Cascaded Optimization for a Persistent Data Ferrying Unmanned Aircraft

This dissertation develops and assesses a cascaded method for designing optimal periodic trajectories and link schedules for an unmanned aircraft to ferry data between stationary ground nodes. This results in a fast solution method without the need to artificially constrain system dynamics. Focusing on a fundamental ferrying problem that involves one source and one destination, but includes complex vehicle and Radio-Frequency (RF) dynamics, a cascaded structure to the system dynamics is uncovered. This structure is exploited by reformulating the nonlinear optimization problem into one that reduces the independent control to the vehicle's motion, while the link scheduling control is folded into the objective function and implemented as an optimal policy that depends on candidate motion control. This formulation is proven to maintain optimality while reducing computation time in comparison to traditional ferry optimization methods. The discrete link scheduling problem takes the form of a combinatorial optimization problem that is known to be NP-Hard. A derived necessary condition for optimality guides the development of several heuristic algorithms, specifically the Most-Data-First Algorithm and the Knapsack Adaptation. These heuristics are extended to larger ferrying scenarios, and assessed analytically and through Monte Carlo simulation, showing better throughput performance in the same order of magnitude of computation time in comparison to other common link scheduling policies. The cascaded optimization method is implemented with a novel embedded software system on a small, unmanned aircraft to validate the simulation results with field experiments. To address the sensitivity of results on trajectory tracking performance, a system that combines motion and link control with waypoint-based navigation is developed and assessed through field experiments. The data ferrying algorithms are further extended by incorporating a Gaussian process to opportunistically learn the RF environment. By continuously improving RF models, the cascaded planner can continually improve the ferrying system's overall performance

Planning the Implementation of a New Enterprsie Resource Planning Software Platform (semester?), IPRO 320

The purpose of IPRO 320 is to improve processes and work flow for Arrow Gear by improving their use of Infor Visual Enterprise Resource Planning Software. At the end of the Spring 2007 semester, the work of this IPRO will lead to Arrow Gear operating more efficiently, allowing them to take on more customers, increase profit, and grow as a company. Specific objectives in achieving this include: ¨ Documenting current workflow and processes involved in gear manufacturing ¨ Detailing current redundancies and inefficiencies with Visual ERP 6.3.8 ¨ Identifying improvements needed with Visual ERP ¨ Determining benefits of upgrading to Visual ERP 6.5.2 ¨ Installing and configuring Visual ERP 6.5.2 ¨ Documenting process issues that still need to be addressed after the installDeliverables for IPRO 320: Planning the Implementation of a New Enterprsie Resource Planning Software Platform for the Spring 2007 semeste

Planning the Implementation of a New Enterprsie Resource Planning Software Platform (semester?), IPRO 320: Enterprise Resource Planning Software IPRO 320 Poster Sp07

The purpose of IPRO 320 is to improve processes and work flow for Arrow Gear by improving their use of Infor Visual Enterprise Resource Planning Software. At the end of the Spring 2007 semester, the work of this IPRO will lead to Arrow Gear operating more efficiently, allowing them to take on more customers, increase profit, and grow as a company. Specific objectives in achieving this include: ¨ Documenting current workflow and processes involved in gear manufacturing ¨ Detailing current redundancies and inefficiencies with Visual ERP 6.3.8 ¨ Identifying improvements needed with Visual ERP ¨ Determining benefits of upgrading to Visual ERP 6.5.2 ¨ Installing and configuring Visual ERP 6.5.2 ¨ Documenting process issues that still need to be addressed after the installDeliverables for IPRO 320: Planning the Implementation of a New Enterprsie Resource Planning Software Platform for the Spring 2007 semeste

Planning the Implementation of a New Enterprsie Resource Planning Software Platform (semester?), IPRO 320: Enterprise Resource Planning Software IPRO 320 IPRO Day Presentation Sp07

The purpose of IPRO 320 is to improve processes and work flow for Arrow Gear by improving their use of Infor Visual Enterprise Resource Planning Software. At the end of the Spring 2007 semester, the work of this IPRO will lead to Arrow Gear operating more efficiently, allowing them to take on more customers, increase profit, and grow as a company. Specific objectives in achieving this include: ¨ Documenting current workflow and processes involved in gear manufacturing ¨ Detailing current redundancies and inefficiencies with Visual ERP 6.3.8 ¨ Identifying improvements needed with Visual ERP ¨ Determining benefits of upgrading to Visual ERP 6.5.2 ¨ Installing and configuring Visual ERP 6.5.2 ¨ Documenting process issues that still need to be addressed after the installDeliverables for IPRO 320: Planning the Implementation of a New Enterprsie Resource Planning Software Platform for the Spring 2007 semeste

Planning the Implementation of a New Enterprsie Resource Planning Software Platform (semester?), IPRO 320: Enterprise Resource Planning Software IPRO 320 Midterm Report Sp07

The purpose of IPRO 320 is to improve processes and work flow for Arrow Gear by improving their use of Infor Visual Enterprise Resource Planning Software. At the end of the Spring 2007 semester, the work of this IPRO will lead to Arrow Gear operating more efficiently, allowing them to take on more customers, increase profit, and grow as a company. Specific objectives in achieving this include: ¨ Documenting current workflow and processes involved in gear manufacturing ¨ Detailing current redundancies and inefficiencies with Visual ERP 6.3.8 ¨ Identifying improvements needed with Visual ERP ¨ Determining benefits of upgrading to Visual ERP 6.5.2 ¨ Installing and configuring Visual ERP 6.5.2 ¨ Documenting process issues that still need to be addressed after the installDeliverables for IPRO 320: Planning the Implementation of a New Enterprsie Resource Planning Software Platform for the Spring 2007 semeste

Intermodal Container Transport System Solutions for Chicago Region (Semester Unknown) IPRO 307: Intermodal Container Transport System IPRO 307 Poster4 Sp08

What is intermodal transportation? Intermodal transportations are the use of multiple types of transportation such as ships, planes, locomotive and semi-trailers to transport goods in and out of the United States. An example of this would be the importation of goods from overseas that arrive in the United States via cargo ships. Distribution of these goods can vary depending on the distance the container needs to travel. Containers that travel short distances will be done via semi-trailer, whereas containers that have to travel cross country are loaded into locomotives and transported the Midwest for sub-distribution or the other coast for distribution. Why is intermodal transportation important? The efficiency in moving products is what makes Intermodal Transportation important. The more efficient a product is distributed the more money is saved, due to less time and less labor involved in the process. What is the scope of this IPRO? The scope of this IPRO is to provide a manifesto of good practices that will improve intermodal transportation to be environmentally conscious and friendly. The IPRO team will produce a book containing good practices in the design of an intermodal facility. The team will also implement the methods by producing a build-out. The team will also focus on the Clark Road bridge design from previous semester to help improve the commerciality of Gary, Indiana. There is a growing concern today to be more environmentally conscious and friendly. Cities like Chicago are introducing green roofs to help the environment by reducing carbon dioxide therefore lessening the green house effects. The challenge for this IPRO team is how we can improve intermodal yards while 3 keeping in mind the environmental and ethical issues. Some of the environmental issues the team is dealing with are noise, water, air and land quality. The ethical issues are the effect on the individual and the community of having an intermodal facility at your back door. The team will research and find solutions for these issues and write up a report to publish in the book.Deliverable

Intermodal Container Transport System Solutions for Chicago Region (Semester Unknown) IPRO 307: Intermodal Container Transport System IPRO 307 Poster2 Sp08

What is intermodal transportation? Intermodal transportations are the use of multiple types of transportation such as ships, planes, locomotive and semi-trailers to transport goods in and out of the United States. An example of this would be the importation of goods from overseas that arrive in the United States via cargo ships. Distribution of these goods can vary depending on the distance the container needs to travel. Containers that travel short distances will be done via semi-trailer, whereas containers that have to travel cross country are loaded into locomotives and transported the Midwest for sub-distribution or the other coast for distribution. Why is intermodal transportation important? The efficiency in moving products is what makes Intermodal Transportation important. The more efficient a product is distributed the more money is saved, due to less time and less labor involved in the process. What is the scope of this IPRO? The scope of this IPRO is to provide a manifesto of good practices that will improve intermodal transportation to be environmentally conscious and friendly. The IPRO team will produce a book containing good practices in the design of an intermodal facility. The team will also implement the methods by producing a build-out. The team will also focus on the Clark Road bridge design from previous semester to help improve the commerciality of Gary, Indiana. There is a growing concern today to be more environmentally conscious and friendly. Cities like Chicago are introducing green roofs to help the environment by reducing carbon dioxide therefore lessening the green house effects. The challenge for this IPRO team is how we can improve intermodal yards while 3 keeping in mind the environmental and ethical issues. Some of the environmental issues the team is dealing with are noise, water, air and land quality. The ethical issues are the effect on the individual and the community of having an intermodal facility at your back door. The team will research and find solutions for these issues and write up a report to publish in the book.Deliverable

Intermodal Container Transport System Solutions for Chicago Region (Semester Unknown) IPRO 307: Intermodal Container Transport System IPRO 307 Poster3 Sp08

What is intermodal transportation? Intermodal transportations are the use of multiple types of transportation such as ships, planes, locomotive and semi-trailers to transport goods in and out of the United States. An example of this would be the importation of goods from overseas that arrive in the United States via cargo ships. Distribution of these goods can vary depending on the distance the container needs to travel. Containers that travel short distances will be done via semi-trailer, whereas containers that have to travel cross country are loaded into locomotives and transported the Midwest for sub-distribution or the other coast for distribution. Why is intermodal transportation important? The efficiency in moving products is what makes Intermodal Transportation important. The more efficient a product is distributed the more money is saved, due to less time and less labor involved in the process. What is the scope of this IPRO? The scope of this IPRO is to provide a manifesto of good practices that will improve intermodal transportation to be environmentally conscious and friendly. The IPRO team will produce a book containing good practices in the design of an intermodal facility. The team will also implement the methods by producing a build-out. The team will also focus on the Clark Road bridge design from previous semester to help improve the commerciality of Gary, Indiana. There is a growing concern today to be more environmentally conscious and friendly. Cities like Chicago are introducing green roofs to help the environment by reducing carbon dioxide therefore lessening the green house effects. The challenge for this IPRO team is how we can improve intermodal yards while 3 keeping in mind the environmental and ethical issues. Some of the environmental issues the team is dealing with are noise, water, air and land quality. The ethical issues are the effect on the individual and the community of having an intermodal facility at your back door. The team will research and find solutions for these issues and write up a report to publish in the book.Deliverable

Intermodal Container Transport System Solutions for Chicago Region (Semester Unknown) IPRO 307

What is intermodal transportation? Intermodal transportations are the use of multiple types of transportation such as ships, planes, locomotive and semi-trailers to transport goods in and out of the United States. An example of this would be the importation of goods from overseas that arrive in the United States via cargo ships. Distribution of these goods can vary depending on the distance the container needs to travel. Containers that travel short distances will be done via semi-trailer, whereas containers that have to travel cross country are loaded into locomotives and transported the Midwest for sub-distribution or the other coast for distribution. Why is intermodal transportation important? The efficiency in moving products is what makes Intermodal Transportation important. The more efficient a product is distributed the more money is saved, due to less time and less labor involved in the process. What is the scope of this IPRO? The scope of this IPRO is to provide a manifesto of good practices that will improve intermodal transportation to be environmentally conscious and friendly. The IPRO team will produce a book containing good practices in the design of an intermodal facility. The team will also implement the methods by producing a build-out. The team will also focus on the Clark Road bridge design from previous semester to help improve the commerciality of Gary, Indiana. There is a growing concern today to be more environmentally conscious and friendly. Cities like Chicago are introducing green roofs to help the environment by reducing carbon dioxide therefore lessening the green house effects. The challenge for this IPRO team is how we can improve intermodal yards while 3 keeping in mind the environmental and ethical issues. Some of the environmental issues the team is dealing with are noise, water, air and land quality. The ethical issues are the effect on the individual and the community of having an intermodal facility at your back door. The team will research and find solutions for these issues and write up a report to publish in the book.Deliverable

Intermodal Container Transport System Solutions for Chicago Region (Semester Unknown) IPRO 307: Intermodal Container Transport System IPRO 307 Project Plan Sp08

What is intermodal transportation? Intermodal transportations are the use of multiple types of transportation such as ships, planes, locomotive and semi-trailers to transport goods in and out of the United States. An example of this would be the importation of goods from overseas that arrive in the United States via cargo ships. Distribution of these goods can vary depending on the distance the container needs to travel. Containers that travel short distances will be done via semi-trailer, whereas containers that have to travel cross country are loaded into locomotives and transported the Midwest for sub-distribution or the other coast for distribution. Why is intermodal transportation important? The efficiency in moving products is what makes Intermodal Transportation important. The more efficient a product is distributed the more money is saved, due to less time and less labor involved in the process. What is the scope of this IPRO? The scope of this IPRO is to provide a manifesto of good practices that will improve intermodal transportation to be environmentally conscious and friendly. The IPRO team will produce a book containing good practices in the design of an intermodal facility. The team will also implement the methods by producing a build-out. The team will also focus on the Clark Road bridge design from previous semester to help improve the commerciality of Gary, Indiana. There is a growing concern today to be more environmentally conscious and friendly. Cities like Chicago are introducing green roofs to help the environment by reducing carbon dioxide therefore lessening the green house effects. The challenge for this IPRO team is how we can improve intermodal yards while 3 keeping in mind the environmental and ethical issues. Some of the environmental issues the team is dealing with are noise, water, air and land quality. The ethical issues are the effect on the individual and the community of having an intermodal facility at your back door. The team will research and find solutions for these issues and write up a report to publish in the book.Deliverable