Mobile Robot Lab Project to Introduce Engineering Students to Fault Diagnosis in Mechatronic Systems

This document is a self-archiving copy of the accepted version of the paper. Please find the final published version in IEEEXplore: http://dx.doi.org/10.1109/TE.2014.2358551This paper proposes lab work for learning fault detection and diagnosis (FDD) in mechatronic systems. These skills are important for engineering education because FDD is a key capability of competitive processes and products. The intended outcome of the lab work is that students become aware of the importance of faulty conditions and learn to design FDD strategies for a real system. To this end, the paper proposes a lab project where students are requested to develop a discrete event dynamic system (DEDS) diagnosis to cope with two faulty conditions in an autonomous mobile robot task. A sample solution is discussed for LEGO Mindstorms NXT robots with LabVIEW. This innovative practice is relevant to higher education engineering courses related to mechatronics, robotics, or DEDS. Results are also given of the application of this strategy as part of a postgraduate course on fault-tolerant mechatronic systems.This work was supported in part by the Spanish CICYT under Project DPI2011-22443

Deflecting small asteroids using laser ablation : Deep space navigation and asteroid orbit control for LightTouch2 Mission

This paper presents a low-cost, low mass, mission design to successfully intercept and deflect a small and faint, 4 m in diameter asteroid. Intended to be launched after 2025, the laser-ablating mission, LightTouch2 will be used to deflect the orbit of the asteroid by at least 1 m/s. This will be achieved with a total mission lifetime of less than three years. Analysis includes the initial approach of the spacecraft, the operations of the laser at an optimal spacecraft-to-asteroid distance of 50 m and the relative orbit of the spacecraft that flies in formation with the asteroid. Analysis includes line-of-sight measurements with radiometric tracking from ground station to improve the trajectory estimate and observability of the spacecraft, collision avoidance and mapping strategies. The spacecraft will also need optimal discrete control. This is achieved by impulse-bit manoeuvres used to account for the perturbations caused by the resultant thrust on the asteroid, plume impingement, laser recoil and solar radiation pressure. The spacecraft controls its trajectory within a 1 m box from the reference trajectory to enable the laser to optimally focussing the laser beam. The proposed approach uses an unscented Kalman filter to estimate the relative spacecraft-asteroid position, velocity and perturbative acceleration

Evaluating Variable Length Markov Chain Models for Analysis of User Web Navigation Sessions

Markov models have been widely used to represent and analyse user web navigation data. In previous work we have proposed a method to dynamically extend the order of a Markov chain model and a complimentary method for assessing the predictive power of such a variable length Markov chain. Herein, we review these two methods and propose a novel method for measuring the ability of a variable length Markov model to summarise user web navigation sessions up to a given length. While the summarisation ability of a model is important to enable the identification of user navigation patterns, the ability to make predictions is important in order to foresee the next link choice of a user after following a given trail so as, for example, to personalise a web site. We present an extensive experimental evaluation providing strong evidence that prediction accuracy increases linearly with summarisation ability

A fine grained heuristic to capture web navigation patterns

In previous work we have proposed a statistical model to capture the user behaviour when browsing the web. The user navigation information obtained from web logs is modelled as a hypertext probabilistic grammar (HPG) which is within the class of regular probabilistic grammars. The set of highest probability strings generated by the grammar corresponds to the user preferred navigation trails. We have previously conducted experiments with a Breadth-First Search algorithm (BFS) to perform the exhaustive computation of all the strings with probability above a specified cut-point, which we call the rules. Although the algorithm’s running time varies linearly with the number of grammar states, it has the drawbacks of returning a large number of rules when the cut-point is small and a small set of very short rules when the cut-point is high. In this work, we present a new heuristic that implements an iterative deepening search wherein the set of rules is incrementally augmented by first exploring trails with high probability. A stopping parameter is provided which measures the distance between the current rule-set and its corresponding maximal set obtained by the BFS algorithm. When the stopping parameter takes the value zero the heuristic corresponds to the BFS algorithm and as the parameter takes values closer to one the number of rules obtained decreases accordingly. Experiments were conducted with both real and synthetic data and the results show that for a given cut-point the number of rules induced increases smoothly with the decrease of the stopping criterion. Therefore, by setting the value of the stopping criterion the analyst can determine the number and quality of rules to be induced; the quality of a rule is measured by both its length and probability

Tightly Coupled GNSS and Vision Navigation for Unmanned Air Vehicle Applications

This paper explores the unique benefits that can be obtained from a tight integration of a GNSS sensor and a forward-looking vision sensor. The motivation of this research is the belief that both GNSS and vision will be integral features of future UAV avionics architectures, GNSS for basic aircraft navigation and vision for obstacle-aircraft collision avoidance. The paper will show that utilising basic single-antenna GNSS measurements and observables, along with aircraft information derived from optical flow techniques creates unique synergies. Results of the accuracy of attitude estimates will be presented, based a comprehensive Matlab® Simulink® model which re-creates an optical flow stream based on the flight of an aircraft. This paper establishes the viability of this novel integrated GNSS/Vision approach for use as the complete UAV sensor package, or as a backup sensor for an inertial navigation system