A computational model is presented which predicts the force, stroke, and energy needed to overcome aerodynamic loads encountered by morphing wings during aircraft maneuvers. This low-cost model generates wing section shapes needed to follow a desired flight path, computes the resulting aerodynamic forces using a unique combination of conformal mapping and the vortex panel method, computes the longitudinal motion of the simulated aircraft, and closes the loop with a zero-error control law. The aerodynamic force prediction method has been verified against two more expensive codes. This overall model will be used to predict the performance of morphing wings and the requirements for the active material actuators in the wings. / Master of Science

Shape processing defines a set of theoretical and algorithmic tools for creating, measuring and modifying digital representations of shapes.  Such tools are of paramount importance to many disciplines of computer graphics, including modeling, animation, visualization, and image processing.  Many applications of shape processing can be found in the entertainment and medical industries. In an attempt to improve upon many previous shape processing techniques, the present thesis explores the theoretical and algorithmic aspects of a difference measure, which involves fitting a ball (disk in 2D and sphere in 3D) so that it has at least one tangential contact with each shape and the ball interior is disjoint from both shapes. We propose a set of ball-based operators and discuss their properties, implementations, and applications.  We divide the group of ball-based operations into unary and binary as follows: Unary operators include: * Identifying details (sharp, salient features, constrictions) * Smoothing shapes by removing such details, replacing them by fillets and roundings * Segmentation (recognition, abstract modelization via centerline and radius variation) of tubular structures Binary operators include: * Measuring the local discrepancy between two shapes * Computing the average of two shapes * Computing point-to-point correspondence between two shapes * Computing circular trajectories between corresponding points that meet both shapes at right angles * Using these trajectories to support smooth morphing (inbetweening) * Using a curve morph to construct surfaces that interpolate between contours on consecutive slices The technical contributions of this thesis focus on the implementation of these tangent-ball operators and their usefulness in applications of shape processing. We show specific applications in the areas of animation and computer-aided medical diagnosis.  These algorithms are simple to implement, mathematically elegant, and fast to execute.

This thesis presents a study on the design and analysis of a morphing flap structure integrated with actuation mechanism for potential application to large aircraft. Unlike the conventional rigid flap mounted on the wing trailing edge, the morphing flap is designed as a unitized structural system integrated with three primary components: the upper and lower flexible skins reinforced by stringers, an eccentric beam actuation mechanism (EBAM) with discs fixed on it, and the connection of the discs with the stringers. Based on the EBAM concept proposed by Dr Guo in previous research [1], the current study has been focused on the EBAM design and optimization, kinematic simulation and structural modelling of the morphing flap. Although a lot of efforts have been made to develop the morphing flap in previous research, it is lack of detailed design of the disc-skin linkage and clear view on the mechanism optimization in relation to the shape requirement. The main objective of this research is to meet the morphing shape requirements and calculate the actuation torque for a specified morphing flap. Firstly effort was made to design and optimize the disc shape and locations in the EBAM for the best matching of the specified morphing shape with minimum actuation torque demand. It is found that minimum three discs are required and their locations have little effect on the actuation torque. Secondly attention was focused on designs of the disc and a C-linkage with the stringers. To ensure that the C- linkage works in practice, a twisted stringer flange design was proposed. Thirdly the actuation mechanism was integrated with the stiffened skin to play the role of an active rib in the flap structure. Based on the design, FE modelling and analysis of the morphing flap structure was carried out. The behaviour of the morphing flap under the internal actuation and external aerodynamic load was applied for stress analysis and detailed design of the structures. Finally the kinematics of the integrated morphing flap was simulated by using CATIA to demonstrate the feasibility and the effectiveness of the improved design.

Este trabalho apresenta um estudo sobre métodos utilizados para realizar metamorfose entre imagens digitais. Segundo esses métodos é possível estabelecer uma imagem fonte, uma destino e, através de operações de mapeamento de texturas, realizar uma seqüência de imagens intermediárias. Essas imagens intermediárias apresentam-se como deformações sobre a imagem fonte ou como etapas de transição entre as imagens originais, efeito produzido pela inserção de um processo de fusão de imagens. O processo de deformação varia segundo o método empregado e influencia diretamente nos resultados por ele gerado. Assim, dois métodos com características diferentes para deformação de imagens foram escolhidos, dentre os encontrados, para um estudo mais aprofundado e são referenciados como o Método das Malhas e o Método dos Campos de Influência. Esses métodos são apresentados, seus funcionamentos discutidos e resultados gerados para se estabelecer uma análise entre os mesmos. A análise é efetuada segundo os aspectos de tempo de processamento, consumo de minoria e atribuição de correspondências entre as imagens, sendo que esta última característica leva em consideração o tempo total gasto para se estabelecer as correspondências necessárias entre a imagem fonte e a destino. Neste ponto também é estabelecido um quadro comparativo entre os métodos escolhidos, destacando-se vantagens e desvantagens. Os resultados da aplicação dos métodos analisados encontram-se distribuídos ao longo do texto sob a forma de imagens e tabelas, são utilizados para provar a eficiência desses métodos e foram gerados por um sistema de testes implementado. O sistema de testes desenvolvido possibilita a geração de imagens, segundo o método escolhido, informa os tempos utilizados no processamento e exibe essas imagens seqüencialmente sob a forma de uma animação. Por fim o trabalho apresenta conclusões sobre o estudo, salientando aspectos considerados relevantes quando do estudo e implementação dos métodos, e indica futuras extensões que podem ser efetuadas a fim de tornar o sistema de testes mais flexível e completo. / This work presents a study on methods used to make digital images metamorphosis. According to these methods it is possible to establish a source image, a destination image and also to generate a sequence of intermediate images through operations of texture mapping. These intermediate images appears as deformations of the source image or as transition steps between the original images which are produced by the insertion of a cross-dissolve process. The warping process varies according to the method which is used and it influences directly its results. Thus, two methods for image warping with different characteristics were chosen, among the available ones, for a more detailed study and are refered as the Mesh Method and as the Fields of Influence Method. These two methods are presented, their functioning is discussed and results are generated to allow comparative analyses. The analysis concerns aspects of processing time, memory allocation and correspondence establishment, which take into account the time waisted in order to establish the correspondences between the images. At this point it is also established a comparative table between the chosen methods highlighting advantages and disadvantages. The results of the application of the analysed methods are distributed throughout the text as images and tables, which are used to prove the efficiency of them and were generated by a test system implemented. The system developed provides the generation of images, according to the choosen method, informs the time waisted on processing and shows those images sequentially as an animation. Finally this work presents conclusions about the study and indicates future extensions that can be done in order to make the developed system more flexible and complete.

There are a number of techniques that are used to solve reinforcement learning problems, but very few that have been developed for and tested on highly reconfigurable systems cast as reinforcement learning problems. Reconfigurable systems refers to a vehicle (air, ground, or water) or collection of vehicles that can change its geometrical features, i.e. shape or formation, to perform tasks that the vehicle could not otherwise accomplish. These systems tend to be optimized for several operating conditions, and then controllers are designed to reconfigure the system from one operating condition to another. Q-learning, an unsupervised episodic learning technique that solves the reinforcement learning problem, is an attractive control methodology for reconfigurable systems. It has been successfully applied to a myriad of control problems, and there are a number of variations that were developed to avoid or alleviate some limitations in earlier version of this approach. This dissertation describes the development of three modular enhancements to the Q-learning algorithm that solve some of the unique problems that arise when working with this class of systems, such as the complex interaction of reconfigurable parameters and computationally intensive models of the systems. A multi-resolution state-space discretization method is developed that adaptively rediscretizes the state-space by progressively finer grids around one or more distinct Regions Of Interest within the state or learning space. A genetic algorithm that autonomously selects the basis functions to be used in the approximation of the action-value function is applied periodically throughout the learning process. Policy comparison is added to monitor the state of the policy encoded in the action-value function to prevent unnecessary episodes at each level of discretization. This approach is validated on several problems including an inverted pendulum, reconfigurable airfoil, and reconfigurable wing. Results show that the multi-resolution state-space discretization method reduces the number of state-action pairs, often by an order of magnitude, required to achieve a specific goal and the policy comparison prevents unnecessary episodes once the policy has converged to a usable policy. Results also show that the genetic algorithm is a promising candidate for the selection of basis functions for function approximation of the action-value function.

This thesis endeavors to develop a new locking method for a twisted morphing wing spar. The conventional wing has to have hinges and a discontinuous surface. These cause air separation that decreases aerodynamic performance. Unlike this old concept, the new airfoil comprises a square cross section spar into the wing blade. Twisting the spar changes the airfoil?s angle of attack to control lifting and thrust force without a discontinuous surface. A nastic actuator generates shear stress for twisting the spar. A thermoplastic polymer locks the twisted shape. Applying heat and solidifying the polymer makes the beam lock into the twisted position even after removing the shear stress. This concept was evaluated by computer simulation and an experiment with a prototype construction. The analysis with 5m long spar shows that +450Pa shear stress generated +2 degrees twist and maximum 1.49MN/m spring constant at the spar tip. This spring constant helps a designer select the locking material, Ultem. The analysis proves that the Ultem film?s shear spring constant is high enough to hold the aluminum spar?s spring back. Physical experiment conditions might differ from computer simulation because environmental limitations might be present. The prototype spar has to be less than 300mm long to fit in an electric oven. Tension made the beam twist and baked it with locking material. When the polymer softened, the beam was taken from the oven and cooled. The solidified locking material held the spar at twisted status. The observation shows no detectable spring back after removing tension. Analytic solution also presents no spring back in twisting the prototype section spar. The FEA of the section spar verifies the physical experiment results. As a normal polymer, the Ultem shows stress relaxation. The load drop affects deceasing elastic modulus. Subsequently, the Ultem is able to lock the twisted spar even after the relaxation.

The following dissertation describes a personal course of research into audio morphing technology, with a primary focus on how such research might impact the composition of contemporary, research-based art music. These two primary concerns have been augmented through considerations of both: the broader literature of musical morphology, and selected analyses from the history of western art music that employ an idiosyncratic interpretation of audio morphing principles. I have attempted throughout to tightly focus these discussions through the lens of my own compositional activity, embodied by the accompanying dissertation composition for ten musicians/sound technicians (for chelsea smith) and its chapter-length analysis. Therefore, following a terminological distinction between appearances and usages of the terms morphing and morphology in the existing literature (Chapter 1), the above materials will be organized in order of their importance to my compositional activity. As such, the analysis of my dissertation composition (Chapter 2) will be presented first. This will be followed by a summary of my technical research (Chapter 3), and three highly personalized interpretations of how morphing principles might be said to apply to works from the past repertoire of the western tradition (Chapters 4-6). The morphing principles alluded to above include: the primacy of pure sound, the decomposition of complex sonic phenomena into simpler elements, the importance of continuous transformation, and the connection of disparate sonic entities through continua of new material. Such principles will not only inform my analyses of past music, but will also be revealed as central to my compositional perspective in for chelsea smith. / Graduate / 0413 / emaildfm@gmail.com

Morphing an aircraft wingtip can provide substantial performance improvement. Most civil transport aircraft are optimized for range but for other flight conditions such as take-off and climb they are used as constraints. These constraints could potentially reduce the performance of an aircraft at cruise. By altering the shape of the wingtip, we can force the load distribution to adapt to the required flight condition to improve performance. Using a Variable Geometry Truss Mechanism (VGTM) concept to morph the wingtip of an aircraft with a Multidisciplinary Design Optimization (MDO) framework, the current work will attempt to find an optimal wing and wingtip shape to minimize fuel consumption for multiple morphing stages during cruise. This optimization routine was conducted with a Particle Swarm Optimization (PSO) algorithm using different fidelity tools to analyze the aerodynamic and structural disciplines.

Morphing an aircraft wingtip can provide substantial performance improvement. Most civil transport aircraft are optimized for range but for other flight conditions such as take-off and climb they are used as constraints. These constraints could potentially reduce the performance of an aircraft at cruise. By altering the shape of the wingtip, we can force the load distribution to adapt to the required flight condition to improve performance. Using a Variable Geometry Truss Mechanism (VGTM) concept to morph the wingtip of an aircraft with a Multidisciplinary Design Optimization (MDO) framework, the current work will attempt to find an optimal wing and wingtip shape to minimize fuel consumption for multiple morphing stages during cruise. This optimization routine was conducted with a Particle Swarm Optimization (PSO) algorithm using different fidelity tools to analyze the aerodynamic and structural disciplines.

Thesis (MSc)--University of Stellenbosch, 2007. / Bibliography. Also available via the Internet.