Simplex Control Methods for Robust Convergence of Small Unmanned Aircraft Flight Trajectories in the Constrained Urban Environment

Constrained optimal control problems for Small Unmanned Aircraft Systems (SUAS) have long suffered from excessive computation times caused by a combination of constraint modeling techniques, the quality of the initial path solution provided to the optimal control solver, and improperly defining the bounds on system state variables, ultimately preventing implementation into real-time, on-board systems. In this research, a new hybrid approach is examined for real-time path planning of SUAS. During autonomous flight, a SUAS is tasked to traverse from one target region to a second target region while avoiding hard constraints consisting of building structures of an urban environment. Feasible path solutions are determined through highly constrained spaces, investigating narrow corridors, visiting multiple waypoints, and minimizing incursions to keep-out regions. These issues are addressed herein with a new approach by triangulating the search space in two-dimensions, or using a tetrahedron discretization in three-dimensions to define a polygonal search corridor free of constraints while alleviating the dependency of problem specific parameters by translating the problem to barycentric coordinates. Within this connected simplex construct, trajectories are solved using direct orthogonal collocation methods while leveraging navigation mesh techniques developed for fast geometric path planning solutions. To illustrate two-dimensional flight trajectories, sample results are applied to flight through downtown Chicago at an altitude of 600 feet above ground level. The three-dimensional problem is examined for feasibility by applying the methodology to a small scale problem. Computation and objective times are reported to illustrate the design implications for real-time optimal control systems, with results showing 86% reduction in computation time over traditional methods

Guidance and control for defense systems against ballistic threats

A defense system against ballistic threat is a very complex system from the engineering point of view. It involves different kinds of subsystems and, at the same time, it presents very strict requirements. Technology evolution drives the need of constantly upgrading system’s capabilities. The guidance and control fields are two of the areas with the best progress possibilities. This thesis deals with the guidance and control problems involved in a defense system against ballistic threats. This study was undertaken by analyzing the mission of an intercontinental ballistic missile. Trajectory reconstruction from radar and satellite measurements was carried out with an estimation algorithm for nonlinear systems. Knowing the trajectory is a prerequisite for intercepting the ballistic missile. Interception takes place thanks to a dedicated tactical missile. The guidance and control of this missile were also studied in this work. Particular attention was paid on the estimation of engagement’s variables inside the homing loop. Interceptor missiles are usually equipped with a seeker that provides the angle under which the interceptor sees its target. This single measurement does not guarantee the observability of the variables required by advanced guidance laws such as APN, OGL, or differential games-based laws. A new guidance strategy was proposed, that solves the bad observability problems and returns satisfactory engagement performances. The thesis is concluded by a study of the interceptor most suitable aerodynamic configuration in order to implement the proposed strategy, and by the relative autopilot design. The autopilot implements the lateral acceleration commands from the guidance system. The design was carried out with linear control techniques, considering requirements on the rising time, actuators maximum effort, and response to a bang-bang guidance command. The analysis of the proposed solutions was carried on by means of numerical simulations, developed for each single case-study

Response surface methods applied to submarine concept exploration

CIVINS (Civilian Institutions) Thesis documentIt is estimated that 70 to 85 percent of a naval ship's life-cycle cost is determined during the concept exploration phase which places an importance in the methodology used by the designer to select the concept design. But trade-off studies are guided primarily by past experience, rules-of-thumb, and designer preference. This approach is ad hoc, not efficient and may not lead to an optimum concept design. Even worse, once the designer has a 'good' concept design, he has no process or methodology to determine whether a better concept design is possible or not. A methodology is required to search the design space for an optimal solution based on the specified preferences from the customer. But the difficulty is the design space, which is non-linear, discontinuous, and bounded by a variety of constraints, goals, and thresholds. Then the design process itself is difficult to optimize because of the coupling among decomposed engineering disciplines and sub-system interactions. These attributes prevent application of mature optimization techniques including Lagrange multipliers, steepest ascent methods, linear programming, non-linear programming, and dynamic programming. To further improve submarine concept exploration, this thesis examines a statistical technique called Response Surface Methods (RSM). The purpose of RSM is to lead to an understanding of the relationship between the input (factors) and Output (response) variables, often to further the optimization of the underlying process. The RSM approach allows the designers to find a local optimal and examine how the design factors affect the response in the region around the generated optimal point.http://archive.org/details/responsesurfacem1094510921CIVIN

Planification de trajectoire sous contraintes d'aéronef

The focus of this PhD thesis is on the trajectory planning module as a part of autonomous aircraft system. Feasible trajectories for aircraft flying in environment cluttered by obstacles are studied. Since aircraft dynamics are complex, nonlinear and nonholonomic; trajectory planning for such systems is very difficult and challenging.Rapidly-exploring Random Tree or RRT path planner is used as a basis to find a feasible trajectory. The advantage of this algorithm is that it does not consider only the complete vehicle model but also the environment. Two algorithms are developed to find a feasible and optimal solution. The RRT algorithm, combined with a preprocessing of the exploration space, is used for a complete realistic model of the system. However, this approach does not consider any optimal criteria. In order to consider performance criteria, the RRT* algorithm is used based on a simplified model with the help of the artificial potential field as a heuristic to improve the convergence rate to the solution.The algorithms are simulated in an application of hypersonic aerial vehicles, for example, interceptor missiles flying in high altitude. This makes the aerodynamically controlled aircraft have less maneuverability since the air density decreases exponentially with altitude. 3D shortest paths are developed and used as a metric. Therefore, a feasible and optimal trajectory is obtained efficiently. With these results, real-time constraints will be easier to verify if the algorithm is implemented on board the vehicle. In future work, replanning will be considered to improve the performance of the algorithm in case of dynamic environment or changes in the mission.Le sujet de cette thèse porte sur la planification de trajectoire pour un aéronef autonome. Les trajectoires d'aéronefs se déplaçant dans un environnement encombré par des obstacles sont étudiées. La dynamique des aéronefs étant complexe, non linéaire, et non holonome, la planification de trajectoire de ce type de systèmes est un problème très difficile.L'algorithme Rapidly-exploring Random Tree, ou RRT, est utilisé comme planificateur de base. L'avantage de cet algorithme est qu'il permet de considérer des modèles d'aéronefs complets dans un environnement complexe. Deux algorithmes sont développés pour trouver une solution faisable et optimale. Pour un modèle complet, L'algorithme RRT avec un prétraitement de l'espace d'état est utilisé dans le cas d'une prise en compte du modèle complet du système. Cependant, cette méthode ne considère pas de critères optimaux. Pour y remédier, l'algorithme RRT* est utilisé pour un modèle simplifié du système avec l'aide de champs de potentiels artificiels comme heuristique pour améliorer le taux de convergence vers la solution.Les algorithmes sont simulés pour une application d'aéronefs hypersoniques, comme par exemple des missiles intercepteurs volants à haute altitude. Les aéronefs ont donc moins de manœuvrabilité parce que la densité de l'air diminue exponentiellement avec l'altitude. Les chemins les plus courts en 3D sont développés et utilisés comme une métrique. Des trajectoires réalisables et optimales sont obtenues efficacement. A partir de ces résultats, les contraintes de temps réel à bord du véhicule seront plus faciles à vérifier. Dans les travaux futurs, la replanification sera considérée pour améliorer la performance de l'algorithme en cas d'environnement dynamique ou de changements dans la mission

Aeronautical engineering: A continuing bibliography with indexes (supplement 272)

This bibliography lists 719 reports, articles, and other documents introduced into the NASA scientific and technical information system in November, 1991. Subject coverage includes: design, construction and testing of aircraft and aircraft engines; aircraft components, equipment, and systems; ground support systems; and theoretical and applied aspects of aerodynamics and general fluid dynamics

Aeronautical engineering: A continuing bibliography with indexes, supplement 100

This bibliography lists 295 reports, articles, and other documents introduced into the NASA Scientific and Technical Information System in August 1978

Aeronautical engineering: A continuing bibliography with indexes, supplement 146, March 1982

This bibliography lists 442 reports, articles, and other documents introduced into the NASA scientific and technical system in February 1982

Aeronautical Engineering: A continuing bibliography (supplement 158)

This bibliography lists 499 reports, articles and other documents introduced into the NASA scientific and technical information system in January 1983

Multi-attribute tradespace exploration for survivability

Thesis (Ph. D.)--Massachusetts Institute of Technology, Engineering Systems Division, 2009.Cataloged from PDF version of thesis.Includes bibliographical references (p. 235-249).Survivability is the ability of a system to minimize the impact of a finite-duration disturbance on value delivery (i.e., stakeholder benefit at cost), achieved through (1) the reduction of the likelihood or magnitude of a disturbance, (2) the satisfaction of a minimally acceptable level of value delivery during and after a disturbance, and/or (3) a timely recovery. Traditionally specified as a requirement in military systems, survivability is an increasingly important consideration for all engineering systems given the proliferation of natural and artificial threats. Although survivability is an emergent system property that arises from interactions between a system and its environment, conventional approaches to survivability engineering are reductionist in nature. Furthermore, current methods neither accommodate dynamic threat environments nor facilitate stakeholder communication for conducting trade-offs among system lifecycle cost, mission utility, and operational survivability. Multi-Attribute Tradespace Exploration (MATE) for Survivability is introduced as a system analysis methodology to improve the generation and evaluation of survivable alternatives during conceptual design. MATE for Survivability applies decision theory to the parametric modeling of thousands of design alternatives across representative distributions of disturbance environments. To improve the generation of survivable alternatives, seventeen empirically-validated survivability design principles are introduced. The general set of design principles allows the consideration of structural and behavioral strategies for mitigating the impact of disturbances over the lifecycle of a given encounter.(cont.) To improve the evaluation of survivability, value-based metrics are introduced for the assessment of survivability as a dynamic, continuous, and path-dependent system property. Two of these metrics, time-weighted average utility loss and threshold availability, are used to evaluate survivability based on the relationship between stochastic utility trajectories of system state and stakeholder expectations across nominal and perturbed environments. Finally, the survivability "tear(drop)" tradespace is introduced to enable the identification of inherently survivable architectures that efficiently balance performance metrics of cost, utility, and survivability. The internal validity and prescriptive value of the design principles, metrics, and tradespaces comprising MATE for Survivability are established through applications to the designs of an orbital transfer vehicle and a satellite radar system.by Matthew G. Richards.Ph.D

Cyber-Human Systems, Space Technologies, and Threats

CYBER-HUMAN SYSTEMS, SPACE TECHNOLOGIES, AND THREATS is our eighth textbook in a series covering the world of UASs / CUAS/ UUVs / SPACE. Other textbooks in our series are Space Systems Emerging Technologies and Operations; Drone Delivery of CBNRECy – DEW Weapons: Emerging Threats of Mini-Weapons of Mass Destruction and Disruption (WMDD); Disruptive Technologies with applications in Airline, Marine, Defense Industries; Unmanned Vehicle Systems & Operations On Air, Sea, Land; Counter Unmanned Aircraft Systems Technologies and Operations; Unmanned Aircraft Systems in the Cyber Domain: Protecting USA’s Advanced Air Assets, 2nd edition; and Unmanned Aircraft Systems (UAS) in the Cyber Domain Protecting USA’s Advanced Air Assets, 1st edition. Our previous seven titles have received considerable global recognition in the field. (Nichols & Carter, 2022) (Nichols, et al., 2021) (Nichols R. K., et al., 2020) (Nichols R. , et al., 2020) (Nichols R. , et al., 2019) (Nichols R. K., 2018) (Nichols R. K., et al., 2022)https://newprairiepress.org/ebooks/1052/thumbnail.jp