Aerospace Engineering Commons^™

Development And Verification Of Flight Data Informed Performance Estimation And Prediction Simulation Tool For Small Electrical Multi-Rotor Uav, Nicholas Scott Borelle

Graduate Theses, Dissertations, and Problem Reports (ETD)

While small scale multi-rotor aircraft are becoming an increasingly large market with applications emerging every day, their ability to have both a high endurance/long range and a high speed/performance flight is severely limited. This leads to uncertainty in mission planning and aircraft design, specifically when deciding mission length and available on-board energy. Uncertainty like this leads to an increased chance of failure to complete the mission, and a failure to recover the aircraft. Considering that these aircraft are used by everyone from hobbyists to commercial companies to military personnel, the applications and missions being flown carry importance and a serious …

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

Graduate Theses, Dissertations, and Problem Reports (ETD)

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 …

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

Graduate Theses, Dissertations, and Problem Reports (ETD)

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 (ETD)

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 …

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 (ETD)

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 …

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

Graduate Theses, Dissertations, and Problem Reports (ETD)

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 (ETD)

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 …

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 (ETD)

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 …

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

Graduate Theses, Dissertations, and Problem Reports (ETD)

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 …

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 (ETD)

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 …

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

Graduate Theses, Dissertations, and Problem Reports (ETD)

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 …

Uncertainty Estimation For Stereo Visual Odometry, Derek W. Ross

Graduate Theses, Dissertations, and Problem Reports (ETD)

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 …

Fast Decision-Making Under Time And Resource Constraints, Kyle Gabriel Lassak

Graduate Theses, Dissertations, and Problem Reports (ETD)

Practical decision makers are inherently limited by computational and memory resources as well as the time available in which to make decisions. To cope with these limitations, humans actively seek methods which limit their resource demands by exploiting structure within the environment and exploiting a coupling between their sensing and actuation to form heuristics for fast decision-making. To date, such behavior has not been replicated in artificial agents. This research explores how heuristics may be incorporated into the decision-making process to quickly make high-quality decisions through the analysis of a prominent case study: the outfielder problem. In the outfielder problem, …

Exploration Of Unknown Environments Using A Tethered Mobile Robot, Danylo Shapovalov

Graduate Theses, Dissertations, and Problem Reports (ETD)

Exploration with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This thesis presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While a generalized algorithm that can be used with several exploration strategies is also proposed, the presented implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in the frontier …

Low-Cost Skewed Redundant Imu Configuration For State-Space Recovery In A Saturated Environment, Levi S. Hubbard

Graduate Theses, Dissertations, and Problem Reports (ETD)

Low-cost sensors for state space determination can be used successfully for ground vehicles, robots, unmanned aerial vehicles, and Internet-of-Things applications. When a high fidelity Inertial Measurement Unit (IMU) cannot be obtained for state space determination, low-cost sensors can be used to satisfactory standards, despite their limitations in capabilities, by using various implementation techniques. The research group was experimentally investigating state space information of an unstable flying vehicle for motion simulation validation. The high fidelity motion capture system would intermittently lose track of the flight vehicle which lost critical flight data.

The goal was to determine the potential of low-cost off-the-shelf …

Improving The Biological Control Of Persicaria Perfoliata (Polygonaceae) Using Rhinoncomimus Latipes Korotyaev (Coleoptera: Curculionidae), Jaewon Kim

Graduate Theses, Dissertations, and Problem Reports (ETD)

Persicaria perfoliata (L.) H. Gross (Polygonaceae; Mile-a-minute weed) is a rapid-growing invasive vine introduced from eastern Asia to northeastern United States in the 1930s. This vine has been invaded in disturbed areas and reforestation sites in 15 states in the U.S. and forms dense, monocultural patches that may inhibit natural forest regeneration. To control this weed, a host-specific biocontrol agent, Rhinoncomimus latipes Korotyaev (Coleoptera: Curculionidae) has been released in the P. perfoliata invaded states in the U.S. during the past 15 years. Currently, R. latipes is released by hand to the invaded area where the presence of the weed is …

Characterizing Premixed Syngas Combustion In Micro-Channels, Sunita Pokharel

Graduate Theses, Dissertations, and Problem Reports (ETD)

Increasing demands in the next-generation portable power-generation devices such as unmanned aerial vehicles (UAV), microsatellite thrusters, micro-chemical reactors and sensors calls for fuels with high specific energy and low emissions to meet the current demand of green energy. Fuel-lean synthesis gas (syngas) meets both these requirements exhibiting a promising route to a clean and green environment. Thus, it is of critical importance to characterize syngas combustion and understand its properties in the micro-combustion industry. In addition to complicated flame dynamics in microscale systems, varying the syngas-fuel mixture composition as well as the boundary conditions and geometry of a combustor significantly …

Aeroelasticity Of Composite Plate Wings Using Hsdt And Higher-Order Fem, Justin A. Haught

Graduate Theses, Dissertations, and Problem Reports (ETD)

The aeroelasticity of composite wings is becoming an increasingly researched topic in aircraft design, as designers continue to replace aluminum alloy components with those made of composite materials because of their favorable strength-to-weight ratio, fatigue characteristics, and corrosion resistance. Additionally, the bending-torsion coupling exhibited by composite laminates readily allow for the aeroelastic optimization of an aerodynamic structure through the process of aeroelastic tailoring. Wings made of composites materials, however, are more vulnerable to shear deformation.

The objective of the present research is to study the divergence and flutter characteristics of composite plate wings using a higher-order shear deformation theory (HSDT) …

Synthesis Of Graphene Using Plasma Etching And Atmospheric Pressure Annealing: Process And Sensor Development, Andrew Robert Graves

Graduate Theses, Dissertations, and Problem Reports (ETD)

Having been theorized in 1947, it was not until 2004 that graphene was first isolated. In the years since its isolation, graphene has been the subject of intense, world-wide study due to its incredibly diverse array of useful properties. Even though many billions of dollars have been spent on its development, graphene has yet to break out of the laboratory and penetrate mainstream industrial applications markets. This is because graphene faces a ‘grand challenge.’ Simply put, there is currently no method of manufacturing high-quality graphene on the industrial scale. This grand challenge looms particularly large for electronic applications where the …

Terrain Aware Traverse Planning For Mars Rovers, Gabrielle Hedrick

Graduate Theses, Dissertations, and Problem Reports (ETD)

NASA is proposing a Mars Sample Return mission, to be completed within one Martian year, that will require enhanced autonomy to perform its duties faster, safer, and more efficiently. With its main purpose being to retrieve samples possibly tens of kilometers away, it will need to drive beyond line-of-sight to get to its target more quickly than any rovers before. This research proposes a new methodology to support a sample return mission and is divided into three compo-nents: map preparation (map of traversability, i.e., ability of a terrain to sustain the traversal of a vehicle), path planning (pre-planning and replanning), …

Scaling Analysis And Experimental Investigation Of A Rotating Detonation Engine, David Thomas Billups

Graduate Theses, Dissertations, and Problem Reports (ETD)

Pressure gain combustion (PGC) technologies, specifically rotating detonation engines (RDEs), are poised to provide the next big leap in gas turbine engine advancement, significantly increasing the thermal. RDEs make use of thermodynamic advantages of isochoric as opposed to isobaric combustion. Theorized to increase thermal efficiency by up to 7% [1], the RDE would have significant impact on reducing anthropogenic carbon emissions. In addition to efficiency gains, the RDE also provides mechanical simplicity and reduced size advantages compared to it’s traditional counterparts and PGC competition.

The United States (U.S.) Department of Energy (DOE) National Energy Technology Laboratory (NETL) maintains and operates …

Immunity-Based Framework For Autonomous Flight In Gps-Challenged Environment, Mohanad Al Nuaimi

Graduate Theses, Dissertations, and Problem Reports (ETD)

In this research, the artificial immune system (AIS) paradigm is used for the development of a conceptual framework for autonomous flight when vehicle position and velocity are not available from direct sources such as the global navigation satellite systems or external landmarks and systems. The AIS is expected to provide corrections of velocity and position estimations that are only based on the outputs of onboard inertial measurement units (IMU). The AIS comprises sets of artificial memory cells that simulate the function of memory T- and B-cells in the biological immune system of vertebrates. The innate immune system uses information about …

Conceptual Design Of Male Uavs, Vincent Spada

Graduate Theses, Dissertations, and Problem Reports (ETD)

The conceptual design process of aircraft involves the creation of a product, in this case UAVS (unmanned aerial vehicles), using the most effective means possible across multiple subdisciplines of Aerospace Engineering. This paper will outline a unique methodology that involves calculating certain design variables such as wing loading, power loading, aspect ratio and cruise altitude in the conceptual design phase for MALE (medium altitude long endurance) UAVs. Aircraft characteristics from MALE UAVs such as the MQ-9 predator and MQ-1 reaper will used for a comparative aircraft study as “jumping off” points in order to carry out the initial calculations. An …

Artificial Immune System For Unmanned Aerial Vehicle Abnormal Condition Detection And Identification, Ryan G. Mclaughlin

Graduate Theses, Dissertations, and Problem Reports (ETD)

A detection and identification scheme for abnormal conditions was developed for an unmanned aerial vehicle (UAV) based on the artificial immune system (AIS) paradigm. This technique involves establishing a body of data to represent normal conditions referred to as “self” and differentiating these conditions from abnormal conditions, referred to as “non-self”. Data collected from simulation of the UAV attempting to autonomously fly a pre-decided trajectory were used to develop and test a scheme that was able to detect and identify aircraft sensor and actuator faults. These faults included aerodynamic control surface locks and damages and angular rate sensor biases. The …

Enabling Robust State Estimation Through Covariance Adaptation, Ryan Magnum Watson

Graduate Theses, Dissertations, and Problem Reports (ETD)

Several robust state estimation frameworks have been proposed over the previous decades. Underpinning all of these robust frameworks is one dubious assumption. Specifically, the assumption that an accurate a priori measurement uncertainty model can be provided. As systems become more autonomous, this assumption becomes less valid (i.e., as systems start operating in novel environments, there is no guarantee that the assumed a priori measurement uncertainty model characterizes the sensors current observation uncertainty).

In an attempt to relax this assumption, a novel robust state estimation framework is proposed. The proposed framework enables robust state estimation through the iterative adaptation of the …

Utilization Of Scale In Keypoint Detection And Feature Description, Andrew P. Rhodes

Graduate Theses, Dissertations, and Problem Reports (ETD)

Ubiquitous availability of inexpensive three dimensional (3D) sensors has led to an abundance of keypoint detection and feature description techniques for point-clouds. While some recent methods utilize color along with geometric information, most only implicitly discuss -- if not completely disregard -- the information provided by scale. Scale is an inherent characteristic of any keypoint or feature that describes its physical size or region of support.

Exploiting information provided by scale facilitates the processes of keypoint detection and feature description. A 3D scale-space, extended from robust and popular 2D methods, is constructed to diffuse a signal on triangulated meshes. Methods …

Improving Solder Joints Formed In Microgravity By Use Of Magnetic Soldering Paste Additives, Aaron Dunkle

Graduate Theses, Dissertations, and Problem Reports (ETD)

With the expansion of the space industry, the need for the capability to repair electronics in space grows. Previous researchers have found that soldering in microgravity has yielded joints of poorer quality than those made on Earth, with increased interior porosity. WVU’s microgravity research team (MRT) constructed an experiment to solder onboard a microgravity aircraft to explore this problem and to test a possible solution. MRT’s experiment collected solder samples both in microgravity and a ground test, which were then cross-sectioned to allow the interior porosity of the joints to be studied. This determined that there was an increase in …

Study Of Biomimetic Micro And Macro Structures For Drag Reduction, Justin S. Schrout

Graduate Theses, Dissertations, and Problem Reports (ETD)

The ever increasing demand for global travel coupled with increasing costs of fuels have prompted many researchers to study new methods to save fuel to make travel more efficient. One of the proverbial low-hanging fruits for fuel efficiency is aerodynamic drag reduction. Simple changes in the shape or placement of structures on the surface of different types of vehicles have been shown to increase fuel efficiency by reducing drag (e.g., add-on lower and aft wake fairings on tractor trailers which have seen a tremendous rise in popularity on US highways in recent years). Areas of interest in drag reduction have …

Instrumentation And Inertial Navigation Systems Design For Tensegrity Robot Implementations, Scott Edward Harper

Graduate Theses, Dissertations, and Problem Reports (ETD)

One of the major challenges faced when developing missions for the exploration of planetary bodies is the risk these terrains pose on the science platform when using a traditional lander or wheeled rover. One means of developing platforms to traverse these harsh terrains is to utilize mobility systems comprised of tensegrity structures. These structures have the capacity to distribute loads across a network of axially loaded members such that they can be constructed in a very lightweight manner and morph their geometries when required. In literature, there has been significant progress in simulated environments to utilize tensegrity structures as mobility …

Design And Evaluation Of Novel Attitude Estimation System Using Mems Sensors For Indoor Uas, Joshua Bruce Milam

Graduate Theses, Dissertations, and Problem Reports (ETD)

Most small unmanned aerial systems in use today, employ extended Kalman filter sensor fusion algorithms in order to provide accurate estimations of attitude or orientation. These complex algorithms use measurements from GPS receivers and magnetometer sensors that can be rendered useless in GPS denied environments or areas of significant magnetic interference, such as inside buildings or other structures. The complexity of these algorithms makes them inaccessible for some researchers and hobbyists who wish to code their own attitude estimation algorithms. This complexity is also computationally expensive and requires processors that are powerful enough to operate the algorithms along with any …