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2019

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Articles 10501 - 10505 of 10505

Full-Text Articles in Engineering

Real-Time Path Planning In Constrained, Uncertain Environments, Randall Christensen, Robert C. Leishman Jan 2019

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 …

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Decentralized Hamiltonian Control Of Multi-Der Isolated Microgrids With Meshed Topology, Mohamed Toub, Rush Robinett, Mohamed Maaroufi, Ghassane Aniba Jan 2019

Decentralized Hamiltonian Control Of Multi-Der Isolated Microgrids With Meshed Topology, Mohamed Toub, Rush Robinett, Mohamed Maaroufi, Ghassane Aniba

Michigan Tech Publications, Part 1

The new electricity grid of the future, smart grid, can be seen as the interconnection of multiple microgrids. These microgrids are usually composed of distributed energy resources (DERs) that connect to each other in different topologies. Therefore, the modeling and control of meshed microgrids are requisite. This paper presents a mathematical approach for the modeling and decentralized control of multi-DER isolated microgrids (ImGs) with a meshed topology. Based on the advanced control scheme: Hamiltonian surface shaping and power flow control (HSSPFC), decentralized controllers are designed independently using only local information. These controllers regulate the voltage at the point of common …

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The Effect Of Communication And Vehicle Properties On The Search Performance Of A Swarm Of Unmanned Aerial Vehicles, Jenna E. Newcomb, Andrew Ning Jan 2019

The Effect Of Communication And Vehicle Properties On The Search Performance Of A Swarm Of Unmanned Aerial Vehicles, Jenna E. Newcomb, Andrew Ning

Faculty Publications

An unmanned aerial vehicle (UAV) swarm allows for a more time-efficient method of searching a specified area than a single UAV or piloted plane. There are a variety of factors that affect how well an area is surveyed. We specifically analyzed the effect both vehicle properties and communication had on the swarm search performance. We used non-dimensionalization to examine the effect vehicle properties had on search performance so the results can be applied to any domain size with any number and type of vehicle. We found that even if vehicles could only sense 10% of the grid area at any …

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Optimization Of Turbine Design In Wind Farms With Multiple Hub Heights, Using Exact Analytic Gradients And Structural Constraints, Andrew P.J. Stanley, Andrew Ning, Katherine Dykes Jan 2019

Optimization Of Turbine Design In Wind Farms With Multiple Hub Heights, Using Exact Analytic Gradients And Structural Constraints, Andrew P.J. Stanley, Andrew Ning, Katherine Dykes

Faculty Publications

Wind farms are generally designed with turbines of all the same hub height. If wind farms were designed with turbines of different hub heights, wake interference between turbines could be reduced, lowering the cost of energy (COE). This paper demonstrates a method to optimize onshore wind farms with two different hub heights using exact, analytic gradients. Gradient-based optimization with exact gradients scales well with large problems and is preferable in this application over gradient-free methods. Our model consisted of the following: a version of the FLOw Redirection and Induction in Steady-State wake model that accommodated three- dimensional wakes and calculated …

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Combined Trajectory, Propulsion, And Battery Mass Optimization For Solar-Regenerative High-Altitude Long Endurance Unmanned Aircraft, Nathaniel S. Gates, Kevin R. Moore, Andrew Ning, John D. Hedengren Jan 2019

Combined Trajectory, Propulsion, And Battery Mass Optimization For Solar-Regenerative High-Altitude Long Endurance Unmanned Aircraft, Nathaniel S. Gates, Kevin R. Moore, Andrew Ning, John D. Hedengren

Faculty Publications

Combined optimization of propulsion system design, flight trajectory planning and battery mass optimization for solar-regenerative high-altitude long endurance (SRHALE) aircraft through a sequential iterative approach yields an increase of 20.2% in the end-of-day energy available on the winter solstice at 35 deg N latitude, resulting in an increase in flight time of 2.36 hours. The optimized flight path is obtained by using nonlinear model predictive control to solve flight and energy system dynamics over a 24 hour period with a 15 second time resolution. The optimization objective is to maximize the total energy in the system while flying a station-keeping …

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