Đồ án tốt nghiệp - Research, design and fabrication of firefighting quadcopters

HCMC UNIVERSITY OF TECHNOLOGY AND EDUCATION
FACULTY OF MECHANICAL ENGINEERING

MECHATRONICS ENGINEERING

GRADUATION THESIS
TOPIC: RESEARCH, DESIGN AND FABRICATION
OF FIREFIGTING QUADCOPTERS
Supervisor:

PhD HA LE NHU NGOC THANH

Students :

VU DUC BINH…………………..ID: 20146478
DOAN THANH NAM…………...ID: 20146506
TRAN LE NHAT HUY………….ID: 20146494

Class:

201461

Academic year :

2020-2024
Ho Chi Minh City, July - 2024

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COMMITMENT
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Topic:

Research, Design and Fabrication of firefighting quadcopters

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Supervisor: PhD Ha Le Nhu Ngoc Thanh

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Students:

Vu Duc Binh...................ID: 20146478
Doan Thanh Nam........... ID: 20146506
Tran Le Nhat Huy...........ID: 20146494

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Thesis Deadline:

4/7/2024

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Class:
Phone number:

201461
0888360856

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Email:
[email protected]
Thesis submission date:
Commitment: “We hereby that this dissertation: Research, Design and
Fabrication of Firefighting Quadcopters is our work and has been conducted by
ourselves. We did not copy from any published article without citing the source. If
there is any violation, we will take full responsibility.”
Group of students

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Vu Duc Binh
Doan Thanh Nam
Tran Le Nhat Huy

3II

ACKNOWLEDGMENT
On behalf of the research team, we would like to extend our deepest gratitude to PhD Ha Le
Nhu Ngoc Thanh for his unwavering guidance and expertise throughout our academic
journey. His mentorship and inspiration have been instrumental in the successful completion
of this project.
We also extend our sincere appreciation to the esteemed faculty members of the Department
of Mechatronics, particularly, and to the broader Faculty of Mechanical Engineering and the
Ho Chi Minh City University of Technology and Education. Their dedication to teaching and
unwavering support have been invaluable throughout our academic endeavors.
We are immensely grateful to our families, friends, and loved ones for their encouragement,
care, and assistance throughout our studies and the completion of this project. Their support
has been a source of strength and motivation.
While we have strived to produce a high-quality project, we acknowledge that our limitations
in time and experience may have resulted in shortcomings. We humbly welcome any
constructive criticism and valuable feedback from our esteemed lectures to further refine our
knowledge and skills. We are eager to learn and grow from your insights.
Group of students
Vu Duc Binh
Doan Thanh Nam
Tran Le Nhat Huy

III
4
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...
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APPENDIX
xe: the inertial position (North)of the quadcopter along ie in Fe
ye: the inertial position (East) of the quadcopter along je in Fe
h: the inertial position (Down) of the quadcopter along ke in Fe
u: the body frame velocity measured along ib in Fb
v: the body frame velocity measured along jb in Fb
ω: the body frame velocity measured along kb in Fb
ϕ: the roll angle defined with respect to Fv2
θ: the pitch angle defined with respect to Fv1
ψ: the yaw angle defined with respect to Fv
p: the roll rate measured along ib in Fb
q: the pitch rate measured along jb in Fb
r: the yaw rate measured along kb in Fb

Additionally:
[ϕ, θ, ψ]: attitude angle
h: altitude
[x, y] ∶ horizontal position

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