Aerospace Engineering Commons^™

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 …

Simultaneous Machining Of Aerospace Structural Materials Using Poly-Drills, Muhammad Aamir

Theses: Doctorates and Masters

Despite the growth of composites and other lightweight materials, aluminium alloys remain an attractive choice for the aerospace industry due to their distinct manufacturing processes, good resistance to fatigue crack growth and superior damage tolerance. In the aerospace industry, the drilling process is widely used among all the machining processes as millions of holes are required to produce riveted and bolted joints in the assembly operation of the aircraft's structures. The major challenges which arise from the drilling of these alloys are characterized by the low hole quality, which might initiate cracks within the airframe structure and reducing their reliability. …

Microfluidics Design Considering Hyperuniformity And Cell Transport In Flow For Improved Circulating Tumor Cell Capture Efficiency, Michael Clarence Hood

Graduate Research Theses & Dissertations

Isolation of circulating tumor cells (CTCs) from patient derived blood samples for cancerdiagnostics and monitoring is challenging due to the extremely low CTC concentration. This thesis work evaluates the performance of passive microfluidics devices with different designs based on computational modeling. A new cell separation method is proposed based on velocity differentiation of varying cell sizes. All numerical studies were conducted in 2D based on a fluid structure interaction code where the fluid flow was solved based on the lattice Boltzmann method (LBM) implemented in Palabos, and the cell dynamics were simulated based on the molecular dynamics package LAMMPS, with …

Blood Flow Simulation In A Microvascular Network, Kacper Ostalowski

Graduate Research Theses & Dissertations

Cardiovascular disease such as heart attack or stroke has been the leading cause of death in the US for over 100 years. Understanding the blood cell transport physics in a vascular network is important in both fundamental research and clinical practices. In this study, 3Dnumerical simulations on blood flow in a complex retina vascular network were performed considering deformable red blood cells (RBCs), white blood cells (WBCs), and obstructed vessels. The blood was modeled as a mixture of RBCs and WBCs suspended in fluid. The fluid was solved using the lattice Boltzmann method (LBM), and blood cells were modeled by …

Leveraging Aircraft Transponder Signals For Measuring Aircraft Fleet Mix At Non-Towered Airports, Chuyang Yang, John Mott, Darcy M. Bullock

International Journal of Aviation, Aeronautics, and Aerospace

The general aviation sector has contributed significantly to the overall growth of the aviation industry. Fleet mix and operations information is important for the analysis of both the safety and the environmental and economic impact of general aviation activity. Factual data on the impact of environment and safety is particularly important, given the scarcity of airport improvement funds and the strong stakeholder engagement that often occurs when airport investments are evaluated. The research presented herein evaluates Mode S short and extended squitter data collected from three general aviation airports over a one-month period. This article demonstrates that by utilizing the …

Quantum Inspired Concepts In Decision Making, Qizi Zhang

Doctoral Dissertations

"In this study, several new applications of quantum-inspired techniques are presented to advance the state of the art in decision making. In the first part, a quantum boost scheme for multiple-model filters based on extended Grover’s algorithm is presented for fault detection and parameter estimation. The quantum boost scheme accelerates the convergence of the posterior probabilities in the multiple-model filter. Stability proofs for the quantum boost scheme is presented and its performance is analyzed using benchmark examples. In the second part, the scope of application is extended to modeling human decision making. The open quantum system cognition model is applied …

Reveal Wind Loading Of Tornadoes And Hurricanes On Civil Structures Towards Hazard-Resistant Design, Ryan Honerkamp

Doctoral Dissertations

"Extreme winds impacting civil structures lead to death and destruction in all regions of the world. Specifically, tornadoes and hurricanes impact communities with severe devastation. On average, 1200 tornadoes occur in the United States every year. Tornadoes occur predominantly in the Central and Southeastern United States, accounting for an annual $1 billion in economic losses, 1500 injuries, and 90 deaths. The Joplin, MO Tornado in 2011 killed 161 people, injured more than 1000, destroyed more than 8000 structures, and caused $2.8 billion of property loss. Hurricanes occur predominantly on the United States East coast regions and along the coast of …

Multi-Fidelity Modeling For Aerothermal Analysis Of Deployable Planetary Entry Technologies, Mario J. Santos

Doctoral Dissertations

“NASA is developing deployable entry technologies in the form of the Hypersonic Inflatable Aerodynamic Decelerator (HIAD) and the Adaptable Deployable Entry Technology (ADEPT) vehicles to support human exploration of Mars. To ensure that these technologies are reliable under uncertain entry conditions and extreme aerothermal environments, uncertainty quantification must be integrated into the design process which typically requires large number of high-fidelity computational fluid dynamics (CFD) simulations with prohibitively high computational cost. To address this challenge, construction of multi-fidelity aerothermal response predictions which combine low-fidelity correlations with fewer high-fidelity CFD models in a way that produces highly accurate surrogates with reduced …

Dynamic Behavior And Interactions Of Ferrofluid Droplets Under Magnetic Fields In Low Reynolds Number Flows, Md Rifat Hassan

Doctoral Dissertations

Digital microfluidics in combination with emulsion microfluidics are crucial building blocks of droplet-based microfluidics, which are prevalent in a wide variety of industrial and biomedical applications, including polymer processing, food production, drug delivery, inkjet printing, and cell-based assays. Therefore, understanding the dynamics and interactions of droplets as well as the interactions between the droplets and solid surfaces are of great importance in order to improve the performance or product in these applications.

Recently, several studies in the literature have demonstrated the potential of magnetic fields in controlling the behavior of droplets in microscale; however, the fundamental mechanism behind the interesting …

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 …

Mechanical Properties Of Nanomodified Hybrid Gfrp Composite Materials, Micah Rop Kimutai

College of Graduate Studies: Theses & Dissertations

The mechanical behavior of the nanomodified hybrid epoxy matrix was investigated in glass fiber reinforced plastics (GFRP). In this study, five nanocomposites enriched with as received halloysite, nanomer I.28E, HNT-APTES, and the hybrid combinations of the two HNTs with the nanomer I.28E were successfully fabricated. To evaluate the effects and morphological characteristics of the individual fillers and the hybrid configurations on the epoxy resin matrix, TGA, DSC, and DMA were analyzed. To understand the effect of the five configurations on the neat GFRP laminate, mode I interlaminar fracture toughness, tensile, and vibration properties were investigated. Electron microscopy testing techniques were …

Experimental And Numerical Investigation Of Naca Airfoil Wing With Winglets, Courtney Danielle Bachmann

College of Graduate Studies: Theses & Dissertations

This research was performed in order to study wingtip devices and, in particular, winglets. Winglets are attached to commercial aircraft for the purpose of reducing induced drag caused by wake vortices on the wingtip. A winglet device can save an aircraft anywhere from 3-7% in fuel consumption. Over the course of a year, this can add up to hundreds of thousands of dollars saved. This research consisted of two parts: one part experiment and one part equipment design. The latter phase of this research examined various methods of testing in a subsonic wind tunnel laboratory setting. Experimental results found with …

Novel Piezo Actuators For Surface Cleaning, Yezad H. Anklesaria

Doctoral Dissertations

"Optical cameras are becoming increasingly common and are used in a variety of applications. With recent progress and transition toward more autonomous systems, the usage of optical systems will be common and widespread. Applications of the optical systems range from autonomous vehicles, home security systems, aviation, extraterrestrial vehicles, spacecraft, and satellites. Imaging systems are used in decision-making in many of these applications. Fouling of the field of view of the imaging system can impede the decision process. An active autonomous cleaning method for the optical surface of the optical systems reliably would be advantageous. The research work focuses on developing …

Information-Based Methods And Models For Particle Flow Filtering, Kari Catherine Ward

Doctoral Dissertations

"Recursive estimation methodologies, such as Kalman and Bayesian filters, typically require models of some kind to perform the estimation. This filtering process seeks to improve knowledge surrounding some quantities of interest, or states, over time by incorporation of imperfect observations. The models required pertain to the state dynamics, sensors from which measurements are obtained, and probabilistic models of the underlying stochastic processes. In addition to any number of necessary models, real-world application of a filter is normally accompanied by at least one, if not several, techniques to promote better performance. These methods vary in purpose from expanding the kinds of …

Modeling And Simulation Of Electromagnetic Fields To Maintain Bone Density During Prolonged Low Gravity Exposure, Austin Tapp, Michael Francis, Michel A. Audette

Electrical & Computer Engineering Faculty Publications

Astronauts in a long term, low-gravity environments experience bone density loss at 10 times the rate of those diagnosed with osteoporosis. One treatment effective at maintaining bone density in osteoporotic individuals is electromagnetic field (EMF) therapy. Tools that induce EMFs are becoming increasingly prevalent, but to amplify osteogenesis and encourage superior bone density retention for astronauts, ideal EMF therapy parameters must be determined on patient-specific bases. Therefore, this study explores simulation environments that elucidate highly favorable EMF factors. Pulsed electromagnetic field and combined magnetic field generating devices are variably introduced near partient-specific, finite element (FE) models of the femur, spine, …

Nebulizer-Based Systems To Improve Pharmaceutical Aerosol Delivery To The Lungs, Benjamin M. Spence

Theses and Dissertations

Combining vibrating mesh nebulizers with additional new technologies leads to substantial improvements in pharmaceutical aerosol delivery to the lungs across therapeutic administration methods. In this dissertation, streamlined components, aerosol administration synchronization, and/or Excipient Enhanced Growth (EEG) technologies were utilized to develop and test several novel devices and aerosol delivery systems. The first focus of this work was to improve the poor delivery efficiency, e.g., 3.6% of nominal dose (Dugernier et al. 2017), of aerosolized medication administration to adult human subjects concurrent with high flow nasal cannula (HFNC) therapy, a form of continuous-flow non-invasive ventilation (NIV). The developed Low-Volume Mixer-Heater (LVMH) …