1,090 research outputs found
A Methodology to Enable Concurrent Trade Space Exploration of Space Campaigns and Transportation Systems
Space exploration campaigns detail the ways and means to achieve goals for our human spaceflight programs. Significant strategic, financial, and programmatic investments over long timescales are required to execute them, and therefore must be justified to decision makers. To make an informed down-selection, many alternative campaign designs are presented at the conceptual-level, as a set and sequence of individual missions to perform that meets the goals and constraints of the campaign, either technical or programmatic. Each mission is executed by in-space transportation systems, which deliver either crew or cargo payloads to various destinations. Design of each of these transportation systems is highly dependent on campaign goals and even small changes in subsystem design parameters can prompt significant changes in the overall campaign strategy. However, the current state of the art describes campaign and vehicle design processes that are generally performed independently, which limits the ability to assess these sensitive impacts. The objective of this research is to establish a methodology for space exploration campaign design that represents transportation systems as a collection of subsystems and integrates its design process to enable concurrent trade space exploration. More specifically, the goal is to identify existing campaign and vehicle design processes to use as a foundation for improvement and eventual integration.
In the past two decades, researchers have adopted terrestrial logistics and supply chain optimization processes to the space campaign design problem by accounting for the challenges that accompany space travel. Fundamentally, a space campaign is formulated as a network design problem where destinations, such as orbits or surfaces of planetary bodies, are represented as nodes with the routes between them as arcs. The objective of this design problem is to optimize the flow of commodities within network using available transport systems. Given the dynamic nature and the number of commodities involved, each campaign can be modeled as a time-expanded, generalized multi-commodity network flow and solved using a mixed integer programming algorithm. To address the challenge of modeling complex concept of operations (ConOps), this formulation was extended to include paths as a set of arcs, further enabling the inclusion of vehicle stacks and payload transfers in the campaign optimization process. Further, with the focus of transportation system within this research, the typical fixed orbital nodes in the logistics network are modified to represent ranges of orbits, categorized by their characteristic energy. This enables the vehicle design process to vary each orbit in the mission as it desires to find the best one per vehicle.
By extension, once integrated, arc costs of dV and dT are updated each iteration. Once campaign goals and external constraints are included, the formulated campaign design process generates alternatives at the conceptual level, where each one identifies the optimal set and sequence of missions to perform.
Representing transportation systems as a collection of subsystems introduces challenges in the design of each vehicle, with a high degree of coupling between each subsystem as well as the driving mission. Additionally, sizing of each subsystem can have many inputs and outputs linked across the system, resulting in a complex, multi-disciplinary analysis, and optimization problem. By leveraging the ontology within the Dynamic Rocket Equation Tool, DYREQT, this problem can be solved rapidly by defining each system as a hierarchy of elements and subelements, the latter corresponding to external subsystem-level sizing models. DYREQT also enables the construction of individual missions as a series of events, which can be directly driven and generated by the mission set found by the campaign optimization process. This process produces sized vehicles iteratively by using the mission input, subsystem level sizing models, and the ideal rocket equation.
By conducting a literature review of campaign and vehicle design processes, the different pieces of the overall methodology are identified, but not the structure. The specific iterative solver, the corresponding convergence criteria, and initialization scheme are the primary areas for experimentation of this thesis. Using NASA’s reference 3-element Human Landing System campaign, the results of these experiments show that the methodology performs best with the vehicle sizing and synthesis process initializing and a path guess that minimizes dV. Further, a converged solution is found faster using non-linear Gauss Seidel fixed point iteration over Jacobi and set of convergence criteria that covers vehicle masses and mission data.
To show improvement over the state of the art, and how it enables concurrent trade studies, this methodology is used at scale in a demonstration using NASA’s Design Reference Architecture 5.0. The LH2 Nuclear Thermal Propulsion (NTP) option is traded with NH3and H2O at the vehicle-level as a way to show the impacts of alternative propellants on the vehicle sizing and campaign strategy. Martian surface stay duration is traded at the campaign-level through two options: long-stay and short-stay. The methodology was able to produce four alternative campaigns over the course of two weeks, which provided data about the launch and aggregation strategy, mission profiles, high-level figures of merit, and subsystem-level vehicle sizes for each alternative. Expectedly, with their lower specific impulses, alternative NTP propellants showed significant growth in the overall mass required to execute each campaign, subsequently represented the number of drop tanks and launches. Further, the short-stay campaign option showed a similar overall mass required compared to its long-stay counterpart, but higher overall costs even given the fewer elements required. Both trade studies supported the overall hypothesis and that integrating the campaign and vehicle design processes addresses the coupling between then and directly shows the impacts of their sensitivities on each other. As a result, the research objective was fulfilled by producing a methodology that was able to address the key gaps identified in the current state of the art.Ph.D
The dynamics and control of large space structures with distributed actuation
Future large space structures are likely to be constructed at much greater length-scales, and lower areal mass densities than has been achieved to-date. This could be enabled by ongoing developments in on-orbit manufacturing, whereby large structures are 3D-printed in space from raw feedstock materials. This thesis proposes and analyses a number of attitude control strategies which could be adopted for this next generation of ultra-lightweight, large space structures. Each of the strategies proposed makes use of distributed actuation, which is demonstrated early in the thesis to reduce structural deformations during attitude manoeuvres. All of the proposed strategies are considered to be particularly suitable for structures which are 3d-printed on-orbit, due to the relative simplicity of the actuators and ease with which the actuator placement or construction could be integrated with the on-orbit fabrication of the structure itself.
The first strategy proposed is the use of distributed arrays of magnetorquer rods. First, distributed torques are shown to effectively rotate highly flexible structures. This is compared with torques applied to the centre-of-mass of the structure, which cause large surface deformations and can fail to enact a rotation. This is demonstrated using a spring-mass model of a planar structure with embedded actuators. A torque distribution algorithm is then developed to control an individually addressable array of actuators. Attitude control simulations are performed, using the array to control a large space structure, again modelled as a spring-mass system. The attitude control system is demonstrated to effectively detumble a representative 75×75m flexible structure, and perform slew manoeuvres, in the presence of both gravity-gradient torques and a realistic magnetic field model.
The development of a Distributed Magnetorquer Demonstration Platform is then presented, a laboratory-scale implementation of the distributed magnetorquer array concept. The platform consists of 48 addressable magnetorquers, arranged with two perpendicular torquers at the nodes of a 5×5 grid. The control algorithms proposed previously in the thesis are implemented and tested on this hardware, demonstrating the practical feasibility of the concept. Results of experiments using a spherical air bearing and Helmholtz cage are presented, demonstrating rest-to-rest slew manoeuvres and detumbling around a single axis using the developed algorithms.
The next attitude control strategy presented is the use of embedded current loops, conductive pathways which can be integrated with a spacecraft support structure and used to generate control torques through interaction with the Earth’s magnetic field. Length-scaling laws are derived by determining what fraction of a planar spacecraft’s mass would need to be allocated to the conductive current loops in order to produce a torque at least as large as the gravity gradient torque. Simulations are then performed of a flexible truss structure, modelled as a spring-mass system, for a range of structural flexibilities and a variety of current loop geometries. Simulations demonstrate rotation of the structure via the electromagnetic force on the current carrying elements, and are also used to characterise the structural deformations caused by the various current loop geometries. An attitude control simulation is then performed, demonstrating a 90◦ slew manoeuvre of a 250×250 m flexible structure through the use of three orthogonal sets of current loops embedded within the spacecraft.
The final concept investigated in this thesis is a self-reconfiguring OrigamiSat, where reconfiguration of the proposed OrigamiSat is triggered by changes in the local surface optical properties of an origami structure to harness the solar radiation pressure induced acceleration. OrigamiSats are origami spacecraft with reflective panels which, when flat, operate as a conventional solar sail. Shape reconfiguration, i.e. “folding” of the origami design, allows the OrigamiSat to change operational modes, performing different functions as per mission requirements. For example, a flat OrigamiSat could be reconfigured into the shape of a parabolic reflector, before returning to the flat configuration when required to again operate as a solar sail, providing propellant-free propulsion. Shape reconfiguration or folding of OrigamiSats through the use of surface reflectivity modulation is investigated in this thesis. First, a simplified, folding facet model is used to perform a length-scaling analysis, and then a 2d multibody dynamics simulation is used to demonstrate the principle of solar radiation presure induced folding. A 3d multibody dynamics simulation is then developed and used to demonstrate shape reconfiguration for different origami folding patterns. Here, the attitude dynamics and shape reconfiguration of OrigamiSats are found to be highly coupled, and thus present a challenge from a control perspective. The problem of integrating attitude and shape control of a Miura-fold pattern OrigamiSat through the use of variable reflectivity is then investigated, and a control algorithm developed which uses surface reflectivity modulation of the OrigamiSat facets to enact shape reconfiguration and attitude manoeuvres simultaneously
Multi-Fidelity Bayesian Optimization for Efficient Materials Design
Materials design is a process of identifying compositions and structures to achieve
desirable properties. Usually, costly experiments or simulations are required to evaluate
the objective function for a design solution. Therefore, one of the major challenges is how
to reduce the cost associated with sampling and evaluating the objective. Bayesian
optimization is a new global optimization method which can increase the sampling
efficiency with the guidance of the surrogate of the objective. In this work, a new
acquisition function, called consequential improvement, is proposed for simultaneous
selection of the solution and fidelity level of sampling. With the new acquisition function,
the subsequent iteration is considered for potential selections at low-fidelity levels, because
evaluations at the highest fidelity level are usually required to provide reliable objective
values. To reduce the number of samples required to train the surrogate for molecular
design, a new recursive hierarchical similarity metric is proposed. The new similarity
metric quantifies the differences between molecules at multiple levels of hierarchy
simultaneously based on the connections between multiscale descriptions of the structures.
The new methodologies are demonstrated with simulation-based design of materials and
structures based on fully atomistic and coarse-grained molecular dynamics simulations,
and finite-element analysis. The new similarity metric is demonstrated in the design of
tactile sensors and biodegradable oligomers. The multi-fidelity Bayesian optimization
method is also illustrated with the multiscale design of a piezoelectric transducer by
concurrently optimizing the atomic composition of the aluminum titanium nitride ceramic
and the device’s porous microstructure at the micrometer scale.Ph.D
Development of Bridge Information Model (BrIM) for digital twinning and management using TLS technology
In the current modern era of information and technology, the concept of Building Information Model (BIM), has made revolutionary changes in different aspects of engineering design, construction, and management of infrastructure assets, especially bridges. In the field of bridge engineering, Bridge Information Model (BrIM), as a specific form of BIM, includes digital twining of the physical asset associated with geometrical inspections and non-geometrical data, which has eliminated the use of traditional paper-based documentation and hand-written reports, enabling professionals and managers to operate more efficiently and effectively. However, concerns remain about the quality of the acquired inspection data and utilizing BrIM information for remedial decisions in a reliable Bridge Management System (BMS) which are still reliant on the knowledge and experience of the involved inspectors, or asset manager, and are susceptible to a certain degree of subjectivity. Therefore, this research study aims not only to introduce the valuable benefits of Terrestrial Laser Scanning (TLS) as a precise, rapid, and qualitative inspection method, but also to serve a novel sliced-based approach for bridge geometric Computer-Aided Design (CAD) model extraction using TLS-based point cloud, and to contribute to BrIM development. Moreover, this study presents a comprehensive methodology for incorporating generated BrIM in a redeveloped element-based condition assessment model while integrating a Decision Support System (DSS) to propose an innovative BMS. This methodology was further implemented in a designed software plugin and validated by a real case study on the Werrington Bridge, a cable-stayed bridge in New South Wales, Australia. The finding of this research confirms the reliability of the TLS-derived 3D model in terms of quality of acquired data and accuracy of the proposed novel slice-based method, as well as BrIM implementation, and integration of the proposed BMS into the developed BrIM. Furthermore, the results of this study showed that the proposed integrated model addresses the subjective nature of decision-making by conducting a risk assessment and utilising structured decision-making tools for priority ranking of remedial actions. The findings demonstrated acceptable agreement in utilizing the proposed BMS for priority ranking of structural elements that require more attention, as well as efficient optimisation of remedial actions to preserve bridge health and safety
Vibration Control of Innovative Lightweight Thermoplastic Composite Material via Smart Actuators for Aerospace Applications
Piezoelectric actuators and sensors can be incorporated into aerospace structures to suppress unwanted flexible oscillations. These devices need to interact with various passive structures, including innovative materials such as thermoplastic composites, which offer several advantages over traditional options. This study explores the application of a piezoelectric-based vibration control system on a lightweight carbon-reinforced thermoplastic material. Numerical and experimental investigations are conducted to assess the mechanical properties and damping behavior of the composite. As a case study, an equivalent orthotropic shell laminate is developed to facilitate finite element modeling of two composite solar panel structures equipped to a spacecraft. Moreover, an electro-mechanical formulation is implemented to integrate smart actuators and sensors onto the composite hosting structure. Finally, the efficiency of the active vibration control system is assessed when significant vibration perturbations are caused on the panels by rigid–flexible dynamics coupling during agile attitude maneuvers. The results demonstrate the damping factor of the material can be noticeably improved, making the proposed system a promising technological solution for further aerospace applications. © 2023 by the authors
Application of knowledge management principles to support maintenance strategies in healthcare organisations
Healthcare is a vital service that touches people's lives on a daily basis by providing treatment and
resolving patients' health problems through the staff. Human lives are ultimately dependent on the skilled
hands of the staff and those who manage the infrastructure that supports the daily operations of the
service, making it a compelling reason for a dedicated research study. However, the UK healthcare sector
is undergoing rapid changes, driven by rising costs, technological advancements, changing patient
expectations, and increasing pressure to deliver sustainable healthcare. With the global rise in healthcare
challenges, the need for sustainable healthcare delivery has become imperative. Sustainable healthcare
delivery requires the integration of various practices that enhance the efficiency and effectiveness of
healthcare infrastructural assets. One critical area that requires attention is the management of
healthcare facilities.
Healthcare facilitiesis considered one of the core elements in the delivery of effective healthcare services,
as shortcomings in the provision of facilities management (FM) services in hospitals may have much more
drastic negative effects than in any other general forms of buildings. An essential element in healthcare
FM is linked to the relationship between action and knowledge. With a full sense of understanding of
infrastructural assets, it is possible to improve, manage and make buildings suitable to the needs of users
and to ensure the functionality of the structure and processes.
The premise of FM is that an organisation's effectiveness and efficiency are linked to the physical
environment in which it operates and that improving the environment can result in direct benefits in
operational performance. The goal of healthcare FM is to support the achievement of organisational
mission and goals by designing and managing space and infrastructural assets in the best combination of
suitability, efficiency, and cost. In operational terms, performance refers to how well a building
contributes to fulfilling its intended functions.
Therefore, comprehensive deployment of efficient FM approaches is essential for ensuring quality
healthcare provision while positively impacting overall patient experiences. In this regard, incorporating
knowledge management (KM) principles into hospitals' FM processes contributes significantly to ensuring
sustainable healthcare provision and enhancement of patient experiences. Organisations implementing
KM principles are better positioned to navigate the constantly evolving business ecosystem easily.
Furthermore, KM is vital in processes and service improvement, strategic decision-making, and
organisational adaptation and renewal.
In this regard, KM principles can be applied to improve hospital FM, thereby ensuring sustainable
healthcare delivery. Knowledge management assumes that organisations that manage their
organisational and individual knowledge more effectively will be able to cope more successfully with the challenges of the new business ecosystem. There is also the argument that KM plays a crucial role in
improving processes and services, strategic decision-making, and adapting and renewing an organisation.
The goal of KM is to aid action – providing "a knowledge pull" rather than the information overload most
people experience in healthcare FM. Other motivations for seeking better KM in healthcare FM include
patient safety, evidence-based care, and cost efficiency as the dominant drivers. The most evidence exists
for the success of such approaches at knowledge bottlenecks, such as infection prevention and control,
working safely, compliances, automated systems and reminders, and recall based on best practices. The
ability to cultivate, nurture and maximise knowledge at multiple levels and in multiple contexts is one of
the most significant challenges for those responsible for KM. However, despite the potential benefits,
applying KM principles in hospital facilities is still limited. There is a lack of understanding of how KM can
be effectively applied in this context, and few studies have explored the potential challenges and
opportunities associated with implementing KM principles in hospitals facilities for sustainable healthcare
delivery.
This study explores applying KM principles to support maintenance strategies in healthcare organisations.
The study also explores the challenges and opportunities, for healthcare organisations and FM
practitioners, in operationalising a framework which draws the interconnectedness between healthcare.
The study begins by defining healthcare FM and its importance in the healthcare industry. It then discusses
the concept of KM and the different types of knowledge that are relevant in the healthcare FM sector.
The study also examines the challenges that healthcare FM face in managing knowledge and how the
application of KM principles can help to overcome these challenges. The study then explores the different
KM strategies that can be applied in healthcare FM. The KM benefits include improved patient outcomes,
reduced costs, increased efficiency, and enhanced collaboration among healthcare professionals.
Additionally, issues like creating a culture of innovation, technology, and benchmarking are considered.
In addition, a framework that integrates the essential concepts of KM in healthcare FM will be presented
and discussed.
The field of KM is introduced as a complex adaptive system with numerous possibilities and challenges.
In this context, and in consideration of healthcare FM, five objectives have been formulated to achieve
the research aim. As part of the research, a number of objectives will be evaluated, including appraising
the concept of KM and how knowledge is created, stored, transferred, and utilised in healthcare FM,
evaluating the impact of organisational structure on job satisfaction as well as exploring how cultural
differences impact knowledge sharing and performance in healthcare FM organisations.
This study uses a combination of qualitative methods, such as meetings, observations, document analysis
(internal and external), and semi-structured interviews, to discover the subjective experiences of
healthcare FM employees and to understand the phenomenon within a real-world context and attitudes of healthcare FM as the data collection method, using open questions to allow probing where appropriate
and facilitating KM development in the delivery and practice of healthcare FM.
The study describes the research methodology using the theoretical concept of the "research onion". The
qualitative research was conducted in the NHS acute and non-acute hospitals in Northwest England.
Findings from the research study revealed that while the concept of KM has grown significantly in recent
years, KM in healthcare FM has received little or no attention. The target population was fifty (five FM
directors, five academics, five industry experts, ten managers, ten supervisors, five team leaders and ten
operatives). These seven groups were purposively selected as the target population because they play a
crucial role in KM enhancement in healthcare FM. Face-to-face interviews were conducted with all
participants based on their pre-determined availability. Out of the 50-target population, only 25 were
successfully interviewed to the point of saturation. Data collected from the interview were coded and
analysed using NVivo to identify themes and patterns related to KM in healthcare FM.
The study is divided into eight major sections. First, it discusses literature findings regarding healthcare
FM and KM, including underlying trends in FM, KM in general, and KM in healthcare FM. Second, the
research establishes the study's methodology, introducing the five research objectives, questions and
hypothesis. The chapter introduces the literature on methodology elements, including philosophical views
and inquiry strategies. The interview and data analysis look at the feedback from the interviews. Lastly, a
conclusion and recommendation summarise the research objectives and suggest further research.
Overall, this study highlights the importance of KM in healthcare FM and provides insights for healthcare
FM directors, managers, supervisors, academia, researchers and operatives on effectively leveraging
knowledge to improve patient care and organisational effectiveness
The Robotic Multiobject Focal Plane System of the Dark Energy Spectroscopic Instrument (DESI)
A system of 5020 robotic fiber positioners was installed in 2019 on the Mayall Telescope, at Kitt Peak National Observatory. The robots automatically retarget their optical fibers every 10-20 minutes, each to a precision of several microns, with a reconfiguration time of fewer than 2 minutes. Over the next 5 yr, they will enable the newly constructed Dark Energy Spectroscopic Instrument (DESI) to measure the spectra of 35 million galaxies and quasars. DESI will produce the largest 3D map of the universe to date and measure the expansion history of the cosmos. In addition to the 5020 robotic positioners and optical fibers, DESI’s Focal Plane System includes six guide cameras, four wave front cameras, 123 fiducial point sources, and a metrology camera mounted at the primary mirror. The system also includes associated structural, thermal, and electrical systems. In all, it contains over 675,000 individual parts. We discuss the design, construction, quality control, and integration of all these components. We include a summary of the key requirements, the review and acceptance process, on-sky validations of requirements, and lessons learned for future multiobject, fiber-fed spectrographs
Path and Motion Planning for Autonomous Mobile 3D Printing
Autonomous robotic construction was envisioned as early as the ‘90s, and yet, con-
struction sites today look much alike ones half a century ago. Meanwhile, highly
automated and efficient fabrication methods like Additive Manufacturing, or 3D
Printing, have seen great success in conventional production. However, existing
efforts to transfer printing technology to construction applications mainly rely on
manufacturing-like machines and fail to utilise the capabilities of modern robotics.
This thesis considers using Mobile Manipulator robots to perform large-scale
Additive Manufacturing tasks. Comprised of an articulated arm and a mobile base,
Mobile Manipulators, are unique in their simultaneous mobility and agility, which
enables printing-in-motion, or Mobile 3D Printing. This is a 3D printing modality,
where a robot deposits material along larger-than-self trajectories while in motion.
Despite profound potential advantages over existing static manufacturing-like large-
scale printers, Mobile 3D printing is underexplored. Therefore, this thesis tack-
les Mobile 3D printing-specific challenges and proposes path and motion planning
methodologies that allow this printing modality to be realised. The work details
the development of Task-Consistent Path Planning that solves the problem of find-
ing a valid robot-base path needed to print larger-than-self trajectories. A motion
planning and control strategy is then proposed, utilising the robot-base paths found
to inform an optimisation-based whole-body motion controller. Several Mobile 3D
Printing robot prototypes are built throughout this work, and the overall path and
motion planning strategy proposed is holistically evaluated in a series of large-scale
3D printing experiments
Evaluating footwear “in the wild”: Examining wrap and lace trail shoe closures during trail running
Trail running participation has grown over the last two decades. As a result, there have been an increasing number of studies examining the sport. Despite these increases, there is a lack of understanding regarding the effects of footwear on trail running biomechanics in ecologically valid conditions. The purpose of our study was to evaluate how a Wrap vs. Lace closure (on the same shoe) impacts running biomechanics on a trail. Thirty subjects ran a trail loop in each shoe while wearing a global positioning system (GPS) watch, heart rate monitor, inertial measurement units (IMUs), and plantar pressure insoles. The Wrap closure reduced peak foot eversion velocity (measured via IMU), which has been associated with fit. The Wrap closure also increased heel contact area, which is also associated with fit. This increase may be associated with the subjective preference for the Wrap. Lastly, runners had a small but significant increase in running speed in the Wrap shoe with no differences in heart rate nor subjective exertion. In total, the Wrap closure fit better than the Lace closure on a variety of terrain. This study demonstrates the feasibility of detecting meaningful biomechanical differences between footwear features in the wild using statistical tools and study design. Evaluating footwear in ecologically valid environments often creates additional variance in the data. This variance should not be treated as noise; instead, it is critical to capture this additional variance and challenges of ecologically valid terrain if we hope to use biomechanics to impact the development of new products
Nonlinear Systems
Open Mathematics is a challenging notion for theoretical modeling, technical analysis, and numerical simulation in physics and mathematics, as well as in many other fields, as highly correlated nonlinear phenomena, evolving over a large range of time scales and length scales, control the underlying systems and processes in their spatiotemporal evolution. Indeed, available data, be they physical, biological, or financial, and technologically complex systems and stochastic systems, such as mechanical or electronic devices, can be managed from the same conceptual approach, both analytically and through computer simulation, using effective nonlinear dynamics methods. The aim of this Special Issue is to highlight papers that show the dynamics, control, optimization and applications of nonlinear systems. This has recently become an increasingly popular subject, with impressive growth concerning applications in engineering, economics, biology, and medicine, and can be considered a veritable contribution to the literature. Original papers relating to the objective presented above are especially welcome subjects. Potential topics include, but are not limited to: Stability analysis of discrete and continuous dynamical systems; Nonlinear dynamics in biological complex systems; Stability and stabilization of stochastic systems; Mathematical models in statistics and probability; Synchronization of oscillators and chaotic systems; Optimization methods of complex systems; Reliability modeling and system optimization; Computation and control over networked systems
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