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Articles 1 - 30 of 31
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Modeling, Simulation, And Flight Test For Automatic Flight Control Of The Condor Hybrid-Electric Remote Piloted Aircraft, Christopher Giacomo
Modeling, Simulation, And Flight Test For Automatic Flight Control Of The Condor Hybrid-Electric Remote Piloted Aircraft, Christopher Giacomo
Theses and Dissertations
This thesis describes the modeling and verification process for the stability and control analysis of the Condor hybrid-electric Remote-Piloted Aircraft (HE-RPA). Due to the high-aspect ratio, sailplane-like geometry of the aircraft, both longitudinal and lateral/directional aerodynamic moments and effects are investigated. The aircraft is modeled using both digital DATCOM as well as the JET5 Excel-based design tool. Static model data is used to create a detailed assessment of predictive flight characteristics and PID autopilot gains that are verified with autonomous flight test. PID gain values were determined using a six degree of freedom linear simulation with the Matlab/SIMULINK software. Flight …
Workload-Based Automated Interface Mode Selection, Andrew J. Compton
Workload-Based Automated Interface Mode Selection, Andrew J. Compton
Theses and Dissertations
The increase in the size of the Air Force's Unmanned Aerial Vehicle (UAV) fleet, and the desire to reduce operational manning requirements, has led to an interest in Multiple Aircraft Control (MAC) technology. The MAC concept is highly prone to operator overload, as it requires operators to maintain awareness for multiple aircraft. To attempt to mitigate the potential of operator overload, this research introduces an agent into the system interface to assume responsibility for managing automation mode selection. The agent uses a novel dynamic scheme for determining how and when to introduce automation assistance to the operator. By using a …
Architecture Based Workload Analysis Of Uas Multi-Aircraft Control: Implications Of Implementation On Mq-1b Predator, Jason D. Mcgrogan, Michael F. Schneider
Architecture Based Workload Analysis Of Uas Multi-Aircraft Control: Implications Of Implementation On Mq-1b Predator, Jason D. Mcgrogan, Michael F. Schneider
Theses and Dissertations
An increased demand for use of Unmanned Aircraft Systems (UASs) without commensurate increases in pilot manpower has prompted proposals for simultaneous control of multiple aircraft by a single pilot or Multi-Aircraft Control (MAC). To understand the potential effects of MAC, an IMPRINT Pro, Multi-Resource Theory, pilot workload model was developed from pedigreed system architecture. Feedback from active UAS pilots was used to validate the model and establish a workload saturation threshold value of 60, above which pilots may experience performance degradation over extended periods of time. The model predicts that pilots experience low workload when operating one or two UASs …
Vision-Aided Cooperative Navigation For Multiple Unmanned Vehicles, Jason K. Bingham
Vision-Aided Cooperative Navigation For Multiple Unmanned Vehicles, Jason K. Bingham
Theses and Dissertations
In the recent past, a shift has taken place from manned to unmanned Intelligence, Surveillance, and Reconnaissance (ISR) missions. This shift has lead to an increase in the number of unmanned vehicles (UV) operating in a theater. Additionally, removal of the crew allows for a reduction in vehicle scale, which leads to an increased ability to operate in GPS degraded environments. With the loss of GPS signals the vehicles must rely on Inertial Navigation Systems (INS) which when reduced to an appropriate size are inherently inaccurate. This research endeavors to exploit three attributes of increased UV use for ISR missions. …
Centralized Cooperative Control For Route Surveillance With Constant Communication, Joseph D. Rosal
Centralized Cooperative Control For Route Surveillance With Constant Communication, Joseph D. Rosal
Theses and Dissertations
The route surveillance mission is a new application of unmanned aircraft systems (UASs) to meet the reconnaissance and surveillance requirements of combatant commanders. The new mission intends to field a UAS consisting of unmanned aerial vehicles (UAVs) that can provide day and night surveillance of convoy routes. This research focuses on developing a solution strategy for the mission based on the application of optimal control and cooperative control theory. The route surveillance controller uses the UAS team size to divide the route into individual sectors for each entity. A specifically designed cost function and path constraints are used to formulate …
Cooperative Unmanned Aerial Surveillance Control System Architecture, Theodore T. Diamond, Adam L. Rutherford, Jonathan B. Taylor
Cooperative Unmanned Aerial Surveillance Control System Architecture, Theodore T. Diamond, Adam L. Rutherford, Jonathan B. Taylor
Theses and Dissertations
Intelligence, surveillance and reconnaissance (ISR) is a high-demand Department of Defense mission performed by unmanned aircraft systems (UASs) at the tactical and theater levels. Coordinating UASs through cooperative control offers the advantages of persistence, distributed and adaptable sensor coverage, and reduced revisit time on points of interest. The purpose of this thesis is to apply systems engineering principles to the problem of developing a flexible, common control system for cooperative UAS surveillance at the tactical level. The AFIT team developed a concept of operations (CONOPS) encompassing various users and surveillance tasks. The team then used the scenarios in the CONOPS …
Waypoint Generation Based On Sensor Aimpoint, Shannon M. Farrell
Waypoint Generation Based On Sensor Aimpoint, Shannon M. Farrell
Theses and Dissertations
Secretary of Defense Robert M. Gates has emphasized a need for a greater number of intelligence, surveillance, and reconnaissance (ISR) assets to support combatant commanders and military operations globally. Unmanned systems, especially MAVs, used as ISR platforms provide the ability to maintain covertness during missions and help reduce the risk to human life. This research develops waypoint generation algorithms required to keep a point of interest (POI) in the field of view (FOV) of a fixed sensor on a micro air vehicle (MAV) in the presence of a constant wind.
Fixed sensors, while cheaper and less prone to mechanical failure …
Using Agent-Based Modeling To Evaluate Uas Behaviors In A Target-Rich Environment, Joseph A. Van Kuiken
Using Agent-Based Modeling To Evaluate Uas Behaviors In A Target-Rich Environment, Joseph A. Van Kuiken
Theses and Dissertations
The trade-off between accuracy and speed is a re-occurring dilemma in many facets of military performance evaluation. This is an especially important issue in the world of ISR. One of the most progressive areas of ISR capabilities has been the utilization of Unmanned Aircraft Systems (UAS). Many people believe that the future of UAS lies in smaller vehicles flying in swarms. We use the agent-based System Effectiveness and Analysis Simulation (SEAS) to create a simulation environment where different configurations of UAS vehicles can process targets and provide output that allows us to gain insight into the benefits and drawbacks of …
Architecting Human Operator Trust In Automation To Improve System Effectiveness In Multiple Unmanned Aerial Vehicles (Uav), Eric A. Cring, Adam G. Lenfestey
Architecting Human Operator Trust In Automation To Improve System Effectiveness In Multiple Unmanned Aerial Vehicles (Uav), Eric A. Cring, Adam G. Lenfestey
Theses and Dissertations
Current Unmanned Aerial System (UAS) designs require multiple operators for each vehicle, partly due to imperfect automation matched with the complex operational environment. This study examines the effectiveness of future UAS automation by explicitly addressing the human/machine trust relationship during system architecting. A pedigreed engineering model of trust between human and machine was developed and applied to a laboratory-developed micro-UAS for Special Operations. This unprecedented investigation answered three primary questions. Can previous research be used to create a useful trust model for systems engineering? How can trust be considered explicitly within the DoD Architecture Framework? Can the utility of architecting …
Communication Free Robot Swarming, Zachary C. Gray
Communication Free Robot Swarming, Zachary C. Gray
Theses and Dissertations
As the military use of unmanned aerial vehicles increases, a growing need for novel strategies to control these systems exists. One such method for controlling many unmanned aerial vehicles simultaneously is the through the use of swarm algorithms. This research explores a swarm robotic algorithm developed by Kadrovach implemented on Pioneer Robots in a real-world environment. An adaptation of his visual sensor is implemented using stereo vision as the primary method of sensing the environment. The swarm members are prohibited from explicitly communicating other than passively through the environment. The resulting implementation produces a communication free swarming algorithm. The algorithm …
Optimal Guidance Of A Relay Mav For Isr Support Beyond Line-Of-Sight, John H. Hansen
Optimal Guidance Of A Relay Mav For Isr Support Beyond Line-Of-Sight, John H. Hansen
Theses and Dissertations
This thesis developed guidance laws to optimally position a relay Micro-UAV (MAV) to provide an operator with real-time Intelligence, Surveillance, and Reconnaissance (ISR) by relaying communication and video signals when there is no line-of-sight between the operator at the base and the rover MAV performing the ISR mission. The ISR system consists of two MAVs, the Relay and the Rover, and a Base. The Relay strives to position itself to minimize the radio frequency (RF) power required for maintaining communications between the Rover and the Base, while the Rover performs the ISR mission, which may maximize the required RF power. …
Exploitation Of Self Organization In Uav Swarms For Optimization In Combat Environments, Dustin J. Nowak
Exploitation Of Self Organization In Uav Swarms For Optimization In Combat Environments, Dustin J. Nowak
Theses and Dissertations
This investigation focuses primarily on the development of effective target engagement for unmanned aerial vehicle (UAV) swarms using autonomous self-organized cooperative control. This development required the design of a new abstract UAV swarm control model which flows from an abstract Markov structure, a Partially Observable Markov Decision Process. Self-organization features, bio-inspired attack concepts, evolutionary computation (multi-objective genetic algorithms, differential evolution), and feedback from environmental awareness are instantiated within this model. The associated decomposition technique focuses on the iterative deconstruction of the problem domain state and dynamically building-up of self organizational rules as related to the problem domain environment. Resulting emergent …
Collision Avoidance For Uavs Using Optic Flow Measurement With Line Of Sight Rate Equalization And Looming, Paul J. Shelnutt
Collision Avoidance For Uavs Using Optic Flow Measurement With Line Of Sight Rate Equalization And Looming, Paul J. Shelnutt
Theses and Dissertations
A series of simplified scenarios is investigated whereby an optical flow balancing guidance law is used to avoid obstacles by steering an air vehicle between fixed objects/obstacles. These obstacles are registered as specific points that can be representative of features in a scene. The obstacles appear in the field of view of a single forward looking camera. First a 2-D analysis is presented where the rate of the line of sight from the vehicle to each of the obstacles to be avoided is measured. The analysis proceeds by initially using no field of view (FOV) limitations, then applying FOV restrictions, …
The Effects Of Commercial Video Game Playing: A Comparison Of Skills And Abilities For The Predator Uav, Johnny E. Triplett
The Effects Of Commercial Video Game Playing: A Comparison Of Skills And Abilities For The Predator Uav, Johnny E. Triplett
Theses and Dissertations
Currently, Predator unmanned aerial vehicles (UAV) are operated by pilots and navigators experienced with manned combat aircraft. With a projected increase in UAVs, more combat pilots will be needed to operate these aircraft. Yet, if the current operational tempo continues, the supply of combat pilots may not be able to meet the demand. Perhaps alternative pools of Air Force personnel could be considered for UAV duty to meet operational requirements. Because the Predator UAV is a software-driven aircraft, video game players (VGPs) already possess and use many skills that may be similar to those of Predator UAV pilots. A variety …
Development Of Cursor-On-Target Control For Semi-Autonomous Unmanned Aircraft Systems, Joshua D. Crouse
Development Of Cursor-On-Target Control For Semi-Autonomous Unmanned Aircraft Systems, Joshua D. Crouse
Theses and Dissertations
The research presented in this thesis focuses on developing, demonstrating, and evaluating the concept of a Cursor-on-Target control system for semi-autonomous unmanned aircraft systems. The Department of Defense has mapped out a strategy in which unmanned aircraft systems will increasingly replace piloted aircraft. During most phases of flight autonomous unmanned aircraft control reduces operator workload, however, real-time information exchange often requires an operator to relay decision changes to the unmanned aircraft. The goal of this research is to develop a preliminary Cursor-on-Target control system to enable the operator to guide the unmanned aircraft with minimal workload during high task phases …
Optimal Wind Corrected Flight Path Planning For Autonomous Micro Air Vehicles, Michael D. Zollars
Optimal Wind Corrected Flight Path Planning For Autonomous Micro Air Vehicles, Michael D. Zollars
Theses and Dissertations
This research effort focuses on determining the optimal flight path required to put a micro air vehicle's (MAVs) fixed sensor on a target in the presence of a constant wind. Autonomous flight is quickly becoming the future of air power and over the past several years, the size and weight of autonomous vehicles has decreased dramatically. As these vehicles were implemented into the field, it was quickly discovered that their flight paths are severely altered by wind. However, since the size of the vehicle does not allow for a gimbaled camera, only a slight perturbation to the attitude of the …
Autonomous Unmarked Aerial Rendezvous For Automated Aerial Refueling (Aar), Brian S. Burns
Autonomous Unmarked Aerial Rendezvous For Automated Aerial Refueling (Aar), Brian S. Burns
Theses and Dissertations
As unmanned aerial vehicles (UAVs) increase in capability, the ability to refuel them in the air is becoming more critical. Aerial refueling will extend the range, shorten the response times, and extend loiter time of UAVs. Executing aerial refueling autonomously will reduce the command and control, logistics, and training efforts associated with fielding UAV systems. Currently, the Air Force Research Lab is researching the various technologies required to conduct automated aerial refueling (AAR). One of the required technologies is the ability to autonomously rendezvous with the tanker. The goal of this research is to determine the control required to fly …
Development Of A Low-Latency, High Data Rate, Differential Gps Relative Positioning System For Uav Formation Flight Control, Stephen J. Comstock
Development Of A Low-Latency, High Data Rate, Differential Gps Relative Positioning System For Uav Formation Flight Control, Stephen J. Comstock
Theses and Dissertations
In order for Unmanned Aerial Vehicles (UAVs) to be able to fly missions currently performed by manned aircraft, they must be able to conduct in-flight refueling. Additionally, significant fuel savings can be realized if multiple UAV's are able to fly in precise formation and align wingtip vortices. In either case, the precise relative position between the aircraft must be known to an accuracy of only a few centimeters. Previous research at the Air Force Institute of Technology culminated in the development of a relative positioning system for manned aircraft. This thesis presents the development of the next-generation system designed for …
Experimental Investigation Of The Aerodynamic Ground Effect Of A Tailless Lambda-Shaped Ucav With Wing Flaps, Jason T. Mostaccio
Experimental Investigation Of The Aerodynamic Ground Effect Of A Tailless Lambda-Shaped Ucav With Wing Flaps, Jason T. Mostaccio
Theses and Dissertations
This experimental study adequately identified the ground effect region of a lambda-shaped unmanned combat air vehicle (UCAV). The lambda planform used in this study was originally tested in a previous experiment to determine the stability and control characteristics generated out-of-ground-effect. The following study extends the existing database by analyzing the inherent aerodynamic behavior that is produced by employing trailing edge flap deflections while flying in-ground-effect (IGE). To accomplish this objective, static ground effect tests were performed in the AFIT 3? x 3? subsonic wind tunnel where a ground plane was used to simulate the forces and moments on the UCAV …
Characterization Of Uav Performance And Development Of A Formation Flight Controller For Multiple Small Uavs, Patrick A. Mccarthy
Characterization Of Uav Performance And Development Of A Formation Flight Controller For Multiple Small Uavs, Patrick A. Mccarthy
Theses and Dissertations
The Air Force Institute of Technology's (AFIT) Advanced Navigation Technology (ANT) Center has recently delved into the research topic of small Unmanned Aerial Vehicles (UAV). One area of particular interest is using multiple small UAVs cooperatively to improve mission efficiency, as well as perform missions that couldn't be performed using vehicles independently. However, many of these missions require that the UAVs operate in close proximity of each other. This research lays the foundation required to use the ANT Center's UAVs for multi-vehicle missions (e.g. cooperatively) by accomplishing two major goals. First, it develops test procedures that can be used to …
An Investigation Into Robust Wind Correction Algorithms For Off-The Shelf Unmanned Aerial Vehicle Autopilots, Brent K. Robinson
An Investigation Into Robust Wind Correction Algorithms For Off-The Shelf Unmanned Aerial Vehicle Autopilots, Brent K. Robinson
Theses and Dissertations
The research effort focuses on developing methods to design efficient wind correction algorithms to "piggyback" on current off-the-shelf Unmanned Aerial Vehicle (UAV) autopilots. Autonomous flight is certainly the near future for the aerospace industry and there exists great interest in defining a system that can guide and control aircraft with high levels of accuracy. The primary systems required to command the vehicles are already in place, but with only moderate abilities to adjust for dynamic environments (i.e. wind effects), if at all. The goal of this research is to develop a systematic procedure for implementing efficient and robust wind effects …
Bio-Inspired, Odor-Based Navigation, Maynard John Porter Iii
Bio-Inspired, Odor-Based Navigation, Maynard John Porter Iii
Theses and Dissertations
The ability of moths to locate a member of the opposite sex, by tracking a wind-borne plume of odor molecules, is an amazing reality. Numerous scenarios exist where having this capability embedded into ground-based or aerial vehicles would be invaluable. The main crux of this thesis investigation is the development of a navigation algorithm which gives a UAV the ability to track a chemical plume to its source. Inspiration from the male moth's, in particular Manduca sexta, ability to successfully track a female's pheromone plume was used in the design of both 2-D and 3-D navigation algorithms. The algorithms were …
Structural Design Of Wing Twist For Pitch Control Of Joined Wing Sensor Craft, Fred A. Kimler Iii
Structural Design Of Wing Twist For Pitch Control Of Joined Wing Sensor Craft, Fred A. Kimler Iii
Theses and Dissertations
This research investigated two aspects of the aft wing structure of a joined wing SensorCraft. First, the efficacy of a novel approach for incorporating wing twist for pitch control was analyzed. This design involved adding a spanwise sliding joint into the wing structure at the lower aft spar of the vehicle's aft wing. Second, the joint section where the forward and aft wings connect and form the outboard wing was redesigned and analyzed to improve the load transmission between the wing spars. Using MSC.NASTRAN, linear and non-linear static analyses were performed to examine the efficiency of the wing twist sliding …
Characterization Of A Rotary Flat Tail As A Spoiler And Parametric Analysis Of Improving Directional Stability In A Portable Uav, Troy A. Leveron
Characterization Of A Rotary Flat Tail As A Spoiler And Parametric Analysis Of Improving Directional Stability In A Portable Uav, Troy A. Leveron
Theses and Dissertations
The United States Air Force Research Lab, Munitions Directorate, Flight Vehicles, Integration Branch (AFRL/MNAV), has developed a flexible wing micro air vehicle (MAV) to be used with special tactics groups. In keeping with the requirement that this MAV be compact, previous research developed a rotatable tail mechanism which resulted in tail movement similar to that of a bird's tail. In this study the design of this tail was modified to produce a more storable vehicle. The redesign also allowed the tail to deflect upward to large angles, enabling the tail to be used as a spoiler. The aerodynamic effects of …
Full Capability Formation Flight Control, Ryan K. Osteroos
Full Capability Formation Flight Control, Ryan K. Osteroos
Theses and Dissertations
The subject of automatic formation flight control is of current interest to the development of Unmanned Aerial Vehicles (UAV). Previous control approaches have been refined in this work to allow more robust maneuvering and to include a fourth control parameter. The equations of motion for each aircraft as a point mass, expressed in a wind-axis coordinate system, are coupled into differential equations that model the two aircraft system dynamics. Control laws are developed that include proportional and integral action. Gains are determined based on formation performance. Lead maneuvers are simulated and the controller is gauged on its ability to maintain …
Controlling Sideslip Angle To Reduce The Radar Exposure Of A Tactical, Rotary Winged Uav, Jonathan D. Bulseco
Controlling Sideslip Angle To Reduce The Radar Exposure Of A Tactical, Rotary Winged Uav, Jonathan D. Bulseco
Theses and Dissertations
This work investigates another way of contributing to the radar minimization solution for air vehicles in a threat environment. While much research has been conducted on structural solutions to radar exposure minimization, not much work has been done in the area of using control to continuously assess and present the smallest radar cross section of an air vehicle to oncoming threat radar systems by changing the aircraft's orientation. This work looks at the application of sideslip/beta angle feedback control of an unmanned helicopter to minimize radar cross section exposure in a hostile radar environment. A new way of controlling aircraft …
A Genetic Algorithm For Uav Routing Integrated With A Parallel Swarm Simulation, Matthew A. Russell
A Genetic Algorithm For Uav Routing Integrated With A Parallel Swarm Simulation, Matthew A. Russell
Theses and Dissertations
This research investigation addresses the problem of routing and simulating swarms of UAVs. Sorties are modeled as instantiations of the NP-Complete Vehicle Routing Problem, and this work uses genetic algorithms (GAs) to provide a fast and robust algorithm for a priori and dynamic routing applications. Swarms of UAVs are modeled based on extensions of Reynolds' swarm research and are simulated on a Beowulf cluster as a parallel computing application using the Synchronous Environment for Emulation and Discrete Event Simulation (SPEEDES). In a test suite, standard measures such as benchmark problems, best published results, and parallel metrics are used as performance …
Wind Tunnel Investigation Of The Static Stability And Control Effectiveness Of A Rotary Tail In A Portable Uav, Jose R. Rivera Parga
Wind Tunnel Investigation Of The Static Stability And Control Effectiveness Of A Rotary Tail In A Portable Uav, Jose R. Rivera Parga
Theses and Dissertations
The Air Force Research Lab, Munitions Directorate, Flight Vehicles Integration Branch (AFRL/MNAV) developed a man-portable, carbon-fiber matrix UAV with a flexible rectangular wing of 24" span and 6" chord, 18.2" length. There is a need for the development of smaller and lighter UAV's to perform certain missions. The objective of this experimental study was to determine the behavior and the aerodynamic characteristics of rotary tails. The bird-inspired rotary tail mechanism studied enabled control of two degrees of freedom and was configured to provide elevator deflection and rotation. Its effects on the static stability and control effectiveness were measured using the …
Evolution Of Control Programs For A Swarm Of Autonomous Unmanned Aerial Vehicles, Kevin M. Milam
Evolution Of Control Programs For A Swarm Of Autonomous Unmanned Aerial Vehicles, Kevin M. Milam
Theses and Dissertations
Unmanned aerial vehicles (UAVs) are rapidly becoming a critical military asset. In the future, advances in miniaturization are going to drive the development of insect size UAVs. New approaches to controlling these swarms are required. The goal of this research is to develop a controller to direct a swarm of UAVs in accomplishing a given mission. While previous efforts have largely been limited to a two-dimensional model, a three-dimensional model has been developed for this project. Models of UAV capabilities including sensors, actuators and communications are presented. Genetic programming uses the principles of Darwinian evolution to generate computer programs to …
Swarm Based Implementation Of A Virtual Distributed Database System In A Sensor Network, Wen C. Lee
Swarm Based Implementation Of A Virtual Distributed Database System In A Sensor Network, Wen C. Lee
Theses and Dissertations
The deployment of unmanned aerial vehicles (UAVs) in recent military operations has had success in carrying out surveillance and combat missions in sensitive areas. An area of intense research on UAVs has been on controlling a group of small-sized UAVs to carry out reconnaissance missions normally undertaken by large UAVs such as Predator or Global Hawk. A control strategy for coordinating the UAV movements of such a group of UAVs adopts the bio-inspired swarm model to produce autonomous group behavior. This research proposes establishing a distributed database system on a group of swarming UAVs, providing for data storage during a …