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As the risk of disaster scenes increases, the number of cases of acquiring disaster scenes information using unmanned robots is increasing. Because unmanned robots can be remotely controlled, sensors such as LiDAR and optical cameras are installed so that investigators can safely observe disaster scenes and acquire information. In particular, the information that can be acquired is different depending on the sensor characteristics, and a sensor module suitable for the purpose is being developed. Accordingly, the National Disaster Management research Institute(NDMI) also developed a investigation robot capable of acquiring information on disaster sites independently. Based on 3D point cloud data, we developed a multi-sensor module and SLAM algorithm customized to the investigation robot to collect quantitative information on the damage situation. To test the performance of the independently developed multi-sensor module, SLAM mapping was performed in a disaster building reproduced like a disaster scene, and various SLAM algorithms and distance comparison were performed. As a result, PackSLAM developed in this study showed the lowest error. In the future, to increase applicability at disaster sites, more precise experiments will be conducted by conducted by establishing a rough terrain environment.

Disasters are not easy to predict because they occur suddenly, and the scale of disasters is increasing compared to the past. Since a new type of disaster field always appears, when a disaster occurs, responders who are put into the site recognize the same risk as secondary damage and are put into the field. In this regard, the robot performs missions such as search and rescue in the initial response process at the disaster field. It is a technology with high potential to reduce damage to people and property. Most of the robots are equipped with site accessibility and monitoring through cameras and remote control, but considering the specificity of the disaster field, it is not easy to fully monitor the site with a camera sensor as the possibility of poor visibility is very high. LiDAR uses a laser to recognize the distance to a nearby object in a relatively wide range and acquires three-dimensional information, so its accuracy and precision are higher than other sensors.In this study, one multi-sensor module was manufactured by combining LiDAR and IMU sensor with a computing board for real-time monitoring so that it could be used in the field of robots. In addition, we studied how to stably mount this multi-sensor module to a robot so that it can maintain optimal accuracy at disaster field, and it is intended to be utilized as a prior research for field operation of robots equipped with sensors in the future.

Disasters that occur in recent years are linked to various factors and occur in a chain, and the scale is also increasing. In order to solve the more complex and serious disaster problem, it is necessary to expand the affect scope of the disaster and to acquire and manage information by integrating and operating various sensors. With the introduction of UAVs for disaster work, various studies such as investigation of the affected area, rescue of survivors, and establishment of emergency communication networks are being conducted. This is useful for strengthening the field of disaster management because it is very effective in terms of time and human resources. In addition, it is possible to acquire high-resolution images, and by using the 3D point cloud data and ortho-mosaic imagery generation, it is possible to produce a disaster scene close to the real world. Therefore, if UAV information can be linked to disaster types and characteristics prior to supporting disaster damage investigation, it is possible to establish a response method according to the disaster damage situation and help decision-making. In order to examine the applicability of UAV technology for actual disaster sites, this study conducted data collection and analysis of damaged areas targeting sites damaged by heavy rain and chemical accidents. In the heavy rain damage site, flooding damage occurred in the ginseng cultivation patches due to river overflow caused by the torrential rain, and the damaged area and lots were investigated. The site of the chemical accident was damaged by hydrochloric acid gas leaking into the atmosphere, and the surrounding forest, crops, and residential facilities were identified and the affected area was calculated. As a result of investigating the damage from heavy rain and chemical accidents using UAV, it was possible to quickly collect data on a wide disaster site. In addition, it was easy to calculate the damaged area based on ortho-imagery, and the limitations of spatial analysis were reduced, so that it could be used more specifically and efficiently to the disaster site.

Gas sensing research experiences a worldwide revival in the last years. From one side, the emergence of novel sensing materials enables unprecedented capacities for improving the device performances. From the other, the increasing opportunities for applications impacting current societal priorities highly motivate further studies. Here, this field is reviewed with special attention to the emerging approaches and the most recent breakthroughs, challenges, and perspectives. In particular, this study focuses on: 1) the sensing layers analyzing recent trends toward nanostructured, low-dimensional and composite materials; and 2) the latest achievements and targets in terms of applications, from environmental monitoring to food aroma identification and quality control up to the healthcare sector with breath analysis and diseases diagnosis.