Search Results (44)

In high-rise firefighting scenarios, unmanned aerial vehicles (UAVs) equipped with water-spraying systems are subjected to high-intensity and rapidly time-varying reaction forces induced by high-speed water jets. These forces introduce mismatched uncertainties with unknown bounds and make stable flight control particularly challenging. To address this problem, this paper proposes an adaptive robust constraint-following control (ARCFC) strategy for vector–rotor UAVs (VRUAVs). The controller is developed directly for the strongly nonlinear dynamics of the VRUAV without resorting to model linearization. Within a constraint-following-based nonlinear regulation framework, water-jet effects are explicitly modeled as rapidly time-varying uncertainties with unknown bounds, and an adaptive law is introduced to estimate conservative uncertainty bounds online for robust compensation. Lyapunov-based analysis is conducted to establish the uniform boundedness and uniform ultimate boundedness of the closed-loop system, and simulation results are presented to verify the effectiveness of the proposed approach. Compared with representative conventional control methods, the proposed ARCFC strategy provides improved disturbance-rejection capability and enhanced flight stability under demanding firefighting conditions. Full article

Dynamic positioning (DP) systems play a critical role in maintaining vessel position and heading under environmental disturbances such as wind, waves, and currents. This study presents a model predictive control (MPC)-based DP system for a fireboat equipped with a rudder–propeller configuration, explicitly accounting for both environmental loads and the reaction force generated during water cannon operation. Unlike conventional DP architectures in which DP control and thrust allocation are treated as separate modules, the proposed framework integrates both functions within a unified MPC formulation, enabling real-time optimization under actuator constraints. Environmental loads are modeled by incorporating nonlinear second-order wave drift effects, while nonlinear rudder–propeller interaction forces are derived through computational fluid dynamics (CFD) analysis and embedded in a control-oriented dynamic model. This modeling approach allows operational constraints, including rudder angle limits and propeller thrust saturation, to be explicitly considered in the control formulation. Simulation results demonstrate that the proposed MPC-based DP system achieves improved station-keeping accuracy, enhanced stability, and increased robustness against combined environmental disturbances and water cannon reaction forces, compared to a conventional PID controller. Full article

This study focuses on firefighters’ relationship with different types of change in their profession and what barriers and facilitators might contribute to how they respond. Informed by the Force Field analysis of change, interviews were conducted to better understand what specific barriers and facilitators contribute to their views on types of change and the level of influence they carried. Twenty-five interviews were conducted with firefighters from a variety of backgrounds, including different ages, genders, ranks, and experience levels for both career and volunteer firefighters. Thematic analysis identified different responses to four common rationales that helped to explain the acceptance or dismissal of changes. These were as follows: (1) openness or apprehension towards change; (2) the results of a cost–benefit analysis that considered financial and manpower limits, perceived legitimacy of the problem, and efficacy of the solution; (3) reference to past experiences with changes that had failed or succeeded; and (4) trusted messengers that respected the chain of command were preferred. These themes are applicable across multiple types of changes, including technological and cultural adaptation. However, they also reveal challenges that may emerge due to friction with firefighters’ professional identities and traditional masculine norms. The patterns identified here can help to inform future efforts to implement changes and to anticipate likely points of friction or motivation that can be leveraged. Full article

Swarm robots often need to cover the designated area to complete specific tasks. While robots possess local perception and limited communication capabilities, they struggle to handle coverage issues in dynamic environments. This paper proposes a self-organizing algorithm for swarm robots based on Dynamic Virtual Force (DVF) to cover dynamic areas. Robots in the swarm can locally perceive their surrounding robots and dynamically select adjacent ones to generate virtual repulsion, thereby controlling their movement. The algorithm enables swarm robots to be rapidly and evenly deployed in unknown areas, adapt to dynamic area changes, and solve the problem of symmetrical robot distribution during coverage. It also allows for adaptive coverage of different density areas, divided as needed. Experimental validation across 20 benchmark scenarios (including obstacles, dynamic boundaries, and multi-density zones) demonstrates that the DVF method outperforms existing approaches in coverage rate, total robot movement distance, and coverage uniformity. The results validate its effectiveness and superiority in addressing area coverage problems. By addressing these challenges, the DVF algorithm can be widely applied to forest firefighting, oil spill cleanup in the ocean, and other swarm robot tasks. Full article

Applicable recommendations play a key role in improving training and procedures used in civil protection. Since 1 January 2025, the Law on Civil Protection and Civil Defense has been in force in Poland. It responds to the experience of current threats, including the war in Ukraine, the 2024 floods in Western Poland, the COVID-19 pandemic, and other crises. The Act systemically regulates the problem of building social resilience, which must be developed and applied regarding today’s modern threats. The primary actor in civil protection is the fire brigade system, in which volunteer firefighters are recruited from local communities and act for their benefit. In this context, it is interesting to ask whether and what solutions should be applied in order to improve the effectiveness of the training and exercise system of volunteer fire brigades (TSOs) in the field of civil protection and crisis management. The aim of this investigation was to develop evaluations and applicable recommendations to improve the effectiveness of the training system for volunteer firefighters based on a survey of volunteer firefighters in the Cracow Poviat. Two survey diagnostic techniques were used: expert interviews and questionnaire research. The findings were compared with the results of an analysis of source documents obtained in TSO units. The expert interviews covered all chief fire officers of the municipalities in the Cracow Poviat. The paper begins with an introduction and a systematic literature review. The conclusions consist of the proposal of applicable changes in the scope of basic, specialist, and additional training. Areas of missing training are also identified. The firefighters’ knowledge of crisis management procedures is verified, deficiencies are identified, and applicable changes in the organization of field exercises are proposed. Full article

This paper is focused on the modification of polyurethane coating applied to the outer layer of hybrid textile materials dedicated to personal protective equipment. For this purpose, graphene with various weight fractions, i.e., 0.25 and 0.5 wt.%, was introduced into the polyurethane matrix. The prepared pastes were applied to meta-aramid fabric as coating. The results of the thermogravimetric analysis of polymer coating showed a shift in the onset temperature of the polymer coating to higher values after graphene addition, which indicates an improvement in thermal stability. Considering mechanical properties, the implementation of the coating on meta-aramid fabric reduces tear resistance but this may be improved by the addition of 0.5 wt.% of graphene. Such a hybrid textile material meets the tearing force requirements for protective clothing for firefighters according to EN 469:2020. Full article

Firefighting foam is widely recognized for its excellent fire suppression performance. However, research on the effect of foam expansion ratio on the suppression efficiency of forest surface fires remains limited. In this study, the expansion ratio was adjusted by varying the air-to-liquid ratio in a compressed air foam system, and laboratory-scale foam suppression experiments were conducted. Key performance indicators, including extinguishing coverage time, internal cooling rate, and resistance to reignition, were systematically measured. The effects of expansion ratio on the diffusion and penetration behavior of foam on the fuel bed surface were then investigated to understand how these characteristics influence suppression performance. The results indicate that both excessively low and high expansion ratios can weaken fire suppression effectiveness. Low-expansion foam, characterized by low viscosity and high water content, exhibits strong local penetration and cooling capabilities. However, it struggles to rapidly cover the fuel bed surface and isolate oxygen, thereby reducing the overall suppression efficiency. In contrast, high-expansion foam has greater viscosity, allowing it to spread across the fuel bed surface under pressure gradient forces and form a stable coverage layer, effectively limiting the oxygen supply required for combustion. However, its limited depth penetration and lower water content reduce internal cooling efficiency, increasing the risk of reignition. The optimal expansion ratio was determined to be 15.1. Additionally, increasing the liquid supply flow rate significantly improved suppression performance; however, this improvement plateaued when the flow rate exceeded 10 L/min. Full article

Background: Firefighters face significant physical demands, necessitating optimal fitness and health monitoring. This study examined the relationships between body composition, bone mineral density, handgrip strength, and pulmonary function in professional firefighters in Porto, Portugal. Methods: Sixty-eight firefighters underwent assessments, including anthropometry, dual-energy X-ray absorptiometry (DEXA) for body composition and bone density, handgrip dynamometry, and spirometry for lung function. Results: 36.5% of participants were overweight, and 33.3% had obesity (Grade 1). Men exhibited greater muscle mass, bone density, and handgrip strength (48.7 ± 7.8 kg vs. 31.6 ± 3.6 kg) compared to women. Spirometry revealed normal lung function in 95.2% of participants, though 20.6% demonstrated handgrip strength values below the risk threshold, indicating vulnerability to reduced physical fitness and an increased risk of injury. Significant correlations were observed between lean mass and both handgrip strength (ρ = 0.551, p < 0.001) and pulmonary function, including forced vital capacity (ρ = 0.465, p < 0.001). Conclusions: This study underscores the role of body composition, muscle strength, and pulmonary function in firefighters’ health and safety. These findings suggest that these factors are linked to physical fitness and may influence overall health outcomes. Interventions focusing on improving strength and managing body weight could help to reduce health risks and enhance firefighter well-being. Full article

Since the early 21st century, wildlands have witnessed an effusion of wildfires, with climate and social changes resulting in unanticipated wildfire activity and impact. For forest fires to be prevented and suppressed effectively, forest firefighting forces have adopted a specific administrative system for organizing and managing the fighting force. Under the administrative system, a debate on desired “leadership and management qualities” arises, and hence, this study sought to identify the leadership and management traits that should distinguish individuals in the forest fire incident command system (FFICS) applied by the Department of Forests (Cyprus). The research subject was addressed using mixed method research, employing quantitative and qualitative data. Both datasets were used to distinguish the purposes of the applied triangulation, enabling the examination of differentiation between the trends/positions recorded in terms of the object of study. These findings point to ideal forms of transformational leadership and neoclassical management. The outcomes suggest that at the individual level, the leaders of each of the operating structures should develop leadership qualities related to emotional intelligence, empathy, judgment, critical thinking, and especially self-awareness of strengths and weaknesses. At the stage of pre-suppression, a democratic leadership style (or guiding style) is supported, while during the operational progress stage of the FFICS, a “hybrid” leadership style is suggested, borrowing elements from the democratic and authoritarian (or managerial) leadership styles. The administrative skills of FFICS leaders should include the moral and psychological rewards of subordinates, job satisfaction and recognition, and two-way communication. The current study illustrates the need for divergent leadership and management traits and styles among the different hierarchical structures of the FFICS. Full article

This research paper investigates the effectiveness of a virtual reality (VR) game-based intervention using real-time biofeedback for stress management and performance among fire-fighting trainees from the Singapore Civil Defence Force (SCDF). Forty-seven trainees were enrolled in this study and randomly assigned into three groups: control, placebo, and intervention. The participants’ physiological responses, psychological responses, and training performances were evaluated during specific times over the standard 22-week training regimen. Participants from the control and placebo groups showed a similar overall perceived stress profile, with an initial increase in the early stages that was subsequently maintained over the remaining training period. Participants from the intervention group had a significantly lower level of perceived stress compared to the control and placebo groups, and their stress-is-enhancing mindset was significantly increased before the game in week 12 compared to week 3. Cortisol levels remained comparable between pre-game and post-game for the placebo group at week 12, but there was a significant reduction in cortisol levels post-game in comparison to pre-game for the intervention group. The biofeedback data as a measurement of root mean square of successive differences (RMSSD) during the gameplay were also significantly increased at week 12 when compared to week 3. Notably, the intervention group had a significant improvement in the final exercise assessment when compared to the control based on the participants’ role as duty officers. In conclusion, a VR game-based intervention with real-time biofeedback shows promise as an engaging and effective way of training firefighting trainees to enhance their stress mindset and reduce their perceived stress, which may enable them to perform better in the daily emergencies that they respond to. Full article

Firefighters’ occupational activity causes cancer, and the characterization of exposure during firefighting activities remains limited. This work characterizes, for the first time, firefighters’ exposure to (coarse/fine/ultrafine) particulate matter (PM) bound polycyclic aromatic hydrocarbons (PAHs) and metal(loid)s during prescribed fires, Fire 1 and Fire 2 (210 min). An impactor collected 14 PM fractions, the PM levels were determined by gravimetry, and the PM-bound PAHs and metal(loid)s were determined by chromatographic and spectroscopic methodologies, respectively. Firefighters were exposed to a total PM level of 1408.3 and 342.5 µg/m³ in Fire 1 and Fire 2, respectively; fine/ultrafine PM represented more than 90% of total PM. Total PM-bound PAHs (3260.2 ng/m³ in Fire 1; 412.1 ng/m³ in Fire 2) and metal(loid)s (660.8 ng/m³ versus 262.2 ng/m³), distributed between fine/ultrafine PM, contained 4.57–24.5% and 11.7–12.6% of (possible/probable) carcinogenic PAHs and metal(loid)s, respectively. Firefighters’ exposure to PM, PAHs, and metal(loid)s were below available occupational limits. The estimated carcinogenic risks associated with the inhalation of PM-bound PAHs (3.78 × 10⁻⁹ − 1.74 × 10⁻⁶) and metal(loid)s (1.50 × 10⁻² − 2.37 × 10⁻²) were, respectively, below and 150–237 times higher than the acceptable risk level defined by the USEPA during 210 min of firefighting activity and assuming a 40-year career as a firefighter. Additional studies need to (1) explore exposure to (coarse/fine/ultrafine) PM, (2) assess health risks, (3) identify intervention needs, and (4) support regulatory agencies recommending mitigation procedures to reduce the impact of fire effluents on firefighters. Full article

Firefighters stand as one of the most effective task forces, striving to minimize losses incurred during disasters. Clarifying the present status of disaster risk management for firefighters can offer insights into the factors influencing response during disasters and how preparedness for such events can be enhanced. The aim of this study is to assess the current status of fire and rescue services, actively engage in crisis management during disaster risk management, to identify areas for improvement that enhance their involvement in preparatory stages, and to bolster their effectiveness in crisis management. This descriptive, cross-sectional study involved 772 firefighters who had prior experience in disaster response. The findings of this study revealed that firefighters who had undergone first aid training demonstrated the ability to anticipate hazardous situations and behaviors, regularly inspected their equipment, showed awareness of work-related accidents and occupational diseases, and scored statistically higher on the scales. These findings are expected to assist fire departments in establishing a sustainable and comprehensive disaster management cycle. Full article

The sustainable management of forest ecosystems is directly linked to the management of forest fires. The increasing occurrence of wildfires has prompted the need for the establishment of infrastructure aimed at addressing them. The placement of anti-fire water reservoirs can address the lack of water intake points. This study introduces a decision support system (DSS) tailored for the optimal allocation of anti-fire water reservoirs in Mediterranean forest ecosystems, ensuring a reliable water supply for firefighting operations. The methodology integrates the analytical hierarchy process (AHP) and the technique of order of preference by similarity to ideal solutions (TOPSIS) methods, facilitating precise location determination through comprehensive criteria analysis. Additionally, the analysis of the forest road network is incorporated to optimize the placement of water reservoirs. In the forest complex of Taxiarchis, Chalkidiki, Greece, 100 potential reservoir sites were identified and prioritized based on factors such as fire risk, proximity to existing water sources, and coverage area using optimal pathways. The study’s findings demonstrate that by establishing 34 water reservoirs, firefighting forces can access a replenishment point within a 5-min travel time. The conclusions underscore the efficacy of this methodology as a valuable decision-making tool for sustainable wildfire prevention planning. This approach contributes to allocating resources judiciously, effectively mitigating the wildfire risk in Mediterranean forest ecosystems, and therefore promoting sustainability. Full article

Carbon nanotube (CNT) hybrid composites were formed by combining a CNT and silicone elastomer solution with Kevlar yarn, Kevlar fabric, and Kevlar veil materials. The integration of a CNT-silicone matrix with Kevlar yarn and fabric materials produced a composite with moderate electrical and thermal conductivity due to CNT fabric combined with the strength of Kevlar fabric or yarn. In the material synthesis, a notable difficulty was that the CNT-silicone did not bond strongly to the Kevlar. The composites passed the Vertical Flame Test ASTM D6413 and the Forced Air Oven Test NFPA 1971. These hybrid composites can have multiple applications in areas requiring favorable conductivity, strength, and flame and heat resistance. The application areas include firefighter apparel, military equipment, conductive/smart structures, and flexible electronics. The synthesis process used to manufacture CNT-silicone/Kevlar composites yielded composite sheets with an area of 2250 cm². The process is scalable and customizable for the synthesis of CNT composites with tailored properties. Improvements in the bonding of CNT-silicone to Kevlar are being investigated. Full article

It is necessary to develop novel and efficient alternatives to fluorocarbon surfactant and prepare fluorine-free environmentally-friendly fire extinguishing agent. The carboxyl modified polyether polysiloxane surfactant (CMPS) with high surface activity was synthesized via the esterification reaction using hydroxyl-containing polyether modified polysiloxane (HPMS) and maleic anhydride (MA) as raw materials. The process conditions of the esterification reaction were optimized by orthogonal tests, and the optimum process parameters were determined as follows: reaction temperature of 85 °C, reaction time of 4.5 h, isopropyl alcohol content of 20% and the molar ratio of HPMS/MA of 1/1. The chemical structure, surface activity, aggregation behavior, foam properties, wetting properties and electron distribution were systematically investigated. It was found that the carboxyl group was successfully grafted into silicone molecule, and the conjugated system was formed, which changed the interaction force between the molecules and would affect the surface activity of the aqueous solution. The CMPS exhibited excellent surface activity and could effectively reduce the water’s surface tension to 18.46 mN/m. The CMPS formed spherical aggregates in aqueous solution, and the contact angle value of CMPS is 15.56°, illustrating that CMPS had excellent hydrophilicity and wetting performance. The CMPS can enhance the foam property and has good stability. The electron distribution results indicate that the introduced carboxyl groups are more inclined towards the negative charge band, which would be conducive to weak the interaction between molecules and improve the surface activity of the solution. Consequently, new foam fire extinguishing agents were prepared by using CMPS as a key component and they exhibited excellent fire-fighting performance. The prepared CMPS would be the optimal alternative to fluorocarbon surfactant and could be applied in foam extinguishing agents. Full article