Rotorcraft Blade Pitch Control Through Torque Modulation

Micro air vehicle (MAV) technology has broken with simple mimicry of manned aircraft in order to fulfill emerging roles which demand low-cost reliability in the hands of novice users, safe operation in confined spaces, contact and manipulation of the environment, or merging vertical flight and forward flight capabilities. These specialized needs have motivated a surge of new specialized aircraft, but the majority of these design variations remain constrained by the same fundamental technologies underpinning their thrust and control. This dissertation solves the problem of simultaneously governing MAV thrust, roll, and pitch using only a single rotor and single motor. Such an actuator enables new cheap, robust, and light weight aircraft by eliminating the need for the complex ancillary controls of a conventional helicopter swashplate or the distributed propeller array of a quadrotor. An analytic model explains how cyclic blade pitch variations in a special passively articulated rotor may be obtained by modulating the main drive motor torque in phase with the rotor rotation. Experiments with rotors from 10 cm to 100 cm in diameter confirm the predicted blade lag, pitch, and flap motions. We show the operating principle scales similarly as traditional helicopter rotor technologies, but is subject to additional new dynamics and technology considerations. Using this new rotor, experimental aircraft from 29 g to 870 g demonstrate conventional flight capabilities without requiring more than two motors for actuation. In addition, we emulate the unusual capabilities of a fully actuated MAV over six degrees of freedom using only the thrust vectoring qualities of two teetering rotors. Such independent control over forces and moments has been previously obtained by holonomic or omnidirection multirotors with at least six motors, but we now demonstrate similar abilities using only two. Expressive control from a single actuator enables new categories of MAV, illustrated by experiments with a single actuator aircraft with spatial control and a vertical takeoff and landing airplane whose flight authority is derived entirely from two rotors

Decentralization of Multiagent Policies by Learning What to Communicate

Effective communication is required for teams of robots to solve sophisticated collaborative tasks. In practice it is typical for both the encoding and semantics of communication to be manually defined by an expert; this is true regardless of whether the behaviors themselves are bespoke, optimization based, or learned. We present an agent architecture and training methodology using neural networks to learn task-oriented communication semantics based on the example of a communication-unaware expert policy. A perimeter defense game illustrates the system's ability to handle dynamically changing numbers of agents and its graceful degradation in performance as communication constraints are tightened or the expert's observability assumptions are broken.Comment: 7 page

Designing everyday technologies with human-power and interactive microgeneration

ABSTRACT This paper creatively explores and critically inquires into power and energy at scales at which it can be generated by human bodily kinetic motion, with goals of promoting more engaging, meaningful, and sustainable interactions with and through interactive technology and electricity. To do so we delineate and name the research and design space of interactive microgeneration (IμG) and the subarea of humanpower microgeneration (HPμG). We then present findings from a qualitative study employing (i) novel design prototypes we designed (e.g., a hand-powered mobile phone), (ii) commercially available products (e.g., a solar phone charger), and (iii) common everyday products (e.g., a kitchen knife, a food processor). Our empirical study and design explorations point to new design and research opportunities and challenges related to the generation and consumption of electrical energy in everyday life

The Long-Baseline Neutrino Experiment: Exploring Fundamental Symmetries of the Universe

The preponderance of matter over antimatter in the early Universe, the dynamics of the supernova bursts that produced the heavy elements necessary for life and whether protons eventually decay --- these mysteries at the forefront of particle physics and astrophysics are key to understanding the early evolution of our Universe, its current state and its eventual fate. The Long-Baseline Neutrino Experiment (LBNE) represents an extensively developed plan for a world-class experiment dedicated to addressing these questions. LBNE is conceived around three central components: (1) a new, high-intensity neutrino source generated from a megawatt-class proton accelerator at Fermi National Accelerator Laboratory, (2) a near neutrino detector just downstream of the source, and (3) a massive liquid argon time-projection chamber deployed as a far detector deep underground at the Sanford Underground Research Facility. This facility, located at the site of the former Homestake Mine in Lead, South Dakota, is approximately 1,300 km from the neutrino source at Fermilab -- a distance (baseline) that delivers optimal sensitivity to neutrino charge-parity symmetry violation and mass ordering effects. This ambitious yet cost-effective design incorporates scalability and flexibility and can accommodate a variety of upgrades and contributions. With its exceptional combination of experimental configuration, technical capabilities, and potential for transformative discoveries, LBNE promises to be a vital facility for the field of particle physics worldwide, providing physicists from around the globe with opportunities to collaborate in a twenty to thirty year program of exciting science. In this document we provide a comprehensive overview of LBNE's scientific objectives, its place in the landscape of neutrino physics worldwide, the technologies it will incorporate and the capabilities it will possess.Comment: Major update of previous version. This is the reference document for LBNE science program and current status. Chapters 1, 3, and 9 provide a comprehensive overview of LBNE's scientific objectives, its place in the landscape of neutrino physics worldwide, the technologies it will incorporate and the capabilities it will possess. 288 pages, 116 figure

Long-Baseline Neutrino Facility (LBNF) and Deep Underground Neutrino Experiment (DUNE) Conceptual Design Report Volume 2: The Physics Program for DUNE at LBNF

The Physics Program for the Deep Underground Neutrino Experiment (DUNE) at the Fermilab Long-Baseline Neutrino Facility (LBNF) is described

Social science in a water observing system

Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/95008/1/wrcr12336.pd