Engineering Commons^™

Relative Vectoring Using Dual Object Detection For Autonomous Aerial Refueling, Derek B. Worth, Jeffrey L. Choate, James Lynch, Scott L. Nykl, Clark N. Taylor

Faculty Publications

Once realized, autonomous aerial refueling will revolutionize unmanned aviation by removing current range and endurance limitations. Previous attempts at establishing vision-based solutions have come close but rely heavily on near perfect extrinsic camera calibrations that often change midflight. In this paper, we propose dual object detection, a technique that overcomes such requirement by transforming aerial refueling imagery directly into receiver aircraft reference frame probe-to-drogue vectors regardless of camera position and orientation. These vectors are precisely what autonomous agents need to successfully maneuver the tanker and receiver aircraft in synchronous flight during refueling operations. Our method follows a common 4-stage process …

Aerospace Vehicle Navigation And Control System Comprising Terrestrial Illumination Matching Module For Determining Aerospace Vehicle Position And Attitude, Liberty M. Shockley, Robert A. Bettinger

AFIT Patents

The present invention relates to an aerospace vehicle navigation and control system comprising a terrestrial illumination matching module for determining spacecraft position and attitude. The method permits aerospace vehicle position and attitude determinations using terrestrial lights using an Earth-pointing camera without the need of a dedicated sensor to track stars, the sun, or the horizon. Thus, a module for making such determinations can easily and inexpensively be made onboard an aerospace vehicle if an Earth-pointing sensor, such as a camera, is present.

Vacuum Lift Apparatus, Ruben Adorno, Anthony N. Palazotto

AFIT Patents

An apparatus for lifting a load to a desired altitude using an evacuated hollow lift body is disclosed. Once evacuated, the apparatus is lighter than the surrounding atmosphere. The lift body can be formed as a hollow fluid tight structure with a tube wound and sealed in a helical pattern or a dual membrane structure with a pressurized intermediate volume sandwiched between inner and outer membranes. A load can be attached to the apparatus and lifted to an altitude where the effective density of the apparatus and load is equivalent to the density of the surrounding atmosphere.

Gnss Software Defined Radio: History, Current Developments, And Standardization Efforts, Thomas Pany, Dennis Akos, Javier Arribas, M. Zahidul H. Bhuiyan, Pau Closas, Fabio Dovis, Ignacio Fernandez-Hernandez, Carles Fernandez-Prades, Sanjeev Gunawardena, Todd Humphreys, Zaher M. Kassas, Jose A. Lopez Salcedo, Mario Nicola, Mario L. Psiaki, Alexander Rugamer, Yong-Jin Song, Jong-Hoon Won

Faculty Publications

Taking the work conducted by the global navigation satellite system (GNSS) software-defined radio (SDR) working group during the last decade as a seed, this contribution summarizes, for the first time, the history of GNSS SDR development. This report highlights selected SDR implementations and achievements that are available to the public or that influenced the general development of SDR. Aspects related to the standardization process of intermediate-frequency sample data and metadata are discussed, and an update of the Institute of Navigation SDR Standard is proposed. This work focuses on GNSS SDR implementations in general-purpose processors and leaves aside developments conducted on …

The Afit Engineer, Volume 5, Issue 4, Graduate School Of Engineering And Management, Air Force Institute Of Technology

AFIT Documents

This issue has a special research feature section by the Autonomy and Navigation Technology Center (ANT) on Demonstration of Alternative Navigation Technologies for Autonomous Aircraft.

Also in this issue:

• ANT Center lowers DOD dependence on GPS
• Record number of female Doctorates awarded at AFIT's Fall Commencement
• D'Azzo Research Library recognized by Library of Congress.
• Hypersonic vehicle flying qualities assessment
• Retirement of Dean Badiru

.... and more.

Accurate Covariance Estimation For Pose Data From Iterative Closest Point Algorithm, Rick H. Yuan, Clark N. Taylor, Scott L. Nykl

Faculty Publications

One of the fundamental problems of robotics and navigation is the estimation of the relative pose of an external object with respect to the observer. A common method for computing the relative pose is the iterative closest point (ICP) algorithm, where a reference point cloud of a known object is registered against a sensed point cloud to determine relative pose. To use this computed pose information in downstream processing algorithms, it is necessary to estimate the uncertainty of the ICP output, typically represented as a covariance matrix. In this paper, a novel method for estimating uncertainty from sensed data is …

Filter-Based Air Sampler Capable Of Integration Into Small Unmanned Aerial Vehicles, Robert M. Eninger, Stepanie A. Ohms, Jeremy M. Slagley

AFIT Patents

A filter-based air sampler, more specifically a filter-based air sampler capable of integration into small unmanned aerial systems is disclosed. The filter-based air sampler may include a filter assembly which has as its component parts: an open faced air intake component, a filter, and a filter support that has a central supporting grid. The filter assembly may joined to the housing of a fan, such as a centrifugal fan, with the supporting grid of the filter support being disposed over the air inlet of the fan.

Utilizing The System Engineering Trade Study Analysis Method To Analyze Patient Aeromedical Evacuation, Sara Shaghaghi, Jeremy M. Slagley, Michael E. Miller, Gaiven Varshney

Faculty Publications

The US Air Force has gone through many aeromedical patient isolation transport system designs. The first designs were developed in response to the Ebola outbreak in 2014 and, more recently, the COVID-19 pandemic. The trade study analysis part of the system engineering design method was used to analyze the historic and current aeromedical patient contamination control transport systems. A trade study is a process that evaluates alternatives based upon various “-ilities”, such as reconfigurability, flexibility, durability, cost, and more, and performs a systematic analysis to aid designers in producing a ‘good’ design alternative given the large set of possible solutions. …

Spacecraft Orbit Determination System, Daniel M. Dombrowski, Robert A. Bettinger

AFIT Patents

The present invention relates to a resident space object orbit determination system comprising a high efficiency module for determining a resident space object's orbit and a highly efficient method for determining same. Applicants developed a method and system to determine the orbits of residence space objects including resident space objects that do not reflect energy that is directed at them and/or may be coated to minimize the ability to accurately see such resident space objects. Thus, a method, a module and a system for making such determinations that can easily and inexpensively be added to an early warning reentry system …

Seal For A Wave Rotor Disk Engine, Christopher Tait, Pejman Akbari, Brian Sell, Marc Polanka

AFIT Patents

A unique seal for a wave rotor disk engine is disclosed herein. The seal is operable for sealing a region between a rotor and a rotor casing. The seal is spring loaded and will engage with the tip of the rotor to reduce pressure loss within the wave rotor disk engine.

Turbine Cooling System With Energy Separation, James L. Rutledge, Matthew Fuqua, Carol M. Bryant

AFIT Patents

A method and system for cooling an engine and/or vehicle using energy separation is disclosed herein. An energy separation device is operable for separating a compressed gaseous coolant stream into a first relatively cooler coolant flow stream and a second relatively hotter coolant flow stream. The relative cooler coolant flow stream is directed to a first region requiring increased cooling and the relative hotter coolant flow stream is directed to a second region requiring lower cooling than the first region in the engine or vehicle.

Disk Engine With Circumferential Swirl Radial Combustor, Brian Bohan, Marc Polanka, Bennett Staton

AFIT Patents

A disk engine and system configured to provide high power at a reduced axial length is disclosed herein. The disk engine includes a radial compressor, a compressor discharge manifold positioned circumferentially about compressor, a combustion chamber positioned within the discharge manifold and a radial turbine positioned radially inward of the combustion chamber.

Beyond The High Ground: A Taxonomy For Earth-Moon System Operations, Adam P. Wilmer, Robert A. Bettinger

Faculty Publications

Situational and space domain awareness in the space domain can no longer be confined to that which is found in geosynchronous orbit. International activities—commercial and military—and threats to the planet itself exist and are increasing across the entire Earth-Moon system. This reality requires a new taxonomy to accurately classify space domain awareness missions and better apply resources to and development of the same. This work presents such a taxonomy for the classification of space domain awareness regions.

Early Warning Reentry System Comprising High Efficiency Module For Determining Spacecraft Reentry Time, Robert A. Bettinger

AFIT Patents

The present invention relates to an early warning reentry system comprising a high efficiency module for determining spacecraft reentry time and a highly efficient method for determining spacecraft reentry time. The method permits more accurate, earlier spacecraft reentry time determinations using publicly available trajectory information without the need for accounting for the actual design configuration of the spacecraft in question. Thus, a module for making such determinations can easily and inexpensively be added to an early warning reentry system.

Robust Error Estimation Based On Factor-Graph Models For Non-Line-Of-Sight Localization, O. Arda Vanli, Clark N. Taylor

Faculty Publications

This paper presents a method to estimate the covariances of the inputs in a factor-graph formulation for localization under non-line-of-sight conditions. A general solution based on covariance estimation and M-estimators in linear regression problems, is presented that is shown to give unbiased estimators of multiple variances and are robust against outliers. An iteratively re-weighted least squares algorithm is proposed to jointly compute the proposed variance estimators and the state estimates for the nonlinear factor graph optimization. The efficacy of the method is illustrated in a simulation study using a robot localization problem under various process and measurement models and measurement …

Traffic Collision Avoidance System: False Injection Viability, John Hannah, Robert F. Mills, Richard A. Dill, Douglas D. Hodson

Faculty Publications

Safety is a simple concept but an abstract task, specifically with aircraft. One critical safety system, the Traffic Collision Avoidance System II (TCAS), protects against mid-air collisions by predicting the course of other aircraft, determining the possibility of collision, and issuing a resolution advisory for avoidance. Previous research to identify vulnerabilities associated with TCAS’s communication processes discovered that a false injection attack presents the most comprehensive risk to veritable trust in TCAS, allowing for a mid-air collision. This research explores the viability of successfully executing a false injection attack against a target aircraft, triggering a resolution advisory. Monetary constraints precluded …

Ion Gnss Software-Defined Radio Metadata Standard, Sanjeev Gunawardena, Thomas Pany, James Curran

Faculty Publications

The past several years have seen a proliferation of software‐defined radio (SDR) data collection systems and processing platforms designed for or applicable to satellite navigation (satnav) applications. These systems necessarily produce datasets in a wide range of different formats. To correctly interpret this SDR data, essential information such as the packed sample format and sampling rate is needed. Communicating this metadata between creators and users has historically been an ad‐hoc, cumbersome, and error‐prone process. To address this issue, the satnav SDR community developed a metadata standard and normative software library to automate this process, thus simplifying the exchange of datasets …

Resilience For Multi-Filter All-Source Navigation Framework With Integrity, Jonathon S. Gipson, Robert C. Leishman

Faculty Publications

The Autonomous and Resilient Management of All-source Sensors (ARMAS) framework monitors residual-space test statistics across unique sensor-exclusion banks of filters, (known as subfilters) to provide a resilient, fault-resistant all-source navigation architecture with assurance. A critical assumption of this architecture, demonstrated in this paper, is fully overlapping state observability across all subfilters. All-source sensors, particularly those that only provide partial state information (altimeters, TDoA, AOB, etc.) do not intrinsically meet this requirement.
This paper presents a novel method to monitor real-time overlapping position state observability and introduces an "observability bank" within the ARMAS framework, known as Stable Observability Monitoring (SOM). SOM …

Impact Of Neutron Energy On Asteroid Deflection Performance, Lansing S. Horan Iv, Darren E. Holland, Megan Bruck Syal, James E. Bevins, Joseph W. Wasem

Faculty Publications

In the future, a hazardous asteroid will find itself on a collision course with Earth. For asteroids of moderate size or larger, a nuclear device is one of humanity's only technologies capable of mitigating this threat via deflection on a timescale of less than a decade. This work examined how the output neutron energy from a nuclear device standoff detonation affects the deflection of a notional asteroid that is 300 meters in diameter and composed of silicon dioxide at a bulk density of 1.855 g/cm³. 14.1 MeV and 1 MeV neutron energy sources were modeled in MCNP to …

Hexakis Icosahedron Frame-Skin Vacuum Lighter Than Air Vehicle, Brian Cranston, Anthony N. Palazotto

AFIT Patents

A vacuum lighter than air vehicle (VLTAV) includes a rigid frame of rods connected together to form a hexakis icosahedron. A membrane skin covers the rigid frame and defines therewith a vessel configured to hold an internal vacuum that allows the vessel to float in the air. The plurality of rods and membrane skin have weights and dimensions that result in a neutral and/or positive buoyancy for the vessel while preventing geometric instability.

Wind Tunnel Wake Generator, Carl Pickl, James L. Rutledge, Marc D. Polanka, Brian Crabtree, Christopher Harkless

AFIT Patents

A wake generator for placement in a wind tunnel between a wind source and a test object includes a first frame member having a first track formed thereon, where the first track has a shape including a first side that is substantially rounded and a second side that is substantially flat. The wake generator may include a mounting plate disposed within a perimeter of the first track, where the mounting plate is rotatable relative to the first frame member about a first axis. The wake generator may also include a plurality of bars slidably engaged to the mounting plate and …

An Argument Against Satellite Resiliency: Simplicity In The Face Of Modern Satellite Design, Dax Linville [*], Robert A. Bettinger

Faculty Publications

The US Air Force and the wider US government rely heavily on space-based capabilities in various orbital regimes to project national security and sovereignty. However, these capabilities are enabled by the design, launch, and operation of satellites produced with a design methodology that favors large, monolithic, and technologically exquisite space systems. Despite the ability for these satellites to provide enduring and resilient capabilities, they suffer from a woefully long acquisition process that debilitates any prospect of rapid satellite reconstitution in the event of a space war.

Magslam: Aerial Simultaneous Localization And Mapping Using Earth's Magnetic Anomaly Field, Taylor N. Lee, Aaron J. Canciani

Faculty Publications

Instances of spoofing and jamming of global navigation satellite systems (GNSSs) have emphasized the need for alternative navigation methods. Aerial navigation by magnetic map matching has been demonstrated as a viable GNSS‐alternative navigation technique. Flight test demonstrations have achieved accuracies of tens of meters over hour‐long flights, but these flights required accurate magnetic maps which are not always available. Magnetic map availability and resolution vary widely around the globe. Removing the dependency on prior survey maps extends the benefits of aerial magnetic navigation methods to small unmanned aerial systems (sUAS) at lower altitudes where magnetic maps are especially undersampled or …

Characterization Of Simulated Low Earth Orbit Space Environment Effects On Acid-Spun Carbon Nanotube Yarns, Ryan A. Kemnitz, Gregory R. Cobb, Abhendra K. Singh, Carl R. Hartsfield

Faculty Publications

The purpose of this study is to quantify the detrimental effects of atomic oxygen and ultraviolet (UV) C radiation on the mechanical properties, electrical conductivity, and piezoresistive effect of acid-spun carbon nanotube (CNT) yarns. Monotonic tensile tests with in-situ electrical resistance measurements were performed on pristine and exposed yarns to determine the effects of the atomic oxygen and UVC exposures on the yarn’s material properties. Both type of exposures were performed under vacuum to simulate space environment conditions. The CNT yarns’ mechanical properties did not change significantly after being exposed to UV radiation, but were significantly degraded by the atomic …

Analysis Of A Celestial Icosahedron Shaped Vacuum Lighter Than Air Vehicle, Dustin P. Graves, Kyle D. Moore, Anthony N. Palazotto

Faculty Publications

Excerpt: The celestial icosahedron geometry is considered as a potential design for a vacuum lighter than air vehicle. The goal of this research is ultimately to determine the feasibility of the design and to understand the initial fluid-structure interaction of the vacuum lighter than air vehicle and the surrounding airflow.

Quantifying The Effects Of Hyperthermal Atomic Oxygen And Thermal Fatigue Environments On Carbon Nanotube Sheets For Space-Based Applications, Jacob W. Singleton, Gregory R. Cobb, Heath E. Misak, Ryan A. Kemnitz

Faculty Publications

The effects of atomic oxygen and thermal fatigue on two different types of carbon nanotube sheets were studied. One set was treated with nitric acid, while the other set was left untreated. Monotonic tensile tests were performed before and after exposure to determine the effects of either exposure type on the sheets’ mechanical properties. Electrical conductivity and electromagnetic interference measurements were recorded to determine the effects of AO-exposure and thermal cycling on the sheets’ electrical properties. Neither exposure type affected the sheets’ specific strengths. Both exposure types increased the sheets’ specific stiffnesses and decreased the sheets’ strains at failure. The …

Possible Detection Of Low Energy Solar Neutrons Using Boron Based Materials, Nicole Benker, Elena Echeverria, Robert Olesen, Brant E. Kananen, John W. Mcclory, Yaroslav V. Burak, Volodymyr T. Adamiv, Ihor M. Teslyuk, George Glenn Peterson, Ben Bradley, Ethiyal R. Wilson, James C. Petrosky, Bin Dong, Jeffry Kelber, Jennifer Hamblin, Jaques Doumani, Peter A. Dowben, Alex Enders

Faculty Publications

Solar neutrons have been detected aboard the International Space Station (ISS), using lithium tetraborate and boron carbide detector elements. We find that evidence of a solar neutron flux, as detected in a neutron calorimeter following subtraction of the proton background, with an energy of about 2 to 4 MeV. This solar neutron flux is likely no more than 250 to 375 neutrons cm⁻²sec⁻¹, with a lower bound of 50–75 neutrons cm⁻²sec⁻¹ at one au.

The Potentiality Of Space Enterprise Force Reconstitution: Nationalizing Civilian Satellites During Kinetic Conflicts, Robert A. Bettinger, Sara Schmitt

Faculty Publications

This article will discuss the possibility of employing a policy of civilian satellite nationalization during a space war as a means of US Space Enterprise force re- constitution to ensure continued access to space capabilities necessary for the execution of the national strategy, as well as deterring potential adversaries from initiating counterspace hostilities. In terms of structure, the authors will examine the thesis by answering these questions. First, what historical precedent exists for the rapid military acquisition of civilian assets via nationalization? Second (given the unique nature of space as an operational environment), can that historical precedent be applied to …

First Approach To Coupling Of Numerical Lifting-Line Theory And Linear Covariance Analysis For Uav State Uncertainty Propagation, Cory D. Goates, Randall S. Christensen, Robert C. Leishman

Faculty Publications

Numerical lifting-line is a computationally efficient method for calculating aerodynamic forces and moments on aircraft. However, its potential has yet to be tapped for use in guidance, navigation, and control (GN&C). Linear covariance analysis is becoming a popular GN&C design tool and shows promise for pairing with numerical lifting-line. Pairing numerical lifting-line with linear covariance analysis allows for forward propagation of state uncertainty for real-time decision making. We demonstrate this for select state variables in a drone aerial recapture situation. Linear covariance analysis uses finite difference derivatives obtained from numerical lifting-line to calculate force and moment variances. These show agreement …

Real-Time Path Planning In Constrained, Uncertain Environments, Randall Christensen, Robert C. Leishman

Faculty Publications

A key enabler of autonomous vehicles is the ability to plan the path of the vehicle to accomplish mission objectives. To be robust to realistic environments, path planners must account for uncertainty in the trajectory of the vehicle as well as uncertainty in the location of obstacles. The uncertainty in the trajectory of the vehicle is a difficult quantity to estimate, and is influenced by coupling between the vehicle dynamics, guidance, navigation, and control system as well as any disturbances acting on the vehicle. Monte Carlo analysis is the conventional approach to determine vehicle dispersion, while accounting for the coupled …