Table of Contents

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[6]
[8]

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 [9] [11]

[10]
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[14]
[15]
[16] [17]

[18]
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[20]

[21]
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[24]
 [25]

[26]
[27]

[28]
 Fuel Type Mapping

Fuel mapping is vital for assessing wildfire risk and guiding management
strategies. Addressing the challenge of efficiently identifying and categorizing
various combustible materials over large areas, our approach integrates remote
sensing data with Convolutional Neural Networks (CNN) for enhanced fuel type
mapping.

Utilizing Sentinel-2 satellite data, the CNN classifies fuel types into
seven categories: [29]

Board Leaves Conifers Grass Bare soil Water Bodies Urban Areas Shrubs
 Fuel Type Mapping

[30] CLASSIFICATION
Grass Conifers Bare Soil Others

100%
1
1.8
90%

4 2.1 4
80%
1.2

70%

0
60% 2.5

[31]
2.8
2
50%

40%

6 2
30%
4.5
4.1
20%

2
10%

0%
Posibility 1 Posibility 2 Posibility 3 Posibility 4

38
Accuracy Enhancemnt

[32]

39
Thermal Mapping

40
 [33]

microbolometer
Techniques

Temporal

Uncooled
Averaging

Hardie at el.

Hardie at el. Multi-

frame Averaging

Low signal-to-noise-ratio Narcissus effect

[34]

DeepIR
Fiire Detectiion

43
44
 Subarea Division and AQI Calculation

DUPT Methodology 1
The DUPT divides the environment into
multiple subareas, facilitating detailed
AQI calculations. 2 AQI Measurement
The System’s Safe Space includes precise
AQI measurements for every subarea ,
ensuring accurate data collection
Operations 3
It efficiently calculates the AQI value
at each subarea to generate
comprehensive data for analysis.
 AQI Monitoring and Analysis
Data Analysis
1
The collected AQI data is
comprehensively analyzed to identify
trends and patterns for informed
2 Real-time Monitoring
decision-making. The UAS provides real-time AQI
monitoring, ensuring timely responses
to environmental changes
Decision Support 3 and evidently increasing
time efficiency.
The system supports timely decisions
based on the monitored AQI data,
[35]
promoting proactive measures.
 DQN Agent and State Space
1 Rewards and 2 Unhealthy AQI
Actions Levels
The DQN agent operates It particularly focuses on
based on a carefully detecting and addressing
defined set of rewards, unhealthy AQI levels,
actions, and states. notably levels over 150.
[36]
3 Comprehensive
State Space
The system's state
space includes AQI
measurements and
detailed data about the
surrounding subareas.
SfM Photogrametery
 Vegetation Health

Spectral Bands and Image Capture

1 Spectral Bands 2 Aerial Imaging

The AgroCam captures near-infrared Mounted on drones or aircraft, the
(NIR) and visible red light, crucial for camera acquires high-resolution, geo-
assessing vegetation health. referenced images of agricultural fields.

3 NDVI Calculation
[37]
The camera or software calculates the Normalized Difference Vegetation Index (NDVI)
from the spectral data.
 Interpreting NDVI Data

Vegetation Health Vegetation Mapping

NDVI values close to +1 NDVI data is represented in

indicate healthy vegetation color-coded maps to identify
with high chlorophyll content. thriving and stressed areas.

Post-Fire Analysis

The Normalized Burn Ratio

(NBR) complements NDVI for
assessing post-fire vegetation
recovery.
Monitoring Vegetation Recovery
[38]
Burn Severity Mapping
NBR values are used to create a burn severity map, categorizing areas by fire damage.

Tracking Recovery
Increasing NDVI over time signals vegetation regrowth and ecological recovery.

Integrated Analysis
Combining NDVI, NBR, and other data provides a comprehensive view of the fire's
impact.
 Burn Severity Levels

Unburnt Areas Unchanged surfaces, fire unaffected

Very Low Surface fire with little change in cover and

vegetation

Surface fire with little change in cover and

Low
vegetation

Moderate Mixture of unchanged to high severity within

one pixel

High Mixture of moderate to high severity within

one pixel

Very High Vegetation has high to 100% mortality

Extreme Heavy white ash deposition, loss of organic

matter and loose soil
 Fire Edge Detection

[39]

[40]

Increases Accura INCREASED ACCURACY

Eliminates computational load & Need of pre-filtering

53
 Thermal Imaging and Edge Detection

1 Grayscale Image Processing

The proposed method initiates with a grayscale image, where pixel intensities range
from 0 (black) to 255 (white). Unlike the Gaussian kernel used in the Canny method, the
algorithm processes the image using a mono-dimensional pixel intensity array,
identifying a subset of pixel intensities, Io, that correspond to observable physical
parameters such as temperature.

2 Simplified Gradient Calculation

In simplifying the gradient calculation, the derivative operator ∇ is reduced to a
straightforward subtraction, eliminating the need for computationally expensive
divisions. This simplification maintains the algorithm's effectiveness while reducing its
complexity.

3 Dynamic Thresholding
A key feature of this algorithm is its dynamic thresholding approach for edge detection.
The threshold δ=3σ is dynamically calculated as three times the standard deviation of
the processed image vector, ensuring numerical stability and accuracy.
 Integrating Fire Intensity Models
Fireline Intensity
Estimation
1.Estimates fireline intensity using the Byram
model based on temperature via Stefan-
Boltzmann's law.
2.Refine analysis with the Rothermel fire spread
rate model for comprehensive assessment.
Temperature
Boundary
Refinement
1. Refine initial temperature range
estimates derived from fireline
intensity through a filtering
process.
2. Ensures precise determination of
temperature boundaries to
enhance accuracy in fire imagining
Quantization and
Conversion
1. Quantizes physical temperatures
into image pixel intensities.
2. Enable effective edge detection in
thermal imaging.
3. Aids in identifying and analyzing
forest fires.
 Robust Edge Detection in Action
Utilizes mono-dimensional process-while-scan algorithm for noise
reduction, eliminating need for pre-filtering in edge detection.

Leverages specific physical properties (e.g., body temperature in

thermal imaging) to accurately distinguish features from
background.|

Sets pixels outside specified range to zero, amplifying derivative at

edge points and enhancing signal-to-noise ratio. [41]
Integrating GNSS for Precise Coordinates

Edge Detection
The proposed edge detection algorithm effectively delineates edges in the image,
particularly useful in complex imaging scenarios.

GNSS Integration
To clarify, the fire edge coordinates will be obtained by integrating GNSS with the map,
providing precise location data for the detected fire edges.

Comprehensive Monitoring
The integration of the advanced edge detection algorithm and GNSS technology marks a
significant advancement in the field of environmental monitoring and disaster
management, enabling more accurate and efficient wildfire tracking and response.
Environmental Data

58
[43]

[42]
Major Cost Factor
[44]
"In the hands of SKYVECTOR's pioneering engineers, Halcyon is not just a dream but a
testament to our commitment to creating a safer, more resilient world."
[1]-https://www.ncei.noaa.gov/access/monitoring/monthly-report/fire/202313
[2]-https://www.ncei.noaa.gov/access/monitoring/monthly-report/fire/202313/87542
[3]–https://www.jec.senate.gov/public/index.cfm/democrats/2023/10/climate-exacerbated-wildfires-
cost-the-u-s-between-394-to-893-billion-each-year-in-economic-costs-and-
damages#:~:text=The%20total%20annual%20economic%20burden,%24394%20billion%20and%20%2489
3%20billion
[4]–https://education.nationalgeographic.org/resource/wildfires
[5]–https://unmannedrc.com/products/unmannedrc-dragon-2300-vtol-plane
[6]-https://www.pngitem.com/middle/TooJRRw_fixed-wing-commercial-drone-hd-png-download

[7]-https://www.vecteezy.com/png/27707922-helicopter-copter-chopper-helicopter-png-helicopter-
transparent-background-ai-generated
[8]-https://www.freepik.com/premium-psd/quadcopter-drone-png-isolated-transparent-
background_72419697.htm
[9]-https://www.freepik.com/premium-psd/quadcopter-drone-png-isolated-transparent-
background_72419697.htm
[10]-https://www.viewprouav.com/product/herc-m180-hexacopter-multipurpose-heavy-lift-drone.html
[11]-https://www.pngwing.com/en/free-png-nuqpd
[12]-https://www.pjrc.com/teensy/teensyLC.html
[13]-https://www.pngegg.com/en/png-htecp
[14]-https://www.researchgate.net/figure/SparkFun-9DOF-RAZOR-IMU-SEN-10736-sensor-board_fig1_317694916
[15]-https://eu.mouser.com/new/sparkfun/sparkfun-micromod-board-zed-f9p/
[16]-https://qltuh.check-tl-ver-17-8.com/space-robot/?pl=CHiI7Gh3GUyTa8XGgNqDyQ&sm=space-
robot&click_id=coc4h02jvq3cg03t9r2g&nrid=69bc9f0ca7cd416eb8bf64a9dd937e89&hash=mdehjKoRM5dzof1gyOP5Pw&ex
p=1712867757#
[17]-https://electrobes.com/product/standard-30a-bldc-esc-electronic-speed-controller/
[18]-https://makerselectronics.com/product/lithium-polymer-battery-11-1-v-10400-mah-35c
[19]--https://www.pjrc.com/teensy/teensyLC.html
[20]-https://reyax.com/products/rylr896
[21]-https://www.iwavesystems.com/product/v2x-connectivity-hub
[22]-https://m.indiamart.com/proddetail/surveillance-drone-night-vision-ultrasonic-collision-prevent-15090042533.html
[23]-https://www.adorama.com/alc/what-are-drone-thermal-imaging-cameras-used-for/
[24]-https://www.adorama.com/alc/what-are-drone-thermal-imaging-cameras-used-for/
[25]-https://www.mdpi.com/2079-9292/11/1/52
[26]-https://ieeexplore.ieee.org/document/9232632
[27]-https://www.researchgate.net/figure/FT-205-wind-sensor-mounted-on-the-DJI-Matrice-100-sUAV-to-collect-
wind-data-during-flight_fig4_339637553
[28]-https://m.indiamart.com/proddetail/surveillance-drone-night-vision-ultrasonic-collision-prevent-
15090042533.html
[29]-Carbone, A.; Spiller, D.; Laneve, G. Fuel Type Mapping Using a CNN-Based Remote Sensing Approach: A Case
Study in Sardinia. Fire 2023, 6, 395
[30]-https://www.mdpi.com/2571-6255/6/10/395
[31]-https://www.mdpi.com/2571-6255/6/10/395
[32]-https://www.mdpi.com/2571-6255/6/10/395
[33]-https://www.researchgate.net/publication/338594300_Deep_learning-
based_air_temperature_mapping_by_fusing_remote_sensing_station_simulation_and_socioeconomic_data
[34]-https://www.researchgate.net/publication/338594300_Deep_learning-
based_air_temperature_mapping_by_fusing_remote_sensing_station_simulation_and_socioeconomic_data
[35]-Francesco De Vivo, Manuela Battipede, Eric Johnson, Infra-red line camera data-driven edge detection in UAV
forest fire monitoring, Aerospace Science and Technology, Volume 111, 2021, 106574, ISSN 1270-9638.
[36]-Francesco De Vivo, Manuela Battipede, Eric Johnson, Infra-red line camera data-driven edge
detection in UAV forest fire monitoring, Aerospace Science and Technology, Volume 111, 2021, 106574,
ISSN 1270-9638.

[37]-https://www.agrocam.eu/
[38]-2020 California wildfires - Wikipedia
[39]-Francesco De Vivo, Manuela Battipede, Eric Johnson, Infra-red line camera data-driven edge
detection in UAV forest fire monitoring, Aerospace Science and Technology, Volume 111, 2021, 106574,
ISSN 1270-9638.
[40]-https://www.adorama.com/alc/what-are-drone-thermal-imaging-cameras-used-for/
[41]-Francesco De Vivo, Manuela Battipede, Eric Johnson, Infra-red line camera data-driven edge
detection in UAV forest fire monitorin
[42]-https://www.rikasensor.com/rk120-03-ultrasonic-wind-speed-direction-sensor.html
[43]-https://www.sparkfun.com/products/16466
[44]-https://www.globenewswire.com/news-release/2024/01/29/2818589/0/en/Global-Fire-Fighting-
Foam-Market-Size-To-Worth-USD-7-10-Billion-By-2032-CAGR-of-2-40.html