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  • 1
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    Project Link!: Dynamics and Control of In-Flight Wing Tip Docking (2018)
    In:  CASI
    Details
    Publication Date: 2019-06-22
    Description: Project Link! is a NASA-led effort to study the feasibility of multi-aircraft aerial docking systems. In these systems, a group of vehicles physically link to each other during flight to form a larger ensemble vehicle with increased aerodynamic performance and mission utility. This paper presents a dynamic model and control architecture for a system of fixed-wing vehicles with this capability. The dynamic model consists of the 6 degree-of-freedom fixed-wing aircraft equations of motion, a spring-damper-magnet system to represent the linkage force between constituent vehicles, and the NASA-Burnham-Hallock wingtip vortex model to represent the close-proximity aerodynamic interactions between constituents before the linking occurs. The control architecture consists of a guidance algorithm to autonomously drive the constituents towards their linking partners and an inner-loop angular rate controller. A simulation was constructed from the model, and the flight dynamic modes of the linked system were compared to the individual vehicles. Simulation results for both before and after linking are presented.
    Keywords: Aerodynamics
    Type: NF1676L-28271 , Journal of Guidance, Control, and Dynamics (ISSN 0731-5090) (e-ISSN 1533-3884); 41; 11
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 2
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    Enabling Advanced Wind-Tunnel Research Methods Using the NASA Langley 12-Foot Low Speed Tunnel (2014)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Design of Experiment (DOE) testing methods were used to gather wind tunnel data characterizing the aerodynamic and propulsion forces and moments acting on a complex vehicle configuration with 10 motor-driven propellers, 9 control surfaces, a tilt wing, and a tilt tail. This paper describes the potential benefits and practical implications of using DOE methods for wind tunnel testing - with an emphasis on describing how it can affect model hardware, facility hardware, and software for control and data acquisition. With up to 23 independent variables (19 model and 2 tunnel) for some vehicle configurations, this recent test also provides an excellent example of using DOE methods to assess critical coupling effects in a reasonable timeframe for complex vehicle configurations. Results for an exploratory test using conventional angle of attack sweeps to assess aerodynamic hysteresis is summarized, and DOE results are presented for an exploratory test used to set the data sampling time for the overall test. DOE results are also shown for one production test characterizing normal force in the Cruise mode for the vehicle.
    Keywords: Aircraft Design, Testing and Performance
    Type: AIAA Paper-2014-3000 , NF1676L-17827 , AIAA Aviation Technology, Integration and Operations (ATIO) Conference; Jun 16, 2014 - Jun 20, 2014; Atlanta, GA; United States|AIAA Aviation and Aeronautics Forum and Exposition (AVIATION 2014); Jun 16, 2014 - Jun 20, 2014; Atlanta, GA; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 3
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    Who's Got the Bridge? - Towards Safe, Robust Autonomous Operations at NASA Langley's Autonomy Incubator (2015)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: NASA aeronautics research has made decades of contributions to aviation. Both aircraft and air traffic management (ATM) systems in use today contain NASA-developed and NASA sponsored technologies that improve safety and efficiency. Recent innovations in robotics and autonomy for automobiles and unmanned systems point to a future with increased personal mobility and access to transportation, including aviation. Automation and autonomous operations will transform the way we move people and goods. Achieving this mobility will require safe, robust, reliable operations for both the vehicle and the airspace and challenges to this inevitable future are being addressed now in government labs, universities, and industry. These challenges are the focus of NASA Langley Research Center's Autonomy Incubator whose R&D portfolio includes mission planning, trajectory and path planning, object detection and avoidance, object classification, sensor fusion, controls, machine learning, computer vision, human-machine teaming, geo-containment, open architecture design and development, as well as the test and evaluation environment that will be critical to prove system reliability and support certification. Safe autonomous operations will be enabled via onboard sensing and perception systems in both data-rich and data-deprived environments. Applied autonomy will enable safety, efficiency and unprecedented mobility as people and goods take to the skies tomorrow just as we do on the road today.
    Keywords: Air Transportation and Safety; Cybernetics, Artificial Intelligence and Robotics
    Type: NF1676L-20290 , AIAA Aviation Technology, Integration, and Operations Conference; Jun 22, 2016 - Jun 26, 2016; Dallas, TX; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 4
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    Vertical Takeoff and Landing Vehicle with Increased Cruise Efficiency (2018)
    In:  CASI
    Details
    Publication Date: 2019-08-24
    Description: Systems, methods, and devices are provided that combine an advance vehicle configuration, such as an advanced aircraft configuration, with the infusion of electric propulsion, thereby enabling a four times increase in range and endurance while maintaining a full vertical takeoff and landing ("VTOL") and hover capability for the vehicle. Embodiments may provide vehicles with both VTOL and cruise efficient capabilities without the use of ground infrastructure. An embodiment vehicle may comprise a wing configured to tilt through a range of motion, a first series of electric motors coupled to the wing and each configured to drive an associated wing propeller, a tail configured to tilt through the range of motion, a second series of electric motors coupled to the tail and each configured to drive an associated tail propeller, and an electric propulsion system connected to the first series of electric motors and the second series of electric motors.
    Keywords: Aircraft Design, Testing and Performance
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 5
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    Tri-Rotor Aircraft Capable of Vertical Takeoff and Landing and Transitioning to Forward Flight (2018)
    In:  CASI
    Details
    Publication Date: 2019-08-28
    Description: Systems, methods, and devices provide a vehicle, such as an aircraft, with rotors configured to function as a tri-copter for vertical takeoff and landing ("VTOL") and a fixed-wing vehicle for forward flight. One rotor may be mounted at a front of the vehicle fuselage on a hinged structure controlled by an actuator to tilt from horizontal to vertical positions. Two additional rotors may be mounted on the horizontal surface of the vehicle tail structure with rotor axes oriented vertically to the fuselage. For forward flight of the vehicle, the front rotor may be rotated down such that the front rotor axis may be oriented horizontally along the fuselage and the front rotor may act as a propeller. For vertical flight, the front rotor may be rotated up such that the front rotor axis may be oriented vertically to the fuselage, while the tail rotors may be activated.
    Keywords: Aircraft Design, Testing and Performance
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 6
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    Vertical Take-Off and Landing Vehicle with Increased Cruise Efficiency (2016)
    In:  CASI
    Details
    Publication Date: 2019-08-28
    Description: Systems, methods, and devices are provided that combine an advance vehicle configuration, such as an advanced aircraft configuration, with the infusion of electric propulsion, thereby enabling a four times increase in range and endurance while maintaining a full vertical takeoff and landing ("VTOL") and hover capability for the vehicle. Embodiments may provide vehicles with both VTOL and cruise efficient capabilities without the use of ground infrastructure. An embodiment vehicle may comprise a wing configured to tilt through a range of motion, a first series of electric motors coupled to the wing and each configured to drive an associated wing propeller, a tail configured to tilt through the range of motion, a second series of electric motors coupled to the tail and each configured to drive an associated tail propeller, and an electric propulsion system connected to the first series of electric motors and the second series of electric motors.
    Keywords: Aircraft Propulsion and Power; Aircraft Design, Testing and Performance
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 7
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    Dynamics and Control of In-Flight Wing Tip Docking (2018)
    In:  CASI
    Details
    Publication Date: 2019-10-19
    Description: Project Link! is a NASA-led effort to study the feasibility of multi-aircraft aerial docking systems. In these systems, a group of vehicles physically link to each other during flight to form a larger ensemble vehicle with increased aerodynamic performance and mission utility. This paper presents a dynamic model and control architecture for a system of fixed-wing vehicles with this capability. The dynamic model consists of the 6 degree-of-freedom fixedwing aircraft equations of motion, a spring-damper-magnet system to represent the linkage force between constituent vehicles, and the NASA-Burnham-Hallock wingtip vortex model to represent the close-proximity aerodynamic interactions between constituents before the linking occurs. The control architecture consists of a guidance algorithm to autonomously drive the constituents towards their linking partners and an inner-loop angular rate controller. A simulation was constructed from the model, and the flight dynamic modes of the linked system were compared to the individual vehicles. The main contributions of this work are twofold. First is the introduction of close-proximity aerodynamic effects to create a realistic simulation framework for this problem. Second is the application of a sophisticated leaderfollower guidance algorithm to achieve in-air wingtip docking. Simulation results for both before and after linking are presented.
    Keywords: Aircraft Stability and Control
    Type: NF1676L-28646 , Journal of Guidance, Control, and Dynamics (ISSN 0731-5090) (e-ISSN 1533-3884); 41; 11; 2327-2337
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 8
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    Hovering Dual-Spin Vehicle Groundwork for Bias Momentum Sizing Validation Experiment (2008)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: Angular bias momentum offers significant stability augmentation for hovering flight vehicles. The reliance of the vehicle on thrust vectoring for agility and disturbance rejection is greatly reduced with significant levels of stored angular momentum in the system. A methodical procedure for bias momentum sizing has been developed in previous studies. This current study provides groundwork for experimental validation of that method using an experimental vehicle called the Dual-Spin Test Device, a thrust-levitated platform. Using measured data the vehicle's thrust vectoring units are modeled and a gust environment is designed and characterized. Control design is discussed. Preliminary experimental results of the vehicle constrained to three rotational degrees of freedom are compared to simulation for a case containing no bias momentum to validate the simulation. A simulation of a bias momentum dominant case is presented.
    Keywords: Spacecraft Design, Testing and Performance
    Type: AIAA Guidance, Navigation and Control Conference and Exhibit; Aug 18, 2008 - Aug 21, 2008; Honolulu, HI; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 9
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    Towards an Open, Distributed Software Architecture for UxS Operations (2015)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: To address the growing need to evaluate, test, and certify an ever expanding ecosystem of UxS platforms in preparation of cultural integration, NASA Langley Research Center's Autonomy Incubator (AI) has taken on the challenge of developing a software framework in which UxS platforms developed by third parties can be integrated into a single system which provides evaluation and testing, mission planning and operation, and out-of-the-box autonomy and data fusion capabilities. This software framework, named AEON (Autonomous Entity Operations Network), has two main goals. The first goal is the development of a cross-platform, extensible, onboard software system that provides autonomy at the mission execution and course-planning level, a highly configurable data fusion framework sensitive to the platform's available sensor hardware, and plug-and-play compatibility with a wide array of computer systems, sensors, software, and controls hardware. The second goal is the development of a ground control system that acts as a test-bed for integration of the proposed heterogeneous fleet, and allows for complex mission planning, tracking, and debugging capabilities. The ground control system should also be highly extensible and allow plug-and-play interoperability with third party software systems. In order to achieve these goals, this paper proposes an open, distributed software architecture which utilizes at its core the Data Distribution Service (DDS) standards, established by the Object Management Group (OMG), for inter-process communication and data flow. The design decisions proposed herein leverage the advantages of existing robotics software architectures and the DDS standards to develop software that is scalable, high-performance, fault tolerant, modular, and readily interoperable with external platforms and software.
    Keywords: Cybernetics, Artificial Intelligence and Robotics; Computer Programming and Software
    Type: NF1676L-20309 , AIAA Aviation Technology, Integration, and Operations Conference; Jun 22, 2015 - Jun 26, 2015; Dallas, TX; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
  • 10
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    Collaborating with Autonomous Agents (2015)
    In:  CASI
    Details
    Publication Date: 2019-07-13
    Description: With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.
    Keywords: Cybernetics, Artificial Intelligence and Robotics
    Type: NF1676L-20310 , AIAA Aviation Technology, Integration, and Operations Conference; Jun 22, 2015 - Jun 26, 2015; Dallas, TX; United States
    Format: application/pdf
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    NASA TECHNICAL REPORTS
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