Flexible collaborative transportation by a team of rotorcraft

We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates the acceleration signals to be tracked by the vehicles. In particular, the proposed method does not need global positions nor tracking prescribed trajectories for the motion of the members of the team. The acceleration signals are followed accurately by an Incremental Nonlinear Dynamic Inversion controller designed for rotorcraft that measures and resists the tensions from the payload. Our approach allows us to analyze the involved accelerations and forces in the system so that we can calculate the worst case conditions explicitly to guarantee a nominal performance, provided that the payload starts at rest in the 2D centroid of the formation, and it is not under significant disturbances. For example, we can calculate the maximum safe deformation of the team with respect to its desired shape. We demonstrate our method with a team of four rotorcraft carrying a suspended object two times heavier than the maximum payload for an individual. Last but not least, our proposed algorithm is available for the community in the open-source autopilot Paparazzi.Comment: ICRA 2019, 6+1 page

Funding and Strategic Alignment Guidance for Infusing Small Business Innovation Research Technology Into Aeronautics Research Mission Directorate Projects at NASA Glenn Research Center for 2015

This document is intended to enable the more effective transition of NASA Glenn Research Center (GRC) SBIR technologies funded by the Small Business Innovation Research (SBIR) program as well as its companion, the Small Business Technology Transfer (STTR) program into NASA Aeronautics Research Mission Directorate (ARMD) projects. Primarily, it is intended to help NASA program and project managers find useful technologies that have undergone extensive research and development (RRD), through Phase II of the SBIR program; however, it can also assist non-NASA agencies and commercial companies in this process. aviation safety, unmanned aircraft, ground and flight test technique, low emissions, quiet performance, rotorcraf

Achieving rotorcraft noise and emissions reduction for 'Clean Sky' - The measurement of success

This paper describes the work done and strong interaction between Cranfield University as member of the Technology Evaluator (TE) team , Green Rotorcraft (GRC) Integrated Technology Demonstrator (ITD) and Sustainable and Green Engine (SAGE) ITD of the Clean Sky Joint Technology Initiative (JTI). The aim of Clean Sky is to develop and integrate new and innovative technologies that will hel p meeting the emission and noise reduction targets set by the Advisory Council for Aviation Research and Innovation in Europe (ACARE) for aircraft of next generation. The GRC and SAGE ITDs are responsible for developing new helicopter airframe and engine t echnologies respectively, whilst the TE has the distinctive role of assessing the environmental impact of these technologies at single flight (mission), airport and Air Transport System levels (ATS). Cranfield University as a member of the TE is responsibl e for the mission trajectory definition and for conducting the environmental performance assessments . The assessments reported herein have been performed by using a GRC - developed multi - disciplinary simulation framework called PhoeniX (Platform Hosting Oper ational and Environmental Investigations for Rotorcraft) that comprises various computational modules. These modules include a rotorcraft performance code (EUROPA), an engine performance and emissions simulation tool (GSP) and a noise prediction code (HELE NA). PhoeniX can predict the performance of a helicopter along a prescribed 4D trajectory offering a complete helicopter mission analysis. In the context of the TE assessments reported herein, three helicopter classes are examined, namely a Twin Engine Lig ht (TEL) configuration, for Emergency Medical Service (EMS) and Police missions, and a Single Engine Light (SEL) configuration for Passenger/Transport missions, and a Twin Engine Heavy (TEH) configuration for Oil & Gas missions. The different technologies assessed reflect three simulation points which are the ‘Baseline’ Year 2000 technology, ‘Reference’ Y2020 technology, without Clean Sky benefits, and finally the ‘Conceptual’, reflecting Y2020 technology with Clean Sky benefits. The results of this study i llustrate the potential that incorporated technologies possess in terms of improving performance and gas emission metrics such as fuel burn, CO2, NOx as well as the noise footprint on the ground

An Assessment of Civil Tiltrotor Concept of Operations in the Next Generation Air Transportation System

Based on a previous Civil Tiltrotor (CTR) National Airspace System (NAS) performance analysis study, CTR operations were evaluated over selected routes and terminal airspace configurations assuming noninterference operations (NIO) and runway-independent operations (RIO). This assessment aims to further identify issues associated with these concepts of operations (ConOps), and their dependency on the airspace configuration and interaction with conventional fixed-wing traffic. Safety analysis following a traditional Safety Management System (SMS) methodology was applied to CTR-unique departure and arrival failures in the selected airspace to identify any operational and certification issues. Additional CTR operational cases were then developed to get a broader understanding of issues and gaps that will need to be addressed in future CTR operational studies. Finally, needed enhancements to National Airspace System performance analysis tools were reviewed, and recommendations were made on improvements in these tools that are likely to be required to support future progress toward CTR fleet operations in the Next Generation Air Transportation System (NextGen)

NASA Technology Plan 1998

This NASA Strategic Plan describes an ambitious, exciting vision for the Agency across all its Strategic Enterprises that addresses a series of fundamental questions of science and research. This vision is so challenging that it literally depends on the success of an aggressive, cutting-edge advanced technology development program. The objective of this plan is to describe the NASA-wide technology program in a manner that provides not only the content of ongoing and planned activities, but also the rationale and justification for these activities in the context of NASA's future needs. The scope of this plan is Agencywide, and it includes technology investments to support all major space and aeronautics program areas, but particular emphasis is placed on longer term strategic technology efforts that will have broad impact across the spectrum of NASA activities and perhaps beyond. Our goal is to broaden the understanding of NASA technology programs and to encourage greater participation from outside the Agency. By relating technology goals to anticipated mission needs, we hope to stimulate additional innovative approaches to technology challenges and promote more cooperative programs with partners outside NASA who share common goals. We also believe that this will increase the transfer of NASA-sponsored technology into nonaerospace applications, resulting in an even greater return on the investment in NASA

A plm implementation for aerospace systems engineering-conceptual rotorcraft design

The thesis will discuss the Systems Engineering phase of an original Conceptual Design Engineering Methodology for Aerospace Engineering-Vehicle Synthesis. This iterative phase is shown to benefit from digitization of Integrated Product&Process Design (IPPD) activities, through the application of Product Lifecycle Management (PLM) technologies. Requirements analysis through the use of Quality Function Deployment (QFD) and 7 MaP tools is explored as an illustration. A "Requirements Data Manager" (RDM) is used to show the ability to reduce the time and cost to design for both new and legacy/derivative designs. Here the COTS tool Teamcenter Systems Engineering (TCSE) is used as the RDM. The utility of the new methodology is explored through consideration of a legacy RFP based vehicle design proposal and associated aerospace engineering. The 2001 American Helicopter Society (AHS) 18th Student Design Competition RFP is considered as a starting point for the Systems Engineering phase. A Conceptual Design Engineering activity was conducted in 2000/2001 by Graduate students (including the author) in Rotorcraft Engineering at the Daniel Guggenheim School of Aerospace Engineering at the Georgia Institute of Technology, Atlanta GA. This resulted in the "Kingfisher" vehicle design, an advanced search and rescue rotorcraft capable of performing the "Perfect Storm" mission, from the movie of the same name. The associated requirements, architectures, and work breakdown structure data sets for the Kingfisher are used to relate the capabilities of the proposed Integrated Digital Environment (IDE). The IDE is discussed as a repository for legacy knowledge capture, management, and design template creation. A primary thesis theme is to promote the automation of the up-front conceptual definition of complex systems, specifically aerospace vehicles, while anticipating downstream preliminary and full spectrum lifecycle design activities. The thesis forms a basis for additional discussions of PLM tool integration across the engineering, manufacturing, MRO and EOL lifecycle phases to support business management processes.M.S.Committee Chair: Schrage, Daniel P.; Committee Member: Costello, Mark; Committee Member: Wilhite, Alan, W

Multiple UAV systems: a survey

Nowadays, Unmanned Aerial Vehicles (UAVs) are used in many different applications. Using systems of multiple UAVs is the next obvious step in the process of applying this technology for variety of tasks. There are few research works that cover the applications of these systems and they are all highly specialized. The goal of this survey is to fill this gap by providing a generic review on different applications of multiple UAV systems that have been developed in recent years. We also present a nomenclature and architecture taxonomy for these systems. In the end, a discussion on current trends and challenges is provided.This work was funded by the Ministry of Economy, Industryand Competitiveness of Spain under Grant Nos. TRA2016-77012-R and BES-2017-079798Peer ReviewedPostprint (published version

System-of-Systems Considerations in the Notional Development of a Metropolitan Aerial Transportation System

There are substantial future challenges related to sustaining and improving efficient, cost-effective, and environmentally friendly transportation options for urban regions. Over the past several decades there has been a worldwide trend towards increasing urbanization of society. Accompanying this urbanization are increasing surface transportation infrastructure costs and, despite public infrastructure investments, increasing surface transportation "gridlock." In addition to this global urbanization trend, there has been a substantial increase in concern regarding energy sustainability, fossil fuel emissions, and the potential implications of global climate change. A recently completed study investigated the feasibility of an aviation solution for future urban transportation (refs. 1, 2). Such an aerial transportation system could ideally address some of the above noted concerns related to urbanization, transportation gridlock, and fossil fuel emissions (ref. 3). A metro/regional aerial transportation system could also provide enhanced transportation flexibility to accommodate extraordinary events such as surface (rail/road) transportation network disruptions and emergency/disaster relief responses