相关论文: Active Propeller Fault Detection and Isolation in …

This manuscript details an architecture and training methodology for a data-driven framework aimed at detecting, identifying, and quantifying damage in the propeller blades of multirotor Unmanned Aerial Vehicles. By substituting one…

Aerial robots are required to remain operational even in the event of system disturbances, damages, or failures to ensure resilient and robust task completion and safety. One common failure case is propeller damage, which presents a…

This paper presents an excitation operator based fault separation architecture for a quadrotor unmanned aerial vehicle (UAV) subject to loss of effectiveness (LoE) faults, actuator aging, and load uncertainty. The actuator fault dynamics is…

Unmanned Aerial Vehicles (UAVs) will be critical infrastructural components of future smart cities. In order to operate efficiently, UAV reliability must be ensured by constant monitoring for faults and failures. To this end, the work…

Multi-rotors face significant risks, as actuator failures at high altitudes can easily result in a crash and the robot's destruction. Therefore, rapid fault recovery in the event of an actuator failure is necessary for the fault-tolerant…

Inspection of insulators is important to ensure reliable operation of the power system. Deep learning is being increasingly exploited to automate the inspection process by leveraging object detection models to analyse aerial images captured…

Early fault diagnosis is imperative for the proper functioning of rotating machines. It can reduce economic losses in the industry due to unexpected failures. Existing fault analysis methods are either expensive or demand expertise for the…

Most wind turbines are remotely monitored 24/7 to allow for an early detection of operation problems and developing damage. We present a new fault detection method for vibration-monitored drivetrains that does not require any feature…

Quadrotors have gained popularity over the last decade, aiding humans in complex tasks such as search and rescue, mapping and exploration. Despite their mechanical simplicity and versatility compared to other types of aerial vehicles, they…

This paper addresses the topic of condition monitoring of wind turbine blades and presents a learning-based approach to fault detection. The proposed scheme utilises Principal Components Analysis and Autoencoders to derive data-driven…

With the increased availability of condition monitoring data and the increased complexity of explicit system physics-based models, the application of data-driven approaches for fault detection and isolation has recently grown. While…

Neglecting complex aerodynamic effects hinders high-speed yet high-precision multirotor autonomy. In this paper, we present a computationally efficient learning-based model predictive controller that simultaneously optimizes a trajectory…

Steady-state response of an isolated horizontal axis wind turbine blade undergoing out-of-plane and in-plane vibrations are studied considering the two cases separately. Equations of motion for both cases are sought by modeling the blade as…

The monitoring of rotating machinery is an essential task in today's production processes. Currently, several machine learning and deep learning-based modules have achieved excellent results in fault detection and diagnosis. Nevertheless,…

This paper describes the development of an on-board data-driven system that can monitor and localize the fault in a quadrotor unmanned aerial vehicle (UAV) and at the same time, evaluate the degree of damage of the fault under real…

Rotating machines like engines, pumps, or turbines are ubiquitous in modern day societies. Their mechanical parts such as electrical engines, rotors, or bearings are the major components and any failure in them may result in their total…

Many industries extensively use flexible materials. Effective approaches for handling flexible objects with a robot manipulator must address residual vibrations. Existing solutions rely on complex models, use additional instrumentation for…

This paper proposes a novel method for prevention of the increasing oscillation of an aircraft wing under the flexural torsion flutter. The paper introduces the novel multi-agent method for control of an aircraft wing, assuming that the…

This paper considers the controllability analysis problem for a class of multirotor systems subject to rotor failure/wear. It is shown that classical controllability theories of linear systems are not sufficient to test the controllability…

We study an in-flight actuator failure recovery problem for a hexrotor UAV. The hexrotor may experience external disturbances and modeling error, which are accounted for in the control design and distinguished from an actuator failure. A…