In this thesis, an architecture for the adaptive mode transition control of unmanned aerial vehicles (UAV) is presented. The proposed architecture consists of three levels: the highest level is occupied by mission planning routines where information about way points the vehicle must follow is processed. The middle level uses a trajectory generation component to coordinate the task execution and provides set points for low-level stabilizing controllers. The adaptive mode transitioning control algorithm resides at the lowest level of the hierarchy consisting of a mode transitioning controller and the accompanying adaptation mechanism. The mode transition controller is composed of a mode transition manager, a set of local controllers, a set of active control models, a set point filter, a state filter, an automatic trimming mechanism and a dynamic compensation filter. Local controllers operate in local modes and active control models operate in transitions between two local modes. The mode transition manager determines the actual mode of operation of the vehicle based on a set of mode membership functions and activates a local controller or an active control model accordingly. The adaptation mechanism uses an indirect adaptive control methodology to adapt the active control models. For this purpose, a set of plant models based on fuzzy neural networks is trained based on input/output information from the vehicle and used to compute sensitivity matrices providing the linearized models required by the adaptation algorithms. The effectiveness of the approach is verified through software-in-the-loop simulations, hardware-in-the-loop simulations and flight testing.

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Gradient-based aerodynamic shape optimization, based on Computational Fluid Dynamics analysis of the flow, is a method that can automatically improve designs of aircraft components. The prospect is to reduce a cost function that reflects aerodynamic performances. When the shape is described by a large number of parameters, the calculation of one gradient of the cost function is only feasible by recourse to techniques that are derived from the theory of optimal control. In order to obtain the best computational efficiency, the so called adjoint method is applied here on the complete mapping, from the parameters of design to the values of the cost function. The mapping considered here includes the Euler equations for compressible flow discretized on unstructured meshes by a median-dual finite-volume scheme, the primal-to-dual mesh transformation, the mesh deformation, and the parameterization. The results of the present research concern the detailed derivations of expressions, equations, and algorithms that are necessary to calculate the gradient of the cost function. The discrete adjoint of the Euler equations and the exact dual-to-primal transformation of the gradient have been implemented for 2D and 3D applications in the code Edge, a program of Computational Fluid Dynamics used by Swedish industries. Moreover, techniques are proposed here in the aim to further reduce the computational cost of aerodynamic shape optimization. For instance, an interpolation scheme is derived based on Radial Basis Functions that can execute the deformation of unstructured meshes faster than methods based on an elliptic equation. In order to improve the accuracy of the shape, obtained by numerical optimization, a moving mesh adaptation scheme is realized based on a variable diffusivity equation of Winslow type. This adaptation has been successfully applied on a simple case of shape optimization involving a supersonic flow. An interpolation technique has been derived based on a mollifier in order to improve the convergence of the coupled mesh-flow equations entering the adaptive scheme. The method of adjoint derived here has also been applied successfully when coupling the Euler equations with the boundary-layer and parabolized stability equations, with the aim to delay the laminar-to-turbulent transition of the flow. The delay of transition is an efficient way to reduce the drag due to viscosity at high Reynolds numbers.

<p>NR 20140805</p>

In this study, which is numerical in nature, direct numerical simulation (DNS) of the pipe flow is performed. For the DNS a solenoidal spectral method is employed, this involves the expansion of the velocity using divergence free functions which also satisfy the prescribed boundary conditions, and a subsequent projection of the N-S equations onto the corresponding dual space. The solenoidal functions are formulated in Legendre polynomial space, which results in more favorable forms for the inner product integrals arising from the Petrov-Galerkin scheme employed. The developed numerical scheme is also used to investigate the effects of spanwise oscillations and phase randomization on turbulence statistics, and drag, in turbulent incompressible pipe flow for low to moderate Reynolds numbers (i.e. $mathrm{Re} sim 5000$) ).

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L’objectif de ce travail est d’étendre l’étude locale de la stabilité linéaire des interactions fluide-structure à des domaines peu ou pas encore abordés dans la littérature ; l’influence des interfaces poroélastiques sur les couches limites bidimensionnelles, tridimensionnelles, ou aspirées, ainsi que l’écoulement dans une canopée modélisé par un profil de vitesse réaliste, sont ainsi traités. Les résultats révèlent que dans les couches limites 3D, la compliance réduit le domaine d’instabilité du mode TS dominant mais fait apparaître des modes hydroélastiques ; à l’inverse, la perméabilité stabilise ces derniers tout en déstabilisant l’onde TS, s’apparentant en cela à un amortissement. Sur les ailes en flèche, la transition dépend localement d’instabilités nommées tourbillons Crossflow (CF) d’origine non-visqueuse ; l’effet déstabilisant de la perméabilité sur celles-ci est presque nul tandis que son action positive sur les modes hydroélastiques reste intact, offrant des perspectives prometteuses. Dans le domaine des couches limites aspirées, la quasi-totalité des études publiées reposent sur l’hypothèse d’une perméabilité négligeable et d’une paroi rigide ; or il est démontré ici que la perméabilité (indissociable de la succion) exerce même à faible dose une déstabilisation sur la perturbation dominante et que la compliance (pouvant résulter d’un allègement) provoque l’apparition d’une instabilité absolue. Pour finir, l’attention est portée sur les écoulements dans une canopée -assimilables à des couches de mélange. La stabilité linéaire de l’onde nommée monami ou honami est étudiée sur la base d’un profil de vitesse moyenne réaliste calculé numériquement, puis comparé aux résultats obtenus avec le profil en lignes brisées usuellement employé. L’effet de la force de traînée, communément considéré comme amortissant, se révèle au contraire déstabilisant lorsqu’il est pris en compte dès le calcul du profil de vitesse moyenne. / Local linear stability of fluid-structure interactions is investigated in uncustomary fields such as swept, unswept and asymptotic suction incompressible boundary layers developing over compliant, porous plates –in the limit of small permeability– or relatistically-modeled incompressible flows over a canopy. Results show that compliance has a stabilizing effect on the 3D most instable hydrodynamic mode but allows hydroelastic modes to emerge, which take the form of travelling wave flutter instabilities ; conversely, permeability tends to damp the latter ones but to destabilize the former ones. Transition on swept wings also locally depends on 3D unviscid instabilities called Crossflow vortices, hardly unstabilized by permeability ; this provides promizing outlets, since permeability has still a strong positive effect on 3D hydroelastic modes. In the field of incompressible parallel boundary layer flows with uniform suction through the wall, most of the existing studies are based on the assumption that plate’s porosity and flexibility are negligible. Nevertheless, proof is given here that permeability (linked to suction) exerts a strong destabilizing effect on the Tollmien-Schlichting most instable mode. Besides, compliance (that can result from lightering measures) reveals to provoke an absolute instability that is likely to contaminate the entire domain. Finally, attention is paid to incompressible flows across a canopy, that are similar to mixing layers. Linear stability of the coherent motions called monami or honami is adressed using a relatistically-computed velocity profile, then compared to the results obtained with the customary piecewise linear velocity profile. Then, drag force variations are taken into account as soon as velocity profile computing. The result is that drag happens to have a destabilizing effect on the flow, instead of the commonly admitted damping effect.

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