Browsing by Author "Allen, David W."

Now showing 1 - 4 of 4
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    Development of a Value System and Mission Architecture for the Exploration of the Oceans of Europa
    Allen, David W. (Virginia Tech, 2014-10-30)
    Of all of the bodies in the solar system, Europa is perhaps the most enticing. Based on several lines of evidence, Europa, a moon of Jupiter, is believed to have an ocean of liquid water beneath several kilometers of ice. This ocean is likely in contact with Europa's rocky core, making Europa's ocean one of the most likely places for life to exist in the solar system outside of Earth. This thesis provides an outline of the technology required for a mission that travels to Europa, penetrates the ice, and explores the ocean below. In order to create this outline, this thesis first provides background on previous missions to the outer planets. A discussion of the science requirements is presented and then a value system by which designs are evaluated is developed. Current technologies and the design alternatives are presented and evaluated using the value system. A final mission architecture and concept of operations are then presented.
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    Exploration of under-ice regions with ocean profiling agents (EUROPA)
    Allen, David W.; Jones, Matthew; McCue-Weil, Leigh S.; Woolsey, Craig A.; Moore, William B. (Virginia Center for Autonomous Systems, 2013-09-14)
    Europa is an incredibly enticing target for exploration – the nearest reaches of what may be a vast new "habitable zone" of interior oceans warmed and stirred by tidal forces. Decades of NASA and National Academy studies including the most recent planetary science decadal survey have affirmed the preeminence of Europa as a destination for astrobiology research. This report provides a comprehensive technology roadmap and an assessment of current state of the art and future technologies to enable an under-ice mission to Europa. In this study, the authors provide an overview of key mission objectives, a profile of Europa, and a mission overview. The authors then delve into a discussion of the key fundamental science objectives and design tradeoffs to arrive at a comprehensive science traceability matrix and value system for design of a multi-vehicle, under-ice mission to Europa. The current state of the art is assessed and design alternatives discussed. The report culminates in a concept of operations for the mission and a recommended mission architecture utilizing three surface units, each deploying a single cryobot, with each cryobot carrying three biologically inspired, gliding under-ice hydrobots equipped with sensor packages that will characterize the physical and chemical state of Europa’s ocean over its entire depth.
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    Gait and Morphology Optimization for Articulated Bodies in Fluids
    Allen, David W. (Virginia Tech, 2016-08-16)
    The contributions of this dissertation can be divided into three primary foci: input waveform optimization, the modeling and optimization of fish-like robots, and experiments on a flapping wing robot. Novel contributions were made in every focus. The first focus was on input waveform optimization. This goal of this research was to develop a means by which the optimal input waveforms can be selected to vibrationally stabilize a system. Vibrational stabilization is the use of high-frequency, high-amplitude periodic waveforms to stabilize a system about a desired state. The contributions presented herein develop a technique to choose the ``best" input waveform and a discussion of how the ``best" input waveform changes with the definition of ``best." The next focus was the optimization of a fish-like robot. In order to optimize such robots, a new model for fish-like locomotion is developed. An optimization technique that uses numerous simulations of fish-like locomotion was used to determine the best gaits for traveling at various speeds. Based on these results, trends were found that can determine the optimal gait using a couple relatively simple functions. The final focus was experimentation on a flapping wing robot in a wind tunnel. These experiments determined the performance of the flapping wing robot at a variety of flight conditions. The results of this research were presented in manner that is accessible to the larger aircraft design community rather than only to those specializing in flapping flight.
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    Software for Manipulating and Embedding Data Interrogation Algorithms Into Integrated Systems
    Allen, David W. (Virginia Tech, 2004-08-31)
    In this study a software package for easily creating and embedding structural health monitoring (SHM) data interrogation processes in remote hardware is presented. The software described herein is comprised of two pieces. The first is a client to allow graphical construction of data interrogation processes. The second is node software for remote execution of processes on remote sensing and monitoring hardware. The client software is created around a catalog of data interrogation algorithms compiled over several years of research at Los Alamos National Laboratory known as DIAMOND II. This study also includes encapsulating the DIAMOND II algorithms into independent interchangeable functions and expanding the catalog with work in feature extraction and statistical discrimination. The client software also includes methods for interfacing with the node software over an Internet connection. Once connected, the client software can upload a developed process to the integrated sensing and processing node. The node software has the ability to run the processes and return results. This software creates a distributed SHM network without individual nodes relying on each other or a centralized server to monitor a structure. For the demonstration summarized in this study, the client software is used to create data collection, feature extraction, and statistical modeling processes. Data are collected from monitoring hardware connected to the client by a local area network. A structural health monitoring process is created on the client and uploaded to the node software residing on the monitoring hardware. The node software runs the process and monitors a test structure for induced damage, returning the current structural-state indicator in near real time to the client. Current integrated health monitoring systems rely on processes statically loaded onto the monitoring node before the node is deployed in the field. The primary new contribution of this study is a software paradigm that allows processes to be created remotely and uploaded to the node in a dynamic fashion over the life of the monitoring node without taking the node out of service.