Windings fault detection and prognosis in electro-mechanical flight control actuators operating in active-active configuration

One of the most significant research trends in the last decades of the aeronautic industry is the effort to move towards the design and the production of “more electric aircraft”. Within this framework, the application of the electrical technology to flight control systems has seen a progressive, although slow, increase: starting with the introduction of fly-by-wire and proceeding with the partial replacement of the traditional hydraulic/electro-hydraulic actuators with purely electro-mechanical ones. This evolution allowed to obtain more flexible solutions, reduced installation issues and enhanced aircraft control capability.Electro-Mechanical Actuators (EMAs) are however far from being a mature technology and still suffer from several safety issues, which can be partially limited by increasing the complexity of their design and hence their production costs. The development of a robust Prognostics and Health Management (PHM) system could provide a way to prevent the occurrence of a critical failure without resorting to complex device design. This paper deals with the first part of the study of a comprehensive PHM system for EMAs employed as primary flight control actuators; the peculiarities of the application are presented and discussed, while a novel approach, based on short pre-flight/post-flight health monitoring tests, is proposed. Turn-to-turn short in the electric motor windings is identified as the most common electrical degradation and a particle filtering framework for anomaly detection and prognosis featuring a self-tuning non-linear model is proposed. Features, anomaly detection and a prognostic algorithm are hence evaluated through state-of-the art performance metrics and their results discussed

Rehabilitation versus surgical reconstruction for non-acute anterior cruciate ligament injury (ACL SNNAP): a pragmatic randomised controlled trial

BackgroundAnterior cruciate ligament (ACL) rupture is a common debilitating injury that can cause instability of the knee. We aimed to investigate the best management strategy between reconstructive surgery and non-surgical treatment for patients with a non-acute ACL injury and persistent symptoms of instability.MethodsWe did a pragmatic, multicentre, superiority, randomised controlled trial in 29 secondary care National Health Service orthopaedic units in the UK. Patients with symptomatic knee problems (instability) consistent with an ACL injury were eligible. We excluded patients with meniscal pathology with characteristics that indicate immediate surgery. Patients were randomly assigned (1:1) by computer to either surgery (reconstruction) or rehabilitation (physiotherapy but with subsequent reconstruction permitted if instability persisted after treatment), stratified by site and baseline Knee Injury and Osteoarthritis Outcome Score—4 domain version (KOOS4). This management design represented normal practice. The primary outcome was KOOS4 at 18 months after randomisation. The principal analyses were intention-to-treat based, with KOOS4 results analysed using linear regression. This trial is registered with ISRCTN, ISRCTN10110685, and ClinicalTrials.gov, NCT02980367.FindingsBetween Feb 1, 2017, and April 12, 2020, we recruited 316 patients. 156 (49%) participants were randomly assigned to the surgical reconstruction group and 160 (51%) to the rehabilitation group. Mean KOOS4 at 18 months was 73·0 (SD 18·3) in the surgical group and 64·6 (21·6) in the rehabilitation group. The adjusted mean difference was 7·9 (95% CI 2·5–13·2; p=0·0053) in favour of surgical management. 65 (41%) of 160 patients allocated to rehabilitation underwent subsequent surgery according to protocol within 18 months. 43 (28%) of 156 patients allocated to surgery did not receive their allocated treatment. We found no differences between groups in the proportion of intervention-related complications.InterpretationSurgical reconstruction as a management strategy for patients with non-acute ACL injury with persistent symptoms of instability was clinically superior and more cost-effective in comparison with rehabilitation management

Feasibility Study of a PHM System for Electro-hydraulic Servo-actuators for Primary Flight Controls

Electro-Hydraulic Servo-Actuators (EHSA) are by far the mostly used type of actuators in aircraft primary flight control systems. Though electrical actuation is been considered since long as a possible replacement of hydraulic actuation for aircraft systems, EHSAs are still the technology of choice in the primary flight control systems of new commercial aircrafts. Considering that 10 or more EHSAs are typically used in an aircraft flight control system, the development of an effective PHM system for this equipment could provide large benefits and be of great interest for the OEMs and for the air fleet operators. This paper presents the results of a feasibility study making up the first part of an ongoing research activity focused on the development of a PHM system for EHSAs used in fly-by-wire primary flight control systems and takes as a use case the primary flight control actuator of a wide body commercial aircraft. One of the key features of the research is the implementation of a PHM system without the addition of new sensors, taking advantage of the available signals. This offers the possibility of implementation of the PHM system on the existing platforms and not only as a proposition for new aircrafts designed with a complement of additional sensors. The enabling technologies for this PHM system borrow from the area of Bayesian estimation theory and specifically particle filtering and the information acquired from EHSA in-flight and during pre-flight check is processed by appropriate algorithms in order to obtain relevant features, detect the degradation and estimate the Remaining Useful Life (RUL). The results are evaluated through appropriate metrics in order to assess the performance and effectiveness of the implemented PHM. This paper describes the methodology of the feasibility study, which shows how the novel PHM technologies proposed for a PHM system for the EHSAs of primary flight control actuators can allow the migration from unscheduled / on-condition maintenance to condition based maintenance targeting the perceived objectives of the OEM and of the aircraft operator

Integrated Control for Mobile Manipulation for Intelligent Materials Handling

An integrated control system architecture for mobile manipulators is presented. This architecture incorporates a hybrid reactive/hierarchical structure and partitions the task into macro- and micro-manipulation components. Computer vision and other sensor modalities provide the input necessary to cope with materials handling tasks in a partially modeled and dynamic world