ABSTRACT Multirotor Aerial Vehicles may be fault-tolerant by design when rotor-failure is possible to measure or identify, especially when a large number of rotors are used. For instance, an octocopter can be capable to complete some missions even when a double-rotor fault occurs during the execution. In this paper, we study how a rotor-failure reduces the vehicle control admissible set and its importance with respect to the selected mission, i.e. we perform mission-related fault-tolerant analysis. Furthermore, we propose a risk-sensitive motion-planning algorithm capable to take into account the risks during the planning stage by means of mission-related fault-tolerant analysis. We show that the proposed approach is much less conservative in terms of selected performance measures than a conservative risk planner that assumes that the considered fault will certainly occur during the mission execution. As expected, the proposed risk-sensitive motion planner is also readier for accepting failures during the mission execution than the risk-insensitive approach that assumes no failure will occur.

This paper presents a numerical analysis of a reinforced concrete beam in which the concrete and reinforcement are above the yield strength of the material. Further, the procedure for determining the relationship between the cross-sectional forces and the deformations of the layered cross-section of a rod is described. For a short rod with reduced stiffness of the EI and EA cross-sections, a stiffness matrix with variable members is formed. The applicability of the proposed analysis method for the material nonlinearity in a beam calculation is demonstrated through a numerical example. The aim of the present paper is to show the flow of plastification and the load deformation of the system nodes. Finally, the results of the manual deformation calculation system are compared with the results from SCIA software.