{"id":"https://openalex.org/W3000710858","doi":"https://doi.org/10.1109/arso46408.2019.8948716","title":"Fire Fighting Tactics with Aerial Hose-type Robot \u201cDragon Firefighter\u201d","display_name":"Fire Fighting Tactics with Aerial Hose-type Robot \u201cDragon Firefighter\u201d","publication_year":2019,"publication_date":"2019-10-01","ids":{"openalex":"https://openalex.org/W3000710858","doi":"https://doi.org/10.1109/arso46408.2019.8948716","mag":"3000710858"},"language":"en","primary_location":{"id":"doi:10.1109/arso46408.2019.8948716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5101552254","display_name":"Hisato Ando","orcid":"https://orcid.org/0000-0002-8337-8871"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Hisato Ando","raw_affiliation_strings":["authors are with the Graduate School of Information Sciences, Tohoku University,Japan","authors are with the Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5013086274","display_name":"Yuichi Ambe","orcid":"https://orcid.org/0000-0003-4725-5513"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yuichi Ambe","raw_affiliation_strings":["Graduate School of Engineering, Tohoku University,Japan","Graduate School of Engineering, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"Graduate School of Engineering, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026750188","display_name":"Tomoka Yamaguchi","orcid":"https://orcid.org/0000-0002-8860-0734"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Tomoka Yamaguchi","raw_affiliation_strings":["authors are with the Graduate School of Information Sciences, Tohoku University,Japan","authors are with the Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003204631","display_name":"Masashi Konyo","orcid":"https://orcid.org/0000-0002-6826-9722"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Masashi Konyo","raw_affiliation_strings":["authors are with the Graduate School of Information Sciences, Tohoku University,Japan","authors are with the Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016736580","display_name":"Kenjiro Tadakuma","orcid":"https://orcid.org/0000-0003-2035-0617"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kenjiro Tadakuma","raw_affiliation_strings":["authors are with the Graduate School of Information Sciences, Tohoku University,Japan","authors are with the Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100857344","display_name":"Shigenao Maruyama","orcid":null},"institutions":[{"id":"https://openalex.org/I4210118990","display_name":"Hachinohe National College of Technology","ror":"https://ror.org/030qq9y73","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210118990"]},{"id":"https://openalex.org/I4210120810","display_name":"National Institute of Technology","ror":"https://ror.org/02xqkcw08","country_code":"JP","type":"education","lineage":["https://openalex.org/I4210120810"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shigenao Maruyama","raw_affiliation_strings":["National Institute of Technology, Hachinohe College,Japan","National Institute of Technology, Hachinohe College, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"National Institute of Technology, Hachinohe College,Japan","institution_ids":["https://openalex.org/I4210118990","https://openalex.org/I4210120810"]},{"raw_affiliation_string":"National Institute of Technology, Hachinohe College, Japan","institution_ids":["https://openalex.org/I4210118990","https://openalex.org/I4210120810"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5014118063","display_name":"Satosh\u0131 Tadokoro","orcid":"https://orcid.org/0000-0002-5571-4276"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Satoshi Tadokoro","raw_affiliation_strings":["authors are with the Graduate School of Information Sciences, Tohoku University,Japan","authors are with the Graduate School of Information Sciences, Tohoku University, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University,Japan","institution_ids":["https://openalex.org/I201537933"]},{"raw_affiliation_string":"authors are with the Graduate School of Information Sciences, Tohoku University, Japan","institution_ids":["https://openalex.org/I201537933"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"291","last_page":"297"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11500","display_name":"Evacuation and Crowd Dynamics","score":0.9980999827384949,"subfield":{"id":"https://openalex.org/subfields/2212","display_name":"Ocean Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9923999905586243,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9815000295639038,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/firefighting","display_name":"Firefighting","score":0.9283132553100586},{"id":"https://openalex.org/keywords/mist","display_name":"Mist","score":0.9212803840637207},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6104752421379089},{"id":"https://openalex.org/keywords/nozzle","display_name":"Nozzle","score":0.5673507452011108},{"id":"https://openalex.org/keywords/aeronautics","display_name":"Aeronautics","score":0.5101616382598877},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4913446009159088},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.4876769781112671},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.46869850158691406},{"id":"https://openalex.org/keywords/fire-protection","display_name":"Fire protection","score":0.44752562046051025},{"id":"https://openalex.org/keywords/fire-fighter","display_name":"Fire fighter","score":0.41571563482284546},{"id":"https://openalex.org/keywords/marine-engineering","display_name":"Marine engineering","score":0.38191789388656616},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3610386550426483},{"id":"https://openalex.org/keywords/environmental-science","display_name":"Environmental science","score":0.34985220432281494},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.30219757556915283},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.28012824058532715},{"id":"https://openalex.org/keywords/meteorology","display_name":"Meteorology","score":0.16769316792488098},{"id":"https://openalex.org/keywords/civil-engineering","display_name":"Civil engineering","score":0.12458580732345581},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.07127854228019714}],"concepts":[{"id":"https://openalex.org/C557531904","wikidata":"https://www.wikidata.org/wiki/Q897825","display_name":"Firefighting","level":2,"score":0.9283132553100586},{"id":"https://openalex.org/C6831451","wikidata":"https://www.wikidata.org/wiki/Q192196","display_name":"Mist","level":2,"score":0.9212803840637207},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6104752421379089},{"id":"https://openalex.org/C56200935","wikidata":"https://www.wikidata.org/wiki/Q250840","display_name":"Nozzle","level":2,"score":0.5673507452011108},{"id":"https://openalex.org/C178802073","wikidata":"https://www.wikidata.org/wiki/Q8421","display_name":"Aeronautics","level":1,"score":0.5101616382598877},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4913446009159088},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.4876769781112671},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.46869850158691406},{"id":"https://openalex.org/C122156500","wikidata":"https://www.wikidata.org/wiki/Q41399","display_name":"Fire protection","level":2,"score":0.44752562046051025},{"id":"https://openalex.org/C2993783671","wikidata":"https://www.wikidata.org/wiki/Q107711","display_name":"Fire fighter","level":2,"score":0.41571563482284546},{"id":"https://openalex.org/C199104240","wikidata":"https://www.wikidata.org/wiki/Q118291","display_name":"Marine engineering","level":1,"score":0.38191789388656616},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3610386550426483},{"id":"https://openalex.org/C39432304","wikidata":"https://www.wikidata.org/wiki/Q188847","display_name":"Environmental science","level":0,"score":0.34985220432281494},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.30219757556915283},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.28012824058532715},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.16769316792488098},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.12458580732345581},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.07127854228019714},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0},{"id":"https://openalex.org/C178790620","wikidata":"https://www.wikidata.org/wiki/Q11351","display_name":"Organic chemistry","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C99454951","wikidata":"https://www.wikidata.org/wiki/Q932068","display_name":"Environmental health","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/arso46408.2019.8948716","is_oa":false,"landing_page_url":"https://doi.org/10.1109/arso46408.2019.8948716","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE International Conference on Advanced Robotics and its Social Impacts (ARSO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5254200229","display_name":"Serpentine Robot Flying by Fluid Jet in Confined Space","funder_award_id":"19H00748","funder_id":"https://openalex.org/F4320334764","funder_display_name":"Japan Society for the Promotion of Science"}],"funders":[{"id":"https://openalex.org/F4320334764","display_name":"Japan Society for the Promotion of Science","ror":"https://ror.org/00hhkn466"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W2034251638","https://openalex.org/W2128524243","https://openalex.org/W2131162500","https://openalex.org/W2144569597","https://openalex.org/W2147018558","https://openalex.org/W2155371052","https://openalex.org/W2160146756","https://openalex.org/W2346827373","https://openalex.org/W2554654311","https://openalex.org/W2592474752","https://openalex.org/W2783261033","https://openalex.org/W2900890358","https://openalex.org/W2908718548","https://openalex.org/W2965992311","https://openalex.org/W2998067022","https://openalex.org/W2998365706","https://openalex.org/W6683445224","https://openalex.org/W6704601523"],"related_works":["https://openalex.org/W4311668216","https://openalex.org/W2608949866","https://openalex.org/W4245495494","https://openalex.org/W2037688389","https://openalex.org/W2352583822","https://openalex.org/W2369071582","https://openalex.org/W4317435669","https://openalex.org/W2349679603","https://openalex.org/W2511935904","https://openalex.org/W2375877127"],"abstract_inverted_index":{"We":[0,25,81,123],"herein":[1],"propose":[2],"the":[3,13,22,72,109,117,129,151,157,183,189],"method":[4],"for":[5,63,177,192],"developing":[6],"an":[7],"\u201caerial":[8],"hose":[9,90],"type":[10],"robot\u201d":[11],"called":[12],"\u201cDragon":[14],"Firefighter":[15],"(DFF)\u201d":[16],"that":[17,103,165],"can":[18,35,41],"fly":[19],"along":[20],"with":[21],"water":[23],"jet.":[24],"focus":[26],"on":[27],"realizing":[28],"a":[29,45,57,75,89,105,125,141,146,166],"novel":[30],"concept":[31],"through":[32],"which":[33,100],"obstacles":[34],"be":[36,42,174],"avoided":[37],"and":[38,51,116],"fire":[39,53,61,73,126,132],"spots":[40],"accessed":[43],"from":[44,56,74,145,169],"distance,":[46,76],"thereby":[47],"enabling":[48],"direct":[49],"firefighting,":[50],"evaluating":[52],"suppression":[54],"ability":[55,130],"close":[58,147],"distance":[59,148],"of":[60,88,91,97,104,112,119,131,154,160,185],"source":[62],"practical":[64,193],"useage.":[65],"Using":[66],"robotics,":[67],"we":[68,139,163,181],"aim":[69],"to":[70,84,149],"extinguish":[71],"simultaneously":[77],"guaranteeing":[78],"firefighters'":[79],"safety.":[80],"were":[82],"able":[83],"realize":[85],"stable":[86],"floating":[87],"length":[92,96],"2.8":[93],"m":[94,115],"(total":[95],"3.6":[98],"m),":[99],"is":[101],"twice":[102],"conventional":[106],"one,":[107],"overcoming":[108],"height":[110],"gap":[111],"approximately":[113],"1.5":[114],"size":[118],"frontage":[120],"1.0\u00d72.5":[121],"m.":[122],"demonstrated":[124],"extinguishing,":[127],"however":[128],"extinguishing":[133,178],"about":[134],"DFF":[135,191],"was":[136],"unknown.":[137],"Hence,":[138],"conducted":[140],"mist":[142,167],"spray":[143,168],"experiment":[144],"validate":[150],"cooling":[152],"effect":[153],"water.":[155],"Considering":[156],"aerial":[158],"nature":[159],"our":[161],"robot,":[162],"concluded":[164],"its":[170],"nozzle":[171],"module":[172],"will":[173],"more":[175],"effective":[176],"fires.":[179],"Finally,":[180],"presented":[182],"consideration":[184],"firefighting":[186],"tactics":[187],"using":[188],"proposed":[190],"implementation.":[194]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":5},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}