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Daniel Guggenheim School of Aerospace Engineering

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College of Engineering

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Aerospace Design Group

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Aerospace Systems Design Laboratory (ASDL)

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Air Transportation Laboratory

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Cognitive Engineering Center

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Space Systems Design Laboratory (SSDL)

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A strategic planning approach for the operational-environmental problem of air transportation system terminal areas

(Georgia Institute of Technology, 2009-11-16) Jimenez, Hernando

The air transportation system plays a crucial role in modern society, comprising a major industrial sector as well as a key driver for adjacent economies. Moreover, it is a prime enabler of the modern way of life, characterized by access to products and services from around the world, and access to remote locations. Therefore there is a strong incentive to maintain the system and promote its growth. None the less, important challenges have plagued civil aviation, particularly the commercial aviation sector. On one hand, demand for air travel has grown dramatically and at an accelerated pace, in part due to the deregulation of airlines in 1978, providing airlines with the freedom to arrange their operational schedule freely and compete for markets. The dynamic nature of demand and its fast-paced growth contrasts with the relative rigidity of air transportation infrastructure development and the sluggish evolution of its operational architecture. The supply-demand mismatch that results has led to degradation in system efficiency, excessive delays, and substantial economic losses. This phenomenon is particularly exacerbated in the terminal area of major airports which have inevitably become operational choke points. On the other hand the environmental impact of air transportation, embodied primarily by the emissions and noise caused by aircraft operations, has also grown as a result of the increase in aviation activity, and has therefore become a major issue of public interest. Airport communities experience said environmental impact most intensely, particularly those associated with bottleneck airports, and thus represent a uniquely strong force opposing further expansion of air transportation in these areas where it is most needed. Past efforts to address these challenges have been notably stovepiped and have failed to recognize the importance of the relationship between the operational nature of the system and its environmental impact. Only recently have research efforts begun to incorporate a joint view of the operational-environmental problem that attempts to formulate solutions accordingly. However, the state of the art has yet to answer some of the most fundamental questions. First, the relationship between operational and environmental elements has not been quantified conclusively. Doing so is vital to understand the operational-environmental nature of terminal areas before any solutions can be considered. Secondly, many different types of solution alternatives have been proposed, such as the construction of new runways, redesign of operational procedures, introduction of advanced aircraft concepts, and transformation of airspace capabilities. However, a direct comparison between dissimilar alternatives that accounts for operational and environmental issues is rarely found, and yet remains crucial in the formulation of a solution portfolio. More importantly, the additive and countervailing interactions that different solutions have on each other are widely recognized but remain, for the most part, unknown. Because all solutions under consideration require an extended period of time to develop and represent very large economic commitments, the selection of a portfolio demands a careful look at the future to determine the adequate measures that should be pursued in the present. In response to this methodological need, this thesis proposes a strategic planning approach to investigate the operational-environmental nature of the air transportation system, as well as the adequacy of solution alternatives for terminal areas in the formulation of a portfolio. The state of the art currently incorporates elements of strategic planning, but has yet to address two important methodological gaps. First, the inherent systemic complexity of airport performance obfuscates its quantitative characterization, which is paramount in attaining adequate insight and understanding to support informed strategic decision-making in the selection of terminal area solutions. Second, there is significant uncertainty about the evolution of the aviation demand and its operational context, making the use of forecasts grossly inadequate for this application. A scenario-based approach is used in its place, but the current frameworks for the generation, evaluation, and selection of an adequate scenario set currently lack traceability and methodological rigor. To address the first gap, this thesis proposes the use of well established statistical analysis techniques, leveraging on recent developments in interactive data visualization capabilities, to quantitatively characterize the interactions, sensitivities, and tradeoffs prevalent in the complex behavior of airport operational and environmental performance. Within the strategic airport planning process, this approach is used in the assessment of airport performance under current/reference conditions, as well as in the evaluation of terminal area solutions under projected demand conditions. More specifically, customized designs of experiments are utilized to guide the intelligent selection and definition of modeling and simulation runs that will yield greater understanding, insight, and information about the inherent systemic complexity of a terminal area, with minimal computational expense. Regression analysis leverages the creation of response surface equations that explicitly and quantitatively capture the behavior of system metrics of interest as functions of factors or terminal area solutions. This explicit mathematical characterization enables a variety of interactive visualization schemes that allow analysts and decision makers to confirm or rectify expected patterns of behavior, and to discover the unknown and the unexpected. Said visualization schemes are also instrumental in communicating, in a very direct and succinct fashion, complex relationships, sensitivities, tradeoffs, and interactions, that would be otherwise too complex to explain or communicate transparently. More importantly, this approach provides a rigorous and formalized mathematical framework within which the statistical significance of different factors or terminal area solutions can be quantitatively and explicitly assessed, primarily by means of statistical hypotheses testing of regression parameter estimates, such as the analysis of variance, or the t-statistic test. This proposed approach does not suggest a new strategic planning process, but rather improves specific steps pertaining to performance assessments, and builds upon established practices and the recommended planning process for airports to leverage on the decades of experience supporting the existing strategic airport planning paradigm. On the other hand, the proposed approach recognizes the methodological limitations and constraints that lead to the lack of terminal area performance characterization within the strategic planning process, embodied primarily by computational constraints and unmanageable systemic complexity, and directly addresses these shortcomings by incorporating mature statistical analysis techniques into key steps of said process. In turn, the proposed approach represents a novel adaptation of the strategic airport planning process that results in greater knowledge, insight, and understanding, at a resource cost comparable to current airport planning practices. As such, this proposed approach is demonstrated using the Atlanta Hartsfield-Jackson International Airport as a representative test case, and constitutes a contribution to strategic airport planning given that it supports strategic decision making by revealing, at an acceptable analysis and computational expense, the various sensitivities, interactions, and tradeoffs of interest in operational-environmental performance that would otherwise remain implicit and obfuscated by systemic complexity. For the research documented in this thesis, a modeling and simulation environment was created featuring three primary components. First, a generator of schedules of operations, based primarily on previous work on aviation demand characterization, whereby growth factors and scheduling adjustment algorithms are applied on appropriate baseline schedules so as to generate notional operational sets representative of consistent future demand conditions. The second component pertains to the modeling and simulation of aircraft operations, defined by a schedule of operations, on the airport surface and within its terminal airspace. This component is a discrete event simulator for multiple queuing models that captures the operational architecture of the entire terminal area along with all the necessary operational logic pertaining to simulated ATC functions, rules, and standard practices. The third and final component is comprised of legacy aircraft performance, emissions and dispersion, and noise exposure modeling tools, that use the simulation history of aircraft movements to generate estimates of fuel burn, emissions, and noise. A set of designed modeling and simulation experiments were conducted to examine the interactions between exogenous and endogenous factors, as well as their main and quadratic effect, on operational metrics such as delay, and on fuel burn as the primary environmental metrics. Results show that for a gate-hold scheme used to manage surface traffic density, the departure queue threshold features a statistically significant interaction with the increasing number of operations, but that otherwise the relative percent change in the number of operations remains as the predominant exogenous factor driving operational and environmental performance. A separate design of modeling and simulation experiments was conducted to test the statistical significance of proposed geographical regional categories that could potentially be used to classify operations and capture operational demand characteristics such as fleet mix, time of day distribution, and arrival/departure route distribution. Results show that whereas the proposed categorization is statistically significant for a few metric of interest, marginally significant for others, and not statistically significant for most metrics, the proposed regional classification scheme is not appropriate for operational demand characterization. The implementation of the proposed approach for the assessment of terminal area solutions incorporates the use of discrete response surface equations, and eliminates the use of quadratic terms that have no practical significance in this context. Rather, attention is entire placed on the main effects of different terminal area solutions, namely additional airport infrastructure, operational improvements, and advanced aircraft concepts, modeled as discrete independent variables for the regression model. Results reveal that an additional runway and a new international terminal, as well as reduced aircraft separation, have a major effect on all operational metrics of interest. In particular, the additional runway has a dominant effect for departure delay metrics and gate hold periods, with moderate interactions with respect to separation reduction. On the other hand, operational metrics for arrivals are co-dependent on additional infrastructure and separation reduction, featuring marginal improvements whenever these two solutions are implemented in isolation, but featuring a dramatic compounding effect when implemented in combination. The magnitude of these main effects for departures and of the interaction between these solutions for arrivals is confirmed through appropriate statistical significance testing. Finally, the inclusion o advanced aircraft concepts is shown to be most beneficial for airborne arrival operations and to a lesser extent for arrival ground movements. More specifically, advanced aircraft concepts were found to be primarily responsible for reductions in volatile organic compounds, unburned hydrocarbons, and particulate matter in this flight regime, but featured relevant interactions with separation reduction and additional airport infrastructure. To address the second gap, pertaining to the selection of scenarios for strategic airport planning, a technique for risk-based scenario construction, evaluation, and selection is proposed, incorporating n-dimensional dependence tree probability approximations into a morphological analysis approach. This approach to scenario construction and downselection is a distinct and novel contribution to the scenario planning field as it provides a mathematically and explicitly testable definition for an H parameter, contrasting with the qualitative alternatives in the current state of the art, which can be used in morphological analysis for scenario construction and downselection. By demonstrating that dependence tree probability product approximations are an adequate aggregation function, probability can be used for scenario construction and downselection without any mathematical or methodological restriction on the resolution of the probability scale or the number of morphological alternatives that have previously plagued probabilization and scenario downselection approaches. In addition, this approach requires expert input elicitation that is comparable or less than the current state of the art practices.
Model predictive control (MPC) algorithm for tip-jet reaction drive systems

(Georgia Institute of Technology, 2009-11-16) Kestner, Brian

Modern technologies coupled with advanced research have allowed model predictive control (MPC) to be applied to new and often experimental systems. The purpose of this research is to develop a model predictive control algorithm for tip-jet reaction drive system. This system's faster dynamics require an extremely short sampling rate, on the order of 20ms, and its slower dynamics require a longer prediction horizon. This coupled with the fact that the tip-jet reaction drive system has multiple control inputs makes the integration of an online MPC algorithm challenging. In order to apply a model predictive control to the system in question, an algorithm is proposed that combines multiplexed inputs and a feasible cooperative MPC algorithm. In the proposed algorithm, it is hypothesized that the computational burden will be reduced from approximately Hp(Nu + Nx)3 to pHp(Nx+1)3 while maintaining control performance similar to that of a centralized MPC algorithm. To capture the performance capability of the proposed controller, a comparison its performance to that of a multivariable proportional-integral (PI) controller and a centralized MPC is executed. The sensitivity of the proposed MPC to various design variables is also explored. In terms of bandwidth, interactions, and disturbance rejection, the proposed MPC was very similar to that of a centralized MPC or PI controller. Additionally in regards to sensitivity to modeling error, there is not a noticeable difference between the two MPC controllers. Although the constraints are handled adequately for the proposed controller, adjustments can be made in the design and sizing process to improve the constraint handling, so that it is more comparable to that of the centralized MPC. Given these observations, the hypothesis of the dissertation has been confirmed. The proposed MPC does in fact reduce computational burden while maintaining close to centralized MPC performance.
Design space pruning heuristics and global optimization method for conceptual design of low-thrust asteroid tour missions

(Georgia Institute of Technology, 2009-11-13) Alemany, Kristina

Electric propulsion has recently become a viable technology for spacecraft, enabling shorter flight times, fewer required planetary gravity assists, larger payloads, and/or smaller launch vehicles. With the maturation of this technology, however, comes a new set of challenges in the area of trajectory design. Because low-thrust trajectory optimization has historically required long run-times and significant user-manipulation, mission design has relied on expert-based knowledge for selecting departure and arrival dates, times of flight, and/or target bodies and gravitational swing-bys. These choices are generally based on known configurations that have worked well in previous analyses or simply on trial and error. At the conceptual design level, however, the ability to explore the full extent of the design space is imperative to locating the best solutions in terms of mass and/or flight times. Beginning in 2005, the Global Trajectory Optimization Competition posed a series of difficult mission design problems, all requiring low-thrust propulsion and visiting one or more asteroids. These problems all had large ranges on the continuous variables - launch date, time of flight, and asteroid stay times (when applicable) - as well as being characterized by millions or even billions of possible asteroid sequences. Even with recent advances in low-thrust trajectory optimization, full enumeration of these problems was not possible within the stringent time limits of the competition. This investigation develops a systematic methodology for determining a broad suite of good solutions to the combinatorial, low-thrust, asteroid tour problem. The target application is for conceptual design, where broad exploration of the design space is critical, with the goal being to rapidly identify a reasonable number of promising solutions for future analysis. The proposed methodology has two steps. The first step applies a three-level heuristic sequence developed from the physics of the problem, which allows for efficient pruning of the design space. The second phase applies a global optimization scheme to locate a broad suite of good solutions to the reduced problem. The global optimization scheme developed combines a novel branch-and-bound algorithm with a genetic algorithm and an industry-standard low-thrust trajectory optimization program to solve for the following design variables: asteroid sequence, launch date, times of flight, and asteroid stay times. The methodology is developed based on a small sample problem, which is enumerated and solved so that all possible discretized solutions are known. The methodology is then validated by applying it to a larger intermediate sample problem, which also has a known solution. Next, the methodology is applied to several larger combinatorial asteroid rendezvous problems, using previously identified good solutions as validation benchmarks. These problems include the 2nd and 3rd Global Trajectory Optimization Competition problems. The methodology is shown to be capable of achieving a reduction in the number of asteroid sequences of 6-7 orders of magnitude, in terms of the number of sequences that require low-thrust optimization as compared to the number of sequences in the original problem. More than 70% of the previously known good solutions are identified, along with several new solutions that were not previously reported by any of the competitors. Overall, the methodology developed in this investigation provides an organized search technique for the low-thrust mission design of asteroid rendezvous problems.
Artificial neural networks based subgrid chemistry model for turbulent reactive flow simulations

(Georgia Institute of Technology, 2009-08-17) Sen, Baris Ali

Two new models to calculate the species instantaneous and filtered reaction rates for multi-step, multi-species chemical kinetics mechanisms are developed based on the artificial neural networks (ANN) approach. The proposed methodologies depend on training the ANNs off-line on a thermo-chemical database representative of the actual composition and turbulence level of interest. The thermo-chemical database is constructed by stand-alone linear eddy mixing (LEM) model simulations under both premixed and non-premixed conditions, where the unsteady interaction of turbulence with chemical kinetics is included as a part of the training database. In this approach, the information regarding the actual geometry of interest is not needed within the LEM computations. The developed models are validated extensively on the large eddy simulations (LES) of (i) premixed laminar-flame-vortex-turbulence interaction, (ii) temporally mixing non-premixed flame with extinction-reignition characteristics, and (iii) stagnation point reverse flow combustor, which utilizes exhaust gas re-circulation technique. Results in general are satisfactory, and it is shown that the ANN provides considerable amount of memory saving and speed-up with reasonable and reliable accuracy. The speed-up is strongly affected by the stiffness of the reduced mechanism used for the computations, whereas the memory saving is considerable regardless.
Simulation of magnetohydrodynamics turbulence with application to plasma-assisted supersonic combustion

(Georgia Institute of Technology, 2009-01-14) Miki, Kenji

The main objective of this thesis is to develop a comprehensive model with the capability of modeling both a high Reynolds number and high magnetic Reynolds number turbulent flow for application to supersonic combustor. The development of this model can be divided into three categories: one, the development of a self-consistent MHD numerical model capable of modeling magnetic turbulence in high magnetic Reynolds number applications. Second, the development of a gas discharge model which models the interaction of externally applied fields in conductive medium. Third, the development of models necessary for studying supersonic combustion applications with plasma-assistance such the extension of chemical kinetics models to extremely high temperature and non-equilibrium phenomenon.
Wall-models for large eddy simulation based on a generic additive-filter formulation

(Georgia Institute of Technology, 2008-12-19) Sánchez Rocha, Martín

In this work, the mathematical implications of merging two different turbulence modeling approaches are addressed by deriving the exact hybrid RANS/LES Navier-Stokes equations. These equations are derived by introducing an additive-filter, which linearly combines the RANS and LES operators with a blending function. The equations derived predict additional hybrid terms, which represent the interactions between RANS and LES formulations. Theoretically, the prediction of the hybrid terms demonstrates that the hybridization of the two approaches cannot be accomplished only by the turbulence model equations, as it is claimed in current hybrid RANS/LES models. The importance of the exact hybrid RANS/LES equations is demonstrated by conducting numerical calculations on a turbulent flat-plate boundary layer. Results indicate that the hybrid terms help to maintain an equilibrated model transition when the hybrid formulation switches from RANS to LES. Results also indicate, that when the hybrid terms are not included, the accuracy of the calculations strongly relies on the blending function implemented in the additive-filter. On the other hand, if the exact equations are resolved, results are only weakly affected by the characteristics of the blending function. Unfortunately, for practical applications the hybrid terms cannot be exactly computed. Consequently, a reconstruction procedure is proposed to approximate these terms. Results show, that the model proposed is able to mimic the exact hybrid terms, enhancing the accuracy of current hybrid RANS/LES approaches. In a second effort, the Two Level Simulation (TLS) approach is proposed as a near-wall model for LES. Here, TLS is first extended to compressible flows by deriving the small-scale equations required by the model. The full compressible TLS formulation and the hybrid TLS/LES approach is validated simulating the flow over a flat-plate turbulent boundary layer. Overall, results are found in reasonable agreement with experimental data and LES calculations.
Bayesian networks for uncertainty estimation in the response of dynamic structures

(Georgia Institute of Technology, 2008-07-07) Calanni Fraccone, Giorgio M.

The dissertation focuses on estimating the uncertainty associated with stress/strain prediction procedures from dynamic test data used in turbine blade analysis. An accurate prediction of the maximum response levels for physical components during in-field operating conditions is essential for evaluating their performance and life characteristics, as well as for investigating how their behavior critically impacts system design and reliability assessment. Currently, stress/strain inference for a dynamic system is based on the combination of experimental data and results from the analytical/numerical model of the component under consideration. Both modeling challenges and testing limitations, however, contribute to the introduction of various sources of uncertainty within the given estimation procedure, and lead ultimately to diminished accuracy and reduced confidence in the predicted response. The objective of this work is to characterize the uncertainties present in the current response estimation process and provide a means to assess them quantitatively. More specifically, proposed in this research is a statistical methodology based on a Bayesian-network representation of the modeling process which allows for a statistically rigorous synthesis of modeling assumptions and information from experimental data. Such a framework addresses the problem of multi-directional uncertainty propagation, where standard techniques for unidirectional propagation from inputs' uncertainty to outputs' variability are not suited. Furthermore, it allows for the inclusion within the analysis of newly available test data that can provide indirect evidence on the parameters of the structure's analytical model, as well as lead to a reduction of the residual uncertainty in the estimated quantities. As part of this work, key uncertainty sources (i.e., material and geometric properties, sensor measurement and placement, as well as noise due data processing limitations) are investigated, and their impact upon the system response estimates is assessed through sensitivity studies. The results are utilized for the identification of the most significant contributors to uncertainty to be modeled within the developed Bayesian inference scheme. Simulated experimentation, statistically equivalent to specified real tests, is also constructed to generate the data necessary to build the appropriate Bayesian network, which is then infused with actual experimental information for the purpose of explaining the uncertainty embedded in the response predictions and quantifying their inherent accuracy.
A methodology for the robustness-based evaluation of systems-of-systems alternatives using regret analysis

(Georgia Institute of Technology, 2008-07-01) Poole, Benjamin Hancock

After surveying the state-of-the-art in evaluation of alternatives in the defense acquisition process, a methodology for the evaluation of the robustness of systems-of-systems alternatives was proposed. In the methodology, robustness is defined as the integral of the alternative s regret over the likelihood-weighted plausible scenario space. Surrogate modeling techniques were used to overcome shortcomings associated with conventional regret analysis, including the discrete nature of scenario cases and static results. The new methodology, called Global Regret Analysis, was tested using an example problem based on the air campaign over Iraq in Operation Desert Storm. The results of the testing indicate that the methodology can provide a measure of the robustness of different system-of-systems alternatives against a wide range of possible scenarios. The methodology was then demonstrated on the US Air Force s persistent, precision strike mission. The demonstration showed the ability of Global Regret Analysis to overcome issues associated with using a single or other small number of scenarios to evaluate systems-of-systems alternatives. The methodology was then compared to a variety of existing methods and found to have strength for a wide range of evaluation applications. The possibility of applying Global Regret Analysis for military mission planning and opportunities for future work were also discussed.
Particle Vaporization Velocimetry and Quantitative Soot Concentration Measurement in Sooty Flows

(Georgia Institute of Technology, 2007-11-15) Yang, Ping

Soot is a combustion generated pollutant that is both a direct risk to human health and a contributing source to global environmental change. Soot can also be a controlling factor in heat transfer inside combustion systems. Thus there is a growing interest in being able to measure soot and understand its production in practical, turbulent combustion environments. Therefore, the specific objectives of this research work were: (1) developing a way to measure velocity of sooty regions that is compatible with existing methods for measuring temporally and spatially resolved soot concentration fields and (2) using these methods to make quantitative measurements of soot in an unsteady, turbulent-like combustor. The Particle Vaporization Velocimetry (PVV) technique was developed and is compatible with Laser Induced Incandescence (LII), a soot concentration measurement approach. PVV is a flow tagging approach, where a high intensity laser (~2-3 J/cm2) is used to vaporize a small region in the soot field. This approach was demonstrated to produce a long lasting and easily readable flow tag that allows for velocity measurements over a wide range of velocities. LII proved to be the best method for detection the motion of the tag after a fixed delay. PVV and LII were used to measure velocity and two-dimensional soot concentration fields in an acoustically excited burner. In addition, images of soot luminosity were obtained. Both laminar and transitional acetylene diffusion flames were studied. The results reveal that strong acoustic forcing can significantly reduce total flame soot, as well as maximum soot concentrations, while simultaneously increasing the average soot temperature. The influence of acoustically generated vortices on soot formation was studied, and soot and products mixture mostly likely dominant high soot concentration regions. Eventually, these mixtures will be propagated downstream and oxidized as a diffusion flame.
Hierarchical Path Planning and Control of a Small Fixed-wing UAV: Theory and Experimental Validation

(Georgia Institute of Technology, 2007-11-14) Jung, Dongwon Jung

Recently there has been a tremendous growth of research emphasizing control of unmanned aerial vehicles (UAVs) either in isolation or in teams. As a matter of fact, UAVs increasingly find their way to applications, especially in military and law enforcement (e.g., reconnaissance, remote delivery of urgent equipment/material, resource assessment, environmental monitoring, battlefield monitoring, ordnance delivery, etc.). This trend will continue in the future, as UAVs are poised to replace the human-in-the-loop during dangerous missions. Civilian applications of UAVs are also envisioned such as crop dusting, geological surveying, search and rescue operations, etc. In this thesis we propose a new online multiresolution path planning algorithm for a small UAV with limited on-board computational resources. The proposed approach assumes that the UAV has detailed information of the environment and the obstacles only in its vicinity. Information about far-away obstacles is also available, albeit less accurately. The proposed algorithm uses the fast lifting wavelet transform (FLWT) to get a multiresolution cell decomposition of the environment, whose dimension is commensurate to the on-board computational resources. A topological graph representation of the multiresolution cell decomposition is constructed efficiently, directly from the approximation and detail wavelet coefficients. Dynamic path planning is sequentially executed for an optimal path using the A* algorithm over the resulting graph. The proposed path planning algorithm is implemented on-line on a small autopilot. Comparisons with the standard D*-lite algorithm are also presented. We also investigate the problem of generating a smooth, planar reference path from a discrete optimal path. Upon the optimal path being represented as a sequence of cells in square geometry, we derive a smooth B-spline path that is constrained inside a channel that is induced by the geometry of the cells. To this end, a constrained optimization problem is formulated by setting up geometric linear constraints as well as boundary conditions. Subsequently, we construct B-spline path templates by solving a set of distinct optimization problems. For an application to the UAV motion planning, the path templates are incorporated to replace parts of the entire path by the smooth B-spline paths. Each path segment is stitched together while preserving continuity to obtain a final smooth reference path to be used for path following control. The path following control for a small fixed-wing UAV to track the prescribed smooth reference path is also addressed. Assuming the UAV is equipped with an autopilot for low level control, we adopt a kinematic error model with respect to the moving Serret-Frenet frame attached to a path for tracking controller design. A kinematic path following control law that commands heading rate is presented. Backstepping is applied to derive the roll angle command by taking into account the approximate closed-loop roll dynamics. A parameter adaptation technique is employed to account for the inaccurate time constant of the closed-loop roll dynamics during actual implementation. Finally, we implement the proposed hierarchical path control of a small UAV on the actual hardware platform, which is based on an 1/5 scale R/C model airframe (Decathlon) and the autopilot hardware and software. Based on the hardware-in-the-loop (HIL) simulation environment, the proposed hierarchical path control algorithm has been validated through the on-line, real-time implementation on a small micro-controller. By a seamless integration of the control algorithms for path planning, path smoothing, and path following, it has been demonstrated that the UAV equipped with a small autopilot having limited computational resources manages to accomplish the path control objective to reach the goal while avoiding obstacles with minimal human intervention.