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

Lee, Dong Hun; Huynh, Thinh; Kim, Young-Bok; Chakir, Soumayya

doi:10.3390/act10100275

Cited by 16 publications

(14 citation statements)

References 17 publications

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“…Based on (5), we specify the variables of plant G as follows. x, u and A in ( 6) are the same as those discussed in (5). w corresponds to ẍ0 in (5) because the disturbance input is the movement of the mobile base.…”

Section: E Implementation Of the H ∞ Controller To Our Linearized Systemmentioning

confidence: 99%

See 1 more Smart Citation

Translational Disturbance Rejection for Jet-Actuated Flying Continuum Robots on Mobile Bases

Maezawa,

Ambe,

Yamauchi

et al. 2023

IEEE Robot. Autom. Lett.

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Section: E Implementation Of the H ∞ Controller To Our Linearized Systemmentioning

confidence: 99%

“…Torus-shaped structures for extension and steering were also proposed [3]. Jet-actuated continuum robots that can directly generate translational forces to steer and propel through expelling fluid jets have recently been developed [4], [5], [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Translational Disturbance Rejection for Jet-Actuated Flying Continuum Robots on Mobile Bases

Maezawa,

Ambe,

Yamauchi

et al. 2023

IEEE Robot. Autom. Lett.

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“…The nozzle units release multiple water jets in a controlled direction to generate a translational net force for flying. A similar concept was also proposed in [22]. These jet-actuation methods enable a large shape deformation with a comparatively small force, because the force can be applied far from the root of the robot in the longitudinal direction.…”

Section: Introductionmentioning

confidence: 99%

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

et al. 2022

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Flexible continuum robots have considerable potential for use in exploring intricate spaces, and their ability to make large body shape deformations can increase the inspection area. We previously proposed a jet-actuated flying continuum robot for extinguishing fires. The main challenge in implementing large shape deformations is accommodating the twisting of the body that results from the deformation. To address this problem, we proposed a two-dimensional passive rotating nozzle unit that can expand the directionality of net force against torsion; however, it has not yet been tested on a flying robot. In this study, we achieved the large shape deformations of a jet-actuated flying continuum robot using an improved passive rotating nozzle unit that can handle three-dimensional (3D) force. First, we developed a model of the improved nozzle unit and confirmed that the unit can increase the net force direction. Herein, the design strategy for the rotary damper to handle the instability that arises from motor limitations is discussed. The stabilized flight controller was applied to a continuum robot with the nozzle unit. Simulation results showed that the 2 m robot could perform large head bends (from 0 • to 135 • ). Although the previous fixed nozzle unit twisted by approximately 40 • , which made the extra movable range of the nozzles effectively zero, the proposed nozzle unit maintained the movable range to avoid twisting. We experimentally confirmed that the nozzle unit can expand the direction of the 3D net force, and that a large shape bending of approximately ±90 • can be achieved using a 1.6 m flying robot.INDEX TERMS Fluid jet, continuum robot, mechanism design, dynamics.

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“…Some companies also developed and demonstrated tethered UAVs for firefighting for high buildings (Ibekwe, 2018;Wang and Wang, 2020). Lee et al proposed a stabilized levitation controller for the jet-actuated drone for firefighting (Lee et al, 2021). However, when entering the building, particularly in confined spaces, the connected water hose may interfere with the environment and generate a large drag force.…”

Section: Introductionmentioning

confidence: 99%

Development of a remotely controllable 4 m long aerial-hose-type firefighting robot

Yamauchi,

Maezawa,

Ambe

et al. 2023

Front. Robot. AI

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In a fire outbreak, firefighters are expected to rapidly extinguish fires to stop the spread of damage and prevent secondary disasters. We proposed the concept of a dragon firefighter (DFF), which is a flying-hose-type firefighting robot. We developed a 3.6 m long DFF equipped with two nozzle units and achieved stable flight. However, the system was not yet completed because the root of the robot, which should have been operated remotely, was operated manually. In addition, the system’s reliability was insufficient to successfully repeat the demonstration several times. The development of a robot demonstration system is crucial for the practical application of such a firefighting robot. In this study, we developed a demonstration system for a remotely controllable 4 m flying firehose robot for demonstration at the World Robot Summit 2020 (WRS 2020) opening ceremony in Fukushima as a milestone. This paper focuses on the following issues: 1): installation of the remotely controllable mobile base, 2): redesign of the water channels (the sizes of nozzle outlets) to get enough thrusts to fly with a fire engine, 3): development of nozzle units with a larger movable range (1.5 times larger than the conventional nozzle) in addition to waterproofing technique to improve system reliability, and 4): redesign of a passive damping mechanism to ensure better stability. Thus, a firefighting demonstration was successfully conducted at the opening ceremony of the World Robot Summit 2020 in Fukushima, Japan, and we discuss the lessons learned through the demonstration. We found that the developed DFF system incorporating a mobile base could achieve remote fire extinguishing.

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

Cited by 16 publications

References 17 publications

Translational Disturbance Rejection for Jet-Actuated Flying Continuum Robots on Mobile Bases

Translational Disturbance Rejection for Jet-Actuated Flying Continuum Robots on Mobile Bases

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

Development of a remotely controllable 4 m long aerial-hose-type firefighting robot

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