Summary: The paper presents a procedure for numerical modelling of the geometric nonlinearity of a rod. The calculation of cross-sectional forces, displacements and rotations of nodes was done by iterative methods on a deformed system. By the described procedure, the equilibrium state is established in the finite position of the rod. In the process of deformation, there is an increase in cross-sectional forces and deformation of the rod. The presented calculation methods are used to model geometric nonlinearity with constant and variable stiffness of the cross section of the rod. The calculations were done numerically, and the results were controlled using the SCIA software package. Through numerical examples, the calculation procedure was presented and the analysis of the results was performed.

The paper shows the calculation of the system by second order theory on elastic supports. At the calculate it adopted a linear relationship of stress-displacement soil. The method of calculating the beams based on rigid and deformed supports was presented by introducing geometric nonlinearity into the calculate. Expressions were performed for the rigidity of the supports in the vertical direction and on the rotation of the foundation, due to the elastic deformation of the soil. Numerical examples show the application of the procedure described. Through diagrams and charts of static and deformation, a comparison of calculate results was made.

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.

In this paper Failure Mode and Effects Analysis (FMEA) for a large scale multirotor systems (with moving mass) based on novel system for aircraft control will be presented. This system uses four petrol engines for lift and a moving mass system to control the vehicle. Analysis presented in this paper assesses the vulnerabilities of the system during the vehicle operation. The main objective of the analysis is to understand the cause and severity of the failures that can occur to the petrol engines and the moving mass system. Our unmanned aerial vehicle system is used for environmental monitoring and maritime security developed under MORUS project funded under NATO SPS Program. The ultimate goal of our research and design is to make an unmanned aerial vehicle that can lift larger amount of load (approximately 40kg). During its operation time the unmanned aerial vehicle might fail to complete a certain assignment so failure mode and effects analysis is needed to account for such problems and to find appropriate activities to reduce the overall risk the system faces during the mission.

This paper presents an experimental procedure for the identification of parameters of an octorotor unmanned aerial vehicle (UAV), as well as the obtained model validation via control. The octorotor UAV is a highly nonlinear, multivariable and strongly coupled system. The mathematical model of used UAV includes rigid body dynamics, the Gyroscopic effect and motor dynamics. In order to estimate eleven unknown parameters, the experiments are specially prepared and conducted on the custom made apparatus. Therefore, on basis of obtained measurements, some modifications of the octorotor model are made.

The goal of this paper was to design a simple Service Oriented Supervisory Control and Data Acquisition System (SCADA) that can be used to manage, control and visualize multiple heterogeneous SCADA systems. A three-tier System architecture was designed consisting of Data Access, Service and Presentation Layers. Clients on the presentation layer can communicate with the system backend via SOAP XML or RESTful JSON Web services. The full entity relationship diagram of the database schema is presented in the paper. Message sequence charts are explained in detail for polling and event based notification of setpoint changes. At the end of the paper a simple Web user interface was introduced to demonstrate how modern Web technologies like AJAX and JQuery can be used to build interactive SCADA user interfaces.

This paper presents a generalized Multirotor Aerial Vehicle (MAV) modeling framework which includes rigid body dynamics, gyroscopic effect and motor dynamics. We illustrate how this model can be used to derive any MAV platform constructed with an arbitrary number of rotors by using the quadrotor case as an example. Based on this result, we design the first Modelica-based MAV simulator. We validate the proposed design by using a simple altitude and attitude stabilization control system through a Modelica simulation setup.

This paper presents a fault-tolerant PD tracking system for Multirotor Aerial Vehicles (MAV) based on a novel Recursive Least Squares (RLS) Fault Detection and Isolation (FDI) algorithm utilized to diagnose propulsion system faults. As a test platform we investigate an octorotor model, including rigid body dynamics, the gyroscopic effect and motor dynamics. A hover configuration control is extended into an adaptive, fault-tolerant PD tracking controller. The approach is validated within a simulation study that includes a severe triple rotor fault scenario.

This paper presents a detailed octorotor model derivation. The full derivation of the rigid octorotor body dynamics based on the Newton-Euler approach including the Gyroscopic effect and motor dynamics is given. We also discuss a generalization of the model thus making it applicable to any symmetric and balanced multirotor aerial vehicle (MAV) system with even number of rotors. Finally, simple stabilization control is designed and compared with the state of the art results.

In this paper, we present an algorithm for fully autonomous exploration and mapping of an unknown indoor robot environment. This algorithm is based on the active SLAM (simultaneous localization and mapping) approach. The mobile robot equipped with laser sensor builds a map of an environment, while keeping track of its current location. Autonomy is introduced to this system by automatically setting goal points so that either previously unknown space is mapped, or known landmarks are revisited in order to increase map accuracy. Final aim is to maximize both map coverage and accuracy. The proposed procedure is experimentally verified on Pioneer 3-DX mobile robot in real environment, using ROS framework for implementation.