Article
Engineering, Electrical & Electronic
Majd Saied, Ali Rida Tabikh, Clovis Francis, Hussein Hamadi, Benjamin Lussier
Summary: This paper presents a fault tolerance architecture for data fusion mechanisms that tolerates sensor faults in a multirotor UAV. The approach involves error detection and system recovery to isolate and repair faulty sensors, reducing the reliance on fault-free prediction models. The performance of the framework is validated through offline tests with real measurements from navigation sensors of a multirotor UAV.
IEEE SENSORS JOURNAL
(2021)
Article
Mathematics
Qian Zhang, Yifan Xu, Xueyun Wang, Zelong Yu, Tianyi Deng
Summary: This article presents an innovative method for online calibration of the pitot tube and estimation of wind field, with analysis of the observability of EKF and experimental validation showing the feasibility and effectiveness of the proposed approach.
Article
Engineering, Mechanical
Tayyab Manzoor, Hailong Pei, Zihuan Cheng
Summary: This paper proposes a composite control strategy for ducted fan aircraft, which tackles disturbances and model uncertainties by using disturbance observer and state estimation methods. An online model predictive control framework is adopted to optimize the control actions, thereby reducing computational cost.
NONLINEAR DYNAMICS
(2023)
Article
Engineering, Aerospace
TSogbayar Jargalsaikhan, Keonpyo Lee, Yong-Kee Jun, Seongjin Lee
Summary: This paper proposes mpFCS, a structure of UAV flight control software that provides portability and expandability to its modules within the standard airborne software environment. The mpFCS passed the test with all modules proven to be portable and interoperable with other software.
Article
Engineering, Aerospace
Chingiz Hajiyev
Summary: This paper presents an innovative method for actuator/surface fault detection and isolation, which is sensitive to changes in the innovation mean of the Kalman filter and includes a tuning method for actuator/surface failure. The proposed algorithm can detect and isolate faults in real time, and the actuator/surface fault detection, isolation, and filter tuning are achieved through a simple modification of the conventional Kalman filter.
AIRCRAFT ENGINEERING AND AEROSPACE TECHNOLOGY
(2023)
Article
Computer Science, Information Systems
Mohammed Abdulhakim Al-Absi, Rui Fu, Ki-Hwan Kim, Young-Sil Lee, Ahmed Abdulhakim Al-Absi, Hoon-Jae Lee
Summary: Recently, advancements in technology have led to significant impacts of Unmanned Aerial Vehicles (UAVs) on daily life. Tracking UAVs has become increasingly important due to security threats and vulnerabilities. The traditional Kalman Filter (KF) method struggles with the uncertainties in UAV trajectories, leading to poor tracking accuracy. The Uncertainty and Error-Aware KF (UEAKF) introduced in this paper provides a robust and nonlinear tracking method that outperforms existing models in terms of Root Mean Square Error (RMSE) performance.
Article
Engineering, Marine
Di Lu, Chengke Xiong, Hexiong Zhou, Chenxin Lyu, Rui Hu, Caoyang Yu, Zheng Zeng, Lian Lian
Summary: The study introduces an improved design of a multimodal hybrid aerial underwater vehicle capable of level and vertical flight, hovering, and underwater glide. The innovation lies in the novel configuration and lightweight pneumatic buoyancy system to balance flight payload and underwater weight. The prototype, named Nezha III, demonstrates excellent performance in different modes and remarkable capability of diving to 50 meters depth.
Article
Automation & Control Systems
Kanishke Gamagedara, Taeyoung Lee, Murray Snyder
Summary: This paper presents the developments of flight hardware and software for a multirotor unmanned aerial vehicle capable of autonomously taking off and landing on a moving vessel in ocean environments. The flight hardware consists of a general-purpose computing module connected to a low-cost inertial measurement unit, real-time kinematics GPS, motor speed controller, and a camera through a custom-made printed circuit board. The flight software is developed in C++ with multi-threading to execute control, estimation, and communication tasks simultaneously. The proposed flight system is verified through autonomous flight experiments on a research vessel in Chesapeake Bay, utilizing real-time kinematics GPS for relative positioning and vision-based autonomous flight for shipboard launch and landing.
CONTROL ENGINEERING PRACTICE
(2024)
Article
Robotics
Chenxin Lyu, Di Lu, Chengke Xiong, Rui Hu, Yufei Jin, Jianhu Wang, Zheng Zeng, Lian Lian
Summary: This research presents the design and testing of a novel hybrid aerial underwater vehicle (HAUV) called Nezha III. It features a piston-driven underwater glide strategy and combines the characteristics of an underwater glider and a fixed-wing vertical takeoff and landing aircraft. The vehicle prototype was built and field experiments were conducted to evaluate its performance. The experiment results show that Nezha III has extended underwater endurance and operational depth compared to existing HAUVs.
JOURNAL OF FIELD ROBOTICS
(2022)
Article
Remote Sensing
Lifan Sun, Jinjin Zhang, Zhe Yang, Bo Fan
Summary: In recent years, visual tracking has been widely used across various industries. Siamese trackers, which treat tracking as a template-matching process, are suitable for UAV tracking due to their real-time capabilities. However, these trackers are prone to tracking drift when facing occlusion, fast motion, or similar targets. To address this issue, we propose a motion-aware Siamese framework that incorporates a drift detection module and tracking recovery strategies. Experimental results on three public datasets (UAV123, UAV20L, and UAVDT) demonstrate the effectiveness of our approach using two base trackers: SiamRPN and SiamCAR.
Article
Engineering, Electrical & Electronic
Sunan Huang, Fang Liao, Rodney Swee Huat Teo
Summary: This paper addresses the problem of fault-tolerant control for drones in the event of sensor faults. It proposes a system that includes fault diagnosis, fault detection, and information recovery. Simulation studies are conducted to demonstrate the effectiveness of the proposed approach.
Article
Mathematics
Junqiang Yang, Wenbing Tang, Zuohua Ding
Summary: The study proposed an improved KCF algorithm, which successfully achieved long-term target tracking by introducing a confidence mechanism and designing a tracking model update strategy. Through short-term and long-term experimental evaluations, the algorithm demonstrated superior performance in tracking benchmarks and the capability for long-term autonomous target tracking.
Article
Chemistry, Analytical
Prince E. Kuevor, James W. Cutler, Ella M. Atkins
Summary: This paper discusses the use of magnetometers for navigation and proposes methods to create, validate, and visualize three-dimensional magnetic field maps. Experimental results demonstrate that maps interpolated using Gaussian process regression (GPR) have higher accuracy in regions with significant spatial variation in magnetic fields.
Article
Chemistry, Analytical
Rafael Carbonell, Angel Cuenca, Vicente Casanova, Ricardo Piza, Julian J. Salt Llobregat
Summary: This paper proposes a path-following motion control method for a two-wheel drive unmanned ground vehicle (UGV), utilizing dual-rate extended Kalman filtering techniques to estimate fast-rate non-available position and orientation measurements, and designing a fast-rate dynamic controller that outperforms the slow-rate counterpart.
Article
Automation & Control Systems
Chaofang Hu, Ge Qu, Hyo-Sang Shin, Antonios Tsourdos
Summary: This paper proposes a cooperative path planning method using multiple UAVs to track an unknown ground moving target. By forecasting target state, considering multiple priorities and objectives, and designing collision avoidance constraints, effective path planning is achieved.
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
(2021)