I
nd
o
ne
s
ia
n J
o
urna
l o
f
E
lect
rica
l En
g
ineering
a
nd
Co
m
pu
t
er
Science
Vo
l.
22
,
No
.
3
,
J
u
n
e
2
0
2
1
,
p
p
.
1320
~
1
3
2
6
I
SS
N:
2
5
02
-
4
7
5
2
,
DOI
: 1
0
.
1
1
5
9
1
/ijeecs.v
2
2
.i
3
.
pp
1
3
2
0
-
1
3
2
6
1320
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
ee
cs.ia
esco
r
e.
co
m
Fire
-
f
ig
hting U
A
V wit
h sho
o
ting
mecha
nism
of
fire
ex
tinguis
hi
ng
ball
f
o
r sma
rt
city
Na
s
t
a
ra
n Re
za
Na
za
r
Z
a
deh,
Am
er
a
lden H
.
Abdu
lwa
k
il,
M
ik
e
J
o
s
hu
a
R.
Am
a
r,
B
er
na
det
t
e
Dura
nte
,
Chris
t
i
a
n Vi
ncent
Nico
Rebl
a
nd
o
Sa
nto
s
Co
m
p
u
ter
E
n
g
in
e
e
rin
g
De
p
a
rtme
n
t,
Jo
se
Riza
l
U
n
iv
e
rsit
y
,
M
e
tr
o
M
a
n
il
a
,
P
h
il
i
p
p
i
n
e
s
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
an
1
5
,
2
0
2
1
R
ev
is
ed
A
pr
4
,
2
0
2
1
Acc
ep
ted
Ap
r
6
,
2
0
2
1
Wi
th
th
e
g
ro
wth
o
f
tec
h
n
o
lo
g
y
a
n
d
m
a
ss
iv
e
c
it
y
d
e
v
e
lo
p
m
e
n
t,
f
irefig
h
ti
n
g
se
rv
ice
s
h
a
v
e
b
e
c
o
m
e
m
o
re
c
h
a
ll
e
n
g
i
n
g
t
o
c
o
p
e
with
a
sm
a
rt
-
c
it
y
c
o
n
c
e
p
t
.
On
e
o
f
th
e
c
h
a
ll
e
n
g
e
s
th
a
t
firefig
h
ters
a
re
fa
c
in
g
is
re
a
c
h
in
g
t
h
e
t
o
p
fl
o
o
rs
o
f
h
ig
h
-
ra
ise
d
b
u
il
d
i
n
g
s.
F
irefi
g
h
t
e
rs
n
e
e
d
h
e
a
v
y
a
n
d
o
v
e
rsiz
e
d
p
iec
e
s
o
f
e
q
u
ip
m
e
n
t
to
re
a
c
h
to
p
fl
o
o
rs,
w
h
ich
t
h
e
y
s
o
m
e
ti
m
e
s
fa
il
to
d
e
li
v
e
r
o
n
t
ime
d
u
e
to
b
i
g
c
it
ies
'
traffic.
Th
e
p
r
o
p
o
se
d
so
l
u
ti
o
n
t
o
th
is g
l
o
b
a
l
p
ro
b
le
m
is u
sin
g
f
irefig
h
ti
n
g
u
n
m
a
n
n
e
d
a
e
rial
v
e
h
icle
(UA
V)
to
re
a
c
h
t
h
e
to
p
fl
o
o
rs
fa
st
a
n
d
e
fficie
n
tl
y
;
It
c
a
n
a
lso
p
r
o
v
i
d
e
a
b
e
tt
e
r
v
isi
o
n
fo
r
th
e
firefig
h
ti
n
g
tea
m
a
n
d
slo
w
d
o
wn
t
h
e
sp
re
a
d
o
f
fire
u
si
n
g
fire
e
x
ti
n
g
u
ish
i
n
g
b
a
ll
.
I
n
t
h
i
s
p
a
p
e
r,
a
n
o
b
le
d
e
sig
n
f
o
r
a
F
irefi
g
h
ti
n
g
U
AV
with
s
h
o
o
ti
n
g
a
n
d
d
r
o
p
p
in
g
m
e
c
h
a
n
ism
o
f
fire
e
x
ti
n
g
u
is
h
in
g
b
a
ll
h
a
s
b
e
e
n
d
e
v
e
lo
p
e
d
a
n
d
su
c
c
e
ss
fu
ll
y
tes
ted
.
A
Ca
m
e
ra
with
n
ig
h
t
v
isi
o
n
h
a
s
b
e
e
n
in
teg
ra
ted
i
n
t
o
th
e
UA
V
to
p
ro
v
id
e
a
h
e
lp
fu
l
a
i
d
f
o
r
firefig
h
ters
.
Th
e
UA
V
h
a
s
a
c
o
n
tro
ll
e
r
with
a
2
.
4
GH
z
ra
d
io
fre
q
u
e
n
c
y
(RF
)
si
g
n
a
l
a
n
d
v
i
d
e
o
su
r
v
e
il
lan
c
e
to
re
g
u
late
t
h
e
UA
V'
s
m
o
v
e
m
e
n
t.
T
h
e
c
o
n
tro
ll
e
r
is
a
ls
o
f
o
r
a
c
ti
v
a
ti
n
g
th
e
sh
o
o
ti
n
g
a
n
d
d
ro
p
p
i
n
g
m
e
c
h
a
n
ism
.
Th
e
re
se
a
rc
h
e
rs
e
x
a
m
in
e
d
t
h
e
b
e
h
a
v
io
r
o
f
th
e
d
ro
n
e
in
term
s
o
f
it
s sta
b
il
it
y
a
n
d
fu
n
c
ti
o
n
a
li
t
y
.
K
ey
w
o
r
d
s
:
Aer
ial
v
eh
icle
Dr
o
n
e
R
ad
io
f
r
eq
u
e
n
cy
Sm
ar
t c
ity
Un
m
an
n
ed
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Nastar
an
R
ez
a
Naz
ar
Z
ad
eh
Dep
ar
tm
en
t o
f
C
o
m
p
u
ter
Stu
d
ies an
d
E
n
g
in
ee
r
in
g
8
0
Sh
aw
B
lv
d
.
,
Ma
n
d
alu
y
o
n
g
1
5
5
2
Me
tr
o
Ma
n
ila,
Ph
ilip
p
in
es
E
m
ail:
Nastar
an
.
r
ez
an
az
ar
za
d
eh
@
jr
u
.
ed
u
1.
I
NT
RO
D
UCT
I
O
N
Fire
f
ig
h
ter
s
p
lay
a
c
r
itical
r
o
l
e
in
p
r
o
v
id
in
g
s
af
ety
t
o
b
o
th
c
o
m
m
er
cial
a
n
d
r
esid
en
tial
b
u
ild
in
g
s
[
1
]
.
Fire
f
ig
h
tin
g
o
p
er
atio
n
s
in
th
e
Ph
ilip
p
in
es
tak
e
to
o
m
u
ch
tim
e
to
f
i
n
is
h
d
u
e
to
th
e
m
i
n
im
al
r
eso
u
r
ce
s
a
n
d
l
o
w
u
p
g
r
a
d
es
in
tech
n
o
lo
g
ies
in
th
e
b
u
r
ea
u
o
f
f
ir
e
p
r
o
tectio
n
(
B
FP
)
;
th
e
p
o
o
r
p
e
r
f
o
r
m
an
ce
r
es
u
lts
to
in
cr
ea
s
e
th
e
d
am
ag
e
th
a
t m
a
k
es it c
lo
s
e
to
im
p
o
s
s
ib
le
to
s
av
e
all
o
f
th
e
li
v
es a
f
f
ec
ted
b
y
th
e
f
ir
e
f
lam
es
[
2
]
,
[
3
]
.
O
n
e
o
f
t
h
e
r
ea
s
o
n
s
f
ir
ef
ig
h
te
r
s
ar
r
iv
e
lat
e
is
th
e
s
ev
er
e
tr
af
f
ic
a
f
ter
a
f
ir
e
-
s
p
r
ea
d
s
tar
ts
.
Hig
h
-
r
is
e
b
u
ild
in
g
s
ar
e
also
a
s
ig
n
if
ican
t
p
r
o
b
lem
f
o
r
th
e
f
ir
ef
ig
h
t
er
s
d
u
r
in
g
o
p
er
atio
n
s
[
4
]
,
[
5
]
.
Sin
ce
th
ey
ca
n
n
o
t
r
ea
ch
th
e
to
p
f
lo
o
r
s
with
th
eir
f
ir
ef
i
g
h
tin
g
eq
u
i
p
m
en
t,
th
ey
ar
e
b
o
u
n
d
to
u
s
e
th
e
b
u
ild
in
g
'
s
in
s
talled
f
ir
ef
ig
h
tin
g
eq
u
ip
m
en
t
b
ef
o
r
e
r
ea
ch
in
g
t
h
e
h
ig
h
est
f
lo
o
r
af
f
ec
ted
b
y
t
h
e
f
ir
e
[
6
]
.
T
h
e
y
al
s
o
n
ee
d
to
ta
k
e
th
e
s
tair
s
s
in
ce
elev
ato
r
s
m
ay
b
e
in
ac
ce
s
s
ib
le,
an
d
af
ter
th
e
y
r
e
ac
h
th
eir
tar
g
et
f
lo
o
r
,
th
e
f
lam
es m
ig
h
t sp
r
ea
d
ev
e
r
y
wh
er
e
a
n
d
ca
u
s
e
a
d
is
aster
.
W
ith
th
e
v
ast
tech
n
o
lo
g
y
u
p
g
r
ad
es,
f
r
o
m
r
o
b
o
ts
to
m
ac
h
in
es
,
s
m
all
b
u
s
in
ess
es
to
co
r
p
o
r
ate
s
,
th
er
e
is
a
d
em
an
d
f
o
r
im
p
r
o
v
e
m
en
t
in
f
ir
ef
ig
h
tin
g
s
er
v
ices
to
ad
ju
s
t
with
th
e
s
m
ar
t
city
co
n
ce
p
ts
.
Un
m
an
n
e
d
ae
r
ial
v
eh
icle
s'
(
UAVs
'
)
ap
p
licatio
n
s
,
f
r
o
m
b
o
th
tech
n
ical
a
n
d
n
o
n
-
tech
n
ical
p
er
s
p
ec
tiv
es,
h
a
v
e
b
ee
n
i
n
cr
ea
s
ed
in
th
e
p
ast
f
ew
y
ea
r
s
[
7
]
.
UAVs
p
lay
a
cr
itical
r
o
l
e
in
th
is
ce
n
t
u
r
y
,
f
r
o
m
tr
a
f
f
ic
an
d
c
r
o
wd
m
an
ag
em
en
t
s
y
s
tem
s
Evaluation Warning : The document was created with Spire.PDF for Python.
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci
I
SS
N:
2502
-
4
7
5
2
F
ir
e
-
fig
h
tin
g
UA
V
w
ith
s
h
o
o
ti
n
g
mec
h
a
n
is
m
o
f fir
e
ex
tin
g
u
is
h
in
g
b
a
ll fo
r
…
(
N
a
s
ta
r
a
n
R
eza
N
a
z
a
r
Za
d
eh
)
1321
to
in
s
p
ec
t
th
e
s
o
lar
in
s
tallatio
n
.
W
ith
th
e
d
e
v
elo
p
m
e
n
t
o
f
s
m
ar
t
cities
,
UAVs
ar
e
u
s
ed
i
n
a
wid
e
r
an
g
e
o
f
ap
p
licatio
n
s
.
T
h
ey
ar
e
f
lex
i
b
le
in
p
er
f
o
r
m
in
g
v
ital ta
s
k
s
th
at
ar
e
d
if
f
icu
lt o
r
d
a
n
g
er
o
u
s
f
o
r
h
u
m
an
s
to
d
o
[
8
]
.
Sev
er
al
s
tu
d
ies
ab
o
u
t
th
e
UAS
(
Un
m
an
n
ed
Air
cr
a
f
t
Sy
s
tem
)
in
f
ir
e
d
e
p
ar
tm
en
ts
f
o
r
e
x
p
lo
r
atio
n
an
d
s
av
in
g
o
n
d
ec
r
ea
s
in
g
f
ir
e
b
u
r
d
en
.
T
h
e
f
ir
e
f
ig
h
ter
d
r
o
n
es
(
U
AVs)
m
ain
ly
f
o
c
u
s
o
n
m
o
n
ito
r
in
g
th
e
s
ite
with
a
ca
m
er
a
an
d
d
o
n
o
t
h
av
e
a
s
ta
n
d
alo
n
e
m
ec
h
a
n
is
m
f
o
r
f
i
r
e
ex
t
in
g
u
is
h
in
g
p
u
r
p
o
s
es
[
9
]
.
Oth
e
r
r
esear
ch
er
s
ca
m
e
u
p
with
th
e
s
o
lu
tio
n
o
f
co
n
n
e
ctin
g
th
e
d
r
o
n
e
to
th
e
g
r
o
u
n
d
b
y
a
h
o
s
e
to
g
ain
ac
ce
s
s
to
th
e
v
ast
co
n
tain
e
r
.
So
th
e
tan
k
o
f
th
e
d
r
o
n
e
ca
n
b
e
f
i
lled
f
r
o
m
th
e
co
n
tain
er
[
1
0
]
.
On
e
o
f
th
e
p
r
o
b
lem
s
e
n
co
u
n
ter
ed
with
th
e
s
o
lu
tio
n
is
th
e
d
r
o
n
e'
s
m
o
v
em
en
ts
'
lim
itatio
n
s
d
u
e
to
th
e
wate
r
co
n
tai
n
er
'
s
co
n
n
ec
tio
n
to
th
e
g
r
o
u
n
d
.
Fire
d
is
tin
g
u
is
h
er
b
alls
ca
n
b
e
u
s
ed
to
lim
it th
e
s
p
r
ea
d
o
f
f
la
m
es a
n
d
ad
d
r
ess
th
e
m
en
tio
n
e
d
p
r
o
b
lem
.
I
n
th
e
1
9
th
-
ce
n
tu
ry
g
lass
b
all
co
n
tain
in
g
f
ir
e
s
u
p
p
r
ess
an
t
liq
u
id
s
was
u
s
ed
to
f
ig
h
t
th
e
f
ir
e
[
1
1
]
.
I
n
th
e
lo
n
g
r
u
n
,
th
e
d
esig
n
"g
lass
b
all"
b
e
ca
m
e
less
tr
en
d
y
to
m
an
y
cu
s
to
m
er
s
.
T
h
e
f
ir
e
e
x
tin
g
u
is
h
er
b
alls
ar
e
n
o
t m
ad
e
o
f
g
lass
an
y
m
o
r
e,
b
u
t it
is
b
u
ilt
-
in
with
f
o
am
ca
s
in
g
an
d
is
co
v
er
ed
in
p
o
ly
-
v
in
y
l c
h
lo
r
id
e
(
P
VC
)
.
I
t c
o
u
n
ter
s
an
d
r
ea
cts
to
h
ea
t
o
r
f
lam
e
q
u
ick
l
y
,
wh
ich
ca
u
s
es
th
e
tr
ig
g
er
s
im
p
lan
ted
in
th
e
u
n
it
to
r
esp
o
n
d
im
m
ed
iately
an
d
d
is
p
er
s
e
th
e
d
r
y
ch
em
ical
f
ir
e
s
u
p
p
r
ess
an
t
b
u
ilt
in
s
id
e.
T
h
e
f
ir
e
d
is
tin
g
u
is
h
er
b
all
m
u
s
t
b
e
r
o
lled
f
o
r
war
d
o
r
th
r
o
wn
in
to
th
e
f
lam
es
to
ac
ti
v
ate.
T
h
en
it
tr
ig
g
er
s
an
d
s
p
r
ea
d
s
a
d
r
y
-
p
o
wd
er
f
ir
e
ex
tin
g
u
is
h
in
g
ag
en
t
[
1
2
]
.
Mo
n
o
-
am
m
o
n
iu
m
p
h
o
s
p
h
ate
i
s
co
m
m
o
n
ly
u
s
ed
as
a
n
o
n
-
t
o
x
ic
alter
n
ativ
e
th
at
ex
tin
g
u
is
h
es
c
lass
A,
B
,
o
r
C
f
ir
es
[
1
3
]
.
T
h
is
p
ap
er
p
r
o
p
o
s
es
a
n
o
b
le
d
esig
n
f
o
r
a
n
u
n
m
a
n
n
ed
ae
r
ial
v
eh
icle
with
a
s
h
o
o
tin
g
an
d
d
r
o
p
p
in
g
m
ec
h
an
is
m
.
I
n
wh
ic
h
it
r
elea
s
es
th
e
f
ir
e
ex
tin
g
u
is
h
in
g
b
all
t
h
at
h
elp
s
f
ir
ef
ig
h
te
r
s
d
ec
r
ea
s
e
th
e
s
p
r
ea
d
o
f
f
ir
e.
T
h
e
s
tu
d
y
'
s
s
ig
n
if
ican
ce
is
to
h
elp
th
e
f
ir
ef
ig
h
te
r
s
u
p
p
r
ess
th
e
f
ir
e
a
n
d
p
r
o
v
id
e
a
r
ea
l
-
tim
e
m
o
n
it
o
r
i
n
g
s
y
s
tem
o
f
an
ar
ea
.
T
h
e
g
e
n
er
al
o
b
je
ctiv
es
ar
e
d
esig
n
in
g
an
d
d
ev
elo
p
in
g
an
u
n
m
an
n
e
d
ae
r
ial
v
eh
icle
(
UAV)
to
s
u
p
p
o
r
t
f
ir
ef
ig
h
ter
s
an
d
in
d
iv
i
d
u
als
in
e
x
ter
m
in
atin
g
f
ir
e
.
T
h
e
s
p
ec
if
ic
o
b
jectiv
es
o
f
th
is
s
tu
d
y
ar
e:
i)
d
esig
n
an
d
d
ev
elo
p
an
u
n
m
an
n
e
d
a
er
ial
v
e
h
icle
(
UAV)
wit
h
ei
g
h
t
p
r
o
p
eller
s
(
o
cto
c
o
p
ter
)
t
o
ca
r
r
y
u
p
to
f
iv
e
k
ilo
g
r
am
s
'
lo
ad
;
ii)
i
n
teg
r
ate
a
n
ig
h
t
v
is
io
n
h
ig
h
-
d
ef
in
itio
n
(
HD)
c
am
er
a
th
at
im
p
r
o
v
es
th
e
u
s
er
'
s
p
er
ce
p
tio
n
,
with
a
5
.
8
GHz
r
ad
io
f
r
e
q
u
en
cy
(
R
F)
s
ig
n
al
to
c
o
m
m
u
n
icate
with
th
e
v
i
d
eo
s
tr
ea
m
in
g
;
iii)
d
esig
n
a
r
em
o
t
e
co
n
tr
o
l
with
a
2
.
4
GHz
r
ad
io
f
r
eq
u
en
c
y
(
R
F)
s
ig
n
al
to
r
eg
u
late
th
e
d
r
o
n
e'
s
m
o
v
em
en
t
;
iv
)
d
esig
n
an
d
d
ev
el
o
p
an
ef
f
icien
t
s
h
o
o
tin
g
an
d
d
r
o
p
p
in
g
m
ec
h
an
is
m
;
an
d
v
)
i
n
te
g
r
ate
th
e
g
y
r
o
s
co
p
e
a
n
d
GPS
m
o
d
u
le
to
s
tab
ilize
th
e
f
lig
h
t o
f
th
e
d
r
o
n
e
.
T
h
e
UAV
u
s
es
a
g
y
r
o
s
co
p
e
t
o
s
tab
ilize
th
e
d
r
o
n
e'
s
f
lig
h
t
r
ig
h
t
af
ter
s
h
o
o
tin
g
th
e
f
ir
e
ex
ti
n
g
u
is
h
in
g
b
all.
I
t
ca
n
au
t
o
m
atica
lly
tu
r
n
in
to
a
s
tead
y
f
lig
h
t
if
th
e
s
ig
n
al
is
d
is
co
n
n
ec
ted
f
r
o
m
th
e
r
em
o
te
-
co
n
tr
o
l
co
n
n
ec
tio
n
r
an
g
e.
R
ea
l
-
tim
e
v
id
eo
s
tr
ea
m
in
g
ca
n
b
e
ac
ce
s
s
ed
th
r
o
u
g
h
t
h
e
co
n
tr
o
ller
'
s
liq
u
id
cr
y
s
tal
d
is
p
lay
(
L
C
D
)
in
a
d
esig
n
ated
ar
ea
o
r
b
u
ild
in
g
.
T
h
e
f
ly
in
g
tim
e
o
f
t
h
e
UAV
is
u
p
to
f
if
teen
m
i
n
u
t
es.
I
t
ca
n
ca
r
r
y
u
p
to
f
iv
e
k
ilo
g
r
am
s
o
f
lo
a
d
with
a
f
lig
h
t
r
an
g
e
o
f
o
n
e
k
ilo
m
eter
f
r
o
m
th
e
c
o
n
tr
o
ller
with
o
u
t
in
ter
f
er
e
n
ce
.
T
h
e
d
r
o
n
e'
s
s
p
ee
d
d
u
r
in
g
t
h
e
f
lig
h
t
is
u
p
to
f
if
ty
m
iles
p
e
r
h
o
u
r
,
an
d
th
e
p
r
o
to
ty
p
e
ca
n
o
n
ly
ca
r
r
y
two
f
i
r
e
d
is
tin
g
u
is
h
er
b
alls
at
a
tim
e
d
u
e
to
th
e
lim
ited
r
eso
u
r
ce
s
.
2.
RE
S
E
ARCH
M
E
T
H
O
D
T
h
e
co
n
ce
p
tu
al
f
r
am
ewo
r
k
o
f
th
e
s
y
s
tem
ca
n
b
e
f
o
u
n
d
i
n
Fig
u
r
e
1
.
T
h
e
co
n
ce
p
tu
al
f
r
am
ewo
r
k
ex
p
lain
s
th
e
s
y
s
tem
'
s
f
lo
w
in
ter
m
s
o
f
in
p
u
t
-
p
r
o
ce
s
s
-
o
u
tp
u
t
,
wh
er
e
th
e
u
s
er
co
n
tr
o
ls
th
e
UAV'
s
f
lig
h
t
an
d
m
o
n
ito
r
s
th
e
ar
ea
with
a
co
n
tr
o
ller
.
T
h
e
co
m
m
u
n
icatio
n
b
et
we
en
th
e
UAV
an
d
th
e
co
n
tr
o
ller
is
b
ased
o
n
th
e
r
ad
io
f
r
eq
u
e
n
cy
tr
a
n
s
m
itter
[
1
4
]
.
A
r
a
d
io
f
r
eq
u
e
n
cy
r
ec
eiv
e
r
is
in
teg
r
ated
in
t
o
th
e
m
icr
o
c
o
n
tr
o
ller
to
r
ec
eiv
e
th
e
s
ig
n
als.
T
h
e
co
n
tr
o
ller
'
s
L
C
D
s
cr
ee
n
is
co
n
n
ec
ted
wir
el
ess
ly
to
th
e
m
icr
o
co
n
tr
o
ller
,
wh
ich
is
i
n
teg
r
ated
in
to
th
e
UAV.
An
em
b
e
d
d
ed
m
icr
o
co
n
tr
o
ller
co
n
tr
o
ls
th
e
s
e
r
v
o
m
o
to
r
'
s
ad
ju
s
tm
en
t
an
d
tr
i
g
g
er
s
ac
tiv
atio
n
f
o
r
th
e
s
h
o
o
tin
g
a
n
d
d
r
o
p
p
in
g
s
y
s
t
em
.
T
h
e
p
r
o
ject
u
s
es
th
e
co
n
ce
p
t
o
f
o
cto
c
o
p
ter
,
i
n
wh
ich
it
h
a
d
eig
h
t
r
o
tatin
g
ar
m
s
[
1
5
]
.
On
e
s
ig
n
if
ican
t
f
ac
to
r
is
th
e
d
ir
ec
tio
n
in
wh
ic
h
th
e
p
r
o
p
eller
s
o
f
th
e
r
o
to
r
s
'
cr
af
t
r
o
tate.
I
n
g
e
n
er
al,
ea
ch
r
o
to
r
s
h
o
u
ld
r
o
tate
in
th
e
o
p
p
o
s
ite
d
ir
ec
tio
n
; o
n
e
s
h
o
u
ld
r
o
tate
clo
c
k
wis
e
wh
ile
th
e
o
th
er
s
h
o
u
l
d
r
o
tate
c
o
u
n
ter
cl
o
ck
wis
e.
2
.
1
.
UAV
co
ncept
s
A
u
n
iq
u
e
s
er
v
o
m
ec
h
an
is
m
is
in
teg
r
ated
in
to
th
e
ar
m
r
o
to
r
to
co
n
tr
o
l
th
e
co
p
ter
'
s
m
o
v
em
en
t'
s
d
ir
ec
tio
n
.
I
t
h
as
b
ee
n
m
ar
k
e
d
with
y
ello
w
tap
e
to
in
d
icate
t
h
e
f
r
o
n
t
s
id
e
o
f
th
e
ar
m
.
T
h
e
m
o
v
em
en
t
en
tire
ly
wo
r
k
s
with
th
e
ap
p
lied
th
r
u
s
t
an
d
th
e
d
ir
ec
tio
n
o
f
t
h
e
m
o
to
r
m
o
v
em
en
t
in
w
h
ich
it
s
h
o
u
ld
b
e
co
n
s
id
er
ed
th
at
th
e
two
ar
m
s
(
th
e
lead
i
n
g
ar
m
an
d
th
e
a
r
m
d
iag
o
n
al
to
it)
wo
u
ld
d
e
p
en
d
o
n
t
h
e
r
o
ll,
p
itch
,
an
d
y
aw
[
1
6
]
.
As
th
e
r
o
tatin
g
ar
m
i
n
cr
ea
s
es,
th
e
p
ay
lo
ad
ca
p
ac
ity
also
in
cr
ea
s
es
b
ec
au
s
e
m
o
r
e
r
o
to
r
s
ca
r
r
y
h
ea
v
y
eq
u
i
p
m
en
t.
A
g
y
r
o
s
co
p
e
is
in
teg
r
ate
d
,
g
iv
in
g
ae
r
ial
s
tab
ilit
y
to
th
e
UAV;
it
also
m
ea
s
u
r
es
th
e
n
u
m
b
er
o
f
r
o
tatio
n
s
ar
o
u
n
d
th
e
th
r
ee
ax
es,
n
a
m
ely
x
,
y
,
a
n
d
z.
W
h
en
th
e
g
y
r
o
is
r
o
tated
,
a
s
m
all
p
r
o
o
f
m
ass
s
h
if
ts
as
th
e
an
g
u
lar
v
elo
city
ch
an
g
es.
An
o
th
er
in
teg
r
ated
s
en
s
o
r
is
th
e
b
ar
o
m
et
r
ic
p
r
ess
u
r
e
s
en
s
o
r
[
1
7
]
th
at
s
h
o
ws
ae
r
ial
r
o
b
o
ts
'
altitu
d
e
d
ata
d
u
r
in
g
th
e
f
lig
h
t.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
5
0
2
-
4
7
5
2
I
n
d
o
n
esian
J
E
lec
E
n
g
&
C
o
m
p
Sci,
Vo
l.
22
,
No
.
3
,
J
u
n
e
2
0
2
1
:
1
3
2
0
-
1
3
2
6
1322
A
GPS
s
en
s
o
r
is
u
s
ed
to
s
tab
ilize
th
e
UAV.
T
h
e
U
AV
wo
r
k
s
b
ased
o
n
th
e
av
ailab
le
GPS
s
a
tellite
d
ep
lo
y
e
d
to
o
r
b
it
th
e
ea
r
th
2
0
,
1
8
0
k
m
a
b
o
v
e
(
ca
lled
ME
O)
[
1
8
]
,
[
1
9
]
.
T
h
e
co
p
ter
'
s
n
av
ig
atio
n
was
o
f
ten
h
am
p
er
ed
i
n
th
e
way
p
o
in
t
n
av
ig
atio
n
d
u
e
to
th
e
GPS
lo
ca
tio
n
'
s
er
r
o
n
eo
u
s
in
f
o
r
m
atio
n
.
T
h
is
co
n
ce
p
t
is
ca
lled
a
GPS
g
litch
[
2
0
]
-
[
2
3
]
.
T
h
e
GPS
g
litch
'
s
p
r
im
ar
y
ca
u
s
e
was
th
e
u
n
av
ailab
ilit
y
o
f
th
e
GPS
s
ig
n
als,
wh
ich
r
esu
lts
in
i
n
s
u
f
f
icien
t
GPS
d
ata.
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u
r
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3
,
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f
t
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ir
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ated
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I
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N
:
2
5
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I
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J
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3
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n
ter
.
3.
RE
SU
L
T
S AN
D
D
I
SCU
SS
I
O
N
3
.
1
.
Co
m
po
nents desig
n
A
f
ir
ef
ig
h
tin
g
UAV
with
s
h
o
o
tin
g
an
d
d
r
o
p
p
in
g
m
ec
h
an
is
m
h
as b
ee
n
d
esig
n
ed
an
d
d
ev
elo
p
ed
in
th
is
s
tu
d
y
wh
er
e
it
ca
n
ca
r
r
y
u
p
to
two
f
ir
e
-
d
is
tin
g
u
is
h
er
b
alls
an
d
ac
t
as
th
e
s
u
r
v
eillan
ce
t
o
h
elp
f
ir
ef
i
g
h
ter
s
m
o
n
ito
r
t
h
e
ar
ea
.
T
h
er
e
ar
e
s
ev
er
al
co
m
p
o
n
en
ts
u
s
ed
f
o
r
th
is
p
r
o
ject.
T
h
e
lis
t
o
f
c
o
m
p
o
n
e
n
ts
an
d
th
ei
r
u
tili
za
tio
n
in
th
is
p
r
o
ject
is
p
r
e
s
en
ted
in
T
ab
le
1
.
T
ab
le
1
.
C
o
m
p
o
n
en
ts
o
f
th
e
U
AV
C
o
m
p
o
n
e
n
t
:
D
e
scri
p
t
i
o
n
:
H
a
r
d
w
a
r
e
C
o
m
p
o
n
e
n
t
s
o
f
t
h
e
D
r
o
n
e
N
a
z
a
V
2
F
l
i
g
h
t
C
o
n
t
r
o
l
l
e
r
(
G
y
r
o
sc
o
p
e
)
I
t
i
s u
s
e
d
t
o
m
e
a
s
u
r
e
a
n
g
u
l
a
r
a
c
c
e
l
e
r
a
t
i
o
n
o
n
a
n
x
,
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ter
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.
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ri,
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De
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u
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P
h
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].
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L.
M
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J.
Lee
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d
H.
Lee
,
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De
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Ha
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S
m
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Cit
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:
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G
lo
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.
Lee
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Y.
Ch
o
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"
Re
v
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s
o
f
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m
a
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h
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(
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[8
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D.
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a
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Ap
p
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n
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in
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Qin
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,
"
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J.
M
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y
,
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b
a
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li
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].
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s://
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c
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2
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1
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].
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2
]
B.
Ay
d
in
,
E.
S
e
lv
i
,
J.
Tao
a
n
d
M
.
J.
S
tare
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[1
3
]
X.
Zh
a
n
g
,
M
.
H.
S
.
Ism
a
il
,
F
.
-
R
.
b
.
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m
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n
,
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b
.
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.
Ab
d
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e
,
"
Ho
t
Ae
ro
so
l
F
ire
Ex
ti
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g
u
ish
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Ag
e
n
ts
a
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d
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e
As
so
c
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d
Tec
h
n
o
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ies
:
A
Re
v
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,
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Bra
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J
o
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Ch
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mic
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E
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3
2
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3
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1
5
,
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