Critical automated maneuvers for ships typically require a redundant set of thrusters. The motion control system hierarchy is commonly separated into several layers using a high-level motion controller and a thruster allocation (TA) algorithm. This allows for a modular design of the software where the high-level controller can be designed without comprehensive information on the thrusters, while detailed issues such as input saturation and rate limits are handled by the TA. However, for a certain set of thruster configurations this decoupling may result in poor control performance due to the limited knowledge in the high-level controller about the physical limitations of the ship and the behavior of the TA. This thesis investigates different approaches of improving the control performance, using nonlinear Model Predictive Control (MPC) as a foundation for the developed motion controllers due to its optimized solution and capability of satisfying constraints. First, a decoupled system is implemented and results are provided for two simple motion tasks showing problems related to the decoupling. Thereafter, two different approaches are taken to remedy the observed drawbacks. A nonlinear MPC controller is developed combining the motion controller and thruster allocation resulting in a more robust control system. Then, in order to keep the control system modularized, an investigation of possible ways to augment the decoupled system so as to achieve similar performance as the combined system is carried out. One proposed solution is a nonlinear MPC controller with time-varying constraints accounting for the current limitations of the thruster system. However, this did not always improve the control performance since the behavior of the TA still is unknown to the MPC controller.

Un défi à court terme pour les industriels de l’aéronautique est de concevoir des produits sûrs, fiables, compactes, basse consommation et à faible impact environnemental due à la forte concurrence et à l’augmentation des attentes des clients et des autorités de certification. Un défi à plus long terme pour ces organisations est de pérenniser leur savoir-faire et leur expertise qui sont menacés par le départ en retraite de générations d’experts, ingénieurs et techniciens. Relever ces défis n’est pas une tâche facile lorsque les produits concernés sont des systèmes mécatroniques embarqués tel que les systèmes d’actionnement électromécaniques. La conception de ces systèmes complexes nécessite l’intégration de savoirs très hétérogènes dû à l’interaction entre de nombreux métiers de l’ingénierie et entre les différentes lois de la physique qui les caractérisent. De plus, les systèmes mécatroniques embarqués sont constitués de nombreux composants interdépendants. Faire face à l’interdépendance des composants reste une tâche non-triviale et fondamentale du métier d’ingénieur. Ceci provoque des itérations coûteuses durant le cycle de conception et des solutions non-optimisées. Les techniques d’optimisation multidisciplinaire fournissent des fondements théoriques et des outils de calculs permettant l’optimisation de systèmes comportant un grand nombre de variables et des couplages multidisciplinaires. Dans le but d’utiliser ces techniques pour un dimensionnement rapide des produits mécatroniques, des tâches doivent être effectuées : représentation du savoir de conception, décomposition et coordination des modèles pour l’évaluation et l’optimisation des performances du système. Les modèles algébriques ont été choisis pour représenter les différents modèles de conception. Une nouvelle formulation d’optimisation multidisciplinaire est proposée. Elle permet des convergences rapides et s’avère robuste au changement d’échelle. Une approche basée sur la théorie des graphes et le calcul symbolique est proposée pour aider les ingénieurs à la mise en place de problèmes à grand nombre de variables et comportant des couplages multidisciplinaires. Une méthodologie de dimensionnement est présentée ainsi que l’outil logiciel associé. L’objectif principal est de permettre un dimensionnement global des systèmes mécatroniques en se souciant de la réutilisation du savoir et la prise de décision rapide. La méthodologie est illustrée sur un cas académique de système d’actionnement. Ensuite, des systèmes plus complexes sont étudiés. Tout d’abord, la conception d’un système d’actionnement de commandes de vol primaire est effectuée. Enfin, un système d’actionnement d’inverseur de poussée électrique est dimensionné / The critical short term challenge for contemporary aerospace industrial companies is to design safe, reliable, compact, low power consumption and low environmental impact products, forces driven by economic competition and the increasing expectations of customers and certification authorities. A long-term challenge for these organizations is to manage their knowledge and expertise heritage, which is jeopardized due to forthcoming retirement of the current generation of experts, engineers and technicians. Undertaking these challenges is particularly intricate when it comes to embedded mechatronic systems used in electro-mechanical actuation systems. The design of these complex systems involves heterogeneous knowledge due to the interface of multiple engineering specializations and the interacting physical laws that govern their behaviour. Additionally, embedded mechatronic systems are composed of several interdependent components and sub-systems. Dealing with interdependencies remains a non-trivial and fundamental aspect of modern engineering practice. This can result in costly iterations during the design process and final non-optimal solutions. Multidisciplinary System Design Optimization techniques provide theoretical foundations and computational tools for optimizing large and multidisciplinary systems. Tasks must be performed to apply such techniques for rapid initial sizing of mechatronic products: modelling the design knowledge, partitioning and coordinating the models for system performances analysis and optimization. Algebraic analysis functions are chosen to represent the design models. A new Multidisciplinary System Design Optimization formulation for fast and robust analysis is proposed. A theoretic graph approach using symbolic manipulation to assist designers in formulating large and multidisciplinary problems is outlined. A specific design methodology and its associated framework developed are presented. The general objective is to allow holistic sizing of mechatronic engineering systems with emphasis placed on model reusability and rapid decision making. The methodology is illustrated using a simple aerospace actuation system example. More complex actuation systems are then addressed. First, the design of an electro-mechanical primary flight control actuation system is examined, subsequently; the design methodology is applied to an electrical thrust reverser actuation system.

Orientador: Marcos Valério Ribeiro / Resumo: A utilização de materiais compósitos em componentes do setor aeronáutico vem crescendo muito nos últimos anos. Isso se deve ao fato destes materiais apresentarem boas propriedades mecânicas, aliadas a sua baixa massa específica. Dentre estes, os laminados metal fibra, são uma classe de materiais que vem ganhando destaque. Contudo seu emprego na maioria dos casos, requer a confecção de furos, algo que é muito complexo e pode causar danos ao material. Portanto, o objetivo desta pesquisa foi estudar o processo de furação em cheio de um laminado de metal fibra de alumínio 2024-T3/epóxi/fibra de vidro apoiado no alumínio 7075, aplicando diferentes parâmetros de usinagem para avaliar a influência na qualidade dos furos e o desgaste das ferramentas, correlacionando com a potência consumida, vibração, força de avanço, variações dimensionais nos furos e alteração das propriedades mecânicas do material. Para tal, o material foi processado via moldagem por compressão a quente e caracterizado por meio dos ensaios de cisalhamento interlaminar (ILSS), cisalhamento por compressão (CST) e Lap shear. Posteriormente, foram realizados processos de furação utilizando 4000, 6000 e 8000 rpm, bem como avanços de 0,05; 0,1 e 0,2 mm/rot. Após a análise dos resultados, pode-se concluir que os parâmetros influenciaram nos dados de potência, vibração e força de avanço, bem como houve variação significativa nos diâmetros obtidos, sendo que o melhor resultado ocorreu para combinação de 6000 rpm com 0,05mm... (Resumo completo, clicar acesso eletrônico abaixo) / Abstract: The use of composite materials in aeronautical components has been increased in the last years. This is due to these material presente good mechanical properties, allied with low specific mass. Among them, the fiber metal laminated (FML) are a class of materials that has been gaining prominence. However, its use in most cases requires the drilling of holes, which is very complex and can cause damage to the material. Therefore, the objective of this research was to study the conventional drilling process in aeronautical aluminum structures reinforced with fiber metal laminates. Applying different machining parameters, to evaluate the delamination and the wear tools, correlating with the power consumed, vibration, advance force, dimensional variations in the holes and variation of the mechanical properties on material. For this, the material was processed by hot compression molding and characterized by interlaminar shear stress (ILSS), compression shear test (CST) and Lap-shear. Afterwards, drilling processes were carried out using 4000, 6000 and 8000 rpm, as well as an advance of 0.05; 0.1 and 0.2 mm / rot. After the analysis of the results, it was possible to conclude that the parameters influenced the data of power, vibration and force of advance, as well as there was significant variation in the diameters obtained, being the best result occurred for a combination of 6000 rpm with 0,05mm / rot. It can also be stated that there is a tendency of shear strength of the Lap Shear... (Complete abstract click electronic access below) / Mestre

La péninsule de la Gaspésie (Québec, Canada) présente un potentiel pétrolier dans les roches datées de l'Ordovicien tardif au Dévonien inférieur. Dans l'est de la ceinture de Gaspé, des puits producteurs de gaz prouvent la présence de réservoirs pétroliers. Des nouvelles études structurales et des études de bassin dans la ceinture de Gaspé permettent de mieux évaluer le potentiel pétrolier de cette région. Nous présentons ici une nouvelle méthodologie pour la prospection d'hydrocarbures dans les régions de piémont de type « fold and thrust belt » comme la ceinture de Gaspé. Nous avons développé cette méthodologie en la testant au niveau de la partie centrale de la ceinture de Gaspé. Nous avons intégré les données géologiques et géophysiques disponibles pour l'étape d'imagerie sismique 2D afin de construire une image sismique directement en profondeur, ce qui a permis d'améliorer l'interprétation structurale, notamment la caractérisation des structures profondes et des failles majeures. Ce travail est suivi d'une modélisation de bassin afin d'évaluer le potentiel pétrolier. Cette étude s'effectue en plusieurs étapes : 1) La construction du modèle structural : L'intégration des données géologiques dans l'étape de la migration en profondeur avant sommation permet d'améliorer le rendu des images sismiques. Ces nouvelles images sont plus fiables et, étant migrées directement en profondeur, rendent les interprétations plus proches de la géometrie réelle du sous-sol. Ces informations permettent de construire un modèle géologique plus complexe et de mieux contraindre le modèle structural de la ceinture acadienne. Les nouvelles interprétations ont permis en particulier, de mieux comprendre la relation entre les ceintures acadienne et taconienne. 2) L'évolution du modèle structural : il a été possible de valider la cohérence de la géométrie structurale grâce aux techniques de restauration. Cependant ce procédé n'a été appliqué qu'au niveau du Synclinal du Lac des Huit-Miles sur les successions stratigraphiques siluro-dévoniennes de la ceinture acadienne : les formations cambroordoviciennes ont été déformées par les orogenèses taconiennes et acadiennes ce qui rend impossible leur restauration. Ce scénario cinématique a été utilisé pour comprendre l'évolution géodynamique de la ceinture de Gaspé et ainsi permettre de proposer une nouvelle géométrie plus favorable à la production et à la migration des hydrocarbures. 3) Évaluation du système pétrolier : Suite à l'étape de restauration, la modélisation de bassin avec le logiciel Temis2D® a été appliquée à la succession stratigraphique Silurien-Dévonien du synclinal du Lac des Huit-Milles et à l'anticlinal de Causapscal. Temis2D® a permis de prédire l'évolution de la roche mère et le degré de maturation ainsi que la génération et l'expulsion des hydrocarbures, en utilisant le modèle structural et les données géochimiques des puits de la ceinture de Gaspé.

Enhancement methods applied on various satellite images (ASTER, ETM and RADAR SAT-1) facilitated the identification and mapping of tectonic fractures in the Zagros fold-and-thrust belt in southwest Iran. The results of the fracture analysis on these enhanced images reveal four principal fracture sets within each fold structure: (i) an axial set defined by normal faults oriented parallel to the fold axial trace, (ii) a cross-axial, extensional fracture set oriented perpendicular to the fold axial trace, (iii) and two sets of intersecting shear fractures, oriented at an acute angle to the cross-axial set. Study of the enhanced images also revealed five fracture sets along the Kazerun fault zone: (i) Riedel R- and R'-shear fracture sets, (ii) extensional T fracture set oriented at a high angle to the trace of the main Kazerun fault, (iii) oblique, synthetic P-shear fracture set, at a low angle to the trace of the main Kazerun fault, and (iv) synthetic Y-shear displacement fracture set, oriented sub-parallel to the main trace of the fault. The estimated mean azimuths of the shortening that developed the fold- and fault-related fracture systems are remarkably close, and are oriented perpendicular to the general NW-SE trend of the Zagros fold-and-thrust belt. The sampling and analysis of the fold- and fault-related fracture systems were done in a GIS environment. This study shows that an analysis of enhanced satellite images can reveal significant information on the deformation style, timing, and kinematics of the Zagros fold-and-thrust belt. This study suggests that the Zagros orogenic belt, which has mainly been forming since Miocene, due to the convergence of the Iranian and Arabian subplates, has evolved both by thin- and thick-skinned tectonics. Reconfiguration of the Precambrian basement blocks, and the ensuing slip and rotation along the Precambrian faults during the Zagros orogeny, have deformed the folds, and redistributed the fold-related fractures through rigid-body rotation.

High-tone extensor thrusts, or involuntary muscle contractions experienced by many children with cerebral palsy, can cause problems that are not addressed by current seating systems. This thesis is concerned with the development of a dynamic seating system to better accommodate individuals who exhibit high-tone extensor thrusts. The first part of the thesis is focused on obtaining a general understanding of extensor thrusts from a mechanical perspective. To achieve this goal, an analytical dynamic model of a human subject undergoing an extensor thrust on a rigid chair is created. This model is validated experimentally, and inferences about the nature of extensor thrusts are made from the simulation and experimental results. A Dynamic-Hingeback Seating System which allows the occupant to lean back during an uncontrolled extensor thrust is developed. This system is capable of maintaining seatback rigidity during an intentionally-induced episode, thereby enabling the occupant to communicate or interact with his/her environment. The design of this system is influenced by the results obtained from the rigid seat study, as well as by numerical simulation results gathered with a commercial dynamic simulation software package (Working Model 2D). The improved seatback performance is characterized through experimentation. Alternative dynamic seating systems are considered. The important features of each of these systems are identified, and the desired motion of the system occupant during an extensor thrust is verified through Working Model simulations.

In this study, the implementation of modern control techniques, that can be used both for the stable recovery of the aircraft from the undesired high angle of attack flight state (stall) and the agile maneuvering of the aircraft in various air combat or defense missions, are performed. In order to accomplish this task, the thrust vectoring control (TVC) actuation is blended with the conventional aerodynamic controls. The controller design is based on the nonlinear dynamic inversion (NDI) control methodologies and the stability and robustness analyses are done by using robust performance (RP) analysis techniques. The control architecture is designed to serve both for the recovery from the undesired stall condition (the stabilization controller) and to perform desired agile maneuvering (the attitude controller). The detailed modeling of the aircraft dynamics, aerodynamics, engines and thrust vectoring paddles, as well as the flight environment of the aircraft and the on-board sensors is performed. Within the control loop the human pilot model is included and the design of a fly-by-wire controller is also investigated. The performance of the designed stabilization and attitude controllers are simulated using the custom built 6 DoF aircraft flight simulation tool. As for the stabilization controller, a forced deep-stall flight condition is generated and the aircraft is recovered to stable and pilot controllable flight regimes from that undesired flight state. The performance of the attitude controller is investigated under various high angle of attack agile maneuvering conditions. Finally, the performances of the proposed controller schemes are discussed and the conclusions are made.

In this thesis a vertical turbine mixed flow pump that has a flow rate of 40 l/s and 16 mwc head at 2900 rpm is designed. Effect of design parameters are investigated and flow inside the pump is analyzed with the help of numerical experimentations. The designed pump is manufactured and tested in Layne Bowler Pumps Company and completed in T&Uuml / BiTAK - TEYDEB project. Pump is designed in the tolerance limits that are defined in the standard TS EN ISO 9906. Numerical experimentation results for performance charecteristics show the same trend with the test results. In addition, axial thrust measurements are done on the designed pump with using load cells. Effect of balancing holes and balancing ring are investigated. Balancing holes are drilled at various diameters at the back side of the impellers and its effect is analyzed on the pump performance characteristics. Test results are compared with different approaches.

Hall Effect Thrusters (HETs) are a form of electric propulsion device which uses external electrical energy to produce thrust. When compared to various other electric propulsion devices, HETs are excellent candidates for future orbit transfer and interplanetary missions due to their relatively simple configuration, moderate thrust capability, higher thrust to power ratio, and lower thruster mass to power ratio. Due to the short history of HETs, the current design process of a new HET is a largely empirical and experimental science, and this has resulted in previous designs being developed in a narrow design space based on experimental data without systematic investigations of parameter correlations. In addition, current preliminary low-thrust trajectory optimizations, due to inherent difficulties in solution procedure, often assume constant or linear performances with available power in their applications of electric thrusters. The main obstacles come from the complex physics involved in HET technology and relatively small amounts of experimental data. Although physical theories and numerical simulations can provide a valuable tool for design space exploration at the inception of a new HET design and preliminary low-thrust trajectory optimization, the complex physics makes theoretical and numerical solutions difficult to obtain. Numerical implementations have been quite extensively conducted in the last two decades. An investigation of current methodologies reveals that to date, none provide a proper methodology for a new HET design at the conceptual design stage and the coupled low-thrust trajectory optimization. Thus, in the first half of this work, an efficient, robust, and self-consistent numerical method for the analysis of HETs is developed with a new approach. The key idea is to divide the analysis region into two regions in terms of electron dynamics based on physical intuition. Intensive validations are conducted for existing HETs from 1 kW to 50 kW classes. The second half of this work aims to construct a simultaneous design optimization environment though collaboration with experts in low-thrust trajectory optimization where a new HET and associated optimal low-thrust trajectory can be designed simultaneously. A demonstration for an orbit raising mission shows that the constructed simultaneous design optimization environment can be used effectively and synergistically for space missions involving HETs. It is expected that the present work will aid and ease the current expensive experimental HET design process and reduce preliminary space mission design cycles involving HETs.

The scale of engineering problems has sharply increased over the last twenty years. Larger coupled systems, increasing complexity, and limited resources create a need for methods that automatically decompose problems into manageable sub-problems by discovering and leveraging problem structure. The ability to learn the coupling (inter-dependence) structure and reorganize the original problem could lead to large reductions in the time to analyze complex problems. Such decomposition methods could also provide engineering insight on the fundamental physics driving problem solution. This work forwards the current state of the art in engineering decomposition through the application of techniques originally developed within computer science and information theory. The work describes the current state of automatic problem decomposition in engineering and utilizes several promising ideas to advance the state of the practice. Mutual information is a novel metric for data dependence and works on both continuous and discrete data. Mutual information can measure both the linear and non-linear dependence between variables without the limitations of linear dependence measured through covariance. Mutual information is also able to handle data that does not have derivative information, unlike other metrics that require it. The value of mutual information to engineering design work is demonstrated on a planetary entry problem. This study utilizes a novel tool developed in this work for planetary entry system synthesis. A graphical method, force-based clustering, is used to discover related sub-graph structure as a function of problem structure and links ranked by their mutual information. This method does not require the stochastic use of neural networks and could be used with any link ranking method currently utilized in the field. Application of this method is demonstrated on a large, coupled low-thrust trajectory problem. Mutual information also serves as the basis for an alternative global optimizer, called MIMIC, which is unrelated to Genetic Algorithms. Advancement to the current practice demonstrates the use of MIMIC as a global method that explicitly models problem structure with mutual information, providing an alternate method for globally searching multi-modal domains. By leveraging discovered problem inter-dependencies, MIMIC may be appropriate for highly coupled problems or those with large function evaluation cost. This work introduces a useful addition to the MIMIC algorithm that enables its use on continuous input variables. By leveraging automatic decision tree generation methods from Machine Learning and a set of randomly generated test problems, decision trees for which method to apply are also created, quantifying decomposition performance over a large region of the design space.