Robust Fault Diagnosis for Quadrotor UAVs Using Adaptive Thau Observer

A robust Fault Diagnosis (FD) scheme for a real quadrotor Unmanned Aerial Vehicle (UAV) is proposed in this paper. Firstly, a novel Adaptive Thau observer (ATO) is developed to estimate the quadrotor system states and build a set of offset residuals to indicate actuators’ faults. Based on these residuals, some rules of Fault Diagnosis (FD) are designed to detect and isolate the faults as well as estimate the fault offset parameters. Secondly, a synthetic robust optimization scheme is presented to improve Fault Estimation (FE) accuracies, three key issues include modeling uncertainties, and magnitude order unbalances as well as noises are addressed. Finally, a typical fault of rotors is simulated and injected into one of four rotors of the quadrotor, and experiments for the FD scheme have been carried out. Unlike former research works on the FD schemes for quadrotors, our proposed FD scheme based on the ATO can not only detect and isolate the failed actuators, but also estimate the fault severities. Regardless of roughness of the real flying data, the FD results still have sufficient FE accuracies.     

Simple Robust PID Tuning for Magnetic Levitation Systems Using Model-free Control and $${{\cal H}_\infty}$$ ℋ ∞ Control Strategies

International Journal of Control, Automation and Systems - This paper proposes two control techniques to provide robust tracking for magnetic levitation systems (MLS): model-free control (MFC) and...     

Study on Pb-Bi natural circulation phenomena

For the development of 45w%Pb-55w%Bi cooled direct contact boiling water small fast reactor (PBWFR), experimental study on Pb-Bi-water direct contact boiling two-phase flow has been performed using Pb-Bi-water direct contact boiling two-phase flow loop. For stable start-up of the boiling flow operation, Pb-Bi single-phase natural circulation must be realized in a Pb-Bi flow system of the loop before water injection into Pb-Bi. The Pb-Bi flow system consists of a four-heater-pin bundle, a chimney, an upper plenum, a level meter tank, a cooler, and an electromagnetic flow meter. A stable Pb-Bi single-phase natural circulation was realized in the range of flow rate from 1.5 l/min to 4.8 l/min by heating Pb-Bi in the heater-pin bundle with a power up to 7.7 kW. The inlet and outlet temperatures of the heater bundle were in the ranges from 243°C to 278°C, and from 251°C to 278°C, respectively. The natural circulation flow was simulated analytically using one-dimensional flow model including frictional, form and drag forces. Total hydraulic head through the loop were calculated from Pb-Bi densities at measured Pb-Bi temperatures in the loop. It was found that the calculated flow rate agreed well with the measured ones, which indicated the validity of the analytical models.     

Constructing General Orthogonal Fractional Factorial Split-Plot Designs

While the orthogonal design of split-plot fractional factorial experiments has received much attention already, there are still major voids in the literature. First, designs with one or more factors acting at more than two levels have not yet been considered. Second, published work on nonregular fractional factorial split-plot designs was either based only on Plackett–Burman designs, or on small nonregular designs with limited numbers of factors. In this article, we present a novel approach to designing general orthogonal fractional factorial split-plot designs. One key feature of our approach is that it can be used to construct two-level designs as well as designs involving one or more factors with more than two levels. Moreover, the approach can be used to create two-level designs that match or outperform alternative designs in the literature, and to create two-level designs that cannot be constructed using existing methodology. Our new approach involves the use of integer linear programming and mixed integer linear programming, and, for large design problems, it combines integer linear programming with variable neighborhood search. We demonstrate the usefulness of our approach by constructing two-level split-plot designs of 16–96 runs, an 81-run three-level split-plot design, and a 48-run mixed-level split-plot design. Supplementary materials for this article are available online.     

Surface coating protective against oxidative plasma etching of polypropylene

Polypropylene (PP) sheets were coated with the ultrathin polymer layers by plasma polymerization of hexamethyldisiloxane and two other Si-containing monomers, and the protection effects from oxidative plasma etching were investigated. Etching was evaluated by the weight loss of PP sheets after the exposure to an oxidative plasma of O₂ or air. The effects of plasma polymer coating on the etching resistance were investigated with respect to the type of plasma polymer, thickness of a coating layer, oxidative plasma etching conditions, etc. Weight of the coated PP sheets was less changed and the substrates remained stable after a certain period of oxidative plasma treatments, during which time the original PP film had prominently lost weight. The importance of the crosslinked network with —Si— MPO components in plasma polymers on the etching resistance was suggested from the results. Infrared spectra were taken and analyzed with the plasma polymers after O₂-plasma treatments, and the increase in the Si—O structure was indicated by the increase in the peak intensity at 1023 cm⁻¹. Stabilization against oxidative etching was attributed to the crosslinked Si—O structure on the surface layer. © 1997 John Wiley & Sons, Inc. J Appl Polym Sci 66: 1049–1057, 1997