Engineering Commons^™

Finite-Time State Estimation For An Inverted Pendulum Under Input-Multiplicative Uncertainty, Sergey V. Drakunov, William Mackunis, Anu Kossery Jayaprakash, Krishna Bhavithavya Kidambi, Mahmut Reyhanoglu

Publications

A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous …

Finite-Time State Estimation For An Inverted Pendulum Under Input-Multiplicative Uncertainty, William Mackunis, Sergey V. Drakunov, Anu Kossery Jayaprakash, Krishna Bhavithavya Kidambi, Mahmut Reyhanoglu

Publications

A sliding mode observer is presented, which is rigorously proven to achieve finite-time state estimation of a dual-parallel underactuated (i.e., single-input multi-output) cart inverted pendulum system in the presence of parametric uncertainty. A salient feature of the proposed sliding mode observer design is that a rigorous analysis is provided, which proves finite-time estimation of the complete system state in the presence of input-multiplicative parametric uncertainty. The performance of the proposed observer design is demonstrated through numerical case studies using both sliding mode control (SMC)- and linear quadratic regulator (LQR)-based closed-loop control systems. The main contribution presented here is the rigorous …

Aerodynamic And Aeroacoustic Performance Of Small Uav Propellers In Static Conditions, William Jordan, Robert W. Deters, Shreyas Narsipur

Publications

The proliferation of small multi-rotor UAVs in commercial, recreational, and surveillance spheres has garnered significant interest in the noise produced by these vehicles. The current research aims to study the relationship between the aerodynamic performance and acoustic characteristics of small-scale UAV propellers. Three commercially available propellers for the DJI Phantom 2/3 UAV were selected for preliminary development and validation of an aeroacoustic experimental test setup and associated data reduction methods. Propeller thrust, torque, and power measurements were recorded at static conditions. Upon successful validation of the test bench, acoustic measurements were taken at the propeller disk’s upstream and in-plane locations. …

Performance Testing Of Aero-Naut Camfolding Propellers, Or D. Dantsker, Robert W. Deters, Marco Caccamo, Michael S. Selig

Publications

The increase in popularity of unmanned aerial vehicles (UAVs) has been driven by their use in civilian, education, government, and military applications. However, limited on-board energy storage significantly limits flight time and ultimately usability. The propulsion system plays a critical part in the overall energy consumption of the UAV; therefore, it is necessary to determine the most optimal combination of possible propulsion system components for a given mission profile, i.e. propellers, motors, and electronic speed controllers (ESC). Hundreds of options are available for the different components with little performance specifications available for most of them. By examining a variety of …

Application Of Mounting Personal Pid Voc Sensors To Small Unmanned Aircraft Systems To Aid First Responders, Cheri Marcham

Publications

Small Unmanned Aerial Systems in Emergency Response

• Current sUAS Uses
• Search and rescue
• Thermal imaging
• Evaluating structural stability
• Spread of wildfires
• Storm damage

Communication In Fluid Medium Using Motor Modulation, Brian Butka, Jefferson Romney

Publications

Aquatic vehicles may use electric motors for propulsion, such as brushless motors. As an example, a speed of these motors can be controlled using a pulse-width-modulated (PWM) electrical signal that varies the motor speed by varying pulse parameters within the PWM signal. PMW modulation can cause the motor to emit significant acoustic noise into the environment. In a fluid medium, such as aquatic environment, such noise can be detected with hydro­phones or other acoustic sensors. The subject matter described herein can include modulating a signal provided to a motor to provide a communication signal to be mechani­cally (e.g., acoustically) emitted …

Assessing Cognitive Processing And Human Factors Challenges In Nextgen Air Traffic Control Tower Team Operations, Mark D. Miller, Sam Holley, Bettina Mrusek, Linda Weiland

Publications

Previous research of Terminal Radar Control Facilities and Standard Terminal Automation Replacement Systems interactions by the authors examined how combined NextGen digitized technology affects air traffic controller functions. Applying their updated SHELL model, human factors implications on the Tower Team before and after implementing NextGen technology were examined, focusing on cognitive loading and automated functions affecting each team member. A survey examined where cognitive difficulties occur when controllers are responsible for multiple screen views, remote airfields or helipads, and digitized cameras and blind spots. Scanning challenges were identified where local traffic, ground operations, and data converge onto one screen, and …

Physiological Effects During Aerobatic Flights On Science Astronaut Candidates, Pedro Llanos, Diego M. Garcia

Publications

Spaceflight is considered the last frontier in terms of science, technology, and engineering. But it is also the next frontier in terms of human physiology and performance. After more than 200,000 years humans have evolved under earth’s gravity and atmospheric conditions, spaceflight poses environmental stresses for which human physiology is not adapted. Hypoxia, accelerations, and radiation are among such stressors, our research involves suborbital flights aiming to develop effective countermeasures in order to assure sustainable human space presence. The physiologic baseline of spaceflight participants is subject to great variability driven by age, gender, fitness, and metabolic reserve. The objective of …

Physiological Effects On Scientist Astronaut Candidates: Hypobaric Training Assessment, Pedro Llanos, Diego Garcia

Publications

This paper is addressed to expanding our understanding of the effects of hypoxia training on our bodies to better model its dynamics and leverage some of its implications and effects on human health. Hypoxia training is a recommended practice for military and civilian pilots that allow them to recognize their early hypoxia signs and symptoms, and Scientist Astronaut Candidates (SACs) who underwent hypobaric hypoxia (HH) exposure as part of a training activity for prospective suborbital flight applications. This observational-analytical study describes physiologic responses and symptoms experienced by a SAC group before, during and after HH exposure and proposes a model …

Fatigue Issues And Mitigation Strategies In Collegiate Aviation, Flavio A. C. Mendonca Ph.D., Julius Keller, Erik Levin, Aaron Teo

Publications

The reduction of fatigue-related accidents has been in the NTSB most wanted list since 2016 (NSTB, 2019).

Most research studies have focused on fatigue identification and management within the commercial and/or military aviation environments (Caldwell et al., 2009; Gawron, 2016; Sieberichs & Kluge, 2016).

However, collegiate aviation may be the most challenging in terms of fatigue mitigation. Flight instructors and students often have schedules which may increase the risks for fatigue.

Range Of Motion Evaluation Of A Final Frontier Design Iva Spacesuit Using Motion Capture, Ryan L. Kobrick, Nicholas Lopac, Chase Covello, Benjamin Banner, Theodore Southern, Nikolay Moiseev

Publications

Embry-Riddle Aeronautical University’s Spacesuit Utilization of Innovative Technology Laboratory (S.U.I.T. Lab) is focused on improving human performance in spaceflight by concentrating on spacesuit research for intravehicular activities (IVA) and extravehicular activities (EVA). The design and execution of range of motion (ROM) protocols in an experimental setting will provide insight on the functions and restrictions of spacesuits, aiding in current and future designs or modification. The S.U.I.T. Lab worked with Final Frontier Design (FFD) to provide a quantitative analysis protocol for seated arm mobility of their NASA Flight Opportunities Program (FOP) IVA spacesuit. The lab used reflective tracking markers on three …

Propulsion System Testing For A Long-Endurance Solar-Powered Unmanned Aircraft, D. Dantsker, Robert Deters, Marco Caccamo

Publications

The increase in popularity of unmanned aerial vehicles (UAVs) has been driven by their use in civilian, education, government, and military applications. However, limited on-board energy storage significantly limits flight time and ultimately usability. The propulsion system plays a critical part in the overall energy consumption of the UAV; therefore, it is necessary to determine the most optimal combination of possible propulsion system components for a given mission profile, i.e. propellers, motors, and electronic speed controllers (ESC). Hundreds of options are available for the different components with little performance specifications available for most of them. In order to determine the …

Beyond 2020 Nextgen Compliance: Human Factors And Cognitive Loading Issues For Commercial And General Aviation Pilots, Mark D. Miller, Sam Holley

Publications

As previously identified by the authors, digitized flight decks have realigned SHELL model components and introduced cognitive overload con­cerns. Considering changes from implementing Next Generation air traffic management requirements in 2020, the authors assess digitized interfaces associated with cockpit displays of information integral to performance based navigation and similar operations. Focus is placed on Automatic Dependent Surveillance Broadcast, digitized communications, and expanded electronic flight bags. The ADSB (In) cockpit display will enable pilots to have flight visual awareness on aircraft, terrain, weather and hazards to flight through live satellite updates every second. Increased optical demands and cognitive loading are anticipated …

A Change In The Dark Room: The Effects Of Human Factors And Cognitive Loading Issues For Nextgen Tracon Air Traffic Controllers, Mark D. Miller, Sam Holley, Bettina Mrusek, Linda Weiland

Publications

By 2020 all aircraft in United States airspace must use ADS-B (Automatic Dependent Surveillance-Broadcast) Out. This is a key component of the Next Generation (NextGen) Air Transportation System, which marks the first time all aircraft will be tracked continuously using satellites instead of ground-based radar. Standard Terminal Automation Replacement System (STARS) in the Terminal Radar Approach Control (TRACON) is a primary NextGen upgrade where digitized automation/information surrounds STARS controllers while controlling aircraft. Applying the SHELL model, the authors analyze human factors changes affecting TRACON controllers from pre-STARS technology through NextGen technologies on performance. Results of an informal survey of STARS …

An Investigation Of The Magneto-Active Slosh Control For Cylindrical Propellant Tanks Using Floating Membranes, Manikandan Vairamani, Pedro Llanos, Balaji Sivasubramanian, Somnath Nagendra, Kevin Crosby

Publications

The phenomenon of sloshing is a substantial challenge in propellant management, particularly in reduced gravity where surface tension-driven flows result in large slosh amplitudes and relatively long decay time scales. Propellant Management Devices (PMDs) such as the rigid baffles and elastomeric membranes are often employed to counteract motion of the free surface. In the present study, we investigate an active PMD that utilizes a free-floating membrane that, under an applied static magnetic field, becomes rigid and suppresses slosh. This semi-rigid structural layer can thereby replace bulky baffle structures and reduce the overall weight of the tank. In this paper, the …

Uas Flight Operations In Complex Terrain: Assessing The Agricultural Impact From Hurricane Maria In The Central Mountainous Region Of Puerto Rico, Kevin Adkins

Publications

Hurricane Maria struck Puerto Rico in September 2017 as a Category 4 storm causing major damage to infrastructure, agriculture and natural ecosystems, as well as the loss of many lives. Among the crops hardest hit was coffee, one of the most important crops in Puerto Rico. As a perennial system, coffee takes various production forms along a gradient from high shade/biodiversity coffee farms to low shade coffee monocultures and therefore offers an ideal means for the study of resistance and resilience of an agroecosystem to weather and climate disturbance. During the summer of 2018, 14 impacted farms across the production …

Traditional Vs Gesture Based Uav Control, Sam J. Holley, Brian Sanders, Dennis Vincenzi, Yuzhong Shen

Publications

Abstract. The purpose of this investigation was to assess user preferences for controlling an autonomous system. A comparison using a virtual environment (VE) was made between a joystick based, game controller and a gesture-based system using the leap motion controller. Command functions included basic flight maneuvers and switching between the operator and drone view. Comparisons were made between the control approaches using a representative quadcopter drone. The VE was designed to minimize the cognitive loading and focus on the flight control. It is a physics-based flight simulator built in Unity3D. Participants first spend time familiarizing themselves with the basic controls …

Systems And Methods For Noise Mitigation For Hybrid And Electric Aircraft, Lenny Gartenberg, Richard P. Anderson, Borja Martos

Publications

A system and method of noise mitigation for hybrid and electric aircraft, the aircraft having a controllable pitch propeller or rotor(s) with a plurality of blades. The propeller or rotor(s) are driven by a drive system to provide thrust for the aircraft, and the blades of the propeller or rotor(s) are further movable about pivot axis to vary a pitch thereof. A controller on-board the aircraft is operable to cause rotation or movement of the blades of the propeller or rotor(s) about their pivot axis to alter and/or focus at least one aspect of the propeller generated noise to reduce …

Development, Training, Education, And Implementation Of Low-Cost Sensing Technologies For Bridge Structural Health Monitoring (Shm), Fernando Moreu, Chris Lippitt, Dilendra Maharjan, Marlon Aguero, Roya Nasimi

Publications

Transportation infrastructure needs continuous monitoring. However, traditional inspections cost money and are conducted visually. New technologies for bridge monitoring are expensive and complex. This project involved developing cost-effective sensor technologies that can be applied towards the maintenance of railroad bridges by recording reference-free transverse displacement. More specifically, this project developed new applications of new technologies (Arduino, wireless smart sensors, drones, Hololens) and promoted workforce development with an emphasis on outreach of high-school students. This project was carried out in three main phases: (1) development and validation of technologies, (2) education and outreach to students, and (3) outreach to industry consisting …

Hybrid Magneto-Active Propellant Management Device For Active Slosh Damping Within A Vehicle Fuel Tank, Balaji Sivasubramanian, Leander Paul, Sathya Gangadharan

Publications

This disclosure includes a hybrid magneto-active mem­brane, which can be used as part of a Magneto-active Propellant Management Device (MAPMD), to actively con­trol free surface effects of liquid materials, such as fuels, and to reduce fuel slosh. The disclosed MAPMD merges aspects of a diaphragm membrane with a magneto-active inlay to control the membrane during in-flight conditions.

Floating Active Baffles, System And Method Of Slosh Damping Comprising The Same, Dae Won Kim, Rudy L. Baum, Vijay Santhanam, Balaji Sivasubramanian, Sathya Gangadharan

Publications

This disclosure provides a system for damping slosh of a liquid within a tank, a baffle for use in the system, and a method of damping slosh using the system. The system includes a plurality of baffles. Each baffle has a body configured to substantially float upon the liquid. Each baffle also has an activation material received along at least a portion of the body. The activation material is magnetically reactive provided in a quantity sufficient to enable the body to be manipulated in the presence of a magnetic field (M). The system further includes an actuator configured to pro­vide …

Hybrid Magneto-Active Propellant Management Device For Active Slosh Damping Within A Vehicle Fuel Tank, Balaji Sivasubramanian, Leander Paul, Sathya Gangadharan

Publications

This disclosure includes a hybrid magneto-active mem­brane, which can be used as part of a Magneto-active Propellant Management Device (MAPMD), to actively con­trol free surface effects of liquid materials, such as fuels, and to reduce fuel slosh. The disclosed MAPMD merges aspects of a diaphragm membrane with a magneto-active inlay to control the membrane during in-flight conditions.

Evaluating The Impact Of Nextgen’S Air Traffic System On Aviation Security, Linda V. Weiland, G. Wei

Publications

Networked Next Generation Air Transportation System (NextGen) opened the gate to digital National Airspace System (NAS) in cyberspace. Air traffic improvements from NextGen system, accompanied by the risk of long-standing cyberattack issue in information technology industry became an increasingly challenging matter to the aviation community and Air Traffic Management (ATM), as cybersecurity challenges in the NextGen system could affect NextGen's principle assurance of safety and security in air transportation. The technological shift of NAS infrastructure from traditional radar-based systems to networking system of systems leads to a review, revision and redefinition of current policies, standards regelations, cultures and norm to …

Experiments Of Propeller-Induced Flow Effects On A Low-Reynolds-Number Wing, Gavin K. Ananda, Robert Deters, Michael S. Selig

Publications

Novel findings are discussed in this paper that will be especially beneficial to designers and modelers of small-scale unmanned air vehicles and high-altitude long-endurance vehicles that both operate at low Reynolds numbers (Re = 50,000-300,000). Propeller-induced Oow effects in both tractor and pusher configurations on a recta ngular wing using the Wortmann FX 63-137 airfoil (a common low-Reynolds-number high-lift airfoil) are presented in this paper . Significant performance benefits can be found for a wing in the tractor configuration. Experiments, including trip tests and upper-surface oil Dow visualization, show and verify that the propeller slipstream induces early transition to turbulent …

Increasing Spaceflight Analogue Mission Fidelity By Standardization Of Extravehicular Activity Metrics Tracking And Analysis, Ryan L. Kobrick, Nicholas Lopac, Jenifer Schuman, John French, Tatsunari Tomiyama

Publications

Spaceflight analogues include human simulations that attempt to match as many variables of a real mission as possible, but here on Earth and at a fraction of the cost each having limitations. The goal of this Embry-Riddle Aeronautical University (ERAU) Spacesuit Utilization of Innovative Technology Laboratory (S.U.I.T. Lab) research is to improve simulation fidelity through Extravehicular Activity (EVA) data collection, analysis, and feedback, which will help humanity prepare for destinations such as the Moon or Mars. Investigated EVA metrics, physical and biomedical, are based on the identified NASA Human Research Roadmap research gaps related to the risk of injury and …

Breaking Down Traditional Classroom Walls And Studying Spacesuits Abroad, Ryan L. Kobrick, Jessica Mckee Ph.D., Sue A. Macchiarella, Angelica Gould

Publications

The spacesuit curriculum under development by the Spacesuit Utilization of Innovative Technology Laboratory (S.U.I.T. Lab) in the Spaceflight Operations program of the Applied Aviation Sciences Department at Embry-Riddle Aeronautical University has the unique challenge of educating non-engineering students about extremely technical space systems, highlighted by spacesuits. CSO 399: “Spacesuits and Human Spaceflight Operations” course, taught in Greece each summer, introduces students to human spaceflight topics. This unique offering takes advantage of the clear water visibility in the Aegean Sea with practical underwater demonstrations of space operations. Students live in confined quarters on a sailboat for two weeks to simulate operations …

Spacesuit Range Of Motion Investigations Using Video And Motion Capture Systems At Spaceflight Analogue Expeditions And Within The Erau S.U.I.T. Lab, Ryan L. Kobrick, Nicholas Lopac, Jenifer Schuman, Chase Covello, John French, Angelica Gould, Maximilian Meyer, Theodore Southern, Jazmyne Lones, Joshua W. Ehrlich

Publications

The Embry-Riddle Aeronautical University (ERAU) Spacesuit Utilization of Innovative Technology Laboratory (S.U.I.T. Lab) is dedicated to the pursuit of advancing human spaceflight by contributing to spacesuit and operations research with experiential programs for students. A significant portion of the S.U.I.T. Lab’s portfolio is dedicated to the design and execution of spacesuit range of motion (ROM) investigations using video and motion capture systems. ROM biomechanical angles were measured using these techniques in conjunction with developing protocols for both simulated extravehicular activity suits at spaceflight analogue expeditions, and on ERAU campus with Final Frontier Design (FFD) intravehicular activity pressure suits. Designing protocols …

Surgical And Medical Applications Of Drones: A Comprehensive Review, Brent Terwilliger, James C. Rosser Jr., Vudatha Vignesh, Brett C. Parker

Publications

Drones have the ability to gather real time data cost effectively, to deliver payloads and have initiated the rapid evolution of many industrial, commercial, and recreational applications. Unfortunately, there has been a slower expansion in the field of medicine. This article provides a comprehensive review of current and future drone applications in medicine, in hopes of empowering and inspiring more aggressive investigation.

Surgical And Medical Applications Of Drones: A Comprehensive Review, James C. Rosser, Vudatha Vignesh, Brent A. Terwilliger, Brett C. Parker

Publications

Background: Drones have the ability to gather real time data cost effectively, to deliver payloads and have initiated the rapid evolution of many industrial, commercial, and recreational applications. Unfortunately, there has been a slower expansion in the field of medicine. This article provides a comprehensive review of current and future drone applications in medicine, in hopes of empowering and inspiring more aggressive investigation. Database: A literature search was performed by EBSCO (Elton B. Stephens Company) Discovery Service, searching the phrases "drones," "UAV," "unmanned aerial vehicles," "UAS," and "unmanned aerial systems." A second search was used to identify sources that contained …

Static Performance Results Of Propellers Used On Nano, Micro, And Mini Quadrotors, Robert W. Deters, D. Dantsker, S.C. Kleinke, Narcrisha Norman, Michael S. Selig

Publications

An increase in the number of small quadrotors has created the interest in having performance data on the propellers used by these aircraft. With an aircraft size less than 5 in and propellers diameters less than 3 in, these quadrotors are typically referred to mini, micro, or nano by hobbyists and manufacturers. The size of the propellers used on these aircraft operate at low Reynolds numbers that are typically less than 50,000 for diameters up to 3 in and less than 20,000 for diameters up to 2 in. Static performance testing of the propellers used on 11 small quadrotors was …