Aerospace Engineering Commons^™

Design And Dynamic Analysis Of A Variable-Sweep, Variable-Span Morphing Uav, Nirmit Prabhakar

Doctoral Dissertations and Master's Theses

Morphing wings have the potential to optimize UAV performance for a variety of flight conditions and maneuvers. The ability to vary both the wing sweep and span can enable maximum performance for a diverse range of flight regimes. For example, low-speed missions can be optimized using a wing with high aspect ratio and no wing sweep whereas high-speed missions are optimized with low aspect ratio wings and large wing sweep. Different static morphing wing configurations clearly result in varying aerodynamics and, as a result, varying dynamic modes. Another important consideration, however, is the transient dynamics that occur when transitioning between …

The Effects Of Rewards On The Ability Of An Autonomous Uav Controlled By A Reinforcement Learning Agent To Accomplish A Target Localization Task, Hemali Dinesh Virani

Doctoral Dissertations and Master's Theses

The need for Unmanned Aerial System (UASs) is increasing in the fields of science, security, military and others. With an increasing number of challenges faced by mankind the need for system with advance autonomous and intelligent capabilities is growing rapidly. The required intelligent behavior can be achieved in an unmanned system with machine learning methods such as Reinforcement Learning (RL) theory. This theory presents algorithms which have the capability to learn how to adapt to its environment. Using RL methods, autonomous systems have the ability to use past experiences to improve future mission performance. In this research, the effects of …

On Uav Robust Nonlinear Control In Presence Of Parametric Uncertainties, Vladimir V. Golubev, William Mackunis

Publications

We examine a new robust nonlinear flight control technology that employs an array of synthetic-jet micro-actuators embedded in UAV wing design in order to completely eliminate moving parts (such as ailerons) thus greatly enhancing maneuverability required for small fixed-wing air vehicles operating, e.g., in tight urban environments. Estimated fast response times are critical in mitigating gust effects while greatly improving flight stability and control. The new controller design is particularly advantageous for high levels of uncertainty and nonlinearity present both in the unsteady flowpath environment and in the embedded actuator’s response. The current work focuses on a benchmark case of …

Feedback Speed Control Of A Small Two-Stroke Internal Combustion Engine That Propels An Unmanned Aerial Vehicle, Paul D. Fjare

UNLV Theses, Dissertations, Professional Papers, and Capstones

Unmanned aerial vehicles (UAV) require intelligent control of their power source. Small UAV are typically powered by electric motors or small two-stroke internal combustion (IC) engines. Small IC engines allow for longer flight times but are more difficult to control and cause significant ground noise. A hybrid operation that uses the engine at high altitudes and the electric motors at low altitudes is desired. This would allow for extended flight with acceptable ground noise levels. Since the engine can not be restarted in the air it must be able to remain at idle for an extended time without stalling. A …

Flight Testing Small Uavs For Aerodynamic Parameter Estimation, Adam Thomas Chase

Master's Theses

A flight data acquisition system was developed to aid unmanned vehicle designers in verifying the vehicle's design performance. The system is reconfigurable and allows the designer to choose the correct combination of complexity, risk, and cost for a given flight test. The designer can also reconfigure the system to meet packaging and integration requirements. System functionality, repeatbility, and accuracy was validated by collecting data during multiple flights of a radio-controlled aircraft. Future work includes sensor fusion, thrust prediction methods, stability and control derivative estimation, and growing Cal Poly's small-scale component aerodynamic database.

Lightweight Uav Launcher, Ben Miller, Christian Valoria, Corinne Warnock, Jake Coutlee

Mechanical Engineering

This report discusses the design, construction, and testing of a lightweight, portable UAV launcher. There is a current need for a small team of soldiers to launch a US Marine Tier II UAV in a remote location without transport. Research was conducted into existing UAV launcher designs and the pros and cons of each were recorded. This research served as a basis for concept generation during the initial design development stage. It was required that the design weigh less than 110 lbs, occupy a smaller volume than 48" x 24" 18" in its collapsed state, be portable by a single …

The Relationship Among Hfacs Levels And Analysis Of Human Factors In Unmanned And Manned Air Vehicles, Veysel Yesilbas

Engineering Management & Systems Engineering Theses & Dissertations

This dissertation analyzes the structural relationships among the Human Factors Accident Classification System levels for unmanned air vehicle and manned air vehicle accidents and the common relationships between unmanned air vehicle and manned air vehicle accident causes. The study acquired DOD HFACS accident classification data from 347 United States Air Force Class A accident reports for the years between 2000 and 2013.

The dissertation utilized a set of analysis that is considered to contribute substantially to the respective domain of the study. The correlations found among categorical levels were applied to HFACS taxonomy based on the Reason Model via path …

Design, Fabrication And Test Of An Operationally Responsive Aircraft With Niirs Evaluated Imager, Colin Burt

Master's Theses

Unmanned Aerial Systems (UAS) are a growing asset. Currently UAS are on the cutting edge with resources being spent developing the capabilities mostly for military use. This project is intended to create a system for non-defense customers. Specifically, the Operationally Responsive Aircraft (ORA) will appeal to academic institutions, individual consumers, future customers new to the UAS industry, as well as anybody trying to get airtime for custom sensors.

The system developed in this project utilizes dual aluminum external payload bays attached to a ParkZone Radian aircraft. Each external payload bay can contain approximately 500 $\text{cm}^3$, with a height and width …

Uav Formation Flight Utilizing A Low Cost, Open Source Configuration, Christian W. Lopez

Master's Theses

The control of multiple unmanned aerial vehicles (UAVs) in a swarm or cooperative team scenario has been a topic of great interest for well over a decade, growing steadily with the advancements in UAV technologies. In the academic community, a majority of the studies conducted rely on simulation to test developed control strategies, with only a few institutions known to have nurtured the infrastructure required to propel multiple UAV control studies beyond simulation and into experimental testing. With the Cal Poly UAV FLOC Project, such an infrastructure was created, paving the way for future experimentation with multiple UAV control systems. …

Senior Project Report - Doctest, Stephen Weessies

Computer Engineering

DocTest is a program that, simply put, allows a programmer or user to document STANAG 4586 (a standard for unmanned aerial vehicle interoperability) messages and test the vehicle system at Lockheed Martin [5]. The program is extensible to allow for further development aiding our software team to do what they do best and not get bogged down in tedious but necessary documentation. DocTest is also used to aid in testing, keeping track of the issues and bugs found and creating a document that captures each issue so an issue is not missed or forgotten. This program was made for use …

A (Declassified) History Of Military Drones, Stephen Rayleigh

ERAU Prescott Aviation History Program

Unmanned Aerial Vehicles or drones, are said to be the newest technology of contemporary warfare, but the military's use of drones spans the last 100 years. Hear the riveting story of the numerous secret UAV programs around the world, starting with the Sperry Aerial Torpedo Project in 1918 (consulted by Orville Wright), the German cruise missile program, American remote controlled bombers in WWII, the Firebee recon drone used in Vietnam, Israel's highly successful UAV program, and finally the coming of age of UAV's in Operation Desert Storm.

Flying Qualities Built-In-Test For Unmanned Aerial Systems, Alton Pak-Hin Chiu

Master's Theses

This paper presents a flying qualities built-in-test for UAS application with the scope limited to the longitudinal axis. A doublet input waveform excites the AV and both α and q are used by EUDKF to estimate the A and B matrices which are short period approximations of the system. ζ, ω, GM, PM, observability, and controllability are calculated to determine flying qualities with the results displayed to the AVO in a color-coded, easy to interpret display.

While SID algorithms have been flying in vehicles with adaptive control schemes, vehicles with other schemes (such as classical feedback) lack this built-in self …

Nonlinear Uav Flight Control Using Command Filtered Backstepping, Brian M. Borra

Master's Theses

The aim of this effort is to implement a nonlinear flight control architecture, specifically flight path control via command filtered backstepping, for use in AME UAS's Fury® 1500 unmanned flying wing aircraft. Backstepping is a recursive, control-effort minimizing, constructive design procedure that interlaces the choice of a Lyapunov function with the design of feedback control. It allows the use of certain plant states to act as intermediate, virtual controls, for others breaking complex high order systems into a sequence of simpler lower-order design tasks.

Work herein is a simplified implementation based on publications by Farrell, Sharma, and Polycarpou. Online approximation …

Design And Flight Testing Of A Warping Wing For Autonomous Flight Control, Edward Brady Doepke

Theses and Dissertations--Mechanical and Aerospace Engineering

Inflatable-wing Unmanned Aerial Vehicles (UAVs) have the ability to be packed in a fraction of their deployed volume. This makes them ideal for many deployable UAV designs, but inflatable wings can be flexible and don’t have conventional control surfaces. This thesis will investigate the use of wing warping as a means of autonomous control for inflatable wings. Due to complexities associated with manufacturing inflatable structures a new method of rapid prototyping deformable wings is used in place of inflatables to decrease cost and design-cycle time. A UAV testbed was developed and integrated with the warping wings and flown in a …

Wind Tunnel Modeling Of Small Electric Uav Power System Performance, Nathan R. Phelps

Aerospace Engineering

This report details the design and construction of a testing apparatus for characterization of small electric aircraft power systems designed for use in the California Polytechnic State University San Luis Obispo Aerospace Engineering department’s subsonic wind tunnel. This apparatus was constructed and implemented with the goal of determining system and component efficiencies of an entire power system using RC Aircraft components as an analog for systems currently in use in the current generation of small electric UAV’s in service with the US Armed Forces. The goal of these experiments was to determine where improvements in the system architecture can be …

Sitting In The Pilot's Seat: Optimizing Human-Systems Interfaces For Unmanned Aerial Vehicles, Steven Michael Queen, Kurt Sanner

STAR Program Research Presentations

One of the pilot-machine interfaces (the forward viewing camera display) for an Unmanned Aerial Vehicle called the DROID (Dryden Remotely Operated Integrated Drone) will be analyzed for optimization. The goal is to create a visual display for the pilot that as closely resembles an out-the-window view as possible. There are currently no standard guidlines for designing pilot-machine interfaces for UAVs. Typically, UAV camera views have a narrow field, which limits the situational awareness (SA) of the pilot. Also, at this time, pilot-UAV interfaces often use displays that have a diagonal length of about 20". Using a small display may result …

Flying Uav’S In Iraq, Stephen Rayleigh

ERAU Prescott Aviation History Program

Unmanned Aerial Vehicles, or UAV’s, are a growing reality and an important new weapon for today’s military. Hear what it was like to fly the RQ-7B “Shadow” UAV during Operation Iraqi Freedom from Stephen Rayleigh who spent a year in Iraq and has more than 1,000 hours experience flying them.

Aether, Thomas Cameron, Kristine Colton, Daren Childers

Electrical Engineering

Aether is a RC-style autonomous air vehicle that utilizes GPS positioning along with a wireless communication system to achieve a computer-controlled flight.

This report will incorporate the acquisition, design, integration, implementation and testing phases of the UAV development. Furthermore a discussion of troubleshooting as well as improvements for future projects will be included.

Development Of A Small And Inexpensive Terrain Avoidance System For An Unmanned Aerial Vehicle Via Potential Function Guidance Algorithm, Shane Alan Wallace

Master's Theses

Despite the first unmanned aerial vehicle (UAV) mission being flown on Aug 22 1849 to bomb Venice UAVs have only recently began to modernize into sophisticated tools beyond simple aerial vehicles. With an increasing number of potential applications, such as cargo delivery, communications, search and rescue, law enforcement, and homeland security, the need for appropriate UAV technology advancement also arose. Here, the development of a low-cost collision avoidance system is described. Hardware was tested and selected based on predetermined constraints and goals. Additionally, a variety of potential functions were explored and assessed at their effectiveness in preventing a collision of …

Autonomous Control Of The Cal Poly Motion Flight Simulator, Andrew M. Anderson

Aerospace Engineering

An autonomous controller for the Cal Poly Motion Flight Simulator was developed such that the simulated Van’s RV-7 flies a standard light aircraft traffic pattern without any human pilot input. First, an autopilot was developed in Simulink to control the aircraft’s altitude, airspeed, and heading independent of each other. The performance of the autopilot has been tested to perform with a response sufficient for precise navigation. A C++ s- function was written as a mission controller that followed a pre-programmed path around a known airport. The aircraft performs a standard left 45 degree entry into the traffic pattern, lands on …

Cal Poly Flight Test Platform For Instrument Development, Kyle Schaller, Ian Muceus, Aaron Ells

Aerospace Engineering

This report summarizes a six month effort to conceptually design, develop, and build an unmanned aerial vehicle to test a boundary layer data system (BLDS) developed by Dr. Russell Westphal and his team of mechanical engineering senior design students. The project is funded by Edwards Air Force Base and the United States Air Force Research Laboratory. During the first Cal Poly quarter of project work, January 4, 2010 to March 18, 2010, the team completed a conceptual and preliminary design. During the second quarter, March 18, 2010 to June 12, 2010, the team completed the construction and initial flight test …

Uav Pirates And Silentrack Integration, Travis Dean, Hushnak Singh, Ashley Wager, Matthew (Matt) Woolridge

Electrical Engineering

The integration of the UAV pirating system with the SilenTrack video tracking system will allow the combined system to automatically identify and track a suspicious air vehicle visually as well as identify and decode the RF control signal. Once a threat has been identified, the system will execute an algorithm to associate each control channel with the corresponding flight control surface. Once the control channels have been decoded the user can use a hand held radio controller to maneuver the drone which is now under their command.

Guidance And Control For Chase Uav Via Sliding Mode Approach, Takeshi Yamasaki, S. N. Balakrishnan

Mechanical and Aerospace Engineering Faculty Research & Creative Works

This study focuses on integrated guidance and control for a chasing UAV against a maneuvering target. a sliding mode approach is selected to develop the integrated guidance and control using a full model of nonlinear, rigid body, 6 Degree-Of-Freedom equations of motion including nonlinear aerodynamics for the target-following capability and maneuverability enhancement against uncertain target maneuvers. Intermediate control variables for the integrated guidance and control system are carefully selected and approximated time derivatives of a sliding surface are applied such that a sliding surface structure is simple and sufficient to propagate the actuator input to the sliding surface in order …

Unmanned Aircraft System Propulsion Systems Technology Survey, Christopher Griffis, Timothy Wilson, Jeffrey Schneider, Peter Pierpont

Publications

This technology survey is an investigation of various propulsion systems used in Unmanned Aircraft Systems (UAS). Discussed are existing and near-future propulsion mechanisms of UAS, such as reciprocating piston engines, Wankel rotary engines, gas turbine engines, rocket-powered systems, electric motors, and battery-based systems. Also discussed are systems that use proton exchange membrane fuel cells, photovoltaics, ultracapacitors, and propellers. Each system is described in reference to a larger conceptual framework, with instances and profiles of existing UAS employing the system being described. Advantages and disadvantages of each type of propulsion system are identified along with associated technical issues and their respective …

Multidisciplinary Design Optimization Of An Extreme Aspect Ratio Hale Uav, Bryan J. Morrisey

Master's Theses

ABSTRACT

Multidisciplinary Design Optimization of an Extreme Aspect Ratio HALE UAV

Bryan J. Morrisey

Development of High Altitude Long Endurance (HALE) aircraft systems is part of a vision for a low cost communications/surveillance capability. Applications of a multi payload aircraft operating for extended periods at stratospheric altitudes span military and civil genres and support battlefield operations, communications, atmospheric or agricultural monitoring, surveillance, and other disciplines that may currently require satellite-based infrastructure. Presently, several development efforts are underway in this field, including a project sponsored by DARPA that aims at producing an aircraft that can sustain flight for multiple years and …

Formation Feedback Control Of Uav Flight, Stephen Stegall

Doctoral Dissertations and Master's Theses

This thesis is a study of formation control with autonomous unmanned aerial vehicles using the formation as feedback. There is also an investigation of formation methods presenting insight into different algorithms for formations. A rigid formation is achieved using a proportional-derivative virtual structure with a formation feedback controller. There is an emphasis on stick controlled aerodynamics. The rigid formation is verified by a simulation of a longitudinal model. Formation control ideas are presented for rigid formations.

Application Of Parent-Child Uav Tasking For Wildfire Detection And Response, Stephen T. Kubik

Master's Theses

In recent years, unmanned aerial vehicles (UAVs) have become a dominant force in the aerospace industry. Recent technological developments have moved these aircraft from remote operation roles to more active response missions. Of particular interest is the possibility of applying UAVs toward solving complex problems in long-endurance missions. Under that belief, the feasibility of utilizing UAVs for wildfire detection and response was investigated in a partnership that included NASA’s Aeronautics Research Mission Directorate and Science Mission Directorate, and the United States Forest Service. Under NASA’s Intelligent Mission Management (IMM) project, research was conducted to develop a mission architecture that would …

Pid Parameter Optimization Of An Uav Longitudinal Flight Control System, Kamran Turkoglu, Ugur Ozdemir, Melike Nikbay, Elbrous Jafarov

Faculty Publications

In this paper, an automatic control system design based on Integral Squared Error (ISE) parameter optimization technique has been implemented on longitudinal flight dynamics of an UAV. It has been aimed to minimize the error function between the reference signal and the output of the plant. In the following parts, objective function has been defined with respect to error dynamics. An unconstrained optimization problem has been solved analytically by using necessary and sufficient conditions of optimality, optimum PID parameters have been obtained and implemented in control system dynamics.