Autonomous Flight, Fault, and Energy Management of the Flying Fish Solar-Powered Seaplane.

The Flying Fish autonomous unmanned seaplane is designed and built for persistent ocean surveillance. Solar energy harvesting and always-on autonomous control and guidance are required to achieve unattended long-term operation. This thesis describes the Flying Fish avionics and software systems that enable the system to plan, self-initiate, and autonomously execute drift-flight cycles necessary to maintain a designated watch circle subject to environmentally influenced drift. We first present the avionics and flight software architecture developed for the unique challenges of an autonomous energy-harvesting seaplane requiring the system to be: waterproof, robust over a variety of sea states, and lightweight for flight. Seaplane kinematics and dynamics are developed based on conventional aircraft and watercraft and upon empirical flight test data. These models serve as the basis for development of flight control and guidance strategies which take the form of a cyclic multi-mode guidance protocol that smoothly transitions between nested gain-scheduled proportional-derivative feedback control laws tuned for the trim conditions of each flight mode. A fault-tolerant airspeed sensing system is developed in response to elevated failure rates arising from pitot probe water ingestion in the test environment. The fault-tolerance strategy utilizes sensor characteristics and signal energy to combine redundant sensor measurements in a weighted voting strategy, handling repeated failures, sensor recovery, non-homogenous sensors, and periods of complete sensing failure. Finally, a graph-based mission planner combines models of global solar energy, local ocean-currents, and wind with flight-verified/derived aircraft models to provide an energy-aware flight planning tool. An NP-hard asymmetric multi-visit traveling salesman planning problem is posed that integrates vehicle performance and environment models using energy as the primary cost metric. A novel A* search heuristic is presented to improve search efficiency relative to uniform cost search. A series of cases studies are conducted with surface and airborne goals for various times of day and for multi-day scenarios. Energy-optimal solutions are identified except in cases where energy harvesting produces multiple comparable-cost plans via negative-cost cycles. The always-on cyclic guidance/control system, airspeed sensor fault management algorithm, and the nested-TSP heuristic for A* are all critical innovation required to solve the posed research challenges.Ph.D.Aerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/91453/1/eubankrd_1.pd

Intelligent Simulation Modeling of a Flexible Manufacturing System with Automated Guided Vehicles

Although simulation is a very flexible and cost effective problem solving technique, it has been traditionally limited to building models which are merely descriptive of the system under study. Relatively new approaches combine improvement heuristics and artificial intelligence with simulation to provide prescriptive power in simulation modeling. This study demonstrates the synergy obtained by bringing together the "learning automata theory" and simulation analysis. Intelligent objects are embedded in the simulation model of a Flexible Manufacturing System (FMS), in which Automated Guided Vehicles (AGVs) serve as the material handling system between four unique workcenters. The objective of the study is to find satisfactory AGV routing patterns along available paths to minimize the mean time spent by different kinds of parts in the system. System parameters such as different part routing and processing time requirements, arrivals distribution, number of palettes, available paths between workcenters, number and speed of AGVs can be defined by the user. The network of learning automata acts as the decision maker driving the simulation, and the FMS model acts as the training environment for the automata network; providing realistic, yet cost-effective and risk-free feedback. Object oriented design and implementation of the simulation model with a process oriented world view, graphical animation and visually interactive simulation (using GUI objects such as windows, menus, dialog boxes; mouse sensitive dynamic automaton trace charts and dynamic graphical statistical monitoring) are other issues dealt with in the study

An overview of decision table literature 1982-1995.

This report gives an overview of the literature on decision tables over the past 15 years. As much as possible, for each reference, an author supplied abstract, a number of keywords and a classification are provided. In some cases own comments are added. The purpose of these comments is to show where, how and why decision tables are used. The literature is classified according to application area, theoretical versus practical character, year of publication, country or origin (not necessarily country of publication) and the language of the document. After a description of the scope of the interview, classification results and the classification by topic are presented. The main body of the paper is the ordered list of publications with abstract, classification and comments.

Human-Centered Aviation Automation: Principles and Guidelines

This document presents principles and guidelines for human-centered automation in aircraft and in the aviation system. Drawing upon operational experience with highly automated aircraft, it describes classes of problems that have occurred in these vehicles, the effects of advanced automation on the human operators of the aviation system, and ways in which these problems may be avoided in the design of future aircraft and air traffic management automation. Many incidents and a few serious accidents suggest that these problems are related to automation complexity, autonomy, coupling, and opacity, or inadequate feedback to operators. An automation philosophy that emphasizes improved communication, coordination and cooperation between the human and machine elements of this complex, distributed system is required to improve the safety and efficiency of aviation operations in the future

An Innovative Human Machine Interface for UAS Flight Management System

The thesis is relative to the development of an innovative Human Machine Interface for UAS Flight Management System. In particular, touchscreena have been selected as data entry interface. The thesis has been done together at Alenia Aermacch

Resource-based Verification for Robust Composition of Aspects

Aspect Oriented Software Development has been proposed as a means to improve modularization of software in the presence of crosscutting concerns. Compared to object-oriented or procedural approaches, Aspect Oriented Programming (AOP) has not yet been applied in many industrial applications. In this thesis we investigate the application of AOP within an industrial context and propose a novel solution to the problem of behavioral conflicts between aspects. We report on our experience transferring an aspect-oriented solution to a company called Advanced Semi-conductor Material Lithography (ASML). We investigate the acceptance criteria for AOP in industry, based on two industrial cases studies. We present a process that includes quantification of the benefits of AOP and elicitation of key worries expressed by stakeholders. We conducted a controlled experiment to assess the advantages and disadvantages of an aspect-based approach using a tracing example. Twenty developers from ASML were requested to carry out five maintenance scenarios. This experiment has shown that, in case the tracing concern is implemented using an AOP implementation instead of a procedural language, the development effort is on average 6% reduced while the impact of errors is reduced by 77%, for maintaining code related to tracing. For a subset of the scenarios, the results were statistically significant on a confidence interval of 95%. The so-called aspect interference problem is one of the major concerns in introducing AOP. Aspects can be developed independently and behave correct in isolation. However, due to intended or unintended composition of aspects, undesired behavior can emerge. In this thesis we focus on behavioral conflicts between aspects at shared join points. These are illustrated by a realistic example based on crosscutting concerns from ASML. We present an approach for the detection of behavioral interference that is based on a novel abstraction of the behavior of aspects, using resources and operations. This abstraction enables the expression of behavior in a simple manner that is suitable for automated detection of interference among aspects. The approach employs a set of conflict detection rules that can be used to detect both generic conflicts as well as domain specific conflicts. Our approach is general for AOP languages, its application to one specific AOP language Composition Filters is also illustrated in this thesis. The application to Composition Filters demonstrates how the use of a declarative advice language can be exploited for automated conflict detection. We detail the analysis process and discuss what information is required from the aspect developer to be able perform the analysis. We also discuss when static analysis is insufficient for detecting behavioral conflicts. We present a run time extension aiming at detecting dynamic conflicts. We discuss optimizations for this run time approach, which exploits the static verification results. Finally, we propose three improvements to the Composition Filters model to support automated and manual reasoning even further. The first improvement separates what behavior is executed from when this behavior is executed. Secondly, we introduce atomic filters that can be used to build more complex filters. The semantics of these filters are well defined. Although this approach has clear benefits from an automated reasoning perspective, the introduction of atomic filters results in the definition of numerous filters for specifying more complex behavior. Therefore, we introduce a filter composition language that enables the declarative composition of (atomic) filters, such that composed filter behavior can be reused elsewhere

An agile and adaptive holonic architecture for manufacturing control

Tese de doutoramento. Engenharia Electrotécnica e de Computadores. 2004. Faculdade de Engenharia. Universidade do Port

Migration and Hybrid Political Regimes : Navigating the Legal Landscape in Russia

While migration has become an all-important topic of discussion around the globe, mainstream literature on migrants' legal adaptation and integration has focused on case studies of immigrant communities in Western-style democracies. We know relatively little about how migrants adapt to a new legal environment in the ever-growing hybrid political regimes that are neither clearly democratic nor conventionally authoritarian. This book takes up the case of Russia—an archetypal hybrid political regime and the third largest recipients of migrants worldwide—and investigates how Central Asian migrant workers produce new forms of informal governance and legal order. Migrants use the opportunities provided by a weak rule-of-law and a corrupt political system to navigate the repressive legal landscape and to negotiate—using informal channels—access to employment and other opportunities that are hard to obtain through the official legal framework of their host country. This lively ethnography presents new theoretical perspectives for studying immigrant legal incorporation in similar political contexts.Peer reviewe