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A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect.

ABSTRACT: Multirotor micro air vehicles can operate in complex and confined environments that are otherwise inaccessible to larger drones. Operation in such environments results in airflow interactions between the propellers and proximate surfaces. The most common of these interactions is the ground effect. In addition to the increment in thrust efficiency, this effect disturbs the onboard sensors of the drone. In this paper, we present a fault-tolerant scheme for a multirotor with altitude sensor faults caused by the ground effect. We assume a hierarchical control structure for trajectory tracking. The structure consists of an external Proportional-Derivative controller and an internal Proportional-Integral controller. We consider that the sensor faults occur on the inner loop and counteract them in the outer loop. In a novel approach, we use a metric monocular Simultaneous Localization and Mapping algorithm for detecting internal faults. We design the fault diagnosis scheme as a logical process which depends on the weighted residual. Furthermore, we propose two control strategies for fault mitigation. The first combines the external PD controller and a function of the residual. The second treats the sensor fault as an actuator fault and compensates with a sliding mode action. In either case, we utilize onboard sensors only. Finally, we evaluate the effectiveness of the strategies in simulations and experiments.

SUBMITTER: Matus-Vargas A

PROVIDER: S-EPMC6891326 | biostudies-literature | 2019 Nov

REPOSITORIES: biostudies-literature

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A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect.

Matus-Vargas Antonio A Rodriguez-Gomez Gustavo G Martinez-Carranza Jose J

Sensors (Basel, Switzerland) 20191113 22

Multirotor micro air vehicles can operate in complex and confined environments that are otherwise inaccessible to larger drones. Operation in such environments results in airflow interactions between the propellers and proximate surfaces. The most common of these interactions is the ground effect. In addition to the increment in thrust efficiency, this effect disturbs the onboard sensors of the drone. In this paper, we present a fault-tolerant scheme for a multirotor with altitude sensor faults ...[more]

PMID: 31766258

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Project description:Graphene monolayer of sub-nanometer thickness possesses strong metallic and plasmonic behavior in a broad terahertz (THz) frequency range. This plasmonic effect can be considerably manipulated when graphene layer is subjected to a variable chemical potential (Ef) via chemical doping or electrical gating. The strong adsorption characteristics of graphene layer is another important advantage. In this work, a photonic spin Hall effect (PSHE) based plasmonic sensor consisting of germanium prism, organic dielectric layer, and graphene monolayer is simulated and analyzed in THz range aiming at highly sensitive and reliable gas sensing. Modified Otto configuration and Kubo formulation for graphene at room temperature are considered. The sensor's performance is examined in terms of figure of merit (FOM). The analysis indicates that under angular interrogation scheme of sensor operation, the FOM improves for smaller chemical potential (moderate doping) and higher THz frequency. Moreover, the influence of temperature on gas sensor's performance (FOM) is negligible, which suggests that the sensor is capable of providing stable sensing performance against temperature variation. The sensor design is highly flexible in terms of selection of THz frequency as an alternative interrogation scheme (i.e., measuring the variation in spin-dependent shift peak value of PSHE spectrum upon change in gas medium refractive index) can also be implemented. It is found that there is no need to change the moderate doping of graphene monolayer (i.e., Ef remains around its normal value ~ 0.1 eV) as the sensitivity achievable with this alternative method has considerably greater magnitude at smaller THz frequency (e.g., 2 THz). The magnitudes of FOM (with angular interrogation method) and sensitivity (with alternative method) are found to be significantly greater for rarer gaseous media, which might possibly assist in early detection of airborne viruses such as SARS-Cov-2 (while using appropriate specificity method) and to measure the concentration of a particular gas in a given gaseous mixture.Supplementary informationThe online version contains supplementary material available at 10.1007/s11082-022-03626-7.

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A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect.

Publications

A Monocular SLAM-based Controller for Multirotors with Sensor Faults under Ground Effect.

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