Design of an Over-Actuated Hexacopter Tilt-Rotor for Landing and Coupling in Power Transmission Lines

Round 1

Reviewer 1 Report

The authors investigate the problem of control for a certain drone. Numerical simulations are proposed. The article is well organized and the proposed results seem correct. However the following issues should be considered in the revised version.
1/ The literature review of the family of drones considered in the article should be better structured. It should lead to introducing what the motivation of this article is, what has not been done before and why the authors addressed and studied this control system structure.
2/ Authors' well-acknolwedged articles deserve to be included in this discussion.
3/ Please specify clearly, at the beginning the family of systems that can be subjected to your controllers.
4/ Besides, some more relative topics in linear and nonlinear control and their design have to be inserted in the paper in relation with the current work: Nonlinear optimal control of oxygen and carbon dioxide levels in blood (IIS 2017);
Use of multi-parametric quadratic programming in fuzzy control systems (APH 2006); Linear voltage controlled oscillator implementation in electronically variable immittances (ROMJIST 2023).
5/ Please discuss the computational complexity of your proposed approach to design the fuzzy controller.
6/ There are several language problems to be polished. Please solve them.
7/ The performance specifications are not specified.
8/ In the context of the comment 6/, you should show how did you compute the structure and the parameters of the controller.
9/ How are the models presented in Section 3 reflected in the controller design.
10/ How did you compute the eigenvalues involved in the stability analysis. If you are not computing them, the stability analysis can be dropped out.
11/ In the context of the comment 10/, I am not sure if the process is actually linear. I expect it to be nonlinear.
12/ The article also has several typos and language issues, which need to be checked and corrected in the revision.
13/ The article is heavily based on simulations. The results are invited to give more details, programs, etc. This information will also be useful in comparison and transparency. You may solve that and ensure a transparent validation of the two examples by saving the programs and simulation scheme in a webpage/repository, and indicate a link to that webpage, without password, in the reviewing phase; that would work only in the reviewing phase.
14/ In the context of the comment 13/, you are invited to better highlight the effects of disturbances in the validation part of the paper.
Summing up, the authors propose a very good article. These comments are formulated to enhance its impact.

Author Response

Dear reviewer, first of all, we hope to find you well in these difficult times, after the COVID-19 pandemic. Moreover, we would like to thank you for your time and effort to improve our work. For this new version, we have changed the original manuscript to address each individual question and we do believe that the suggested improvements have generated far better work.

Author Response File: Author Response.pdf

Reviewer 2 Report

I would like to invite the authors to submit a shorter version of this work. Except from that, the paper is in a very good shape and scientifically sound and interesting. Well done. 

Author Response

Dear reviewer, first of all, we hope to find you well in these difficult times, after the COVID-19 pandemic. Moreover, we would like to thank you for your time and effort to improve our work. For this new version, we have changed the original manuscript to address each individual question and we do believe that the suggested improvements have generated far better work.

Author Response File: Author Response.pdf

Reviewer 3 Report

1) In the abstract, it would be better to show some statistical results to highlight the advantage of the developed inspection strategy of aircraft.

2) In the literature review, it is desired to indicate the potential application of the UAV in the inspection of overhead contact line [1], which is similar to the transmission line but more vulnerable due to the harsh working environment.

[1] Song, Yang, et al. "Contact wire irregularity stochastics and effect on high-speed railway pantograph–catenary interactions." IEEE Transactions on Instrumentation and Measurement 69.10 (2020): 8196-8206.

3) The specifications of the drone are recommended to be given with details.

4) The labels in Figure 13-14 are not clear. Can they be improved?

5) Can some comments be made to highlight the superiority of the advanced aircraft against traditional ones in terms of the efficiency and accuracy?

 

 

This paper can be recommended for publication after the above issues are addressed.

Author Response

Dear reviewer, first of all, we hope to find you well in these difficult times, after the COVID-19 pandemic. Moreover, we would like to thank you for your time and effort to improve our work. For this new version, we have changed the original manuscript to address each individual question and we do believe that the suggested improvements have generated far better work.

Author Response File: Author Response.pdf

Round 2

Reviewer 3 Report

All my comments have been well addressed.