Barron Associates, Inc. Selected Current Research SAE International Aerospace Control & Guidance Systems Committee Niagara Falls, NY October 14, 2008 David G. Ward (434) 973 -1215 ward@barron-associates. com Proprietary
ACGSC Meeting 102 – Grand Island, NY October 15, 2008 IAG&C for Reusable Launch Vehicles AFRL Programs / Flight Phases IAG&C for Ascent Working with: Status: IAG&C for Re-entry Prof. Ping Lu • High fidelity 6 -DOF sim dev. (Northrop) • Reconfig. controller developed (AFRL) • Adaptive guidance matured (BAI) Program Objectives: • Successfully recovers / reshapes • Adaptive ascent guidance engine outs, other trajectory to • Recover both failures stages under 1 st & 2 nd engine and/or Final Review in November • actuator failures IAG&C for Rapid Mission Planning Working with: Status: Prof. Ping Lu • Significant tool maturation Prof. Craig Kluever • Prototype demonstrated Program Objectives: • Lockheed to aid in • Develop Mission Planning tool for final demonstration RLVs • Work to continue in • Rapid mission planning capability follow-on Phase III • Launch ready within 2 hours, 24/7 effort Proprietary Working with: Status: • Reconfig. controller developed (BAI) • Re-entry trajectory command generation developed (BAI) Program Objectives: • • Successfully recovers / reshapes Adaptive re-entry guidance • trajectory to lift & drag variations Recover vehicle under • Boeing to test robustness in high actuator failures fidelity dispersion studies • Final Review in December Future Access to Space Technology (FAST) Working with: Status: • Configuration continues to be developed (Northrop. Lockheed, Honeywell) • Aerodynamic model development Program Objectives: continues (Northrop, Honeywell, AFRL) • Apply adaptive ICD near completion (Northrop, Honeywell, • guidance technologies to. BAI) FAST concept vehicle
Innovative Rotorcraft Control for Shipboard Operations NAVAIR SBIR Phase II TPOC: Mr. Dean Carico Expand operational envelope of rotorcraft from aviation capable ships • Turbulent environments • Ship motion • Rotorcraft/Ship combinations • Airwake effects Dr. Joseph F. Horn PSU Vertical Lift Research Center of Excellence Adaptive and Learning Control Real-time implementation & evaluation Feed-forward Trim Compensation Estimate disturbances and reduce pilot workload Stochastic Disturbance Rejection Stochastic Spectral Estimation Proprietary Time-varying deterministic approximation
Autonomous Collision Avoidance and Separation Assurance for Small UAVs in the NAS Damage Adaptation using Integrated Structural, Propulsion, and Aerodynamic Control Novel Collision Avoidance: Improved Aviation Safety: • Spenko, Dubowsky (MIT, 2006) • Compensate catastrophic damage (structure, propulsion, effectors, sensors) • Very low computational burden • Strong safety guarantees • Robust to large uncertainties • Dynamic model-based Approach: Trajectory space formulation dramatically reduces burden • On-line adaptation of subsystem design specs • Managed through smart, V&V’able middleware Phase II Objectives: Phase I Objectives: • Develop design-time tools to facilitate spec integration • Integrate CA with BAI path planning algorithms • Develop run-time middleware to adapt/manage specs • Demo on representative surrogate platform • Quantify processing & sensing requirements • ID HW for Ph. II demo On-line adaptive specs Proprietary
ACGSC Meeting 102 – Grand Island, NY October 15, 2008 Advanced V&V Technologies AFRL’s FCSSI Program: Cer. TA FCS, MCAR, CPI & TASS SBIRs Background TASS SBIR Phase III Runtime Verification & Validation (RTVV) Working with: Status: • RTVV approach greatly matured Program Objectives: • Integration into high fidelity triplex system – working • Mature RTVV system w/Lockheed • Integrate RTVV into triplex system with RM • Design time cert. • Certify RTVV system at design time techniques for RTVV • Mature Flight critical neural network verification tool investigated • Lockheed to test system in real-time simulations • Lockheed to soon begin real-time testing • Monitor high risk S/W in flight (algorithm/associated code that cannot be fully certified a priori due to advanced technologies) • Shut down high risk S/W if anomalous behavior observed • Revert to simplified (standard/classical) backup mode (can be certified at design time) • Return to base/recover vehicle safely Mixed Critical Architecture Requirements (MCAR) Working with: Challenge Problem Initiative (CPI) Working with: Status: • Challenge problem selected: QF-16 (unmanned F-16 Program autoland system certification drones) Objectives: • Develop requirements for mixed critical flight systems • Apply FCSSI technologies to a particular challenge Developed tool to generate/organize requirements • Focus on actual incident: incomplete mode logic problem in hard landing during flight test • Focus on safety requirements generated Prototype list of & security resulted • Barron Assoc. – focus on RTVV integration into mixed • Barron Assoc. – focus on RTVV integrationsavings of • Developing Mo. Ms, KPPs to measure cost into chosen challenge problem methods critical architectures certifying autoland with new • RTVV application: developing safety corridor & trajectory prediction – is A/C currently safe? Program Objectives: Status: Proprietary
Polynomial Chaos Uncertainty Tools for Flutter • Develop methods for “non-intrusive” use of polynomial chaos • Fitting polynomial chaos representations to empirical data • Leverage domain knowledge to reduce complexity of fitting problem • Address challenges of representing uncertainty in very high order models Polynomial Chaos Fit to Eigvenvalue in Aeroelastic Model Proprietary
Automated Updates of Tiltrotor Simulations using Experimental Data NAVAIR SBIR Phase I TPOC: Mr. Sean Roark Automate simulation-updates from experimental data • • • Assist analyst in knowing where to update simulation and what the update should be Structure learning System Identification Incremental database updates Statistically justified and local updates Phase I Results • Data preprocessing (smoothing) • Frequency domain parameter estimation • Identify model structure for coupled, nonlinear effects aeronautics. arc. nasa. gov - halfdome. arc. nasa. gov Simulation Update Process • Overcome correlated actuators • Rigorous statistical fusion of parameter estimates 1. automatically determine nonlinear regression structure at a particular condition 5. automatically update simulation data based upon analysis Pitch Up with Sideslip Heave-Roll (XV-15 ground effect) nonlinear terms (e. g. , splines) C M C ( a , Mach , . . . ) = z i i Simulation M = C M +. . . + C 0 . . . + C Data Tables M a 1 a + Ma - 40 ) 2 ] + [( a 2. Perform regression on data 4. convert to form suitable for simulation data table Proprietary Convert to aero table format = Ma 1 ± N (0 , s C m M a 1 M ) Experimental Flight Data a 1 3. compute confidence measures for the parameters that will be used to update the database Improved fit using identified model structure
Autonomous Operations in Riverine Environments Unmanned Underwater Riverine Craft Operations Specific mission not defined. Capabilities include: Intelligence, Surveillance, and Reconnaissance (ISR) class of operations § Persistence § Deploy/Retrieve § Identification Search, “leave behind”, etc. Proprietary Riverine Environment Tidal wave and river current interactions Depth variation/stratification Confined navigation Low visibility Traffic Obstacles
Automated Upset Recovery System for Unmanned Air Vehicles Automated Recovery System Unusual Attitude Recovery System Inner-Loop Control RL Module OOC Arrest System Actuator Commands RL Module Out-of-Control Arrest System • Reference Guidance and Control Law Unusual Attitude Recovery System • Phase II objectives: robust approach for arresting large angular rates in nonlinear flight regimes modify commands/gains to inner-loop control to recover from early-onset upsets and unusual attitude situations Develop upset recovery methodology Conduct HWIL/flight test demonstration Demonstrate approach in simulations Develop tools to automate recovery capability A Proprietary B
Proposal T 2. 02 -9831 NASA SBIR/STTR Technologies Active Flow Control with Adaptive Design Techniques for Improved Aircraft Safety PI: Jason Burkholder / Barron Associates, Inc. – Charlottesville, VA Significance of Opportunity • Potential for low-cost safety improvements for commercial transport aircraft Ø Innovative synthetic jet actuators strategicallylocated on airfoil could delay stall and provide “back-up” control power Ø Adaptive control is required due to complex, nonlinear actuator dynamics Phase II Actuator Designs Phase I Results • Designed and implemented adaptive control laws – verified performance analytically and in simulation Designed wind tunnel model, novel actuators, and comprehensive Phase II test plan • Phase II Wind Tunnel Model Design Phase II Work Tasks • Develop fully functional AIFAC tool (Adaptive Inverse For Applications • Air. STAR Testbed for Av. SP/SAAP Actuator Compensation) • • • n Fabricate wind tunnel models and synthetic jet actuators – optimize actuator layout Implement real-time adaptive control system and demonstrate in closed-loop wind tunnel tests Quantify safety improvements and develop V&V Plan to facilitate future flight tests n • • Complex damage-adaptive FDI & control Operation near edge of flight envelope NASA Intelligent Flight Control System (IFCS) Commercial and military aircraft – especially tailless “stealth” aircraft Contacts burkholder@barron-associates. com (434) 973 -1215
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