Development of real time systems to detect and track on duty injured firefighters using advanced signal processing techniques

VIETNAM NATIONAL UNIVERSITY HA NOI UNIVERSITY OF ENGINEERING AND TECHNOLOGY PHAM VAN THANH DEVELOPMENT OF REAL-TIME SYSTEMS TO DETECT AND TRACK ON-DUTY INJURED FIREFIGHTERS USING ADVANCED SIGNAL PROCESSING TECHNIQUES DOCTORAL THESIS IN ELECCTRONICS AND TELECOMMUNICATIONS ENGINEERING Ha Noi - 2022 VIETNAM NATIONAL UNIVERSITY HA NOI UNIVERSITY OF ENGINEERING AND TECHNOLOGY PHAM VAN THANH DEVELOPMENT OF REAL-TIME SYSTEMS TO DETECT AND TRACK ON-DUTY INJURED FIREFIGHTERS USING ADVANCED SIGNAL PROCESSING TECHNIQUES Major: Electronic Engineering Code: 52 02 03.01 DOCTORAL THESIS IN ELECCTRONICS AND TELECOMMUNICATIONS ENGINEERING Supervised by: Assoc Prof Tran Duc Tan Ha Noi - 2022 DECLARATION “I hereby declare that the work contained in this thesis is of my own, and it has been written by myself under the supervison of Professor Tran Duc Tan at Faculty of Electrical and Electronic Engineering, Phenikaa University, Hanoi, Vietnam during the period from September 2017 to August 2021 The thesis has not been previously submitted for a degree or diploma at this or any other higher education institution I have duly acknowledged all the sources of information which have been used in the thesis The thesis content has been partly published in my list of publications as below: Pham Van Thanh, Tuan Khai Nguyen, Duc Anh Nguyen, Nhu Dinh Dang, Huu Tue Huynh, Duc-Tan Tran*, “Adaptive Step Length Estimation Support Indoor Positioning System using Low-Cost Inertial Measurement Units”, 2020 IEEE Eighth International Conference on Communications and Electronics, pp.271-275, 13-15 Jan.2021 Pham Van Thanh, Le Quang Bon, Nguyen Duc Anh, Dang Nhu Dinh, Huynh Huu Tue, Tran Duc Tan, "Multi-Sensor Data Fusion in A Real-Time Support System for On-Duty Firefighters", Sensors 2019 (ISSN: 1424-8220 – SCIE) Van Thanh Pham, Duc Anh Nguyen, Nhu Dinh Dang, Hong Hai Pham, Van An Tran, Kumbesan Sandrasegaran and Duc-Tan Tran, “Highly Accurate Step Counting at Various Walking Speeds Using Low-Cost Inertial Measurement Unit Support Indoor Positioning System”, Sensors 2018; 18(10):3186 (ISSN: 1424-8220 – SCIE) Pham Van Thanh, Duc-Tan Tran, Dinh-Chinh Nguyen, Nguyen Duc Anh, Dang Nhu Dinh, S El-Rabaie and Kumbesan Sandrasegaran, “Development of a Real-time, Simple and High-Accurate Fall Detection System for Elderly Using 3- DOF Accelerometers”, Arabian Journal for Science and Engineering 2018 (ISSN: 2191-4281 – SCIE) Pham Van Thanh, Anh-Dao Nguyen Thi, Quynh Tran Thi Thuy, Dung Chu Thi Phuong, Viet Ho Mau and Duc-Tan Tran, “A Novel Step Counter Supporting For Indoor Positioning Based On Inertial Measurement Unit”, 7th international conference on Integrated Circuit, Design, and Verification (ICDV), IEEE, pp 69-74, 5-6 Oct 2017 Nguyen Van Duong, Pham Van Thanh, Tran Van An, Nguyen Tuan Khai, Duong Thi Thuy Hang, Hoang The Hop and Tran Duc Tan, “Elevator Motion States Recognition Using Barometer Support Indoor Positioning System”, The 7th International Conference in Vietnam on the Development of Biomedical Engineering, IFMBE Proceedings, Springer, pp.581-587, 27-29 Jun.2018 The Hop Hoang, Van Thanh Pham, Thuy Quynh Tran Thi, Huu An Nguyen, Tuan Khai Nguyen and Tan Tran-Duc, “Xây dựng hệ thống xác định độ cao bên nhà cơng trình sử dụng đa cảm biến áp suất”, Hội nghị Quốc gia lần thứ XXI Điện tử, Truyền thông Công nghệ Thông tin (The 21st National Conference on Electronics, Communications and Information Technology), 2018, pp 193-197 Ha Noi, 16th January, 2022 Author Signature:……………………………………………… ACKNOWLEDGEMENT I would like to express my sincere thanks to my advisor Assoc Prof Tran Duc Tan, Faculty of Electrical and Electronic Engineering, Phenikaa University for the guidance and support throughout the completion of my thesis My thanks go to all lecturers and people in Faculaty of Electronics and Telecommunications, Universisty of Engineering and Technology, Viet Nam National University Hanoi for their teaching and useful help I give my special thanks to leaders, colleagues and Mr Tran Van An at University of Fire Prevention and Fighting for their help, guidance and financial support in the entire thesis completion process I am grateful to all people in MEMS lab as well as my students in Universisty of Engineering and Technology, Vietnam National University Hanoi and University of Fire Prevention and Fighting for their contribution I would also like to greatly thank the Vingroup Innovation Foundation (VINIF) - Vingroup Big Data Institute (VinBigdata) for their grant support and encouragement, which help me overcome financial problems and difficulties Last but the most important, I would like to thank my parents, my brother, my sister-in-law because their comfort and support are the power for me going to success “This work was supported by the Domestic Master/ PhD Scholarship Programme of Vingroup Innovation Foundation” Ha Noi, 16th January, 2022 CONTENTS CONTENTS LIST OF ABBREVIATIONS LIST OF FIGURES 12 INTRODUCTION 18 Defining Problem 18 The purpose of thesis 19 Objectives and Scope of the Thesis 21 Research Methodology 22 Scientific significance and Contributions of the Thesis 22 Thesis structure 23 CHAPTER OVERVIEW OF THE RESEARCH 25 1.1 Literature review 25 1.2 Related Studies on Injured Detection 26 1.3 Related Studies on Indoor Positioning 29 1.4 The challenges in study on injury detection and indoor positioning 29 1.5 Summary 30 CHAPTER SYSTEM DESCRIPTION, SENSOR ERRORS ELIMINATION AND MAP PROCESSING 31 2.1 System Description 31 2.2 Sensors Errors Elimination 33 The 3-DOF Accelerometer 33 The Magnetic Sensor 35 The Barometer 36 The MQ7 Sensor 38 2.3 Map Processing 38 Map Preprocessing 38 Map Simplification 39 Map Scale 43 2.4 Summary 45 CHAPTER DEVELOPMENT OF A METHOD TO DETECT INJURED FIREFIGHTERS 46 3.1 Fall Detection Method 46 Fall Detection Module 46 Post-fall Recognition Module 48 The Posture Recognition Estimation 49 The Vertical Velocity Estimation 49 3.2 Injury Detection for On-Duty Firefighters 52 The Proposed Fall Detection Algorithm for Firefighter 53 The Proposed Loss of Physical Performance Detection Algorithm for Firefighter 57 The CO Detection Algorithm 60 3.3 Result and Discussion 61 The Experimental Results 61 Fall Detection Results 63 Loss of Physical Performance Detection 64 The High CO Level Alerting Algorithm 66 3.4 The Comparison 67 The Comparison on the Experimental Data 68 The Comparison on Public Datasets 71 3.5 Summary 77 CHAPTER DEVELOPMENT OF A METHOD TO TRACK ONDUTY INJURED FIREFIGHTERS 79 4.1 The Step Counting Method 80 The Results 95 Discussion 99 4.2 Step Length Estimation 107 The Proposed Method 107 Results and Discussion 110 4.3 Turning Time and Direction Estimation 113 Turning Time Estimation 113 Turning Direction Estimation 116 4.4 Vertical Position Estimation 121 4.5 Summary 124 CHAPTER INDOOR FIREFIGHTER POSITIONING AND TRACKING USING MULTI-SENSOR DATA FUSION AND MAP MATCHING ALGORITHM 125 5.1 Data Fusion 125 5.2 Combining Data Fusion and Map Matching to Detect Indoor Position 126 Experiment Setup 126 The Scenarios Testing 126 5.3 Summary 135 CONCLUSIONS AND FUTURE WORK 136 LIST OF PUBLICATIONS 138 THE RELATED PUBLICATIONS 140 REFERENCES 141 LIST OF ABBREVIATIONS 3-DOF Three Degrees Of Freedom ADLs Activities of Daily Living CO Carbon Monoxide CO2 Carbon Dioxide COHb Blood Carboxyhemoglobin FFT Fast Fourier Transform GPS Global Positioning System iOS iPhone Operating System (Apple) I2C Inter-Integrated Circuit IC Incident Commander IMU Inertial Measurement Unit MEMS Micro-Electro-Mechanical systems NFPA National Fire Protection Association OADs On-Duty Activities PAA Piecewise Aggregate Approximation PASS Personal Alert Safety System ppm Parts Per Millions RMS Root Mean Square ROC curve SAX receiver operating characteristic curve Symbolic Aggregate approximation SCBA Self-Contained Breathing Apparatuses SpO2 Saturation of Peripheral Oxygen SVM Support Vector Machine UFPF University of Fire Prevention and Fighting US United States US OSHA CFR U.S Occupational Safety and Health Administration Code of Federal Regulations 𝐴𝑐𝑐 Accuracy 𝐹𝑁 False Negative 𝐹𝑃 False Positive 𝑆𝑒𝑛 Sensitivity 𝑆𝑝𝑒𝑐 Specificity 𝑇𝑁 True Negative 𝑇𝑃 True Positive the commander in monitoring the firefighting and rescue performance as well as supporting on-duty injured firefighters 137 LIST OF PUBLICATIONS Pham Van Thanh, Tuan Khai Nguyen, Duc Anh Nguyen, Nhu Dinh Dang, Huu Tue Huynh, Duc-Tan Tran* (2021), Adaptive Step Length Estimation Support Indoor Positioning System using Low-Cost Inertial Measurement Units, 2020 IEEE Eighth International Conference on Communications and Electronics, 13-15 Jan 2021, pp 271-275 Van Thanh Pham, Quang Bon Le, Duc Anh Nguyen, Nhu Dinh Dang, Huu Tue Huynh and Duc Tan Tran (2019), Multi-Sensor Data Fusion in A Real-Time Support System for On-Duty Firefighters, Sensors, 19(21): 4746, (ISSN: 14248220 – SCIE) Van Thanh Pham, Duc-Tan Tran, Dinh-Chinh Nguyen, Nguyen Duc Anh, Dang Nhu Dinh, S El-Rabaie and Kumbesan Sandrasegaran (2019), Development of a Real-time, Simple and High-Accurate Fall Detection System for Elderly Using 3DOF Accelerometers, Arab J Sci Eng 44, 3329–3342 (2019), (ISSN: 2191-4281 – SCIE) Van Thanh Pham, Duc Anh Nguyen, Nhu Dinh Dang, Hong Hai Pham, Van An Tran, Kumbesan Sandrasegaran and Duc-Tan Tran (2018), Highly Accurate Step Counting at Various Walking Speeds Using Low-Cost Inertial Measurement Unit Support Indoor Positioning System, Sensors, 18(10):3186, (ISSN: 1424-8220 – SCIE) Nguyen Van Duong, Pham Van Thanh, Tran Van An, Nguyen Tuan Khai, Duong Thi Thuy Hang, Hoang The Hop and Tran Duc Tan (2018), Elevator Motion States Recognition Using Barometer Support Indoor Positioning System, The 7th International Conference in Vietnam on the Development of Biomedical Engineering, pp.581-587 The Hop Hoang, Văn Thành Phạm, Thúy Quỳnh Trần Thị, Hữu An Nguyễn, Tuan Khai Nguyen and Tan Tran-Duc, “Xây dựng hệ thống xác định độ cao bên nhà cơng trình sử dụng đa cảm biến áp suất”, Hội nghị Quốc gia lần thứ XXI Điện tử, Truyền thông Công nghệ Thông tin (The 21st National 138 Conference on Electronics, Communications and Information Technology), 2018, pp 193-197 Pham Van Thanh, Anh-Dao Nguyen Thi, Quynh Tran Thi Thuy, Dung Chu Thi Phuong, Viet Ho Mau and Duc-Tan Tran (2017), A Novel Step Counter Supporting For Indoor Positioning Based On Inertial Measurement Unit, 7th international conference on Integrated Circuit, Design, and Verification (ICDV), pp 69-74 139 THE RELATED PUBLICATIONS Pham Van Thanh, Nguyen Thi Huyen Nga, Le Thi Thu Ha, Do Van Lam, DinhChinh Nguyen, Duc-Tan Tran, “Development of a Real-time Supported System for Firefighters in Emergency Cases”, the 6th International Conference on the Development of Biomedical Engineering, June 2016 IFMBE Proceedings, Springer, vol 63, pp 341-344 140 REFERENCES Abbate S, Avvenuti M., Bonatesta F., Cola G., Corsini P., Vecchio A (2012), “A smartphone – based fall detection system”, Pervasive and Mobile Computing, Vol 8(6), pp 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UNIVERSITY HA NOI UNIVERSITY OF ENGINEERING AND TECHNOLOGY PHAM VAN THANH DEVELOPMENT OF REAL-TIME SYSTEMS TO DETECT AND TRACK ON-DUTY INJURED FIREFIGHTERS USING ADVANCED SIGNAL PROCESSING TECHNIQUES... scale 45 CHAPTER DEVELOPMENT OF A METHOD TO DETECT INJURED FIREFIGHTERS This chapter presents details of the proposed method to detect injured firefighters through the recorded and public datasets... proposed to develop a wearable system to measure the heartbeat and respiration cycle of firefighters in order to monitor their health This study aimed to monitoring physiological states of firefighters,