Communication for Teams of Networked Robots

There are a large class of problems, from search and rescue to environmental monitoring, that can benefit from teams of mobile robots in environments where there is no existing infrastructure for inter-agent communication. We seek to address the problems necessary for a team of small, low-power, low-cost robots to deploy in such a way that they can dynamically provide their own multi-hop communication network. To do so, we formulate a situational awareness problem statement that specifies both the physical task and end-to-end communication rates that must be maintained. In pursuit of a solution to this problem, we address topics ranging from the modeling of point-to-point wireless communication to mobility control for connectivity maintenance. Since our focus is on developing solutions to these problems that can be experimentally verified, we also detail the design and implantation of a decentralized testbed for multi-robot research. Experiments on this testbed allow us to determine data-driven models for point-to-point wireless channel prediction, test relative signal-strength-based localization methods, and to verify that our algorithms for mobility control maintain the desired instantaneous rates when routing through the wireless network. The tools we develop are integral to the fielding of teams of robots with robust wireless network capabilities

Distributed multi-robot exploration under complex constraints

Programa de Doctorado en Biotecnología, Ingeniería y Tecnología QuímicaLínea de Investigación: Ingeniería InformáticaClave Programa: DBICódigo Línea: 19Mobile robots have emerged as a prime alternative to explore physical processes of interest. This is particularly relevant in situations that have a high risk for humans, like e.g. in search and rescue missions, and for applications in which it is desirable to reduce the required time and manpower to gather information, like e.g. for environmental analysis. In such context, exploration tasks can clearly benefit from multi-robot coordination. In particular, distributed multi-robot coordination strategies offer enormous advantages in terms of both system¿s efficiency and robustness, compared to single-robot systems. However, most state-of-the-art strategies employ discretization of robots¿ state and action spaces. This makes them computationally intractable for robots with complex dynamics, and limits their generality. Moreover, most strategies cannot handle complex inter-robot constraints like e.g. communication constraints. The goal of this thesis is to develop a distributed multi-robot exploration algorithm that tackles the two aforementioned issues. To achieve this goal we first propose a single-robot myopic approach, in which we build to develop a non-myopic informative path planner. In a second step, we extend our non-myopic single-robot algorithm to the multi-robot case. Our proposed algorithms build on the following techniques: (i) Gaussian Processes (GPs) to model the spatial dependencies of a physical process of interest, (ii) sampling-based planners to calculate feasible paths; (iii) information metrics to guide robots towards informative locations; and (iv) distributed constraint optimization techniques for multi-robot coordination. We validated our proposed algorithms in simulations and experiments. Specifically, we carried out the following experiments: mapping of a magnetic field with a ground-based robot, mapping of a terrain profile with two quadcopters equipped with an ultrasound sensor, and exploration of a simulated wind field with three quadcopters. Results demonstrate the effectiveness of our approach to perform exploration tasks under complex constraints.Universidad Pablo de Olavide de Sevilla. Departamento de Deporte e InformáticaPostprin

The roles of random boundary conditions in spin systems

Random boundary conditions are one of the simplest realizations of quenched disorder. They have been used as an illustration of various conceptual issues in the theory of disordered spin systems. Here we review some of these result

Rotor Fatigue Life Prediction and Design for Revolutionary Vertical Lift Concepts

Despite recent technological advancements, rotorcraft still lag behind their fixed-wing counterparts in the areas of flight safety and operating cost. Competition with fixed-wing aircraft is difficult for applications where vertical takeoff and landing (VTOL) capabilities are not required. Both must be addressed to ensure the continued competitiveness of vertical lift aircraft, especially in the context of new military and civilian rotorcraft programs such as Future Vertical Lift and urban air mobility, which will require orders-of-magnitude improvements in reliability, availability, maintainability, and cost (RAM-C) metrics. Lifecycle costs and accident rates are strongly driven by scheduled replacement or failure of flight-critical components. Rotor blades are life-limited to ensure that they are replaced before fatigue damage exceeds critical levels, but purchasing new blades is extremely costly. Despite aggressive component replacement times, fatigue failure of rotor blades continues to account for a significant proportion of inflight accidents. Fatigue damage in rotorcraft is unavoidable due to the physics of rotary-wing flight, but new engineering solutions to improve fatigue life in the rotor system could improve rotorcraft operating costs and flight safety simultaneously. Existing rotorcraft design methods treat fatigue life as a consequence, rather than a driver, of design. A literature review of rotorcraft design and fatigue design methods is conducted to identify the relevant strengths and weaknesses of traditional processes. In rotorcraft design, physics-based rotor design frameworks are focused primarily on fundamental performance analysis and do not consider secondary characteristics such as reliability or fatigue life. There is a missing link between comprehensive rotor design frameworks and conceptual design tools that prevents physics-based assessment of RAM-C metrics in the early design stages. Traditional fatigue design methods, such as the safe life methodology, which applies the Miner's rule fatigue life prediction model to rotorcraft components, are hindered by a lack of physics-based capabilities in the early design stages. An accurate fatigue life quantification may not be available until the design is frozen and prototypes are flying. These methods are strongly dependent on extrapolations built on historical fatigue data, and make use of deterministic safety factors based on organizational experience to ensure fatigue reliability, which can lead to over-engineering or unreliable predictions when applied to revolutionary vertical lift aircraft. A new preliminary fatigue design methodology is designed to address these concerns. This methodology is based on the traditional safe life methodology, but replaces several key elements with modern tools, techniques, and models. Three research questions are proposed to investigate, refine, and validate different elements of the methodology. The first research question addresses the need to derive physics-based fatigue load spectra more rapidly than modern comprehensive analysis tools allow. The second investigates the application of different probabilistic reliability solution methods to the fatigue life substantiation problem. The third question tests the ability of the preliminary fatigue design methodology to evaluate the relative impact of common preliminary fatigue design variables on the probability of fatigue failure of a conceptual helicopter's rotor blade. Hypotheses are formulated in response to each research question, and a series of experiments are designed to test those hypotheses. In the first experiment, a multi-disciplinary analysis (MDA) environment combining the rotorcraft performance code NDARC, the comprehensive code RCAS, and the beam analysis program VABS, is developed to provide accurate physics-based predictions of rotor blade stress in arbitrary flight conditions. A conceptual single main rotor transport helicopter based on the UH-60A Black Hawk is implemented within the MDA to serve as a test case. To account for the computational expense of the MDA, surrogate modeling techniques, such as response surface equations, artificial neural networks, and Gaussian process models are used to approximate the stress response across the flight envelope of the transport helicopter. The predictive power and learning rates of various surrogate modeling techniques are compared to determine which is the most suitable for predicting fatigue stress. Ultimately, shallow artificial neural networks are found the provide the best compromise between accuracy, training expense, and uncertainty quantification capabilities. Next, structural reliability solution methods are investigated as a means to produce high-reliability fatigue life estimates without requiring deterministic safety factors. The Miner's sum fatigue life prediction model is reformulated as a structural reliability problem. Analytical solutions (FORM and SORM), sampling solutions (Monte Carlo, quasi-Monte Carlo, Latin hypercube sampling, and directional simulation), and hybrid solutions importance sampling) are compared using a notional fatigue life problem. These results are validated using a realistic helicopter fatigue life problem \jnr{which incorporates the fatigue stress surrogate model and is based on a probabilistic definition of the mission spectrum to account for fleet-wide usage variations. Monte Carlo simulation is found to provide the best performance and accuracy when compared to the exact solution. Finally, the capabilities of the preliminary fatigue design methodology are demonstrated using a series of hypothetical fatigue design exercises. First, the methodology is used to predict the impact of rotor blade box spar web thickness on probability of fatigue failure. Modest increases in web thickness are found to reduce probability of failure, but larger increases cause structural instability of the rotor blade in certain flight regimes which increases the fatigue damage rate. Next, a similar study tests the impact of tail rotor cant angle. Positive tail rotor cant is found to improve fatigue life in cases where the center of gravity (CG) of the vehicle is strongly biased towards the tail, but is detrimental if the CG is closer to the main rotor hub station line. Last, the effect of design mission requirements like rate of climb and cruising airspeed is studied. The methodology is not sensitive enough to predict the subtle impact of changes to rate of climb, but does prove that a slower cruising airspeed will decrease probability of fatigue failure of the main rotor blade. The methodology is proven to be capable of quantifying the influence of \jnr{rotor blade design variables, vehicle layout and configuration, and certain design mission requirements}, paving the way for implementation in a rotorcraft design framework. This thesis ends with suggestions for future work to address the most significant limitations of this research, as well as descriptions of the tasks required to apply the methodology to conventional rotorcraft or conceptual revolutionary vertical lift aircraft.Ph.D