{"id":28,"date":"2025-11-23T23:40:41","date_gmt":"2025-11-23T23:40:41","guid":{"rendered":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/?page_id=28"},"modified":"2026-02-19T14:36:34","modified_gmt":"2026-02-19T14:36:34","slug":"system-design","status":"publish","type":"page","link":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/system-design\/","title":{"rendered":"System Design"},"content":{"rendered":"\n

Objectives Tree<\/h2>\n\n\n\n
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System Requirements<\/h2>\n\n\n\n
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Functional Architecture<\/h2>\n\n\n\n
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Cyberphysical Architecture<\/h2>\n\n\n\n
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System Design Description<\/h2>\n\n\n\n

Above illustrates the complete FireSense system architecture, consisting of two wearable Sensor Payloads deployed inside the structure and a Command Station located outside the hazard zone. Each firefighter carries a modular payload mounted on the shoulder and back, integrating a thermal stereo camera, mmWave radar, IMU, onboard compute (Jetson AGX Orin), battery, and wireless communication module. The payload performs front-end SLAM and POI detection, transmitting lightweight SLAM constraints to the Command Station via a 915 MHz communication link. The Command Station executes centralized Collaborative SLAM (C-SLAM) optimization to generate a consistent global 3D map and displays firefighter positions, POIs, and navigation guidance through a user interface for the Fire Chief.<\/p>\n\n\n\n

The system follows a human-centric design, leveraging firefighters as the mobility platform instead of deploying independent robots. Robotic alternatives (wheeled, legged, aerial) were considered but discarded due to high development complexity, limited mobility in cluttered residential structures, and payload constraints. A centralized C-SLAM architecture was selected over decentralized alternatives to ensure global map consistency and reduce implementation complexity, with heavy optimization computation offloaded to the Command Station.<\/p>\n\n\n\n

The Sensor Payload subsystem focuses on robust perception and bandwidth-efficient constraint generation, while the Command Station subsystem performs global optimization and navigation guidance. The 915 MHz communication band was chosen for improved penetration through walls and smoke. Higher-frequency bands alone were discarded due to interference and attenuation concerns.<\/p>\n\n\n\n

This architecture balances mapping accuracy, localization reliability, communication robustness, and operational practicality while integrating seamlessly into existing firefighting workflows.<\/p>\n\n\n\n

<\/p>\n","protected":false},"excerpt":{"rendered":"

Objectives Tree System Requirements Functional Architecture Cyberphysical Architecture System Design Description Above illustrates the complete FireSense system architecture, consisting of two wearable Sensor Payloads deployed inside the structure and a Command Station located outside the hazard zone. Each firefighter carries a modular payload mounted on the shoulder and back, integrating a thermal stereo camera, mmWave […]<\/p>\n","protected":false},"author":456,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-28","page","type-page","status-publish","hentry"],"_links":{"self":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages\/28","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\/456"}],"replies":[{"embeddable":true,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/comments?post=28"}],"version-history":[{"count":3,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages\/28\/revisions"}],"predecessor-version":[{"id":64,"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/pages\/28\/revisions\/64"}],"wp:attachment":[{"href":"https:\/\/mrsdprojects.ri.cmu.edu\/2026teamf\/wp-json\/wp\/v2\/media?parent=28"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}