{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,6]],"date-time":"2026-04-06T20:56:35Z","timestamp":1775508995402,"version":"3.50.1"},"reference-count":21,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2021,10,2]],"date-time":"2021-10-02T00:00:00Z","timestamp":1633132800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2021,10,2]],"date-time":"2021-10-02T00:00:00Z","timestamp":1633132800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Neural Comput & Applic"],"published-print":{"date-parts":[[2022,2]]},"DOI":"10.1007\/s00521-021-06537-y","type":"journal-article","created":{"date-parts":[[2021,10,4]],"date-time":"2021-10-04T15:21:29Z","timestamp":1633360889000},"page":"2831-2839","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":29,"title":["Firefighting robot with deep learning and machine vision"],"prefix":"10.1007","volume":"34","author":[{"given":"Amit","family":"Dhiman","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Neel","family":"Shah","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Pranali","family":"Adhikari","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Sayali","family":"Kumbhar","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Inderjit Singh","family":"Dhanjal","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3037-5076","authenticated-orcid":false,"given":"Ninad","family":"Mehendale","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,10,2]]},"reference":[{"key":"6537_CR1","doi-asserted-by":"crossref","unstructured":"Lahr D, Orekhov V, Lee B, Hong D(2013) Early developments of a parallelly actuated humanoid, SAFFiR, In ASME 2013 international design engineering technical conferences and computers and information in engineering conference (American Society of Mechanical Engineers Digital Collection)","DOI":"10.1115\/DETC2013-12590"},{"key":"6537_CR2","doi-asserted-by":"crossref","unstructured":"Liu P, Yu H, Cang S, Vladareanu L (2016) Robot-assisted smart firefighting and interdisciplinary perspectives, In 2016 22nd International Conference on Automation and Computing (ICAC) (IEEE), pp 395\u2013401","DOI":"10.1109\/IConAC.2016.7604952"},{"key":"6537_CR3","doi-asserted-by":"crossref","unstructured":"Gu S, Ding L, Yang Y, Chen X (2017) A new deep learning method based on AlexNet model and SSD model for tennis ball recognition, In 2017 IEEE 10th International Workshop on Computational Intelligence and Applications (IWCIA) (IEEE), pp 159\u2013164","DOI":"10.1109\/IWCIA.2017.8203578"},{"key":"6537_CR4","doi-asserted-by":"publisher","first-page":"18174","DOI":"10.1109\/ACCESS.2018.2812835","volume":"6","author":"K Muhammad","year":"2018","unstructured":"Muhammad K, Ahmad J, Mehmood I, Rho S, Baik SW (2018) Convolutional neural networks based fire detection in surveillance videos. IEEE Access 6:18174","journal-title":"IEEE Access"},{"key":"6537_CR5","doi-asserted-by":"crossref","unstructured":"Guo J, Hou Z, Xie X, Yao S, Wang Q, Jin X (2019) Faster R-CNN Based Indoor Flame Detection for Firefighting Robot, In 2019 IEEE Symposium Series on Computational Intelligence (SSCI) (IEEE), pp 1390\u20131395","DOI":"10.1109\/SSCI44817.2019.9002843"},{"key":"6537_CR6","doi-asserted-by":"crossref","unstructured":"Pinto L, Gandhi D, Han Y, Park YL, Gupta A (2016) The curious robot: Learning visual representations via physical interactions, In European Conference on Computer Vision (Springer), pp 3\u201318","DOI":"10.1007\/978-3-319-46475-6_1"},{"key":"6537_CR7","unstructured":"Moses LL (2006) Firefighting equipment. US Patent 7,137,456"},{"issue":"4","key":"6537_CR8","doi-asserted-by":"publisher","first-page":"823","DOI":"10.1007\/s10694-014-0413-6","volume":"51","author":"JH Kim","year":"2015","unstructured":"Kim JH, Starr JW, Lattimer BY (2015) Firefighting robot stereo infrared vision and radar sensor fusion for imaging through smoke. Fire Technol 51(4):823","journal-title":"Fire Technol"},{"issue":"3","key":"6537_CR9","doi-asserted-by":"publisher","first-page":"369","DOI":"10.1109\/TE.2004.825547","volume":"47","author":"DJ Pack","year":"2004","unstructured":"Pack DJ, Avanzato R, Ahlgren DJ, Verner IM (2004) Fire-fighting mobile robotics and interdisciplinary design-comparative perspectives. IEEE Trans Educ 47(3):369","journal-title":"IEEE Trans Educ"},{"key":"6537_CR10","unstructured":"Amano H (2002) Present status and problems of fire fighting robots, In Proceedings of the 41st SICE Annual Conference. SICE 2002. (IEEE) vol.\u00a02, pp 880\u2013885"},{"issue":"4","key":"6537_CR11","first-page":"232","volume":"2","author":"SS Shah","year":"2013","unstructured":"Shah SS, Shah VK, Mamtora P, Hapani M (2013) Fire fighting robot. Int J Emerg Trends Technol Comp Appl 2(4):232","journal-title":"Int J Emerg Trends Technol Comp Appl"},{"key":"6537_CR12","doi-asserted-by":"crossref","unstructured":"Aliff M, Yusof M, Sani NS, Zainal A (2019) Development of fire fighting robot (QROB). Dev 10(1)","DOI":"10.14569\/IJACSA.2019.0100118"},{"key":"6537_CR13","unstructured":"HUSSIEN MM (2013) Interfacing cmos camera with arm microcontroller for small robotic platform, Universiti Teknologi Petronas"},{"key":"6537_CR14","doi-asserted-by":"crossref","unstructured":"P.H. Chang, Y.H. Kang, G.R. Cho, J.H. Kim, M.\u00a0Jin, J.\u00a0Lee, J.W. Jeong, D.K. Han, J.H. Jung, W.J. Lee, et\u00a0al., Control architecture design for a fire searching robot using task oriented design methodology, In 2006 SICE-ICASE International Joint Conference (IEEE, 2006), pp 3126\u20133131","DOI":"10.1109\/SICE.2006.314817"},{"issue":"5","key":"6537_CR15","doi-asserted-by":"publisher","first-page":"786","DOI":"10.1016\/j.ejcts.2004.01.019","volume":"25","author":"P Cattin","year":"2004","unstructured":"Cattin P, Dave H, Gr\u00fcnenfelder J, Szekely G, Turina M, Z\u00fcnd G (2004) Trajectory of coronary motion and its significance in robotic motion cancellation. Eur J Cardio-thoracic Surg 25(5):786","journal-title":"Eur J Cardio-thoracic Surg"},{"issue":"3","key":"6537_CR16","doi-asserted-by":"publisher","first-page":"244","DOI":"10.4097\/kjae.2013.65.3.244","volume":"65","author":"HJ Lee","year":"2013","unstructured":"Lee HJ, Kim KS, Jeong JS, Shim JC, Cho ES (2013) Optimal positive end-expiratory pressure during robot-assisted laparoscopic radical prostatectomy. Korean J Anesthesiol 65(3):244","journal-title":"Korean J Anesthesiol"},{"issue":"17","key":"6537_CR17","doi-asserted-by":"publisher","first-page":"1","DOI":"10.17485\/ijst\/2016\/v9i14\/84976","volume":"8","author":"G Verma","year":"2015","unstructured":"Verma G, Verma H, Singh I, Vikram A, Singhal S, Kumar A, Banarwal S, Goel K (2015) Wireless position tracking of a DTMF based mobile robot using GSM and GPS. Indian J Sci Technol 8(17):1","journal-title":"Indian J Sci Technol"},{"key":"6537_CR18","unstructured":"Abad UB, Asif M, Ahmad MB, Mahmood T, Hashmi A, Cheema MA (2019) Towards Reducing the Damage of Fire through Firefighting Autonomous Robot. Tech J 24(02)"},{"key":"6537_CR19","unstructured":"Velagic J, Osmic N, Hodzic F, Siljak H (2011) Outdoor navigation of a mobile robot using GPS and GPRS communication system, In Proceedings ELMAR-2011 (IEEE), pp 173\u2013177"},{"key":"6537_CR20","unstructured":"\u017dupan\u010di\u0107 I (2012) Special robotized multipurpose vehicle DOK-ING MVF-5, Vatrogastvo i upravljanje po\u017earima 2(2) 17"},{"key":"6537_CR21","doi-asserted-by":"publisher","first-page":"37696","DOI":"10.1038\/srep37696","volume":"6","author":"N Braun","year":"2016","unstructured":"Braun N, Emkes R, Thorne JD, Debener S (2016) Embodied neurofeedback with an anthropomorphic robotic hand. Sci Rep 6:37696","journal-title":"Sci Rep"}],"container-title":["Neural Computing and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-06537-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s00521-021-06537-y\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s00521-021-06537-y.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2022,2,7]],"date-time":"2022-02-07T09:15:21Z","timestamp":1644225321000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s00521-021-06537-y"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,10,2]]},"references-count":21,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,2]]}},"alternative-id":["6537"],"URL":"https:\/\/doi.org\/10.1007\/s00521-021-06537-y","relation":{},"ISSN":["0941-0643","1433-3058"],"issn-type":[{"value":"0941-0643","type":"print"},{"value":"1433-3058","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,10,2]]},"assertion":[{"value":"10 June 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"9 September 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"2 October 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"Authors A. Dhiman and N. Mehendale declare that there has been no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflicts of interest"}},{"value":"All authors consciously assure that the manuscript fulfills the following statements: (1) This material is the authors\u2019 own original work, which has not been previously published elsewhere. (2) The paper is not currently being considered for publication elsewhere. (3) The paper reflects the authors\u2019own research and analysis in a truthful and complete manner. (4) The paper properly credits the meaningful contributions of co-authors and co-researchers. (5) The results are appropriately placed in the context of prior and existing research.","order":3,"name":"Ethics","group":{"name":"EthicsHeading","label":"Ethics approval"}},{"value":"This article does not contain any studies with animals or humans performed by any of the authors. Informed consent was not required as there were no human participants. All the necessary permissions were obtained from Institute Ethical committee and concerned authorities.","order":4,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent to participate"}},{"value":"Authors have taken all the necessary consents for publication from participants wherever required.","order":5,"name":"Ethics","group":{"name":"EthicsHeading","label":"Consent for publication"}},{"value":"All the codes used in this study are provided in the supplementary material.","order":6,"name":"Ethics","group":{"name":"EthicsHeading","label":"code availability"}}]}}