{"id":145,"date":"2026-04-03T17:40:44","date_gmt":"2026-04-03T17:40:44","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/?page_id=145"},"modified":"2026-05-02T03:46:05","modified_gmt":"2026-05-02T03:46:05","slug":"payload-versions","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/system-summary\/payload-versions\/","title":{"rendered":"Payload Versions"},"content":{"rendered":"\n

Payload 1.0 – Handle Style<\/h2>\n\n\n\n

The initial iteration of our project, Payload 1.0, features a handheld, handle-style design<\/sup><\/sup><\/sup><\/sup>. It is a modular unit that allows for simple wiring and assembles all the necessary sensors, including a Boson camera<\/sup>. For thermal management, the system utilizes louver and honeycomb heat dissipation structures alongside integrated fans<\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup>. This version establishes a wireless connection between the command station and the payload<\/sup>. Internally, the payload is powered by a battery and contains a radio, an Orin and camera capture card, and a radar capture card<\/sup><\/sup><\/sup><\/sup>. The sensor suite includes ZEDX, thermal cameras, and radar<\/sup><\/sup><\/sup><\/sup>.<\/p>\n\n\n\n

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Payload V1.2 – Handle Style<\/h2>\n\n\n\n

Payload V1.2 continues with the handle-style design but introduces several key enhancements for durability and performance during fast motion<\/sup><\/sup><\/sup><\/sup>. We upgraded the camera system by changing to a Boson+ equipped with an environmental enclosure<\/sup>. Additionally, this version features integration with a printed circuit board (PCB) that includes both power and debugging capabilities<\/sup>. To better withstand harsh environments, the design incorporates heat-resistant materials and specialized damping<\/sup>.<\/p>\n\n\n\n

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Payload V1.3 – Handle Style (SVD)<\/h2>\n\n\n\n

The V1.3 handle-style payload, also noted as the SVD version, focuses heavily on structural material improvements<\/sup>. Specifically, we switched to using ASA as a heat-resistant material and integrated TPU material to enhance the system’s damping characteristics<\/sup>.<\/p>\n\n\n\n

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Payload V2.0 – Backpack Style (Fall)<\/h2>\n\n\n\n

Marking a significant design shift, the entire V2 series transitions to a backpack-style payload that mounts to a standard SCBA backpack frame<\/sup><\/sup><\/sup><\/sup>. This version separates the compute core and battery pack from the sensor head<\/sup><\/sup><\/sup><\/sup>. The gimbled multi-sensor head now houses RGB, thermal, and LiDAR sensors, alongside an added radar system<\/sup><\/sup><\/sup><\/sup>. Electronics were upgraded through integration with a V2 PCB, which includes a refined core PCB on the backpack mount and a second debug and power PCB located on the sensor mount<\/sup><\/sup><\/sup><\/sup>. These changes were implemented to increase overall durability and accommodate aggressive motion<\/sup>.<\/p>\n\n\n\n

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Payload V2.1 – Backpack Style (FVD)<\/h2>\n\n\n\n

Payload V2.1, the FVD backpack-style version, is heavily optimized for rapid deployment and aggressive motion<\/sup><\/sup><\/sup><\/sup>. It features a deployable mount point that connects directly to a mountable feature on the firefighter’s harness via an interface plate and metal interlocking points<\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup>. The securement is integrated directly into the harness buckle and uses a quick-deploy lever mechanism to improve the overall speed of mounting<\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup>. Both the V2.1 core and the sensor head utilize this quick-mount system<\/sup><\/sup><\/sup><\/sup>.<\/p>\n\n\n\n

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Payloads and Command Station<\/h2>\n\n\n\n

We have outlined two distinct hardware configurations for our payloads. FireSense Payload A<\/strong> is driven by an NVIDIA Jetson AGX Orin and includes two Boson+ cameras, a ZEDX camera used for its IMU and benchmarking, and a ZEDX capture card<\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup><\/sup>. It also features a TI radar with a TI capture board, a WiFi Halow STA bridge for connectivity, and a dedicated PCB board<\/sup>.<\/p>\n\n\n\n

FireSense Payload B<\/strong> similarly uses the NVIDIA Jetson AGX Orin, a TI radar with a capture board, a WiFi Halow STA bridge, and a PCB board. However, instead of the ZEDX, it utilizes a MicroStrain IMU and plans to incorporate two Boson+ cameras acquired in the fall from Airlab.<\/p>\n\n\n\n

Finally, the FireSense Command Station<\/strong> is equipped with a WiFi Halow AP router to seamlessly manage communications with the deployed payloads.<\/p>\n","protected":false},"excerpt":{"rendered":"

Payload 1.0 – Handle Style The initial iteration of our project, Payload 1.0, features a handheld, handle-style design. It is a modular unit that allows for simple wiring and assembles all the necessary sensors, including a Boson camera. For thermal management, the system utilizes louver and honeycomb heat dissipation structures alongside integrated fans. This version […]<\/p>\n","protected":false},"author":458,"featured_media":0,"parent":2,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"page-with-sidebar","meta":{"footnotes":""},"class_list":["post-145","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages\/145","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/users\/458"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/comments?post=145"}],"version-history":[{"count":5,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages\/145\/revisions"}],"predecessor-version":[{"id":278,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages\/145\/revisions\/278"}],"up":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages\/2"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/media?parent=145"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}