# HelpResponder--System for the Security of First Responder Interventions
## 3 Global Description of the Architecture  
### Our Contribution  
The objective is to manage relevant information from the environment to decide an intervention concerning the firefighter's tactics and use graphic interfaces for emergency ACP (Advanced Command Post)--the administrator of interventions and navigation tactics. Our system can provide valuable information in an emergency intervention, and its use would impact the firefighters' response times, operational timeframes for firefighters, and avoidance of potential accidents. This platform has been evaluated in two confined (indoor) spaces and an open space of approximately 70-130 square meters, simulating a small tunnel or small gallery, which reduces the response time in 3.02 s less. It has also been tested in conditions of absence of a GNSS (Global Navigation Satellite System) signal, with smoke (without visibility),and with high levels of temperature and humidity: a solution for cold fire (simulated fire) and fire (real fire). We chose those scenarios because there is no visibility in an open space (single space) in the presence of smoke. If we add to this the fact that there is no reference element (walls, stairs, columns, etc.) in the environment, the disorientation of firefighters or victims will be even greater. The aforementioned physical elements serve to provide a specific reference in the absence of visibility. When there is none, it is necessary to offer solutions to help orientation and navigation. For this purpose, where there is no visibility, an autonomous navigation vehicle called a Mobile Ground Autonomous Vehicle (MGAV) has been developed, incorporating thermal image acquisition and using artificial vision algorithms to detect possible fire focuses in an emergency. The inclusion of thermal cameras and the automatic analysis of its images with thermal information are oriented to improve monitoring with images and support the emergency team in such high-risk situations. Moreover, MGAV can navigate among avoiding obstacles using ultrasonic sensors. This solution is based on an IoT sensor network to provide communications to the outside and collect and send environmental information to the ACP. Our biggest challenge is to provide good results with images taken in motion, in videos, and real processing. Most solutions offer tests with a static camera at a fixed point and with photos. However, in this work, we have deployed and evaluated the system using a moving camera. Communications and acquisition of environmental parameters for the MGAV have been implemented through this IoT network using a wireless Bluetooth Low Energy (BLE) protocol. According to the requirements of the emergency services, the next main parameters have been chosen to help operational tactics: environmental temperature, toxicity in the air, and CO concentration. The sensor network components (beacons) also include temperature and CO (Carbon dioxide) concentration measurements and flame detection. This sensor network must be deployed at the facility as part of its security infrastructure. We hypothesize that the beacons network is deployed in the environment and that there is an a priori known map of the space. The firefighters usually operate with maps of the areas to be intervened to take decisions. We will assume that the MGAV will have to reach at least as far as the point where the fire source is detected. With the information of its position through the sensor network and the camera's orientation, it will be possible to know the location. This information and the map known a priori complemented with the IMU will optimize the firefighters' navigation. Our objective in this work is to investigate a platform that responds to minimize risks in an intervention by validating our architecture and algorithms improving the information about the scenario reducing time of exposure to minimize risks. Therefore, previously and during the intervention of firefighters, it would be capable of monitoring and operating indoors with hostile conditions associated with an emergency [13].