相关论文: Active Propeller Fault Detection and Isolation in …
Multirotor UAVs are used for a wide spectrum of civilian and public domain applications. Navigation controllers endowed with different attributes and onboard sensor suites enable multirotor autonomous or semi-autonomous, safe flight,…
Deep learning-based object detection is a powerful approach for detecting faulty insulators in power lines. This involves training an object detection model from scratch, or fine tuning a model that is pre-trained on benchmark computer…
Fast and safe manipulation of flexible objects with a robot manipulator necessitates measures to cope with vibrations. Existing approaches either increase the task execution time or require complex models and/or additional instrumentation…
This paper proposes an active model-based fault and failure tolerant control scheme for a class of marine vehicles with thruster redundancy. Unlike widely used state and parameter estimation methods, where the estimation errors are utilized…
Robust and real-time detection of faults on rotating machinery has become an ultimate objective for predictive maintenance in various industries. Vibration-based Deep Learning (DL) methodologies have become the de facto standard for bearing…
The detection and identification of induction motor faults using machine learning and signal processing is a valuable approach to avoiding plant disturbances and shutdowns in the context of Industry 4.0. In this work, we present a study on…
This paper develops computationally efficient data-driven model predictive control (MPC) for Agile quadrotor flight. Agile quadrotors in high-speed flights can experience high levels of aerodynamic effects. Modeling these turbulent…
Early detection of faults in induction motors is crucial for ensuring uninterrupted operations in industrial settings. Among the various fault types encountered in induction motors, bearing, rotor, and stator faults are the most prevalent.…
This paper addresses the problem of control of a twin wind turbine which is subject to an electrical fault affecting only one stator phase of one turbine. An active fault tolerant control is proposed. The performance and robustness of the…
Active vibration control has been introduced and used as one of the effective approaches to suppress unwanted vibrations in different systems. Effective performance of each vibration control method is contingent to accurate design and…
Active learning is proposed for selection of the next operating points in the design of experiments, for identifying linear parameter-varying systems. We extend existing approaches found in literature to multiple-input multiple-output…
This paper proposes a learning-based passive fault-tolerant control (PFTC) method for quadrotor capable of handling arbitrary single-rotor failures, including conditions ranging from fault-free to complete rotor failure, without requiring…
Accurate actuation models are critical for bridging the gap between simulation and real robot behavior, yet obtaining high-fidelity actuator dynamics typically requires dedicated test stands and torque sensing. We present a trajectory-based…
Autonomous mobile robots (AMR) operating in the real world often need to make critical decisions that directly impact their own safety and the safety of their surroundings. Learning-based approaches for decision making have gained…
The behavior of active matter under confinement poses significant challenges due to the intricate coupling between dynamics near boundaries and those in the bulk. A defining feature of active matter systems is that a substantial portion of…
Sliding tasks performed by aerial robots are valuable for inspection and simple maintenance tasks at height, such as non-destructive testing and painting. Although various end-effector designs have been used for such tasks, non-actuated…
Detection of rolling-element bearing faults is crucial for implementing proactive maintenance strategies and for minimizing the economic and operational consequences of unexpected failures. However, many existing techniques are developed…
Autonomous Micro Aerial Vehicles (MAVs) have the potential to be employed for surveillance and monitoring tasks. By perching and staring on one or multiple locations aerial robots can save energy while concurrently increasing their overall…
The wind energy sector is growing rapidly with the installation of wind turbines with long, slender blades in a diverse range of locations. To enhance the operational performance under specific wind conditions and to validate the…
Collision avoidance -- involving a rapid threat detection and quick execution of the appropriate evasive maneuver -- is a critical aspect of driving. However, existing models of human collision avoidance behavior are fragmented, focusing on…