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Articles 1 - 3 of 3
Full-Text Articles in Military Vehicles
Potential Of Lidar And Hyperspectral Sensing For Overcoming Challenges In Current Maritime Ballast Tank Corrosion Inspection, Sergio Pallas Enguita, Jiajun Jiang, Chung-Hao Chen, Samuel Kovacic, Richard Lebel
Potential Of Lidar And Hyperspectral Sensing For Overcoming Challenges In Current Maritime Ballast Tank Corrosion Inspection, Sergio Pallas Enguita, Jiajun Jiang, Chung-Hao Chen, Samuel Kovacic, Richard Lebel
Electrical & Computer Engineering Faculty Publications
Corrosion in maritime ballast tanks is a major driver of maintenance costs and operational risks for maritime assets. Inspections are hampered by complex geometries, hazardous conditions, and the limitations of conventional methods, particularly visual assessment, which struggles with subjectivity, accessibility, and early detection, especially under coatings. This paper critically examines these challenges and explores the potential of Light Detection and Ranging (LiDAR) and Hyperspectral Imaging (HSI) to form the basis of improved inspection approaches. We discuss LiDAR’s utility for accurate 3D mapping and providing a spatial framework and HSI’s potential for objective material identification and surface characterization based on spectral …
Variable Structure Observer For Control Bias On Unmanned Air Vehicles, Nathan Slegers, Mark Costello
Variable Structure Observer For Control Bias On Unmanned Air Vehicles, Nathan Slegers, Mark Costello
Faculty Publications - Biomedical, Mechanical, and Civil Engineering
No abstract provided.
Nonlinear Model Predictive Control Technique For Unmanned Air Vehicles, Nathan Slegers, Jason Kyle, Mark Costello
Nonlinear Model Predictive Control Technique For Unmanned Air Vehicles, Nathan Slegers, Jason Kyle, Mark Costello
Faculty Publications - Biomedical, Mechanical, and Civil Engineering
A nonlinear model predictive control strategy is developed and subsequently specialized to autonomous aircraft that can be adequately modeled with a rigid 6-degrees-of-freedom representation. Whereas the general air vehicle dynamic equations are nonlinear and nonaffine in control, a closed-form solution for the optimal control input is enabled by expanding both the output and control in a truncated Taylor series. The closed-form solution for control is relatively simple to calculate and well suited to the real time embedded computing environment. An interesting feature of this control law is that the number of Taylor series expansion terms can be used to indirectly …