Ensuring traffic safety is crucial, which necessitates the detection and prevention of road surface defects. As a result, there has been a growing interest in the literature on the subject, leading to the development of various road surface defect detection methods. The methods for detecting road defects can be categorised in various ways depending on the input data types or training methodologies. The predominant approach involves image-based methods, which analyse pixel intensities and surface textures to identify defects. Despite popularity, image-based methods share the distinct limitation of vulnerability to weather and lighting changes. To address this issue, researchers have explored the use of additional sensors, such as laser scanners or LiDARs, providing explicit depth information to enable the detection of defects in terms of scale and volume. However, the exploration of data beyond images has not been sufficiently investigated. In this survey paper, we provide a comprehensive review of road surface defect detection studies, categorising them based on input data types and methodologies used. Additionally, we review recently proposed non-image-based methods and discuss several challenges and open problems associated with these techniques.

Autonomous robots in endovascular operations have the potential to navigate circulatory systems safely and reliably while decreasing the susceptibility to human errors. However, there are numerous challenges involved with the process of training such robots, such as long training duration and safety issues arising from the interaction between the catheter and the aorta. Recently, endovascular simulators have been employed for medical training but generally do not conform to autonomous catheterization due to the lack of standardization and RL framework compliance. Furthermore, most current simulators are closed-source, which hinders the collaborative development of safe and reliable autonomous systems through shared learning and community-driven enhancements. In this work, we introduce CathSim, an open-source simulation environment that accelerates the development of machine learning algorithms for autonomous endovascular navigation. We first simulate the high-fidelity catheter and aorta with a state-of-the-art endovascular robot. We then provide the capability of real-time force sensing between the catheter and the aorta in simulation. Furthermore, we validate our simulator by conducting two different catheterization tasks using two popular reinforcement learning algorithms, namely SAC and PPO. The experimental results show that our open-source simulator can mimic the behavior of real-world endovascular robots and facilitate the development of different autonomous catheterization tasks. Our simulator is publicly available at https://github.com/airvlab/cathsim.

Experimental implementation of input–output feedback linearization in controlling the dynamics of a nonlinear pitch–plunge aeroelastic system is presented. The control objective is to linearize the system dynamics and assign the poles of the pitch mode of the resulting linear system. The implementation 1) addresses experimentally the general case where feedback linearization-based control is applied using as the output a degree of freedom other than that where the physical nonlinearity is located, using a single trailing-edge control surface, to stabilize the entire system; 2) includes the unsteady effects of the airfoil’s aerodynamic behavior; 3) includes the embedding of a tuned numerical model of the aeroelastic system into the control scheme in real time; and 4) uses pole placement as the linear control objective, providing the user with flexibility in determining the nature of the controlled response. When implemented experimentally, the controller is capable of not only delaying the onset of limit-cycle oscillation but also successfully eliminating a previously established limit-cycle oscillation. The assignment of higher levels of damping results in notable reductions in limit-cycle oscillation decay times in the closed-loop response, indicating good controllability of the aeroelastic system and effectiveness of the pole-placement objective. The closed-loop response is further improved by incorporating adaptation so that assumed system parameters are updated with time. The use of an optimum adaptation parameter results in reduced response decay times.

The design and testing of a high-bandwidth continuous actuator for aeronautical applications is presented hereinafter. The actuator has a dual goal of controlling both the aeroelastic behaviour and the flight mechanics of the model in which it is installed. In order to achieve these aims, the actuation bandwidth of the active aerofoil, as well as its static camber variation, have to be sufficiently high. The camber morph is achieved by using tailored piezoelectric patches in a sandwich configuration with a linear trailing edge slider to allow the necessary compliance. The morphing actuator is designed for a NACA 0018 aerofoil with a chord of 300 mm and a span of 40 mm. Static and dynamic experimental tests are carried out on a prototype, and a camber variation control technique is implemented. It is proved that the actuator bandwidth is up to 25 Hz and the equivalent maximum deflection is $\pm 15$ degrees. This solution is shown to be a viable light-weight alternative to the conventional brushless/servo-motor approach currently used in aeroelastic models.

To investigate the effect of control-surface freeplay, an aeroelastic wind-tunnel model of a T-tail with freeplay in the control chain was developed. The T-tail rig presents a conventional vertical fin represented only by its main structural component: the main spar. No aerodynamic sectors have been used to reproduce the aerodynamic contribution of a horizontal tail. This was chosen because of the limited size of the wind-tunnel chamber. Two numerical models were developed. The first one describes the dynamics of the tail by a state-space system with nonlinearity represented as a lumped element in the actuator feedback loop, and the second is described by the high-order harmonic balance approach, where the response of the nonlinear system is approximated with a periodic signal. The two approaches are then validated against experimental measurements collected during wind-tunnel testing. The results of this validation process as well the numerical and experimental approaches adopted are reported in this paper.