This paper addresses the design of an observer-based fault diagnosis scheme, which is applied to some of the sensors and actuators of a wind turbine benchmark model. The methodology is based on a modified sliding mode observer (SMO) that allows accurate reconstruction of multiple sensor or actuator faults occurring simultaneously. The faults are reconstructed using the equivalent output err...

A detection scheme based on the artificial immune system (AIS) paradigm was developed for specific classes of aircraft jet engine failures including throttle, burner fuel flow valve, variable nozzle area actuator, variable mixer area actuator, low-pressure spool speed sensor, low-pressure turbine exit static pressure sensor, and mixer pressure ratio sensor. The Modular Aero-Propulsion System Si...

Some people suffering from diabetes use insulin injection pumps to control the blood glucose level. Sometimes, the fault may occur in the sensor or actuator of these pumps. The main objective of this paper is controlling the blood glucose level at the desired level and fault-tolerant control of these injection pumps. To this end, the eligibility traces algorithm is combined with the sliding mod...

We obtain an efficient parametrization that ensures stability of switched linear systems under arbitrary switching. Apart from stability analysis, our results are useful for addressing several important system theoretic problems, e.g. designing controllers that ensure robustness against arbitrary combinations of sensor or actuator failure. We illustrate our results by considering control of a d...

Neutralization of external stimuli in dynamic systems has the major role in health, life, and function of the system. Today, dynamic systems are exposed to unpredicted factors. If the factors are not considered, it will lead to irreparable damages in energy consumption and manufacturing systems. Continuous systems such as beams, plates, shells, and panels that have many applications in differen...

We present the design of a modular tactile sensor and actuator system for observing human demonstrations of contact tasks. The system consists of three interchangeable parts: an intrinsic tactile sensor for measuring net force/ torque, an extrinsic tactile sensor for measuring contact distributions , and a tactile actuator for displaying tactile distributions. The novel components are the extri...

Services that represent sensor and actuator nodes, together with service orchestration, aid in overcoming the heterogeneous structure of the Internet of Things (IoT). Interconnecting different sensor and actuator nodes and exposing them as services is a complex topic which is even more demanding for testing. Further effort is needed to enable common and efficient methodologies for testing IoT-b...

This article details the SFX-EH architecture for handling sensing failures in autonomous mobile robots. The SFX-EH uses novel extensions to the generate-and-test method to classify failures with only a partial causal model of the sensor/environment/task interactions for the robot. The generate-and-test methodology exploits the ability of the robot as a physically situated agent to actively test...

This article details the SFX-EH architecture for handling sensing failures in autonomous mobile robots. The SFX-EH uses novel extensions to the generate-and-test method to classify failures with only a partial causal model of the sensor/environment/task interactions for the robot. The generate-and-test methodology exploits the ability of the robot as a physically situated agent to actively test...

We study distributed boundary coverage of known environments using a team of miniature robots. Distributed boundary coverage is an instance of the multi-robot task-allocation problem and has applications in inspection, cleaning, and painting among others. The proposed algorithm is robust to sensor and actuator noise, failure of individual robots, and communication loss. We use a market-based al...