Aerospace and Electronic Systems - August 2018 - 55

Brzozowski et al.
quadrotor. Therefore, the acquired thrust force measurements are
concentrated in the lower and higher ranges of the power consumption values (Figure 16) with respect to the case of the quadrotor
(Figure 15).
For the quadrotor (Figure 15), the coefficient of determination
(R2) is 0.97 and the root mean square error (RMSE) of the estimated linear equation with respect to the measured value is 0.30 N. For
the hexarotor (Figure 16), R2 is 0.99 and the RMSE is 0.43 N. For
the quadrotor, the estimated FoM value is 0.027 N/W, and for the
hexarotor, it is 0.038 N/W. These analyses show that the hexarotor
is more efficient than quadrotor. Furthermore, the obtained results
show that the force signals can be used for detecting and identifying faults or damages of the UAS.

CONCLUSIONS AND FUTURE WORKS
Figure 15.

In this article, a new version of the DronesBench system, designed
for full remote control of UAS testing, is presented. For assessing the correct behavior of the remote system, several tests have
been performed by considering a client connected with a computer,
located at WAT, and a client connected to the server with a smartphone. The server is located at the LESIM, University of Sannio.
This version of the DronesBench system has been tested in real
conditions using two UASs (quadrotor and hexarotor type), and
preliminary results show that the system is able to detect and identify UAS's faults.
Future works will focus on (1) the development of a fully automated system for fault detection, (2) the assessment of the uncertainty values associated with each measured quantity, and (3) the
improvement of the web server application for reducing the time
latency.

Quadrotor UAS FoM results.

ACKNOWLEDGEMENT
The authors thank Ms. Olga Staszewska, an intern from WAT in the
LESIM, for the assistance and contribution to the development of
the remote system described in this work.

Figure 16.

Hexarotor UAS FoM results.

pellers working (blue line); one propeller damaged, missing about
1 cm of blade on one of the tips (red line); and a UAS without one
propeller (yellow line) are presented. As previously observed, the
results show that the thrust force values measured by the third load
cell of the UAS, without one propeller, are lower than the values
obtained in the case of normal working. Furthermore, the figure
highlights that when the propeller is broken, the force signals measured by the second and the third load cells (yellow lines) have
oscillations due to the vibration of the corresponding support.
Finally, for both UASs, the FoM values have been evaluated.
In Figures 15 and 16, the results obtained for the quadrotor and
hexarotor UASs are reported, respectively. In particular, the linear
fittings have been performed in all analyzed cases (normal working of UAS, broken propeller, and UAS without one propeller). For
both UASs, the FoM values do not change in any scenarios. For the
hexarotor, the time duration of the transient between the minimum
and the maximum throttle values is lower than in the case of the
AUGUST 2018

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