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Full-Text Articles in Engineering
Optimal Control Of An Uninhabited Loyal Wingman, Clay J. Humphreys
Optimal Control Of An Uninhabited Loyal Wingman, Clay J. Humphreys
Theses and Dissertations
As researchers strive to achieve autonomy in systems, many believe the goal is not that machines should attain full autonomy, but rather to obtain the right level of autonomy for an appropriate man-machine interaction. A common phrase for this interaction is manned-unmanned teaming (MUM-T), a subset of which, for unmanned aerial vehicles, is the concept of the loyal wingman. This work demonstrates the use of optimal control and stochastic estimation techniques as an autonomous near real-time dynamic route planner for the DoD concept of the loyal wingman. First, the optimal control problem is formulated for a static threat environment and …
Adaptive Estimation And Heuristic Optimization Of Nonlinear Spacecraft Attitude Dynamics, Joshuah A. Hess
Adaptive Estimation And Heuristic Optimization Of Nonlinear Spacecraft Attitude Dynamics, Joshuah A. Hess
Theses and Dissertations
For spacecraft conducting on-orbit operations, changes to the structure of the spacecraft are not uncommon. These planned or unanticipated changes in inertia properties couple with the spacecraft's attitude dynamics and typically require estimation. For systems with time-varying inertia parameters, multiple model adaptive estimation (MMAE) routines can be utilized for parameter and state estimates. MMAE algorithms involve constructing a bank of recursive estimators, each assuming a different hypothesis for the systems dynamics. This research has three distinct, but related, contributions to satellite attitude dynamics and estimation. In the first part of this research, MMAE routines employing parallel banks of unscented attitude …
Improving Real-World Performance Of Vision Aided Navigation In A Flight Environment, Donald T. Venable
Improving Real-World Performance Of Vision Aided Navigation In A Flight Environment, Donald T. Venable
Theses and Dissertations
The motivation of this research is to fuse information from an airborne imaging sensor with information extracted from satellite imagery in order to provide accurate position when GPS is unavailable for an extended duration. A corpus of existing geo-referenced satellite imagery is used to create a key point database. A novel algorithm for recovering coarse pose using by comparing key points extracted from the airborne imagery to the reference database is developed. This coarse position is used to bootstrap a local-area geo-registration algorithm, which provides GPS-level position estimates. This research derives optimizations for existing local-area methods for operation in flight …
Visual-Ins Using A Human Operator And Converted Measurements, Turner J. Montgomery
Visual-Ins Using A Human Operator And Converted Measurements, Turner J. Montgomery
Theses and Dissertations
A method human operated INS aiding is explored in which the pilot identifies and tracks a ground feature of unknown position over a short measurement epoch using an E/O sensor. One then refers to Visual-INS. In contrast to current research trends, a human operator is entrusted with visually tracking the ground feature. In addition, a less conventional measurement linearization technique is applied to generate “converted” measurements. A linear regression algorithm is then applied to the converted measurements providing an estimate of the INS horizontal velocity error and accelerometer biases. At the completion of the measurement epoch, the INS is corrected …
Evaluation Of Verification Approaches Applied To A Nonlinear Control System, Kerianne H. Gross
Evaluation Of Verification Approaches Applied To A Nonlinear Control System, Kerianne H. Gross
Theses and Dissertations
As the demand for increasingly complex and autonomous systems grows, designers may consider computational and artificial intelligence methods for more advanced, re- active control. While the performance gained by such increasingly intelligent systems may be superior to traditional control techniques, the lack of transparency in the systems and opportunity for emergent behavior limits their application in the field. New verification and validation methods must be developed to ensure the output of such controllers do not put the system or any people interacting with it in danger. This challenge was highlighted by the former Air Force Chief Scientist in his 2010 …
Investigation Into Active Spanwise Camber Deformation On The Lateral Stability And Roll Control Of The X-56a Compared To Conventional Ailerons, Eric T. Yerly
Theses and Dissertations
"This research compares the stability and roll characteristics of an X-56A using AFRL’s Variable Camber Complaint wing technology to actively change wing camber compared to conventional ailerons deflected at set angles. An analysis of the stability and roll characteristics was modeled using a 3-D vortex lattice theory simulation, and that data was compared to wind tunnel testing to verify and validate the model results. Wind tunnel data was collected using 19 inch 3-D printed scale models with wings fabricated with a pre-determined percentage of camber deformation, as well as models with fixed aileron deflections. The full span model changed camber …
Real-Time Implementation Of Vision-Aided Monocular Navigation For Small Fixed-Wing Unmanned Aerial Systems, Timothy I. Machin
Real-Time Implementation Of Vision-Aided Monocular Navigation For Small Fixed-Wing Unmanned Aerial Systems, Timothy I. Machin
Theses and Dissertations
The goal of this project was to develop and implement algorithms to demonstrate real-time positioning of a UAV using a monocular camera combined with previously collected orthorectified imagery. Unlike previous tests, this project did not utilize a full inertial navigation system (INS) for attitude, but instead had to rely on the attitude obtained by inexpensive commercial off-the-shelf (COTS) autopilots. The system consisted of primarily COTS components and open-source software, and was own over Camp Atterbury, IN for a sequence of flight tests in Fall 2015. The system obtained valid solutions over much of the flight path, identifying features in the …