Engineering Commons^™

Updates And Improvements To The Satellite Drag Coefficient Response Surface Modeling Toolkit, Phillip Logan Sheridan

Graduate Theses, Dissertations, and Problem Reports

For satellites in Low Earth Orbit, the drag coefficient is a major area of uncertainty. Researchers at the Los Alamos National Laboratory have created a Response Surface Modeling (RSM) toolkit to provide the community with a resource for simulating and modeling satellite drag coefficients in Free Molecular Flow. The toolkit combines the high fidelity of numerical simulation techniques with the speed of regression modeling. Specifically, it uses a training sample of drag coefficients simulated with the Test Particle Monte Carlo method with the robust Gaussian Process Regression approach. The RSM toolkit is the prime process to become a toolkit of …

Active Localization For Robotic Systems: Algorithms And Cost Metrics, Jared Strader

Graduate Theses, Dissertations, and Problem Reports

In the real world, a robotic system must operate in the presence of motion and sensing uncertainty. This is caused by the fact that the motion of a robotic system is stochastic due to disturbances from the environment, and the states are only partially observable due noise in the sensor measurements. As a result, the true state of a robotic system is unknown, and estimation techniques must be used to infer the states from the belief, which is the probability distribution over all possible states. Accordingly, a robotic system must be capable of reasoning about the quality of the belief …

Next-Generation Re-Entry Aerothermodynamic Modeling Of Space Debris Using Machine Learning, Nicholas Sia

Graduate Theses, Dissertations, and Problem Reports

The number of resident space objects re-entering the atmosphere is expected to rise with increased space activity over recent years and future projections. Predicting the survival and impact location of the medium to large sized re-entering objects becomes important as they can cause on ground casualties and damage to property. Uncertainties associated with the re-entry process makes necessary a probabilistic approach, which can be computationally expensive when using high-fidelity numerical methods for estimating aerothermodynamic properties. To date, object-oriented analysis is the dominant tool used for atmospheric re-entry modeling and simulation, where aerothermodynamic coefficients are used to determine the risk a …

Uncertainty Estimation For Stereo Visual Odometry, Derek W. Ross

Graduate Theses, Dissertations, and Problem Reports

Over the past few decades, unmanned aerial vehicles (UAVs) have been increasingly popular for use in locations that are lacking, or have unreliable global navigation satellite system (GNSS) availability. One of the more popular localization techniques for quadrotors is the use of visual odometry (VO) through monocular, RGB-D, or stereo cameras. With primary applications in the context of Simultaneous Localization And Mapping (SLAM) and indoor navigation, VO is largely used in combination with other sensors through Bayesian filters, namely Extended Kalman Filter (EKF) or Particle Filter. This work investigates the accuracy of two standard covariance estimation techniques for a feature-based …

Development Of Collision Resilient Drone For Flying In Cluttered Environment, Al Mahmud

Graduate Theses, Dissertations, and Problem Reports

The use of multi-rotor aerial vehicles, also known as drones, has increased significantly in the last decade due to their ease of use and applicability to an extended range of functions. Therefore, the importance of making these vehicles safe, for both themselves and the people around them, has also increased. A clear solution to this problem is the development of algorithms that generate collision-free paths using different sensors. However, even with such onboard computation, avoiding a collision is not always possible. Thus, the use of a protective structure (cage) around the aerial vehicle is a solution to keep it safe …

Flow Field Measurement And Qualification Of The West Virginia University Environmental Wind Tunnel, Katherine Mary Reid

Graduate Theses, Dissertations, and Problem Reports

In 2013 West Virginia University acquired an Environmental Wind Tunnel from Cornell University. Due to the state of the tunnel, elements of the tunnel were redesigned and rebuilt at the West Virginia University Hangar in Morgantown, West Virginia. The motivation of this research was to evaluate and qualify the flow field within the test section of this redesigned and reconstructed wind tunnel. The tunnel has many uses for the university, including outside research opportunities as well as educational purposes for students in the Aerospace Engineering Department. The methods employed for this effort included developing a grid of pitot tubes to …

Comparative Analysis Of Different Classes Of On-Line State Estimators For Aerodynamics Angles And True Airspeed Sensors For Applications To The Sensor Failure Problem, Alexandra Anne Augsberger

Graduate Theses, Dissertations, and Problem Reports

Throughout aviation history, there have been numerous incidents due to sensor failure that have caused a range of issues from loss of control of the aircraft to crashes resulting in loss of human life. Although there are many hardware-based solutions to this problem, the threat of control hardware failure still exists. This work investigates the efficacy of implementing neural networks (NN) and Kalman filters (KF) to solve the accommodation portion of the sensor failure detection, identification, and accommodation (SFDIA) problem through on-line real-time estimation of specific aircraft dynamic parameters. The implementation of on-line estimation architectures into the aircraft flight control …

Planning Algorithms Under Uncertainty For A Team Of A Uav And A Ugv For Underground Exploration, Matteo De Petrillo

Graduate Theses, Dissertations, and Problem Reports

Robots’ autonomy has been studied for decades in different environments, but only recently, thanks to the advance in technology and interests, robots for underground exploration gained more attention. Due to the many challenges that any robot must face in such harsh environments, this remains an challenging and complex problem to solve.

As technology became cheaper and more accessible, the use of robots for underground ex- ploration increased. One of the main challenges is concerned with robot localization, which is not easily provided by any Global Navigation Services System (GNSS). Many developments have been achieved for indoor mobile ground robots, making …

Increasing The Reliability Of Software Systems On Small Satellites Using Software-Based Simulation Of The Embedded System, Matthew D. Grubb

Graduate Theses, Dissertations, and Problem Reports

The utility of Small Satellites (SmallSats) for technology demonstrations and scientific research has been proven over the past few decades by governments, universities, and private companies. While the research and technology demonstration objectives that can be provided by these SmallSats are becoming similar to larger spacecraft, their reliability still falls behind. This is in part due to the reduced cost of SmallSat missions in comparison to large spacecraft, which requires cheaper components, rapid development schedules, and accepted risk. In these missions, the importance of the flight software is often overlooked, and the software is rushed through development and not fully …

Localization Algorithms For Gnss-Denied And Challenging Environments, Chizhao Yang

Graduate Theses, Dissertations, and Problem Reports

In this dissertation, the problem about localization in GNSS-denied and challenging environments is addressed. Specifically, the challenging environments discussed in this dissertation include two different types, environments including only low-resolution features and environments containing moving objects. To achieve accurate pose estimates, the errors are always bounded through matching observations from sensors with surrounding environments. These challenging environments, unfortunately, would bring troubles into matching related methods, such as "fingerprint" matching, and ICP. For instance, in environments with low-resolution features, the on-board sensor measurements could match to multiple positions on a map, which creates ambiguity; in environments with moving objects included, the …

Planetary Rover Inertial Navigation Applications: Pseudo Measurements And Wheel Terrain Interactions, Cagri Kilic

Graduate Theses, Dissertations, and Problem Reports

Accurate localization is a critical component of any robotic system. During planetary missions, these systems are often limited by energy sources and slow spacecraft computers. Using proprioceptive localization (e.g., using an inertial measurement unit and wheel encoders) without external aiding is insufficient for accurate localization. This is mainly due to the integrated and unbounded errors of the inertial navigation solutions and the drifted position information from wheel encoders caused by wheel slippage. For this reason, planetary rovers often utilize exteroceptive (e.g., vision-based) sensors. On the one hand, localization with proprioceptive sensors is straightforward, computationally efficient, and continuous. On the other …