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Title: INTERACTIVE MULTIPLE MODEL ESTIMATION FOR UNMANNED AIRCRAFT SYSTEMS DETECT AND AVOID
Creator: Canolla, Adriano Carlos
Date: 2018
Description: This research presents new methods to apply safety standards to Detect and Avoid (DAA) functions for Unmanned Aircraft Systems (UAS), using...
Show moreThis research presents new methods to apply safety standards to Detect and Avoid (DAA) functions for Unmanned Aircraft Systems (UAS), using maneuvering target tracking and encounter models.Previous DAA research methods focused on predefined, linear encounter generation. The new estimation and prediction methods in this research are based on the target tracking of maneuvering intruders using Multiple Model Adaptive Estimation and a realistic random encounter generation based on an established encounter model.When tracking maneuvering intruders there is limited knowledge of changes in intruder behavior beyond the current measurement. The standard Kalman filter (KF) with a single motion model is limited in performance for such problems due to ineffective responses as the target maneuvers. In these cases, state estimation can be improved using MMAE. It is assumed that the current active dynamic model is one of a discrete set of models, each of which is the basis for a separate filter. These filters run in parallel to estimate the states of targets with changing dynamics. In practical applications of multiple model systems, one of the most popular algorithms for the MMAE is the Interacting Multiple Model (IMM) estimator. In the IMM, the regime switching is modeled by a finite state homogeneous Markov Chain. This is represented by a transition probability matrix characterizing the mode transitions. A Markov Chain is a stochastic model describing a sequence of possible events in which the probability of each event depends only on the previous event.This research uses the hazard states estimates (which are derived from DAA standards) to analyze the IMM performance, and then presents a new method to predict the hazard states. To reduce the prediction error, this new method accounts for maneuvering intruders. The new prediction method uses the prediction phase in the IMM algorithm to predict the future intruder aircraft states based on the current and past sensor measurements. The estimation and prediction methods described in this thesis can help ensure safe encounters between UAS and manned aircraft in the National Airspace System through improvement of the trajectory estimation used to inform the DAA sensor certification process.
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Title: A Novel Remote Sensing System Using Reflected GNSS Signals
Creator: Parvizi, Roohollah
Date: 2020
Description: This dissertation presents a method to remotely sense freshwater surface ice and water using reflected signals from Global Navigation...
Show moreThis dissertation presents a method to remotely sense freshwater surface ice and water using reflected signals from Global Navigation Satellite Systems (GNSS). A portable ground-based sensor system is designed and built for collecting both scattered Global Positioning System (GPS) signals and independent validation data (lidar and camera) from the surface. GPS front-end signals are collected from both a direct receiving antenna facing upward and from a reflection-receiving antenna facing downward. Multiple data campaigns are conducted on the Lake Michigan waterfront in Chicago. A customized software receiver tests a new signal processing method to detect and acquire Global Navigation Satellite System (GNSS) signals reflected from the lake surface ice and collected by a downward-facing antenna. The method, modified differential coherent integration, multiplies time-shifted auto-correlation samples. The new method is evaluated against three conventional integration methods (coherent, incoherent, and differential integration) with signals from the direct antenna. With front-end samples from the reflection antenna, the new method is the only one of the four methods compared that acquires satellites in the reflected GPS signals, with three acquired using 10 ms of integration.The lidar surface scans are mapped with camera images and estimated reflection points to indicate the surface reflection type and to provide surface height relative to the sensors. For one satellite whose specular point is estimated to be on the ice surface, a Delay Doppler Map (DDM), signal-to-noise (SNR) ratio, and surface reflectivity (SR) are computed with the modified differential coherent integration method using the GPS. The DDM shows that, with modified differential integration, the satellite can be acquired in the reflected signal. For two satellites whose reflection points scan across ice and water over time the SNR and SR are computed over time. The SR is shown to be lower for liquid water than lake ice. This system concept may be used in the future for more complete mapping of phase changes in the cryosphere.
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Title: Modeling the Aerodynamic Response to Impulsive Active Flow Control
Creator: Asztalos, Katherine
Date: 2021
Description: In unsteady aerodynamics the response to external disturbances can depend significantly on the initial condition, and the extent to which this...
Show moreIn unsteady aerodynamics the response to external disturbances can depend significantly on the initial condition, and the extent to which this impacts the ability to model the flowfield can vary. In this work, we look to develop a model that can capture and predict the long-time response to actuation, which we suspect to be sensitive to the instantaneous state. We investigate whether a physical understanding of the short-time response to impulsive actuation can be obtained, with the goal of understanding the observed physical phenomenon present in the immediate response to this type of actuation. We find that the response to impulsive actuation is sensitive to the instantaneous wake, and that the short-time response is directly proportional to the time rate of change of the actuation input. Computational simulations of a stalled NACA 0009 airfoil subject to leading-edge synthetic jet actuation were performed. Full state information, as well as force response measurements, were collected using an immersed boundary method (IBM) numerical code. The numerical simulations performed sought to characterize the response to actuation by varying the actuation parameters, such as the strength, direction, and phase at which the onset of actuation occurs. It was found that the long-time response to actuation can be sensitive to the instantaneous wake state at the onset of actuation. The ability to extract models that describe the complex behavior of the system provides additional insight into the dominant features governing the response of such systems, as well as achieves predictive capabilities of the systems' response. The data-driven models, which are identified using variants of dynamic mode decomposition, can capture both the short- and long-time response of the system to actuation. Predictive models are identified using multiple trajectories of data corresponding to varying the phase of vortex shedding at which the onset of actuation occurs. These models achieve accurate predictions for off-design cases as well. It is also shown that multiple control objectives with the same actuator can be achieved. Classical theory aids in understanding the physics governing unsteady aerodynamic motion and the response to disturbances. Theoretical models are developed using the assumptions from classical unsteady aerodynamic theory, which provide insight into the forms that the data-driven models take. The effect of short-duration momentum injection actuation is modeled through a combination of source/sink, doublet, and vortex elements. Regardless of the precise elements used in the theoretical model, the lift response is composed of a contribution directly proportional to the rate of change of actuation strength, and a contribution that persists after the actuation burst ends that arises due to the enforcement of the Kutta condition. Methodologies that retain the physics inherent to the system by projecting the governing equations of motion onto a well-suited basis are extremely valuable for gaining physical insight and understanding into the dynamics of the flowfield. A new methodology is proposed for extracting spectral content from systems with limited data available using projection-based modeling approaches. There are challenges associated with using modal decomposition-based modeling techniques for systems exhibiting large transient dynamics due to external inputs, which is applicable in this particular instance and for related systems. The methodology presented here shows how the dynamics of this system can be understood through analysis of optimal finite-time horizon transient energy growth, applied to reduced-order models identified using actuation response data with either data-driven or physics-based models. A novel methodology is proposed to guide future experimental actuation design to achieve maximal response by considering an optimal forcing mode, identified from considering the optimal perturbation of the full unactuated system, which maximizes a given output.
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Title: High-integrity modeling of non-stationary Kalman Filter input error processes and application to aircraft navigation
Creator: Gallon, Elisa
Date: 2023
Description: Most navigation applications nowadays rely heavily on Global Navigation Satellite Systems (GNSSs) and inertial sensors. Both of these systems...
Show moreMost navigation applications nowadays rely heavily on Global Navigation Satellite Systems (GNSSs) and inertial sensors. Both of these systems are known to be complementary, and as such, their outputs are very often combined in an extended Kalman Filter (KF) to provide a continuous navigation solution, resistant to poor satellite geometry, as well as radio frequency interference. Additionally, recent development in safety critical applications (such as aviation) revealed the performance limitations of current algorithms (Advance Receiver Autonomous Integrity Monitoring - ARAIM) to vertical guidance down to 200 feet above the runway (LPV-200). When nominal constellations are depleted, LPV-200 can only sparsely be achieved. Exploiting satellite motion in ARAIM (for instance using a KF) could help alleviate those limitations, but would require adequate modeling of the errors, including the error's time correlation.Power Spectral Density (PSD) bounding is a methodology that provides high integrity, time correlated error models, but this approach is currently limited to stationary errors (which is rarely the case with real data), and has never been applied to navigation errors. More generally, no high integrity, time correlated error models have ever been derived for navigation errors.As a result, in the first part of this thesis, a methodology for high integrity modeling of time correlated errors is introduced. The PSD bounding methodology is extended to both stationary and non-stationary errors. In the second part of this thesis, these methodologies are applied to the 3 main error sources impacting iono-free GNSS measurements (orbit and clock errors, tropospheric errors and multipath), as well as to inertial errors.The methodology introduced in this dissertation provides high integrity time correlated error models and is applicable to any type of applications where high integrity is required (e.g. Differential GNSS - DGNSS, Aircaft Based Augmentation System - ABAS, Ground Based Augmentation System - GBAS, Space Based Augmentation System - SBAS, etc...). Additionally, the error models derived here are not only limited to high integrity applications, but could also be used in applications were the correlation over time of the errors plays an important role (such as any KF integration).In the last part of this dissertation, we focus on a specific safety critical application: aviation, and in particular ARAIM. The dissertation is concluded with an assessment of the performance improvements provided by recursive ARAIM, using those bounding dynamic error models, with respect to those models, used for baseline snapshot ARAIM. Additionally, a sensitivity analysis is performed on each of the error model parameters to assess which of them impacts the KF performance (i.e. covariance) the most.
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Title: Quantifying Localization Safety for State-of-the-Art Mobile Robot Estimation Algorithms
Creator: Abdul Hafez, Osama Mutie Fahad
Date: 2023
Description: In mobile robotics, localization safety is quantified using covariance matrix or particle spread.However, such methods are insufficient for...
Show moreIn mobile robotics, localization safety is quantified using covariance matrix or particle spread.However, such methods are insufficient for mission or life-critical applications, like Autonomous Vehicles (AVs), because they only reflect nominal sensor noise without considering sensor measurement faults. Sensor faults are unknown deterministic errors that cannot be modeled using a zero mean Gaussian distribution. Ignoring sensor faults, in such applications, might result in large localization errors, which in turn deceives other reliant systems, like the controller, leading to catastrophic consequences, such as traffic accidents for AVs. Thus, other techniques need to be used to conservatively quantify pose safety.This thesis builds upon previous research in aviation safety, or what is referred to as \textit{integrity monitoring}, to quantify localization safety for mobile robots that use state-of-the-art state estimators (as localizers).Specifically, this thesis utilizes the localization \textit{integrity risk} metric, as a measure of localization safety, which is defined as the probability of the robot's pose estimate error to lie outside pre-determined acceptable limits while an alarm is not triggered. Unlike open-sky aviation applications, where Global Navigation Satellite Systems (GNSS) signals are available, mobile robots operate in GNSS-denied, or in the best case GNSS-degraded, environments, which demands utilizing more complex set of sensors to guarantee an acceptable level of localization safety. This thesis provides a conservative measure of localization safety by rigorously upper-bounding the integrity risk while accounting for both nominal lidar noise and unmodeled lidar measurement faults.The contributions of this thesis include the design and analysis of practical integrity monitoring and failure detection procedures for mobile robots utilizing map-based particle filtering, a recursive integrity monitoring method for mobile robots utilizing map-based fixed lag smoothing for both solution-separation and chi-squared as failure detectors, the synthesis of an integrity monitoring procedure for mobile robots utilizing Extended Kalman Filter-based Simultaneous Localization And Mapping (EKF-based SLAM), and a Model Predictive Control (MPC) framework that is capable of planning mobile robot's trajectory to follow a predefined robot path while maintaining a predefined minimum level of mobile robot localization safety. The proposed methodologies are validated using both simulation and experimental results conducted in real-world urban university campus environments.
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Title: Pressure Feedback Control on a UCAS Model in Random Gusts
Creator: He, Xiaowei
Date: 2021
Description: This research focuses on efficient active flow control (AFC) of the aerodynamic loads on a generic tailless delta wing in various flow/flight...
Show moreThis research focuses on efficient active flow control (AFC) of the aerodynamic loads on a generic tailless delta wing in various flow/flight conditions, such as, flying through atmosphere gusts, fast pitching, and other rapid maneuvers that would cause the aircraft to experience unsteady aerodynamic effects. A feedback control scheme that uses the surface pressure measurements to estimate the actual aerodynamic loads that act on the aircraft is put forward, with the hypothesis that a pressure surrogate can replace the inertia-based sensors to provide the controller with faster and/or more accurate feedback signals of the real-time aerodynamic load. The control performance of the AFC actuation and conventional elevons were evaluated. Results showed that the AFC with a momentum coefficient input of 2% was equivalent to 27-deg elevon deflection in terms of roll moment change and the control derivative of the AFC is at least doubled than that of the elevons.Streamwise and cross-flow gusts were simulated in the Andrew Fejer Unsteady Wind Tunnel at IIT. A spectral feedback approach was tested by generating the horizontal velocity components of the von Karman and the Dryden turbulence spectra. The velocity components in the test section were controlled temporally and spatially to generate transverse cross-flow gusts with designated wavelengths and frequencies. Sparse surface pressure measurements on the aircraft surface were used to develop lower-order models to estimate the instantaneous aerodynamic loads using the Sparse Identification of Nonlinear Dynamics (SINDy) algorithm. The pressure-based models acted as surrogates of the aerodynamic loads to provide feedback signals to the closed-loop controller to alleviate the gust effects on the wing. The control results showed that the pressure feedback scheme was sufficient to provide feedback signals to the controller to reduce the roll moment fluctuations caused by the dynamic perturbations down to 20% comparing to 30% to 50% in previous studies.
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Title: GLOBAL ESTIMATION AND ANALYSIS OF IONOSPHERIC DRIVERS WITH A DATA ASSIMILATION ALGORITHM
Creator: López Rubio, Aurora
Date: 2022
Description: This dissertation studies a data assimilation algorithm that estimates the drivers of the ionosphere-thermosphere (IT) region of the Earth....
Show moreThis dissertation studies a data assimilation algorithm that estimates the drivers of the ionosphere-thermosphere (IT) region of the Earth. The algorithm, EMPIRE (Estimating Model Parameters from Ionospheric Reverse Engineering) can estimate 2 main drivers of the ionospheric behavior: neutral winds and electric potential by ingesting mainly ionospheric densities obtained through Global Satellite System (GNSS) measurements. Additionally, the algorithm can ingest FPI (Fabry-Perot interferometer) neutral wind measurements. The contributions include 1) Vector spherical harmonic basis function for neutral wind estimation, 2) Quantification of the representation error of the estimations of the algorithm EMPIRE, 3) Analysis of Nighttime Ionospheric Localized density Enhancement (NILE) events and 4) Ingestion of global ICON (Ionospheric Connection Explorer) neutral winds measurements. The IT region in the atmosphere is characterized by having a large concentration of free ions and electrons, electromagnetic radiation and Earth's magnetic field. The behavior of the region is dominated by the solar activity, that ionizes the free electrons of the region, forming ionospheric plasma and determining its density. Unusual solar activity or any atmospheric disturbance affects the distribution of the ionospheric plasma and the behavior of the IT region. The redistribution of the ionospheric density impacts technology widely used such as telecommunication or satellite navigation, so it is increasingly important to study the IT system response. The IT behavior can be characterized by what drives its changes. Two drivers that play a key role, the ones we focus on this dissertation, are electric potential, that directly affects the charged ions in the system, and neutral winds, that refers to the velocity of the neutral particles that form the thermosphere. To quantify these drivers, measurements and climate models are available. Measurements are limited as the IT region is vast and covers the entire globe. Climate models can provide information in all the region, but they are usually not as reliable during the unusual solar activity conditions or disturbances. In this dissertation we use a data assimilation algorithm, EMPIRE, that combines both sources of data, measurements and models, to estimate the IT drivers, neutral winds and electric potential. EMPIRE ingests measurements of the plasma density rate and models the physics of the region with the ion continuity equation. The drivers are represented with basis functions and their coefficients are estimated by fitting the expansions with a Kalman filter. In previous work and use of the algorithm, the neutral winds were expanded using power series basis function for each of the components of the vector. The first contribution of the dissertation is to use a vector spherical harmonic expansion to describe the winds, allowing a continuous expansion around the globe and self-consistent components of the vector. Before, EMPIRE estimated the correction of the drivers with respect climate model values. In this work, EMPIRE is also modified to directly estimate the drivers. Then, a study of the representation error, which is the discrepancy between the true physics and the discrete model that represents the physics of EMPIRE and its quantification is done. Next, EMPIRE is used to analyze two NILE events, using the global estimation of both winds, from the first contribution, and the electric potential, derived in previous work. Finally, global estimation of winds allows us to implement the ingestion of ICON global winds in EMPIRE, in addition to the plasma density rate measurements.
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Title: Non-Hermitian Phononics
Creator: Mokhtari, Amir Ashkan
Date: 2021
Description: Non-Hermitian and open systems are those that interact with their environment by the ﬂows of energy, particles, and information. These systems...
Show moreNon-Hermitian and open systems are those that interact with their environment by the ﬂows of energy, particles, and information. These systems show rich physical behaviors such as unidirectional wave reflection, enhanced transmission, and enhanced sensitivity to external perturbations comparing to a Hermitian system. To study non-Hermitian and open systems, we first present key concepts and required mathematical tools such as the theory of linear operators, linear algebra, biorthogonality, and exceptional points. We first consider the operator properties of various phononic eigenvalue problems. The aim is to answer some fundamental questions about the eigenvalues and eigenvectors of phononic operators. These include questions about the potential real and complex nature of the eigenvalues, whether the eigenvectors form a complete basis, what are the right orthogonality relationships, and how to create a complete basis when none may exist at the outset. In doing so we present a unified understanding of the properties of the phononic eigenvalues and eigenvectors which would emerge from any numerical method employed to compute such quantities. Next, we apply the mentioned theories on the phononic operators to the problem of scattering of in-plane waves at an interface between a homogeneous medium and a layered composite. This problem is an example of a non self-adjoint operator with biorthogonal eigenvectors and a complex spectrum. Since this problem is non self-adjoint, the degeneracies in the spectrum generally represent a coalescing of both the eigenvalues and eigenvectors (exceptional points). These degeneracies appear in both the complex and real domains of the wavevector. After calculating the eigenvalues and eigenvectors, we then calculate the scattered fields through a novel application of the Betti-Rayleigh reciprocity theorem. Several numerical examples showing rich scattering phenomena are presented afterward. We also prove that energy flux conservation is a restatement of the biorthogonality relationship of the non self-adjoint operators. Finally, we discuss open elastodynamics as a subset of non-Hermitian systems. A basic concept in open systems is effective Hamiltonian. It is a Hamiltonian that acts in the space of reduced set of degrees of freedom in a system and describes only a part of the eigenvalue spectrum of the total Hamiltonian. We present the Feshbach projection operator formalism -- traditionally used for calculating effective Hamiltonians of subsystems in quantum systems -- in the context of mechanical wave propagation problems. The formalism allows for the direct formal representation of effective Hamiltonians of finite systems which are interacting with their environment. This results in a smaller set of equations which isolate the dynamics of the system from the rest of the larger problem that is usually infinite size. We then present the procedure to calculate the Green's function of effective Hamiltonian. Finally we solve the scattering problem in 1D discrete systems using the Green's function method.
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