Engineering topics

Katelyn Jarvis

Publications and source records attributed to Katelyn Jarvis.

3 records

NASA NTRSDate not supplied

Probability of Obstacle Collision for UAVs in Presence of Wind

For incorporation of unmanned aerial vehicles into the National Airspace, ensuring safety of the airspace including the vehicles, people, and property on the ground is of utmost importance. One of the safety-critical factors for unmanned aviation flights is the risk of deviating from a planned trajectory resulting in a variety of hazards, including potential loss of separation between vehicle and obstacles or unexpected battery energy consumption. Off-nominal conditions introduced by component failures, degraded controllability and environmental disturbances such as wind gusts can lead to unacceptable unexpected deviations from the flight trajectory. It is essential to accurately model such effects on the flight trajectory while computing safety thresholds such as minimum separation from surrounding obstacles, available battery resource to complete the mission or determining delay in the expected time of arrival of flights. In this paper, a tool is presented based on Gaussian Process Regression for wind representation over a pre-defined trajectory for fast, yet approximated, in-time evaluation of possible trajectory deviations caused by wind gusts. The deviation in the planned trajectory caused by wind is further simulated utilizing a 6 degrees-of-freedom (DOF) UAV trajectory simulator comprising of a rotorcraft lumped-mass model with LQRI controller. Both steady-state wind and wind gust effects are investigated. The probability of collision with obstacle is computed and demonstrated on real flight data from experimental flights of an octocopter at NASA Langley Research Center in the presence of simulated obstacles and wind conditions. Effect of varying wind conditions and varying UAV airspeed is further demonstrated on experimental flights in the presence of wind measured by ground based weather service stations. The proposed approach would eventually benefit timely mitigation of current and future safety-critical events in autonomous systems by enabling risk-informed decision making.

Portia Banerjee↗

NASA NTRSDate not supplied

Enabling in-time Prognostics with Surrogate Modeling through Physics-enhanced Dynamic Mode Decomposition Method

Computational models provide essential quantitative tools for assessing and predicting the health and performance of physical systems. However, high-fidelity models are rarely used in real-time operations or large optimization loops, due to their time-intensive nature. A common approach to improving computational efficiency of prognosis is to employ surrogate models. Such models can significantly decrease computation time for some accuracy loss. In this context, use of Dynamic Mode Decomposition (DMD) is proposed to generate surrogate models for lithium-ion (Li-ion) battery discharge. DMD has been suggested and used successfully in the area of fluid dynamics for over a decade, but it has not been applied to the PHM domain, where far-ahead prediction of nonlinear behavior is crucial to propagate faults or predict Remaining Useful Life (RUL). For Li-ion battery health management, the standard application of DMD using only the observable quantities of interest was unable to capture the nonlinear discharge of batteries exhibited in lab testing. The Koopman theory, however, provides a mechanism to tradeoff low dimensional nonlinear models with high-dimensional linear ones in a DMD framework, by augmenting nonlinear state variables into the system representation. In this way, DMD allows for configurable simulation accuracy dependent on the dimensionality of the Koopman operator. For battery health management, we augmented the observable variables with the hidden states of a higher-fidelity physics model to build the DMD surrogate. In comparison to a high-fidelity model, the surrogate improved computational efficiency with only a minimal loss of accuracy, and enabled long-term prognostics horizons. A generalized method for this was implemented in the prog models python package.

prognostics and health management↗

NASA NTRSDate not supplied

Hybrid Modeling of Unmanned Aerial Vehicle Electric Powertrain for Fault Detection and Diagnostics

This paper shows the application of hybrid physics-informed machine learning to a representative electric powertrain for unmanned aerial vehicles. The model is composed of physics-derived principles and empirical equations, as well as fully connected networks that are strategically placed within the model to substitute equations that are subject to large uncertainty. Polynomial fit driven by heuristics or empirical observations can be substituted by more flexible networks that can minimize the error between model predictions and observations without being restricted to a predefined functional form. This modeling strategy allows training of networks deep inside the model and unknown parameters in a single learning stage. It has already been applied to Li-ion batteries in the past, and in this work, we extend the applications to other components of an electric powertrain, namely electronic speed controller with pulse-width modulation, and brushless DC motor with connected propeller. Training and testing of the model is carried out using experimental data from Li-ion battery discharge and powertrain testing in a laboratory environment.

Physics-Informed Machine Learning↗