# A Novel Drone Design Based on a Reconfigurable Unmanned Aerial Vehicle for Wildfire Management
## 8 Conclusions  
This paper offers a comprehensive exploration of the design and modelling of a versatile, reconfigurable multi-rotor UAV. Its telescopic arms can seamlessly transition into quadcopter, octocopter, and co-axial quadcopter formations without necessitating any mechanical alterations to the fixed body structure. This adaptability, as well as the ability to accommodate various payloads, empowers end users to customize the UAV's performance to meet diverse mission profiles in wildfire management.  
Continuing the examination of structural aspects of the UAV, the simulation results, as shown in the figures and the tables above, provide a detailed insight into the stress  
\begin{table}
\begin{tabular}{l c c} \hline \hline
**Simulation** & **Max Stress (MPa)** & **Max Displacement (mm)** \\ \hline \hline Octocopter configuration & 51.80 & 0.070 \\ Co-axial quadcopter configuration & 171.0 & 38.79 \\ Drone frame & 332.26 & 0.39 \\ Lower part of twisted & 7.39 & 0.037 \\ mechanism & 23.65 & 0.2033 \\ \hline \hline \end{tabular}
\end{table}
Table 11: Simulation results.  
Figure 28: Stress analysis for the motor attachment mechanism: (**a**) lower part; (**c**) upper part. Displacement analysis for the motor attachment mechanism: (**b**) lower part; (**d**) upper part.  
analysis of the mechanical components. The findings show that the selected carbon fibre materials, aluminium joints, stainless steel bolts, and Nylon 12 performed admirably, even under the demanding conditions of full power operation for the drone. Stress levels were analyzed and found to consistently remain within the mechanical property values, thereby demonstrating the robust structural integrity of the components.  
Furthermore, an examination of displacement patterns revealed intriguing insights. The displacement in components directly connected to the motors was noticeably low, remaining well within the operational standards' permissible limits. This observation is especially important because it ensures that structural deformations in these critical areas do not pose any operational issues for the drone system. These findings confirm the system's resilience and ability to withstand the dynamic forces encountered during operation, due to the careful selection of materials and overall structural design of the UAV. In conclusion, the paper highlights the exceptional adaptability and structural integrity of the UAV, showcasing its potential impact on diverse applications, particularly in wildfire management.  
Conceptualization, D.P., G.K., S.V., K.M., P.V. and D.G.-A.; methodology, D.P., G.K. and S.V.; software, D.P. and G.K.; validation, D.P. and G.K.; investigation, D.P., G.K. and S.V.; resources, D.P., K.M., P.V. and D.G.-A.; writing--original draft preparation, D.P., K.M. and D.G.-A.; writing--review and editing, D.P., K.M. and D.G.-A.; supervision, K.M., P.V. and D.G.-A. All authors have read and agreed to the published version of the manuscript.  
This research was funded by the European Union's Horizon Europe research and innovation program (Grant Agreement No. 101060529).  
Data Availability Statement: Data are contained within the article.  
The authors declare no conflicts of interest. The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results.