Related papers: Active Propeller Fault Detection and Isolation in …
Fault-tolerant control is crucial for safety-critical systems, such as quadrotors. State-of-art flight controllers can stabilize and control a quadrotor even when subjected to the complete loss of a rotor. However, these methods rely on…
Fault detection is vital in ensuring AC microgrids' reliable and resilient operation. Its importance lies in swiftly identifying and isolating faults, preventing cascading failures, and enabling rapid power restoration. This paper proposes…
Active control of friction by ultrasonic vibration is a well-known effect with numerous technical applications ranging from press forming to micromechanical actuators. Reduction of friction is observed with vibration applied in any of the…
Multi-rotor aerial autonomous vehicles (MAVs) primarily rely on vision for navigation purposes. However, visual localization and odometry techniques suffer from poor performance in low or direct sunlight, a limited field of view, and…
The ground effect on multicopters introduces several challenges, such as control errors caused by additional lift, oscillations that may occur during near-ground flight due to external torques, and the influence of ground airflow on models…
Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the…
This paper proposes a novel framework for active fault diagnosis and parameter estimation in linear systems operating in closed-loop, subject to unknown but bounded faults. The approach integrates set-membership identification with a cost…
Quadrotor endurance is ultimately limited by battery behavior, yet most energy aware planning treats the battery as a simple energy reservoir and overlooks how flight motions induce dynamic current loads that accelerate battery degradation.…
To maximise fuel economy, bladed components in aero-engines operate close to material limits. The severe operating environment leads to in-service damage on compressor and turbine blades, having a profound and immediate impact on the…
We present a procedure for the design and construction of a passive, multipole, mechanical high-stop vibration isolator. The isolator, consisting of a stack of metal disks connected by thin wires, attenuates frequencies in the kilohertz…
This paper presents a novel method for assessing multiple fault diagnosability and detectability of nonlinear parametrized dynamical models. This method is based on computer algebra algorithms which return precomputed values of algebraic…
Aiming to promote the wide adoption of safety filters for autonomous aerial robots, this paper presents a safe control architecture designed for seamless integration into widely used open-source autopilots. Departing from methods that…
Traditionally, fault detection and isolation community has used system dynamic equations to generate diagnosers and to analyze detectability and isolability of the dynamic systems. Model-based fault detection and isolation methods use…
We present a multirotor architecture capable of aggressive autonomous flight and collision-free teleoperation in unstructured, GPS-denied environments. The proposed system enables aggressive and safe autonomous flight around clutter by…
Accurate diagnosis of propeller faults is crucial for ensuring the safe and efficient operation of quadrotors. Training a fault classifier using simulated data and deploying it on a real quadrotor is a cost-effective and safe approach.…
Reliable detection of bearing faults is essential for maintaining the safety and operational efficiency of rotating machinery. While recent advances in machine learning (ML), particularly deep learning, have shown strong performance in…
Reactive collision avoidance is essential for agile robots navigating complex and dynamic environments, enabling real-time obstacle response. However, this task is inherently challenging because it requires a tight integration of…
This paper considers the problem of fault detection and isolation (FDI) for switched affine models. We first study the model invalidation problem and its application to guaranteed fault detection. Novel and intuitive optimization-based…
Current control design for fast vision-based flight tends to rely on high-rate, high-dimensional and perfect state estimation. This is challenging in real-world environments due to imperfect sensing and state estimation drift and noise. In…
In trajectory planning and control design for unmanned air vehicles, highly simplified models are typically used to represent the vehicle dynamics and the operating environment. The goal of this work is to perform real-time, but realistic…