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Daniel Guggenheim School of Aerospace Engineering

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search.filters.applied.f.advisor: Mavris, Dimitri N. × search.filters.applied.f.advisor: Schrage, Daniel P. × End date: 2019 × Start date: 2010 ×

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A methodology to achieve microscopic/macroscopic configuration tradeoffs in cooperative multi-robot systems design

2017-04-04 , Durand, Jean Guillaume Dominique Sebastien

The exponential growth experienced by the robotics sector over the past decade has fostered the proliferation of new architectures. Optimized for specific missions, these platforms are in most cases limited by their embarked computational power and a lack of full situational awareness. More robust, flexible, scalable, and inspired by nature, group robotics represent an interesting approach to overcome some limitations of these single agents and take advantage of the heterogeneity of the current robotics fleet. Their essence lies in accomplishing more complex synergistic behaviors through diversity, simple rules, and local interactions. However, the design of robotic groups is complex as decision-makers have to optimize the group operation as well as the performance of each individual unit, for the group performance. In particular, key questions arise to know whether resources should be allocated to the characteristics of the group, or to the individual capabilities of its agents in order to meet the established requirements. Current methods of swarm engineering tend to perform sequential optimization of the microscopic level (the agents) and then the macroscopic level (the group), which results in suboptimal architectures. In this context, efficiently comparing two different groups or quantifying the superiority of a group versus a single-robot design may prove impossible. Same goes of the determination of an optimal architecture for a given mission. With a special emphasis on aerial vehicles, the present research proposes to establish a methodology to achieve microscopic/macroscopic configuration tradeoffs in the design of cooperative multi-robot systems. The resulting product is the MASDeM: Multi-Agent Systems Design Methodology. A novel multi-level multi-architecture morphological approach is first introduced to facilitate design space exploration, and a mesoscopic level simulation-based design method is used to bridge the gap between microscopic and macroscopic levels. Using these first blocks, an innovative optimization technique is suggested based on two interconnected loops which differs from the classical sequential approach presently used by the research community. Results of this research show that simultaneous optimization can have clear benefits if applied to the design of multi-robot systems and on particular cases, average improvements of 16 percent were observed on the main performance metric. The proposed optimizer proves to be a key enabler for fully heterogeneous swarms, a capability which is not possible in the current paradigm. Moreover, the optimization algorithm was efficiently designed and exhibits a speedup of at least 50 percent when compared to current techniques. Finally, the exploration of the design space is effectively carried out with a combination of morphological reduction, morphological tree representation, and mesoscopic modeling. Indeed, applied to multi-robot systems, such models prove being several times faster than usual simulation approaches while remaining in the same range of accuracy.

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A new rotorcraft design framework based on reliability and cost

2016-07-26 , Scott, Robert C.

Helicopters provide essential services in civil and military applications due to their multirole capability and operational flexibility, but the combination of the disparate performance conditions of vertical and cruising flight presents a major compromise of aerodynamic and structural efficiency. In reviewing the historical trends of helicopter design and performance, it is apparent that the same compromise of design conditions which results in rotorcraft performance challenges also affects reliability and cost through vibration and fatigue among many possible factors. Although many technological approaches and design features have been proposed and researched as means of mitigating the rotorcraft affordability deficit, the assessment of their effects on the design, performance, and life-cycle cost of the aircraft has previously been limited to a manual adjustment of legacy trends in models based on regression of historical design trends. A new approach to the conceptual design of rotorcraft is presented which incorporates cost and reliability assessment methods to address the price premium historically associated with vertical flight. The methodology provides a new analytical capability that is general enough to operate as a tool for the conceptual design stage, but also specific enough to estimate the life-cycle effect of any RAM-related design technology which can be quantified in terms of weight, power, and reliability improvement. The framework combines aspects of multiple design, cost, and reliability models – some newly developed and some surveyed from literature. The key feature distinguishing the framework from legacy design and assessment methods is its ability to use reliability as a design input in addition to the flight conditions and missions used as sizing points for the aircraft. The methodology is first tested against a reference example of reliability-focused technology insertion into a legacy rotorcraft platform. Once the approach is validated, the framework is applied to an example problem consisting of a technology portfolio and a set of advanced rotorcraft configurations and performance conditions representative of capabilities desired in near-future joint service, multirole rotorcraft. The framework sizes the different rotorcraft configurations for both a baseline set of assumptions and a tradespace survey of reliability investment to search for an optimum design point corresponding to the level of technology insertion which results in the lowest life-cycle cost or highest value depending on the assumptions used. The study concludes with a discussion of the results of the reliability trade study and their possible implications for the development and acquisition of future rotorcraft.

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