Football is widely regarded as the most popular sport in the world involving over 270 million people from different countries and cultures. It can be argued that the football is one of most important aspects of the game and hence the flight of the ball, if unexpected, can alter the outcome of the game. This thesis provides an engineering perspective and contribution to the continued understanding and improvement of the in-flight performance of FIFA approved footballs. Skilful players will impart spin onto a ball to induce a curve in-flight to try and deceive opponents. This flight is generally smooth, although subtle variations in the orientation and spin rate may cause conditions that affect the path and final ball position, in a manner considered to be unpredictable due to aerodynamic effects. Ball designs and manufacturing techniques are evolving and certain seam configurations are known to induce asymmetric pressure distributions resulting in lateral movement during flight. Aerodynamic research of sport balls has primarily focused on drag and the effects of high spin rates. Studies have shown the introduction of surface roughness affects the boundary layer state compared to a smooth sphere. Surface roughness on a football takes many forms including seam configurations and micro surface textures. The influence of changing the density, distribution and dimensions of the surface roughness with respect to the aerodynamic behaviour has been researched. The principle focus of this thesis is concerned with the influence on the lateral component as a result of applying surface roughness to the outer surfaces. The influence of the surface roughness on the drag and lateral components were determined using established wind tunnel techniques. Real balls and full size prototypes were tested. A mathematical flight model was employed to simulate realistic multiple flight trajectories based on empirical aerodynamic data. Mathematical and statistical techniques, including R.M.S and AutoCorrelation Functions were used to analyse the data. The results from this research showed how small variations in surface texture affected the complex nature of the lateral forces. Trajectories varied significantly depending on initial orientation and slow spin rate sensitivities. In conclusion, ball characterisation techniques were developed that identified lateral deviation and shape measures and considered a gradient profiling approach. Application of these novel parameters through multiple trajectory analysis allowed for an in-flight performance measure of footballs designs.

In order to improve the flight performance of the Martin Jetpack research was undertaken to investigate the aerodynamic issues that were limiting the P-11A Jetpack's flight envelope. Through research of existing ducted-fan aircraft, a flight model describing the unique aerodynamics of the Martin Jetpack was developed using Matlab®/Simulink® software. The dynamic flight model, which can be ran in real time, includes the reactions from: ducted-fans, aircraft body aerodynamics, control surfaces, gyration and landing gear interactions. Abstract Numerous experiments were designed to quantify and validate assumptions used in the development of the model equations. The experiments took advantage of the small size of the Jetpack by designing and building test apparatuses that measured reactions directly on the actual aircraft. This avoided scaling issues that are traditionally encountered when employing wind tunnels for aerodynamic measurements. Abstract Implementing the experimental results into the model led to the modifications of the existing Jetpack airframe to produce the P-11C Jetpack prototype, which significantly improved the performance of the aircraft. The collected flight data was used to validate the model and good agreement was achieved. Abstract Based on this research a new Jetpack prototype (P-12) was developed that combined the flight performance of the P-11C Jetpack with the ability to carry a man or manned sized payload. The model was used to design the layout and to size the control vanes for the P-12 Jetpack. Further research was performed to design larger rotor and stator blades required for the P-12 Jetpack prototype. Abstract The developed model allows the user to efficiently evaluate various control methodologies and changes to key aerodynamic features of the aircraft to aid in the design and flying of the Martin Jetpack. Abstract The outcome of this research is a better understanding of the ducted-fan technology, and via the development of the Jetpack flight model, correctly applying this understanding to improve the Jetpack's flight performance.

Rather than emitting pulses, passive radar systems rely on illuminators of opportunity, such as TV and FM radio, to illuminate potential targets. These systems are attractive since they allow receivers to operate without emitting energy, rendering them covert. Until recently, most of the research regarding passive radar has focused on detecting and tracking targets. This dissertation focuses on extending the capabilities of passive radar systems to include automatic target recognition. The target recognition algorithm described in this dissertation uses the radar cross section (RCS) of potential targets, collected over a short period of time, as the key information for target recognition. To make the simulated RCS as accurate as possible, the received signal model accounts for aircraft position and orientation, propagation losses, and antenna gain patterns. An extended Kalman filter (EKF) estimates the target's orientation (and uncertainty in the estimate) from velocity measurements obtained from the passive radar tracker. Coupling the aircraft orientation and state with the known antenna locations permits computation of the incident and observed azimuth and elevation angles. The Fast Illinois Solver Code (FISC) simulates the RCS of potential target classes as a function of these angles. Thus, the approximated incident and observed angles allow the appropriate RCS to be extracted from a database of FISC results. Using this process, the RCS of each aircraft in the target class is simulated as though each is executing the same maneuver as the target detected by the system. Two additional scaling processes are required to transform the RCS into a power profile (magnitude only) simulating the signal in the receiver. First, the RCS is scaled by the Advanced Refractive Effects Prediction System (AREPS) code to account for propagation losses that occur as functions of altitude and range. Then, the Numerical Electromagnetic Code (NEC2) computes the antenna gain pattern, further scaling the RCS. A Rician likelihood model compares the scaled RCS of the illuminated aircraft with those of the potential targets. To improve the robustness of the result, the algorithm jointly optimizes over feasible orientation profiles and target types via dynamic programming.

Airborne Wind Energy Systems (AWES) harness the power of high-altitude winds using tethered planes or kites. Continuous and reliable operation requires that AWES become autonomous devices, but the wind intermittency forces the system to repeatedly take-off to start, and land to shut-off. Therefore, a common approach to facilitate the operation is implementing Vertical take-off and landing (VTOL) functionality. This thesis models and simulates AWES flights working towards the implementation of flight controller hardware and autonomous operation of an AWES demonstrator platform. The Ardupilot open-source autopilot platform provides a convenient tool for modeling, simulation, and hardware implementation of small-scale airplanes. An AWES lab-scale demonstrator was developed to obtain operational insight, get preliminary flight data, and real-world experience in this technology. A quadplane was developed by combining a structurally reinforced glider with VTOL and autopilot components. Its performance is obtained from static and aerodynamic studies and converted into the Ardupilot parameter format to define it in the simulation. An AWES flight model was developed from the ground up to evaluate the performance of a simple flight controller in trajectory tracking. The Ardupilot Software-in-Loop (SIL) tool expands the simulation capabilities by running the flight controller code without requiring any hardware. This allowed controller tuning and flight plan evaluation with a more advanced fight model. AWES crosswind flight simulation was only possible due to the incorporation of an elastic tether and an ideal winch into the physics model. As a result, different trajectories and configurations were tested to find the optimal parameters that were uploaded to the flight controller board. The operational capabilities of the AWES demonstrator were expanded with a flight testing campaign. By targeting individual objectives, each test gradually increased its complexity and ensured that the flight envelope was safely expanded. The results were validated with the simulation before moving on to the next flight test. The testing campaign is still underway due to challenges and limitations presented by the legal and logistical aspects of operating the quadplane. However, preliminary flight tests in VTOL mode have been completed and were consistent with the simulated results in terms of autonomous waypoint navigation and attitude control. / Graduate

This thesis deals with human – pilot behaviour modelling during a flight in terms of automatic control systems. For these purposes, the introduction to the issue of description and modelling of individual components of the whole pilot – aircraft interaction is presented. Based on that, the simulation models obtained from real measured data are designed. However, the acquisition of the real flight data is quite difficult. Therefore, the flight simulator at Brno University of Defence is used for the purposes of this work. Several experimental measurements were taken using this simulator. These were focused on measuring pilot’s reactions (responses) to visual stimulus with emphasis on obtaining judgements about their current state of training (in terms of dynamic behaviour) as well as attitude to aircraft control. In this phase, two sets of measurements with eight pilots were taken. On average, the pilots had 60 flight hours before the first set of measurements and about 80 flight hours before the second set. The obtained results are analysed using mainly the theory of automatic control approaches in order to evaluate the actual state of pilots’ abilities considering the effects of flight training.