Engineering Commons^™

Joint Architecture For Reusable Vehicle-Integrated Software (J.A.R.V.I.S), Anthony Mark Kane

Open Access Theses

An integrated software architecture for development of unmanned research vehicles is developed. It has been created under the premise that all unmanned vehicles require a core set of functionality that is common across platforms and that priority should be to the readability and reusability of the code base. The architecture defines the top-level system interfaces allowing internal algorithms to be manipulated without affecting the rest of the system. A robust aerospace toolbox has been developed that provides a means to rapidly prototype algorithms without the need of recreating commonly used functions or the use of expensive, proprietary software.

Laboratory Apparatus For Gas Turbine Combustion Development, Dustin Lee Cruise

Open Access Theses

The next generation of combustor technology will be required to meet the demands of a world more focused on greenhouse gases and global warming. Due to this new focus on emission control, combustors must produce less NO x , while operating in a higher pressure environment that is more prone to combustion instabilities.

This work focuses on the development of a lab and combustor that will be used for the next generation combustor development. The lab development includes layout and organization, facilities, measurement and instrumentation, automation of the testing process, and an imaging tool for diagnostics.

A Lean Direction Injection …

Adaptive Nonlinear Control For Autonomous Ground Vehicles, William Spencer Black

Open Access Theses

We present the background and motivation for ground vehicle autonomy, and focus on uses for space-exploration. Using a simple design example of an autonomous ground vehicle we derive the equations of motion. After providing the mathematical background for nonlinear systems and control we present two common methods for exactly linearizing nonlinear systems, feedback linearization and backstepping. We use these in combination with three adaptive control methods: model reference adaptive control, adaptive sliding mode control, and extremum-seeking model reference adaptive control. We show the performances of each combination through several simulation results. We then consider disturbances in the system, and design …