尚普兰塔南倒塌的内部碎石空隙空间分析
Analysis of Interior Rubble Void Spaces at Champlain Towers South Collapse
摘要：
2021年，佛罗里达州萨夫赛德的尚普兰塔南公寓倒塌，造成98人死亡。据信有9人在最初的坍塌中幸存下来，如果救援人员能够找到他们，他们可能已经获救。也许，如果救援人员能够使用机器人搜索瓦砾堆的内部，结果可能会更好。对机器人必须在其中操作以能够搜索瓦砾堆内部的环境的更好理解将有助于机器人专家开发更适合的机器人平台和控制策略。为此，这项工作提供了一种方法来表征和可视化的碎石桩的内部，并进行初步分析的空隙的发生。具体来说，分析利用了从Surfside的响应者那里收集的四天的空中图像来创建倒塌的3D体积聚合模型，以识别和表征瓦砾内部的空隙空间。初步结果证实了这些内部空隙的数量和规模较小的预期。研究结果可以为更好地选择和控制现有的机器人进行灾难响应提供信息，帮助确定设计规格（特别是规模和形状因子），并改善对未来为废墟搜索操作开发的机器人平台的控制。
英文摘要：
The 2021 Champlain Towers South Condominiums collapse in Surfside, Florida, resulted 98 deaths. Nine people are thought to have survived the initial collapse, and might have been rescued if rescue workers could have located them. Perhaps, if rescue workers had been able to use robots to search the interior of the rubble pile, outcomes might have been better. An improved understanding of the environment in which a robot would have to operate to be able to search the interior of a rubble pile would help roboticists develop better suited robotic platforms and control strategies. To this end, this work offers an approach to characterize and visualize the interior of a rubble pile and conduct a preliminary analysis of the occurrence of voids. Specifically, the analysis makes opportunistic use of four days of aerial imagery gathered from responders at Surfside to create a 3D volumetric aggregated model of the collapse in order to identify and characterize void spaces in the interior of the rubble. The preliminary results confirm expectations of small number and scale of these interior voids. The results can inform better selection and control of existing robots for disaster response, aid in determining the design specifications (specifically scale and form factor), and improve control of future robotic platforms developed for search operations in rubble.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
