相关论文: Active Propeller Fault Detection and Isolation in …
The multi-phase inverter has become more complicated, particularly in an Electric Vehicle (EV)'s power train, which requires a robust fault protection system. The proposed active short circuit and safe discharge mechanisms are also included…
With increased developments and interest in cooperative driving and higher levels of automation (SAE level 3+), the need for safety systems that are capable to monitor system health and maintain safe operations in faulty scenarios is…
Milling machines form an integral part of many industrial processing chains. As a consequence, several machine learning based approaches for tool wear detection have been proposed in recent years, yet these methods mostly deal with standard…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
Tilt-rotor aerial robots enable omnidirectional maneuvering through thrust vectoring, but introduce significant control challenges due to the strong coupling between joint and rotor dynamics. While model-based controllers can achieve high…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
Autonomous landing of Unmanned Aerial Vehicles on maritime vessels is challenging due to the coupled motion of the vehicle and landing platform in open-sea conditions. This paper presents a reinforcement-learning-based approach for…
This paper presents the use of robust model predictive control for the design of an intent-aware collision avoidance system for multi-agent aircraft engaged in horizontal maneuvering scenarios. We assume that information from other agents…
In the domain of rotating machinery, bearings are vulnerable to different mechanical faults, including ball, inner, and outer race faults. Various techniques can be used in condition-based monitoring, from classical signal analysis to deep…
A growing number of wind turbines are equipped with vibration measurement systems to enable a close monitoring and early detection of developing fault conditions. The vibration measurements are analyzed to continuously assess the component…
To properly simulate and implement a quadcopter flight control for intended load and flight conditions, the quadcopter model must have parameters on various relationships including propeller thrust-torque, thrust-PWM, and thrust--angular…
Rotors operating in confined flows, or blockage, are commonly encountered in wind and water tunnels, as well as in shallow or dense deployments of hydrokinetic turbines. Confinement induces a streamwise pressure gradient in the channel,…
This work presents a geometric backstepping controller for a variable-tilt omnidirectional multirotor that explicitly accounts for both servo and rotor dynamics. Considering actuator dynamics is essential for more effective and reliable…
The vibration of various structures such as blades of turbines, helicopters, and all kinds of rotating robot arms can damage the structures and disrupt their performance and balance. Thus, investigation of the reduction and control of…
This paper is concerned with fault/disturbance compensation control for fully actuated systems. In particular, we explore observer-based control, incorporating an active compensation mechanism. First, we propose a novel observer with…
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…
Wind turbines are subjected to continuous rotational stresses and unusual external forces such as storms, lightning, strikes by flying objects, etc., which may cause defects in turbine blades. Hence, it requires a periodical inspection to…
Rotor failures in quadrotors may result in high-speed rotation and vibration due to rotor imbalance, which introduces significant challenges for autonomous flight in unknown environments. The mainstream approaches against rotor failures…
We study the problem of learning the input-output map of a controlled vibrating plate with a composite structure from experimental measurements. Analytical modeling of this control system faces challenges due to the essential orthotropy and…
The dynamics of a set of rods bouncing on a vertically vibrated plate is investigated using experiments, simulations, and theoretical analysis. The experiments and simulations are performed within an annulus to impose periodic boundary…