Range Of Maneuvers Research Articles

Behaviour Recognition with Kinodynamic Planning Over Continuous Domains.

We investigate the application of state-of-the-art goal recognition techniques for behaviour recognition over complex continuous domains using model predictive control (MPC) for trajectory generation. We formally define the problem of kinodynamic behaviour recognition and establish a set of baseline behaviours and performance measures in the complex domain of unmanned aerial maneuvers. We evaluate how well our approach performs over a range of standard aerial maneuvers and representative initial configurations of varying complexity. The work also highlights future research directions in compound model-based behaviour recognition and team behaviour recognition where multiple agents may be acting simultaneously.

Segment Drift Control with a Supervision Mechanism for Autonomous Vehicles

Stable maneuverability is extremely important for the overall safety and robustness of autonomous vehicles under extreme conditions, and automated drift is able to ensure the widest possible range of maneuverability. However, due to the strong nonlinearity and fast vehicle dynamics occurring during the drift process, drift control is challenging. In view of the drift parking scenario, this paper proposes a segmented drift parking method to improve the handling ability of vehicles under extreme conditions. The whole process is divided into two parts: the location approach part and the drift part. The model predictive control (MPC) method was used in the approach to achieve consistency between the actual state and the expected state. For drift, the open-loop control law was designed on the basis of drift trajectories obtained by professional drivers. The drift monitoring strategy aims to monitor the whole drift process and improve the success rate of the drift. A simulation and an actual vehicle test platform were built, and the test results show that the proposed algorithm can be used to achieve accurate vehicle drift to the parking position.

Unsanctioned practice innovation: A process model

This paper focuses on unsanctioned practice innovations (UPIs) and how they are generated and realized by those outside the senior ranks of an organisation. Through a longitudinal in-depth qualitative study of a multinational firm between 2001 and 2014, we discovered how deviance from formal procedural frameworks had diverse and often creative and productive effects that countered the constraints of transparency, legitimacy and top-down planning of practice innovations. Deviants enact a range of manoeuvres, often resulting in delegitimising prescribed practices and novel solutions to problems that an organisation encounters. We provide an analytical account of these UPIs, the manoeuvres necessary in their claims to legitimacy and the implications for more formal practice innovations.

Retarded Harrier Maneuver as a New and Efficient Approach for Fixed-Wing Aircraft to Achieve S/VTOL

Modern day VTOL fixed-wing aircraft based on quadplane design is relatively simple and reliable due to lack of complex mechanical components compared to tilt-wings or tilt-rotors in the pre-80’s era. Radio-controlled aerobatic airplanes have thrust-to-weight ratio of greater than unity and are capable of performing a range of impressive maneuvers including the so-called harrier maneuver. We hereby present a new maneuver known as the retarded harrier that is applicable to un/manned fixed-wing aircraft for achieving VTOL flight with a better forward flight performance than a quadplane in terms of weight, speed and esthetics. An airplane with tandem roto-stabilizers is also presented as an efficient airframe to achieve VTOL via retarded harrier maneuver, and detailed analysis is given for hovering at 45° and 60° and comparison is made against the widely adopted quadplane. This work also includes experimental demonstration of retarded harrier maneuver using a small remotely pilot airplane of wingspan 650 mm.

Choice of mission trajectory plans and conceptual design of electrical propulsion module for launching payloads into circumterrestrial orbits

The problem of increasing the efficiency of transport operations in space is currently coming to the fore. In the context of this problem, we investigated the possibility of developing a space transportation system including a chemical upper stage and an electric propulsion transport module capable of performing a specified range of space maneuvers. Electric propulsion module design was carried out for a given range of target orbits and payload mass with the provision of restrictions on the flight time. Calculation of the ballistic characteristics of the flight is performed and an optimal program of placing a low-thrust vehicle into orbit is defined. A procedure for defining the design parameters of a space transportation system and its conceptual design is proposed. The conceptual design of the space transportation system and the electric propulsion module were formed in the PTC Creo Parametric environment. On the basis of the results of the work, it can be concluded that it is possible to create a space transportation system with given parameters.

Analytical predictor–corrector entry guidance for hypersonic gliding vehicles

Abstract For the entry guidance problem of hypersonic gliding vehicles (HGVs), an analytical predictor–corrector guidance method based on feedback control of bank angle is proposed. First, the relative functions between the velocity, bank angle and range-to-go are deduced, and then, the analytical relation is introduced into the predictor–corrector algorithm, which is used to replace the traditional method to predict the range-to-go via numerical integration. To eliminate the phugoid trajectory oscillation, a method for adding the aerodynamic load feedback into the control loop of the bank angle is proposed. According to the quasi-equilibrium gliding condition, the function of the quasi-equilibrium glide load along with the velocity variation is derived. For each guidance period, the deviation between the real-time load and the quasi-equilibrium gliding load is revised to obtain a smooth reentry trajectory. The simulation results indicate that the guidance algorithm can adapt to the mission requirements of different downranges, and it also has the ability to guide the vehicle to carry out a large range of lateral maneuvers. The feedback control law of the bank angle effectively eliminates the phugoid trajectory oscillation and guides the vehicle to complete a smooth reentry flight. The Monte Carlo test indicated that the guidance precision and robustness are good.

High-Accuracy Approximate Solutions for Hypersonic Gliding Trajectory With Large Lateral Maneuvering Range

Closed-form approximate solutions are derived to predict 3-D atmospheric gliding trajectory of hypersonic glide vehicle accurately under high-maneuver flight condition where the lateral maneuvering range can be up to 4000 km. By contrast, the valid maneuvering range for the existing analytical solutions is less than 1500 km. However, high-intensity maneuver makes the motions in longitudinal and lateral planes seriously coupled and thus greatly increases the nonlinearity of flight dynamics. For the sake of simplification, a new flight dynamics model based on generalized longitude and latitude is introduced according to the trajectory characteristics. Then, the dynamics model is simplified reasonably by giving full consideration to the coupling of the longitudinal and lateral motions as well as the effect of the curvature and rotation of Earth. The simplified model is still very complicated. Subsequently, by the skillful use of the perturbation technique, the model is further decomposed into three subsystems that can be solved analytically in a tricky way, and thus the closed-form solutions are obtained successfully. As verified by the simulation results, the accuracy of the new solutions is much higher than the existing solutions in the case of high-maneuver flight.

Feasibility of Synchronized CubeSat Missions from Low Earth Orbit to Near-Earth Asteroids

The present study investigates the feasibility of deploying multiple CubeSats from low Earth orbit to near-Earth asteroids for an increased scientific return and reduced mission costs. It is found that for an escape time of 300 days, solar cell and battery degradation are 11 and 28%, respectively. The escape orbital plane inclination of 51.6 deg reduces the overall radiation dosage and requires 2.51 kg of propellant. Interplanetary mission values fall between 0 and , and low-thrust propellant requirements fall between 2.51 and 3.11 kg, for a dry spacecraft mass of 4.5 kg. The deployment strategy reduces mission costs by allowing the CubeSats to perform the Earth escape maneuver independently once deployed from the International Space Station. Time series regression neural networks were constructed to predict future space-station orbital states, whose uncertainty limits fall within CubeSat mass constraints. Synchronization of missions is performed by selecting the deployment sequence, which minimizes the overall time between consecutive CubeSat orbital injections. Optimal interplanetary, low-thrust trajectories were obtained using differential evolution, with a corrective high-thrust maneuver required at the start of the interplanetary phase. Propellant requirements for the corrective maneuver range between 1.3 and 3.3 kg of propellant using chemical propulsion.

The control of routine fish maneuvers: Connecting midline kinematics to turn outcomes.

Maneuverability is an important factor in determining an animal's ability to navigate its environment and succeed in predator-prey interactions. Although fish are capable of a wide range of maneuvers, most of the literature has focused on escape maneuvers while less attention has been paid to routine maneuvers, such as those used for habitat navigation. The quantitative relationships between body deformations and maneuver outcomes (displacement of the center of mass and change in trajectory) are fundamental to understanding how fish control their maneuvers, yet remain unknown in routine maneuvers. We recorded high-speed video of eight giant danios (Devario aquepinnatus) performing routine and escape maneuvers and quantified the deformation of the midline, the heading of the anterior body, and the kinematics of the centroid (a proxy for center of mass). We found that both routine and escape behaviors used qualitatively similar independent body bending events, which we curvature pulses, that propagate from head to tail but show quantitative differences in midline kinematics and turn outcomes. In routine maneuvers, the direction change and acceleration of the fish are influenced by both the magnitude of the bending pulse and by the duration of the pulse, whereas in escape maneuvers, only pulse duration influenced direction change and turn acceleration. The bending pulse appears to be the smallest functional unit of a turn, and can function independently or in combination, enabling a fish to achieve a wide range of complex maneuvers.

Flow transitions and mapping for undulating swimmers

Natural swimmers usually perform undulations to propel themselves and perform a range of maneuvers. These include various biological species ranging from micro-sized organisms to large-sized fishes that undulate at typical kinematic patterns. In this paper, we consider anguilliform and carangiform swimming modes to perform numerical simulations using an immersed-boundary methods based computational solver at various Reynolds number regimes. We carry out thorough studies using wavelength and Strouhal frequency as the governing parameters for the hydrodynamic performance of undulating swimmers. Our analysis shows that the anguilliform kinematics achieves better hydrodynamic efficiency for viscous flow regime, whereas for flows with higher Reynolds number, the wavelength of the wavy motion dictates which kinematics will outperform the other. We find that the constructive interference between vortices produced at anterior parts of the bodies and co-rotating vortices present at the posterior parts plays an important role in reversing the direction of Benard-von Karman vortex street. Since most of the thrust producing conditions appear to cause wake deflection; a critical factor responsible for degrading the hydrodynamic efficiency of a swimmer, we discuss the underlying mechanics that would trigger this phenomenon. We demonstrate that the choice of kinematic and flow conditions may be restricted for the natural swimmers due to their morphological structures, but our findings provide a guideline on their selection for bio-inspired underwater vehicles.

Trajectory Planning of Quadrotor Systems for Various Objective Functions

SUMMARYQuadrotors are unmanned aerial vehicles with many potential applications ranging from mapping to supporting rescue operations. A key feature required for the use of these vehicles under complex conditions is a technique to analytically solve the problem of trajectory planning. Hence, this paper presents a heuristic approach for optimal path planning that the optimization strategy is based on the indirect solution of the open-loop optimal control problem. Firstly, an adequate dynamic system modeling is considered with respect to a configuration of a commercial quadrotor helicopter. The model predicts the effect of the thrust and torques induced by the four propellers on the quadrotor motion. Quadcopter dynamics is described by differential equations that have been derived by using the Newton–Euler method. Then, a path planning algorithm is developed to find the optimal trajectories that meet various objective functions, such as fuel efficiency, and guarantee the flight stability and high-speed operation. Typically, the necessary condition of optimality for a constrained optimal control problem is formulated as a standard form of a two-point boundary-value problem using Pontryagin’s minimum principle. One advantage of the proposed method can solve a wide range of optimal maneuvers for arbitrary initial and final states relevant to every considered cost function. In order to verify the effectiveness of the presented algorithm, several simulation and experiment studies are carried out for finding the optimal path between two points with different objective functions by using MATLAB software. The results clearly show the effect of the proposed approach on the quadrotor systems.

Research on Effects of Satellite Attitude on Modulation Transfer Function of High-resolution Space Optical Remote Sensor

In this paper, the necessity of analysing the satellite platform attitude maneuver performance impact on imaging quality is pointed out, basing on a review of high-resolution space optical remote sensor development. Using some mission requirements and the satellite performance indicators as simulation input conditions, with Monte Carlo method, the analysing of attitude maneuver range that meets the modulation transfer function of image motion velocity compensation larger than 0.95 was taken. The simulation results were showed in three-dimensional surface graphs intuitively, which indicated the attitude stability and attitude measurement accuracy specifications of the satellite platform meet the imaging requirements in the range of elevation angle within±5° and rolling angle within ±45°.

The efficacy of Augmented Reality in improving the learning outcome

Augmented Reality is gaining traction as an alternative and effective learning tool in studying human anatomy in colleges and universities. This technology provides an immersive approach to learn anatomical structure using HoloLens with an extensive range of maneuverability of Hologram, dissection mode, information boxes and most amazingly walking into the Hologram and visualizing the human body inside out.Human anatomy, as one of the introductory courses in health sciences is usually found challenging for the students and the capability of any learning tools to provide simplification and three‐dimensional visualization, in addition to eliciting excitement with advanced technology will be promising to improve the students’ learning experience.The inclusion of the Augmented Reality into the human anatomy course was able to improve the students’ final exam grade 18.9% and reduce the failure rate by 10%. The student’s satisfaction survey also showed 87.6% of the students believed that the Augmented Reality helped them to reach the objectives of the anatomy course.Support or Funding InformationWest Coast University

Trajectory Planning of Quadrotor UAV with Maximum Payload and Minimum Oscillation of Suspended Load Using Optimal Control

This paper focuses on the problem of transporting a cable-suspended load by a quadrotor UAV for safer flight and more efficiency. The dynamic model of a quadrotor coupled to the suspended load is derived using the Euler-Lagrange formulation. The optimal trajectory for carrying the maximum payload and minimum oscillation of swinging load will be obtained. The optimal cable length to increase the maximum payload capacity and reduce the maximum oscillation angle of swinging load is obtained. Also, the effect of load mass on the maximum oscillation angle of swinging load is studied. In this paper, the optimization procedure is based on the solution of the optimal control problem from the class of open loop with an indirect method. The application Pontryagin’s Minimum Principle lead to deriving the optimality conditions and subsequently a two-point boundary value problem (TPBVP) which is solved by a numerical method. An appropriate algorithm is presented for calculating the maximum payload to move between two specified points. The main superiority of this method is that it can solve a wide range of optimal maneuvers for arbitrary initial and final configurations relevant to every considered cost function. Generating various optimal paths with different maximum payloads and oscillation angles by modifying the values of the penalty matrices. In order to verify the efficiency of the proposed method and the presented algorithm, a simulation study is performed for a quadrotor with a suspended load in maneuver between two specified points and various object function.

Near space interceptor on-line correction research based on predictive intercept point

Aiming at the problem of large maneuvering range and difficult target detection of hypersonic target in the near space, according to the maneuvering range of predictive intercept point (PIP), this paper proposes a method to select different correction algorithms. First, The Gauss pseudospectral method is used to solve the trajectory optimization problem and the off-line optimal trajectory is generated. Then, aiming at the situation that the range of predictive intercept point is small, based on neighboring optimal control, the on-line correction method is used to find out the optimal trajectory near the off-line optimal trajectory. Finally, when the interceptor is located in a high airspace, aiming at the situation that the range of target motion is wide and the range of predictive intercept point is large, a direct force correction method based on velocity gain guidance is adopted. Simulation results verify the effectiveness of the proposed methods.

With flying colours: Pilot performance with colour-coded head-up flight symbology

The manipulation of colour in display symbology design has long been recognised as a method to improve operator experience and performance. Recent developments in colour head-up display (HUD) and helmet-mounted display (HMD) technology underline the necessity to understand the human factors considerations of symbology colour coding against conventional monochrome symbology formats. In this low-fidelity desktop human-in-the-loop experiment, the colour of flight symbology on an overlaid symbology set was coded as a redundant cue to indicate the accuracy of professional and non-professional pilots’ flight profile across a range of simulated flight manoeuvres. The main finding of this study was that colour coding flight symbology supported the manual flying performance of both professional and non-professional pilots. Notably, colour-coding of the bank indicator and airspeed tape minimised performance error during turning and altitude change manoeuvres, respectively. The usability of colour coded symbology was also rated higher than the monochrome symbology. We conclude that colour coded HUD/HMD symbology is preferred by the user and may improve performance during low workload manual flying tasks. A fuller understanding of performance and workload effects will require future studies to employ higher workload flying tasks and examine the utility of colour coding within higher fidelity environments.

A Rapid Penetration Trajectory Optimization Method for Hypersonic Vehicles

The evasion maneuver problem of hypersonic vehicles differs from those of ballistic missiles and other traditional weapons, showing distinctive properties including expansive maneuver range and weak maneuverability. How to avoid the disadvantage of low available overload and ensure follow-up tasks are the main concerns of the hypersonic penetration. This paper presents a penetration trajectory optimization algorithm for an air-breathing hypersonic vehicle, where the prerequisite penetration condition is analyzed and control costs are chosen as an objective function to minimize the fuel consumption and maneuver range. This paper focuses on how to formulate the complex, highly constrained nonconvex penetration problem to be a sequence of easily solved second-order cone programming through a combination of successive linearization and relaxation techniques. Innovation lies in the raising of the penetration angle and the relaxation technique of nonlinear and nonconvex elements. Various numerical simulations are conducted to verify the validity of penetration condition and to demonstrate that the proposed method is effective and has a good computational performance irrespective of initial guesses.

General Perturbation Method for Satellite Constellation Reconfiguration Using Low-Thrust Maneuvers

A general perturbation solution to a restricted low-thrust Lambert rendezvous problem, considering circular-to-circular in-plane maneuvers using tangential thrust and including a coast arc, is developed. This provides a fully analytical solution to the satellite reconnaissance problem. The solution requires no iteration. Its speed and simplicity allow problems involving numerous spacecraft and maneuvers to be studied; this is demonstrated through two case studies. In the first, a range of maneuvers providing a rapid flyover of Los Angeles is generated, giving an insight to the trade space and allowing the maneuver that best fulfills the mission to be selected. A reduction in flyover time from 13.8 to 1.6 days is possible using a less than velocity change. A comparison with a numerical propagator including atmospheric friction and an 18th-order tesseral model shows 4 s of difference in the time of flyover. A second study considers a constellation of 24 satellites that can maneuver into repeating ground track orbits to provide persistent coverage of a region. A set of maneuvers for all satellites is generated for four sequential targets, allowing the most suitable maneuver strategy to be selected. Improvements in coverage of greater than 10 times are possible as compared to a static constellation using 35% of the propellant available across the constellation.

The Compact Remotely Operated Underwater Vehicle with the Variable Restoring Moment

This paper presents the development of the new small-sized high-maneuverable remotely operated vehicle. The main scope of the vehicle is survey of shipwrecks. The main feature of the vehicle is variable restoring moment achieved by the rotated ring with the ballast in the transverse plane of the vehicle. This feature augmented with low value of own restoring moment and the overactuated propulsion system consisting of four vehicle and four horizontal thrusters allows high range of maneuverability to be achieved. The vehicle is equipped with the built-in lithium-ion battery. This feature reduces tether weight and allows automatic emergency return functions of the vehicle to the coast station in the case of cable damage to be implemented. The design rationale of the vehicle and the systems integration diagram are presented in the article. The design rationale of the variable restoring moment mechanism is described. The software based on modern development of Institute of Marine Technology problem FEB RAS and Far Eastern Federal University are presented.

Tightening Up the Control of Treadmill Walking: Effects of Maneuverability Range and Acoustic Pacing on Stride-to-Stride Fluctuations.

The correlational structure of stride-to-stride fluctuations differs between healthy and pathological gait. Uncorrelated and anti-persistent stride-to-stride fluctuations are believed to indicate pathology whereas persistence represents healthy functioning. However, this reading can be questioned because the correlational structure changes with task constraints, like acoustic pacing, signifying the tightness of control over particular gait parameters. We tested this “tightness-of-control interpretation” by varying the maneuverability range during treadmill walking (small, intermediate, and large walking areas), with and without acoustic pacing. Stride-speed fluctuations exhibited anti-persistence, suggesting that stride speeds were tightly controlled, with a stronger degree of anti-persistence for smaller walking areas. Constant-speed goal-equivalent-manifold decompositions revealed simultaneous control of stride times and stride lengths, especially for smaller walking areas to limit stride-speed fluctuations. With acoustic pacing, participants followed both constant-speed and constant-stride-time task goals. This was reflected by a strong degree of anti-persistence around the stride-time by stride-length point that uniquely satisfied both goals. Our results strongly support the notion that anti-persistence in stride-to-stride fluctuations reflect the tightness of control over the associated gait parameter, while not tightly regulated gait parameters exhibit statistical persistence. We extend the existing body of knowledge by showing quantitative changes in anti-persistence of already tightly regulated stride-speed fluctuations.