Related papers: Propeller damage detection, classification and est…
Though control algorithms for multirotor Unmanned Air Vehicle (UAV) are well understood, the configuration, parameter estimation, and tuning of flight control algorithms takes quite some time and resources. In previous work, we have shown…
Overactuated omnidirectional flying vehicles are capable of generating force and torque in any direction, which is important for applications such as contact-based industrial inspection. This comes at the price of an increase in model…
The demand for accurate and fast trajectory tracking for multirotor Unmanned Aerial Vehicles (UAVs) have grown recently due to advances in UAV avionics technology and application domains. In many applications, the multirotor UAV is required…
Ensuring safety is crucial to promote the application of robot manipulators in open workspaces. Factors such as sensor errors or unpredictable collisions make the environment full of uncertainties. In this work, we investigate these…
Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…
The drone has been used for various purposes, including military applications, aerial photography, and pesticide spraying. However, the drone is vulnerable to external disturbances, and malfunction in propellers and motors can easily occur.…
Conventional multi-rotors are under-actuated systems, hindering them from independently controlling attitude from position. In this study, we present several distinct configurations that incorporate additional control inputs for…
Post-disaster road assessment (PDRA) is essential for emergency response, enabling rapid evaluation of infrastructure conditions and efficient allocation of resources. Although drones provide a flexible and effective tool for PDRA, routing…
Accurate and interpretable bearing fault classification is critical for ensuring the reliability of rotating machinery, particularly under variable operating conditions where domain shifts can significantly degrade model performance. This…
The damage detection problem becomes a more difficult task when the intrinsically nonlinear behavior of the structures and the natural data variation are considered in the analysis because both phenomena can be confused with damage if…
Identification of regions affected by floods is a crucial piece of information required for better planning and management of post-disaster relief and rescue efforts. Traditionally, remote sensing images are analysed to identify the extent…
We introduce an approach for damage detection in gearboxes based on the analysis of sensor data with the multi-resolution dynamic mode decomposition (mrDMD). The application focus is the condition monitoring of wind turbine gearboxes under…
We propose a data-driven constitutive framework for anisotropic damage mechanics based on the second-order damage tensor approach for both compressible and incompressible materials. The formulation is thermodynamically consistent and…
We present a control strategy that applies inverse dynamics to a learned acceleration error model for accurate multirotor control input generation. This allows us to retain accurate trajectory and control input generation despite the…
Damage models for ductile materials typically need to be parameterized, often with the appropriate parameters changing for a given material depending on the loading conditions. This can make parameterizing these models computationally…
A novel correction algorithm is proposed for multi-class classification problems with corrupted training data. The algorithm is non-intrusive, in the sense that it post-processes a trained classification model by adding a correction…
Quadcopters have been studied for decades thanks to their maneuverability and capability of operating in a variety of circumstances. However, quadcopters suffer from dynamical nonlinearity, actuator saturation, as well as sensor noise that…
Mission planners for aircraft operating under threat of detection by ground-based radar systems are concerned with the probability of detection. Current path planning methods for such scenarios consider the aircraft pose, radar position,…
Unmanned Aerial Vehicles (UAVs) have recently shown great performance collecting visual data through autonomous exploration and mapping in building inspection. Yet, the number of studies is limited considering the post processing of the…
Detection and characterization of hidden defects, impurities, and damages in layered composites like Fibre laminates, e.g., Fibre Metal Laminates (FML), as well as in monolithic materials, e.g., aluminum die casting materials, is still a…