Shipboard Fire Robotics Consortium

NRL FEATURES
NRL Autonomy Lab Hosts
Shipboard Fire Robotics Consortium

The U.S. Naval Research Laboratory (NRL) Laboratory for
Autonomous Systems Research
(LASR), a partner in the Navys
Damage Control for the 21st
Century project (DC-21), recently hosted robotics research
teams from the Virginia Polytechnic Institute and State
University (Virginia Tech) and
the University of Pennsylvania
(Penn) to demonstrate the
most current developments
of advanced autonomous
systems to assist in discovery,
control, and damage control
of incipient fires.
Fighting fires can at times prove challenging to even the most seasoned
firefighting veteran a firefighter must
deal with extreme unpredictability, high
temperatures, and rapid decline of
environmental and structural integri-
14
ties. Add to this scenario a cloistered

platform, say many levels down inside
a seagoing ship, and the challenge is
exponentially increased, resulting in
extreme risks to human life. Despite
these risks, a shipboard fire must be
contained and extinguished for the
safety of the crew and continued mission readiness of the ship.
To mitigate these risks, NRL researchers at LASR and NRLs Navy Center
for Applied Research in Artificial Intelligence (NCARAI), under direction and
funding from the Office of Naval Research (ONR), are working with university researchers to develop advanced
firefighting technologies for shipboard
fires using humanoid robots, an effort
led by the NRL Chemistry Division.
As part of the Navys leap ahead
initiative, this research focuses on the
integration of spatial orientation and
the shipboard mobility capabilities
of future shipboard robots, said Dr.
Thomas McKenna, managing program

officer of ONRs Computational Neuroscience and Biorobotics programs. The
goal of this research is to develop the
mutual interaction between a humanoid
robotic firefighter and the rest of the
firefighting team.
This highly specialized research, to promote advanced firefighting techniques,
includes development of a novel robotic
platform and fire-hardened materials
(Virginia Tech), algorithms for perception and navigation autonomy (Penn),
humanrobot interaction technology,
and computational cognitive models
that will allow the robotic firefighter to
work shoulder-to-shoulder and interact
naturally with naval firefighters (NCARAI).
These advancements complement
highly specialized NRL research that
focuses specifically on the humanrobot
interaction technology and shipboardbased spatial interrogation technology,
said Alan C. Schultz, director of LASR
SPECTRA
NRL FEATURES
and the NCARAI. Developments
made from this research will allow a
Navy firefighter to interact peer-to-peer,
shoulder-to-shoulder with a humanoid
robotic firefighter.
The NRL LASR, where the artificial
intelligence portion of the research is
performed, hosted the consortium of
university researchers to demonstrate
their most current developments.
The LASR facility allows the researchers from Virginia Tech and Penn to
demonstrate, in a controlled environment, progress in the critical steps
necessary for shipboard fire suppression using variants of their Shipboard
Autonomous Firefighting Robot,
or SAFFiR. In 2013, humanrobot
interaction technology and cognitive
models developed by NRL were also
demonstrated at the laboratory.
The LASR facility, with its unique
simulated multi-environments and
state-of-the-art labs allows us to test
out our ideas before we go to the
field, Schultz said. In essence, our
facility gives us a cost-saving method
for testing concepts and ideas before
we go to the expense of field trials.
While at LASR, the researchers demonstrated the complex motion, agility,
and walking algorithms of the robots
over natural and manmade terrain and
simulated shipboard sea state (pitch
and roll) conditions. Also demonstrated
were seek-and-find algorithms for
locating a fire emergency, in this case
an open flame, and the use of artificial
muscle for the lifting and activation
of fire suppression equipment, such
as opening a water valve, lifting and
walking with a fire hose, and activating
a nozzle.
SAFFiR is being designed to move
autonomously throughout a ship to
learn ship layout, interact with people,
patrol for structural anomalies, and
handle many of the dangerous firefighting tasks that are normally performed
by humans, McKenna said. The robot
is designed with enhanced multimodal
WINTER 2014
SAFFiR the Shipboard Autonomous Firefighting Robot.
15
NRL FEATURES
Researchers demonstrated the complex

motion, agility, and walking algorithms of the
robots over natural and manmade terrain
and simulated shipboard sea state (pitch
and roll) conditions. Also demonstrated were
seek-and-find algorithms for locating a fire
emergency, in this case an open flame, and
the use of artificial muscle for the lifting and
activation of fire suppression equipment, such
as opening a water valve, lifting and walking
with a fire hose, and activating a nozzle.
16
SPECTRA
NRL FEATURES
Todays display demonstrates the integration of

perception through multiple sensors, and of locomotion through biped walking, said Dr. Daniel
Lee, director of the General Robotics Automation, Sensing, Perception Lab and professor at
the University of Pennsylvania. Tasks as humans
we take for granted, such as standing and
remaining upright, become increasingly complex
with the addition of full body mobility required for
walking and lifting. Dr. Brian Lattimer, associate
professor at Virginia Techs Department of Mechanical Engineering, additionally commented
that what we are now seeing is the result of a
multidisciplinary project combined to perform all
the critical tasks necessary for fire suppression
by a humanoid robot.
In dark or smoke-occluded and noisy environments found in shipboard firefighting conditions,
tactile feedback touch is an important form
of communication between human firefighters,
said John Farley, project officer of the fire test
ship ex-USS Shadwell, NRL Chemistry Division.
Moving forward, the team will integrate NRLs
humanrobot interaction technology with the
SAFFiR platform so that there is a greater focus
on natural interaction with naval firefighters.
SAFFiR is being designed to move autonomously

throughout a ship to learn ship layout, interact with
people, patrol for structural anomalies, and handle
many of the dangerous firefighting tasks that are
normally performed by humans.
In the short term, however, to protect

robotic mechanisms and electronics from
intense heat, researchers in the Advanced
Materials Section of the NRL Chemistry Division
have developed a class of lightweight, hightemperature polyetheretherketone (PEEK)-like
phthalonitrile resin that can be molded to any
shape and remain strong at temperatures up to
500 degrees Celsius. The robotic teams are expecting to soon conduct shipboard trials aboard
Shadwell, the Navys only full-scale fire test ship,
moored in Mobile, Alabama.
SAFFiR
sensor technology for advanced navigation and

a sensor suite that includes a camera, gas sensor, and stereo infrared (IR) and ultraviolet (UV)
cameras to enable it to see through smoke and
detect sources of excess heat. SAFFiR is also
capable of walking in all directions, balancing in
sea state conditions, and traversing obstacles
such as knee-knocker bulkhead openings.
By Daniel Parry
NRL Public Affairs Office
SAFFiR taking a break after a hard day at work.
WINTER 2014
17

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NRL FEATURES

NRL Autonomy Lab Hosts

ties. Add to this scenario a cloistered

Thomas McKenna, managing program

SAFFiR the Shipboard Autonomous Firefighting Robot.

Researchers demonstrated the complex

Todays display demonstrates the integration of

SAFFiR is being designed to move autonomously

In the short term, however, to protect

sensor technology for advanced navigation and

SAFFiR taking a break after a hard day at work.

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