better engineers.
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6. REFERENCES
[1]. Robots to the Rescue St. Petersburg Times Online Florida.
[2]. French Jacquet-Droz brothers, Pierre and Henri-Louis,.
[3]. Yue Li, Qiang Huang, Yuancan Huang, Liancun Zhang, Junyao Gao, Ye Tian: A
throwable miniature robotic system. ICAL 2011: 114-118.
[4]. M. Koyama, H. Hatta, H. Fukuda, Carbon 43 (2005) 171.
[5]. In the Aftermath of September 11 What Roboticists Learned from the Search and Rescue
Efforts A AAAI press release
[6]. Von Mises.; Winkvist, Stefan; Young, Ken W. (2021 January 2010),"Competing in the
RoboCup Rescue Robot League", Proc. Robotics for Risky Interventions and Surveillance of
the Environment (RISE) 2010, Sheffield .

[7]. Gear Manufacturers Association. ISBN 1-55589-846-7. OCLC 65562739. ANSI/AGMA

1012-G05.

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