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Andrea De Martin
Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Torino, Italy

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Journal article
Published: 31 August 2021 in Actuators
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Electro-hydraulic servo-actuators (EHSAs) are currently considered the state-of-the art solution for the control of the primary flight control systems of civil and military aircraft. Combining the expected service life of a commercial aircraft with the fact that electro-hydraulic technology is employed in the vast majority of currently in-service aircraft and is planned to be used on future platforms as well, the development of an effective Prognostic and Health Management (PHM) system could provide significant advantages to fleet operators and aircraft maintenance, such as the reduction of unplanned flight disruptions and increased availability of the aircraft. The occurrence of excessive internal leakage within the EHSAs is one of the most common causes of return from the field of flight control actuators, making this failure mode a priority in the definition of any dedicated PHM routine. This paper presents a case study on the design of a prognostic system for this degradation mode, in the context of a wider effort toward the definition of a prognostic framework suitable to work on in-flight data. The study is performed by means of a high-fidelity simulation model supported by experimental activities. Results of both the simulation and the experimental work are used to select a suitable feature, then implemented within the prognostic framework based on particle filtering. The algorithm is at first theoretically discussed, and then tested against several degradation patterns. Performances are evaluated through state-of-the-art metrics, showing promising results and providing the basis towards future applications on real in-flight data.

ACS Style

Antonio Carlo Bertolino; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. A Case Study on the Detection and Prognosis of Internal Leakages in Electro-Hydraulic Flight Control Actuators. Actuators 2021, 10, 215 .

AMA Style

Antonio Carlo Bertolino, Andrea De Martin, Giovanni Jacazio, Massimo Sorli. A Case Study on the Detection and Prognosis of Internal Leakages in Electro-Hydraulic Flight Control Actuators. Actuators. 2021; 10 (9):215.

Chicago/Turabian Style

Antonio Carlo Bertolino; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. 2021. "A Case Study on the Detection and Prognosis of Internal Leakages in Electro-Hydraulic Flight Control Actuators." Actuators 10, no. 9: 215.

Journal article
Published: 29 June 2021 in Robotics
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Dynamic parameters are crucial for the definition of high-fidelity models of industrial manipulators. However, since they are often partially unknown, a mathematical model able to identify them is discussed and validated with the UR3 and the UR5 collaborative robots from Universal Robots. According to the acquired experimental data, this procedure allows for reducing the error on the estimated joint torques of about 90% with respect to the one obtained using only the information provided by the manufacturer. The present research also highlights how changes in the robot operating conditions affect its dynamic behavior. In particular, the identification process has been applied to a data set obtained commanding the same trajectory multiple times to both robots under rising joints temperatures. Average reductions of the viscous friction coefficients of about 20% and 17% for the UR3 and the UR5 robots, respectively, have been observed. Moreover, it is shown how the manipulator mounting configuration affects the number of the base dynamic parameters necessary to properly estimate the robots’ joints torques. The ability of the proposed model to take into account different mounting configurations is then verified by performing the identification procedure on a data set generated through a digital twin of a UR5 robot mounted on the ceiling.

ACS Style

Andrea Raviola; Roberto Guida; Andrea De Martin; Stefano Pastorelli; Stefano Mauro; Massimo Sorli. Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots. Robotics 2021, 10, 83 .

AMA Style

Andrea Raviola, Roberto Guida, Andrea De Martin, Stefano Pastorelli, Stefano Mauro, Massimo Sorli. Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots. Robotics. 2021; 10 (3):83.

Chicago/Turabian Style

Andrea Raviola; Roberto Guida; Andrea De Martin; Stefano Pastorelli; Stefano Mauro; Massimo Sorli. 2021. "Effects of Temperature and Mounting Configuration on the Dynamic Parameters Identification of Industrial Robots." Robotics 10, no. 3: 83.

Journal article
Published: 18 March 2020 in Journal of Dynamic Systems, Measurement, and Control
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The variation of the valve lift is a fairly common strategy currently adopted in several in-service internal combustion engines to optimize their performance depending on the operating conditions of the vehicle. The most critical aspect to consider during the conceptual design phase of a cam switch system is the extremely narrow window of opportunity to perform the cam change, which duration is defined by the time during which the corresponding valve lift is null. To meet this requirement and ensure safe, repeatable movements, a novel architecture based on the combination of a new electromechanical actuator and its dedicated control system is presented. The architecture is at first introduced with reference to the numerous examples available in the literature, and hence mathematically described. The dynamic model of the system derived from the presented equation is then used to study the performance of the presented solution and define its control strategy. Results are finally presented and discussed.

ACS Style

Andrea De Martin; Giovanni Jacazio; Massimo Sorli. A Novel Electromechanical Solution for Cam-Switching in High Performance Internal Combustion Engines. Journal of Dynamic Systems, Measurement, and Control 2020, 142, 1 .

AMA Style

Andrea De Martin, Giovanni Jacazio, Massimo Sorli. A Novel Electromechanical Solution for Cam-Switching in High Performance Internal Combustion Engines. Journal of Dynamic Systems, Measurement, and Control. 2020; 142 (7):1.

Chicago/Turabian Style

Andrea De Martin; Giovanni Jacazio; Massimo Sorli. 2020. "A Novel Electromechanical Solution for Cam-Switching in High Performance Internal Combustion Engines." Journal of Dynamic Systems, Measurement, and Control 142, no. 7: 1.

Journal article
Published: 26 February 2020 in Aerospace
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Recent trend in the aeronautic industry is to introduce a novel prognostic solution for critical systems in the attempt to increase vehicle availability, reduce costs, and optimize the maintenance policy. Despite this, there is a general lack of literature about prognostics for hydraulic flight control systems, especially looking at helicopter applications. The present research was focused on a preliminary study for an integrated framework of fault detection and failure prognosis tailored for one of the most common architectures for flight control actuation. Starting from a high-fidelity dynamic model of the system, two different faults were studied and described within a dedicated simulation environment: the opening of a crack in the coils of the centering springs of the actuator and the wear of the inner seals. Both failure modes were analyzed through established models available in the literature and their evolution simulated within the model of the actuator. Hence, an in-depth feature selection process was pursued aimed at the definition of signals suitable for both diagnosis and prognosis. Results were then reported through an accuracy-sensitivity plane and used to define a prognostic routine based on particle filtering techniques. The more significant contribution of the present research was that no additional sensors are needed so that the prognostic system can be potentially implemented for in-service platforms.

ACS Style

Andrea Nesci; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. Detection and Prognosis of Propagating Faults in Flight Control Actuators for Helicopters. Aerospace 2020, 7, 20 .

AMA Style

Andrea Nesci, Andrea De Martin, Giovanni Jacazio, Massimo Sorli. Detection and Prognosis of Propagating Faults in Flight Control Actuators for Helicopters. Aerospace. 2020; 7 (3):20.

Chicago/Turabian Style

Andrea Nesci; Andrea De Martin; Giovanni Jacazio; Massimo Sorli. 2020. "Detection and Prognosis of Propagating Faults in Flight Control Actuators for Helicopters." Aerospace 7, no. 3: 20.

Journal article
Published: 02 July 2019 in Aerospace
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The article proposes the design of a test bench simulator to test a parallel hybrid propulsion architecture for aeronautical applications. The virtual test bench simulates, in a scaled version, the real test bench, designed for a power of about 0.4 MW. After presenting the architecture of the real propulsion system, the virtual test bench is described. The real system is basically composed by a paralleled electric motor and thermal engine which provide mechanical power to the propeller. Saving cost and volume the test bench is composed by electric motors simulates the behaviors of the real propulsion system despite their differences. The dynamic relationships expressing the transmission of torque between the components, and the method of down-sizing the power delivered are highlighted. Particular attention is given to the real inertia actions that must be simulated on the virtual test bench. An application of the proposed methodology is then presented through the simulation of the take-off phase, and the torque time histories, angular velocities and powers generated on the virtual test bench are used to verify the corresponding time histories expected in the real system.

ACS Style

Luca Boggero; Sabrina Corpino; Andrea De Martin; Giuseppe Evangelista; Marco Fioriti; Massimo Sorli. A Virtual Test Bench of a Parallel Hybrid Propulsion System for UAVs. Aerospace 2019, 6, 77 .

AMA Style

Luca Boggero, Sabrina Corpino, Andrea De Martin, Giuseppe Evangelista, Marco Fioriti, Massimo Sorli. A Virtual Test Bench of a Parallel Hybrid Propulsion System for UAVs. Aerospace. 2019; 6 (7):77.

Chicago/Turabian Style

Luca Boggero; Sabrina Corpino; Andrea De Martin; Giuseppe Evangelista; Marco Fioriti; Massimo Sorli. 2019. "A Virtual Test Bench of a Parallel Hybrid Propulsion System for UAVs." Aerospace 6, no. 7: 77.

Journal article
Published: 01 March 2019 in Machines
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Gerotor pumps are widely used for fuel and lubricating oil distribution, since they provide an economic and compact solution for low-pressure fluid systems. Made of two internally coupled gears, their behavioral and operative performances are strictly tied to their geometrical designs. Traditionally, the external gear features circular lobes that give origin to a cycloidal profile for the internal rotor. In this paper, the use of profiles based on asymmetric lobes made of elliptic arcs is further explored and expanded. At first, a complete mathematical framework describing the pump geometry and its dynamic behavior is provided, while algorithms used to compute a selected number of performance indexes are presented and when possible, verified. Hence, a single-objective optimization procedure is applied to the traditional cycloidal profile, in order to minimize each of the following quantities: the flow rate irregularity, the expected wear rate, and the estimated rotor mass. Finally, a multi-objective optimization process based on evolutionary strategy is employed, to obtain several asymmetric profiles minimizing the combination of two or more performance indexes. The results are hence compared, and the merits associated with the use of asymmetric lobes are presented.

ACS Style

Andrea De Martin; Giovanni Jacazio; Massimo Sorli. Optimization of Gerotor Pumps with Asymmetric Profiles through an Evolutionary Strategy Algorithm. Machines 2019, 7, 17 .

AMA Style

Andrea De Martin, Giovanni Jacazio, Massimo Sorli. Optimization of Gerotor Pumps with Asymmetric Profiles through an Evolutionary Strategy Algorithm. Machines. 2019; 7 (1):17.

Chicago/Turabian Style

Andrea De Martin; Giovanni Jacazio; Massimo Sorli. 2019. "Optimization of Gerotor Pumps with Asymmetric Profiles through an Evolutionary Strategy Algorithm." Machines 7, no. 1: 17.

Proceedings article
Published: 09 November 2018 in Volume 1: Advances in Aerospace Technology
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The article deals with the architecture, performance, and experimental tests of a test bench for servo-actuators used in flight controls. After the state of the art on the subject, the innovative architecture of the built bench is described, in which flight control actuator under test and load actuator are not in line but mounted perpendicularly. The model of the bench actuating systems is then presented, consisting of the servo-controlled hydraulic actuator, load cell, speed transducer, angular position transducer of the coupling and pressure transducers. For each of these components the nonlinear multi-physics mechatronic model is described, according to the adopted solutions. The adopted force control algorithm is discussed, showing the integrative compensation on the action line and proportional-derivative on the feedback, with speed feedforward. The experimental tests carried out on the bench under stalled conditions are also presented, whose results concerning time and frequency responses are compared with those obtained through the linearized and non-linear numerical model. Finally, the non-linear models of the flight control actuator under test, controlled in position, and of the loading servo-actuator of the bench are joined together, and the results of various simulations are described.

ACS Style

P. Chiavaroli; A. De Martin; G. Evangelista; G. Jacazio; M. Sorli. Real Time Loading Test Rig for Flight Control Actuators Under PHM Experimentation. Volume 1: Advances in Aerospace Technology 2018, 1 .

AMA Style

P. Chiavaroli, A. De Martin, G. Evangelista, G. Jacazio, M. Sorli. Real Time Loading Test Rig for Flight Control Actuators Under PHM Experimentation. Volume 1: Advances in Aerospace Technology. 2018; ():1.

Chicago/Turabian Style

P. Chiavaroli; A. De Martin; G. Evangelista; G. Jacazio; M. Sorli. 2018. "Real Time Loading Test Rig for Flight Control Actuators Under PHM Experimentation." Volume 1: Advances in Aerospace Technology , no. : 1.

Conference paper
Published: 24 September 2018 in Annual Conference of the PHM Society
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Electro-Hydraulic Servo-Actuators (EHSA) are by far the mostly used type of actuators in aircraft primary flight control systems. Though electrical actuation is been considered since long as a possible replacement of hydraulic actuation for aircraft systems, EHSAs are still the technology of choice in the primary flight control systems of new commercial aircrafts. Considering that 10 or more EHSAs are typically used in an aircraft flight control system, the development of an effective PHM system for this equipment could provide large benefits and be of great interest for the OEMs and for the air fleet operators. This paper presents the results of a feasibility study making up the first part of an ongoing research activity focused on the development of a PHM system for EHSAs used in fly-by-wire primary flight control systems and takes as a use case the primary flight control actuator of a wide body commercial aircraft. One of the key features of the research is the implementation of a PHM system without the addition of new sensors, taking advantage of the available signals. This offers the possibility of implementation of the PHM system on the existing platforms and not only as a proposition for new aircrafts designed with a complement of additional sensors. The enabling technologies for this PHM system borrow from the area of Bayesian estimation theory and specifically particle filtering and the information acquired from EHSA in-flight and during pre-flight check is processed by appropriate algorithms in order to obtain relevant features, detect the degradation and estimate the Remaining Useful Life (RUL). The results are evaluated through appropriate metrics in order to assess the performance and effectiveness of the implemented PHM. This paper describes the methodology of the feasibility study, which shows how the novel PHM technologies proposed for a PHM system for the EHSAs of primary flight control actuators can allow the migration from unscheduled / on-condition maintenance to condition based maintenance targeting the perceived objectives of the OEM and of the aircraft operator.

ACS Style

Sylvain Autin; Jérôme Socheleau; Andrea Dellacasa; Andrea De Martin; Giovanni Jacazio; George Vachtsevanos. Feasibility Study of a PHM System for Electro-hydraulic Servo-actuators for Primary Flight Controls. Annual Conference of the PHM Society 2018, 10, 1 .

AMA Style

Sylvain Autin, Jérôme Socheleau, Andrea Dellacasa, Andrea De Martin, Giovanni Jacazio, George Vachtsevanos. Feasibility Study of a PHM System for Electro-hydraulic Servo-actuators for Primary Flight Controls. Annual Conference of the PHM Society. 2018; 10 (1):1.

Chicago/Turabian Style

Sylvain Autin; Jérôme Socheleau; Andrea Dellacasa; Andrea De Martin; Giovanni Jacazio; George Vachtsevanos. 2018. "Feasibility Study of a PHM System for Electro-hydraulic Servo-actuators for Primary Flight Controls." Annual Conference of the PHM Society 10, no. 1: 1.

Conference paper
Published: 12 September 2018 in BATH/ASME 2018 Symposium on Fluid Power and Motion Control
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Hydraulic actuators are the de facto standard for primary flight control systems, since they provide low jamming probability and intrinsic damping capabilities. Electro-Hydraulic Actuators theoretically provide a number of advantages over the traditional hydraulic systems, such as the decrease in the overall power consumption, easier installation and reduced weight of the flight control system, but are so far mostly used as back-up solutions in civil applications. Flight control actuators can face an extremely wide range of operational scenarios depending on the aircraft route, weather condition, pilot behavior and components health. The use of high-fidelity models is instrumental in the design of both actuators and control laws and can enhance the definition of a Prognostics and Health Monitoring system, given its capability to simulate a huge number of possible in-flight situations. In this paper, we provide the mathematical definition of a novel high-fidelity model for primary flight control system, discuss its implementation and results in nominal and off-nominal conditions.

ACS Style

Andrea De Martin; Andrea Dellacasa; Giovanni Jacazio; Massimo Sorli. High-Fidelity Model of Electro-Hydraulic Actuators for Primary Flight Control Systems. BATH/ASME 2018 Symposium on Fluid Power and Motion Control 2018, 1 .

AMA Style

Andrea De Martin, Andrea Dellacasa, Giovanni Jacazio, Massimo Sorli. High-Fidelity Model of Electro-Hydraulic Actuators for Primary Flight Control Systems. BATH/ASME 2018 Symposium on Fluid Power and Motion Control. 2018; ():1.

Chicago/Turabian Style

Andrea De Martin; Andrea Dellacasa; Giovanni Jacazio; Massimo Sorli. 2018. "High-Fidelity Model of Electro-Hydraulic Actuators for Primary Flight Control Systems." BATH/ASME 2018 Symposium on Fluid Power and Motion Control , no. : 1.

Journal article
Published: 01 December 2017 in International Journal of Prognostics and Health Management
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Tilting trains are designed to reach high speed on pre-existing railroads without the need of adjusting the tracks geometry or building dedicated lines; the tilting of the carbody keeps an acceptable level of comfort by limiting the lateral acceleration felt by passengers when the train runs along curved tracks with speed higher than the balance speed built into the curve geometry. As such, they are often used to reduce travel times on routes with several curves. Tilting is performed through a position-controlled actuation system which operates according to the commands received from the train control system: in the studied configuration, the torque needed to tilt the car body with respect to the bogie is provided by a series of hydraulic actuators, while the position information used to close the control loop comes from two capacitive sensors located in the front and rear part of each vehicle. Tilt angle measurement is vital for the system operation and for ensuring a safe ride; the traditional solution in case of discrepancy between the signals of the two tilt angle sensors of any vehicle is to disable the tilting function while limiting the train speed to avoid issues during changes of direction. In a similar fashion, the failure in one (or more) of the tilting actuators would result in the loss of the tilting capability and the return to a fixed configuration operating at reduced speed. It should be noticed that the negative impact of the loss of the tilting system is not limited to the faulty train, since it might affect the entire traffic schedule on the interested lines. The paper presents an integrated Health Monitoring framework that makes intelligent use of all available information thus enhancing the system availability, allowing its operation even in presence of faulty sensors and detecting the onset of failures in the actuation system. At the same time its use can facilitate maintenance organization, simplify the spare parts logistics and provide help to the traffic management. The proposed framework has been developed taking advantage of a high-fidelity model of the physical system validated through comparison with experimental mission profiles on the Lichtenfels - Saalfeld and Battipaglia - Reggio Calabria routes, which have been used by the train manufacturer to assess the performance of their tilting trains.

ACS Style

Andrea De Martin; Andrea Dellacasa; Giovanni Jacazio; Massimo Sorli. Integrated Health Monitoring for the actuation system of high-speed tilting trains. International Journal of Prognostics and Health Management 2017, 8, 1 .

AMA Style

Andrea De Martin, Andrea Dellacasa, Giovanni Jacazio, Massimo Sorli. Integrated Health Monitoring for the actuation system of high-speed tilting trains. International Journal of Prognostics and Health Management. 2017; 8 (3):1.

Chicago/Turabian Style

Andrea De Martin; Andrea Dellacasa; Giovanni Jacazio; Massimo Sorli. 2017. "Integrated Health Monitoring for the actuation system of high-speed tilting trains." International Journal of Prognostics and Health Management 8, no. 3: 1.

Journal article
Published: 01 June 2017 in International Journal of Prognostics and Health Management
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One of the most significant research trends in the last decades of the aeronautic industry is the effort to move towards the design and the production of “more electric aircraft”. Within this framework, the application of the electrical technology to flight control systems has seen a progressive, although slow, increase: starting with the introduction of fly-by-wire and proceeding with the partial replacement of the traditional hydraulic/electro-hydraulic actuators with purely electro-mechanical ones. This evolution allowed to obtain more flexible solutions, reduced installation issues and enhanced aircraft control capability. Electro-Mechanical Actuators (EMAs) are however far from being a mature technology and still suffer from several safety issues, which can be partially limited by increasing the complexity of their design and hence their production costs. The development of a robust Prognostics and Health Management (PHM) system could provide a way to prevent the occurrence of a critical failure without resorting to complex device design. This paper deals with the first part of the study of a comprehensive PHM system for EMAs employed as primary flight control actuators; the peculiarities of the application are presented and discussed, while a novel approach, based on short pre-flight/post-flight health monitoring tests, is proposed. Turn-to-turn short in the electric motor windings is identified as the most common electrical degradation and a particle filtering framework for anomaly detection and prognosis featuring a self-tuning non-linear model is proposed. Features, anomaly detection and a prognostic algorithm are hence evaluated through state-of-the art performance metrics and their results discussed.

ACS Style

Andrea De Martin; Giovanni Jacazio; George Vachtsevanos. Windings Fault Detection and Prognosis in Electro-Mechanical Flight Control Actuators Operating in Active-Active Configuration. International Journal of Prognostics and Health Management 2017, 8, 1 .

AMA Style

Andrea De Martin, Giovanni Jacazio, George Vachtsevanos. Windings Fault Detection and Prognosis in Electro-Mechanical Flight Control Actuators Operating in Active-Active Configuration. International Journal of Prognostics and Health Management. 2017; 8 (2):1.

Chicago/Turabian Style

Andrea De Martin; Giovanni Jacazio; George Vachtsevanos. 2017. "Windings Fault Detection and Prognosis in Electro-Mechanical Flight Control Actuators Operating in Active-Active Configuration." International Journal of Prognostics and Health Management 8, no. 2: 1.

Journal article
Published: 01 June 2016 in Mechanism and Machine Theory
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Gerotor pumps are a common choice for low-pressure fluid systems, such as fuel or lubricating oil distribution. Starting from a patented solution, gerotor devices featuring radial ports are presented and discussed: major sizing constraints due to low-pressure operation are defined and their influence over rotor profile geometry assessed. In order to maximize the pump displacement, a comparison between several profile geometries is set up: circular, elliptic and asymmetric lobes are presented and mathematically described using a simple unified approach, while the comparison indexes are defined and discussed. Pros and cons of each geometry type are finally assessed.

ACS Style

Giovanni Jacazio; Andrea De Martin. Influence of rotor profile geometry on the performance of an original low-pressure gerotor pump. Mechanism and Machine Theory 2016, 100, 296 -312.

AMA Style

Giovanni Jacazio, Andrea De Martin. Influence of rotor profile geometry on the performance of an original low-pressure gerotor pump. Mechanism and Machine Theory. 2016; 100 ():296-312.

Chicago/Turabian Style

Giovanni Jacazio; Andrea De Martin. 2016. "Influence of rotor profile geometry on the performance of an original low-pressure gerotor pump." Mechanism and Machine Theory 100, no. : 296-312.