Fireground location understanding by semantic linking of visual objects and building information models

This paper presents an outline for improved localization and situational awareness in fire emergency situations based on semantic technology and computer vision techniques. The novelty of our methodology lies in the semantic linking of video object recognition results from visual and thermal cameras with Building Information Models (BIM). The current limitations and possibilities of certain building information streams in the context of fire safety or fire incident management are addressed in this paper. Furthermore, our data management tools match higher-level semantic metadata descriptors of BIM and deep-learning based visual object recognition and classification networks. Based on these matches, estimations can be generated of camera, objects and event positions in the BIM model, transforming it from a static source of information into a rich, dynamic data provider. Previous work has already investigated the possibilities to link BIM and low-cost point sensors for fireground understanding, but these approaches did not take into account the benefits of video analysis and recent developments in semantics and feature learning research. Finally, the strengths of the proposed approach compared to the state-of-the-art is its (semi -)automatic workflow, generic and modular setup and multi-modal strategy, which allows to automatically create situational awareness, to improve localization and to facilitate the overall fire understanding

Adaptation of Fire-Fighting Systems to Localization of Fires in the Premises: Review

Fire protection is a basic safety issue for all categories of buildings. The criteria for effective fire suppression and the characteristics of extinguishing systems in insulated areas depend on a combination of factors. The main influences include the type of combustible material, ambient temperature, type of spray extinguisher, air inflow and outflow conditions, and space geometry. This article analyzes the most widely used fire-extinguishing technologies in different locations. The main aspects of using the pulsed delivery technology of extinguishing liquid are considered. Based on the analysis of publications from the last decade, it is possible to develop intelligent systems for recording fires and extinguishing fires in the premises

A Review of Modelling and Simulation Methods for Flashover Prediction in Confined Space Fires

Confined space fires are common emergencies in our society. Enclosure size, ventilation, or type and quantity of fuel involved are factors that determine the fire evolution in these situations. In some cases, favourable conditions may give rise to a flashover phenomenon. However, the difficulty of handling this complicated emergency through fire services can have fatal consequences for their staff. Therefore, there is a huge demand for new methods and technologies to tackle this life-threatening emergency. Modelling and simulation techniques have been adopted to conduct research due to the complexity of obtaining a real cases database related to this phenomenon. In this paper, a review of the literature related to the modelling and simulation of enclosure fires with respect to the flashover phenomenon is carried out. Furthermore, the related literature for comparing images from thermal cameras with computed images is reviewed. Finally, the suitability of artificial intelligence (AI) techniques for flashover prediction in enclosed spaces is also surveyed.This work has been partially funded by the Spanish Government TIN2017-89069-R grant supported with Feder funds. This work was supported in part by the Spanish Ministry of Science, Innovation and Universities through the Project ECLIPSE-UA under Grant RTI2018-094283-B-C32 and the Lucentia AGI Grant

On the development and enhancement of artificial intelligence algorithms for swarm robots in real world applications

Swarm robotics is an area where using artificial intelligence (AI) can show a great deal of improvement. Obstacle avoidance, object detection, mapping and navigation are some the major algorithms required for successful execution of various tasks in the field of robotics. There is a challenge in applying these algorithms in a manner that swarm robots can use effectively. These five areas can be further researched to provide a platform for real world applications. This research aims to tackle the challenges involved in applying the aforementioned algorithms to swarm robotics and comparing the results with single robot systems. These techniques can be optimized by leveraging the advantage of swarm robots communication and scalability. The proposed algorithms were tested and validated using swarm robots along with profiling and simulations. For obstacle avoidance, two algorithms were devoloped. The first used a novel and modified force field method and the second used artificial neural networks (ANN). The results showed that the modified force field method performed better for static environments while ANNs worked better for dynamic environments. For object detection, the proposed algorithm uses an image classifier developed using ANN. The image classifier was trained to identify blocks of various colours using a convolutional neural network technique. This algorithm was then applied to swarm robotics using two proposed methods and results showed that multiple robots viewing objects from different angles provided better results as compared to single robot systems. This was validated with a 97% accuracy. In two dimension (2D) mapping, the proposed algorithm was developed using simultaneous localization and mapping (SLAM). The results showed that a single robot can require upto 3.5x more time for covering a given area compared to a swarm size of ten robots. This research shows a great deal of contribution in applying swarm robotics for surveilance purposes by showcasing the ability for swarm robotics to coordinate and execute the required task in an efficient time frame. The proposed three-dimension (3D) mapping algorithm used octomaps and occupancy grids to map out an image taken from a camera mounted on swarm robots. The images were obtained from various angles using multiple swarm robots. AI algorithms with a focus on swarm robotics are developed and enhanced for real world applications including fire-fighting, surveillance, fault analysis and construction. Results showed that swarm robots were able to complete a given task by up to six times faster as compared to a single robot. The overall contribution of this research lays a platform for further applications by showcasing the effectiveness of robotic algorithms in a swarm robot environment.Heriot-Watt University Fee Scholarshi

Design of a Specialized UAV Platform for the Discharge of a Fire Extinguishing Capsule

Tato práce se zabývá návrhem systému specializovaného pro autonomní detekci a lokalizaci požárů z palubních senzorů bezpilotních helikoptér. Hašení požárů je zajištěno automatickým vystřelením ampule s hasící kapalinou do zdroje požáru z palubního vystřelovače. Hlavní část této práce se soustředí na detekci požárů v datech termální kamery a jejich následnou lokalizaci ve světě za pomoci palubní hloubkové kamery. Bezpilotní helikoptéra je poté optimálně navigována na pozici pro zajištění průletu ampule s hasící kapalinou do zdroje požáru. Vyvinuté metody jsou detailně analyzovány a jejich chování je testováno jak v simulaci, tak současně i při reálných experimentech. Kvalitativní a kvantitativní analýza ukazuje na použitelnost a robustnost celého systému.This thesis deals with the design of an unmanned multirotor aircraft system specialized for autonomous detection and localization of fires from onboard sensors, and the task of fast and effective fire extinguishment. The main part of this thesis focuses on the detection of fires in thermal images and their localization in the world using an onboard depth camera. The localized fires are used to optimally position the unmanned aircraft in order to effectively discharge an ampoule filled with a fire extinguishant from an onboard launcher. The developed methods are analyzed in detail and their performance is evaluated in simulation scenarios as well as in real-world experiments. The included quantitative and qualitative analysis verifies the feasibility and robustness of the system

Applicability of Multispectral Imagery for Detection of Prescribed Fires and Rekindling

Forest fires are an increasingly relevant problem nowadays with the worsening of global warming’s most severe consequences. These fire occurrences, that can cause immense damage to forest ecosystems and have a great negative impact in peoples lives,begin often with rekindles. These problems can be very difficult to tackle, needing to involve a lot of people to surveil the areas at risk. A system capable of executing this surveillance protocol and alerting the fire fighting authorities of fire and possible rekindle occurrences would be extremely beneficial in these scenarios.A system aiming to achieve this goal is being implemented, composed of an UAV equipped with a multispectral camera, capturing aerial images of these areas. This dissertation presents a fire detection model to be used in prescribed fires and rekindling situations, identifying fire instances within the captured images. It makes use of the camera’s various spectral bands to highlight the areas at greatest risk and of deep learning technology to autonomously recognise these areas.Incêndios florestais são um problema cada vez mais relevante nos dias de hoje com o agravamento das consequências mais graves do aquecimento global. Estas ocorrências,que podem causar imensos danos aos ecossistemas florestais e ter um grande impacto negativo na vida das pessoas, são muitas vezes iniciadas por reacendimentos. Estes problemas podem ser muito difíceis de combater, necessitando de envolver muitas pessoas para vigiar as áreas de risco. Um sistema capaz de executar este protocolo de vigilância e alertar as autoridades de combate a incêndio sobre fogos e possíveis reacendimentos seria extremamente benéfico nestes cenários.Para alcançar este objetivo, está a ser implementado um sistema composto por um UAV, equipado com uma câmera multiespectral, que irá capturar imagens aéreas dessas áreas. Esta dissertação apresenta um modelo de detecção de incêndios para ser utilizado em situações de fogos controlados e reacendimentos, identificando ocorrências de fogo nas imagens capturadas. Faz uso das várias bandas espectrais da câmera para destacar as áreas de maior risco e de tecnologia de aprendizagem automática para reconhecer essas áreas de forma autônoma