Design and Experiments of Angular Motion Control for a Novel Unmanned Water-Powered Aerial Vehicle

Article Chemistry, Multidisciplinary

Study on Actuator Performance Evaluation of Aerial Water-Powered System for Firefighting Applications

Thinh Huynh et al.

Summary: In this study, we proposed and analyzed three designs of a novel aerial system for autonomous firefighting missions in water areas. The proposed systems utilize water sources for suppressing fires and maneuvering. The designs differ in their actuating methods: flow rate control, nozzle rotation control, and weight distribution control. Mathematical models were formulated to reveal the motion characteristics of each system. Simulation studies were conducted and results indicate that the nozzle rotation control system is the better one.

APPLIED SCIENCES-BASEL (2023)

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Article Remote Sensing

Motion Control System Design for a Novel Water-Powered Aerial System for Firefighting with Flow-Regulating Actuators

Thinh Huynh et al.

Summary: In this study, an effective controller is designed for a new water-powered aerial system aiming for autonomous firefighting missions, particularly in bodies of water. Unlike existing systems, the proposed system uses flow-regulating actuators to fully operate in three-dimensional space. The paper formulates the system dynamics and designs a nonlinear controller considering the system's characteristics, achieving stability and uniform boundedness. Computational studies validate the superiority and feasibility of the proposed control system compared to previous methods.

DRONES (2023)

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Article Computer Science, Information Systems

Stabilized Controller for Jet Actuated Cantilevered Pipe Using Damping Effect of an Internal Flowing Fluid

Yuichi Ambe et al.

Summary: Fluid jet actuation is an effective technique for generating and controlling forces in continuum robots. However, controlling the robot can be challenging due to the interaction between the flexible body and the internal flowing fluid. In this study, a stabilized controller for a jet-actuated two-dimensional cantilevered pipe is proposed, utilizing the damping effect of the flowing fluid, and numerical simulations verify its stability. Implementing the proposed controller in experiments with a real robot shows that vibrations can be damped by the fluid effect, improving the system's stability.

IEEE ACCESS (2022)

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Article Chemistry, Multidisciplinary

LQI Control System Design with GA Approach for Flying-Type Firefighting Robot Using Waterpower and Weight-Shifting Mechanism

Cao-Tri Dinh et al.

Summary: This study proposes a flying robot using waterpower and a weight-shifting mechanism for firefighting tasks in water areas. The system's dynamical characteristics are analyzed through mathematical models, and a LQI controller is designed and tuned with a genetic algorithm for optimal performance and robustness. Simulation results demonstrate the superiority of the proposed system over traditional PID control in terms of motion performance.

APPLIED SCIENCES-BASEL (2022)

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Article Computer Science, Information Systems

Realizing Large Shape Deformations of a Flying Continuum Robot With a Passive Rotating Nozzle Unit That Enlarges Jet Directions in Three-Dimensional Space

Yu Yamauchi et al.

Summary: Flexible continuum robots have potential for exploring intricate spaces and increasing inspection area. In this study, large shape deformations of a jet-actuated flying continuum robot were achieved using an improved passive rotating nozzle unit. The results showed that the robot could perform large head bends, and the proposed nozzle unit maintained the movable range to avoid twisting.

IEEE ACCESS (2022)

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Article Engineering, Mechanical

Motion Control System Design for a Flying-Type Firefighting System with Water Jet Actuators

Dong-Hun Lee et al.

Summary: This paper presents the design and modeling of a flying-type fire extinguishing system, aiming to provide safer firefighting and survivor searches in hazardous fire environments.

ACTUATORS (2021)

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Article Robotics

Passive Orientation Control of Nozzle Unit With Multiple Water Jets to Expand the Net Force Direction Range for Aerial Hose-Type Robots

Yu Yamauchi et al.

Summary: The study introduces a novel nozzle unit that utilizes a passive rotation mechanism to achieve rapid switching of net force magnitude and direction, as well as addresses the challenge of connecting multiple nozzle units to a flexible robot for the purpose of expanding the injection range.

IEEE ROBOTICS AND AUTOMATION LETTERS (2021)

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Article Automation & Control Systems