Aerial Torsional Work Utilizing a Multirotor UAV with Add-on Thrust Vectoring Device

Round 1

Reviewer 1 Report

Comments and Suggestions for Authors

Interesting work supported by good theory and experiments. A suggestion is to include discussion about:

What if the tapered cap gets stuck when taking off at stage 5? Will a diamond shape work better than a tapered cap?

How can the rotation mechanism be used on other valves? Does it need significant structure modifications?

In section 6.2, what is the fatigue effect of many impact on the UAV, its pin and the valve?

Does, or how will, the controller change if the valve is tilted, for example on a vertical line?

 

Comments on the Quality of English Language

Line 74, these, not theses.

Lines 70, 139 and 277; dependent, not dependant

Line 322, reflects, not reflect

Author Response

Please see the attachment 

Author Response File: Author Response.pdf

Reviewer 2 Report

Comments and Suggestions for Authors

The paper introduces an approach to aerial manipulation using a multirotor UAV equipped with an add-on thrust vectoring system, enabling effective torsional work on industrial valves. The system capabilities are demonstrated through real-world experiments, showcasing its mechanical design, passive landing mechanism, control allocation, and torque generation for valve manipulation. This  method addresses challenges in unmanned aerial tasks and offers potential applications in diverse industrial and emergency scenarios.

 Proposed changes and clarifications, as well as corrections will make the paper more completeand reader friendly.

To enhance the clarity and impact of the paper, i recommend addressing the following comments:

• Clarify the specific research gap and problem statement that this paper addresses.
• Provide a more detailed explanation of how the factors mentioned (location, orientation, etc.) impact the design of aerial manipulation systems.
• Consider providing more examples or case studies to illustrate the challenges described.

•  Provide more details about the control strategies used to manage thrust and torque decoupling.
• Explain the mechanics and design principles of the passive landing mechanism in greater depth
• Provide a more comprehensive discussion of the experimental results, including implications for practical applications and potential limitations.
• Include a brief discussion of the broader impact of the proposed system on aerial manipulation and its potential applications.
• Suggest possible directions for future research based on the findings of this study.

·         Additionally, please ensure consistent citation style and carefully proofread the manuscript for grammar and formatting errors.

Author Response

Please see the attachment

Author Response File: Author Response.pdf

Reviewer 3 Report

Comments and Suggestions for Authors

please consider my comments

Comments for author File: Comments.pdf

Comments on the Quality of English Language

please consider

Author Response

Please see attachment

Author Response File: Author Response.pdf

Round 2

Reviewer 3 Report

Comments and Suggestions for Authors

it is ok