Control and Optimization for Aerospace Systems with Stochastic Disturbances, Uncertainties, and Constraints

The topic of this dissertation is the control and optimization of aerospace systems under the influence of stochastic disturbances, uncertainties, and subject to chance constraints. This problem is motivated by the uncertain operating environments of many aerospace systems, and the ever-present push to extract greater performance from these systems while maintaining safety. Explicitly accounting for the stochastic disturbances and uncertainties in the constrained control design confers the ability to assign the probability of constraint satisfaction depending on the level of risk that is deemed acceptable and allows for the possibility of theoretical constraint satisfaction guarantees. Along these lines, this dissertation presents novel contributions addressing four different problems: 1) chance-constrained path planning for small unmanned aerial vehicles in urban environments, 2) chance-constrained spacecraft relative motion planning in low-Earth orbit, 3) stochastic optimization of suborbital launch operations, and 4) nonlinear model predictive control for tracking near rectilinear halo orbits and a proposed stochastic extension. For the first problem, existing dynamic and informed rapidly-expanding random trees algorithms are combined with a novel quadratic programming-based collision detection algorithm to enable computationally efficient, chance-constrained path planning. For the second problem, a previously proposed constrained relative motion approach based on chained positively invariant sets is extended in this dissertation to the case where the spacecraft dynamics are controlled using output feedback on noisy measurements and are subject to stochastic disturbances. Connectivity between nodes is determined through the use of chance-constrained admissible sets, guaranteeing that constraints are met with a specified probability. For the third problem, a novel approach to suborbital launch operations is presented. It utilizes linear covariance propagation and stochastic clustering optimization to create an effective software-only method for decreasing the probability of a dangerous landing with no physical changes to the vehicle and only minimal changes to its flight controls software. For the fourth problem, the use of suboptimal nonlinear model predictive control (NMPC) coupled with low-thrust actuators is considered for station-keeping on near rectilinear halo orbits. The nonlinear optimization problems in NMPC are solved with time-distributed sequential quadratic programming techniques utilizing the FBstab algorithm. A stochastic extension for this problem is also proposed. The results are illustrated using detailed numerical simulations.PHDAerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/162992/1/awbe_1.pd

How To Touch a Running System

The increasing importance of distributed and decentralized software architectures entails more and more attention for adaptive software. Obtaining adaptiveness, however, is a difficult task as the software design needs to foresee and cope with a variety of situations. Using reconfiguration of components facilitates this task, as the adaptivity is conducted on an architecture level instead of directly in the code. This results in a separation of concerns; the appropriate reconfiguration can be devised on a coarse level, while the implementation of the components can remain largely unaware of reconfiguration scenarios. We study reconfiguration in component frameworks based on formal theory. We first discuss programming with components, exemplified with the development of the cmc model checker. This highly efficient model checker is made of C++ components and serves as an example for component-based software development practice in general, and also provides insights into the principles of adaptivity. However, the component model focuses on high performance and is not geared towards using the structuring principle of components for controlled reconfiguration. We thus complement this highly optimized model by a message passing-based component model which takes reconfigurability to be its central principle. Supporting reconfiguration in a framework is about alleviating the programmer from caring about the peculiarities as much as possible. We utilize the formal description of the component model to provide an algorithm for reconfiguration that retains as much flexibility as possible, while avoiding most problems that arise due to concurrency. This algorithm is embedded in a general four-stage adaptivity model inspired by physical control loops. The reconfiguration is devised to work with stateful components, retaining their data and unprocessed messages. Reconfiguration plans, which are provided with a formal semantics, form the input of the reconfiguration algorithm. We show that the algorithm achieves perceived atomicity of the reconfiguration process for an important class of plans, i.e., the whole process of reconfiguration is perceived as one atomic step, while minimizing the use of blocking of components. We illustrate the applicability of our approach to reconfiguration by providing several examples like fault-tolerance and automated resource control

Produced subjectivities and productive subjects : locating the potential of the self-reflective blog

Blogging software has popularly been used as a mode of writing about everyday life to interact with others. This thesis examines the political potentials that are opened up by self-reflective blogging. The self-reflective blog is a synergy of self-reflective practices and computer-mediated communication. A genealogy of the history of computer-mediated communication and various public self-reflective practices is conducted to uncover affect as the utility of various economies of subject production. Efforts made to blog-like the efforts made to interact online in other CMCs-are positioned as a kind of affective labor. Adapting Hardt and Negri's (2005) theorization of the multitude, whereby affective labor-the production of social relationshipsis a kind ofbiopolitical production, affect will be determined as a kind ofbiopolitical power that exists in everyday life

Soft Computing approaches in ocean wave height prediction for marine energy applications

El objetivo de esta tesis consiste en investigar el uso de técnicas de Soft Computing (SC) aplicadas a la energía producida por las olas o energía undimotriz. Ésta es, entre todas las energías marinas disponibles, la que exhibe el mayor potencial futuro porque, además de ser eficiente desde el punto de vista técnico, no causa problemas ambientales significativos. Su importancia práctica radica en dos hechos: 1) es aproximadamente 1000 veces más densa que la energía eólica, y 2) hay muchas regiones oceánicas con abundantes recursos de olas que están cerca de zonas pobladas que demandan energía eléctrica. La contrapartida negativa se encuentra en que las olas son más difíciles de caracterizar que las mareas debido a su naturaleza estocástica. Las técnicas SC exhiben resultados similares e incluso superiores a los de otros métodos estadísticos en las estimaciones a corto plazo (hasta 24 h), y tienen la ventaja adicional de requerir un esfuerzo computacional mucho menor que los métodos numérico-físicos. Esta es una de las razones por la que hemos decidido explorar el uso de técnicas de SC en la energía producida por el oleaje. La otra se encuentra en el hecho de que su intermitencia puede afectar a la forma en la que se integra la electricidad que genera con la red eléctrica. Estas dos son las razones que nos han impulsado a explorar la viabilidad de nuevos enfoques de SC en dos líneas de investigación novedosas. La primera de ellas es un nuevo enfoque que combina un algoritmo genético (GA: Genetic Algorithm) con una Extreme Learning Machine (ELM) aplicado a un problema de reconstrucción de la altura de ola significativa (en un boya donde los datos se han perdido, por ejemplo, por una tormenta) utilizando datos de otras boyas cercanas. Nuestro algoritmo GA-ELM es capaz de seleccionar un conjunto reducido de parámetros del oleaje que maximizan la reconstrucción de la altura de ola significativa en la boya cuyos datos se han perdido utilizando datos de boyas vecinas. El método y los resultados de esta investigación han sido publicados en: Alexandre, E., Cuadra, L., Nieto-Borge, J. C., Candil-García, G., Del Pino, M., & Salcedo-Sanz, S. (2015). A hybrid genetic algorithm—extreme learning machine approach for accurate significant wave height reconstruction. Ocean Modelling, 92, 115-123. La segunda contribución combina conceptos de SC, Smart Grids (SG) y redes complejas (CNs: Complex Networks). Está motivada por dos aspectos importantes, mutuamente interrelacionados: 1) la forma en la que los conversores WECs (wave energy converters) se interconectan eléctricamente para formar un parque, y 2) cómo conectar éste con la red eléctrica en la costa. Ambos están relacionados con el carácter aleatorio e intermitente de la energía eléctrica producida por las olas. Para poder integrarla mejor sin afectar a la estabilidad de la red se debería recurrir al concepto Smart Wave Farm (SWF). Al igual que una SG, una SWF utiliza sensores y algoritmos para predecir el olaje y controlar la producción y/o almacenamiento de la electricidad producida y cómo se inyecta ésta en la red. En nuestro enfoque, una SWF y su conexión con la red eléctrica se puede ver como una SG que, a su vez, se puede modelar como una red compleja. Con este planteamiento, que se puede generalizar a cualquier red formada por generadores renovables y nodos que consumen y/o almacenan energía, hemos propuesto un algoritmo evolutivo que optimiza la robustez de dicha SG modelada como una red compleja ante fallos aleatorios o condiciones anormales de funcionamiento. El modelo y los resultados han sido publicados en: Cuadra, L., Pino, M. D., Nieto-Borge, J. C., & Salcedo-Sanz, S. (2017). Optimizing the Structure of Distribution Smart Grids with Renewable Generation against Abnormal Conditions: A Complex Networks Approach with Evolutionary Algorithms. Energies, 10(8), 1097

Forensic applications of atomic force microscopy

The first project undertaken was to develop a currently non-existent forensic technique -- data recovery from damaged SIM cards. SIM cards hold data valuable to a forensic investigator within non-volatile EEPROM/flash memory arrays. This data has been proven to be able to withstand temperatures up to 500°C, surviving such scenarios as house fires or criminal evidence disposal. A successful forensically-sound sample extraction, mounting and backside processing methodology was developed to expose the underside of a microcontroller circuit's floating gate transistor tunnel oxide, allowing probing via AFM-based electrical scanning probe techniques. Scanning Kelvin probe microscopy has thus far proved capable of detecting the presence of stored charge within the floating gates beneath the thin tunnel oxide layer, to the point of generating statistical distributions reflecting the threshold voltage states of the transistors. The second project covered the novel forensic application of AFM as a complimentary technique to SEM examination of quartz grain surface textures. The analysis and interpretation of soil/sediment samples can provide indications of their provenance, and enable exclusionary comparisons to be made between samples pertinent to a forensic investigation. Multiple grains from four distinct sample sets were examined with the AFM, and various statistical figures of merit were derived. Canonical discriminant analysis was used to assess the discriminatory abilities of these statistical variables to better characterise the use of AFM results for grain classification. The final functions correctly classified 65.3% of original grouped cases, with the first 3 discriminant functions used in the analysis (Wilks' Lambda=0.336, p=0.000<0.01). This degree of discrimination shows a great deal of promise for the AFM as a quantitative corroborative technique to traditional SEM grain surface examination

Media Infrastructures and the Politics of Digital Time

Digital media everyday inscribe new patterns of time, promising instant communication, synchronous collaboration, intricate time management, and profound new advantages in speed. The essays in this volume reconsider these outward interfaces of convenience by calling attention to their supporting infrastructures, the networks of digital time that exert pressures of conformity and standardization on the temporalities of lived experience and have important ramifications for social relations, stratifications of power, practices of cooperation, and ways of life. Interdisciplinary in method and international in scope, the volume draws together insights from media and communication studies, cultural studies, and science and technology studies while staging an important encounter between two distinct approaches to the temporal patterning of media infrastructures, a North American strain emphasizing the social and cultural experiences of lived time and a European tradition, prominent especially in Germany, focusing on technological time and time-critical processes

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

Advances in Solid State Circuit Technologies

This book brings together contributions from experts in the fields to describe the current status of important topics in solid-state circuit technologies. It consists of 20 chapters which are grouped under the following categories: general information, circuits and devices, materials, and characterization techniques. These chapters have been written by renowned experts in the respective fields making this book valuable to the integrated circuits and materials science communities. It is intended for a diverse readership including electrical engineers and material scientists in the industry and academic institutions. Readers will be able to familiarize themselves with the latest technologies in the various fields

Research and innovation 2019

Research and innovation are two pillars that come together when universities are at stake. The expansion of the frontiers of human knowledge, in all areas and disciplines, is an irrefutable commitment of higher education institutions. Together with public and private entities, they are also committed to promoting knowledge transfer to society and the economy, in the form of new ideas, new products and new processes. Universities are supposed to transform ideas into value for society. To achieve these goals, higher education institutions have to assure their human resources are highly qualified, that they have an adequate atmosphere, that research is of high quality, and finally that adequate interactions take place. At UMinho we have a clear strategy to be an open and permanent space for knowledge production and furtherance of nationally and internationally relevant innovation across different social and economic sectors. For many years, UMinho has adopted the principles of open access and open science. We aim at carrying out our scientific activity and the dissemination of the corresponding results transparently and collaboratively; this implies that researchers, citizens, policymakers, state agencies, companies, and third sector organizations work in close cooperation facing research and innovation processes. We believe this is the shorter way to trigger smart and sustainable growth and qualified job creation. At UMinho, we encourage the coupling between research and education. Our goal is to expand research opportunities and to give our students occasions to experience vibrant research environments, ensuring that learning goes beyond the “common” routines. Joining research and learning processes provides both undergraduate and postgraduate students with opportunities to own their learning process. We believe that research experience has a role to play in improving students’ motivation for learning, in the pursuit of their interests. Doing better science occurs when we make it both more sensitive to the needs of society and also more efficient in what concerns the allocated resources. It is also a question of accountability. This is fundamental for reinforcing society awareness about our contributions to human and social development. Following the 2018 publication, we present here the 2019 edition of Research and Innovation, a series that draws on the outcomes of the activity of the UMinho research and innovation ecosystem. This comprehensive volume gives particular emphasis to the Research Units outcomes, namely in terms of funding, research projects, papers, and the most important achievements; the activity of the Interface Units and Collaborative Laboratories in which UMinho participates is also reported, through their activities and institutional projects, making evident their importance for the continuous growth of our Institution, our region, and our country. Rui Vieira de Castro RectorPublishe

Innovation for maintenance technology improvements

A group of 34 submitted entries (32 papers and 2 abstracts) from the 33rd meeting of the Mechanical Failures Prevention Group whose subject was maintenance technology improvement through innovation. Areas of special emphasis included maintenance concepts, maintenance analysis systems, improved maintenance processes, innovative maintenance diagnostics and maintenance indicators, and technology improvements for power plant applications