1. Utjecaj novih tehnologija na sigurnost u pomorstvu i djelovanje u kriznim situacijama Impact of new technologies to safety and emergency actions in marine Maritime Faculty, University of Split, Privatna praksa medicine rada, Ploče FESB, University of Split, FER, University of Zagreb, HHI Igor Vujović, ivujovic@pfst.hr, Danko Kezić, danko@pfst.hr, Zlatan Kulenović, zlatan@pfst.hr, Ivica Kuzmanić, ikuzman@pfst.hr, Zdeslav Jurić,Radovan Vlašić, Rosanda Mulić,Mirjana Vujović, Sloboda Beroš, Ivan Petrović, Eli Marušić, Matić Petar, Domljan Željka

2. PODDJELOVI PROJEKTA SUSTAV ZA UPRAVLJANJE ROBOTIMA U KRIZNIM SITUACIJAMA – DIO A TERORIZAM I RAT – SPRJEČAVANJE NEGATIVNIH POSLJEDICA – DIO B MOGUĆNOSTI RAZVOJA ORUŽANIH NANOTEHNOLOŠKIH SUSTAVA – DIO C EKONOMSKI ASPEKTI – DIO D EKOLOŠKI ASPEKTI – DIO E MEDICINSKI ASPEKTI – DIO F

3. INTRODUCTION - SOME EMERGENCY SITUATIONS Traffic accidents, fires, terrorism, environment pollution, war, earthquakes, supervolcano / volcano eruptions, flood, dryness, asteroid, comet or meteor fall, etc.

4. INTRODUCTION – USUALLY TAKEN ACTIONS Medical intervention, Fire distinguishing (or control), Ruins management, Search and rescue in: -ruins, -fire locations, -mountings, -marine accidents’ locations, -traffic accidents’ locations, etc.

5. INTRODUCTION - SYSTEM Communication system Surveillance Action Center for emergency situations

6. PARTS OF SYSTEM It is important to point out the vital role of communication systems. Without it, there is no mean of information transfer. Internet can be used as communication media. However, wireless Internet link must be used when mobile units are on the sight. Surveillance information must be transferred to communication system to the center. The center assigns executable units, which take necessary actions.

7. WORLDS’ EXAMPLES Search-and-Rescue Robots Practice Emergency Response to Simulated Earthquake Researchers see how robots respond in real- world rescue operations with FEMA's Indiana Task Force 1 Robots Prepare for Search/Rescue Mission Search-and-Rescue Robots Practice Emergency Response to Simulated Earthquake

8. DIO A: SUSTAV ZA UPRAVLJANJE ROBOTIMA U KRIZNIM SITUACIJAMA Konkretni istraživački rad: -Algoritmi robotskog vida, -Algoritmi kodiranja prijenosa informacija komunikacijskim medijem (Internet, bezžične komunikacija, itd), -Algoritmi sažimanja slike i uklanjanja šuma s posebnim naglaskom na valiće, -Sustav upravljanja zasnovan na diskretnim događajima (uključujući i rješavanje zagušenja Petrijevim mrežama), -Sustavi video nadzora zbog sigurnosti u pomorstvu, -Analize slike i prepoznavanja meta u otežanim uvjetima (uključujući i superrezolucijske metode).

9. ROBOT DEPLOYMENT Robot’s role can be vital in environments where human lives are endangered. This is known in nuclear reactor’s disasters, where radiation levels is to high. Control of robots over distance is already used. It is possible to use robots in hostile atmospheres (due to terrorist atomic, chemical or biological attack, chemicals in industry or as a product of fire). Robots can supply quarantines (with i.e. food or drugs) and therefore prevent risk of further contamination. Control over distance can be used in deactivation of mines, explosives and bombs.

10. TELEOPERATION ARCHITECTURE Direct teleoperation lies on a teleoperation architecture, through which setpoints and state variables are exchanged between an operator and remote system. The remote system includes the communication with the base (server block) and the local control of the robot state variables, position ones as it happens (controller block).

11. DELAY REGULATOR PRINCIPLE Since transmission introduce time delay, there have to be a ways to fight these delays. The delay regulator ensures the compensation of the delay variation by means of a stack.

12. DELAY REGULATOR PRINCIPLE One of the solutions is to compensate the varying time delays through a stack able to handle the effect of the delay. However, in some applications it is not possible to save data, because unfortunate event can happen. I.e. robot can fall into hole and operator sees that a few moments later. Or in telesurgery when un-damaged organ can be i.e. cut. So, we propose that image is calculated and interpolated when data is missing. This is possible when motion estimation is used.

13. SYSTEM FOR EMERGENCY ACTION OVER INTERNET Such system: -must have tolerance for time delays, which are random, -preferable has a way to prevent problems related to the lost packets, -very likely have a part of communication system with wireless protocol, because wires could make it difficult to react and maneuver in some situations. -in some situations (i.e. toxins, radiations, heat) mobile robots are very far from human operator, but there is no difference whether operator is on the different continent or only a few kilometers from the sight, -since several workstations can be involved in the teleoperation system, UDP must be implemented instead of TCP...

14. Environment of emergency Wireless UDP Center for emergencies

15. VISUAL FEEDBACK IN TELEOPERATION Visual feedback enables that teleoperator sees the “Present” look of the distance environment. More robots enable more perspectives to the scene. The main obstacle is a large amount of information for transfer over communica- tion channel. Task is to obtain interactivity, unobservable time delay and un-interrupted image change in the operator’s window.

16. CONTROL INTERFACE

17. DIO B: TERORIZAM I RAT – SPRJEČAVANJE NEGATIVNIH POSLJEDICA Cilj ovog dijela brojekta je izrada studije o utjecaju nadolazeće nanotehnologije na način djelovanja i kontramjere kod terorizma i u vođenju ratnih sukoba.

18. DIO C: MOGUĆNOSTI RAZVOJA ORUŽANIH NANOTEHNOLOŠKIH SUSTAVA Razmatra se mogućnosti raznih država da razviju razne vrste napadačkog i obrambrenog oružja. Posebno poglavlje treba biti posvećeno izradi strategije razvoja HV s obzirom na nadolazeću tehnologiju.

19. DIO D: EKONOMSKI ASPEKTI ECONOMICAL ASPECT Finally, we must ask our self: Is there an economical reason for doing all of this? Casualties won’t pay any more than they are paying social and health insurance already! Of course, there is use of it! Human life is priceless and by saving one we save a fortune. Is there anything else? For other, insurance companies should be interested, because they will pay less for life insurances, damages, etc.

20. PREGLED SREDSTAVA ULOŽENIH U NANOTEHNOLOGIJU

21. DIO E: EKOLOŠKI ASPEKTI Utecaj nanomaterijala na okoliš i ljude Utjecaj na razvoj novih goriva i iskorištenost postojećih Razgradivost nanomaterijala Mogućnost zaštite od neželjenih djelovanja nanotehnologije svih oblika.

22. DIO F: MEDICINSKI ASPEKTI Telemedicine and virtual reality To be able to react more accurate, different VR systems are developing. The benefits of such systems are high quality services from the best doctors, which are very far, brought to the sight of event. This means less casualties, better health care and less expenses to the health and life insurances.

23. Telesurgery (computer assisted surgery ) One of actions is medical intervention over communication systems, such as the Internet. It is useful that distant doctor have not only visual but also force and tactile feedback. That can enable operations of quarantined patients from safe distance.

24. Telesurgery

25. MOGUĆI ZAKLJUČCI PROJEKTA?????

26. IMPLEMENTATION OF NEW TECHNOLOGIES New technologies, such as nanotechnology, can offer new solutions: -new nanomaterials can be resistant to many accidents’ types, -new materials can absorb toxic gases, which could prevent search and rescue to act, -nanorobots or suites of new materials can take care of wounds automatically, -nanomaterials can produce light to help rescue teams...

27. CONCLUSIONS There is a need for a strong agency for emergency actions such as FEMA in the USA. It could control mobile robots from different sights. Agency need to manage not only available resources, but research in new technologies which could potentially help in rescue, i.e. nanotechnology, robotics, new materials. (Development of new materials and devices can be guided toward necessities for search and rescue operations) UDP have to be improved to prevent pocket lost or client application must interpolate lost data pockets. Time delays must be handled by interpolation and motion estimation and not by stocks.

28. SURADNICI I ISTRAŽIVAČI NA PROJEKTU