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Rescue Simulation

Rescue Simulation. http://ce.sharif.edu/~arian arian@ce.sharif.edu. Overview of Presentation. Why do we use simulation? Rescue simulation problem. The system overview. Open Projects. Simulation systems in Action:. Gaining extra information from the system.

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Rescue Simulation

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  1. Rescue Simulation http://ce.sharif.edu/~arian arian@ce.sharif.edu

  2. Overview of Presentation • Why do we use simulation? • Rescue simulation problem. • The system overview. • Open Projects.

  3. Simulation systems in Action: • Gaining extra information from the system. • Experience upon the simulated system. Why do we Simulate?

  4. Simulation Systems in Action: • Building low level simulated system. • Applying the algorithms based upon the below level.

  5. Rescue Simulation • Devastating earthquake left more than 6500 citizens dead in the city of Kobe, Japan on 1st of Jan. 1995. • A meeting at the city hall on April 1999 led to the Rescue simulation project, formally proposed as a competition in Robocup.

  6. Rescue simulation design issues • We need a general world model(city simulation issue). • We need to model the disaster (disaster formulation). • We need to act upon the situation.

  7. Collapse simulator • Blockade simulator • Fire simulator • Traffic simulator • Misc simulator • Humanoid agents • FireBrigade • PoliceForce • AmbulanceTeam • Stationary agents • FireStation • PoliceOffice • AmbulanceCenter • Kernel • GIS • Viewer Current system in detail • Main server side • Cooperative server side • Client side

  8. 2D Viewer 3D Viewer

  9. General Disaster Formulations

  10. Detailed Disaster Formulations

  11. Agent behavior formulations

  12. Current rescue simulation system overall • The system is a multi-agent system. • The system is a core-based system. • The system is a distributed simulation system. • The system is a concrete simulation system. • The system runs under Linux OS. • The system is written in C++ language.

  13. The System Structure Overview.

  14. Simulation Progress Viewers kernel kernel Simulators GIS Agents kernel kernel

  15. Object structure in the system

  16. Building Floors Style Ignition Fieryness Brokenness Shape Entrances Neighbors Properties of entities

  17. Properties of entities(contd.) • Road • Head/Tail • Length • Kind • Width • Block • Repair Cost • Cars Pass to head/tail

  18. Humanoid Agents(civilian) HP Damage Buriedness Position positionExtra Fire Brigade Water Quantity Stretched Length Properties of entities(contd.)

  19. Sense All the agents Say All the agents Tell All the agents Hear All the agents Move Humanoids Rest Humanoids Clear Police force Extinguish Fire brigade Commands of the system

  20. Stretch (disabled) Fire brigade Rescue Ambulance team Load Ambulance team Unload Ambulance team Commands of the system(Contd.)

  21. Summary of the Prev. Session(1) • Simulations fall into 2 major groups: • Gaining extra info. about the system(@class) • Experiencing new algorithms in the system(@Robocup) • Key Concepts in Simulation systems: • World Model / Agent • Single-Agents / Multi-Agents • Sensing / Action / Command • Rescue Simulation Problem. • Simulators / Agents

  22. Simulators Collapse Blockade Traffic Fire Misc Agents Humanoid Fire Brigade Ambulance team Police Force Stations Fire Station Ambulance Center Police Office Summary of the Prev. Session(2) Let’s go , See them in Action

  23. Our side of the story Our side of the story

  24. Main issues for programming under rescue simulation • Very limited information of the world model. • Uncertainty (sensor noise). • Huge amount of data to be processed. • Multi-agent approach of the system. • Random behavior of the system.

  25. Why do we use communication? • Communication as a solution for gaining extra information from the world model. • Communication as a solution for noise recovery. • Communication as a way of synchronizing agents’ behaviors.

  26. Overview of Communication in RescueSimulation FB FS AC PO AT PF

  27. Sample agents’ messages • FB/AT/PF to AT when buried in a building • AT to AT reporting duties • AT/FB to PF requesting to open the road

  28. Problems with simple CM (Communication Manager) • Real-time behavior of the messaging system. • Only 4 messages in each cycle can be heard or said. • Most of the messages to be TXed are multi-hopped. • Once an agent in the link cannot hand in the message,total message is lost.

  29. Open Projects for RescueSimulation • Modifying kernel to add some functionalities to the system • Modifying viewer to add debugging information. • Writing Traffic Simulator under windows.

  30. Kernel Modification • Current kernel: • Sends position information to each agent • Representable information is sent only to the viewers(it’s complete & noiseless). • Id of objects is not unique for different agents.

  31. Kernel Modification • New kernel should: • Send path information to each agent & the debugger. • Represent able information is sent to each agent also (convert sensible information to representable information). • Provide the uniqueness of Ids among the different type of agents.

  32. Viewer Modification • Debugging info. • Showing the path taken by each agent.(needs kernel support). • A tool for comparing the noiseless information sent to viewers with noisy info sent to the agents(needs the kernel support).

  33. Thank You! You can download this presentation at : http://ce.sharif.edu/~arian/present.ppt Ali Nouri : http://ce.sharif.edu/~nouri nouri@ce.sharif.edu Arian rescue simulation team: http://ce.sharif.edu/~arian arian@ce.sharif.edu

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