RoboCup-Rescue Disaster Simulator Architecture　

Tomoichi Takahashi (Chubu University, Japan) Ikuo Takeuchi Tetsuhiko Koto (Univ. of Electro Communication, Japan)Satoshi Tadokoro (Kobe University, Japan)Itsuki Noda (Electrotechnical Laboratory,Japan)

　2000.7.8

RoboCup-Rescue Project simulation of

a large-scale urban disaster the rescue operation

characteristics of the simulationa comprehensive disaster simulator by distributed

computation, a large-scale heterogeneous agent system, a mission-critical man-machine interface,a real world interface

Requirements for simulator

specification based on the Hanshin-Awaji Earthquake integration of disaster simulations

an amount of computation cost/time developed independently

management of GIS data,communication with many citizen agents, rescue agents

In these 5 years, Kobe-Awaji, Los Angeles, Turkey and Taiwan suffered from large earthquakes.By replacing geographic data and disaster models,

simulator will simulate each disaster

Conditions for simulator

What are necessary conditions for Rescue project ?

Byinvestigating disasters in Nagata Ward,one of most damaged areas of the Hanshin-Awaji

Earthquake.

11.47 km2 and

130,466 people (53,284 households) lived there.

Condition 1(Simulation Period)

five stages: chaos stage, initial operation stage,

recovery stage, reconstruction stage,normal stage

At the first chaos stage, there is no aid from outside.The main purpose of rescue activities at the stage is savin

g the victims using local facilities.

period the survival rate decreases rapidly.

the period to be simulated is set to first 72 hours.

Condition 2 (Number of rescue agents)

When earthquakes occur,

there are many calls asking for fire fighters. Local rescue agents will do the first rescue

actions. 7 rescue agents at Nagata fire offices --

5 fire brigades at the main fire office,2 fire brigades at a branch fire office.

The number of rescue agents is set this order.

Condition 3 (Space Resolution)

Representing disaster situations or rescue activities

requires displaying items at the size of cars. GIS (Geographic Information System) data

a resolution of 5 m mesh.

area of 1.5 km2 centered on JR-Nagata railway station

Soccer games and Rescue simulation

Soccer Rescue

agents player civilian, governments

coach rescue team (fire, police)

medical team (ambulance, hospital)

objects goal life saving, nursing

refuge, fire fighting

logistics

process physical law first disasters

following disasters

human actions

fields soccer field geometrical structure

social structure

Architecture of prototype system

Plug in simulators Distributed over comp

uters Communication betwe

en modules

Architecture of prototype system

Kernel & GIS / world model

Kernel & simulation Kernel & agents

commands in agent's protocolCommand Information Transfer Function

Initialization

init agent -> kernel Initialization of agents

Action Commands

move agent -> kernel Motion of agent body

act agent -> kernel Disaster mitigation actions,

such as extinguish, rescue,

load, unload, open.

say agent -> kernel (agent) Auditory information transmission

tell agent -> kernel (agent) Via transmission line

Sensory information

see agent <- kernel Visual information acquisition

hear agent <- kernel (agent) Auditory information acquisition

listen agent <- kernel (agent) Via transmission line

Protocols among modules

Test environment of version0components CPU Memory OS

1 kernel P3-600 *2 512MB WindowsNT / FreeBSD

2 GIS P3-733 512MB WindowsNT

Simulator

3 Fire P3-733 512MB WindowsNT

4 Road blockade P3-733 512MB W.NT / F.BSD / Linux

5 Building blockade P3-733 512MB W.NT / F.BSD / Linux

6 Traffic P3-733 512MB Linux

Agents

7 Civilian, Fire, P3-600 *2 512MB FreeBSD / Linux

Ambulance, Police.

Test Data of 1/10 modelNumber of objects

Scale 1/1 1/10 1/100 1/1000

area size(m) 2,217 521 160 31

static

Road 9,776 818 125 4

Node 9,143 765 119 5

Building 9,357 778 99 1

28,276 2,361 343 10

dynamic

Civilian 934 76 8 1

Ambulance 5 5 2 1

FireBrigade 10 10 2 1

Police 10 10 2 1

959 101 14 4

29,235 2,462 357 14

Test Data of 1/1 model 1/1 Scale number byte

area size(m) 2,217 2217

static

Road 9,776 146640

Node 9,143 64001

Building 9,357 121641

28,276 332282

dynamic

Civilian 934 7472

Ambulance 5 40

FireBrigade 10 100

Police 10 80

959 7692

29,235 339974

The problems made clear during prototype-test.

AgentHow well or how much should an agent know

the world ?

component simulatorTime keeperInterface for newly plugged in one

KernelData centralization

Conclusion toward Version 1.(toward 2002)

a multi-agent system + a distributed interactive simulations.Game / Rescue activities evaluation. To developing the next simulation system (2002).

standardization, speed for real time simulation, distribution of data for a large city, interface for real world, interface for new comers (plug-in components),