scholarly journals Implementasi Automatic Waypoint untuk Return Trip pada Autonomous Robot dengan Titik Acuan Potensi Korban Bencana

2020 ◽  
Vol 8 (1) ◽  
pp. 203
Author(s):  
IHSAN FARRASSALAM AMMARPRAWIRA ◽  
MOCHAMAD SEPTONI FAUZI ◽  
ARBI ABDUL ARBI ABDUL JABBAAR ◽  
NIKEN SYAFITRI
Keyword(s):  
Autonomous Navigation ◽  
Autonomous Robot ◽  
Return Trip ◽  
Uncertain Environment ◽  
Disaster Victims ◽  
Maximum Radius ◽  
Starting Point ◽  
Post Disaster

ABSTRAK Langkah utama dan mendasar yang diperlukan untuk navigasi pada robot secara autonomous pada medan yang tak beraturan dan tidak diketahui keadaannya secara dinamis, setidaknya adalah identifikasi koordinat titik jalan (waypoint), tindakan yang harus dilakukan di titik jalan, identifikasi dimensi kerja, dan hambatan yang diketahui. Penelitian ini bertujuan untuk mengimplementasikan titik jalan otomatis (automatic waypoint) pada robot pencari potensi keberadaan korban pasca bencana, dilengkapi dengan kemampuan robot untuk navigasi dari titik awal berjalan mencari potensi keberadaan korban sebagai titik acuan hingga kembali ke titik awal (return trip) secara autonomous. Metode yang digunakan pada perancangan sistem merupakan pengembangan dari metode waypoint menjadi automatic waypoint untuk navigasi secara autonomous. Hasil yang didapat, robot mampu mendeteksi keberadaan korban maksimal dalam radius 3 meter di dalam simulasi reruntuhan. Ketercapaian rata-rata akurasi pembacaan posisi robot terhadap korban dan titik awal sebesar 6,76 meter. Kata kunci: robot, autonomous, automatic waypoint, korban, return trip. ABSTRACT There are necessary steps required for a robot to navigate autonomously on an unknown and uncertain environment. Those steps consist of the identification of the waypoint coordinates, the actions to be conducted, the identification of the environment’s dimension, and the known obstacles. This study aims to implement an automatic waypoint on a robot for searching the potential existence of post-disaster victims. The robot is equipped with the ability to navigate from the starting point to search for potential victims and then return to the starting point autonomously. We modified the existing waypoint method into an automatic waypoint for autonomous navigation. Results show that the robot is able to detect the presence of the victim within the maximum radius of 3 meters in the simulation of rubble (tables, chairs, wood and iron poles). The accuracy of robot in reading the position of the victim and the starting point is 6,76 meters. Keywords: robot, autonomous, automatical waypoint, victims, return trip.

scholarly journals The Autonomous Disaster Victim Search Robot using the Waypoint Method

2020 ◽  
Vol 8 (2) ◽  
pp. 347
Author(s):  
NIKEN SYAFITRI ◽  
RATNA SUSANA ◽  
IHSAN FARRASSALAM AMMARPRAWIRA ◽  
MOCHAMAD SEPTONI FAUZI ◽  
ARBI ABDUL JABBAAR
Keyword(s):  
Autonomous Robot ◽  
Rescue Operation ◽  
Return Trip ◽  
Disaster Victims ◽  
Disaster Victim ◽  
Communication Devices ◽  
Slight Movement

ABSTRAKPada kasus bencana alam, penyebaran robot pada area bencana sangat bermanfaat bagi tim SAR dalam proses pencarian korban. Khususnya, jika robot yang disebar merupakan robot otonom untuk meningkatkan proses pencarian, secara efektif dan efisien. Pada artikel ini, kami mengusulkan sebuah robot otonom untuk pencarian korban bencana yang ditanamkan metode waypoint dengan mengeksploitasi sensor, GPS dan divais komunikasi. Hasil yang didapat menunjukkan bahwa robot ini mampu mencari korban bencana secara otonom dengan mendeteksi pergerakan kecil dan temperatur korban. Kemudian, koordinat lokasi korban dikirim ke tim SAR untuk operasi penyelamatan. Robot ini juga mampu melakukan perjalanan pulang ke posko asal untuk pengisian daya ketika daya baterainya hampir habis.Kata kunci: robot otonom, waypoint, bencana, pencarian korban, perjalanan pulang ABSTRACTIn the case of disaster, the deployment of robots is immensely helpful for SAR team in the process of searching the victims. Especially, if the deployed robots are autonomous to enhance the searching process, effectively and efficiently. In this paper, we propose an autonomous robot for searching the disaster victims embedded by automatic waypoint method by exploiting sensors, GPS and communication devices. Result shows that this robot is able to search the victims autonomously by detecting their slight movement and temperature then sending the coordinates to the SAR team for the rescue operation. This robot is also able to do the return trip autonomously to the initial post for charging when its power is almost running out.Keywords: autonomous robot, waypoint, disaster, victim searching, return trip

scholarly journals Differentiation and integration: off-site resettlement planning practice in New Beichuan after 5.12 Wenchuan Earthquake

2019 ◽  
Vol 104 (S1) ◽  
pp. 77-99
Author(s):  
Yisha Zhang ◽  
Yifan Yu ◽  
Wenjuan Xu ◽  
Jingjing Hu
Keyword(s):  
Open Space ◽  
Spatial Differentiation ◽  
Site Investigation ◽  
Housing Quality ◽  
Public Facility ◽  
Disaster Victims ◽  
Public Facilities ◽  
Spatial Usage ◽  
Housing Layout ◽  
Post Disaster

Abstract This article explores the spatial differentiation and integration between the post-disaster victims and the indigenous peasants 8 years after a rapid off-site resettlement oriented by governments in New Beichuan. Data were broadly collected from placement documents, questionnaires, interviews and site measurement by empirical research and on-site investigation in 2014. The resettlement plan was introduced and analyzed for housing resettlement, open space systems, public facilities allocation and resettlement policies. Based on statistical analysis of the questionnaire data and observation on the usage of the built environment, problems with the spatial usage and mismatches between the specific spatial requirements and subjective planning intention of integration are analyzed and preliminary findings are shown. The results showed that the excessive pursuit of speed and deficiency in economically self-sustaining efforts might contribute to insufficient attention given to spatial, social and economic aspects and leads to inevitable and long-standing problems, such as housing quality problems, neighborhoods management and security concerns, contradictions between the housing layout and local living habits, different spatial usage preferences between the indigenous peasants and post-disaster migrants, and disequilibrium of public facility allocation.

scholarly journals THE APPLICABILITY OF LAND ALLOCATION APPROACH FOR POST-DISASTER HOUSE CONSTRUCTION IN KUALA KRAI

2019 ◽  
Vol 17 (9) ◽  
Author(s):  
Mohamad Haizam Mohamed Saraf ◽  
Thuraiya Mohd ◽  
Siti Fairuz Che Pin ◽  
Mohd Nasurudin Abdullah ◽  
Tajul Edrus Nordin
Keyword(s):  
Land Ownership ◽  
Land Allocation ◽  
Semistructured Interview ◽  
Allocation Policy ◽  
Disaster Victims ◽  
Study Approach ◽  
House Construction ◽  
Major Floods ◽  
Post Disaster ◽  
Allocation Approach

Despite 2,374 units of houses were destroyed during the 2014 major floods in Kelantan, the governments had only manage to build 143 units of post-disaster houses due to lack of land to accommodate the flood victims because of land ownership constraints. Current practice of post-disaster house reconstruction in Malaysia only accommodate victims with land ownership. The flood victims without land do not have the means or money to buy new land for the construction of the post-disaster house. A land allocation policy for victims without land has yet to be introduced in Malaysia. Using a case study approach, the thrust of this research is to highlight the need of land allocation approach for the flood victims who are without land for post-disaster house construction. Therefore, a semistructured interview was conducted on twelve experts, from the field of land law, policies and administrations, to gauge their perceptions in the applicability of land allocation approach in post-disaster house construction. Data from the interviews were analysed using content analysis technique. Findings from the analysis showed that the experts recommended the state alienation approach in accordance with National Land Code 1965 to allocate land for an emergency, temporary shelters and post-disaster house construction. Land allocation policy can assist government in ensuring that land to shelter disaster victims can be made available after the disaster.

scholarly journals (A344) Integrating Post-Disaster Reconstruction with Pre-Existing Development Strategies — Experiences from the 2010 Leh Flashflood

2011 ◽  
Vol 26 (S1) ◽  
pp. s97-s97
Author(s):  
A. Prakash ◽  
A. Kumar ◽  
S. Khan
Keyword(s):  
Disaster Management ◽  
Damage Assessment ◽  
Field Data ◽  
Rehabilitation Program ◽  
Development Programs ◽  
Short Term ◽  
Monetary Value ◽  
Starting Point ◽  
Post Disaster ◽  
Careful Assessment

Disasters cause destruction, but also bring opportunities for development. A lack of this perspective in disaster management leads to planning and managerial follies. The reconstruction and rehabilitation program from the Latur earthquake (Maharashtra, India) should be used as a starting point. Leh, the largest district of India, was hit by a cloudburst and subsequent flashfloods on 05–07 August 2010. The monetary value of the total damages is estimated to be approximately Rs 225 crores. A total of 87% of the affected infrastructure required complete reconstruction. The rest received partial damages. This paper uses field data collected on development needs in 112 villages over a span of five years (just preceding the disaster) and data for damage assessment from the 42 affected villages collected immediately after the disaster. The paper does a careful assessment of the damages in the flashflood, analyses the pre-existing developmental requirements of all the villages in the district, and explores the possibilities of integrating post-disaster reconstruction with the pre-existing developmental requirements. In India, post-disaster reconstruction quite often is an elaboration of short-term, makeshift arrangements, thereby giving rise to obvious developmental concerns. Merits and demerits of this strategy will be discussed. This research examines the financial implications of integrating reconstruction projects with development programs. It also looks into the sustainability of development, and how can this serve as a strategy in making communities more resilient to future disasters.

scholarly journals KONSEP EKOLOGIS DAN BUDAYA PADA PERANCANGAN HUNIAN PASKA BENCANA DI YOGYAKARTA

2018 ◽  
Vol 2 (2) ◽  
pp. 125
Author(s):  
Lucky Prasetyo ◽  
Rumiati R. Tobing ◽  
Hartanto Budiyuwono
Keyword(s):  
Qualitative Method ◽  
Community Response ◽  
Local Culture ◽  
Reconstruction Process ◽  
Housing Design ◽  
Disaster Victims ◽  
Residential Design ◽  
Cultural Concepts ◽  
Surrounding Environment ◽  
Post Disaster

Hunian bantuan pasca bencana biasanya didesain dengan desain yang hanya mempertimbangkan kecepatan konstruksi dan efisiensi biaya pembangunan dengan kurang mempertimbangkan kekhasan budaya lokal serta kondisi lingkungan suatu kawasan. Bila hal ini terjadi secara terus menerus, maka arsitektur lokal yang merupakan wadah dari budaya lokal dan bentuk respon masyarakat terhadap kondisi lingkungan sekitar  secara perlahan akan terancam hilang bersamaan dengan adanya bencana, yang kemudian akan tergantikan dengan bentuk-bentuk hunian yang hampir seragam disemua tempat. Penelitian ini bertujuan untuk mengidentifikasi konsep ekologis dan budaya pada perancangan hunian paska bencana di desa Ngibikan yang berhasil menjawab kebutuhan penghuninya dan menyatu dengan kehidupan masyarakatnya.  Metode yang digunakan adalah metode kualitatif deskriptif untuk menggali konsep ekologi dan budaya pada perancangan di desa Ngibikan.Berdasar hasil penelitian didapatkan bahwa penerapan konsep ekologis dan budaya pada perencanaan desain hunian paska bencana di desa Ngibikan turut mempengaruhi keberhasilan desain dalam  menjawab kebutuhan penghuni dan merespon kondisi alamnya. Diharapkan proses rekonstruksi pemukiman paska bencana di desa Ngibikan ini dapat menjadi contoh bagi proses rekonstruksi dimasa mendatang agar proses rekonstruksi tidak hanya berupa upaya memenuhi kebutuhan hunian bagi korban bencana namun juga suatu upaya melestarikan arsitektur lokal  yang merupakan wadah dari budaya lokal dan bentuk respon masyarakat terhadap kondisi lingkungan di suatu kawasan.Kata kunci: hunian, paska bencana, rekonstruksi, ekologis, budaya lokal Title: Ecologicals and Culture Concepts in Post-Disasters Housing Design Post-disaster housing is usually designed with a design that considers only the rapidity of development and cost efficiency without thinking of local cultural and environmental conditions of an area. If this happens continuously, then the local architecture which is a container of local culture and the form of community response to the surrounding environment will slowly be threatened to disappear along with the disaster, which will then be replaced by almost uniform shelter in all places. This study aims to identify ecological and cultural concepts on post-disaster residential design in Ngibikan village that successfully responds to the needs of its inhabitants and blends with the lives of its people. The method used is descriptive qualitative method to explore the concept of ecology and culture on the design in Ngibikan village. Based on the results of the research, it is found that the application of ecological and cultural concepts in the design of post-disaster residential design in Ngibikan village also influenced the success of the design in responding to the needs of the residents and responding to the natural conditions. It is expected that the post-disaster reconstruction process in Ngibikan village can serve as an example for the reconstruction process in the future so that the reconstruction process will not only be an effort to fulfill residential needs for disaster victims but also an effort to preserve local architecture which is a container of local culture and form of community response to the condition environment in an area. Keywords: housing, post-disaster, reconstruction, ecological, local cultural

scholarly journals METODOLOGI PENILAIAN KUALITAS HUNIAN PASKA BENCANA SEBAGAI EVALUASI STRATEGI REKONSTRUKSI: ANALISIS FAKTUAL DAN PERSEPTUAL

2017 ◽  
Vol 4 (2) ◽  
pp. 89
Author(s):  
Maria Ariadne Dewi Wulansari ◽  
Dimas Wihardyanto
Keyword(s):  
Design Research ◽  
User Participation ◽  
Analysis Approach ◽  
Northridge Earthquake ◽  
Scoring Method ◽  
Perceptual Analysis ◽  
Disaster Victims ◽  
Reconstruction Strategy ◽  
Post Disaster

Salah satu target utama dalam rekonstruksi paska bencana ialah tersedianya hunian bagi korban bencana yang kehilangan tempat tinggalnya. Dalam pengadaan hunian paska bencana terdapat berbagai macam strategi rekonstruksi. Pada penelitian ini dibahas mengenai kemungkinan menggunakan penilaian kualitas hunian sebagai alat untuk melakukan evaluasi terhadap strategi rekonstruksi. Metode penilaian kualitas hunian baik secara faktual maupun perseptual dipaparkan sebagai pengantar, kemudian disajikan perbandingan dari beberapa penelitian terdahulu mengenai kualitas hunian paska bencana. Dari penelitian ini, disimpulkan bahwa penilaian kualitas hunian paska bencana merupakan cara yang efektif untuk melakukan evaluasi terhadap strategi rekonstruksi. Penilaian kualitas hunian paska bencana itu sendiri dapat menggunakan pendekatan faktual, perseptional, maupun perpaduan keduanya, sesuai dengan obyek pengamatan yang dipilih.Kata-kata Kunci: kualitas hunian, paska bencana, analisis faktual, analisis perseptual SCORING METHOD OF THE QUALITY OF POST DISASTER HOUSING AS RECONSTRUCTION STRATEGY’S EVALUATION : FACTUAL AND PERCEPTUAL ANALYSIS APPROACHOne of post disaster recontruction’s main targets is providing proper housing for the victims who lost their homes. In post-disaster housing procurement there are various reconstruction strategies. This research discusses about ability to rate the quality of housing in evaluating the reconstruction strategy. Scoring method of the quality of housing, factually or perceptually, both are explained as preface. And then comparation of previous study about the quality of post disaster housing is discussed. From this research it learned that scoring of the quality of post disaster housing is an effective way to evaluate the reconstruction strategy. The scoring method of the quality of post disaster housing itself, can be seen from different approaches, the factual analysis approach, the perceptual analysis approach, or both, depends on the chosen study object.Keywords: quality of housing, post disaster, factual analysis, perceptual analysisREFERENCESAl-Hussaini, T. M., Seraj, S. M., Islam, M. K., Safiullah, A. M. M., Choudhury, J. R. (1999). A Methodology For Selection Of Post Disaster Shelter. H&H Dhaka99Batchelor, Victoria. (2011). Tarpaulins, transitional shelter or permanent houses : how does the shelter assistance provide affect the recovery of communities after disaster? Dissertation on Oxford Brookes UniversityCollins, Sam. Corsellis, Tom. Vitale, Antonella. (2010).Transitional Shelter: Understanding Shelter from The Emergency Through Reconstruction and Beyond. ALNAP. Diakses melalui www.sheltercenter.orgDola, K. and Parva, M. (2012). Transformation Of Earthquake Disaster Victims’ Shelter Into Sustainable Home: The Case Of Lar City, Iran. ALAM CIPTA, International Journal of Sustainable Tropical Design Research and Practice. Universiti Putra Malaysia. Volume 5 (2) December 2012Kamel, Nabil M. O. and Loukaitou-Sideris, Anastasia (2003). Residential Assistance and Recovery Following the Northridge Earthquake. Urban Studies, Vol. 41, No. 3, 533–562, March 2004.Kwanda, T., Rahardjo, J., Wardhani, M.K. (2001). Analisis Kepuasan Penghuni Perumahan Sederhana di Denpasar Berdasarkan Faktor Lokasi, Prasarana, Sarana, Kualitas Bangunan, Desain dan Harga. Dimensi Teknik Arsitektur Vol. 29, No. 2, Desember 2001: 117 – 125.Leon, E., Kelman, I., Kennedy, J., and Ashmore,J. (2009). Capacity Building Lessons From A Decade Of Transitional Settlement And Shelter. International Journal Of Strategic Property Management (2009) 13, 247–265Önder, D. E., Köseoğlu, E., Bġlen, Ö. (2010). The Effect Of User Participation In Satisfaction: Beyciler After-Earthquake Houses In Düzce. Itu A|ZPamungkas, H.B.E, Harianto, F. (2012). Analisis Kualitas Perumahan Mutiara Regency Sidoarjo. Jurnal IPTEK Vol 16 No.1 Mei 2012Ratnayake R.M.G.D., Rameezdeen, Raufdeen. (2008).Post Disaster Housing Reconstruction: Comparative Study Of Donor Driven Vs. Owner Driven Approach. International Conference on Building Education and Research (BEAR)Rini, Johanita Anggia. (2012). Evaluasi Penerapan Prinsip Tahan Gempa pada Renovasi atau Rekonstruksi Rumah Pasca Gempa 2006 di Yogyakarta. Tesis Magister, Institut Teknologi Bandung.Saleh, Sakhrul Dachlan. (2010). Kajian Kualitas Bangunan Rumah Pondokan Terhadap Kenyamanan Huni Berdasarkan Persepsi Penghuni di Permukiman Sekitar Kampus Universitas Hasanuddin. Masters Thesis, Universitas Diponegoro.Samaddar, S., Okada, N. (2006). Participatory Approach for Post-Earthquake Reconstruction in the Villages of Kachchh, India. Annuals of Disas. Prev. Res. Inst., Kyoto Univ., No. 49 B, 2006

scholarly journals From Emergency Shelter towards Disaster-relief Housing — Tōhoku’s Reconstruction Case Study

2021 ◽  
Vol 20 (1) ◽  
pp. 035-046
Author(s):  
Camille Cosson
Keyword(s):  
Turning Point ◽  
Emergency Shelter ◽  
Disaster Victims ◽  
Know How ◽  
Permanent Housing ◽  
Entire Society ◽  
Precarious Situation ◽  
Post Disaster ◽  
Three Phases

This paper presents the post-disaster reconstruction of the Tōhoku region. Although Japan has always been one of the most prepared countries because of its long history with natural disasters, the 2011 Great East Japanese Earthquake and tsunami might be one of the most significant disasters recorded in the country’s modern history. This unprecedented disaster that has shaken Japan is a decisive turning point for the entire society as well as for architects and urban planners. Almost ten years later, reconstruction work is still ongoing. This paper introduces specifically Japanese architects’ involvement during the three phases of recovery: emergency shelter, temporary accommodation and permanent housing. After the first stage of perplexity and doubt, architects gradually stepped up and started initiatives to resolve the disaster victims’ precarious situation. This article outlines some of the architects’ actions through the three phases of recovery since the 3.11 disaster. Each of these temporalities has its issues and challenges which the urban planners, architects and designers tried to solve using their know-how to help rebuild devastated communities.

scholarly journals Collision-Free Autonomous Robot Navigation in Unknown Environments Utilizing PSO for Path Planning

2019 ◽  
Vol 9 (4) ◽  
pp. 267-282 ◽  
Author(s):  
Evan Krell ◽  
Alaa Sheta ◽  
Arun Prassanth Ramaswamy Balasubramanian ◽  
Scott A. King
Keyword(s):  
Autonomous Navigation ◽  
Optimization Problem ◽  
Robot Navigation ◽  
Path Following ◽  
Autonomous Robot ◽  
Specific Task ◽  
Swarm Optimization ◽  
Unknown Environments ◽  
Autonomous Robot Navigation ◽  
Robot Path

Abstract The autonomous navigation of robots in unknown environments is a challenge since it needs the integration of a several subsystems to implement different functionality. It needs drawing a map of the environment, robot map localization, motion planning or path following, implementing the path in real-world, and many others; all have to be implemented simultaneously. Thus, the development of autonomous robot navigation (ARN) problem is essential for the growth of the robotics field of research. In this paper, we present a simulation of a swarm intelligence method is known as Particle Swarm Optimization (PSO) to develop an ARN system that can navigate in an unknown environment, reaching a pre-defined goal and become collision-free. The proposed system is built such that each subsystem manipulates a specific task which integrated to achieve the robot mission. PSO is used to optimize the robot path by providing several waypoints that minimize the robot traveling distance. The Gazebo simulator was used to test the response of the system under various envirvector representing a solution to the optimization problem.onmental conditions. The proposed ARN system maintained robust navigation and avoided the obstacles in different unknown environments. vector representing a solution to the optimization problem.

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