Space Vehicles Commons^™

An Advanced Hexacopter For Autonomous Exploration Of Mars: Attitude Control And Navigation Strategies, Laura Sopegno

Electronic Theses and Dissertations

Mars exploration has recently witnessed major interest within the scientific community. Unmanned robotic platforms offer reliable solutions to acquire and collect data and information from the Red Planet. Particularly, rovers, landers, and orbiters have significantly shaped planetary exploration on the Moon and Mars, contributing significantly to past missions while also highlighting limitations in their capacity to cover diverse terrains over wide ranges. Given current advances in Unmanned Aircraft Systems (UASs), Unmanned Aerial Vehicles (UAVs) offer promising alternatives for future scientific missions.

It is argued that hexacopters, with their relatively compact design and redundancy, present a promising …

Efficacy, Durability And Design Of A Bucket Wheel Excavator For Icy Lunar Regolith, Austin Lohsandt

Electronic Theses and Dissertations

This research project focused on the design and testing of a prototype bucket wheel excavator developed for NASA's Break the Ice Lunar Challenge, which sought innovative ideas for lunar excavation. Several attempts have been made by other universities and private industries to create systems that can successfully excavate simulated frozen regolith, however, few have been successful. The chosen excavation technology employed a bucket wheel concept inspired by large open-pit mining machines, modified to incorporate grinding nubs for pulverizing lunar simulant material. The goals included proving the viability of a bucket wheel excavator for lunar excavation, exploring grinding nubs, conducting durability …

Multilateration Index., Chip Lynch

Electronic Theses and Dissertations

We present an alternative method for pre-processing and storing point data, particularly for Geospatial points, by storing multilateration distances to fixed points rather than coordinates such as Latitude and Longitude. We explore the use of this data to improve query performance for some distance related queries such as nearest neighbor and query-within-radius (i.e. “find all points in a set P within distance d of query point q”). Further, we discuss the problem of “Network Adequacy” common to medical and communications businesses, to analyze questions such as “are at least 90% of patients living within 50 miles of a covered emergency …

A Smart Uav Platform For Railroad Inspection, Ryan Debevec

Electronic Theses and Dissertations

Using quadcopters for analysis of an environment has been an intriguing subject of study recently. The purpose of this work is to develop a fully autonomous UAV platform for Railroad inspection The dynamics of the quadrotor is derived using Euler's and Newton's laws and then linearized around the hover position. A PID controller is designed to control the states of the quadrotor in a manner to effectively follow a vision-based path, using the down facing camera on a Parrot Mambo quadrotor. Using computer vision the distance from the position of the quadrotor to the position of the center of the …

Investigation Of Ps-Pvd And Eb-Pvd Thermal Barrier Coatings Over Lifetime Using Synchrotron X-Ray Diffraction, Matthew Northam

Electronic Theses and Dissertations

Extreme operating temperatures within the turbine section of jet engines require sophisticated methods of cooling and material protection. Thermal barrier coatings (TBCs) achieve this through a ceramic coating applied to a substrate material (nickel-based superalloy). Electron-beam physical vapor deposition (EB-PVD) is the industry standard coating used on jet engines. By tailoring the microstructure of an emerging deposition method, Plasma-spray physical vapor deposition (PS-PVD), similar microstructures to that of EB-PVD coatings can be fabricated, allowing the benefits of strain tolerance to be obtained while improving coating deposition times. This work investigates the strain through depth of uncycled and cycled samples using …

The Effect Of Martensite-Fractions Assumptions In Shape Memory Alloy Springs, Christian Vazquez

Electronic Theses and Dissertations

This research addresses various models of a spring-mass system that uses a spring made of a shape memory alloy (SMA). The system model describes the martensite fractions, which are values that describe an SMA's crystalline phases, via differential equations. The model admits and this thesis contrasts two commonly used but distinct assumptions: a homogeneous case where the martensite fractions are constant throughout the spring's cross section, and a bilinear case where the evolution of the martensite fractions only occurs beyond some critical radius. While previous literature has developed a model of the system dynamics under the homogeneous assumption using the …

Six Degree Of Freedom Dynamic Modeling Of A High Altitude Airship And Its Trajectory Optimization Using Direct Collocation Method, Pradens Pierre-Louis

Electronic Theses and Dissertations

The long duration airborne feature of airships makes them an attractive solution for many military and civil applications such as long-endurance surveillance, reconnaissance, environment monitoring, communication utilities, and energy harvesting. To achieve a minimum energy periodic motion in the air, an optimal trajectory problem is solved using basic direct collocation methods. In the direct approach, the optimal control problem is converted into a nonlinear programming (NLP). Pseudo-inverse and several discretization methods such as Trapezoidal and Hermite-Simpson are used to obtain a numerical approximated solution by discretizing the states and controls into a set of equal nodes. These nodes are approximated …

Timoshenko Beam Viscous Damping Model For Spacecraft Cabling Dynamics, Brandi Mcpherson

Electronic Theses and Dissertations

With the increasing data handling and power requirements of today's spacecraft, accurately modeling the effects of cabling on spacecraft structural dynamics has become an increasingly important part of the design process. During testing, spacecraft cabling produces a damping effect on the system dynamics; however, current models often overpredict this response in higher frequency modes and produce unrealistic damping values. Previous models incorporated structural and viscous damping terms into Euler-Bernoulli and shear beams; this thesis presents a viscous damping model for Timoshenko beams that can accurately capture the effects of both spacecraft wiring and harnesses during the design phase. Damping in …

Characterization Of Mechanical Properties In Nanoparticle Reinforced Hybrid Carbon Fiber Composites Using Photoluminescence Piezospectroscopy, Sanjida Jahan

Electronic Theses and Dissertations

Carbon fiber composites have become popular in aerospace structures and applications due to their light weight, high strength, and high performance. Hybrid carbon fiber reinforced polymer (HCFRP) composites with alumina nanoparticles reinforcement display improved material properties such as fracture toughness, resistance to crack propagation and improved fatigue life. However, homogeneous dispersion of nanoscale materials in the matrix is important for even distribution of the improved properties. Implementing silane coupling agents (SCAs) improves dispersion by acting as a bridge between organic and inorganic materials, which increases interfacial strength and decreases sedimentation by bonding the particulate filler to the fiber reinforcement. This …

Development And Implementation Of A Streamlined Process For The Creation And Mechanization Of Negative Poisson's Ratio Meso-Scale Patterns, Matthew Shuler

Electronic Theses and Dissertations

This thesis focuses on the development a streamlined process used to create novel meso-scale pattern used to induce negative Poisson's ratio (NPR) behavior at the bulk scale. This process includes, the development, optimization, and implementation of a candidate pattern. Currently, the majority of NPR structures are too porous to be utilized in conventional applications. For others, manufacturing methods have yet to realize the meso-scale pattern. Consequently, new NPR meta-materials must be developed in order to confer transformative thermomechanical responses to structures where transverse expansion is more desirable than contraction. For example, materials at high temperature. Additionally, patterns that take into …

Approximated Control Affine Dynamics Mode For An Agricultural Field Robot Considering Wheel Terrain Interaction, Pablo Menendez-Aponte

Electronic Theses and Dissertations

As populations and the demand for higher crop yields grow, so to does the need for efficient agricultural wheeled mobile robots. To achieve precise navigation through a field it is desirable that the control system is designed based on an accurate dynamic model. In this paper a control affine model for a custom designed skid-steer differential drive wheeled mobile robot is found. The Terramechanic wheel terrain interaction is adopted and modified to consider wheels with a torus geometry. Varying slip ratios and slip angles are considered in the terrain reaction forces, which is curve-fitted using a nonlinear least squares approach …

Kinematical Modelling And Its Analytical Inverse Kinematic Solution For The Handling Mechanism Of An Agricultural Robot, Sinem Gozde Defterli

Electronic Theses and Dissertations

Early detection of the crop diseases helps to prevent failure in the amount and the quality of the production. In agricultural robotics, the idea of a disease detection robot is a fresh and an innovative hot-button topic. The exclusion of the diseased parts from the strawberry plants for further analyses is one of the main tasks of a recently developed strawberry robot. To this purpose, the handling mechanism in the robot needs to achieve an accurate manipulation task to reach the target. Reaching, cutting and storing the diseased leaf are challenging and delicate processes during the procedure of the handling …

Deposition Thickness Modeling And Parameter Identification For Spray Assisted Vacuum Filtration Process In Additive Manufacturing, August Mark

Electronic Theses and Dissertations

To enhance mechanical and/or electrical properties of composite materials used in additive manufacturing, nanoparticles are often time deposited to form nanocomposite layers. To customize the mechanical and/or electrical properties, the thickness of such nanocomposite layers must be precisely controlled. A thickness model of filter cakes created through a spray assisted vacuum filtration is presented in this paper, to enable the development of advanced thickness controllers. The mass transfer dynamics in the spray atomization and vacuum filtration are studied for the mass of solid particles and mass of water in differential areas, and then the thickness of a filter cake is …

Load Transfer In An Isolated Particle Embedded Within An Epoxy Matrix, Erik Durnberg

Electronic Theses and Dissertations

Particulate composites are widely used in many aerospace applications such as protective coatings, adhesives, or structural members of a body and their mechanical properties and behavior have gained increasing significance. The addition of modifiers such as alumina generally leads to improved mechanical properties. This addition also enables the non-invasive study of the load transfer between the particle and the matrix. Understanding the load transfer between the particulate and the matrix material is the first step to understanding the behavior and mechanical properties of the composite as a whole. In this work, samples with an isolated alumina particle embedded in an …

Bio-Inspired Cooperative Optimal Trajectory Planning For Autonomous Vehicles, Charles Remeikas

Electronic Theses and Dissertations

With the recent trend for systems to be more and more autonomous, there is a growing need for cooperative trajectory planning. Applications that can be considered as cooperative systems such as surveying, formation flight, and traffic control need a method that can rapidly produce trajectories while considering all of the constraints on the system. Currently most of the existing methods to handle cooperative control are based around either simple dynamics and/or on the assumption that all vehicles have homogeneous properties. In reality, typical autonomous systems will have heterogeneous, nonlinear dynamics while also being subject to extreme constraints on certain state …

Vision-Based Sensing And Optimal Control For Low-Cost And Small Satellite Platforms, Bradley Sease

Electronic Theses and Dissertations

Current trends in spacecraft are leading to smaller, more inexpensive options whenever possible. This shift has been primarily pursued for the opportunity to open a new frontier for technologies with a small financial obligation. Limited power, processing, pointing, and communication capabilities are all common issues which must be considered when miniaturizing systems and implementing low-cost components. This thesis addresses some of these concerns by applying two methods, in attitude estimation and control. Additionally, these methods are not restricted to only small, inexpensive satellites, but offer a benefit to large-scale spacecraft as well. First, star cameras are examined for the tendency …

Mission Analysis For Pico-Scale Satellite Based Dust Detection In Low Earth Orbits, Jacob Belli

Electronic Theses and Dissertations

A conceptual dust detection mission, KnightSat III, using pico-scale satellites is analyzed. The purpose of the proposed KnightSat III mission is to aid in the determination of the size, mass, distribution, and number of dust particles in low earth orbits through a low cost and flexible satellite or a formation of satellites equipped with a new dust detector. The analysis of a single satellite mission with an on-board dust detector is described; though this analysis can easily be extended to a formation of pico-scale satellites. Many design aspects of the mission are discussed, including orbit analysis, power management, attitude determination …

Vision-Based Testbeds For Control System Applicaitons, Robert Sivilli

Electronic Theses and Dissertations

In the field of control systems, testbeds are a pivotal step in the validation and improvement of new algorithms for different applications. They provide a safe, controlled environment typically having a significantly lower cost of failure than the final application. Vision systems provide nonintrusive methods of measurement that can be easily implemented for various setups and applications. This work presents methods for modeling, removing distortion, calibrating, and rectifying single and two camera systems, as well as, two very different applications of vision-based control system testbeds: deflection control of shape memory polymers and trajectory planning for mobile robots. First, a testbed …

Optimal Attitude Control Management For A Cubesat, Michael James Develle

Electronic Theses and Dissertations

CubeSats have become popular among universities, research organizations, and government agencies due to their low cost, small size, and light weight. Their standardized configurations further reduce the development time and ensure more frequent launch opportunities. Early cubesat missions focused on hardware validation and simple communication missions, with little requirement for pointing accuracy. Most of these used magnetic torque rods or coils for attitude stabilization. However, the intrinsic problems associated with magnetic torque systems, such as the lack of three-axis control and low pointing accuracy, make them unsuitable for more advanced missions such as detailed imaging and on-orbit inspection. Threeaxis control …

Enhancing Cnt-Composites With Raman Spectroscopy, Gregory J. Freihofer

Electronic Theses and Dissertations

Carbon Nanotubes (CNTs) have been the subject of intense research for their potential to improve a variety of material properties when developed as nano-composites. This research aims to address the challenges that limit the ability to transfer the outstanding nano-scale properties of CNTs to bulk nano-composites through Raman characterization. These studies relate the vibrational modes to microstructural characterization of CNT composites including stress, interface behavior, and defects. The formulation of a new fitting procedure using the pseudo-Voigt function is presented and shown to minimize the uncertainty of characteristics within the Raman G and D doublet. Methods for optimization of manufacturing …

Thermomechanical Behavior Of High-Temperature Shape Memory Alloy Ni-Ti-Pd-Pt Actuators, Douglas E. Nicholson

Electronic Theses and Dissertations

To date the commercial use of shape memory alloys (SMAs) has been mostly limited to binary NiTi alloys with transformation temperatures approximately in the -100 to 100 ºC range. In an ongoing effort to develop high-temperature shape memory alloys (HTSMAs), ternary and quaternary additions are being made to binary NiTi to form NiTi-X (e.g., X: Pd, Pt, Au and Hf) alloys. Stability and repeatability can be further increased at these higher temperatures by limiting the stress, but the tradeoff is reduced work output and stroke. However, HTSMAs operating at decreased stresses can still be used effectively in actuator applications that …