1,499 research outputs found
Controllability Analysis and Degraded Control for a Class of Hexacopters Subject to Rotor Failures
This paper considers the controllability analysis and fault tolerant control
problem for a class of hexacopters. It is shown that the considered hexacopter
is uncontrollable when one rotor fails, even though the hexacopter is
over-actuated and its controllability matrix is row full rank. According to
this, a fault tolerant control strategy is proposed to control a degraded
system, where the yaw states of the considered hexacopter are ignored.
Theoretical analysis indicates that the degraded system is controllable if and
only if the maximum lift of each rotor is greater than a certain value. The
simulation and experiment results on a prototype hexacopter show the
feasibility of our controllability analysis and degraded control strategy.Comment: 21 pages, 7 figures, submitted to Journal of Intelligent & Robotic
System
Robust Dynamic Selection of Tested Modules in Software Testing for Maximizing Delivered Reliability
Software testing is aimed to improve the delivered reliability of the users.
Delivered reliability is the reliability of using the software after it is
delivered to the users. Usually the software consists of many modules. Thus,
the delivered reliability is dependent on the operational profile which
specifies how the users will use these modules as well as the defect number
remaining in each module. Therefore, a good testing policy should take the
operational profile into account and dynamically select tested modules
according to the current state of the software during the testing process. This
paper discusses how to dynamically select tested modules in order to maximize
delivered reliability by formulating the selection problem as a dynamic
programming problem. As the testing process is performed only once, risk must
be considered during the testing process, which is described by the tester's
utility function in this paper. Besides, since usually the tester has no
accurate estimate of the operational profile, by employing robust optimization
technique, we analysis the selection problem in the worst case, given the
uncertainty set of operational profile. By numerical examples, we show the
necessity of maximizing delivered reliability directly and using robust
optimization technique when the tester has no clear idea of the operational
profile. Moreover, it is shown that the risk averse behavior of the tester has
a major influence on the delivered reliability.Comment: 19 pages, 4 figure
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