Hazard Monitoring for Search and Rescue Operations

Abstract

Abstract The objective of the thesis is to design, implement and evaluate a low-cost, custom designed hazard monitoring systerm that can be integrated into mobile robots for Search and Rescue (SAR) operations. After the buildings collapse, human first responders work in dangerous conditions with Degraded Visual Environments (DVEs). There are numerous hidden hazards such as toxic gases, developing fires and structural instability in these environments. This research seeks to bridge the significant difference between the expensive unmanned robotic systems being developed for SAR missions and the need for disposable, modular scout robots capable of providing real time situation awareness during the golden hour of a rescue operation. The research was done through different sub-tasks: a literature review on the current SAR robotics, selection of sensors, fabrication of a Printed Circuit Board (PCB) and implementation of the monitoring firmware. The system is built sing the ESP32-S3 microcontroller as it offers excellent price to perforrmance ratio and the commnication interfaces. The sensor suite include a VOC and CO2 detecting SGP30, temperature sensing DS18B20 and Time-of-Flight Sensor VL53L1X. The methodology used precision lab fabrication techniques to produce a custom 67 x 85.25 mm PCB. The PCB was printed using a LPKF ProtoLaser H4 printer. A module-based strategy is used to increase system longevity and for maintenance purposes. Data transmission was done using two channels of communication: a high-bandwidth Wi-Fi for near field monitoring and a 433 MHz Ra-02 LoRa for penetrating though dense structures. Results from the test show that the system was reliable in lab based experiments. However, further imporvements and tests should be done before actual deployment of the monitoring system. The project successfully prodcued a working prototype of a SAR based hazard monitoring system. Overall, prototype reprsents a foundation for improving safety for rescue personnel by providing them with crucial data from hazardous sites and thus reduces unwanted injuries and life lost.