Self-Healing Control Framework Against Actuator Fault of Single-Rotor Unmanned Helicopters

Self-Healing Control Design under Actuator Fault Occurrence on Single-rotor Unmanned Helicopters

Journal of Intelligent & Robotic Systems ◽

10.1007/s10846-016-0341-4 ◽

2016 ◽

Vol 84 (1-4) ◽

pp. 21-35 ◽

Cited By ~ 7

Author(s):

Xin Qi ◽

Juntong Qi ◽

Didier Theilliol ◽

Dalei Song ◽

Youmin Zhang ◽

...

Keyword(s):

Control Design ◽

Actuator Fault ◽

Self Healing

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Robust Intelligent Control of Mobile Robots

Mobile Computing ◽

10.4018/978-1-60566-054-7.ch052 ◽

2009 ◽

pp. 597-617

Author(s):

Gordon Fraser ◽

Gerald Steinbauer ◽

Jörg Weber ◽

Franz Wotawa

Keyword(s):

Mobile Robots ◽

Hybrid Control ◽

Service Robots ◽

Control Architecture ◽

Self Healing ◽

Control Paradigm ◽

Control Framework ◽

Reactive Planning ◽

Key Features ◽

Robotic Soccer

An appropriate control architecture is a crucial premise for successfully achieving truly autonomous mobile robots. The architecture should allow for a robust control of the robot in complex tasks, while it should be flexible in order to operate in different environments pursuing different tasks. This chapter presents a control framework that is able to control an autonomous robot in complex realworld tasks. The key features of the framework are a hybrid control paradigm that incorporates reactive, planning and reasoning capabilities, a flexible software architecture that enables easy adaptation to new tasks and a robust task execution that makes reaction to unforeseen changes in the task and environment possible. Finally, the framework allows for detection of internal failures in the robot and includes self-healing properties. The framework was successfully deployed in the domain of robotic soccer and service robots. The chapter presents the requirements for such a framework, how the framework tackles the problems arising from the application domains, and results obtained during the deployment of the framework.

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Robust Intelligent Control of Mobile Robots

Architectural Design of Multi-Agent Systems ◽

10.4018/978-1-59904-108-7.ch017 ◽

2011 ◽

pp. 335-355

Author(s):

Gordon Fraser

Keyword(s):

Mobile Robots ◽

Hybrid Control ◽

Service Robots ◽

Control Architecture ◽

Self Healing ◽

Control Paradigm ◽

Control Framework ◽

Reactive Planning ◽

Key Features ◽

Robotic Soccer

An appropriate control architecture is a crucial premise for successfully achieving truly autonomous mobile robots. The architecture should allow for a robust control of the robot in complex tasks, while it should be flexible in order to operate in different environments pursuing different tasks. This chapter presents a control framework that is able to control an autonomous robot in complex real-world tasks. The key features of the framework are a hybrid control paradigm that incorporates reactive, planning and reasoning capabilities, a flexible software architecture that enables easy adaptation to new tasks and a robust task execution that makes reaction to unforeseen changes in the task and environment possible. Finally, the framework allows for detection of internal failures in the robot and includes self-healing properties. The framework was successfully deployed in the domain of robotic soccer and service robots. The chapter presents the requirements for such a framework, how the framework tackles the problems arising from the application domains, and results obtained during the deployment of the framework.

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Autonomous self-healing polyisoprene elastomers with high modulus and good toughness based on the synergy of dynamic ionic crosslinks and highly disordered crystals

Polymer Chemistry ◽

10.1039/d0py01034k ◽

2020 ◽

Vol 11 (41) ◽

pp. 6549-6558

Author(s):

Yohei Miwa ◽

Mayu Yamada ◽

Yu Shinke ◽

Shoichi Kutsumizu

Keyword(s):

Mechanical Properties ◽

Room Temperature ◽

Self Healing ◽

High Modulus ◽

Disordered Crystals ◽

Ionic Crosslinks

We designed a novel polyisoprene elastomer with high mechanical properties and autonomous self-healing capability at room temperature facilitated by the coexistence of dynamic ionic crosslinks and crystalline components that slowly reassembled.

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