Please use this identifier to cite or link to this item: https://hdl.handle.net/10356/158843
Title: Mitigation study and approach for safe drone operations in low-altitude environments
Authors: Sidharth, R Sai
Keywords: Engineering::Mechanical engineering
Issue Date: 2022
Publisher: Nanyang Technological University
Source: Sidharth, R. S. (2022). Mitigation study and approach for safe drone operations in low-altitude environments. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/158843
Abstract: With the recent increase in drone usage among organizations and hobbyists, there have been many accidents reported locally and overseas. Drones are built from commercial off-the-shelf (COTS) components as opposed to manned aircrafts. If these onboard components were to develop unmitigated faults during flight operations, it could lead to complete failure of the component leading to severe consequences such as fatality or damage to critical infrastructure. Thus, for further integration of drones into our day to day activities, safe mitigation techniques are necessary. This project presents a Fault Diagnosis Module (FDM) for actuator failures in quadcopters as a safe mitigation technique. To monitor the health of the UAV and provide early information on faults to take appropriate corrective action. A Hardware- in-the-loop (HITL) experimental setup is used to perform flight simulations. Partial and complete actuator fault simulations of varying level were carried out. The onboard sensor data was collected and subjected to preliminary analysis to understand the behavior and identify the controllability threshold. The FDM makes use of an online sequential fuzzy-extreme learning machine (OS-Fuzzy-ELM) algorithm which is trained using the fault behavior data at the controllability threshold to identify the location of the actuator fault based on the data provided. The average accuracy and macro-averaged F1 scores for the OS-Fuzzy- ELM fault diagnosis model are 80.2% and 78.0%.
URI: https://hdl.handle.net/10356/158843
Fulltext Permission: restricted
Fulltext Availability: With Fulltext
Appears in Collections:MAE Student Reports (FYP/IA/PA/PI)

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