Patent Publication Number: US-2021190554-A1

Title: Disaster response system and method

Description:
This patent application is a divisional of U.S. patent application Ser. No. 15/915,234, filed Mar. 8, 2018, which in turn is a continuation-in-part of PCT Patent Application PCT/US2016/043298, filed Jul. 21, 2016, entitled “DISASTER RESPONSE SYSTEM AND METHOD”, and claims the priority and benefit of the following (all of which are incorporated herein by reference in their entirety): 
     PCT Patent Application PCT/US2016/043298, entitled “DISASTER RESPONSE SYSTEM AND METHOD”; 
     U.S. Provisional Patent Application 62/222,041, filed Sep. 22, 2015, entitled “A Disaster Response System that identifies and provides real time analysis for micro HAZMAT environments”; 
     U.S. Provisional Patent Application 62/222,499, filed Sep. 23, 2015, entitled “Re-configurable micro sensor that can be employed to detect weather and hazardous material environments”; and 
     U.S. Provisional Patent Application 62/469,383, filed Mar. 9, 2017, entitled “DISASTER RESPONSE SYSTEM AND METHOD”. 
    
    
     BACKGROUND 
     First responders to hazards, whether natural or man-made, face a multitude of unknown threats and need very specific environmental and substance information to successfully handle the emergency. For example, large fires are typically chaotic in nature, with unpredictable wind shifts which endanger fire fighters and equipment. Chemical content of fires is largely unknown—presenting dangers to fire fighters and other first responders. Hazards may occur in either remote or urban environments, each of which may present complex and dangerous challenges. 
     SUMMARY 
     A bullet shaped probe has both shape and size to permit installation of an electronic sensor assembly. The probe can be manufactured from multiple materials, is water proof and permits easy turn on and off of the device without disassembly. A flat end to the probe facilitates inclusion of inductive charging plate for re-charging of an internal battery, without having to disassemble of the probe or provide for an open charging port. The probe shell or casing is designed to embed a thermocouple to permit the internal temperature sensor to directly sample of the outside environment for a more accurate sensing of potential temperature anomalies. The aerodynamic qualities of this shape also greatly aid in the range at which the probe can be projected, thereby increasing the distance and associated safety factor for first responder personnel. The probe design greatly assists in guaranteeing a continuous flow of information from the sensor units to the control station without exposing a human to danger or having to depend on pre-located sensors (which might not be correctly situated to provide useful information). 
     In one of its example aspects the technology disclosed herein concerns a probe configured for introduction into a vicinity of a hazard. In an example embodiment and mode the probe comprises multiple sensors, communications circuitry, processor circuitry, and a casing. The multiple sensors include at least: a sensor configured to acquire disposition information of the probe; and a sensor configured to acquire environmental information in a vicinity of the probe. The communications circuitry is configured to transmit the disposition information and the environmental information externally to the probe. The processor circuitry is configured to coordinate operation of the multiple sensors and the communications circuitry. The casing is configured to internally house the multiple sensors, the transmitter, and the processor circuitry. The casing comprises an essentially cylindrical bullet shape, and wherein along a major cylindrical axis a first end of the casing comprises a flat butt surface and a second end of the casing comprises a rounded nose surface. 
     In an example embodiment and mode the casing is comprised of hazard-hardened material configured to withstand the hazard for at least a predetermined time. 
     In an example embodiment and mode the casing is configured to be aerially projected into the hazard. 
     In an example embodiment and mode the casing is configured to be transported by a force of the hazard after introduction into the hazard. 
     In an example embodiment and mode the casing comprises a casing base section and a casing nose section which mates with the casing base section, the casing base section comprising the flat butt surface and the casing nose section comprising the rounded nose surface. 
     In an example embodiment and mode the casing base section comprises a three dimensional quadrilateral cavity sized to accommodate the multiple communications sensors, the processing circuitry, and the communications circuitry. 
     In an example embodiment and mode the casing comprises a port which accommodates a thermocouple, the thermocouple being connected to the processing circuitry internal to the casing. 
     In an example embodiment and mode the probe further comprises: a chargeable battery; an internal inductive charging circuit electrically coupled to and configured to charge the chargeable battery; and the casing comprises an internal three dimensional cavity sized to accommodate at least the rechargeable battery and the internal inductive charging circuit. 
     In an example embodiment and mode the internal inductive charging circuit is situated at an end of the cavity proximate the butt end surface of the casing. 
     In an example embodiment and mode the internal inductive charging circuit comprises an essentially flat inductive charging plate positioned proximate a flat internal wall of the cavity that is perpendicular to the cylindrical axis of the casing. 
     In an example embodiment and mode a thickness of the casing between the butt end surface of the casing and the inductive charging circuit is chosen to facilitate both a degree of hazard resistance and to permit inductive charging of the battery by combined operation of an external inductive charging circuit positioned proximate the butt end surface but external to the casing and the internal inductive charging circuit. 
     In another of its aspects the technology disclosed herein concerns a probe configured for introduction into a vicinity of a hazard. The probe comprises multiple sensors, communications circuitry, processor circuitry, a chargeable battery, an internal inductive charging circuit, and a casing. The multiple sensors include at least: a sensor configured to acquire disposition information of the probe; and a sensor configured to acquire environmental information in a vicinity of the probe. The communications circuitry is configured to transmit the disposition information and the environmental information externally to the probe. The processor circuitry is configured to coordinate operation of the multiple sensors and the communications circuitry. The internal inductive charging circuit is electrically coupled to and configured to charge the chargeable battery. The casing is configured to internally house the multiple sensors, the transmitter, the processor circuitry, the chargeable battery, and the internal inductive charging circuit. The casing comprises an exterior surface configured to abut an external inductive charging circuit and thereby permit inductive charging of the chargeable battery by combined operation of the internal inductive charging circuit and the external inductive charging circuit. 
     In an example embodiment and mode the casing comprises an essentially cylindrical bullet shape, and wherein along a major cylindrical axis a first end of the casing comprises a flat butt surface and a second end of the casing comprises a rounded nose surface, and wherein the exterior surface configured to abut the external inductive charging circuit is the flat butt surface of the casing. 
     In an example embodiment and mode the casing comprises an internal three dimensional cavity sized to accommodate at least the rechargeable battery and the internal inductive charging circuit, and wherein the internal inductive charging circuit is situated at an end of the cavity proximate the butt end surface of the casing. 
     In an example embodiment and mode the internal inductive charging circuit comprises an essentially flat inductive charging plate positioned proximate a flat internal wall of the cavity that is perpendicular to the cylindrical axis of the casing. 
     In an example embodiment and mode a thickness of the casing between the butt end surface of the casing and the inductive charging circuit is chosen to facilitate both a degree of hazard resistance and to permit inductive charging of the battery by the combined operation of the external inductive charging circuit and the internal inductive charging circuit. 
     In another of its example aspects the technology disclosed herein concerns a storage case for hazard sensor probes. The storage case comprises plural walls for defining a cavity configured to accommodate plural aerially projectable probes. At least one of the walls is configured to accommodate an inductive charging circuit configured to electromagnetically couple with a cooperating inductive charging circuit internally housed in one or more of the plural probes. 
     In another of its example aspects the technology disclosed herein concerns a vehicle for transporting hazard sensor probes, the vehicle comprising a storage case. The storage case comprises plural walls for defining a cavity configured to accommodate plural aerially projectable probes. At least one of the walls is configured to accommodate an inductive charging circuit configured to electromagnetically couple with a cooperating inductive charging circuit internally housed in one or more of the plural probes 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG. 1  is a diagrammatic view of a hazard management operation into which one or more probes may be introduced according to an example embodiment and mode. 
         FIG. 2A  is a diagrammatic view of a network of probes introduced into a hazard communicating with a hazard management system according to an example embodiment and mode. 
         FIG. 2B  is a diagrammatic view of a network of probes introduced into a hazard communicating with a hazard management system according to another example embodiment and mode. 
         FIG. 3A  is a perspective view illustrating example shape and components of a probe according to a first example embodiment. 
         FIG. 3B  is a cross-sectional diagrammatic view illustrating example shape and components of a probe according to a second example embodiment. 
         FIG. 4  is a schematic view showing in more detail example components of the probe of  FIG. 3A  or the probe of  FIG. 3B . 
         FIG. 5  is a schematic view showing in yet more detail example components of a probe, and particularly shows representative, non-limiting examples of environment sensors. 
         FIG. 6A  is a flowchart diagram showing example acts or steps executed by the probe(s) of  FIG. 1  in conjunction with a hazard management operation. 
         FIG. 6B  is a flowchart diagram showing example sub-acts or sub-steps executed by the probe(s) of  FIG. 1  in conjunction with acquisition of orientation data. 
         FIG. 7  is a diagrammatic view of an example communication packet or frame prepared by a probe of the hazard management system of  FIG. 2 . 
         FIG. 8  is a schematic view of a communication module configured to communicate with one or more probes and a hazard management site. 
         FIG. 9  is a diagrammatic view of a hazard management system comprising a set of probes and a hazard management computer program product. 
         FIG. 10  is a flowchart diagram showing example acts or steps executed by a device that receives data from probe(s) in conjunction with a hazard management operation. 
         FIG. 11A  is a diagrammatic view of a first type of display or screen shot generated by a data processing circuitry of a device that receives data from probe(s) in conjunction with a hazard management operation. 
         FIG. 11B  is a diagrammatic view of a second type of display or screen shot, including visual geographic depiction, generated by a data processing circuitry of a device that receives data from probe(s) in conjunction with a hazard management operation. 
         FIG. 11C  is a diagrammatic view of a third type of display or screen shot, including hazard modeling information, generated by a data processing circuitry of a device that receives data from probe(s) in conjunction with a hazard management operation. 
         FIG. 11D  is a diagrammatic view of a fourth type of display or screen shot, including hazard prediction information, generated by data processing circuitry of a device that receives data from probe(s) in conjunction with a hazard management operation. 
         FIG. 12  is a flow-action view showing various example actions performed by an existing hazard modeling module according to an example embodiment and mode. 
         FIG. 13  is a flow-action view showing various example actions performed by a hazard prediction module according to an example embodiment and mode. 
         FIG. 14  is a diagrammatic view showing example elements comprising data processing circuitry which may comprise a device that receives data from probe(s) in conjunction with a hazard management operation. 
         FIG. 15A - FIG. 15E  are views of an example bullet-shaped implementation of the probe of  FIG. 3B , with  FIG. 15A  being a side view of the bullet-shaped probe;  FIG. 15B  being a top side perspective view of the bullet-shaped probe;  FIG. 15C  being a bottom side perspective view of the bullet-shaped probe;  FIG. 5D  being a side view of the bullet-shaped probe in a semi-shut configuration; and  FIG. 15E  being a top perspective view of open casing base section and open casing nose section of the bullet-shaped probe. 
         FIG. 16  is a sectioned side view of an example implementation of an assembled bullet-shaped probe. 
         FIG. 17  is a top sectioned view taken along line  17 - 17  of  FIG. 16 . 
         FIG. 18  is a cross sectional view of a probe in a probe case, the probe case having a charging circuit. 
         FIG. 19  is more of a perspective view of a probe case and gives an idea of how the probes may be positioned in the case relative to a case charging plate. 
     
    
    
     DETAILED DESCRIPTION 
     The following description sets forth specific details, such as particular embodiments for purposes of explanation and not limitation. But it will be appreciated by one skilled in the art that other embodiments may be employed apart from these specific details. In some instances, detailed descriptions of well-known methods, interfaces, circuits, and devices are omitted so as not to obscure the description with unnecessary detail. Individual blocks are shown in the figures corresponding to various nodes. Those skilled in the art will appreciate that the functions of those blocks may be implemented using individual hardware circuits, using software programs and data in conjunction with a suitably programmed digital microprocessor or general purpose computer, and/or using applications specific integrated circuitry (ASIC), and/or using one or more digital signal processors (DSPs). Software program instructions and data may be stored on a non-transitory, computer-readable storage medium, and when the instructions are executed by a computer or other suitable processor control, the computer or processor performs the functions associated with those instructions. 
     Thus, for example, it will be appreciated by those skilled in the art that diagrams herein can represent conceptual views of illustrative circuitry or other functional units. Similarly, it will be appreciated that any flow charts, state transition diagrams, pseudocode, and the like represent various processes which may be substantially represented in computer-readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown. 
     The functions of the various illustrated elements may be provided through the use of hardware such as circuit hardware and/or hardware capable of executing software in the form of coded instructions stored on computer-readable medium. Thus, such functions and illustrated functional blocks are to be understood as being either hardware-implemented and/or computer-implemented, and thus, machine-implemented. 
     In terms of hardware implementation, the functional blocks may include or encompass, without limitation, a digital signal processor (DSP) hardware, a reduced instruction set processor, hardware (e.g., digital or analog) circuitry including but not limited to application specific integrated circuit(s) (ASIC) and/or field programmable gate array(s) (FPGA(s)), and (where appropriate) state machines capable of performing such functions. 
     In terms of computer implementation, a computer is generally understood to comprise one or more processors or one or more controllers, and the terms computer, processor, and controller may be employed interchangeably. When provided by a computer, processor, or controller, the functions may be provided by a single dedicated computer or processor or controller, by a single shared computer or processor or controller, or by a plurality of individual computers or processors or controllers, some of which may be shared or distributed. Moreover, the term “processor” or “controller” also refers to other hardware capable of performing such functions and/or executing software, such as the example hardware recited above. 
       FIG. 1  illustrates a hazard management operation into which one or more intelligent pods or probes  20  are introduced into vicinity of a hazard  22 . Although  FIG. 1  depicts the hazard  22  generically, the hazard  22  may be any human-caused or naturally occurring event that threatens man or nature.  FIG. 1  shows some non-limiting representative possible hazards. For example, the hazard  22  may be a fire hazard  22 F, such as a forest fire, brush/grassland fire, building fire (single dwelling fire, industrial fire, urban fire). Alternatively the hazard  22  may be a weather condition or storm hazard  22 W, depicted by a tornado in  FIG. 1  but also encompassing other types of severe weather or geological situations (such as hurricanes, blizzards, earthquakes). Another type of hazard is an industrial hazard  22 I, which may involve a cargo spill, emissions discharge, or fall out, whether chemical or nuclear. While some hazards may occur on land, as used herein “hazard” is not so limited, as there may be aquatic or marine hazards  22 A such as an oil spill or other invasion of marine life. As used herein, the term “hazard” encompasses all the foregoing and any other threatening events or situations, such as disaster and military action, for example. 
     In accordance with one aspect of the technology disclosed, the intelligent pods or probes  20  described herein are introduced into a vicinity of the hazard  22 . The probes  20  may be introduced into a hazard  22  in various ways, or combination of ways. Probe introduction into a hazard  22  may be from land, air, or sea, for example. In terms of an example land introduction,  FIG. 1  shows a human  24  projecting probe  20   L  into hazard  22 . Projecting of a probe  20  on land can simply be by throwing (as shown in  FIG. 1 ), or by using an instrumentality such as a cannon  25  (such as an air cannon) to launch the probe  20   C  into hazard  22 . For a building fire, for example, the probe  20  can be thrown into window on lower floors, or fired from cannon  25  or other launching mechanism onto higher floors. Aerial introduction of probe  20  is generally depicted by aircraft  26  dropping or even shooting probe  20 A into hazard  22 , or by a drone  27  delivering probe  20   D . The aircraft  26  could be any type of aircraft, e.g., airplane, helicopter, etc. Sea or nautical introduction of probe  20  is represented by a ship or vessel introducing probe  20   M  into a body of water, by dropping, discharging, or propulsion, either from above water surface or below water surface. As used herein, terms such as “projecting”, “launching”, and “dropping” of a probe means a deliberate displacing the probe from away from a host, e.g., a human or launching instrumentality (e.g., canon, aircraft, drone, or water craft), into a hazard, as opposed to the probe being permanently situated or just wandering in or finding itself in a hazard location without detachment from a host. 
       FIG. 1  pictorially illustrates a generic hazard management operation. As used herein, “hazard management” may encompass one or both of hazard assessment and hazard mitigation.  FIG. 2A  schematically depicts example activities and assets that may typically be involved in a hazard management system  40  according to an example embodiment and mode of the technology disclosed herein.  FIG. 2A  depicts by circle  30  a vicinity of hazard  22 , e.g., the hazard vicinity  30 , in which plural probes  20  have already been introduced. The particular hazard  22  of  FIG. 2A  may be a fire, for example, on a day when wind is blowing in direction depicted by arrow  32 . The hazard vicinity  30  is conceptualized as comprising four quadrants, with probes  20  being numbered as probes  20   1  through  20   8  beginning in a first quadrant and numbering in counter-clockwise order. Some of the probes  20  have been introduced into hazard vicinity  30  at anticipated locations of travel of the fire in view of the wind direction  32 . 
       FIG. 2A  and  FIG. 2B  depict various ways in which the probes  20  may communicate in a hazard management system  40 . In some example implementations the probes  20  may communicate with one another, as  FIG. 2A  illustrates by the broken lines  34  that at least some of the probes  20  may communicate wirelessly with one another in a mesh network  34  as well as with a radio communications module or node, herein known as hazard communications coordination node  36 . The mesh network  34  may operate in accordance with IEEE 802.15 protocol or 900 MHz ISM radio access protocol, for example. 
     The hazard communications coordination node  36  serves to perform at least initial communications connection between the probes  20  and a hazard management site. In the simple implementation shown in  FIG. 2A , the hazard management site is a computerized device, such as wireless mobile device illustrated as laptop  38 . It should be appreciated that the hazard management site may comprise plural computerized devices such as plural laptops. These computerized devices, particularly if wireless and mobile, may be in the possession of emergency response personnel and thus transported to the proximity of the hazard if desired. Alternatively, one or more of the computerized devices may remain remote from the hazard, particularly if serving the role of an emergency coordination center. The computerized devices may be connected to hazard communications coordination node  36  using any suitable connection link or protocol, examples of which are understood with reference to  FIG. 2B  and/or  FIG. 4 , for example. 
       FIG. 2B  shows another embodiment in which the probes  20  communicate through hazard communications coordination node  36  or directly with other radio communications equipment, such as base station  42 . Although not shown as such in  FIG. 2B  for sake of simplicity, it should be understood that the probes  20  may communicate with each other, e.g., in a mesh network  34  or the like as shown in  FIG. 2A . Although only one base station  42  is shown in  FIG. 2B , the hazard communications coordination node  36  and/or probes  20  may communicate with one or more base stations, depending on relative location of the probes  20  and the base stations. The base station  42  typically serves a cell or sector of a radio access network. The radio access network may be of any suitable technology type or generation. The base station  42  is in turn connected to one or more core networks  44  and through core networks  44  or otherwise to internet  46 . Depending on the particular radio access network technology, the base station  42  may communicate directly with other base stations as well.  FIG. 2B  further illustrates that, in conventional fashion, one or more wireless access points  48  may be connected to internet  46 . The wireless access points  48  may provide services such as WiFi services, for example. 
     As an alternative to communicating through a radio access network type base station  42 , the probes  20  may communicate directly with wireless access points  48 , or by Bluetooth, or with 900 MHz Industrial, Scientific, and Medical (ISM) radio access, or with an IEEE 802.15.4 mesh network, e.g., as part of mesh network  34 . Therefore, the term “base station” encompasses not only a radio access network type base station but other types of base station services as well. 
       FIG. 2B  further shows the base station  42  as being connected to hazard management server  50 , which may comprise the hazard management site. As explained herein, the hazard management server  50  may host or provide access to both Geographic Information System (GIS) database  52  and hazard modeling application (HMA)  54 . The connection of base station  42  hazard management server  50  may be direct, in which case the connection between base station  42  and hazard management server  50  may be either wireless or wired. Alternatively, the connection between base station  42  and hazard management server  50  may be through one or more of the core networks  44  or internet  46 . The hazard management server  50  is not confined to one hardware unit or one location, but may comprise one or more servers which are either co-located or distributed. The hazard management server  50  typically comprises or encompasses one or more data bases, which may either be included in hazard management server  50  or remotely connected to hazard management server  50 . 
     In addition to the probes  20  and hazard management server  50 , in the example embodiment of  FIG. 2B  the hazard management system  40  includes one or more terminals provided to hazard responder personnel and/or hazard management personnel. The terminals may have wired connection, e.g., to internet  46 , or alternatively may be wirelessly connected. Examples of hazard management terminals include one or more workstation(s)/terminal(s) situated at an emergency response regional center  55 , laptop terminal  56 , and mobile telephone  58  (e.g., smart phone), for example. Other types of wired and wireless terminals are may also be deployed to hazard management personnel who participate in hazard management system  40 . Depending on location and extent of service, the emergency response regional center  55 , the laptop terminal  56 , and the mobile telephone  58  may be served by one or both of the radio access network (e.g., via base station  42 ) or by WiFi (e.g., via wireless access point  48 ). Although only three types of terminals (e.g., emergency response regional center  55 , laptop terminal  56  and mobile telephone  58 ) are illustrated, it will be appreciated that often scores if not hundreds of persons may comprise a hazard management team, and accordingly that many terminals may be deployed in hazard vicinity  30 . 
       FIG. 3A  provides a pictorial perspective of an example probe  20  and basic, representative components comprising the probe  20 . The probe  20  comprises an outer housing or casing  60 . In the illustrated example embodiment of  FIG. 3A  the probe casing  60 A has essentially a spherical shape. In other example embodiments and modes the probe casing  60  may be configured in shapes other than a sphere, including multi-sided (e.g., dodecahedron) shapes and other shapes. For example,  FIG. 3B  and  FIG. 15A - FIG. 15B ,  FIG. 16 , and  FIG. 17  show an example probe  20 B comprising casing  60 B having a bullet shape. Herein, reference to probe  20  is intended to generically refer to a probe of any casing shape, including but not limited to a probe having the spherical casing  60 A of  FIG. 3A  and the probe  20 B having the bullet shaped casing  60 B of  FIG. 3B . 
     In many implementations in which the probe  20  is introduced into the hazard  22  through a fluid such as air or liquid, it may be preferable that the probe casing  60  have suitable aerodynamic shape. Moreover, such aerodynamic shape may assist in situations in which, even after introduction into hazard  22 , the probe  20  is transported through or around the hazard  22  by forces accompanying or caused by the hazard  22 , e.g., wind or current, in order to obtain readings from differing locations 
     In the example implementation of  FIG. 3A , the spherical casing  60  has a diameter in a range from approximately 4 cm to 7 cm (plus or minus 0.5 cm) and a weight in a range from about 30 grams to about 150 grams. In at least some example embodiment and modes the probe casing  60  is fabricated by three dimensional printing. 
     In at least some example embodiment and modes the probe casing  60 , regardless of shape, comprises a hazard-hardened material configured to withstand conditions and forces of the hazard for at least a predetermined time. The material of the probe casing  60  thus may depend on the specific type of hazard into which the probe  20  is configured for introduction or injection. Non-limiting example materials for probe casing  60  may include polylactic acid (PLA), photopolymer and polyjet materials. 
     As shown both in  FIG. 3A  and  FIG. 3B , housed within probe casing  60  are probe internal components including probe communications circuitry  62 , probe processor circuitry  64 , probe power supply  66 ; and probe sensors  68 . One aspect of the technology disclosed herein is that all these components are essentially co-located (e.g., in the sense that the components are internal to probe casing  60 ) and are not distributed or disparately located on different parts of a carrier agent (e.g., a human or instrumentality). As such, the interconnections of the components are within probe casing  60  and thus experience a same protection from/relation to the hazard  22 . 
     Each of probe communications circuitry  62 , probe processor circuitry  64 , probe power supply  66 , and probe sensors  68  may reside on one or more chips on one or more boards within the interior of probe casing  60 . Such chips or boards may be at same or different diameter levels (e.g., at different planes within the interior of probe casing  60 ). Space within probe casing  60  not occupied by one of these components may be filled with suitable probe filler material  70 , such as an appropriate insulation or other protective material that does not interfere with the operation of probe communications circuitry  62 . 
     It should be appreciated that the configuration of probe communications circuitry  62  depends on which one or more types of radio frequency access technologies the probe  20  utilizes. For example, the probe communications circuitry  62  may be configured for cellular communication, for WiFi communication, for Bluetooth communication, or license-free Industrial, Scientific, Medical (ISM) frequency bands, or for a combination of one or more of these or other technologies. Each technology type may indeed have its own sub-module or sub-circuitry within probe communications circuitry  62 . 
     The probe sensors  68  may be plug-in type sensors that may be selectively included in probe  20  upon fabrication by connecting the desired type of sensor into a suitable plug or port location on a board internally provided in probe casing  60 . Non-limiting, representative examples of different types of probe sensors  68  are described below. 
       FIG. 4  shows schematically in more detail example components of an example implementation of a probe  20 , and particularly shows that in general probe sensors  68  comprise two general types: probe disposition sensor(s)  68 D and environment sensors  68 E. In an example embodiment and mode, probe  20  comprises at least two types of sensors, and preferably at least one probe disposition sensor(s)  68 D and at least one environment sensors  68 E. 
     As illustrated in  FIG. 4 , the probe disposition sensor(s)  68 D may comprise probe location sensor  68 D- 1  and probe orientation sensor  68 D- 2 . One example of probe location sensor  68 D- 1  is a Global Positioning System (GPS) device. The probe location sensor  68 D- 1  may provide information such as time, latitude, longitude, heading, and speed. The probe orientation sensor  68 D- 2  may provide information such as yaw, pitch, roll, quaternion, and acceleration. The probe orientation sensor  68 D- 2  may comprise one or more of accelerometers, gyroscopes, and magnetometers. 
       FIG. 4  also shows that the probe processor circuitry  64  comprises plural ports through which connections are respectively made with each of the probe communications circuitry  62 , probe power supply  66 , and probe sensors  68 . Likewise the probe power supply  66 , which essentially serves as a battery, has plural power take-off terminals for supplying electrical power to each of probe communications circuitry  62 , probe processor circuitry  64 , and the probe sensors  68 . Yet further,  FIG. 4  illustrates that the probe communications circuitry  62  comprises a wireless transmitter  72  and, at least in some example embodiments, a wireless receiver  74 . In the case where wireless receiver  74  is employed, the probe may be used as a radio relay between a network of probes (e.g., mesh network  34 ) and a long-range radio relay from the probe network to a ground-based receiver that is part of the ground-based processing system. 
       FIG. 5  shows schematically in yet more detail example components of an example implementation of a probe  20 , and particularly shows representative, non-limiting examples of environment sensors  68 E. One, two, or more of the environment sensors  68 E herein described may be included, it being understood that not all environment sensors  68 E need necessarily be included in a probe  20 . Some probes may be custom configured with certain types of environment sensors  68 E for mitigating certain types of hazards. 
     The example environment sensors  68 E illustrated in  FIG. 5  include one or more chemical sensors  68 E- 1 . The chemical sensors  68 E- 1  may be a package for detecting presence and extent of one chemical elements or compounds, or a combination of chemical elements and/or compounds. There may be plural chemical sensors  68 E- 1 , with each configured to sense for a specific chemical element, compound, or condition. The chemical sensors  68 E- 1  may share a board or connection to probe processor circuitry  64 , or may have their own boards and connections. 
     Other environmental sensors  68 E include biological sensors  68 E- 2  and nuclear sensors  68 E- 3 . The biological sensors  68 E- 2  may be configured to detect certain biological agents, viruses, or life forms. The nuclear sensors  68 E- 3  may detect certain nuclear particles and/or radiation. As in the case of the chemical sensors  68 E- 1 , the biological sensors  68 E- 2  and nuclear sensors  68 E- 3  may either be consolidated with other sensors or the same or different types, or have dedicated boards and connections to probe processor circuitry  64  and probe power supply  66 . 
     In addition to biological, chemical, and nuclear sensors, the environmental sensors  68 E section of probe  20  may include humidity sensor  68 E- 4 , wind sensor  68 E- 5  (for measuring wind direction, wind velocity, or both), atmospheric pressure sensor  68 E- 6 , and temperature sensor  68 E- 7 . Other types of environmental sensors  68 E may also be included in probe  20 , the foregoing being only representative of one or more types that may comprise probe  20 . 
       FIG. 5  also shows that probe processor circuitry  64  has access to other information, either internally provided at probe processor circuitry  64  or otherwise (e.g., in a separate register or chip or board). For example, probe processor circuitry  64  has access to an identification number or serial number  67  for probe  20 . Each probe  20  may have a different (unique) serial number for identification purposes (allocated by manufacturer), and different types of probes  20 , e.g., probes  20  configured to mitigate different types of hazards, may have different identifier conventions (e.g., different prefixes or suffixes or other ways of expressing classification within a serial number scheme). The serial number  67  may be configured in the probe processor circuitry  64  or elsewhere in probe  20 , or may be downloaded in the event the probe  20  is provided with a wireless receiver  74  which can receive the serial number  67  as externally transmitted from another source. An outer surface of the probe casing  60  may also bear readable indicia (e.g., barcode) or serial number which can be scanned or otherwise noted, e.g., before deployment. In addition, in conjunction with utilization of probe power supply  66  the probe processor circuitry  64  has access to and/or executes power management function  69 . 
       FIG. 15A - FIG. 15E  show an example implementation of the bullet-shaped probe  20 B of  FIG. 3B  in which probe casing  60 B has a bullet shape. As understood, e.g., from  FIG. 4 , casing  60 B is configured to internally house the multiple sensors  68 , the communications circuitry, and the processor circuitry. The casing  60 B comprising an essentially cylindrical bullet shape. For example, along a major cylindrical axis a first end of the casing comprises a flat butt surface or butt end  164  and a second end of the casing comprises a rounded nose surface or nose end  166 . In a particular example implementation shown in  FIG. 15A - FIG. 15E , probe casing  60 B comprises two mating casing sections: casing base section  160  and casing nose section  162 . The casing base section  160  has cylindrical shape with a closed, flat butt end  164  at one end and a mouth at an end which is opposite the flat butt end  164 . The casing nose section  162  is also cylindrical, but has a rounded nose surface  166  and a mouth end opposite the rounded nose surface  166 . The casing base section  160  and the casing nose section  162  are joined together/mated at casing seam  168 . For example, the casing base section  160  and casing nose section  162  may be press fit together at casing seam  168 , or may be threaded for engagement at casing seam  168 . As shown in  FIG. 15D , a sealing ring or washer  170  may be provided at the casing seam  168 .  FIG. 15D  shows the casing base section  160  and the casing nose section  162  in a semi-mated state, e.g., with the casing nose section  162  not entirely snug on casing base section  160 .  FIG. 15E  shows the casing base section  160  and casing nose section  162  apart from one another, and further shows an interior of both casing base section  160  and casing nose section  162 . 
     The interior of casing base section  160  has a three dimensional quadrilateral base section cavity  180  which is open at the aforementioned mouth. In an axial plane of casing nose section  162  the base section cavity  180  has a square shape. A depth of the base section cavity  180  is sufficient to house the electronics  182  (e.g., processors, sensors, telecommunications circuitry) of the probe  60 B. For the particular probe shown in  FIG. 15A - FIG. 15E  the interior of the casing nose section  162  comprises a hollow cylindrical cavity  184 . 
       FIG. 16  and  FIG. 17  show an example implementation of an assembled bullet-shaped probe  20 ( 16 ).  FIG. 16  shows a sectioned side view of the bullet-shaped probe  20 ( 16 );  FIG. 17  is a top sectioned view taken along line  17 - 17  of  FIG. 16 . As with the probe of  FIG. 15A - FIG. 15E , the bullet-shaped probe  20 ( 16 ) comprises casing base section  160  and casing nose section  162 . Other elements of the bullet-shaped probe  20 ( 16 ) that are similar to those of  FIG. 15A - FIG. 15E  are similarly numbered. Likewise,  FIG. 16  and  FIG. 17  show elements of probe electronics  182 , positioned within quadrilateral base section cavity  180 , as comprising elements also depicted in the generic probe of  FIG. 4 , including such elements as probe communications circuitry  62  (which is connected to and associated with one or more probe antenna  63  mounted and extending within quadrilateral base section cavity  180 ), probe processor circuitry  64 , probe power supply  66 , and probe sensors  68  (illustrated as sensors  68 - 1  and  68 - 2  in  FIG. 16  and  FIG. 17 ). 
     The probe electronics  182  of the bullet-shaped probe  20 ( 16 ) further comprises probe internal inductive charging circuitry  190 . When operating in combination with an external inductive charging circuit, probe inductive charging circuitry  190  serves to perform inductive charging for/to the probe power supply  66 , shown as chargeable battery(ies)  66  in  FIG. 16  and  FIG. 17 . Preferably the probe inductive charging circuitry  190  includes a quadrilateral charging plate which is situated at a bottom of quadrilateral base section cavity  180  near the butt end  164  of bullet-shaped probe  20 ( 16 ). The probe inductive charging circuitry  190  is connected to and preferably situated near the chargeable battery(ies)  66 . As mentioned, probe inductive charging circuitry  190  operates in conjunction with a complementary charging circuit as herein described with reference to  FIG. 18  and  FIG. 19 , for example, somewhat in like manner as a secondary transformer coil operating in conjunction with a primary transformer coil. Thus, the material and thickness of the casing of bullet-shaped probe  20 ( 16 ) is chosen to permit the inductive charging operation. As used herein, “charging” encompasses both charging and recharging. 
       FIG. 16  and  FIG. 17  illustrate the probe electronics  182  as being situated on one or more circuit boards, e.g., printed circuit boards, illustrated as circuit boards  192 . In the example configuration of  FIG. 16  and  FIG. 17  a major plane of the circuit boards  192  are oriented in a direction of the depth of quadrilateral base section cavity  180 , e.g., parallel to dimension  172  of  FIG. 15A . For sake of example, two circuit boards  192  are illustrated, it being understood that a lesser or greater number may instead be provided, and the orientation may be other than parallel to the major axis of the cylinder of the casing. In the illustrated example, the two circuit boards  192  are parallel to one another and are separated by one or more board spacers  194 , although such separation may not be utilized in some example implementations. As shown in  FIG. 16  and  FIG. 17 , one of the circuit boards  192  has mounted thereon or is connected to the probe communications circuitry  62  and probe processing circuitry  64 , and another of the circuit boards  192  has mounted thereon or is connected to probe sensors  68 ( 1 ) and  68 ( 2 ). The elements arranged or connected to the respective circuit boards  192  may be otherwise configured, and may either reside wholly on one of the circuit boards  192  or be distributed among plural circuit boards  192 . Elements of the plural circuit boards  192  may be and preferably are electrically connected to one another.  FIG. 16  and  FIG. 17  show that a battery  66  may be borne by or connected to each of the circuit boards  192 , but it should be understood that only one of the circuit boards  192  may carry a battery  66 , and indeed that the power supply may be physically distinct from any of the circuit boards  192 . 
     In the example configuration of  FIG. 16  and  FIG. 17  the casing of bullet-shaped probe  20 ( 16 ) may have one or more ports or openings formed therein. For example, an I/O port  200  may be provided radially through casing base  160  and communicating with the quadrilateral base section cavity  180  so that an input/output unit, such as light emitting device (LED)  202  connected to one of the sensors  68 , may be positioned in the port  200  and thereby be externally visible with respect to the probe casing. The light emitting device (LED)  202  may be illuminated as appropriate for indicating, e.g., activation or proper functioning of the associated sensor(s)  68 . Other types of input/output devices may be situated in or accessed through I/O port  200 , such as an activation switch or reset switch, for example. 
     Another example of a port or opening provided in casing base  160 , or alternatively in casing nose  162 , may be a sensor window port  204 . The sensor window port  204  may accommodate a membrane or membrane unit  206  that permits (e.g., selectively permits) access by one or more sensed environmental elements (e.g., gas or radiation) to one or more sensor(s)  68 . Preferably the membrane unit  206  is waterproof and/or the interior of quadrilateral base section cavity  180  sealed so that neither moisture nor corrosive element has access to or damages any probe electronics  182  within quadrilateral base section cavity  180 . An example membrane material is Gor-Tex®. 
     Yet another example of a port of opening provided in the casing of bullet-shaped probe  20 ( 16 ) is nose port  210 , provided in casing nose section  162 . The nose port  210  may be utilized to accommodate an appropriate sensor or other device, such as thermocouple  212  as shown in  FIG. 16  and  FIG. 17 . The sensor or device situated within nose port  210  may be connected to probe electronics  182  (e.g., to a sensor or processor). 
     In addition to ports, the casing may also be etched, e.g., for example, with appropriate logo or other information. The depth of such etching may vary, and such may depend on or facilitate particular use of the probe. If the function of the probe is primarily for temperature monitoring, the etching may be to a depth roughly half the thickness of the casing wall so as to retain its full waterproof characteristics. On the other hand, if the function of the probe is for more hazardous sensing, the casing may be etched completely through the wall and then lined internally with a gas permeable membrane, as mentioned above, to provide for HAZMAT detection, but also retain some level of water resistance. 
     As mentioned above, the probe inductive charging circuitry  190  may operate in conjunction with a companion charging circuit so as to keep battery(ies) of the bullet-shaped probe  20 ( 16 ) charged and ready for service. Such may be particularly important when the bullet-shaped probe  20 ( 16 ) is stored for potential use or in transit to a hazard location.  FIG. 18  and  FIG. 19  show an example implementation of a companion charging circuit, particularly host charging circuit  220 . The host charging circuit  220  typically comprises or operates in conjunction with a host inductive charging plate  224 . The host inductive charging plate  224  is typically located to be proximate and preferably parallel to a similar charging plate comprising the probe inductive charging circuitry  190 . The host charging circuit  220  operates somewhat as a primary coil of a transformer to induce charge in a secondary coil of the probe inductive charging circuitry  190 . 
     In an example configuration shown in  FIG. 18  and  FIG. 19  the host charging circuit  220  comprises a probe case  230 , which may be a probe carrying case or probe storage case. The probe case  230  may have any suitable configuration, but in the example shown in  FIG. 18  and  FIG. 19  the probe case  230  is shown as comprising a partially hollow rectangular cavity or volume comprising case bottom  232  and four case sidewalls  234 . The case bottom  232  and case sidewalls  234  define case interior volume  236 , at the bottom of which a case floor  238  is situated. The host inductive charging plate  224  may be below or recessed in the case floor  238  so as to be proximate the butt ends of one or more shaped probes  20 ( 16 ) which are positioned in case interior volume  236 .  FIG. 19  shows how plural probes  20 ( 16 ) may be stored in the case interior volume  236  of probe case  230 . It so happens that the probe case  230  of  FIG. 19  accommodates three bullet-shaped probes  20 ( 16 ) which are linearly arranged, but other storage configurations are also possible, with greater numbers of probes and with the probes arranged in other patterns (e.g., two dimensional matrices of probes). 
     The host charging circuit  220  of the probe case  230  is shown as being connectable, e.g., by power cord  240 , to an external power source, e.g., to a source of alternating current. The power cord  240  may be a pronged connector for insertion into an electrical outlet, or of a configuration such as a cigarette charger or USB terminal. 
     The host charging circuit  220  need not be confined to a probe case  230 , but can be situated in other structure such as a compartment of a transport vehicle or the like that is maneuverable near hazard sites. In this regard, the technology disclosed herein encompasses a vehicle for transporting hazard sensor probes which comprises a storage case for chargeable probes, such as illustrated in  FIG. 18  and  FIG. 19 . 
     From the foregoing it should be appreciated that the butt end  164  of the probe casing  60 B facilitates inclusion of inductive charging system, e.g., an inductive charging plate, for re-charging of an internal battery of the bullet-shaped probe  20 ( 16 ), without having to disassemble of the probe or provide for an open charging port. 
     From the foregoing it can be appreciated that the internal inductive charging circuit  190  may be situated at an end of the cavity proximate the butt end surface  164  of the casing  60 B. Further, the internal inductive charging circuit  190  may comprise an essentially flat inductive charging plate positioned proximate a flat internal wall of the cavity  180 , such flat internal wall being perpendicular to the major cylindrical axis of the casing. A thickness of the casing between the butt end surface  164  of the casing and the internal inductive charging circuit  190  is chosen to facilitate both a degree of hazard resistance and to permit inductive charging of the battery by combined operation of (1) an external or host inductive charging circuit (such as host charging circuit  220 ) positioned proximate the butt end surface  164  but external to the casing and (2) the internal inductive charging circuit  190 . 
     Moreover, the technology disclosed herein encompasses a casing having an exterior surface of any shape which is configured to abut an external inductive charging circuit and thereby permit inductive charging of the chargeable battery by combined operation of the internal inductive charging circuit and the external inductive charging circuit. 
     The aerodynamic qualities of the shape of the bullet-shaped probe  20 ( 16 ) of  FIG. 15 - FIG. 15E  and  FIG. 16 - FIG. 17  also greatly aid in the range at which the probe can be projected, thereby providing increase the distance and associated safety factor for first responder personnel. The probe design greatly assists in guaranteeing a continuous flow of information from the sensor units to the control station without exposing a human to danger or having to depend on pre-located sensors (which might not be correctly situated to provide useful information). 
     The probe processor circuitry  64  also executes hazard management process  76 . The hazard management process  76  comprises coded instructions stored on non-transient medium which, when executed, perform operations such as, for example, coordinating operation of the multiple sensors and the probe communications circuitry  62 . Example, representative acts or steps performed by execution of hazard management process  76  are depicted in  FIG. 6A . Execution of hazard management process  76  begins with act  6 - 0 , which is followed by execution of act  6 - 1  through act  6 - 8 . While illustrated in preferable execution order, not all acts of  FIG. 6A  have to be executed in the order shown. 
     Act  6 - 1  comprises determining available sensors, e.g., taking inventory of the particular sensors which have been installed in probe sensor section  68 . The determination or inventory may determine, for example, what slots in a sensor board have been occupied with sensors. The identity of the sensors may be determined either based on slot position, or by inquiry to the sensors resulting in a response bearing a sensor type identification. 
     Act  6 - 2  comprises initializing the available/inventoried sensors and devices comprising the probe  20 . The initialization may be different for each sensor depending on sensor type. 
     Act  6 - 3  comprises initializing the probe communications circuitry  62 , which may include initializing actual communications between the probe communications circuitry  62  and external communication stations such as hazard communications coordination node  36  and/or base station  42 , for example. 
     Act  6 - 4  indicates the start of data acquisition. Data acquisition includes act  6 - 5  (acquisition of orientation data), act  6 - 6  (acquisition of location data), and act  6 - 7  (acquisition of environmental data). Act  6 - 5  is performed to acquire orientation data from orientation sensors  68 D- 2 ; act  6 - 6  is performed to acquire location data from probe disposition sensors  68 D- 1 ; act  6 - 7  is performed to acquire environmental data from one or more probe environmental sensors  68 E. 
     Act  6 - 8  comprises formatting data obtained from act  6 - 5  through act  6 - 7  into a communication packet or frame, and sending the communication packet or frame to the probe communications circuitry  62  so that probe communications circuitry  62  can transmit the communication packet or frame over a radio interface, e.g., to hazard communications coordination node  36  and/or base station  42 . 
     An example communication packet or frame prepared at act  6 - 8  is illustrated as packet  78  in  FIG. 7 . Packet  78  begins with header  78 - 1  which may include such information as probe identification number or serial number  78 - 1 - 1 ; time stamp  78 - 1 - 2 ; (optionally and if known) an address or identification  78 - 1 - 3  of a base station or node to which the packet  78  is to be directed (e.g., to which the packet is addressed); a packet type field  78 - 1 - 4 ; and, a packet directory field  78 - 1 - 5 .  FIG. 7  shows a packet which is identified by packet type field  78 - 1 - 4  as being a hazard management reporting packet, and as such indicates what other data reporting fields and sub-fields constitute the packet  78  and the formats (lengths or locations) of those reporting fields and sub-fields. For example, the packet  78  of  FIG. 7  comprises location reporting field  78 - 2  (including data obtained in act  6 - 6  from location sensor(s)  68 D- 1 ); orientation reporting field  78 - 3  (including data obtained in act  6 - 5  from orientation sensor(s)  68 D- 2 ); and environment reporting field  78 - 4  (including data obtained in act  6 - 7  from one or more environmental sensor(s)  68 E). For the particular packet  78  shown in  FIG. 7 , the probe  20  comprises five environmental sensors and thus five sensor reporting data sub-fields  78 - 4 - 1  through  78 - 4 - 5  are included in the environment reporting field  78 - 4 . The packet  78  may conclude with a post-amble field or trailer  78 - 5 , which may include check information such as a check sum or even error correction information. 
       FIG. 8  shows an example embodiment of hazard communications coordination node  36  which is configured to communicate with one or more probes  22  and a hazard management site. In the example embodiment shown in  FIG. 8 , the hazard communications coordination node  36  comprises node receiver circuitry  82 , node transmitter circuitry  84 , node communications controller  86 , and node power supply  88 . 
     The node receiver circuitry  82  comprises, e.g., amplifiers, demodulation circuitry, and other conventional receiver equipment. The node transmitter circuitry  84  includes, e.g., amplifier(s), modulation circuitry and other conventional transmission equipment. The node communications controller  86  may comprise one or more processors or controllers as herein described. The node power supply  88  provides power to each of node receiver circuitry  82 , node transmitter circuitry  84 , and node communications controller  86 . 
     The node communications controller  86  comprises handlers or managers for one or more types of communication protocol for which the hazard communications coordination node  36  is suited or equipped. A non-exhaustive indication of such protocols is depicted by IEEE 802.15.4 manager  86 - 1 ; WiFi manager  86 - 2 , Bluetooth manager  86 - 3 , cellular telecommunications manager  86 - 4 , and 900 MHz Industrial, Scientific, and Medical (ISM) radio access manager  86 - 5 . Other protocols may also be handled by node communications controller  86  for communicating between the probes  22  on the one hand and a hazard management site (whether directly as in the example situation shown in  FIG. 2A  or through a further telecommunications network(s) and/or internet as shown in the example situation of  FIG. 2B ). The hazard communications coordination node  36  receives probe signals from one or more probes  20  and transmits the probe signals to a host device. The hazard communications coordination node  36  may also provide information (e.g., initialization information or other commands) from the host device to probes  20  which are equipped with receivers. 
       FIG. 9  shows another perspective of hazard management system  40  as comprising a set  90  of probes  20  and hazard management computer program  92 .  FIG. 9  shows the set  90  of probes as being stored or organized in pre-deployment configuration in a case or box. The hazard management computer program  92  is also known as a computer program product. The hazard management computer program  92  is configured for execution in conjunction with receipt of the probe signals and comprises instructions stored on non-transient medium. The non-transient medium is illustrated in  FIG. 9  as comprising optical or magnetic disk  94 , but may be any other suitable non-transient medium. The hazard management computer program  92  comprises instructions which are executed by processor circuitry of a host device. As explained above, the host device may be a computerized device such as a mobile wireless device (illustrated by way of example as laptop  38  in  FIG. 2A ) or a server such as hazard management server  50  as shown in  FIG. 2B . When executed, the instructions of hazard management computer program  92  perform acts including receiving the sensor data included in the probe signal(s) and generating output based on the sensor data included in the probe signal(s). 
       FIG. 9  further shows an example implementation of hazard management computer program  92 , and particularly shows example functional components or modules of the coded instructions of hazard management computer program  92 . As shown in  FIG. 9  the illustrated example functional modules comprise communication interface  100 ; user interface  102 ; probe sensor data collection module  104 ; probe sensor data display module  106 ; existing hazard modeling module  108 ; and, hazard prediction module  110 . 
     The communication interface  100  is configured to perform communications with at least one of hazard communications coordination node  36  and/or one or more of the probes  20  using any suitable communication protocol, including but not limited to one or more of the following communication technologies: Bluetooth; WiFi; 900 MHz Industrial, Scientific, and Medical (ISM) radio access; cellular radio access; and IEEE 802.15.4. 
     The user interface  102  receives signals indicative of user input (e.g., manipulation of keyboard, mouse, touch screen, etc.) which serve, e.g., to activate the communication interface  100  and the other modules of hazard management computer program  92 . In addition the user interface  102  may output or generate signals through which the user may receive output in any appropriate form, including but not limited to visual, audible, and haptic output, for example. 
     The probe sensor data collection module  104  is configured to collect and, as necessary and when desired, organize the sensor data included in the probe signal(s) Such sensor data, after collection by options memory  104 , may at user instruction or otherwise be displayed on a display apparatus, such as an LCD or other form of display screen, on a host device or a terminal connection to the host device, by operation of probe sensor data display module  106 . 
     The probe sensor data display module  106  may display probe sensor data in various formats. To this end probe sensor data display module  106  may comprise various types of display driving sub-modules. For example, data display driving sub-module  106 - 1  is configured to drive a display to show probe sensor data gathered from an individual probe, in the example manner of  FIG. 11A .  FIG. 11A  is depiction of a screen shot  112  driven by data display driving sub-module  106 - 1 , showing an image of a reporting probe along with various data items reported in a probe signal received from the reporting probe. The reporting probe shown in  FIG. 11A  is an example of a multi-sided (e.g., dodecahedron) shape probe. 
     As another example,  FIG. 11B  is a depiction of a screen shot  114  driven by map and data display driving sub-module  106 - 2 . The map and data display driving sub-module  106 - 2  is configured to drive a display to show probe sensor data in the context of a geographical area of the hazard. That is, the map and data display driving sub-module  106 - 2  generates a visually perceptible depiction of a geographical area of the hazard in conjunction with the sensor data received in a probe signal. In an example embodiment the geographic depiction may be rendered by, obtained from, or derived from the Geographic Information System (GIS) database  52 , which may be either on-board at the host or accessed through the communications interface  100 . 
     By a user input device such as a mouse hovering over and/or clicking on an image of one of the probes  20 , an information box  116  showing sensor data obtained from that particular probe  20  appears in the screen. Although not shown in detail in  FIG. 11B , the type of information displayed in box  116  for probe  20   5  in  FIG. 11B  may be similar to the type of information shown in  FIG. 11A . Moreover, the user may edit the instructions for generation of box  116  so that more, less, or other information obtained from the sensor(s) of probe  20   5  may be displayed. 
     When executed (e.g., as prompted by user input or automatically as part of a sequence of execution of modules of hazard management computer program  92 ), the existing hazard modeling module  108  has the capability of consulting hazard modeling application (HMA)  54  and displaying placement of existing hazard management assets, such as position of emergency responder personnel and equipment (e.g., firetrucks).  FIG. 11C  shows an example display or screen shot  118  generated in conjunction with existing hazard modeling module  108 . The locations of emergency responder personnel and equipment may be communicated to the hazard management system  40  and to hazard management computer program  92  in any of various ways, including wireless porting from suitable devices which accompany or are carried by the emergency responder personnel and equipment. 
     Further details of the processing and execution of existing hazard modeling module  108  are shown in  FIG. 12 .  FIG. 12  shows existing hazard modeling module  108  performing acts to provide continuous, real-time display and alerting of remote geospatial, sensor location, velocity and environmental data. Act  12 - 1  comprises existing hazard modeling module  108  gathering orientation, location, velocity, and environmental data from probe(s)  20  (e.g., via probe sensor data collection module  104 , for example). Act  12 - 2  comprises existing hazard modeling module  108  gathering geospatial data from specified geographic sources (e.g., sources on the Internet). Act  12 - 3  comprises the existing hazard modeling module  108  gathering video data/video feed from video source(s), such as drone  27 , the video data/feed comprising (for example) visual and FLIR data. 
     Act  12 - 4  comprises the existing hazard modeling module  108  selecting geospatial data (acquired from act  12 - 2 ) in accordance with the probe location data and user-selected geo range (acquired from act  12 - 1 ). Act  12 - 5  comprises existing hazard modeling module  108  mapping video feeds/data (acquired from act  12 - 3 ) onto the display geographic data set (acquired from act  12 - 4 ), including warping data to fit a three dimensional display when necessary. Act  12 - 6  comprises the existing hazard modeling module  108  generating sensor location display and annotating the sensor location display, e.g., with velocity and/or environmental data. Act  12 - 7  comprises the existing hazard modeling module  108  generating user alerts based on user-defined limits, such as geo-fencing, velocity, and environmental limits, for example. Act  12 - 8  comprises recording and transmitting display data to remote terminals as required (using, e.g., communications interface  100 ). 
     When executed (e.g., as prompted by user input or automatically as part of a sequence of execution of modules of hazard management computer program  92 ), the hazard prediction module  110  uses the sensor data from the probe(s) in conjunction with hazard modeling application (HMA)  54  to predict a potential hazard scenario. For example, a display or screen shot  119   FIG. 11D  shows that the hazard prediction module  110  takes into consideration the sensor data to predict that the hazard  22  will assume the shape and location as shown in  FIG. 11D . Moreover, the hazard prediction module  110  serves to recommend positions where additional probes (such as probes  20   9 - 20   12 ) should be deployed, as well as recommended positions to relocate existing assets or add new assets. 
     Further details of the processing and execution of hazard prediction module  110  are shown in  FIG. 13 , in an example non-limiting context of hazardous material dispersion.  FIG. 13  shows hazard prediction module  110  performing acts to provide continuous hazard prediction and alerting from remote geospatial, sensor location, velocity, and environmental data models. Act  13 - 1  comprises hazard prediction module  110  gathering orientation, location, velocity, and environmental data from probe(s)  20  (e.g., via probe sensor data collection module  104 , for example). Act  13 - 2  comprises hazard prediction module  110  gathering geospatial data from specified geographic sources (e.g., sources on the Internet). Act  13 - 3  comprises the hazard prediction module  110  gathering load environmental prediction models for a selected geospatial area. 
     Act  13 - 4  comprises the hazard prediction module  110  selecting geospatial data (acquired from act  13 - 2 ) in accordance with the probe location data and user-selected geo range (acquired from act  13 - 1 ). Act  13 - 5  comprises hazard prediction module  110  propagating hazardous material dispersion within the selected geospatial area. Act  13 - 6  comprises the hazard prediction module  110  generating a hazardous material dispersion display. Act  13 - 7  comprises the hazard prediction module  110  generating user alerts based on dispersion prediction models. Act  13 - 8  comprises recording and transmitting display data to remote terminals as required (using, e.g., communications interface  100 ). 
     Whereas  FIG. 6A  shows example acts or steps performed by execution of hazard management process  76  by probe processor circuitry  64 ,  FIG. 10  shows example acts or steps performed in conjunction with a counterpart hazard management process  120  executed by data processing circuitry  130  (see  FIG. 14 ) of a device which is either in communication with one or more probes  20 , or which ultimately receives the packet  78  or contents thereof. Such device may be, for example, the emergency response regional center  55 , the laptop terminal  56  or the mobile telephone  58 , or any other device (e.g., computer workstation) to which the packet  78  is addressed or which has access to packet  78 . 
     The non-limiting example of acts of the hazard management process  120  as shown in  FIG. 10  essentially assumes full capability of the hazard management computer program  92  as comprising all modules shown in  FIG. 9 , including an existing hazard modeling  108  and hazard prediction module  110 . It should be understood that, in other example embodiments, all such capabilities (e.g., all such modules) need not necessarily be included or activated. 
     The hazard management process  120  comprises act  10 - 1  through  10 - 12  shown in  FIG. 10 . Act  10 - 0  comprises starting and initializing the hazard management process  120  at data processing circuitry  130 . Act  10 - 1  comprises accessing Geographic Information System (GIS) database  52 . As known in the art, a Geographic Information System (GIS)  52  database facilitates integration, storage, editing, analysis, sharing, and display of geographic information. The Geographic Information System (GIS) database may be stored or maintained at hazard management server  50 , or some other server or database, for access by data processing circuitry  130 . 
     Act  10 - 2  comprises starting or launching of the hazard modeling application (HMA)  54 . In some instances it may be necessary to download or otherwise obtain the hazard modeling application  54  so that the hazard modeling application (HMA)  54  is in memory in data processing circuitry  130 . The hazard modeling application (HMA)  54  may be stored or maintained at hazard management server  50 , for example, and then downloaded for access to data processing circuitry  130 . The hazard modeling application (HMA)  54  is typically configured for a certain type of hazard. For example, there may be one type of hazard modeling application (HMA)  54  for a wildfire, another type of hazard modeling application (HMA)  54  for a building fire, yet another type of hazard modeling application (HMA)  54  for a chemical leak; a further type of hazard modeling application (HMA)  54  for an inclement weather situation, and so on. So the type of hazard modeling application (HMA)  54  activated at act  10 - 2  may depend on the nature of the hazard. 
     After the Geographic Information System (GIS) database  52  and hazard modeling application (HMA)  54  are accessed and/or available, the hazard management process  120  is ready to receive reports (e.g., packet  78 ) from one or more probes  20 . Act  10 - 3  comprises determining if data (e.g., a packet  78 ) is received from one of the probes  20  comprising the hazard management system  40 . If no interrupt or the like indicates receipt of data, the hazard management process  120  continues to await arrival of a first or next packet. 
     When data is received from a probe  20 , as act  10 - 4  the data processing circuitry  130  of  FIG. 14  (e.g., probe sensor data collection module  104 ) acquires the data (e.g., packet  78 ) from the communications interface of the receiving device, e.g., from a communications interface of laptop terminal  56  or mobile telephone  58 , for example. Act  10 - 5  comprises unpacking the data from packet  78 , e.g., decoding or de-formatting the fields of the packets in order to ascertain the relevant fields of data included in the packet  78 . The data included in the packet  78  is understood from the description of  FIG. 7 , including an identification (e.g., serial number) of the particular probe  20  that transmitted the packet  78 , location of the probe  20  (obtained from location reporting field  78 - 2 ), orientation of the probe  20  (obtained from orientation reporting filed 78-3), and sensor readings (e.g., obtained from environment reporting field  78 - 4 ). 
     After receiving the data including sensor readings transmitted from a probe  20  in a packet  78 , as act  10 - 6  the data processing circuitry  130  (e.g., probe sensor data display module  106 ) generates output depicting the contents of the packet  78 . The output may take the form of a display such as that depicted by a screen shot  132  shown in  FIG. 11 , for example. The screen shot  132  may provide information such as an identification (e.g., serial number) of the particular probe  20 ; location of the probe  20 ; orientation of the probe  20 ; and one or more sensor readings obtained by the probe  20 . In addition, the information derived from the data processing may be overlaid on the GIS displays described above. 
     Act  10 - 7  of the hazard management process  120  comprises updating the hazard modeling application (HMA)  54  using the data received from the probe  20 , e.g., the data unpacked at act  10 - 5  and displayed at act  10 - 6 . Providing the hazard modeling application (HMA)  54  with the additional data provides the hazard modeling application (HMA)  54  with opportunity to perform its automated analysis. Such automated analysis occurs in the context of geographical information provided by Geographic Information System (GIS) database  52 , and may result in a further display or mapping of the hazard  22  or strategies sections thereof. The automated analysis may be beneficial in addition to human observation and analysis which also takes into consideration the newly arrived data in conjunction with the existing situation. As will be understood, with repeated execution of the acts of the loop of  FIG. 10  upon receipt of information from more and more probes  20 , a more detailed overview of the hazard  22  is gained. In fact, as shown by act  10 - 8 , the hazard modeling application (HMA)  54  in conjunction with hazard prediction module  110  may be configured to develop prediction scenarios as shown in  FIG. 11D , either on its own volition or as requested by an operator (e.g., of laptop terminal  56  or mobile telephone  58 ). 
     As a result of the update and analysis of act  10 - 7  and/or the scenario prognostication(s) of act  10 - 8  performed by hazard modeling application (HMA)  54 , as act  10 - 9  an advisory and/or alarm is generated. Act  10 - 10  illustrates that the advisory and/or alarm may be transmitted to a communication interface of data processing circuitry  130 , so that the advisory or alarm may be transmitted (e.g., over radio frequencies or wired connection or both) to other terminals including those in possession of hazard management team members or management personnel, for example. 
     As indicated by act  10 - 11 , upon completion of the above mentioned acts or periodically the hazard management process  120  checks to see if input has been received to indicate that the hazard management is terminated (e.g., if the hazard is over or under control). If so, as indicated by act  10 - 12  the hazard management process  120  may terminate. But if the hazard continues, execution loops back to act  10 - 3  to await arrival of a packet  78  from the same or another probe  20 . 
       FIG. 14  is a diagrammatic view showing example elements comprising data processing circuitry  138  which may comprise some or all of any processor circuitry described herein, including the probe communications circuitry  62 , the node communications controller  86 , as well as processor circuitry at any host device such as hazard management server  50  or laptop  38 , for example. The data processing circuitry  138  of  FIG. 14  comprises one or more processors  140 , program instruction memory  142 ; other memory  144  (e.g., RAM, cache, etc.); input/output interfaces  146 ; peripheral interfaces  148 ; support circuits  149 ; and busses  150  for communication between the aforementioned units. 
     The memory  144 , or computer-readable medium, may be one or more of readily available memory such as random access memory (RAM), read only memory (ROM), floppy disk, hard disk, flash memory or any other form of digital storage, local or remote, and is preferably of non-volatile nature. The support circuits  149  are coupled to the processors  140  for supporting the processor in a conventional manner. These circuits include cache, power supplies, clock circuits, input/output circuitry and subsystems, and the like. 
       FIG. 6B  shows in more detail certain sub-acts or sub-steps  6 - 5 - 1  through  6 - 5 - 6  executed by the probe communications circuitry  62  when performing act  6 - 5 , e.g., acquiring orientation data. Act  6 - 5 - 1  comprises computing inertial accelerations from linear accelerations and quaternion data. Act  6 - 5 - 2  comprises filtering the inertial accelerations to remove a gravity vector. Act  6 - 5 - 3  comprises integrating inertial accelerations to derive inertial velocities. Act  6 - 5 - 4  comprises optionally filtering inertial velocities to remove the residual gravity vector. Act  6 - 5 - 5  comprises integrating the inertial velocities to derive inertial position. Act  6 - 5 - 6  comprises optionally filtering inertial position to remove a residual gravity vector. 
     Thus, upon arrival at a HAZMAT/fire event, e.g., a hazard  22 , first responders deploy a combination of multiple micro sensors, e.g., probes  20 , and may do so in a pattern such as a constellation. The probes  20  may be deployed using a micro Sensor Ejecting Mechanism (SEM). The SEM may include a drone-based robotic arm, controlled by the operator, and used to drop sensors into specific areas of the hazardous situation. The sensors may also be deployed from a ground-based SEM that is used to “shoot” sensors into the hazardous area by means of a compressed air gun. In addition, the sensors may be deployed from the drone in a tethered manner; that is, they may remain attached to the drone by a thin wire. Deployment of the probes  20  enables initiation of the overall system operation of the hazard management system  40 . Once deployed, the probes  20  activate the systems and provide a data stream which is received at hazard management terminals or workstations via the communications network. The communications stream may be essentially continuous. As explained above by way of example, the communications network may be an IEEE 802.15 type network. 
     The data received from the probes  20 , e.g., in packets  78 , may be automatically analyzed by the incorporated HAZMAT models (e.g., hazard modeling application (HMA)  54 ) and overlaid on a local GIS data base (e.g., Geographic Information System (GIS) database  52 ) to provide the first responder crew a clear picture of the specific hazards and conditions (temperatures, micro weather conditions, chemical, biological, and/or radioactive contamination) [see act  10 - 7  of  FIG. 10 ]. The display(s) may be operator selectable to focus on the specific mission requirements of that emergency response crew. In addition, the first responder may select a predictive depiction of the possible pathways a spreading conflagration could take to include ground and water path as well as airborne (see, e.g., act  10 - 8 ). The end product of this is to allow the first responder to orchestrate their most effective operational plan and safest path to neutralizing the event. 
     In an alternative embodiment and mode, the emergency response regional center  55  may provide the data via satellite/radio link to a first responder vehicle. This alternative implementation removes the need for the first responder to carry this capability in an already space limited piece of equipment. However, this approach is unable to provide the fidelity of information necessary to effectively understand real world/actual conditions and may entail a safety risk. 
     The technology disclosed herein may also be used for environmental surveys and may also be programmed to provide tracking of individuals &amp; material equipped with the appropriate micro sensor (e.g., probe  20 ). 
     As understood from the foregoing, multiple micro sensors (e.g., probes  20 ) may be utilized with specific property models (e.g., HAZMAT Substance Model(s) such as hazard modeling application (HMA)  54 ) for a variety of HAZMAT substances. The hazard modeling application (HMA)  54  may incorporate or be utilized in conjunction with a predictive modeling application (act  10 - 8 ) to forecast the spread of the emergency situation. The results of this real time analysis may be displayed (e.g., at emergency response regional center  55 , on laptop terminal  56 , or on mobile telephone  58 , for example), via 802.15.4 mesh network capability. In some instances the laptop terminal  56  may be situated in a vehicle or the like, in which case a Vehicle Mounted RF antenna may be beneficial to ensure adequate connectivity between the responding vehicle and its sensor constellation. 
     The technology disclosed herein provides numerous capabilities and advantages. For example, it provides the first responder with a clear and concise depiction of the hazards (fire intensity, chemical presence, etc.) and micro environmental conditions associated with the specific emergency event. Other non-limiting and non-exhaustive advantages include:
         Real time high fidelity environmental information to first responders   Current sensor will well-characterize “chaotic” wind fields   GPS aided IMU provides sufficient accuracy to measure and report/track velocity and location (current), chemical/substance data (future)   sufficient sensor accuracy to measure vibration/shock/pressure/temperature/humidity       

     The hazard management system  40  may provide stand-alone analysis and prediction of environmental effects without the need to received inputs from distant command centers. Moreover, the hazard management system  40  provides actionable information directly to the firefighter(s) in the vehicle on a standard laptop or tablet device. Further the hazard management system  40  provides uplink connectivity to local command center (PTAP) to provide analysis of the specific conditions encountered by the responding crew(s). The technology disclosed herein thus introduces and networks disposable micro sensors (e.g., probes  20 ) into a real time environment by the responding vehicle into a predictive common operating picture and integrates with any existing local sensors. 
     The technology disclosed herein may enhance: Incident Commander (IC) ability to merge local data bases; Regional Emergency Commander/Coordinator integration into local/community leadership; efforts and investigations of Forensic and Training agencies/departments. Table 1 shows various example performance &amp; capability specifications, e.g., for a probe  20 . 
     
       
         
           
               
             
               
                 TABLE 1 
               
             
            
               
                   
               
               
                 Example Performance &amp; Capability Specifications 
               
            
           
           
               
               
               
            
               
                   
                 Parameter 
                 Specification 
               
               
                   
                   
               
               
                   
                 Heat Tolerance 
                 400 C., 30 seconds 
               
               
                   
                 “g” Tolerance 
                 A fall of 200 meters 
               
               
                   
                 Temperature 
                 +/−5 C. 
               
               
                   
                 Pressure 
                 +/−10 mbars 
               
               
                   
                 Power 
                 &lt;150 mah 
               
               
                   
                 Size (volume) 
                 65 cm3 
               
               
                   
                 Weight 
                 30 Grams 
               
               
                   
                 Dimension 
                 2.5 cm radius 
               
               
                   
                 Sensitivity (wind speed) 
                 +/−5 kts 
               
               
                   
                 Sensitivity (combustible gas) 
                 2500 (+/−1500 ppm) 
               
               
                   
                 Sensitivity (CO) 
                 0-200 ppm 
               
               
                   
                 Sensitivity (HS) 
                 0-50 ppm 
               
               
                   
                 Sensitivity (Nuclear) 
                 1 uR/hr to 1 R/hr 
               
               
                   
                 GPS Accuracy 
                 +/−10 meters 
               
               
                   
                 GPS Transmission Mode 
                 2.4 to 2.485 GHz 
               
               
                   
                 IMU Accelerometer Sensitivity 
                 16 g 
               
               
                   
                 IMU Gyro Sensitivity 
                 2000 degrees/sec 
               
               
                   
                 UAV Payload 
                 1.0 kg 
               
               
                   
                 UAV Dwell Time 
                 20 minutes 
               
               
                   
                 UAV Maximum Altitude 
                 500 meters 
               
               
                   
                 UAV Radio Relay 
                 300 meters 
               
               
                   
                   
               
            
           
         
       
     
     Although the processes and methods of the disclosed embodiments may be discussed as being implemented as a software routine, some of the method steps that are disclosed therein may be performed in hardware as well as by a processor running software. As such, the embodiments may be implemented in software as executed upon a computer system, in hardware as an application specific integrated circuit or other type of hardware implementation, or a combination of software and hardware. The software routines of the disclosed embodiments are capable of being executed on any computer operating system, and are capable of being performed using any CPU architecture. 
     The functions of the various elements including functional blocks, including but not limited to those labeled or described as “computer”, “processor” or “controller”, may be provided through the use of hardware such as circuit hardware and/or hardware capable of executing software in the form of coded instructions stored on computer readable medium. Thus, such functions and illustrated functional blocks are to be understood as being either hardware-implemented and/or computer-implemented, and thus machine-implemented. 
     In terms of hardware implementation, the functional blocks may include or encompass, without limitation, digital signal processor (DSP) hardware, reduced instruction set processor, hardware (e.g., digital or analog) circuitry including but not limited to application specific integrated circuit(s) (ASIC), and/or field programmable gate array(s) (FPGA(s)), and (where appropriate) state machines capable of performing such functions. 
     In terms of computer implementation, a computer is generally understood to comprise one or more processors or one or more controllers, and the terms computer and processor and controller may be employed interchangeably herein. When provided by a computer or processor or controller, the functions may be provided by a single dedicated computer or processor or controller, by a single shared computer or processor or controller, or by a plurality of individual computers or processors or controllers, some of which may be shared or distributed. Moreover, use of the term “processor” or “controller” may also be construed to refer to other hardware capable of performing such functions and/or executing software, such as the example hardware recited above. 
     Whenever it is described in this document that a given item is present in “some embodiments,” “various embodiments,” “certain embodiments,” “certain example embodiments, “some example embodiments,” “an exemplary embodiment,” or whenever any other similar language is used, it should be understood that the given item is present in at least one embodiment, though is not necessarily present in all embodiments. Consistent with the foregoing, whenever it is described in this document that an action “may,” “can,” or “could” be performed, that a feature, element, or component “may,” “can,” or “could” be included in or is applicable to a given context, that a given item “may,” “can,” or “could” possess a given attribute, or whenever any similar phrase involving the term “may,” “can,” or “could” is used, it should be understood that the given action, feature, element, component, attribute, etc. is present in at least one embodiment, though is not necessarily present in all embodiments. Terms and phrases used in this document, and variations thereof, unless otherwise expressly stated, should be construed as open-ended rather than limiting. As examples of the foregoing: “and/or” includes any and all combinations of one or more of the associated listed items (e.g., a and/or b means a, b, or a and b); the singular forms “a”, “an” and “the” should be read as meaning “at least one,” “one or more,” or the like; the term “example” is used to provide examples of the subject under discussion, not an exhaustive or limiting list thereof; the terms “comprise” and “include” (and other conjugations and other variations thereof) specify the presence of the associated listed items but do not preclude the presence or addition of one or more other items; and if an item is described as “optional,” such description should not be understood to indicate that other items are also not optional. 
     As used herein, the term “non-transitory computer-readable storage medium” includes a register, a cache memory, a ROM, a semiconductor memory device (such as a D-RAM, S-RAM, or other RAM), a magnetic medium such as a flash memory, a hard disk, a magneto-optical medium, an optical medium such as a CD-ROM, a DVD, or Blu-Ray Disc, or other type of device for non-transitory electronic data storage. The term “non-transitory computer-readable storage medium” does not include a transitory, propagating electromagnetic signal. 
     Although various embodiments have been shown and described in detail, the claims are not limited to any particular embodiment or example. The technology fully encompasses other embodiments which may become apparent to those skilled in the art. None of the above description should be read as implying that any particular element, step, range, or function is essential such that it must be included in the claims scope. The scope of patented subject matter is defined only by the claims. The extent of legal protection is defined by the words recited in the claims and their equivalents. All structural and functional equivalents to the elements of the above-described preferred embodiment that are known to those of ordinary skill in the art are expressly incorporated herein by reference and are intended to be encompassed by the present claims. Moreover, it is not necessary for a device or method to address each and every problem sought to be solved by the technology described, for it to be encompassed by the present claims. No claim is intended to invoke paragraph  6  of 35 USC § 112 unless the words “means for” or “step for” are used. Furthermore, no embodiment, feature, component, or step in this specification is intended to be dedicated to the public regardless of whether the embodiment, feature, component, or step is recited in the claims.