Engineering topics

Ifju, Peter G.

Publications and source records attributed to Ifju, Peter G..

12 records

NASA NTRS2002

Flexible Wing Base Micro Aerial Vehicles: Vision-Guided Flight Stability and Autonomy for Micro Air Vehicles

Substantial progress has been made recently towards design building and test-flying remotely piloted Micro Air Vehicle's (MAVs). We seek to complement this progress in overcoming the aerodynamic obstacles to.flight at very small scales with a vision stability and autonomy system. The developed system based on a robust horizon detection algorithm which we discuss in greater detail in a companion paper. In this paper, we first motivate the use of computer vision for MAV autonomy arguing that given current sensor technology, vision may he the only practical approach to the problem. We then briefly review our statistical vision-based horizon detection algorithm, which has been demonstrated at 30Hz with over 99.9% correct horizon identification. Next we develop robust schemes for the detection of extreme MAV attitudes, where no horizon is visible, and for the detection of horizon estimation errors, due to external factors such as video transmission noise. Finally, we discuss our feed-back controller for self-stabilized flight, and report results on vision autonomous flights of duration exceeding ten minutes.

Ettinger, Scott M.↗

NASA NTRS2002

Flexible Wing Base Micro Aerial Vehicles: Towards Flight Autonomy: Vision-Based Horizon Detection for Micro Air Vehicles

Recently substantial progress has been made towards design building and testifying remotely piloted Micro Air Vehicles (MAVs). This progress in overcoming the aerodynamic obstacles to flight at very small scales has, unfortunately, not been matched by similar progress in autonomous MAV flight. Thus, we propose a robust, vision-based horizon detection algorithm as the first step towards autonomous MAVs. In this paper, we first motivate the use of computer vision for the horizon detection task by examining the flight of birds (biological MAVs) and considering other practical factors. We then describe our vision-based horizon detection algorithm, which has been demonstrated at 30 Hz with over 99.9% correct horizon identification, over terrain that includes roads, buildings large and small, meadows, wooded areas, and a lake. We conclude with some sample horizon detection results and preview a companion paper, where the work discussed here forms the core of a complete autonomous flight stability system.

Nechyba, Michael C.↗

NASA NTRS2002

Flexible-Wing-Based Micro Air Vehicles

This paper documents the development and evaluation of an original flexible-wing-based Micro Air Vehicle (MAV) technology that reduces adverse effects of gusty wind conditions and unsteady aerodynamics, exhibits desirable flight stability, and enhances structural durability. The flexible wing concept has been demonstrated on aircraft with wingspans ranging from 18 inches to 5 inches. Salient features of the flexible-wing-based MAV, including the vehicle concept, flexible wing design, novel fabrication methods, aerodynamic assessment, and flight data analysis are presented.

Ifju, Peter G.↗

NASA NTRS2002

Flexible Wing Base Micro Aerial Vehicles: Assessment of Controllability of Micro Air Vehicles

In the last several years, we have developed unique types of micro air vehicles that utilize flexible structures and extensible covering materials. These MAVs can be operated with maximum dimensions as small as 6 inches and carry reasonable payloads, such as video cameras and transmitters. We recently demonstrated the potential of these vehicles by winning the Fourth International Micro Air Vehicle Competition, held at Ft. Huachucha, Arizona in May 2000. The pilots report that these vehicles have unusually smooth flying characteristics and are relatively easy to fly, both in the standard RC mode and "through the camera" when at greater distances. In comparison, they find that similar sized vehicles with more conventional rigid construction require much more input from the pilot just to maintain control. To make these subjective observations more quantitative, we have devised a system that can conveniently record a complete history of all the RC transmitter stick movements during a flight. Post-flight processing of the stick movement data allows for direct comparisons between different types of MAVs when flown by the same pilot, and also comparisons between pilots. Eventually, practical micro air vehicles will be autonomously controlled, but we feel that the smoothest flying and easiest to fly embodiments will also be the most successful in the long run. Comparisons between several types of micro air vehicles will be presented, along with interpretations of the data.

Jenkins, David A.↗

NASA NTRS2002

Flexible Wing Base Micro Aerial Vehicles: Composite Materials for Micro Air Vehicles

This paper will discuss the development of the University of Florida's Micro Air Vehicle concept. A series of flexible wing based aircraft that possess highly desirable flight characteristics were developed. Since computational methods to accurately model flight at the low Reynolds numbers associated with this scale are still under development, our effort has relied heavily on trial and error. Hence a time efficient method was developed to rapidly produce prototype designs. The airframe and wings are fabricated using a unique process that incorporates carbon fiber composite construction. Prototypes can be fabricated in around five man-hours, allowing many design revisions to be tested in a short period of time. The resulting aircraft are far more durable, yet lighter, than their conventional counterparts. This process allows for thorough testing of each design in order to determine what changes were required on the next prototype. The use of carbon fiber allows for wing flexibility without sacrificing durability. The construction methods developed for this project were the enabling technology that allowed us to implement our designs. The resulting aircraft were the winning entries in the International Micro Air Vehicle Competition for the past two years. Details of the construction method are provided in this paper along with a background on our flexible wing concept.

Ifju, Peter G.↗

NASA NTRS2002

Simulation and Flight Control of an Aeroelastic Fixed Wing Micro Aerial Vehicle

Micro aerial vehicles have been the subject of continued interest and development over the last several years. The majority of current vehicle concepts rely on rigid fixed wings or rotors. An alternate design based on an aeroelastic membrane wing has also been developed that exhibits desired characteristics in flight test demonstrations, competition, and in prior aerodynamics studies. This paper presents a simulation model and an assessment of flight control characteristics of the vehicle. Linear state space models of the vehicle associated with typical trimmed level flight conditions and which are suitable for control system design are presented as well. The simulation is used as the basis for the design of a measurement based nonlinear dynamic inversion control system and outer loop guidance system. The vehicle/controller system is the subject of ongoing investigations of autonomous and collaborative control schemes. The results indicate that the design represents a good basis for further development of the micro aerial vehicle for autonomous and collaborative controls research.

Waszak, Martin↗

NASA NTRS1995

Experimental Investigation of Textile Composite Materials Using Moire Interferometry

The viability as an efficient aircraft material of advanced textile composites is currently being addressed in the NASA Advanced Composites Technology (ACT) Program. One of the expected milestones of the program is to develop standard test methods for these complex material systems. Current test methods for laminated composites may not be optimum for textile composites, since the architecture of the textile induces nonuniform deformation characteristics on the scale of the smallest repeating unit of the architecture. The smallest repeating unit, also called the unit cell, is often larger than the strain gages used for testing of tape composites. As a result, extending laminated composite test practices to textiles can often lead to pronounced scatter in material property measurements. It has been speculated that the fiber architectures produce significant surface strain nonuniformities, however, the magnitudes were not well understood. Moire interferometry, characterized by full-field information, high displacement sensitivity, and high spatial resolution, is well suited to document the surface strain on textile composites. Studies at the NASA Langley Research Center on a variety of textile architectures including 2-D braids and 3-D weaves, has evidenced the merits of using moire interferometry to guide in test method development for textile composites. Moire was used to support tensile testing by validating instrumentation practices and documenting damage mechanisms. It was used to validate shear test methods by mapping the full-field deformation of shear specimens. Moire was used to validate open hole tension experiments to determine the strain concentration and compare then to numeric predictions. It was used for through-the-thickness tensile strength test method development, to verify capabilities for testing of both 2-D and 3-D material systems. For all of these examples, moire interferometry provided vision so that test methods could be developed with less speculation and more documentation.

Ifju, Peter G.↗

NASA NTRS1994

Interlaminar shear test method development for long term durability testing of composites

The high speed civil transport is a commercial aircraft that is expected to carry 300 passengers at Mach 2.4 over a range of more than 6000 nautical miles. With the existing commercial structural material technology (i.e., aluminum) the performance characteristics of the high speed civil transport would not be realized. Therefore there has been a concerted effort in the development of light weight materials capable of withstanding elevated temperatures for long duration. Thermoplastic composite materials are such candidate materials and the understanding of how these materials perform over the long term under harsh environments is essential to safe and effective design. The matrix dominated properties of thermoplastic composites are most affected by both time and temperature. There is currently an effort to perform short term testing to predict long term behavior of in-plane mechanical properties E22 (transverse modulus of elasticity) and G12 (shear modulus). Out-of-plane properties such as E33, G13, and G23 are inherently more difficult to characterize. This is especially true for the out-of-plane shear modulus G23 and hence there is no existing acceptable standard test method. Since G23 is the most matrix dominated property, it is essential that a test method be developed. A shear test methodology is developed to do just that. The test method, called the double notched specimen, along with the previously developed shear gage was tested at room temperature. Mechanical testing confirmed the attributes of the methodology. A finite element parametric study was conducted for specimen optimization. Moire interferometry, a high sensitivity laser optical method, was used for full-field analysis of the specimen. From this work, material parameters will be determined and thus enable the prediction of long term material behavior of laminates subjected to general loading states.

Ifju, Peter G.↗

NASA NTRS1994

Through-the-thickness tensile strength of textile composites

A series of tests was run to characterize the through-the-thickness tensile strength for a variety of composites that included 2D and 3D braids, 2D and 3D weaves, and prepreg tapes. A new test method based on a curved beam was evaluated. The through-the-thickness deformations were characterized using moire interferometry. Failures were significantly different between the 2D and 3D materials. The 2D materials delaminated between layers due to out-of-plane tensile stresses. The strength of the 2D textile composites did not increase relative to the tapes. The 3D materials failed due to the formation of radial cracks caused by high circumferential stresses along the inner radius. A circumferential crack similar to the 2D materials produced the final failure. Final failure in the 3D materials occurred at a lower bending moment than in other materials. The early failures were caused by radial crack formation rather than low through-the-thickness strength.

Jackson, Wade C.↗

NASA NTRS1993

Development of test methods for textile composites

NASA's Advanced Composite Technology (ACT) Program was initiated in 1990 with the purpose of developing less costly composite aircraft structures. A number of innovative materials and processes were evaluated as a part of this effort. Chief among them are composite materials reinforced with textile preforms. These new forms of composite materials bring with them potential testing problems. Methods currently in practice were developed over the years for composite materials made from prepreg tape or simple 2-D woven fabrics. A wide variety of 2-D and 3-D braided, woven, stitched, and knit preforms were suggested for application in the ACT program. The applicability of existing test methods to the wide range of emerging materials bears investigation. The overriding concern is that the values measured are accurate representations of the true material response. The ultimate objective of this work is to establish a set of test methods to evaluate the textile composites developed for the ACT Program.

Masters, John E.↗

NASA NTRS1993

The effects of specimen width on tensile properties of triaxially braided textile composites

The objective of this study was to examine the effect of the unit cell architecture on the mechanical response of textile reinforced composite materials. Specifically, the study investigated the effect of unit cell size on the tensile properties of 2D triaxially braided graphite epoxy laminates. The figures contained in this paper reflect the presentation given at the conference. They may be divided into four sections: (1) a short definition of the material system tested; (2) a statement of the problem and a review of the experimental results; (3) experimental results consist of a Moire interferometry study of the strain distribution in the material plus modulus and strength measurements; and (4) a short summary and a description of future work will close the paper.

Masters, John E.↗

NASA NTRS1993

Experimental and analytical characterization of triaxially braided textile composites

There were two components, experimental and analytical, to this investigation of triaxially braided textile composite materials. The experimental portion of the study centered on measuring the materials' longitudinal and transverse tensile moduli, Poisson's ratio, and strengths. The identification of the damage mechanisms exhibited by these materials was also a prime objective of the experimental investigation. The analytical portion of the investigation utilized the Textile Composites Analysis (TECA) model to predict modulus and strength. The analytical and experimental results were compared to assess the effectiveness of the analysis. The figures contained in this paper reflect the presentation made at the conference. They may be divided into four sections: a definition of the material system tested; followed by a series of figures summarizing the experimental results (these figures contain results of a Moire interferometry study of the strain distribution in the material, examples and descriptions of the types of damage encountered in these materials, and a summary of the measured properties); a description of the TECA model follows the experimental results (this includes a series of predicted results and a comparison with measured values); and finally, a brief summary completes the paper.

Masters, John E.↗