Research at the Intersection of Flight Mechanics

1. Research at the Intersection ofFlight Mechanics/Control/Design Mark Costello (mark.costello@ae.gatech.edu)? 16th Annual External Advisory Board Review, April 30-May 1, 2008 Aerospace Systems Design Laboratory Guggenheim School of Aerospace Engineering Georgia Institute of Technology Atlanta, GA 30332-0150 http://www.asdl.gatech.edu

2. Research Program

3. Example Projects

4. Dual-Spin Projectile Dynamics

5. Projectiles Connected with a Tether

6. Lateral Pulse Jet Control

7. Clusters of Acceleration Measurements

8. Efficient Projectile Aero Coef Estimation Using CFD

9. Parafoil Turning Dynamics

10. Parafoil Model Predictive Control

11. Parafoil Model Predictive Control

12. Variable Structure Observer for Control Bias

13. Variable Structure Observer for Control Bias

14. UAV Energy Harvesting from Atmospheric Winds

15. UAV Energy Harvesting from Atmospheric Winds

16. Controllable Cardboard Boxes

17. Controllable Cardboard Boxes

18. Rotochute Flight Dynamics Modern Battlefield is a Complex Environment With Many Assets Interacting with Many Targets Assets: Bombers, Fighters, Helicopters, UAVs, Artillery, Tanks Targets: Command and Control Buildings, Power Stations, Bridges, Enemy Air, Land, and Sea Assets, etc. Many Different Friendly Assets Engaging the Same Set of Targets. Modern Battlefield is a Complex Environment With Many Assets Interacting with Many Targets Assets: Bombers, Fighters, Helicopters, UAVs, Artillery, Tanks Targets: Command and Control Buildings, Power Stations, Bridges, Enemy Air, Land, and Sea Assets, etc. Many Different Friendly Assets Engaging the Same Set of Targets.

19. Rotochute Flight Dynamics

20. Rotochute Flight Dynamics

21. Rotochute Flight Dynamics

22. Direct Glide Slope Control for Parafoils

23. Direct Glide Slope Control for Parafoils

24. Three sources of wind errors: Wind shear, Magnitude, Heading Direct Glide Slope Control for Parafoils

29. MultiBoom Computer Tool Formulation of the Equations of Motion for Different Smart Weapon Configurations is Cumbersome and Prone to Error MultiBoom Models Each Element as Its Own Rigid Body with 6DOF Constraint Forces and Moments are Treated at CONTROLS that are Selected to Satisfy the Constraint Equations A Feedback Linearization Constraint Stabilization Controller is Created that Always Satisfies the Constraints For a 3 Link System, 36 States Are Needed and 10 Constraint Controls are Used In One Code/Algorithm MultiBoom Simulates Flight Mechanics of Multicomponent Smart Weapon Configurations Dual Spin Projectiles, Gimbal Nose Projectiles, Tri Spin Projectiles, Moving Internal Mass Projectiles

30. MultiBoom Computer Tool For Each Rigid Body, the Standard 6 Degree of Freedom Rigid Body Equations Can Be Written As

31. MultiBoom Glue Code The Equations of Motion for All Bodies Can be Stacked Together into an Affine in Control Form

32. MultiBoom Glue Code We Directly Control the System Along the Constraint Manifold

33. Pressing Military Needs Exists for Robots to Move Through Interior Spaces (Caves, Damaged Buildings)? Current Ground and Air Robots Have Problems in this Regime Ground Robots Have Great Difficulty Ambulating on Uneven Terrain Air Robots Have Difficulty Staying on Station Sufficiently Long Hopping Rotochute Configuration May Offer a Solution to these Issues Research Focus Basic Vehicle Modeling and Performance Vehicle Optimization Prototype Demonstration – Proof of Concept Hopping Rotochutes

34. Hopping Rotochutes

35. Indoor Autonomous Control of Micro Air Vehicles

36. Indoor Autonomous Control of Micro Air Vehicles

37. Summary Rigorous Program of Research and Education in Air Vehicle Flight Mechanics and Controls Combined with Aerospace Systems Design Focus on Development of a Well Balanced Engineer with Theoretical, Simulation, Experimental, and Hands-on Background Application Areas Smart Weapons Rotorcraft Systems Micro Air Vehicles Autonomous Parafoils