No description available.

No description available.

No description available.

<p> Ground teleoperation of a satellite servicing spacecraft is a challenging task for a human operator, especially when there is significant communications delay between the control station and spacecraft. On-orbit operations are further complicated by a communications time delay between the ground and spacecraft. Operator performance can be improved with the use of a graphical simulation of the robot. By displaying the robot's commanded position, graphical simulation can also mitigate some effects of time delay. This work implemented a visualization tool and commanded display to assist operation of a remote dexterous manipulator. A Fitts' Law experiment was designed to determine the effectiveness of the commanded display in reducing the impact of time delay. The experiment was conducted with a six degree of freedom manipulator over a range of time delays, from 0.0 to 6.0 seconds. The experimental results were analyzed to assess the reduction of task completion time and operator workload.</p>

<p> West Virginia University (WVU) has created the Small Microgravity Research Facility (SMiRF) drop tower through a WVU Research Corporation Program to Stimulate Competitive Research (PSCoR) grant on its campus to increase direct access to inexpensive and repeatable reduced gravity research. In short, a drop tower is a tall structure from which experimental payloads are dropped, in a controlled environment, and experience reduced gravity or microgravity (i.e. "weightlessness") during free fall. Currently, there are several methods for conducting scientific research in microgravity including drop towers, parabolic flights, sounding rockets, suborbital flights, NanoSats, CubeSats, full-sized satellites, manned orbital flight, and the International Space Station (ISS). However, none of the aforementioned techniques is more inexpensive or has the capability of frequent experimentation repeatability as drop tower research. These advantages are conducive to a wide variety of experiments that can be inexpensively validated, and potentially accredited, through repeated, reliable research that permits frequent experiment modification and re-testing. </p><p> Development of the WVU SMiRF, or any drop tower, must take a systems engineering approach that may include the detailed design of several main components, namely: the payload release system, the payload deceleration system, the payload lifting and transfer system, the drop tower structure, and the instrumentation and controls system, as well as a standardized drop tower payload frame for use by those researchers who cannot afford to spend money on a data acquisition system or frame. In addition to detailed technical development, a budgetary model by which development took place is also presented throughout, summarized, and detailed in an appendix. After design and construction of the WVU SMiRF was complete, initial calibration provided performance characteristics at various payload weights, and full-scale checkout via experimentation provided repeatability characteristics of the facility. Based on checkout instrumentation, Initial repeatability results indicated a drop time of 1.26 seconds at an average of 0.06g, with a standard deviation of 0.085g over the period of the drop, and a peak impact load of 28.72g, with a standard deviation of 10.73g, for a payload weight of 113.8 lbs. </p><p> In order to thoroughly check out the facility, a full-scale, fully operational experiment was developed to create an experience that provides a comprehensive perspective of the end-user experience to the developer, so as to incorporate the details that may have been overlooked to the designer and/or developer, in this case, Kyle Phillips. The experiment that was chosen was to determine the effects of die swell, or extrudate swell, in reduced gravity. Die swell is a viscoelastic phenomenon that occurs when a dilatant, or shear-thickening substance is forced through a sufficient constriction, or "die," such that the substance expands, or "swells," downstream of the constriction, even while forming and maintaining a free jet at ambient sea level conditions. A wide range of dilatants exhibit die swell when subjected to the correct conditions, ranging from simple substances such as ketchup, oobleck, and shampoo to complex specially-formulated substances to be used for next generation body armor and high performance braking systems. To date, very few, if any, have researched the stabilizing effect that gravity may have on the phenomenon of die swell. By studying a fluid phenomenon in a reduced gravity environment, both the effect of gravity can be studied and the predominant forces acting on the fluid can be concluded. Furthermore, a hypothesis describing the behavior of a viscoelastic fluid particle employing the viscous Navier-Stokes Equations was derived to attempt to push the fluid mechanics community toward further integrating more fluid behavior into a unified mathematical model of fluid mechanics. While inconclusive in this experiment, several suggestions for future research were made in order to further the science behind die swell, and a comprehensive checkout of the facility and its operations were characterized. As a result of this checkout experience, several details were modified or added to the facility in order for the drop tower to be properly operated and provide the optimal user experience, such that open operation of the WVU SMiRF may begin in the Fall of 2014.</p>

<p> This thesis presents an algorithm for a search and coverage mission that has increased autonomy in generating an ideal trajectory while explicitly considering the available energy in the optimization. Further, current algorithms used to generate trajectories depend on the operator providing a discrete set of turning rate requirements to obtain an optimal solution. This work proposes an additional modification to the algorithm so that it optimizes the trajectory for a range of turning rates instead of a discrete set of turning rates. This thesis conducts an evaluation of the algorithm with variation in turn duration, entry-heading angle, and entry point. Comparative studies of the algorithm with existing method indicates improved autonomy in choosing the optimization parameters while producing trajectories with better coverage area and closer final distance to the desired terminal point. </p>

<p> Computational fluid dynamics (CFD) solution approximations for complex fluid flow problems have become a common and powerful engineering analysis technique. These tools, though qualitatively useful, remain limited in practice by their underlying inverse relationship between simulation accuracy and overall computational expense. While a great volume of research has focused on remedying these issues inherent to CFD, one traditionally overlooked area of resource reduction for engineering analysis concerns the basic definition and determination of functional relationships for the studied fluid flow variables. This artificial relationship-building technique, called meta-modeling or surrogate/offline approximation, uses design of experiments (DOE) theory to efficiently approximate non-physical coupling between the variables of interest in a fluid flow analysis problem. By mathematically approximating these variables, DOE methods can effectively reduce the required quantity of CFD simulations, freeing computational resources for other analytical focuses.</p><p> An idealized interpretation of a fluid flow problem can also be employed to create suitably accurate approximations of fluid flow variables for the purposes of engineering analysis. When used in parallel with a meta-modeling approximation, a closed-form approximation can provide useful feedback concerning proper construction, suitability, or even necessity of an offline approximation tool. It also provides a short-circuit pathway for further reducing the overall computational demands of a fluid flow analysis, again freeing resources for otherwise unsuitable resource expenditures.</p><p> To validate these inferences, a design optimization problem was presented requiring the inexpensive estimation of aerodynamic forces applied to a valve operating on a simulated piston-cylinder heat engine. The determination of these forces was to be found using parallel surrogate and exact approximation methods, thus evidencing the comparative benefits of this technique. For the offline approximation, latin hypercube sampling (LHS) was used for design space filling across four (4) independent design variable degrees of freedom (DOF). Flow solutions at the mapped test sites were converged using STAR-CCM+ with aerodynamic forces from the CFD models then functionally approximated using Kriging interpolation. For the closed-form approximation, the problem was interpreted as an ideal 2-D converging-diverging (C-D) nozzle, where aerodynamic forces were directly mapped by application of the Euler equation solutions for isentropic compression/expansion. A cost-weighting procedure was finally established for creating model-selective discretionary logic, with a synthesized parallel simulation resource summary provided.</p>

<p> Flow-induced structural acoustics involves the study of the vibration of a structure induced by a fluid flow as well as the resulting sound generated and radiated by the motion of the system. The thesis examines several aspects of flow-induced structural vibration for fluid-loaded systems. A new method, termed Magnitude-Phase Identification, is derived to experimentally obtain a modal decomposition of the vibration of a structure using two-point measurements. MPI was used to measure the auto-spectral density of various modes for a non-fluid-loaded, rectangular, clamped plate excited by a spatially-homogeneous turbulent boundary layer. These results agreed well with theory. Using MPI, it was shown that when both fluid-loading and a spatially non-homogeneous wall pressure field is applied to a structure that the mode shapes become dependent on the forcing field, an effect which does not occur when either characteristic is applied individually. Furthermore, the resulting mode shapes are potentially highly asymmetric. It was shown through a discretized string model that these results can be attributed to the increased damping induced by fluid loading. Internal acoustic wall pressure fields due to a ducted rotor were measured, and it was shown that the acoustic effects of the rotor can be approximated by replacing the rotor with a continuous ring of dipoles located at the blade tip. The finite length of the duct was accounted for through use of a method of images. The theoretical results from this model match well with the measured values. Lastly, the vibration of a fluid-loaded duct excited by an internal rotor is measured through use of MPI. The resulting vibration field appears similar to the field examined earlier due to fluid loading, with a decrease in the coherent vibration magnitude for increasing spatial separation from the reference location.</p>

<p> This dissertation examines the use of electric fields as one mechanism for controlling combustion as flames are partially extinguished when impinging on nearby surfaces. Electrical aspects of flames, specifically, the production of chemi-ions in hydrocarbon flames and the use of convective flows driven by these ions, have been investigated in a wide range of applications in prior work but despite this fairly comprehensive effort to study electrical aspects of combustion, relatively little research has focused on electrical phenomena near flame extinguishment, nor for flames near impingement surfaces. Electrical impinging flames have complex properties under global influences of ion-driven winds and flow field disturbances from the impingement surface. Challenges of measurements when an electric field is applied in the system have limited an understanding of changes to the flame behavior and species concentrations caused by the field. This research initially characterizes the ability of high voltage power supplies to respond on sufficiently short time scales to permit real time electrical flame actuation. The study then characterizes the influence of an electric field on the impinging flame shape, ion current and flow field of the thermal plume associated with the flame. The more significant further examinations can be separated into two parts: 1) the potential for using electric fields to control the release of carbon monoxide (CO) from surface-impinging flames, and 2) an investigation of controlling electrically the heat transfer to a plate on which the flame impinges. Carbon monoxide (CO) results from the incomplete oxidation of hydrocarbon fuels and, while CO can be desirable in some syngas processes, it is usually a dangerous emission from forest fires, gas heaters, gas stoves, or furnaces where insufficient oxygen in the core reaction does not fully oxidize the fuel to carbon dioxide and water. Determining how carbon monoxide is released and how heat transfer from the flame to the plate can be controlled using the electric field are the two main goals of this research. Multiple diagnostic techniques are employed such as OH chemiluminescence to identify the reaction zone, OH PLIF to characterize the location of this radical species, CO released from the flame, IR imaging and OH PLIF thermometry to understand the surface and gas temperature distribution, respectively. The principal finding is that carbon monoxide release from an impinging diffusion flame results from the escape of carbon monoxide created on the fuel side of the flame along the boundary layer near the surface where it avoids oxidation by OH, which sits to the air side of the reaction sheet interface. In addition, the plate proximity to the flame has a stronger influence on the emission of toxic carbon monoxide than does the electric field strength. There is, however, a narrow region of burner to surface distance where the electric field is most effective. The results also show that heat transfer can be spatially concentrated effectively using an electric field driven ion wind, particularly at some burner to surface distances.</p>

<p>A study was conducted to assess the accuracy of empirical techniques used for the calculation of flight performance for unmanned aerial vehicles. This was achieved by quantifying the error between a mathematical model developed with these techniques and experimental test data taken using an unmanned aircraft. The vehicle utilized for this study was developed at Washington State University for the purpose of flying using power derived from hydrogen stored as a cryogenic liquid. The vehicle has a mass of 32.8 kg loaded and performed a total of 14 flights under battery power for 3.58 total flight hours. Over these flights, the design proved it is capable of sustaining level flight from the power available from a PEM fuel cell propulsion system. The empirical techniques used by the model are explicitly outlined within. These yield several performance metrics that are compared to measurements taken during flight testing. Calculations of required thrust for steady flight over all airspeeds and rates of climb modeled are found to have a mean percent error of 3.2%?7.0% and a mean absolute percent error of 34.6%?5.1%. Comparison of the calculated and measured takeoff distance are made and the calculated thrust required to perform a level turn at a given rate is compared to flight test data. A section of a test flight is analyzed, over which the vehicle proves it can sustain level flight under 875 watts of electrical power. The aircraft's design is presented including the wing and tail, propulsion system, and build technique. The software and equipment used for the collection and analysis of flight data are given. Documentation and validation is provided of a unique test rig for the characterization of propeller performance using a car. The aircraft remains operational to assist with research of alternative energy propulsion systems and novel fuel storage techniques. The results from the comparison of the mathematical model and flight test data can be utilized to assist in the development of similar Unmanned Aerial Vehicles, express the uncertainty in calculated vehicle performance numbers, and assist in identifying error in control system design.