# A Novel Drone Design Based on a Reconfigurable Unmanned Aerial Vehicle for Wildfire Management
## 6 PULSAR Applications in Forest and Wildfire Management
### System Requirements and Technical Specifications  
The three configurations of the PULSAR UAV, as detailed in the matrices below, have been tailored to meet the requirements of each operation. However, the selection of the final configuration must consider not only the mission objectives but also the environmental conditions at the time of the operation. The matrices offer a comprehensive overview, encompassing the system requirements of the UAV (Table 6) as well as the technical specifications for each configuration (Tables 7-9). Moreover, the payloads for each configuration have been chosen to augment the UAV's capabilities, thus facilitating the accomplishment of its objectives and enhancing its suitability for the intended missions. \begin{table}
\begin{tabular}{l c} \hline \hline
**Requirements** & **Description** \\ \hline Nominal battery voltage: 45.6 V & 2 \(\times\) 65 LiPo batteries in series configuration. \\ Battery charger & Battery charger that can charge 2 LiPo batteries simultaneously (up to 6S). \\  & Radio transmitter, compatible with the \\ Radio transmitter for manual piloting & embedded autopilot, suitable for manual \\  & piloting and monitoring of the power \\  & consumption. \\ Ground station & Necessary for the preparation and the \\  & execution of the flight. \\ \hline \hline \end{tabular}
\end{table} 
Table 6: UAV System requirements. \begin{table}
\begin{tabular}{l c} \hline \hline
**Parameter** & **Value** \\ \hline Overall dimensions (L \(\times\) W \(\times\) H) & 40 \(\times\) 40 \(\times\) 65 mm \\ Payload weight & 0.115 kg \\ Resolution IR & 640 \(\times\) 480 \\ Resolution RGB & 1280 \(\times\) 720 \\ Zoom & X40 continuous zoom (x20 + x2 digital) \\ Power consumption & 3.5 W (typical)/6 W (max) \\ \hline \hline \end{tabular}
\end{table} 
Table 5: DragonEye2—Technical Specifications. Figure 18: DragonEye 2: (a) dedicated custom payload case; (b) co-axial quadcopter configuration with the payload attached. \begin{table}
\begin{tabular}{l c} \hline \hline
**Requirements** & **Description** \\ \hline Nominal battery voltage: 45.6 V & 2 \(\times\) 65 LiPo batteries in series configuration. \\ Battery charger & Battery charger that can charge 2 LiPo batteries simultaneously (up to 6S). \\  & Radio transmitter, compatible with the \\ Radio transmitter for manual piloting & embedded autopilot, suitable for manual \\  & piloting and monitoring of the power \\  & consumption. \\ Ground station & Necessary for the preparation and the \\  & execution of the flight. \\ \hline \hline \end{tabular}
\end{table} 
Table 7: October Configuration—Technical specifications. As the LiDAR payload was the heaviest among all the options considered, the ocotcopter configuration was identified as the optimal choice for the demanding task of detailed forest mapping. Its superior thrust-to-weight ratio enables the capture of stable and precise data, which is essential for detailed mapping missions across various terrains, including forests. Moreover, since the LiDAR sensor is the most expensive component selected, the redundancy provided by the ocotcopter's eight motors and propellers offers an additional layer of reliability against potential operational failures. Additionally, the larger size of the ocotcopter is not a barrier, as the LiDAR-equipped drone is required to fly above the tree canopy to conduct detailed forest mapping missions, making it more advantageous than the co-axial design, which has a shorter flight duration. For the mission involving edge computing and cartographic product generation on the fly, the co-axial configuration of the quadcopter was selected for its balanced performance. This configuration inherently offers greater stability compared with traditional quadcopters, particularly in windy conditions, which is crucial for capturing accurate images--the primary goal of this mission. With two sets of rotors rotating in opposite directions, co-axial configurations provide redundancy in the event of motor or propeller failure, akin to the ocotcopter configuration.