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DOE OSTI2020

Cooperative Routing for an Air–Ground Vehicle Team—Exact Algorithm, Transformation Method, and Heuristics

This paper considers a cooperative vehicle routing problem for an intelligence, surveillance, and reconnaissance mission in the presence of communication constraints between the vehicles. The proposed framework uses a ground vehicle and an unmanned aerial vehicle (UAV) that travel cooperatively and visit a set of targets while satisfying the communication constraints. The problem is formulated as a mixed-integer linear program, and a branch-and-cut algorithm is developed to solve the problem to optimality. Furthermore, a transformation method and a heuristic are also developed for the problem. The effectiveness of all the algorithms is corroborated through extensive computational experiments on several randomly generated instances. Furthermore, this paper is motivated by an intelligence, surveillance, and reconnaissance mission involving a single unmanned aerial vehicle (UAV) and a ground vehicle, where the vehicles must coordinate their activity in the presence of communication constraints. The combination of a small UAV and a ground vehicle is an ideal platform for such missions, since small UAVs can fly at low altitudes and can avoid obstacles or threats that would be problematic for the ground vehicle alone. This paper addresses the coordinated routing problem involving these two vehicles and presents an algorithm to obtain an optimal solution for this problem, fast heuristics to obtain good feasible solutions, and also a transformation method to transform any instance of this cooperative vehicle routing problem to an instance of the one-in-a-set traveling salesman problem.

33 ADVANCED PROPULSION SYSTEMS↗

NASA NTRS2009

Objectives and Progress on Integrated Vehicle Ground Vibration Testing for the Ares Launch Vehicles

As NASA begins design and development of the Ares launch vehicles to replace the Space Shuttle and explore beyond low Earth orbit, Integrated Vehicle Ground Vibration Testing (IVGVT) will be a vital component of ensuring that those vehicles can perform the missions assigned to them. A ground vibration test (GVT) is intended to measure by test the fundamental dynamic characteristics of launch vehicles during various phases of flight. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. This data is then used to calibrate loads and control systems analysis models for verifying analyses of the launch vehicle. The Ares Flight & Integrated Test Office (FITO) will be conducting IVGVT for the Ares I crew launch vehicle at Marshall Space Flight Center (MSFC) from 2011 to 2012 using the venerable Test Stand (TS) 4550, which supported similar tests for the Saturn V and Space Shuttle vehicle stacks.

Tuma, Margaret L.↗

DOE OSTI2021

Remote optical wind detection and aerodynamic control system for ground vehicle

An aerodynamic control system for a ground vehicle comprises a LiDAR module including at least one LiDAR sensor configured to obtain wind data upstream of the ground vehicle; a computing device; an aerodynamic device controller; and an aerodynamic device including a control surface. The computing device is configured to receive the wind data from the LiDAR module and generate output signals based on the wind data. The aerodynamic device controller is configured to receive the output signals from the computing device and generate control signals to control the aerodynamic device to adjust aerodynamic properties of the ground vehicle based at least in part the wind data. Changes to the configuration of the control surface may include increasing or decreasing a deflection angle of the at least one aerodynamic device. The aerodynamic device may include, e.g., a pneumatically actuated aerodynamic device or an electro-mechanically actuated aerodynamic device.

Damon, Kenneth H.↗

NASA NTRS2010

Ensuring Safe Exploration: Ares Launch Vehicle Integrated Vehicle Ground Vibration Testing

Integrated vehicle ground vibration testing (IVGVT) will be a vital component for ensuring the safety of NASA's next generation of exploration vehicles to send human beings to the Moon and beyond. A ground vibration test (GVT) measures the fundamental dynamic characteristics of launch vehicles during various phases of flight. The Ares Flight & Integrated Test Office (FITO) will be leading the IVGVT for the Ares I crew launch vehicle at Marshall Space Flight Center (MSFC) from 2012 to 2014 using Test Stand (TS) 4550. MSFC conducted similar GVT for the Saturn V and Space Shuttle vehicles. FITO is responsible for performing the IVGVT on the Ares I crew launch vehicle, which will lift the Orion crew exploration vehicle to low Earth orbit, and the Ares V cargo launch vehicle, which can launch the lunar lander into orbit and send the combined Orionilander vehicles toward the Moon. Ares V consists of a six-engine core stage with two solid rocket boosters and an Earth departure stage (EDS). The same engine will power the EDS and the Ares I second stage. For the Ares IVGVT, the current plan is to test six configurations in three unique test positions inside TS 4550. Position 1 represents the entire launch stack at liftoff (using inert first stage segments). Position 2 consists of the entire launch stack at first stage burn-out (using empty first stage segments). Four Ares I second stage test configurations will be tested in Position 3, consisting of the Upper Stage and Orion crew module in four nominal conditions: J-2X engine ignition, post Launch Abort System (LAS) jettison, critical slosh mass, and J-2X burn-out. Because of long disuse, TS 4550 is being repaired and reactivated to conduct the Ares I IVGVT. The Shuttle-era platforms have been removed and are being replaced with mast climbers that provide ready access to the test articles and can be moved easily to support different positions within the test stand. The electrical power distribution system for TS 4550 was upgraded. Two new cranes will help move test articles at the test stand and at the Redstone Arsenal railhead where first stage segments will be received in 2011. The Hydrodynamic Support systems (HDSs) used for Saturn and Shuttle have been disassembled and evaluated for use during IVGVT. Analyses indicate that the 45-year-old HDSs can be refurbished to support the Ares I IVGVT. An alternate concept for a pneumatic suspension system is also being explored. A decision on which suspension system configuration to use for IVGVT will be made in 2010. In the next three years, the team will complete the updates to TS 4550, upgrade the test and data collection equipment, and finalize the configurations of the test articles to be used in the IVGVT. With NASA's GVT capabilities reestablished, the FITO team will be well positioned to perform similar work on Ares V, the largest exploration launch vehicle NASA has ever built. The GVT effort continues NASA's 50-year commitment to using testing and data analysis for safer, more reliable launch vehicles.

Tuma, M. L.↗

NASA NTRS2008

Integrated Vehicle Ground Vibration Testing in Support of NASA Launch Vehicle Loads and Controls Analysis

The National Aeronautics and Space Administration (NASA) Ares Projects Office (APO) is continuing to make progress toward the final design of the Ares I crew launch vehicle and Ares V cargo launch vehicle. Ares I and V will form the space launch capabilities necessary to fulfill NASA's exploration strategy of sending human beings to the Moon, Mars, and beyond. As with all new space vehicles there will be a number of tests to ensure the design can be Human Rated. One of these is the Integrated Vehicle Ground Vibration Test (IVGVT) that will be measuring responses of the Ares I as a system. All structural systems possess a basic set of physical characteristics unique to that system. These unique characteristics include items such as mass distribution, frequency and damping. When specified, they allow engineers to understand and predict how a structural system like the Ares I launch vehicle behaves under given loading conditions. These physical properties of launch vehicles may be predicted by analysis or measured through certain types of tests. Generally, these properties are predicted by analysis during the design phase of a launch vehicle and then verified through testing before the vehicle is Human Rated. The IVGVT is intended to measure by test the fundamental dynamic characteristics of Ares I during various phases of operational/flight. This testing includes excitations of the vehicle in lateral, longitudinal, and torsional directions at vehicle configurations representing different trajectory points. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. These data will then be used to calibrate loads and Guidance, Navigation, and Controls (GN&C) analysis models for verifying analyses of Ares I. NASA launch vehicles from Saturn to Shuttle have undergone Ground Vibration Tests (GVTs) leading to successful launch vehicles. A GVT was not performed on the unmanned Delta III. This vehicle was lost during launch. Subsequent analyses indicated that had a GVT been conducted on the vehicle, problems with vehicle modes and control may have been discovered and corrected, avoiding loss of the vehicle/mission. This paper will address GVT planning, set-up, conduction and analyses, for the Saturn and Shuttle programs, and also focus on the current and on-going planning for the Ares I and V IVGVT.

Tuma, Margaret L.↗

DOE OSTI2023

Adaptive Path-Following Control for Ground Vehicles Using a Switching Non-Quadratic Lyapunov Function

The application of adaptive control techniques in the development of control systems for intelligent vehicles, especially for ground vehicle path-following controllers, has gained popularity due to their ability to handle large-scale parametric uncertainties. However, the use of a standard quadratic Lyapunov function in existing adaptive control-based path-following controllers can lead to poor transient performance, such as slow convergence and/or large overshoot. To address this limitation, this study proposes the use of a switching non-quadratic Lyapunov function to design a model reference adaptive path-following controller that aims to provide superior transient performance. The stability and signal convergence of the closed-loop system are demonstrated through a Lyapunov-like analysis. Through dSPACE ASM simulation, the effectiveness of the proposed controller is illustrated, which confirms improved tracking performance over a baseline solution.

Zhou, Xingyu↗

NASA NTRS2008

Integrated Vehicle Ground Vibration Testing in Support of Launch Vehicle Loads and Controls Analysis

All structural systems possess a basic set of physical characteristics unique to that system. These unique physical characteristics include items such as mass distribution and damping. When specified, they allow engineers to understand and predict how a structural system behaves under given loading conditions and different methods of control. These physical properties of launch vehicles may be predicted by analysis or measured by certain types of tests. Generally, these properties are predicted by analysis during the design phase of a launch vehicle and then verified by testing before the vehicle becomes operational. A ground vibration test (GVT) is intended to measure by test the fundamental dynamic characteristics of launch vehicles during various phases of flight. During the series of tests, properties such as natural frequencies, mode shapes, and transfer functions are measured directly. These data will then be used to calibrate loads and control systems analysis models for verifying analyses of the launch vehicle. NASA manned launch vehicles have undergone ground vibration testing leading to the development of successful launch vehicles. A GVT was not performed on the inaugural launch of the unmanned Delta III which was lost during launch. Subsequent analyses indicated had a GVT been performed, it would have identified instability issues avoiding loss of the vehicle. This discussion will address GVT planning, set-up, execution and analyses, for the Saturn and Shuttle programs, and will also focus on the current and on-going planning for the Ares I and V Integrated Vehicle Ground Vibration Test (IVGVT).

Askins, Bruce R.↗

NASA NTRS1974

Drag reduction obtained by rounding vertical corners on a box-shaped ground vehicle

A box-shaped ground vehicle was used to simulate the aerodynamic drag of delivery vans, trucks, and motor homes. A coast-down method was used to define the drag of this vehicle in a configuration with all square corners and a modified configuration with the four vertical corners rounded. The tests ranged in velocity from 30 miles per hour to 65 miles per hour, and Reynolds numbers ranged from 4.4 x 1,000,000 to 1.0 x 10 to the 7th power based on vehicle length. The modified configuration showed a reduction in aerodynamic drag of about 40 percent as compared to the square cornered configuration.

Saltzman, E. J.↗

NASA NTRS1974

Drag reductions obtained by modifying a box-shaped ground vehicle

A box-shaped ground vehicle was used to simulate the aerodynamic drag of high volume transports, that is, delivery vans, trucks, or motor homes. The coast-down technique was used to define the drag of the original vehicle, having all square corners, and several modifications of the vehicle. Test velocities ranged up to 65 miles per hour, which provided maximum Reynolds numbers of 1 times 10 to the 7th power based on vehicle length. One combination of modifications produced a reduction in aerodynamic drag of 61 percent as compared with the original square-cornered vehicle.

Saltzman, E. J.↗

NASA NTRS1999

Aircraft and Ground Vehicle Winter Runway Friction Assessment

Some background information is given together with the scope and objectives of a 5-year, Joint Winter Runway Friction Measurement Program between the National Aeronautics & Space Administration (NASA), Transport Canada (TC), and the Federal Aviation Administration (FAA). Participants recently completed the fourth winter season of testing. The primary objective of this effort is to perform instrumented aircraft and ground vehicle tests aimed at identifying a common number that all the different ground vehicle devices would report. This number, denoted the International Runway Friction Index (IRFI) will be related to all types of aircraft stopping performance. The range of test equipment, the test sites, test results and accomplishments, the extent of the substantial friction database compiled, and future test plans will be described. Several related studies have also been implemented including the effects of contaminant type on aircraft impingement drag and the effectiveness of various runway and aircraft de-icing chemical types and application rates. New equipment and techniques to measure surface frictional properties are also described. The status of an international friction index calibration device for use in ensuring accuracy of ground vehicle friction measurements will also be discussed. NASA considers the success of this joint program critical in terms of ensuring adequate ground handling capability in adverse weather conditions for future aircraft being designed and developed as well as improving the safety of current aircraft ground operations.

Yager, Thomas J.↗

NASA NTRS1991

A system for testing airdata probes at high angles of attack using a ground vehicle

A system to calibrate airdata probes at angles of attack between 0 and 90 deg was developed and tested at the NASA Ames Dryden Flight Research Facility. This system used a test fixture mounted to the roof of a ground vehicle and included an onboard instrumentation and data acquisition system for measuring pressures and flow angles. The data could be easily transferred to the facility mainframe computer for further analysis. The system was designed to provide convenient and inexpensive airdata probe calibrations for projects which require airdata at high angles of attack, such as the F-18 High Alpha Research Program. This type of probe was tested to 90 deg angle of attack in a wind tunnel and using the ground vehicle system. The results of both tests are in close agreement. An airdata probe with a swiveling pilot-static tube was also calibrated with the ground vehicle system. This paper presents the results of these tests and gives a detailed description of the test system.

Geenen, Robert J.↗

NASA NTRSDate not supplied

Wind-Tunnel to Full-Scale Mapping of Winds and Loads for Launch-Vehicle Ground Wind Loads

A launch vehicle ground-wind-loads program was conducted at the NASA Langley Transonic Dynamics Tunnel. The objectives were to quantify key aerodynamic and structural characteristics that impact the occurrence of large wind-induced oscillations of a launch vehicle when exposed to ground winds prior to launch. Of particular interest is the dynamic response of a launch vehicle when a von Kármán vortex street forms in the wake of the vehicle resulting in quasiperiodic lift and drag forces. Vehicle response to these quasiperiodic forces can become quite large when the frequency of vortex shedding nears that of a lowly-damped structural mode thereby exciting a resonant response. The study of ground-wind-loads presents unique challenges to quantify significant characteristics of the approaching wind and to relate the wind-tunnel acquired static, dynamic, and gravitational loads to full-scale vehicles. This paper will explain the correlation process between model-scale and full-scale wind characteristics and resulting structural loads. Characterization of the wind at a launch site requires knowledge of the vehicle dynamics and the anemometer performance. Vehicle dynamics dictate the frequency range of interest in characterization of the atmospheric turbulence, and in defining the required data window-length to model dynamic oscillation build-up during wind-gust analysis. Knowledge of the anemometer performance is required to infer peak wind magnitudes since most anemometers cannot directly measure instantaneous peak values. Following proper wind-speed correlation, static and dynamic wind-tunnel loads must be converted to full-scale equivalent values to derive design and operational guidance. In addition to the direct computation of full-scale equivalent loads using relevant scaling parameters, the corrections applied to dynamic loads accounting for differences in structural damping will also be discussed. Furthermore, a phenomenon that manifests in many slender and flexible launch vehicles is a load magnification due to gravity resulting from mass offset under deflection. A method for scaling this contribution from model-scale to full-scale is presented. Finally, a comparison of wind-tunnel derived loads using the described methodologies to launch vehicle measured loads is presented.

Ground wind loads↗

NASA NTRSDate not supplied

Wind Tunnel to Full Scale Mapping of Winds and Loads for Launch-Vehicle Ground Wind Loads

A launch vehicle ground-wind-loads program was conducted at the NASA Langley Transonic Dynamics Tunnel. The objectives were to quantify key aerodynamic and structural characteristics that impact the occurrence of large wind-induced oscillations of a launch vehicle when exposed to ground winds prior to launch. Of particular interest is the dynamic response of a launch vehicle when a von Kármán vortex street forms in the wake of the vehicle resulting in quasiperiodic lift and drag forces.Vehicle response to these quasiperiodic forces can become quite large when the frequency of vortex shedding nears that of a lowly-damped structural mode thereby exciting a resonant response. The study of ground-wind-loads presents unique challenges to quantify significant characteristics of the approaching wind and to relate the wind-tunnel acquired static, dynamic, and gravitational loads to full-scale vehicles. This paper will explain the correlation process between model-scale and full-scale wind characteristics and resulting structural loads. Characterization of the wind at a launch site requires knowledge of the vehicle dynamics and the anemometer performance. Vehicle dynamics dictate the frequency range of interest in characterization of the atmospheric turbulence, and in defining the required data window-length to model dynamic oscillation build-up during wind-gust analysis. Knowledge of the anemometer performance is required to infer peak wind magnitudes since most anemometers cannot directly measure instantaneous peak values. Following proper wind-speed correlation, static and dynamic wind-tunnel loads must be converted to full-scale equivalent values to derive design and operational guidance. In addition to the direct computation of full-scale equivalent loads using relevant scaling parameters, the corrections applied to dynamic loads accounting for differences in structural damping will also be discussed. Furthermore, a phenomenon that manifests in many slender and flexible launch vehicles is a load magnification due to gravity resulting from mass offset under deflection. A method for scaling this contribution from model-scale to full-scale is presented. Finally, a comparison of wind-tunnel derived loads using the described methodologies to launch vehicle measured loads is presented.

ground wind loads↗

NASA NTRS2020

Investigation of Atmospheric Boundary-Layer Effects on Launch-Vehicle Ground Wind Loads

A launch vehicle ground-wind-loads program is underway at the NASA Langley Transonic Dynamics Tunnel. The objectives are to quantify key aerodynamic and structural characteristics that impact the occurrence of large wind-induced oscillations of a launch vehicle when exposed to ground winds prior to launch. Of particular interest is the dynamic response of a launch vehicle when a von Kármán vortex street forms in the wake of the vehicle resulting in quasiperiodic lift and drag forces. Vehicle response to these quasiperiodic forces can become quite large when the frequency of vortex shedding nears that of a lowly-damped structural mode thereby exciting a resonant response. Wind approaching the vehicle can be characterized by a varying speed with height and turbulence content. The combination of both the varying speed and turbulence content is referred to herein as the atmospheric boundary-layer. The importance of the atmospheric boundary-layer upon launch vehicle wind-induced oscillation response has long been questioned, and its effects are not well understood. Although there are several facilities around the world dedicated to replicating atmospheric boundary layers, the development of such a boundary layer in a wind tunnel capable of producing flight-representative Reynolds numbers for aeroelastically-scaled launch vehicle models has only recently been accomplished. The NASA Langley Transonic Dynamics Tunnel is capable of simulating flight-representative Reynolds numbers of launch vehicles on the pad and is uniquely capable of replicating many fluid-structure scaling parameters typical of aeroelastic tests. Recent test efforts successfully developed representative atmospheric boundary-layers for three launch sites in the Transonic Dynamics Tunnel, thereby allowing all known aerodynamic and fluid-structure coupling parameters to be simultaneously simulated for those sites. Dynamic aeroelastically-scaled models representative of typical large launch vehicles were constructed for testing. Aeroelastic scaling includes matching geometry, mode shapes, reduced frequencies, damping, running mass ratios, and running stiffness ratios. The models were tested in smooth uniform flow and then immersed in the atmospheric boundary-layer for comparison of these effects. Dynamic data were acquired measuring unsteady pressure, acceleration, and base bending moment. It was discovered that peak dynamic loads resulting from resonant wind-induced oscillation response are similar when acquired in either smooth uniform flow or an atmospheric boundary-layer. This indicates that resonant lock-in events are minimally impacted by representative turbulence and/or wind profile. Alternately, nonresonant wind-induced oscillation response events are stronger when acquired in an atmospheric boundary-layer. This indicates that a lowly-damped structural response will increase when exposed to an increased magnitude of random excitation, which is consistent with historical comparisons. Loads created by the resonant response events were substantially stronger than those from the nonresonant response events. Therefore, if testing is done to simply identify worst-case conditions and load magnitude, then smooth uniform flow is likely an adequate test technique. However, if nonresonant response loads are of primary interest, then atmospheric boundary-layer simulation is required.

Thomas G Ivanco↗

NASA NTRS1988

Aircraft and ground vehicle friction correlation test results obtained under winter runway conditions during joint FAA/NASA Runway Friction Program

Aircraft and ground vehicle friction data collected during the Joint FAA/NASA Runway Friction Program under winter runway conditions are discussed and test results are summarized. The relationship between the different ground vehicle friction measurements obtained on compacted snow- and ice-covered conditions is defined together with the correlation to aircraft tire friction performance under similar runway conditions.

Yager, Thomas J.↗

NASA NTRS1994

Ground vehicle control at NIST: From teleoperation to autonomy

NIST is applying their Real-time Control System (RCS) methodology for control of ground vehicles for both the U.S. Army Researh Lab, as part of the DOD's Unmanned Ground Vehicles program, and for the Department of Transportation's Intelligent Vehicle/Highway Systems (IVHS) program. The actuated vehicle, a military HMMWV, has motors for steering, brake, throttle, etc. and sensors for the dashboard gauges. For military operations, the vehicle has two modes of operation: a teleoperation mode--where an operator remotely controls the vehicle over an RF communications network; and a semi-autonomous mode called retro-traverse--where the control system uses an inertial navigation system to steer the vehicle along a prerecorded path. For the IVHS work, intelligent vision processing elements replace the human teleoperator to achieve autonomous, visually guided road following.

Murphy, Karl N.↗

NASA NTRS2013

Visiting Vehicle Ground Trajectory Tool

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Hamm, Dustin↗

NASA NTRS1999

Aircraft and Ground Vehicle Winter Runway Friction Assessment

Yager, Thomas J.↗