Rotorcraft Flight Dynamics and Control in Wind for Autonomous Sampling of Spatiotemporal Processes

In recent years, there has been significant effort put into the design and use small, autonomous, multi-agent, aerial teams for a variety of military and commercial applications. In particular, small multi-rotor systems have been shown to be especially useful for carrying sensors as they have the ability to rapidly transit between locations as well as hover in place. This dissertation seeks to use multi-agent teams of autonomous rotorcraft to sample spatiotemporal fields in windy conditions. For many sampling objectives, there is the problem of how to accomplish the sampling objective in the presence of strong wind fields caused by external means or by other rotorcraft flying in close proximity. This dissertation develops several flight control strategies for both wind compensation, using nonlinear control techniques, and wind avoidance, using artificial potential-based control. To showcase the utility of teams of unmanned rotorcraft for spatiotemporal sampling, optimal algorithms are developed for two sampling objectives: (1) sampling continuous spatiotemporal fields modeled as Gaussian processes, and (2) optimal motion planning for coordinated target detection, which is an example of a discrete spatiotemporal field. All algorithms are tested in simulation and several are tested in a motion capture based experimental testbed

DRONE DELIVERY OF CBNRECy – DEW WEAPONS Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD)

Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD) is our sixth textbook in a series covering the world of UASs and UUVs. Our textbook takes on a whole new purview for UAS / CUAS/ UUV (drones) – how they can be used to deploy Weapons of Mass Destruction and Deception against CBRNE and civilian targets of opportunity. We are concerned with the future use of these inexpensive devices and their availability to maleficent actors. Our work suggests that UASs in air and underwater UUVs will be the future of military and civilian terrorist operations. UAS / UUVs can deliver a huge punch for a low investment and minimize human casualties.https://newprairiepress.org/ebooks/1046/thumbnail.jp

2020 NASA Technology Taxonomy

This document is an update (new photos used) of the PDF version of the 2020 NASA Technology Taxonomy that will be available to download on the OCT Public Website. The updated 2020 NASA Technology Taxonomy, or "technology dictionary", uses a technology discipline based approach that realigns like-technologies independent of their application within the NASA mission portfolio. This tool is meant to serve as a common technology discipline-based communication tool across the agency and with its partners in other government agencies, academia, industry, and across the world

Spiky RBN: A Sub-symbolic Artificial Chemistry

We design and build a sub-symbolic artificial chemistry based on random boolean networks (RBN). We show the expressive richness of the RBN in terms of system design and the behavioural range of the overall system. This is done by first generating reference sets of RBNs and then comparing their behaviour as we add mass conservation and energetics to the system. The comparison is facilitated by an activity measure based on information theory and reaction graphs but tailored for our system. The system is used to reason about methods of designing complex systems and directing them towards specific tasks

Proceedings of the 2021 DigitalFUTURES

This open access book is a compilation of selected papers from 2021 DigitalFUTURES—The 3rd International Conference on Computational Design and Robotic Fabrication (CDRF 2021). The work focuses on novel techniques for computational design and robotic fabrication. The contents make valuable contributions to academic researchers, designers, and engineers in the industry. As well, readers encounter new ideas about understanding material intelligence in architecture

Sensor-Augmented Lightning Mitigation; Implications for Risk at Hydraulic Fracturing Storage Facilities

Hydraulic Fracturing (hydro fracking) has revolutionized oil and gas production in the United States. Controversy has been widespread and plenty of uncertainty remains commonplace in the public. The topic of hazardous chemicals and pollution associated with hydro fracking will be presented in some detail. However, the key focus will be on sensors and lightning mitigation at produced hydrocarbon storage batteries. Unmitigated fires and explosions will be shown to cause $10 million per direct strike in some lightning risk zones. Lightning has stood as an unresolved threat to hydrocarbon storage facilities for over 100 years. Literature research has shown that 33% of all modern hydrocarbon tank accidents are due to lightning (Chang and Lin, 2006); in addition, cloud-ground lightning strikes are predicted to increase by 50% this century (Romps et al., 2014). An overlay of the current National Lightning Detection Network (NLDN) risk map and the Energy Information Administration (EIA) shale play map clearly show the lightning threat only increasing with the migration of future shale activities. While planning may change, shale deposits and regional lightning threats are not changing geographically; this research quantifies the threat and outlines clear lightning mitigation strategies. Furthermore, real-time detection and the associated methodology of lightning mitigation have implications for industries far beyond hydro fracking. By leveraging industrial standards for Fire and Gas Systems (FGS) such as IEC 61511, the proposed lightning effects mitigation system has a pathway toward verification and eventual validation at a broad array of industrial sites. Some extended applications included Navy fuel storage depots and Liquefied Natural Gas (LNG) facilities