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The safety of remotely operated vehicles depends on the correctness of the distributed protocol that facilitates the communication between the vehicle and the operator. A failure in this communication can result in catastrophic loss of the vehicle. To complicate matters, the communication system may be required to satisfy several, possibly conflicting, requirements. The design of protocols is typically an informal process based on successive iterations of a prototype implementation. Yet distributed protocols are notoriously difficult to get correct using such informal techniques. We present a formal specification of the design of a distributed protocol intended for use in a remotely operated vehicle, which is built from the composition of several simpler protocols. We demonstrate proof strategies that allow us to prove properties of each component protocol individually while ensuring that the property is preserved in the composition forming the entire system. Given that designs are likely to evolve as additional requirements emerge, we show how we have automated most of the repetitive proof steps to enable verification of rapidly changing designs.
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Wind tunnel tests of static lateral and directional control of twin-propeller deflected slipstream STOL aircraft
Results are presented of a wind-tunnel investigation of the longitudinal stability, control, and performance characteristics of a model of a four-propeller deflected-slipstream VTOL airplane in the transition speed range. These results indicate that steady level-flight transition and descending flight-path angles up to 7 or 8 deg. out of the region of ground effect can be accomplished without wing stall being encountered. In general, the pitching moments out of ground proximity can be adequately trimmed by programming the stabilizer incidence to increase with increasing flap deflection, except for a relatively large diving moment in the hovering condition. The deflection of the slipstream onto the horizontal tail in proximity of the ground substantially increases the diving moment in hovering, unless the tail is set at a large nosedown incidence.
A small-scale semispan high-lift wing-flap system equipped under the wing with a turboprop engine assembly was tested in the LaRC 14- by 22-Foot Subsonic Tunnel. Experimental data were obtained for various propeller rotational speeds, nacelle locations, and nacelle inclinations. To isolate the effects of the high lift system, data were obtained with and without the flaps and leading-edge device. The effects of the propeller slipstream on the overall longitudinal aerodynamic characteristics of the wing-propeller assembly were examined. Test results indicated that the lift coefficient of the wing could be increased by the propeller slipstream when the rotational speed was increased and high-lift devices were deployed. Decreasing the nacelle inclination (increased pitch down) enhanced the lift performance of the system much more than varying the vertical or horizontal location of the nacelle. Furthermore, decreasing the nacelle inclination led to higher lift curve slope values, which indicated that the powered wing could sustain higher angles of attack near maximum lift performance. Any lift augmentation was accompanied by a drag penalty due to the increased wing lift.
A procedure is developed for deriving the level flight drag and propulsive efficiency of propeller-driven aircraft. This is a method in which the overall drag of the aircraft is expressed in terms of the measured increment of power required to overcome a corresponding known increment of drag. The aircraft is flown in unaccelerated, straight and level flight, and thus includes the effects of the propeller drag and slipstream. Propeller efficiency and airplane drag are computed on the basis of data obtained during flight test and do not rely on the analytical calculations of inadequate theory.
The results of natural laminar flow (NLF) experiments conducted by NASA to determine if modern aircraft structures can benefit from NLF as do sailplanes are presented. Seven aircraft, ranging from a Cessna 210 to a Learjet 28/29, with relatively stiff skins were flown in production configurations with no modifications. Measurements were made of the boundary-layer laminar to turbulent transition locations on various aerodynamic surfaces, the effect of a total loss of laminar flow, the effect of the propeller slipstream on the wing boundary-layer transition and the boundary-layer profiles, the wing section profile drag, the effect of flight through clouds, and insect debris contamination effects. Favorable pressure gradients for NLF were concluded to be feasible up to a transition Reynolds number of 11 million. Laminar flows were observed in propeller slipstreams, and insects were found to cause transition 1/4 of the time.
Aerodynamic characteristics of COIN aircraft model with boundary layer control on inverted V-tail
A series of aerodynamic performance and acoustic measurements have been made on a range of inboard propeller-wing interaction configurations in the NASA Langley Low Speed Aeroacoustic Wind Tunnel (LSAWT). The results presented in this paper are part of a more expansive testing campaign encompassing both single propeller-wing and multipropeller-wing interactions, the former of which is discussed in the present work. The primary testing parameters of interest to this study are the axial and vertical positioning of the wing relative to the propeller slipstream under a constant propeller advance ratio. A multi-faceted computational effort was also employed in an effort to identify reflection and scattering effects imposed by both the wing geometry as well as the primary components of the facility test setup. This effort consisted of aerodynamic predictions using high-fidelity computational fluid dynamics (CFD), acoustic predictions using an impermeable Ffowcs Williams and Hawkings (FW-H) solver, and acoustic scattering predictions. Acoustic measurements reveal variations in the acoustic directivity behavior of the propeller blade passage frequency for even modest variations in wing position. CFD-based acoustic predictions reveal discrepancies relative to the experimental data, which is believed to be due to complex acoustic scattering behavior within the test section. Initial attempts at modeling the scattered acoustic field showed functional dependency of the acoustic amplitude variations on the wing position relative to the propeller disk, however discrepancies with experimental data remain.
In the slipstream behind a propeller there is a considerable amount of kinetic energy which has been imparted to it by the engine without producing any corresponding propeller thrust. The increased absorption of power reduces the propeller efficiency. Attention has been previously directed to this question by Bendemann and Madelung and other writers. Their contribution serves to verify a simple method of calculating the reduction in the propeller efficiency due to the slip stream. That method of calculation is given here. Explanations and examples are given for as single propeller and for two propellers mounted in tandem.