Autonomous landing of fixed-wing aircraft on mobile platforms

E n esta tesis se propone un nuevo sistema que permite la operación de aeronaves autónomas sin tren de aterrizaje. El trabajo está motivado por el interés industrial en aeronaves con la capacidad de volar a gran altitud, con más capacidad de carga útil y capaces de aterrizar con viento cruzado. El enfoque seguido en este trabajo consiste en eliminar el sistema de aterrizaje de una aeronave de ala fija empleando una plataforma móvil de aterrizaje en tierra. La aeronave y la plataforma deben sincronizar su movimiento antes del aterrizaje, lo que se logra mediante la estimación del estado relativo entre ambas y el control cooperativo del movimiento. El objetivo principal de esta Tesis es el desarrollo de una solución práctica para el aterrizaje autónomo de una aeronave de ala fija en una plataforma móvil. En la tesis se combinan nuevos métodos con experimentos prácticos para los cuales se ha desarrollado un sistema de pruebas específico. Se desarrollan dos variantes diferentes del sistema de aterrizaje. El primero presta atención especial a la seguridad, es robusto ante retrasos en la comunicación entre vehículos y cumple procedimientos habituales de aterrizaje, al tiempo que reduce la complejidad del sistema. En el segundo se utilizan trayectorias optimizadas del vehículo y sincronización bilateral de posición para maximizar el rendimiento del aterrizaje en términos de requerimientos de longitud necesaria de pista, pero la estabilidad es dependiente del retraso de tiempo, con lo cual es necesario desarrollar un controlador estabilizador ampliado, basado en pasividad, que permite resolver este problema. Ambas estrategias imponen requisitos funcionales a los controladores de cada uno de los vehículos, lo que implica la capacidad de controlar el movimiento longitudinal sin afectar el control lateral o vertical, y viceversa. El control de vuelo basado en energía se utiliza para proporcionar dicha funcionalidad a la aeronave. Los sistemas de aterrizaje desarrollados se han analizado en simulación estableciéndose los límites de rendimiento mediante múltiples repeticiones aleatorias. Se llegó a la conclusión de que el controlador basado en seguridad proporciona un rendimiento de aterrizaje satisfactorio al tiempo que suministra una mayor seguridad operativa y un menor esfuerzo de implementación y certificación. El controlador basado en el rendimiento es prometedor para aplicaciones con una longitud de pista limitada. Se descubrió que los beneficios del controlador basado en el rendimiento son menos pronunciados para una dinámica de vehículos terrestres más lenta. Teniendo en cuenta la dinámica lenta de la configuración del demostrador, se eligió el enfoque basado en la seguridad para los primeros experimentos de aterrizaje. El sistema de aterrizaje se validó en diversas pruebas de aterrizaje exitosas, que, a juicio del autor, son las primeras en el mundo realizadas con aeronaves reales. En última instancia, el concepto propuesto ofrece importantes beneficios y constituye una estrategia prometedora para futuras soluciones de aterrizaje de aeronaves.In this thesis a new landing system is proposed, which allows for the operation of autonomous aircraft without landing gear. The work was motivated by the industrial need for more capable high altitude aircraft systems, which typically suffer from low payload capacity and high crosswind landing sensitivity. The approach followed in this work consists in removing the landing gear system from the aircraft and introducing a mobile ground-based landing platform. The vehicles must synchronize their motion prior to landing, which is achieved through relative state estimation and cooperative motion control. The development of a practical solution for the autonomous landing of an aircraft on a moving platform thus constitutes the main goal of this thesis. Therefore, theoretical investigations are combined with real experiments for which a special setup is developed and implemented. Two different landing system variants are developed — the safety-based landing system is robust to inter-vehicle communication delays and adheres to established landing procedures, while reducing system complexity. The performance-based landing system uses optimized vehicle trajectories and bilateral position synchronization to maximize landing performance in terms of used runway, but suffers from time delay-dependent stability. An extended passivity-based stabilizing controller was implemented to cope with this issue. Both strategies impose functional requirements on the individual vehicle controllers, which imply independent controllability of the translational degrees of freedom. Energy-based flight control is utilized to provide such functionality for the aircraft. The developed landing systems are analyzed in simulation and performance bounds are determined by means of repeated random sampling. The safety-based controller was found to provide satisfactory landing performance while providing higher operational safety, and lower implementation and certification effort. The performance-based controller is promising for applications with limited runway length. The performance benefits were found to be less pronounced for slower ground vehicle dynamics. Given the slow dynamics of the demonstrator setup, the safety-based approach was chosen for first landing experiments. The landing system was validated in a number of successful landing trials, which to the author’s best knowledge was the first time such technology was demonstrated on the given scale, worldwide. Ultimately, the proposed concept offers decisive benefits and constitutes a promising strategy for future aircraft landing solutions

Ordinary explanations as discourse: a critical analysis

Extending recent advances in attribution theory, this thesis aims to develop and apply an analytic framework within which the social constitution of explanations might be better accommodated. To this end, Part I draws on three theoretical trends: generative social psychology; critical theory; and Foucauldlan discourse analysis. Respectively, these provide: the rationale for the critique of and the alternatives to orthodox social psychology, critical reflection on the social field, and the means to locate and analyze ordinary explanations. It is shown how: conventional cognitivist analyses tend to ignore the social contingency of explanations; intergroup theory cannot adequately deal with the influence of role; script theory does not address explanations' mediation of power. By contrast, the present thesis analyzes explanations in the context of numerous intertwined factors. Including role, intergroup and power relations, and institutional, representational and material influences. In this, role’. constituted in a network of discourses and practices, is the principal conceptual tool. Packaged with a repertoire of explanations, cognitions, identities and functions, role interacts with situational factors to shape explanations. It is suggested that, through their mediation of power, explanations serve to reproduce the explainer’s role and related roles and structures. Part II applies this approach to the explanation of rape. Detailed analysis of gender stereotypes, rape myths, the the professional, polemical and lay explanation of rape produced three ideal types: the dimensional, typological and schismatic. These served to tie particular explanatory forms to their corresponding frameworks of discourse/practice and to role. The function of such rape explanations was further explored with respect to 'traditional' and 'anti-sexist' male roles, and to the role of policeman- In the latter case, it was shown that explanations tended to distance rape from 'normal’ sexuality, thereby recursively conditioning the police role and its legal, organizational and cultural delineants

Mission oriented R and D and the advancement of technology: The impact of NASA contributions, volume 2

NASA contributions to the advancement of major developments in twelve selected fields of technology are presented. The twelve fields of technology discussed are: (1) cryogenics, (2) electrochemical energy conversion and storage, (3) high-temperature ceramics, (4) high-temperature metals (5) integrated circuits, (6) internal gas dynamics (7) materials machining and forming, (8) materials joining, (9) microwave systems, (10) nondestructive testing, (11) simulation, and (12) telemetry. These field were selected on the basis of both NASA and nonaerospace interest and activity