Expansion Deflection (ED) nozzles have long been considered as an alternative to conventional bell and conical designs. The ED nozzle has two primary benefits over such nozzle configurations, being shorter, and with the potential for altitude compensation. However, the difficulties involved with modelling the complex flow interactions within the nozzle type have thus far prevented the creation of a reliable method for its design and analysis. The work presented within this dissertation makes use of a combination of several different approaches to flow solution to provide a more complete analysis than previously achieved. The primary advance is the use of a CFD scheme to analyse the transonic throat region, the results of which are used as input to a Method of Characteristics based algorithm for the solution of the inviscid supersonic flow-field. This method is both efficient, and allows contour optimisation through the calculus of variations. The viscous flow region is treated in a partially or fully empirical manner, depending upon ambient pressure. The results of this analysis reveal several previously unidentified flow-field behaviours and design parameter interactions. Careful selection of the variables used to define the throat region is shown to be of considerable importance, as they effect not just the thrust produced, but also whether a real flow through such a nozzle may' exist. Secondly, the high probability of shock wave formation and interaction with the nozzle wall within length optimised ED nozzles is demonstrated. This has consequences for both the design and analysis of the ED nozzle. Overall, a framework is established which allows the flow behaviour and performance characteristics of the nozzle type to be estimated in greater detail than previously possible. The performance increments demonstrated over conventional bell nozzles include an approximately 25 to 50 percent length reduction for nozzles designed for solely high altitude operation, and a similar reduction in length plus a noticeable increase in low altitude thrust for trans-atmospheric nozzles. However, before application of the ED nozzle concept to a real system becomes possible, several areas of uncertainty must be addressed, and these are highlighted at the end of this dissertation.

No description available.

This study was concerned with improvement and validation of a thermodynamic spark ignition engine simulation code developed in Leeds. Experimental validation data were generated using a central ignition, disc-shaped combustion chamber variant of a ported single-cylinder research engine with full-bore overhead optical access. These data included simultaneous measurement of cylinder pressure and flame position at different operating conditions. The engine was skip fired (fired once every five cycles), to remove residuals and ensure well defined in-cylinder fuel-air mixture for simulation. Flames were imaged using a digital camera capturing the light emitted from the flame ("natural light"). New methods were developed to process the pressure and film data. Flame pictures were processed to determine enflamed area, mean flame radius and flame centroid. Parameters were also developed to describe flame "circularity" ("shape factor") and to describe asymmetry of flame approach to the cylinder walls ("active perimeter fraction", APF). Time-base crank angle records allowed evaluation of engine speed variation within a cycle and mean engine speed for a cycle. Although generated principally for model validation, the experimental results proved interesting in their own right. Middle, slow and fast cycles were defined for each condition. Analysis of these cycles suggested that there was no correlation between the initial flame centroid displacement, its locus over the flame propagation period or the flame "shape factor" and the speed of combustion and pressure development. As the flame approached the wall, the active perimeter fraction fell in a similar manner for all the middle cycles. Substantial modifications were made to a pre-existing thermodynamic engine cycle code. Deficiencies in the blowby, heat transfer and thermodynamic aspects were corrected. An additional ("Zimont") turbulent burning velocity sub-model and a new routine for the influence of engine speed variation within a cycle were incorporated into the code. The active perimeter fraction parameter function determined in the experiments was encoded to allow for the effects of flame-wall contact on entrainment rate during the late flame propagation. A radial stratified charge model was also developed. Burned gas expansion over the flame propagation period was shown to significantly change the unburned gas charge stratification from the initial variation. Two types of initial stratification (linear and parabolic distributions, rich of the centre and lean close to the wall) were imposed. Faster combustion development was observed in both cases, c. f that for equivalent homogeneous charge. Good agreement was observed between experimental results and "Zimont model" predictions at different equivalence ratios and engine speeds. Other computations using the pre-existing Leeds K and KLe correlations gave reasonable predictions at the various engine speeds and at rich conditions; however, they yielded slower results than experimentally observed for lean conditions.

This thesis investigates the principle of co-ordination of chassis subsystems by proposing a new control structure for co-ordinating active steering technologies and a brake based directional stability controller. A non-linear vehicle handling model was developed for this study using the Mattab and Simulink tools. This consists of a 4 degree of freedom (d. o. f) lumped-parameter model that includes longitudinal, lateral, yaw and roll motions with quasi-static longitudinal load transfer effects including non-linear suspension and tyre descriptions. The non-linear vehicle dynamics are discussed for the whole operating regime and two specific driving tasks are identified, steerability and stability. In the context of the vehicle states these are yaw rate control and side slip angle bounding respectively. Linear active steering controllers for front, rear and four wheel steering are designed and evaluated in the context of the vehicle handling problem throughout the non-linear operating regime to assist the driver in the two driving tasks previously defined. It is shown through the analysis of the vehicle dynamics in the Chapter 3 that linear controllers can be used to significantly improve the handling behaviour of a non-linear vehicle when only one active input is considered, however when controlling two active inputs, non-linear multivariable approach is required to deal with the strongly coupled nature of the vehicle handling with respect to front and rear steering inputs. A brake based stability system that reflects the state of the art is implemented. The work then proposes a novel co-ordination controller structure for coordination of an active steering controllers and a brake based stability controller for improving to vehicle handling control. The controller was assessed both in steady state and transient tests selected to simulate real world driving manoeuvres over the whole non-linear vehicle handling regime. The co-ordination controller is found to lead to a trade-off between stability and limit cornering performance. The proposed structure improves vehicle stability and reduces interactions in the longitudinal vehicle motion. A detailed discussion of the implications of a coordinated control approach showing it to be a powerful tool providing, the interactions can be conveniently related vehicle handling task and that an appropriate measure of vehicle performance is available. The limitations of the approach are discussed. The most significant limitations being a) the difficulty in proving the optimalty of a heuristic control structure, b) the difficult in assessing the controller behaviour and its interaction with a real driver and c) the likely complexity of the rule base for coordinating more than 2 or 3 systems or describing more complex interactions than were observed here.

Robot control systems can be considered complex systems, the design of a controller involving the determination of the dynamic model for the system. This in itself can be a complicated task due to non-linearities, multiple axis (degrees of freedom) control and the constantly changing working environment. Problems arise when the theoretical model produced for such a system is not accurate. When developing a controller using conventional techniques a design scheme has to be produced, usually based on a model of the system. In addition kinematics equations must be derived to take into account the physical boundaries of the system. The work outlined in this thesis utilises fuzzy logic control to address these control issues. Fuzzy logic provides functional capability without the use of a system model and has characteristics suitable for capturing the approximate, vaiying values found in real world systems. Initial development of a single axis fuzzy logic control system was implemented on a Dainichi industrial five-axis robot, replacing the existing control and hardware systems with a new developmental system. The concept of fuzzy logic and its application to control highlights the potential advantages that fuzzy logic control (PLC) can provide when compared to the more conventional control methodologies. Additional new control hardware has been interfaced to an existing robot manipulator, making it possible to compare PLC and PIDVF (Proportional Integral Derivative Velocity FeedforwardlFeedback) controllers for single axis development. Average response time and overshoot for a given set point were compared for each system. The results proved that, using a basic PLC minimal overshoot and fast rise times could be achieved in comparison to the commercial PIDVF system. Further research concentrated on the development of the control software to provide multiple axis control for an industrial robot using a continuous path algorithm. The more from single axis to multiple axis control provided a much more complex control problem. A novel and innovative process for the fuzzy controller was implemented with up to three axes reaching the target point simultaneously. Control of the industrial robot was investigated using methods that were more suited to real time controL The most significant change was a reduction in the number of fuzzy rules when compared to single axis control. During robot control no adaptation of the rule base or membership functions was carried Out Ofl line; only system gain was modified in relation to link speed and joint error within predetermined design parameters. The fuzzy control system had to manage the effects of frictional and gravitational forces whilst compensating for the varying inertia components when each linkage is moving. Testing based on ISO 9283 for path accuracy and repeatability verified that real time control of three axes was achievable with values of 938tm and 864tm recorded for accuracy and repeatability respectively. The development of novel industrial robot real time multi-axis fuzzy controller has combined new control hardware with an efficient fuzzy engine addressing inverse kinematics, scaling and dynamic forces in order to provide a viable robot control system.

No description available.

No description available.

No description available.

Cotutela Universitat Politècnica de Catalunya i Universität Stuttgart, Institut für Raumfahrtsysteme (IRS) / Manned missions carried out in the last decades were either close to Earth or short missions. In contrast, Space Agencies future plans include manned exploration missions to asteroids, the Moon and finally Mars. The expected mission durations rise significantly and the greater distance from Earth makes a resupply or rescue mission almost impossible. These future plans make it necessary to develop a new Environmental Control and Life Support System (ECLSS), which ensures the survival of the astronauts for such missions. These frame conditions will impose a high degree of closure and a high reliability for the ECLSS. In this thesis, firstly, the different ECLSS technology/component options are presented, and its suitability for a long duration human spaceflight is analyzed. From all technologies the most promising, regenerative systems for atmosphere, water and waste management are selected in order to examine them as part of a complete ECLSS. Different approaches to evaluate the reliability of complex systems are analyzed. Since the failure of a component within the system does not necessarily lead a failure of the entire ECLSS, as the system is able to compensate for some failures, the Stochastic Dynamic Discrete Simulation (SDDS) method is selected. To carry out an SDDS, a robust and adaptable ECLSS model simulation is required. A new software is developed, based on the simulation tool Environment for Life-Support Systems Simulation and Analysis (ELISSA) from the Institute of Space Systems - University of Stuttgart. As a result of a stochastic simulation a list of failure times is obtained, which can be treated using the Maximum Likelihood Estimation (for parametric models) or the Kaplan-Meier method (for non-parametric models), to define the reliability of the system. The input data required to apply the SDDS are the reliabilities of each possible component of the ECLSS. The reliability of each component is defined by the failure rate or its parts. It can be seen, that the use of redundancies (spare parts) is essential for long duration missions, as the reliability of the system without them after 60 days is lower than 50%. The analysis of all components, including their spare parts, is carried out with the Multi-Opbjective Optimization Problem to achieve a high reliability with the lowest possible mass. Both methodologies, SDDS and MOOP have been implemented creating the user-friendly new software RELISSA. Finally, as an example, RELISSA is used to analyze a manned Mars mission. With this analysis, technologies currently in use (on board ISS) are compared with new technologies (currently under development), with the potential to reduce the system mass. The results clearly show that the new technologies can significantly reduce the mass of the system, for results of similar reliability. With these results, the need of development efforts of ECLSS technologies for manned missions beyond Low Earth Orbit is corroborated. / Les missions tripulades realitzades en les últimes dècades, van ser missions properes a la Terra o de curta durada. Per contra, els plans futurs de les Agències Espacials inclouen missions d'exploració tripulades a asteroides, la Lluna o Mart. La durada esperada d'aquestes missions s'incrementa significament i la major distància de la Terra fa que una missió d’abastiment o rescat sigui pràcticament impossible. Aquests futurs plans fan necessari el desenvolupament d'un nou Sistema de Control Ambiental i Suport a la Vida (ECLSS - Environmental Control and Life Support System), que asseguri la supervivència dels astronautes per a aquestes missions . Aquestes condicions imposen un alt nivell de tancament del sistema i una alta fiabilitat per al ECLSS. En aquesta tesi, es presenten les diferents opcions tecnològiques, components i s’analitza la seva viabilitat per a missions tripulades de llarga durada. De totes les tecnologies, se seleccionen els sistemes regeneratius més prometedors per a la gestió de l’atmosfera, l'aigua i els residus, per tal d'analitzar-los com a part de l'ECLSS. S'analitzen diferents mètodes per tal d'avaluar la fiabilitat de sistemes complexos . Com que la fallada d'un component del sistema no implica necessàriament una fallada de tot l'ECLSS, ja que el sistema és capaç de compensar algunes fallades, se selecciona el mètode de simulació dinàmica- estocàstica (SDDS - Stochastic Dynamic Discrete Simulation). Per a dur a terme l'SDDS, es necessita un model de simulació ECLSS robust i adaptable. Es desenvolupa un nou software, basat en l'eina de Simulació de l'Institut de Sistemes Espacials - Universitat de Stuttgart, Environm ent for Life-Support Systems Simulation and Analysis (ELISSA). Com a resultat de la simulació estocàstica, s'obté una llista de temps de fallada, a partir de la qual, amb el mètode de Màxima Versemblança (per a models paramètrics ) o de Kaplan-Meier (per a models no paramètrics ) es defineix la fiabilitat del sistema. Les dades d'entrada necessàries per aplicar l'SDDS són les fiabilitats de cada un dels possibles com ponents de l'ECLSS. La fiabilitat de cada component es defineix a partir de la taxa de fallada de les seves parts. Es pot observar que l'ús de redundàncies (peces de recanvi) és essencial per a missions de llarga durada, ja que la fiabilitat del sistema sense recanvis disminueix més del 50% passats 60 dies. L'anàlisi de tots els components, incloent-hi les peces de recanvi, es realitza a partir del problema d'optimització d'objectius múltiples (MOOP - Multi-Opbjective Optimization Problem ), per tal d'obtenir una altra fiabilitat amb la menor massa possible. Les dues metodologies , SDDS i MOOP, s'han implementat creant un nou software, user-friendly, RELISSA. Finalment, com exemple, s'ha utilitzar RELISSA per analitzar una missió tripulada a Mart. Amb aquesta anàlisi es comparen tecnologies actualment en ús (a l'Estació Espacial Internacional) i noves tecnologies (actualment en desenvolupament) amb el potencial de reduir la massa del sistema. Els resultats mostren clarament que les noves tecnologies poden reduir significament la massa dels sistema, per a resultats similars de fiabilitat. Amb aquests resultats, es corrobora la necessitat de dedicar esforços de desenvolupament en tecnologies ECLSS per a missions tripulades més enllà de l'òrbita baixa terrestre (LEO - Low Earth Orbit).

This thesis aims to dissert about air transport network design taking into consideration the current needs about efficiency in a very competitive industry. The main focus for this work is the airline's point of view and for this reason is going to be common to talk about profitability. A methodology is proposed to analyse current networks and to introduce modifications. First, an analytical approach is proposed with the aim to understand better the interaction of key parameters in network design at strategical level. Analyitical models demonstrate to be very useful because with a few parameters it is possible to decide if point to point or hub and spoke configuration suits better for an airline, given a set of supply conditions. Furthermore, the performance of networks with stopover configuration is tested, basically because for long routes with low demand this newtorks work well, how it was demonstrated by public transport systems. The differenciation of this research, compared against previous studies, is to include the performance of new entrant airlines in the industry. This aspect is carried out evaluating accurately the impact of fixed costs in the evaluation of cost operators. Despite airlines tend to consider aircraft ownership costs and labor costs as variable ones, they are not. They had an important impact in profit and loss account. A bad utilitzation factor of airplane or crew staff is very undesirable for operator and it can consider do not operate new routes if the resources are not well used. Secondly, analytical models are powerful but it is not possible to evaluate accurately the daily operational aspects for real networks with real flight schedules because these models take into consideration average values of some parameters. For this reason, this thesis develops a Tabu search algorithm to carry out airline network planning, based on linear models of each different planning problem. To do this contribution, these models are developed before for linear programming and they are solved with a combination of complete enumeration algorithm and exhaustive search algorithm. Both algorithms provide exact solution or global optimum for any problem statement. Later, Tabu search algorithm improves performance of searching with lower computational cost. The main conclusion is that Tabu developed is a better tool for airline planning than exact techniques because of lower times of computation. This performs better for large networks that, finally, are real networks. However, exact techniques could be interesting for small airlines that can be start-ups. Third, one of main reasons to develop a quantification of costs for managing airlines is due to the problem of complexity in networks. With the growth of air transportation and congestion at airports, primary or reactionary delays become higher day after day. Reactiveness of network depends of configuration and planning. Airlines manages it with extra reources, one way is allocating buffer times in flight schedule and other is having aircrafts at ground at main bases to enter in service and recover flight plans. Airline network design, planning and efficient algorithms are key assets to provide robustness for airlines. Finally, driving airlines in high competitive environments are difficult. Running low costs is the main decision for managers. However, analysing the problem from theory game point of view, allows finding key reasons to support this argument. First, a Stakelberg model is defined for two competing airlines. This model demonstrates that a war on frequencies or fares damages both competitors. Furthermore, a Cournot model it is shown and it proposes a navigation fee attending to correct utilization of capacity. Both models are a theoretical framework but demonstrate consistency and encourage further investigations. / El diseño de redes de transporte aéreo es un factor clave de eficiencia en una industria altamente competitiva. A pesar de que la rentabilidad es de suma importancia, el sistema considera la experiencia del usuario y los beneficios sociales para obtener un óptimo global. Un enfoque analítico permite derivar principios de diseño de redes de transporte aéreo: la tesis muestra cómo unas pocas variables y sus interacciones explican los factores clave del diseño de la red a nivel estratégico. Los servicios punto-a-punto muestran supremacía en las redes simples y para demandas altas y compensadas, una configuración con escalas es adecuada para rutas lejanas con poca demanda, y las operaciones hub and spoke mejoran las dos estrategias anteriores para redes grandes, cuando la demanda es baja o cuando las frecuencias son altas, pero son más sensibles a la propagación de demoras. El enfoque analítico permite prever el comportamiento de nuevas compañías aéreas entrando en el sector. El modelo incluye costes fijos de propiedad del avión y laborales (al contrario de las hipótesis habituales de la industria, que trabaja con costes variables), puesto que tienen un impacto importante en la cuenta de resultados. Una vez se han derivado guías de diseño, la tesis formula un planteamiento más realista del diseño de redes de transporte aéreo basado en programación matemática lineal, que se resuelve con una combinación del Algoritmo de Enumeración Completa y el Algoritmo de Búsqueda Exhaustiva (ambos proporcionan la solución exacta o un óptimo global para cualquier planteamiento del problema). El modelo incluye asignación de flotas, rutas de aeronaves y programación de tripulaciones. Mientras que los algoritmos exactos son apropiados para aerolíneas pequeñas, los problemas más grandes necesitan Búsqueda Tabú. El crecimiento del transporte aéreo y la congestión en los aeropuertos (a veces propiciada por las operaciones hub&spoke) pueden afectar las demoras con un efecto de bola de nieve o látigo; sin embargo el análisis de la complejidad de la red aérea puede incrementar la resiliencia de las operaciones. Un buen diseño de la red aérea, una buena planificación y unos algoritmos eficientes, son aspectos clave para proporcionar fiabilidad a las aerolíneas y así reducir los recursos inactivos asociados a “colchones de tiempo” (en los horarios de los vuelos) y/o en aviones “de reserva” en la plataforma para recuperar planes de vuelo. El “acolchado” mejora la percepción de la calidad por parte del pasajero, pero con un control activo del horario de vuelos puede conseguirse la misma percepción con costes menores. El entorno competitivo de las aerolíneas se analiza con teoría de juegos: un modelo de Stakelberg para dos aerolíneas competidoras muestra que una guerra de frecuencias o tarifas es perjudicial para ambas aerolíneas. Un modelo Cournot propone una tasa de navegación y de congestión según la correcta utilización de la capacidad. Vuelos (de la misma alianza) a lo largo del mundo con escalas en los hubs principales se proponen como investigación futura