• The Journal of Korea Robotics Society
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• v.13 no.4
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• pp.237-247
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• 2018

In this paper, we describe a sensor module that monitors fire environment by analyzing fire characteristics. We analyzed the smoke characteristics of indoor fire. Six different environments were defined according to the type of smoke and the flame, and the sensors available for each environment were combined. Based on this analysis, the sensors were selected from the perspective of firefighter. The sensor module consists of an RGB camera, an infrared camera and a radar. It is designed with minimum weight to fit on the robot. the enclosure of sensor is designed to protect against the radiant heat of the fire scene. We propose a single camera mode, thermal stereo mode, data fusion mode, and radar mode that can be used depending on the fire scene. Thermal stereo was effectively refined using an image segmentation algorithm, SLIC (Simple Linear Iterative Clustering). In order to reproduce the fire scene, three fire test environments were built and each sensor was verified.

• Journal of the Korean Society of Hazard Mitigation
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• v.5 no.3 s.18
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• pp.23-28
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• 2005

This study defined engineering mechanism and compensation method to establish reference pressure of smoke control zone with atmospheric pressure that is compensated for temperature. The reliable pressure differential sensor was developed by establishing the specifications, algorithms and constructing engineering data. The development of pressure differential sensor can cut down number of processes, manufacturing and installation cost by removing pressure measurement pipe established separately for non smoke control zone, and improve the accuracy of pressure differential by embedding pressure measurement ports for non smoke control zone. More correct and reliable pressure differentials can be obtained by the central control rather than the existent individual control. This will provide the basics and the flexibility to the integral smoke control system and accordingly improve the performance of disaster prevention.

• Journal of the Speleological Society of Korea
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• no.87
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• pp.8-13
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• 2008

The automatic firewall block and fire alarm system was embodied by using gas circuit and wireless communication equipment, using a smoke sensor (ST-QA1A) and RF Module. OR-CAD was also used for testing circuit system and experiment circuit after assembling circuit. As a result in experiment, the gas sensor detected well an imaginary smoke and worked reliably for driving action of firewall block motor and wireless warning alarm. Through the smoke sensitive perception from the fire, the warning alarm and the preventing fire propagation from the specific closed region were verified reliably. The gas sensor and RF module for firewall and fire alarm system were actually available.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.2
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• pp.331-336
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• 2017

The need for early fire detection technology is increasing in order to prevent fire disasters. Sensor device detection for heat, smoke and fire is widely used to detect flame and smoke, but this system is limited by the factors of the sensor environment. To solve these problems, many image-based fire detection systems are being developed. In this paper, we implemented a system to detect fire and smoke from camera input images using a convolution neural network. Through the implemented system using the convolution neural network, a feature map is generated for the smoke image and the fire image, and learning for classifying the smoke and fire is performed on the generated feature map. Experimental results on various images show excellent effects for classifying smoke and fire.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.497-498
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• 2018

In the fire scene, it is difficult to see 1m ahead because of power failure, smoke and toxic gas, even with thermal imaging camera and Xenon searchlight. Analysis of the smoke particles in the fire scene shows that even if the smoke is $5{\mu}m$ or less in wavelength, it is difficult to obtain a front view when using a conventional thermal imaging camera if the visual distance exceeds 1 meter. In the case of black smoke with a particle wavelength of $5{\mu}m$ or more, a space permeation sensor technology using various sensors other than a single sensor is required because chemical materials, gas, and water molecules are mixed. Firefighters need a smoke detection technology for smoke detection and spatial information visualization for forward safety view.In this paper, we design the interface of the information processing system with 32bit CPU core and peripheral circuit. We also implemented and simulated the interface with Lidar sensor. Through this, we provide interface that can implement information processing system of human enhancement fire helmet in the future.

• International Journal of Air-Conditioning and Refrigeration
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• v.10 no.3
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• pp.117-128
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• 2002

This paper describes the smoke filling process of a fire field model based on a self-deve-loped SMEP (Smoke Movement Estimating Program) code to the simulation of fire induced flows in the two types of atrium space containing a ceiling heat flux. The SMEP using PISO algorithm solves conservation equations for mass, momentum, energy and species, together with those for the modified k-$\varepsilon$ turbulence model with buoyancy production term. Also it solves the radiation equation using the discrete ordinates method. Compressibility is assumed and the perfect gas law is used. Comparison of the calculated upper-layer average tempera-ture and smoke layer clear height with the zone models has shown reasonable agreement. The zone models used are the CFAST and the NBTC one-room. For atrium fires with ceiling glass the ceiling heat flux by solar heat causes a high smoke temperature near the ceiling. However, it has no effect on the smoke movement such as the smoke layer clear heights that are important in fire safety. In conclusion, the smoke layer clear heights that are important in evacuation activity except the early of a fire were not as sensitive as the smoke layer tem-perature to the nature of ceiling heat flux condition. Thus, a fire sensor in atrium with ceiling glass has to consider these phenomena.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1734-1737
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• 1997

The conventional fire detection devices are operated after a processed fire phase, which are sensing only a high density of somke level or high temperature heat. They are not so precision to detect a fire in the early phase to protect the facility form the fire. We need to develope a new high precision smoke detection system to keep expensive industrial facilities most reliably form fire. A new optical precision smoke detection system was developed. It monitors very low level density of smoke particles in the air. It is operated continously through many years without a stop or any malfunction. The developed precision smoke detection system will be installed in important industrial facilities, such as power plants, underground common tunnel, main control rooms, computer rooms etc.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.128-132
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• 1997

The conventional fire detection devices are operated after a processed fire phase, which are sensing only a high density of smoke level or high temperature heat. They are not so precision to detect a fire in the early phase to protect the facility from the fire. We need to develope a new high precision smoke detection system to keep expensive industial facilities most reliably from fire. A new optical precision smoke detection system was developed. It monitors very low level density of smoke psrticles in the air. It is operated continuously through many years without a stop or any malfunction. The developed precision smoke detection system will be installed in important industrial facilities,such as power plants, underground common tunnel,main control rooms,computer rooms etc.

• Journal of the Speleological Society of Korea
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• no.77
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• pp.1-7
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• 2007

Nowaday, prohibition of smoking is getting more important issue. So we designed "non-smoking area control system". This system is organized with AVR(ATmega8535), smoke sensor, comparator(LM339) and etc. In non-smoking condition sensor's output voltage is about 5V, and in smoking condition sensor's output voltage is under 5V. So we used comparator(LM339) to devide two conditions. In both conditions AVR(ATmega8535) transmits datas to the computer of administrator. At this time method of communication is RS-232.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.