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Evaluation of Unmanned Aircraft Systems for Severe Storm Sampling Using hardware-in-the-loop simulations

JOURNAL OF AEROSPACE COMPUTING INFORMATION AND COMMUNICATION 2011年第9期8卷 269-294页

作者： Elston, Jack Argrow, Brian Frew, Eric Houston, Adam Straka, Jerry Univ Colorado Dept Aerosp Engn Sci Boulder CO 80309 USA Univ Nebraska Dept Earth & Atmospher Sci Lincoln NE 68588 USA Univ Oklahoma Sch Meteorol Norman OK 73072 USA

A system was developed to add hardware-in-the-loop simulation capability to an unmanned aircraft system designed for obtaining in situ measurements of severe storms. The simulation combines a full six degree-of-freedom aircraft dynamic model with wind and precipitation data from simulations of severe convective storms. Interfaces were written to involve as much of the system's field hardware as possible, including the creation of a simulated radar product server. Details of the system design and results from several runs through two simulated storm data sets are given. An assessment is provided of the fidelity of the simulator wind model through comparison to measurements made during the Spring 2010 campaign of the VORTEX2 project. Autopilot control effort is examined and shown to provide sufficient performance in different parts of the storm. simulations run without the restrictions imposed by the FAA "see and avoid" requirements are shown to demonstrate an improvement in the ability to perform targeted observations of the storm. Wind measurements made by the autopilot are compared to truth values from the simulated data and a preliminary analysis is given on the accuracy of wind estimation. An assessment is made of the ability to determine gust-front crossings during operations from real-time telemetry and meteorological measurements. Finally, a comparison of the effect on the aircraft from transects flown at different altitudes through the storm is given.

关键词： Unmanned Aircraft System hardware in the loop simulation Avionics Systems Doppler Weather Radar Federal Aviation Administration Telemetry Six Degree of Freedom Ground Control Station Thunderstorms Control Surfaces

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Real-Time Data Driven Visual simulation of Process Manufacturing: A Case Study

Real-Time Data Driven Visual Simulation of Process Manufactu...

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23rd Chinese Control and Decision Conference

作者： Lu, Shaowen Yue, Heng Northeastern Univ State Key Lab Integrated Automat Proc Ind Shenyang 110819 Peoples R China

ISBN: (纸本)9781424487363

3D virtual simulation has been widely used in the design of manufacturing plants. This paper focuses on the application of 3D virtual simulation in process industry. It discusses the impacts of the characteristics of the process manufacturing and the simulation users requirements on the integration of 3D visual simulation and process simulation. An actual case of grinding circuit simulation is introduced. The hardware in the loop simulation structure and the real-time data integration techniques are discussed in detail. Finally, a solution of real-time integration is provided.

关键词： grinding process 3D visual simulation hardware in the loop simulation

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Decentralized Geolocation and Bias Estimation for Uninhabited Aerial Vehicles with Articulating Cameras

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JOURNAL OF GUIDANCE CONTROL AND DYNAMICS 2011年第2期34卷 564-573页

作者： Whitacre, William Campbell, Mark E. Cornell Univ Ithaca NY 14853 USA

The cooperative geolocation of a point of interest using multiple uninhabited aerial vehicles with articulating camera sensors is addressed, where there are non-zero-mean errors (biases) in the estimate of the uninhabited aerial vehicle state. The proposed approach is to use the onboard navigation solution in the estimator and, further, to consider biases across all uninhabited aerial vehicles and to jointly estimate both the biases and the unknown point-of-interest location. Furthermore, a decentralized solution is presented that uses marginalization of the biases, thus allowing the uninhabited aerial vehicles to share only information about the point of interest and model only their local biases. This decentralized approach saves significant computation and scales well with the number of uninhabited aerial vehicles. Real flight-test data and hardware-in-the-loop simulations are used to demonstrate the improvement in geolocation with bias estimation, as well as the effectiveness of the new decentralized point of interest and bias estimation algorithm, for both stationary and moving points of interest.

关键词： Geolocation Uninhabited Aerial Vehicle Experimental Flight Test Sensor Fusion hardware in the loop simulation Flight Data Observability Gramian GPS International Traffic in Arms Regulations Data Fusion

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RESEARCH OF SEMI-PHYSICAL simulation PLATFORM FOR HYDRAULIC SYSTEM BASED ON EASY5

RESEARCH OF SEMI-PHYSICAL SIMULATION PLATFORM FOR HYDRAULIC ...

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The 2011 International Conference on Mechanical Engineering and Technology

作者： Jiang Xiaoxia Lin Fuquan Jimei University Xiamen Branch of China Classification Society

Introduction of the design method to achieve semi-physical simulation system on the basis of the hydraulic test platform and EASY5 hydraulic system simulation model. Using EASY5 and MATLAB / SIMULIINK co-simulation model, Real-time simulation control was achieved by calling the Windows API Multimedia Timers in MATLAB/SIMULINK to overcome the real-time weaknesses of EASY5;TCP / IP Network Communication was used for data exchange between Simulator and Control machine;man-machine interface of simulator was designed with Visual Basic, to achieve experimental initialization the hardware in the loop simulation system and start the simulation. It can be seen from the test results that t he semi-physical simulation system work well.

关键词： Wheel loader Hydraulic system hardware in the loop simulation Co-simulation

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Real-Time Data Driven Visual simulation of Process Manufacturing: A Case Study

Real-Time Data Driven Visual Simulation of Process Manufactu...

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2011 China Control and Decision Conference(2011中国控制与决策会议 CCDC)

作者： Shaowen Lu Heng Yue State Key Laboratory of Integrated Automation of Process Industry Northeastern University Shenyang 110819 China

关键词： grinding process 3D visual simulation hardware in the loop simulation

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Research on Data Communication Method in Periscope Semi-physical Training simulation System

Research on Data Communication Method in Periscope Semi-phys...

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2011 4th IEEE International Conference on Computer Science and Information Technology(ICCSIT 2011)

作者： XIAO Jianbo, HU Dabin HU Jinhui College of Naval Architecture and Power Naval Univ. of Engineering Wuhan, China

Data communication plays a very important role in the hardware in the loop simulation system. The system architecture of periscope semi-physical simulation system is proposed at first. Then the data communication method based on FINS (Factory Interface Network Service, an Omron communication protocol) between PLC (programmable controller) and PC (personal computer) is introduced. The user's interaction of scene is achieved by PLC. The communication method based on TCP (Transfer Control Protocol) between 2D chart console and scene simulation system is also introduced. The 6-DOF (Degree of freedom) motion model and the scene simulation system are connected by TCP, and a DR (Dead reckoning) method is introduced to solve the data amount problem. The test shows that the simulation system has no error package and no missing in a simulation circle. This can meet the requirements of training, and it is shown to achieve good performance in reliability and real-time.

关键词： Periscope hardware in the loop simulation PLC FINS Communication

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Real-Time Data Driven Visual simulation of Process Manufacturing:A Case Study

Real-Time Data Driven Visual Simulation of Process Manufactu...

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2011 Chinese Control and Decision Conference（CCDC）

作者： Shaowen Lu and Heng Yue are with State Key Laboratory of Integrated Automation of Process Industry,Northeastern University,Shenyang,110819 China

3D virtual simulation has been widely used in the design of manufacturing *** paper focuses on the application of 3D virtual simulation in process *** discusses the impacts of the characteristics of the process manufacturing and the simulation users requirements on the integration of 3D visual simulation and process *** actual case of grinding circuit simulation is *** hardware in the loop simulation structure and the real-time data integration techniques are discussed in ***,a solution of real-time integration is provided.

关键词： grinding process 3D visual simulation hardware in the loop simulation

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Waveform-Relaxation Based Iterative Real-Time Playback Schemes for Testing of Wide Area Power System Controllers

Waveform-Relaxation Based Iterative Real-Time Playback Schem...

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IEEE-Power-and-Energy-Society General Meeting

作者： Kulkarni, A. M. Salunkhe, K. Chandorkar, M. C. Panda, S. P. Sankaranarayanan, N. Indian Inst Technol Dept Elect Engn Bombay 400076 Maharashtra India Nucl Power Corp India Elect Design Grp Bombay 400094 Maharashtra India

ISBN: (纸本)9781424483570

An alternative to real-time simulation for hardware-in-the-loop testing is proposed. This involves system simulation, not necessarily done in real time, and real-time playback of the simulated output to the controller under test. The time-stamped controller output is stored and subsequently fed as an input to the simulation. This whole process is done iteratively as in the Waveform Relaxation method, till the waveforms converge. This method can be used for testing multiple and dispersed controller hardware and the associated communication equipment, e. g., wide-area measurement based control and system protection schemes. It also has the potential to be an alternative to real-time simulators which are expensive when large systems have to be simulated. The basic scheme and potential applications are discussed in this paper.

关键词： Real-Time simulation hardware in the loop simulation Waveform Relaxation Method Wide Area Measurements Systems Wide Area Control and Protection

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Comprehensive Underwater Vehicle-Manipulator System Teleoperation

Comprehensive Underwater Vehicle-Manipulator System Teleoper...

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Washington State Conference and Trade Center (WSCTC)

作者： Soylu, Serdar Firmani, Flavio Buckham, Bradley J. Podhorodeski, Ron P. Univ Victoria IEEE Conf Publishing Victoria BC V8W 3P6 Canada

ISBN: (纸本)9781424443338

In this work, a novel comprehensive scheme for the coordinated control of remotely operated vehicle-manipulator systems (ROVMs) is proposed. In the proposed scheme, instead of commanding the motion of the vehicle and the manipulator separately, a human pilot commands only the manipulator's end-effector motion using a parallel- architectured six-degree-of-freedom (6-DOF) joystick. The generated reference motion is then converted into a set of desired ROV and manipulator joint motion by means of using a redundancy resolution scheme that provides the means to utilize redundant degrees of freedom to accomplish secondary objectives. The redundancy resolver uses the Gradient Projection Method combined with a Mamdani-based fuzzy determination of the hierarchy of the secondary objectives. The controller relies on a unified dynamic model of the system. The quasi-Lagrange method is used to derive the equations of motion in terms of the ROV body-fixed frame. For the control problem, a sliding-mode based controller is used that contains an adaptive term for the estimation of the upper bound on the lumped uncertainty vector. The hardware-in-the-loop simulation studies illustrate that detailed subsea tasks can be completed with a small, low-cost ROVM system using the proposed ROVM operation scheme.

关键词： Lagrange method Mamdani based fuzzy determination ROV end effectors fuzzy set theory gradient methods gradient projection method hardware in the loop simulation human pilot manipulator end effector motion mobile robots motion control parallel architectured six degree of freedom joystick remotely operated vehicle manipulator system remotely operated vehicles teleoperation telerobotics underwater vehicle manipulator underwater vehicles variable structure systems

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hardware-in-the-loop Testing of a Fuel Cell Aircraft Powerplant

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JOURNAL OF PROPULSION AND POWER 2009年第6期25卷 1336-1344页

作者： Bradley, Thomas H. Moffitt, Blake A. Mavris, Dimitri N. Fuller, Thomas F. Parekh, David E. Colorado State Univ Dept Mech Engn Ft Collins CO 80523 USA Georgia Inst Technol Atlanta GA 30332 USA United Technol Res Ctr E Hartford CT 06108 USA

This paper presents the experimental methods and test results of a hardware-in-the-loop simulation of the powerplant for a small-scale fuel-cell-powered unmanned aerial vehicle. In this study, the hardware associated with the powerplant, power train, energy storage, and control systems operates dynamically as a component within a real-time aircraft simulation routine. Control signals, electrical loads, and mechanical loads are applied to the hardware to emulate the conditions of operation of the unmanned aerial vehicle powerplant during flight. Experimental results from hardware-in-the-loop testing of the fuel cell power train are presented with uncertainty analysis and discussion. These results show new aspects of the performance of fuel cell unmanned aerial vehicle powerplants, including the powerplant performance during long-endurance missions, power train subsystem power consumption, and unmodeled fuel cell dynamics. A comparison of the measured powerplant performance to experimental results from the literature shows that the fuel cell powerplant can outperform advanced electrochemical energy storage and internal combustion powerplants at the scale of the hardware-in-the-loop aircraft.

关键词： Powerplant Hydrogen Air Fuel Cells Propeller Aircraft UAV Energy Storage Technology Control Systems hardware in the loop simulation Electric Motors Aerodynamic Performance Internal Combustion Engines

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