We present a dataset of several fault types in control surfaces fixed-wing Unmanned Aerial Vehicle (UAV) for use Fault Detection and Isolation (FDI) Anomaly (AD) research. Currently, the includes processed data 47 autonomous flights with 23 sudden full engine failure scenarios 24 seven other surface (actuator) faults, total 66 minutes flight normal conditions 13 post-fault time. It additionally many hours raw fully-autonomous, autopilot-assisted manual tens scenarios. The ground truth time...

Many aerial robotic applications require the ability to land on moving platforms, such as delivery trucks and marine research boats. We present a method autonomously an Unmanned Aerial Vehicle vehicle. A visual servoing controller approaches ground vehicle using velocity commands calculated directly in image space. The control laws generate all three dimensions, eliminating need for separate height controller. has shown approach deck simulation, indoor outdoor environments, compared other...

Enabling vertical take-off and landing while pro-viding the ability to fly long ranges opens door a wide range of new real-world aircraft applications improving many existing tasks. Tiltrotor (VTOL) unmanned aerial vehicles (UAVs) are better choice than fixed-wing multirotor for such applications. Prior works on these have addressed aerodynamic performance, design, modeling, control. However, less explored area is study their potential fault tolerance due inherent redundancy, which allows...

The recent increase in the use of aerial vehicles raises concerns about safety and reliability autonomous operations. There is a growing need for methods to monitor status these aircraft report any faults anomalies pilot or autopilot deal with emergency situation. In this paper, we present real-time approach using Recursive Least Squares method detect behavior an aircraft. models relationship between correlated input-output pairs online uses model anomalies. result easy-to-deploy anomaly...

Many methods exist to model and track deformable one-dimensional objects (e.g., cables, ropes, threads) across a stream of video frames. However, these depend on the existence some initial conditions. To best our knowledge, topic detection that can extract those conditions in non-trivial situations has hardly been addressed. The lack limits use tracking real-world applications is bottleneck for fully autonomous work with objects. This paper proposes an approach detecting which handle...

We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable real-world robotics applications. The method fits ellipses to each contour in the image frame rejects that do not yield good fit. resulting is lightweight enough be used on robots' resource-limited onboard computers, can deal with lighting variations detect pattern even when view partial. tested an example application autonomous UAV landing fast-moving vehicle show its performance indoors, outdoors,...

On-board path planning is a key capability for safe autonomous unmanned flight. Recently, it has been shown that using trochoids turn segments allows run-time efficient under consideration of the prevailing wind. However, with varying wind conditions and uncertainty in estimation speed direction, paths optimized reference condition may become infeasible to track aircraft. In this work, we discuss how calculate conservative rate limits present novel approach safety distances along trochoidal...

This paper presents the ARCAD simulator for rapid development of Unmanned Aerial Systems (UAS), including underactuated and fully-actuated multirotors, fixed-wing aircraft, Vertical Take-Off Landing (VTOL) hybrid vehicles. The is designed to accelerate these aircraft's modeling control design. It provides various analyses design operation, such as wrench-set computation, controller response, flight optimization. In addition simulating free flight, it can simulate physical interaction...

In this paper, we introduce a model-based omnifont Persian OCR system. The system uses set of 8 primitive elements as structural features for recognition. First, the scanned document is preprocessed. After normalizing preprocessed image, text rows and sub-words are separated then thinned. recognition dots in sub-words, strokes extracted each sub-word recognized using strokes. Finally, primitives compared with predefined character identification vectors order to identify characters....

The introduction of fully-actuated multirotors has opened the door to new possibilities and more efficient solutions many real-world applications. However, their integration had been slower than expected, partly due need for tools take full advantage these robots. As far as we know, all groups currently working on develop full-pose (6-D) methods use robots, which is inefficient, time-consuming, requires resources. We propose a way bridging gap between already available underactuated robots...

With the field of rigid-body robotics having matured in last fifty years, routing, planning, and manipulation deformable objects have recently emerged as a more untouched research area many fields ranging from surgical to industrial assembly construction. Routing approaches for which rely on learned implicit spatial representations (e.g., Learning-from-Demonstration methods) make them vulnerable changes environment specific setup. On other hand, algorithms that entirely separate...

Enabling vertical take-off and landing while providing the ability to fly long ranges opens door a wide range of new real-world aircraft applications improving many existing tasks. Tiltrotor (VTOL) unmanned aerial vehicles (UAVs) are better choice than fixed-wing multirotor for such applications. Prior works on these have addressed aerodynamic performance, design, modeling, control. However, less explored area is study their potential fault tolerance due inherent redundancy, which allows...

The physical interaction of aerial robots with their environment has countless potential applications and is an emerging area many open challenges. Fully-actuated multirotors have been introduced to tackle some these They provide complete control over position orientation eliminate the need for attaching a multi-DoF manipulation arm robot. However, there are problems before they can be used in real-world applications. Researchers methods limited settings. Their experiments primarily use...

This workshop paper presents the challenges we encountered when simulating fully-actuated Unmanned Aerial Vehicles (UAVs) for our research and solutions developed to overcome challenges. We describe ARCAD simulator that has helped us rapidly implement test different controllers ranging from Hybrid Force-Position Controllers advanced Model Predictive Path Integrals allowed analyze design behavior of UAVs. used enable real-world deployments UAV fleet applications. The is further extended...

Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing speed of delivery, and enhancing resiliency to workforce fluctuations.The past few years have seen increased interest in automating such repeated tasks but mostly controlled settings.Tasks as picking objects from unstructured, cluttered piles only recently become robust enough large-scale deployment with minimal human intervention.This paper demonstrates a...

Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these the study physical interaction with them is still a growing area. There have already been successful methods to model track deformable objects. number that can automatically extract initial conditions non-trivial situations for has limited, they introduced community only recently. On other hand, while done ground manipulators, there not any studies on manipulation...

Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing speed of delivery, and enhancing resiliency to workforce fluctuations. The past few years have seen increased interest in automating such repeated tasks but mostly controlled settings. Tasks as picking objects from unstructured, cluttered piles only recently become robust enough large-scale deployment with minimal human intervention. This paper demonstrates a...

Automating warehouse operations can reduce logistics overhead costs, ultimately driving down the final price for consumers, increasing speed of delivery, and enhancing resiliency to market fluctuations. This extended abstract showcases a large-scale package manipulation from unstructured piles in Amazon Robotics' Robot Induction (Robin) fleet, which is used picking singulating up 6 million packages per day so far has manipulated over 2 billion packages. It describes various heuristic methods...

In this paper we proposed a novel inverter to convert DC voltage desired AC voltage. This is designed for variable inductive loads and low output power applications. We simple PWM method which enables the keep current at six times more than rated current, without reducing value. addition, based on use of resonance in circuit, new can raise extremely high amplitude relatively short time. These characteristics make useful some industrial applications such as electrical vehicle. The...

In this study, a simple and novel control technique for Power Factor Correction (PFC) is introduced, which SEPIC-based (Single-ended Primary-inductor Converter based) rectifier with high input power factor. Operation of the proposed method based on sampling output voltages in SEPIC rectifier. Using samples voltage, system makes current to follow sinusoidal path. As result, line current's Total Harmonic Distortion (THD) reduced factor improved. This paper also compares new conventional...

With the field of rigid-body robotics having matured in last fifty years, routing, planning, and manipulation deformable objects have recently emerged as a more untouched research area many fields ranging from surgical to industrial assembly construction. Routing approaches for which rely on learned implicit spatial representations (e.g., Learning-from-Demonstration methods) make them vulnerable changes environment specific setup. On other hand, algorithms that entirely separate...

Offering vertical take-off and landing (VTOL) capabilities the ability to travel great distances are crucial for Urban Air Mobility (UAM) vehicles. These make hybrid VTOLs clear front-runners among UAM platforms. On other hand, concerns regarding safety reliability of autonomous aircraft have grown in response recent growth aerial vehicle usage. As a result, monitoring status report any failures recovering prevent loss control when failure happens becoming increasingly important. Hybrid can...