Study on Actuator Performance Evaluation of Aerial Water-Powered System for Firefighting Applications
Source abstract
Abstract
In this study, we propose and analyze three designs of a novel aerial system that aims for autonomous firefighting missions in the body or border of water areas. In such areas, it is difficult and even dangerous for human firefighters, and firefighting robots, to approach and put out the fire. Thus, the systems proposed in this paper make use of the available water source not only for suppressing the fire, but also for propelling and maneuvering themselves. The three designs are different in their ways of actuating, namely flow rate control, nozzle rotation control, and weight distribution control. The designs are first introduced. Then, mathematical models are formulated and reveal the motion characteristics of each system. A linear control framework is developed and implemented for all of them. Simulation studies were conducted to verify their motion performance and subsequently, to select the best solution. The results indicate that the weight distribution control system struggled to follow the required reference while the two other designs both provided adequate maneuverability. The nozzle rotation control system is the better one, with greater tracking results of the head part and smaller fluctuations of the water hose.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Evacuation and Crowd Dynamics · Robotic Path Planning Algorithms · Fire Detection and Safety Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical System Engineering, Division of Energy Transport System Engineering, Pukyong National University, Busan 48513, Republic of Korea
Department of Chassis and Body, Ho Chi Minh City University of Technology and Education, Ho Chi Minh City 700000, Vietnam
Department of Intelligent Robot Engineering, Pukyong National University, Busan 48513, Republic of Korea
Funding
National Research Foundation of Korea (NRF)
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