Fire Early Warning Using Fire Sensors, Microcontroller and SMS Gateway

A fire disaster that does not save can certainly cause losses, both in the form of objects and casualties. This occurs for several reasons: late information obtained from the fire department or the owner's ignorance at the time of a fire. In this study, a fire early detection system was built using smoke, heat, and gas sensors based on an SMS gateway and an alarm. This system is used to provide information about fire detection as early as possible to protect against fire disasters. With this system, the potential and risk of fire can be reduced. This system is used to identify potential fires that occur in housing. Several experiments were carried out with fire simulations to get the reaction from the sensors used. Covers smoke testing, temperature testing, gas testing, and SMS message responses from various providers. This research produces a fire early warning system that provides SMS and alarm alerts

System Architectures for Cooperative Teams of Unmanned Aerial Vehicles Interacting Physically with the Environment

Unmanned Aerial Vehicles (UAVs) have become quite a useful tool for a wide range of applications, from inspection & maintenance to search & rescue, among others. The capabilities of a single UAV can be extended or complemented by the deployment of more UAVs, so multi-UAV cooperative teams are becoming a trend. In that case, as di erent autopilots, heterogeneous platforms, and application-dependent software components have to be integrated, multi-UAV system architectures that are fexible and can adapt to the team's needs are required. In this thesis, we develop system architectures for cooperative teams of UAVs, paying special attention to applications that require physical interaction with the environment, which is typically unstructured. First, we implement some layers to abstract the high-level components from the hardware speci cs. Then we propose increasingly advanced architectures, from a single-UAV hierarchical navigation architecture to an architecture for a cooperative team of heterogeneous UAVs. All this work has been thoroughly tested in both simulation and eld experiments in di erent challenging scenarios through research projects and robotics competitions. Most of the applications required physical interaction with the environment, mainly in unstructured outdoors scenarios. All the know-how and lessons learned throughout the process are shared in this thesis, and all relevant code is publicly available.Los vehículos aéreos no tripulados (UAVs, del inglés Unmanned Aerial Vehicles) se han convertido en herramientas muy valiosas para un amplio espectro de aplicaciones, como inspección y mantenimiento, u operaciones de rescate, entre otras. Las capacidades de un único UAV pueden verse extendidas o complementadas al utilizar varios de estos vehículos simultáneamente, por lo que la tendencia actual es el uso de equipos cooperativos con múltiples UAVs. Para ello, es fundamental la integración de diferentes autopilotos, plataformas heterogéneas, y componentes software -que dependen de la aplicación-, por lo que se requieren arquitecturas multi-UAV que sean flexibles y adaptables a las necesidades del equipo. En esta tesis, se desarrollan arquitecturas para equipos cooperativos de UAVs, prestando una especial atención a aplicaciones que requieran de interacción física con el entorno, cuya naturaleza es típicamente no estructurada. Primero se proponen capas para abstraer a los componentes de alto nivel de las particularidades del hardware. Luego se desarrollan arquitecturas cada vez más avanzadas, desde una arquitectura de navegación para un único UAV, hasta una para un equipo cooperativo de UAVs heterogéneos. Todo el trabajo ha sido minuciosamente probado, tanto en simulación como en experimentos reales, en diferentes y complejos escenarios motivados por proyectos de investigación y competiciones de robótica. En la mayoría de las aplicaciones se requería de interacción física con el entorno, que es normalmente un escenario en exteriores no estructurado. A lo largo de la tesis, se comparten todo el conocimiento adquirido y las lecciones aprendidas en el proceso, y el código relevante está publicado como open-source