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Proceedings Paper

Bio-inspired sensing and control for disturbance rejection and stabilization
Author(s): Gregory Gremillion; James Sean Humbert
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Paper Abstract

The successful operation of small unmanned aircraft systems (sUAS) in dynamic environments demands robust stability in the presence of exogenous disturbances. Flying insects are sensor-rich platforms, with highly redundant arrays of sensors distributed across the insect body that are integrated to extract rich information with diminished noise. This work presents a novel sensing framework in which measurements from an array of accelerometers distributed across a simulated flight vehicle are linearly combined to directly estimate the applied forces and torques with improvements in SNR. In simulation, the estimation performance is quantified as a function of sensor noise level, position estimate error, and sensor quantity.

Paper Details

Date Published: 22 May 2015
PDF: 8 pages
Proc. SPIE 9467, Micro- and Nanotechnology Sensors, Systems, and Applications VII, 94671O (22 May 2015); doi: 10.1117/12.2178270
Show Author Affiliations
Gregory Gremillion, U.S. Army Research Lab. (United States)
Univ. of Maryland, College Park (United States)
James Sean Humbert, Univ. of Maryland, College Park (United States)


Published in SPIE Proceedings Vol. 9467:
Micro- and Nanotechnology Sensors, Systems, and Applications VII
Thomas George; Achyut K. Dutta; M. Saif Islam, Editor(s)

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