VTechWorks Repository :: Browsing by Author "Ross, Shane D."

Browsing by Author "Ross, Shane D."

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Adaptive Controller Development and Evaluation for a 6DOF Controllable Multirotor
Furgiuele, Theresa Chung Wai (Virginia Tech, 2022-10-03)
The omnicopter is a small unmanned aerial vehicle capable of executing decoupled translational and rotational motion (six degree of freedom, 6DOF, motion). The development of controllers for various 6DOF controllable multirotors has been much more limited than development for quadrotors, which makes selecting a controller for a 6DOF multirotor difficult. The omnicopter is subject to various uncertainties and disturbances from hardware changes, structural dynamics, and airflow, making adaptive controllers particularly interesting to investigate. The goal of this research is to design and evaluate the performance of various position and attitude controller combinations for the omnicopter, specifically focusing on adaptive controllers. Simulations are first used to compare combinations of three position controllers, PID, model reference adaptive control, augmented model reference adaptive control (aMRAC), and four attitude controllers, PI/feedback linearization (PIFL), augmented model reference adaptive control, backstepping, and adaptive backstepping (aBack). For the simulations, the omnicopter is commanded to point at and track a stationary aim point as it travels along a $C^0$ continuous trajectory and a trajectory that is $C^1$ continuous. The controllers are stressed by random disturbances and the addition of an unaccounted for suspended mass. The augmented model reference adaptive controller for position control paired with the adaptive backstepping controller for attitude control is shown to be the best controller combination for tracking various trajectories while subject to disturbances. Based on the simulation results, the PID/PIFL and aMRAC/aBack controllers are selected to be compared during three different flight tests. The first flight test is on a $C^1$ continuous trajectory while the omnicopter is commanded to point at and track a stationary aim point. The second flight test is a hover with an unmodeled added weight, and the third is a circular trajectory with a broken blade. As with the simulation results, the adaptive controller is shown to yield better performance than the nonadaptive controller for all scenarios, particularly for position tracking. With an added weight or a broken propeller, the adaptive attitude controller struggles to return to level flight, but is capable of maintaining steady flight when the nonadaptive controller tends to fail. Finally, while model reference adaptive controllers are shown to be effective, their nonlinearity can make them difficult to tune and certify via standard certification methods, such as gain and phase margin. A method for using time delay margin estimates, a potential certification metric, to tune the adaptive parameter tuning gain matrix is shown to be useful when applied to an augmented MRAC controller for a quadrotor.
Advanced Spectral Methods for Turbulent Flows
Nasr Azadani, Leila (Virginia Tech, 2014-04-24)
Although spectral methods have been in use for decades, there is still room for innovation, refinement and improvement of the methods in terms of efficiency and accuracy, for generalized homogeneous turbulent flows, and especially for specialized applications like the computation of atmospheric flows and numerical weather prediction. In this thesis, two such innovations are presented. First, inspired by the adaptive mesh refinement (AMR) technique, which was developed for the computation of fluid flows in physical space, an algorithm is presented for accelerating direct numerical simulation (DNS) of isotropic homogeneous turbulence in spectral space. In the adaptive spectral resolution (ASR) technique developed here the spectral resolution in spectral space is dynamically refined based on refinement criteria suited to the special features of isotropic homogeneous turbulence in two, and three dimensions. Applying ASR to computations of two- and three-dimensional turbulence allows significant savings in the computational time with little to no compromise in the accuracy of the solutions. In the second part of this thesis the effect of explicit filtering on large eddy simulation (LES) of atmospheric flows in spectral space is studied. Apply an explicit filter in addition to the implicit filter due to the computational grid and discretization schemes in LES of turbulent flows allows for better control of the numerical error and improvement in the accuracy of the results. Explicit filtering has been extensively applied in LES of turbulent flows in physical space while few studies have been done on explicitly filtered LES of turbulent flows in spectral space because of perceived limitations of the approach, which are shown here to be incorrect. Here, explicit filtering in LES of the turbulent barotropic vorticity equation (BVE) as a first model of the Earth's atmosphere in spectral space is studied. It is shown that explicit filtering increases the accuracy of the results over implicit filtering, particularly where the location of coherent structures is concerned.
Aerodynamic Interactions in Vortex Tube Separator Arrays
Acharya, Aditya Sudhindra (Virginia Tech, 2023-06-22)
Helicopter turboshaft engines may ingest large amounts of foreign particles (most commonly sand/dust), which can cause significant compressor blade damage and even engine failure. In many helicopters, this issue is mitigated by separating the particles from the intake airstream. An effective device for engine air-particle separation is the vortex tube separator (VTS), which uses centrifugal forces in a vortical flow to radially filter foreign particles from a duct with an annular exit. Dozens or hundreds of these devices are linked together on a shared manifold known as a VTS array. There is a distinct lack of scientific literature regarding these arrays, which likely feature significantly more complex flowfields than singular VTSs due to aerodynamic interactions between the devices. The research presented in this dissertation identifies and explains flow features unique to arrays by means of an experimental investigation downstream of various VTS configurations in a wind tunnel. Mean PIV flowfields reveal that the VTS array rapidly generates a strong central recirculation zone while a single VTS does not, implying the existence of axial flow gradients within associated separators that could affect filtration efficiency. The key factor here is the global swirl intensity, which is increased in array flows due to high angular momentum contributions from separators that are radially distant from the duct center. A preliminary momentum integral model is constructed to predict the onset of recirculation in VTS flows. Analysis is then extended to the unsteady flowfield, where it is shown that VTS-generated turbulence contains only low levels of anisotropy. Spectral proper orthogonal decomposition is conducted on the array flow; it reveals the existence of low-frequency harmonic behavior composed of back-and-forth pumping motions downstream of the central VTS. Additionally, a unique precession motion is found in the same region at a slightly higher frequency. Similar precessing vortex cores have been shown to reduce separation efficiency in other cyclone separators. Both of these coherent structures may be associated with the central recirculation zone and may interfere with VTS array filtration given their timescales relative to potential particle relaxation timescales. This dissertation opens the door for future experimental and computational studies of fluid and particle dynamics in VTS flows with the goal of improving VTS array-specific design philosophies.
Analysis of Low-Energy Lunar Transfers in a High-Fidelity Dynamics Model
Torchia, Patrick Jason (Virginia Tech, 2023-07-03)
Renewed interest in returning to the Moon, emboldened by recent directives and missions by NASA, has necessitated the establishment of lunar infrastructure to support continuous human presence. With that, the objective of making this return more cost effective has gained significant importance. Low energy lunar transfers are more efficient ways to reach the Moon than the traditional Hohmann-type transfer. These trajectories leverage the multi-body gravitational effects to reduce overall delta-v requirements, in some cases removing the capture delta-v completely. While the time of flight for these transfers can be much longer than a Hohmann-type transfer, the chaotic design space of these transfers can enable large changes in arrival conditions at the Moon for small changes in initial conditions. Many investigations of these transfers take place in simplified dynamical models, such as the Planar Circular Restricted Three Body Problem, with very few higher-fidelity models being implemented. This approach is good to understand the dynamics of these trajectories as well as provide initial guesses for higher-fidelity models; but approximating the dynamics heavily make these models less applicable to mission design. This thesis aims to investigate the application of a higher-order model to simulate these trajectories. STK Astrogator was used to recreate the NASA GRAIL trajectory; and from the recreated trajectory, a nominal trajectory absent of mid-course corrections was established. This nominal trajectory was used to perform parametric and variational studies of departure and arrival conditions as well as compare to a nominal trajectory in a reduced-fidelity model. An investigation into the post launch correction burn requirements following launch vehicle under-performance was completed. Utilizing low energy transfers proved beneficial to adjusting arrival conditions for low delta-v requirements. All arrival inclinations are reasonably achievable for around 255 m/s. Using 255 m/s as a baseline, right ascension of the ascending node could be reached in a 40 degree range and argument of periapsis in a 50 degree range. Lunar insertion arrival can be varied by 7 hours on either side for less than 80 m/s. Trans-lunar injection epoch can be varied by 7 hours on either side of nominal departure for less than 4 m/s. Orbit radius and initial velocity are the most expensive errors to correct. These trajectories can be tuned to reduce the overall mid-course correction delta-v requirement for differing arrival inclinations if other orbital elements are relaxed. A relationship between placement of post-launch correction maneuver for velocity or radius errors was found. Comparing the trajectory in STK to the Inclined Bi-Elliptic Restricted Four Body problem, revealed that timing of the trajectory is variable while keeping the same arrival and departure conditions. However, solar radiation pressure cannot be ignored for more accurate simulation of these trajectories. This investigation has shown that low energy lunar transfers are a viable method to reach the Moon and their chaotic nature can be leveraged to relax restrictions in the design space.
Applications of Motor Variability for Assessing Repetitive Occupational Tasks
Sedighi, Alireza (Virginia Tech, 2017-06-07)
The human body has substantial kinetic and kinematic degrees-of-freedoms, so redundant solutions are available for the central nervous system (CNS) to perform a repetitive task. Due to these redundancies, inherent variations exist in human movement, called motor variability (MV). Current evidence suggests that MV can be beneficial, and that there is an inverse association between MV and risk of injury. To better understand how the CNS manipulates MV to reduce injury risks, we investigated the effects of individual differences, task-relevant aspects, and psychological factors as modifiers of MV. Earlier work found that experienced workers adapted more stable movements than novices in repetitive lifting tasks. To expand on this, we quantified how MV differs between experienced workers and novices in different lifting conditions (i.e., lifting asymmetry and fatigue). Three different measures (cycle-to-cycle SD, sample entropy, and the goal equivalent manifold) were used to quantify MV. In a symmetric lifting task, experienced workers had more constrained movement than novices, and experienced workers exhibited more consistent behavior in the asymmetric condition. Novices constrained their movements, and could not maintain the same level of variability in the asymmetric condition. We concluded that experienced workers adapt stable or flexible strategies depending on task difficulty. In a prolonged lifting task, both groups increased their MV to adapt to fatigue; they particularly increased variability in a direction that had no effects on their main task goal. Developing fatigue also makes it difficult for individuals maintain the main goal. Based on these results, we conclude that increasing variability is an adaptive strategy in response to fatigue. We also assessed variability in gait parameters to compare gait adaptability using a head-worn display (HWD) compared with head-down displays for visual information presentation. An effective strategy we observed for performing a cognitive task successfully during walking was to increase gait variability in the goal direction. In addition, we found that head-up walking had smaller effects on MV, suggesting that HWDs are a promising technology to reduce adverse events during gait (e.g., falls). In summary, these results suggest that MV can be a useful indicator for evaluating some occupational injury risks.
Atmospheric Lagrangian transport structures and their applications to aerobiology
Bozorg Magham, Amir Ebrahim (Virginia Tech, 2014-02-21)
Exploring the concepts of long range aerial transport of microorganisms is the main motivation of this study. For this purpose we use theories and concepts of dynamical systems in the context of geophysical fluid systems. We apply powerful notions such as finite-time Lyapunov exponent (FTLE) and the associated Lagrangian coherent structures (LCS) and we attempt to provide mathematical explanations and frameworks for some applied questions which are based on realistic concerns of atmospheric transport phenomena. Accordingly, we quantify the accuracy of prediction of FTLE-LCS features and we determine the sensitivity of such predictions to forecasting parameters. In addition, we consider the spatiotemporal resolution of the operational data sets and we propose the concept of probabilistic source and destination regions which leads to the definition of stochastic FTLE fields. Moreover, we put forward the idea of using ensemble forecasting to quantify the uncertainty of the forecast results. Finally, we investigate the statistical properties of localized measurements of atmospheric microbial structure and their connections to the concept of local FTLE time-series. Results of this study would pave the way for more efficient models and management strategies for the spread of infectious diseases affecting plants, domestic animals, and humans.
Bat swarming as an inspiration for multi-agent systems: predation success, active sensing, and collision avoidance
Lin, Yuan (Virginia Tech, 2016-02-22)
Many species of bats primarily use echolocation, a type of active sensing wherein bats emit ultrasonic pulses and listen to echoes, for guidance and navigation. Swarms of such bats are a unique type of multi-agent systems that feature bats's echolocation and flight behaviors. In the work of this dissertation, we used bat swarming as an inspiration for multi-agent systems to study various topics which include predation success, active sensing, and collision avoidance. To investigate the predation success, we modeled a group of bats hunting a number of collectively behaving prey. The modeling results demonstrated the benefit of localized grouping of prey in avoiding predation by bats. In the topics regarding active sensing and collision avoidance, we studied individual behavior in swarms as bats could potentially benefit from information sharing while suffering from frequency jamming, i.e., bats having difficulty in distinguishing between self and peers's information. We conducted field experiments in a cave and found that individual bat increased biosonar output as swarm size increased. The experimental finding indicated that individual bat acquired more sensory information in larger swarms even though there could be frequency jamming risk. In a simulation wherein we modeled bats flying through a tunnel, we showed the increasing collision risk in larger swarms for bats either sharing information or flying independently. Thus, we hypothesized that individual bat increased pulse emissions for more sensory information for collision avoidance while possibly taking advantage of information sharing and coping with frequency jamming during swarming.
Biodynamic Analysis of Human Torso Stability using Finite Time Lyapunov Exponents
Tanaka, Martin L. (Virginia Tech, 2008-03-25)
Low back pain is a common medical problem around the world afflicting 80% of the population some time in their life. Low back injury can result from a loss of torso stability causing excessive strain in soft tissue. This investigation seeks to apply existing methods to new applications and to develop new methods to assess torso stability. First, the time series averaged finite time Lyapunov exponent is calculated from data obtained during seated stability experiments. The Lyapunov exponent is found to increase with increasing task difficulty. Second, a new metric for evaluating torso stability is introduced, the threshold of stability. This parameter is defined as the maximum task difficulty in which dynamic stability can be maintained for the test duration. The threshold of stability effectively differentiates torso stability at two levels of visual feedback. Third, the state space distribution of the finite time Lyapunov exponent (FTLE) field is evaluated for deterministic and stochastic systems. Two new methods are developed to generate the FTLE field from time series data. Using these methods, Lagrangian coherent structures (LCS) are found for an inverted pendulum, the Acrobot, and planar wobble chair models. The LCS are ridges in the FTLE field that separate two inherently different types of motion when applied to rigid-body dynamic systems. As a result, LCS can be used to identify the boundaries of the basin of stability. Finally, these new methods are used to find the basin of stability from time series data collected from torso stability experiments. The LCS and basins of stability provide a richer understanding into the system dynamics when compared to existing methods. By gaining a better understanding of torso stability, it is hoped this knowledge can be used to prevent low back injury and pain in the future. These new methods may also be useful in evaluating other biodynamic systems such as standing postural sway, knee stability, or hip stability as well as time series applications outside the area of biomechanics.
Caging the blob: using a slime mold to teach concepts about barriers that constrain the movement of organisms
Bohland, Cynthia E.; Schmale, David G. III; Ross, Shane D. (University of California Press, 2011-11-01)
Few laboratory exercises are designed to teach biology students about barriers that may constrain the movement of organisms. We describe a unique inquiry-based exercise involving Lego mazes (the barrier) and the plasmodial slime mold, Physarum polycephalum (the organism). During guided inquiry, students construct mazes using Lego brand building blocks and the slime mold is allowed to "navigate" through the maze and "respond" to the barrier. Students then generate and test hypotheses about the movement of the slime mold in response to different barriers in the open-inquiry phase of the investigation.
Catenaries in Viscous Fluid
Chakrabarti, Brato (Virginia Tech, 2015-06-26)
Slender structures in fluid flow exhibit a variety of rich behaviors. Here we study the equilibrium shapes of perfectly flexible strings that are moving with a uniform velocity and axial flow in viscous fluid. The string is acted upon by local, anisotropic, linear drag forces and a uniform body force. Generically, the configurations of the string are planar, and we provide analytical expressions for the equilibrium shapes of the string as a first order five parameter dynamical system for the tangential angle of the body ($theta$). Phase portraits in the angle-curvature ($theta,partial_s theta$) plane are generated, that can be shown to be $pi$ periodic after appropriate scaling and reflection operations. The rich parameter space allows for different kinds of phase portraits that give rise to a variety of curve geometries. Some of these solutions are unstable due to the presence of compressive stresses. Special cases of the problem include sedimenting filaments, dynamic catenaries, and towed strings. We also discuss equilibrium configurations of towed cables and other relevant problems with fixed boundary conditions. Special cases of the boundary value problem involve towing of neutrally buoyant cables and strings with pure axial flow between two fixed points.
Chaos in Pulsed Laminar Flow
Kumar, Pankaj (Virginia Tech, 2010-08-09)
Fluid mixing is a challenging problem in laminar flow systems. Chaotic advection can play an important role in enhancing mixing in such flow. In this thesis, different approaches are used to enhance fluid mixing in two laminar flow systems. In the first system, chaos is generated in a flow between two closely spaced parallel circular plates by pulsed operation of fluid extraction and reinjection through singularities in the domain. A singularity through which fluid is injected (or extracted) is called a source (or a sink). In a bounded domain, one source and one sink with equal strength operate together as a source-sink pair to conserve the fluid volume. Fluid flow between two closely spaced parallel plates is modeled as Hele-Shaw flow with the depth averaged velocity proportional to the gradient of the pressure. So, with the depth-averaged velocity, the flow between the parallel plates can effectively be modeled as two-dimensional potential flow. This thesis discusses pulsed source-sink systems with two source-sink pairs operating alternately to generate zig-zag trajectories of fluid particles in the domain. For reinjection purpose, fluid extracted through a sink-type singularity can either be relocated to a source-type one, or the same sink-type singularity can be activated as a source to reinject it without relocation. Relocation of fluid can be accomplished using either "first out first in" or "last out first in" scheme. Both relocation methods add delay to the pulse time of the system. This thesis analyzes mixing in pulsed source-sink systems both with and without fluid relocation. It is shown that a pulsed source-sink system with "first out first in" scheme generates comparatively complex fluid flow than pulsed source-sink systems with "last out first in" scheme. It is also shown that a pulsed source-sink system without fluid relocation can generate complex fluid flow. In the second system, mixing and transport is analyzed in a two-dimensional Stokes flow system. Appropriate periodic motions of three rods or periodic points in a two-dimensional flow are determined using the Thurston-Nielsen Classification Theorem (TNCT), which also predicts a lower bound on the complexity generated in the fluid flow. This thesis extends the TNCT -based framework by demonstrating that, in a perturbed system with no lower order fixed points, almost invariant sets are natural objects on which to apply the TNCT. In addition, a method is presented to compute line stretching by tracking appropriate motion of finite size rods. This method accounts for the effect of the rod size in computing the complexity generated in the fluid flow. The last section verifies the existence of almost invariant sets in a two-dimensional flow at finite Reynolds number. The almost invariant set structures move with appropriate periodic motion validating the application of the TNCT to predict a lower bound on the complexity generated in the fluid flow.
Cold Working Holes in Multi-Layer Members
Connolly, Kevin Bryan (Virginia Tech, 2014-10-09)
Increasing the life cycle of critical components is a common goal in many vehicle industries. One of the most common ways to increase the fatigue resistance of fasteners holes is the process of cold expansion. This method introduces a compressive stress field in the region around the hole that slows the propagation of cracks. Determining the life cycle benefits gained from cold expansion is difficult due to the complex nature of the residual stress field. Many groups have attempted to accurately predict how this field is generated and what factors can cause major variations in the resulting stress field. There are still many factors related to the cold expansion process that have not been quantified. By creating a script in the computer language Python it was possible to generate a number of different models quickly and efficiently in the finite element program Abaqus. While not all the models that could be created were initially found to be convergent, the script proved useful in creating a varied number of models to assist in determining which factors were leading to the convergence problems. Confidence in the script's ability to produce accurate models was established by generating models that mirrored the conditions found in other literature, so that a direct comparison of results could be made. For this work two factors were considered for analysis, the effect of starting hole size and multi-layer expansion. The results showed that even within the range of recommended starting hole sizes, a difference in the residual stress field was evident. If the hole was expanded beyond the recommended size a threshold was reached and a severe weakening of the residual stress field was noticed. In the case of two plate expansion, changes in the residual stress field were only observed at the interface region of the plates. For the entrance face of the second plate in the expansion, this change was highly beneficial. The results from the two plate expansion suggest that artificially creating a multi-layer stack-up may be a useful tool to improve the residual stress field at the entrance surface of a plate.
The computation of finite-time Lyapunov exponents on unstructured meshes and for non-Euclidean manifolds
Lekien, F.; Ross, Shane D. (American Institute of Physics, 2010-03-01)
We generalize the concepts of finite-time Lyapunov exponent (FTLE) and Lagrangian coherent structures to arbitrary Riemannian manifolds. The methods are illustrated for convection cells on cylinders and Moumlbius strips, as well as for the splitting of the Antarctic polar vortex in the spherical stratosphere and a related point vortex model. We modify the FTLE computational method and accommodate unstructured meshes of triangles and tetrahedra to fit manifolds of arbitrary shape, as well as to facilitate dynamic refinement of the FTLE mesh.
A Computational and Experimental Study on the Electrical and Thermal Properties of Hybrid Nanocomposites based on Carbon Nanotubes and Graphite Nanoplatelets
Safdari, Masoud (Virginia Tech, 2012-12-13)
Carbon nanotubes (CNTs) and graphite nanoplatelets (GNPs) are carrying great promise as two important constituents of future multifunctional materials. Originating from their minimal defect confined nanostructure, exceptional thermal and electrical properties have been reported for these two allotropic forms of carbon. However, a brief survey of the literature reveals the fact that the incorporation of these species into a polymer matrix enhances its effective properties usually not to the degree predicted by the composite\\textquoteright s upper bound rule. To exploit their full potential, a proper understanding of the physical laws characterizing their behavior is an essential step. With emphasis on the electrical and thermal properties, the following study is an attempt to provide more realistic physical and computational models for studying the transport properties of these nanomaterials. Originated from quantum confinement effects, electron tunneling is believed to be an important phenomenon in determining the electrical properties of nanocomposites comprising CNTs and GNPs. To assess its importance, in this dissertation this phenomenon is incorporated into simulations by utilizing tools from statistical physics. A qualitative parametric study was carried out to demonstrate its dominating importance. Furthermore, a model is adopted from the literature and extended to quantify the electrical conductivity of these nanocomposite. To establish its validity, the model predictions were compared with relevant published findings in the literature. The applicability of the proposed model is confirmed for both CNTs and GNPs. To predict the thermal properties, a statistical continuum based model, originally developed for two-phase composites, is adopted and extended to describe multiphase nanocomposites with high contrast between the transport properties of the constituents. The adopted model is a third order strong-contrast expansion which directly links the thermal properties of the composite to the thermal properties of its constituents by considering the microstructural effects. In this approach, a specimen of the composite is assumed to be confined into a reference medium with known properties subjected to a temperature field in the infinity to predict its effective thermal properties. It was noticed that such approach is highly sensitive to the properties of the reference medium. To overcome this shortcoming, a technique to properly select the reference medium properties was developed. For verification purpose the proposed model predictions were compared with the corresponding finite element calculations for nanocomposites comprising cylindrical and disk-shaped nanoparticles. To shed more light on some conflicting reports about the performance of the hybrid CNT/GNP/polymer nanocomposites, an experimental study was conducted to study a hybrid ternary system. CNT/polymer, GNP/polymer and CNT/GNP/polymer nanocomposite specimens were processed and tested to evaluate their thermal and electrical conductivities. It was observed that the hybrid CNT/GNP/polymer composites outperform polymer composites loaded solely with CNTs or GNPs. Finally, the experimental findings were utilized to serve as basis to validate the models developed in this dissertation. The experimental study was utilized to reduce the modeling uncertainties and the computational predictions of the proposed models were compared with the experimental measurements. Acceptable agreements between the model predictions and experimental data were observed and explained in light of the experimental observations. The work proposed herein will enable significant advancement in understanding the physical phenomena behind the enhanced electrical and thermal conductivities of polymer nanocomposites specifically CNT/GNP/polymer nanocomposites. The dissertation results offer means to tune-up the electrical and thermal properties of the polymer nanocomposite materials to further enhance their performance.
Computational Design of Transparent Polymeric Laminates subjected to Low-velocity Impact
Antoine, Guillaume O. (Virginia Tech, 2014-11-07)
Transparent laminates are widely used for body armor, goggles, windows and windshields. Improved understanding of their deformations under impact loading and of energy dissipation mechanisms is needed for minimizing their weight. This requires verified and robust computational algorithms and validated mathematical models of the problem. Here we have developed a mathematical model for analyzing the impact response of transparent laminates made of polymeric materials and implemented it in the finite element software LS-DYNA. Materials considered are polymethylmethacrylate (PMMA), polycarbonate (PC) and adhesives. The PMMA and the PC are modeled as elasto-thermo-visco-plastic and adhesives as viscoelastic. Their failure criteria are stated and simulated by the element deletion technique. Values of material parameters of the PMMA and the PC are taken from the literature, and those of adhesives determined from their test data. Constitutive equations are implemented as user-defined subroutines in LS-DYNA which are verified by comparing numerical and analytical solutions of several initial-boundary-value problems. Delamination at interfaces is simulated by using a bilinear traction separation law and the cohesive zone model. We present mathematical and computational models in chapter one and validate them by comparing their predictions with test findings for impacts of monolithic and laminated plates. The principal source of energy dissipation of impacted PMMA/adhesive/PC laminates is plastic deformations of the PC. In chapter two we analyze impact resistance of doubly curved monolithic PC panels and delineate the effect of curvature on the energy dissipated. It is found that the improved performance of curved panels is due to the decrease in the magnitude of stresses near the center of impact. In chapter three we propose constitutive relations for finite deformations of adhesives and find values of material parameters by considering test data for five portions of cyclic loading. Even though these values give different amounts of energy dissipated in the adhesive, their effect on the computed impact response of PMMA/adhesive/PC laminates is found to be minimal. In chapter four we conduct sensitivity analysis to identify critical parameters that significantly affect the energy dissipated. The genetic algorithm is used to optimally design a transparent laminate in chapter five.
Control Design and Model Validation for Applications in Nonlinear Vessel Dynamics
Cooper, Michele Desiree (Virginia Tech, 2015-06-03)
In recent decades, computational models have become critical to how engineers and mathematicians understand nature; as a result they have become an integral part of the design process in most engineering disciplines. Moore's law anticipates computing power doubling every two years; a prediction that has historically been realized. As modern computing power increases, problems that were previously too complex to solve by hand or by previous computing abilities become tractable. This has resulted in the development of increasingly complex computational models simulating increasingly complex dynamics. Unfortunately, this has also resulted in increased challenges in fields related to model development, such as model validation and model based control, which are needed to make models useful in the real world. Much of the validation literature to date has focused on spatial and spatiotemporal simulations; validation approaches are well defined for such models. For most time series simulations, simulated and experimental trajectories can be directly compared negating the need for specialized validation tools. In the study of some ship motion behavior, chaos exists, which results in chaotic time series simulations. This presents novel challenges for validation; direct comparison may not be the most apt approach. For these applications, there is a need to develop appropriate metrics for model validation. A major thrust of the current work seeks to develop a set of validation metrics for such chaotic time series data. A complementary but separate portion of work investigates Non-Intrusive Polynomial Chaos as an approach to reduce the computational costs associated with uncertainty analysis and other stochastic investigations into the behavior of nonlinear, chaotic models. A final major thrust of this work focuses on contributing to the control of nonlinear marine systems, specifically the autonomous recovery of an unmanned surface vehicle utilizing motion prediction information. The same complexity and chaotic nature that makes the validation of ship motion models difficult can also make the development of reliable, robust controllers difficult as well. This body of work seeks to address several facets of this broad need that has developed due to our increased computational abilities by providing validation metrics and robust control laws.
Coordinated Unmanned Aircraft System (UAS) and Ground-Based Weather Measurements to Predict Lagrangian Coherent Structures (LCSs)
Nolan, Peter J.; Pinto, James; González-Rocha, Javier; Jensen, Anders; Vezzi, Christina N.; Bailey, Sean C. C.; de Boer, Gijs; Diehl, Constantin; Laurence, Roger; Powers, Craig W.; Foroutan, Hosein; Ross, Shane D.; Schmale, David G. III (MDPI, 2018-12-15)
Concentrations of airborne chemical and biological agents from a hazardous release are not spread uniformly. Instead, there are regions of higher concentration, in part due to local atmospheric flow conditions which can attract agents. We equipped a ground station and two rotary-wing unmanned aircraft systems (UASs) with ultrasonic anemometers. Flights reported here were conducted 10 to 15 m above ground level (AGL) at the Leach Airfield in the San Luis Valley, Colorado as part of the Lower Atmospheric Process Studies at Elevation—a Remotely-Piloted Aircraft Team Experiment (LAPSE-RATE) campaign in 2018. The ultrasonic anemometers were used to collect simultaneous measurements of wind speed, wind direction, and temperature in a fixed triangle pattern; each sensor was located at one apex of a triangle with ∼100 to 200 m on each side, depending on the experiment. A WRF-LES model was used to determine the wind field across the sampling domain. Data from the ground-based sensors and the two UASs were used to detect attracting regions (also known as Lagrangian Coherent Structures, or LCSs), which have the potential to transport high concentrations of agents. This unique framework for detection of high concentration regions is based on estimates of the horizontal wind gradient tensor. To our knowledge, our work represents the first direct measurement of an LCS indicator in the atmosphere using a team of sensors. Our ultimate goal is to use environmental data from swarms of sensors to drive transport models of hazardous agents that can lead to real-time proper decisions regarding rapid emergency responses. The integration of real-time data from unmanned assets, advanced mathematical techniques for transport analysis, and predictive models can help assist in emergency response decisions in the future.
Design, Analysis, and Optimization of Vibrational Control Strategies
Tahmasian, Sevak (Virginia Tech, 2015-05-22)
This dissertation presents novel vibrational control strategies for mechanical control-affine systems with high-frequency, high-amplitude inputs. Since these control systems use high-frequency, zero-mean, periodic inputs, averaging techniques are widely used in the analysis of their dynamics. By studying their time-averaged approximations, new properties of the averaged dynamics of this class of systems are revealed. Using these properties, the problem of input optimization of vibrational control systems was formulated and solved by transforming the problem to a constrained optimization one. Geometric control theory provides powerful tools for studying the control properties of control-affine systems. Using the concepts of vibrational and geometric controls and averaging tools, a closed-loop control strategy for trajectory tracking of a class of underactuated mechanical control-affine systems is developed. In the developed control law, the fact that for underactuated systems, the actuated coordinates together with the corresponding generalized velocities can be considered as generalized inputs for the unactuated dynamics plays the main role. Using the developed control method, both actuated and unactuated coordinates of the system are able to follow slowly time-varying prescribed trajectories on average. The developed control method is applied for altitude control of flapping wing micro-air vehicles by considering the sweeping (flapping) angle of the wings as the inputs. Using the feathering (pitch) angles of the wings as additional inputs, and using non-symmetric flapping, the control method is then extended for three-dimensional flight control of flapping wing micro-air vehicles.
Detecting dynamical boundaries from kinematic data in biomechanics
Ross, Shane D.; Tanaka, M. L.; Senatore, C. (American Institute of Physics, 2010-03-01)
Ridges in the state space distribution of finite-time Lyapunov exponents can be used to locate dynamical boundaries. We describe a method for obtaining dynamical boundaries using only trajectories reconstructed from time series, expanding on the current approach which requires a vector field in the phase space. We analyze problems in musculoskeletal biomechanics, considered as exemplars of a class of experimental systems that contain separatrix features. Particular focus is given to postural control and balance, considering both models and experimental data. Our success in determining the boundary between recovery and failure in human balance activities suggests this approach will provide new robust stability measures, as well as measures of fall risk, that currently are not available and may have benefits for the analysis and prevention of low back pain and falls leading to injury, both of which affect a significant portion of the population.
Determination of Three Dimensional Time Varying Flow Structures
Raben, Samuel Gillooly (Virginia Tech, 2013-09-10)
Time varying flow structures are involved in a large percentage of fluid flows although there is still much unknown regarding their behavior. With the development of high spatiotemporal resolution measurement systems it is becoming more feasible to measure these complex flow structures, which in turn will lead to a better understanding of their impact. One method that has been developed for studying these flow structures is finite time Lyapunov exponents (FTLEs). These exponents can reveal regions in the fluid, referred to as Lagragnian coherent structures (LCSs), where fluid elements diverge or attract. Better knowledge of how these time varying structures behave can greatly impact a wide range of applications, from aircraft design and performance, to an improved understanding of mixing and transport in the human body. This work provides the development of new methodologies for measuring and studying three-dimensional time varying structures. Provided herein is a method to improve replacement of erroneous measurements in particle image velocimetry data, which leads to increased accuracy in the data. Also, a method for directly measuring the finite time Lyapunov exponents from particle images is developed, as well as an experimental demonstration in a three-dimensional flow field. This method takes advantage of the information inherently contained in these images to improve accuracy and reduce computational requirements. Lastly, this work provides an in depth look at the flow field for developing wall jets across a wide range of Reynolds numbers investigating the mechanisms that contribute to their development.

Browsing by Author "Ross, Shane D."

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