Omni-Wrist III is a newsensor mount developed with U.S. Air Force funding that emulates the kinematics of a human wrist. Driven by two linear motors and computer controlled, it is capable of a full 180 ± hemisphere of pitch/yaw motion. A comprehensive laboratory testing of one of the few existing devices of this type, installed in the Laser Communications Research Laboratory at Binghamton University, has resulted in the establishment of a complete mathematical model relating pitch/yaw coordinates of the sensor mount to the motor encoder signals. This paper presents the development of the model that incorporates inverse and forward pose kinematics solutions as well as the dynamics of the novel gimbal-like pointing system.
The proliferation of Unmanned Aerial Vehicles (UAVs) raises a host of new security concerns. Our research resulted in a prototype UAV monitoring system, which captures flight data and performs real-time estimation/tracking of airframe and controller parameters utilizing the Recursive Least Squares Method. Subjected to statistical validation and trend analysis, parameter estimates are instrumental for the detection of some classes of cyber attacks and incipient hardware failures that can invariably jeopardize mission success. Our results demonstrate that achieving efficient anomaly detection during flight is possible through the intelligent application of statistical methods to system behavioral profiling.
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