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In this article, a new method to control an ocean current turbine (OCT) is examined. The key innovation, inspired by helicopter control, is to use cyclic blade pitch angle variations. Finally, output variance constrained controllers are designed for OCT flight control and their performance is analyzed.
The NuMI (Neutrinos at the Main Injector) target system delivers a high-energy flux of muon-neutrinos towards a detector more than 800 km away with the goal of better understanding the origin of the universe and its evolution. The target system becomes radioactive because it is irradiated by a sub-Mega-Watt power proton beam. Radiological hazard is one of critical issues for a radiological worker which limits the iractivities near the target system; however, they often need to quantify the radiation level of the target system manually. Thus, the objective of this project is to reduce their exposure to radiation while improving the accuracy of the measurements. A quadcopter UAV fitted with a radiation dosimeter is ideal to traverse the irradiated environment as it can be deployed in any space and requires minimal hardware integration to the test room. Due to the lack of indoor GPS signal, this UAV utilizes a series of ultrasonic beacons that release several varied-frequency pulses simultaneously in order to localize the drone. The flight controller returns a 3D coordinate tied to the radiation data to understand precisely where radiation spikes are being emitted from the horn. The flight controller stores log data that can be processed into an easily interpretable map of radiation intensities. The radiation map serves as one of the primary references for planning the transportation of the NuMI horn.
Many emerging technologies offer tremendous new capabilities that will, without question, redefine how we interact with, utilize, understand, and optimize the energy systems around us. Drones offer a new ability to remotely capture data in ways that have previously been impractical. However, their flight control systems remain rudimentary and limit the ability of researchers to fully take advantage of these platforms as remote sensing devices. In this project, we constructed a hexarotor drone and outfitted it with advanced (yet inexpensive) sensors as well as a telemetry data management and control package. We then created a virtual reality flight deck that allows a drone operator to define waypoints "on-the-fly" or take manual control over flight operations. The flight deck provides a live on-board video stream display, a 3-dimensional topographic map with the drone’s position in space overlaid onto it, as well as a data visualization framework that keeps critical information immediately available to the operator. These advances provide a new platform for scientific data collection such as thermography of building envelopes or solar arrays. As the drone is in flight and data are being collected, these data are relayed to the virtual reality environment where they can be inspected for integrity and the flight plan altered if necessary to collect higher quality data. Future work will focus on implementing 3-dimensional mapping using both visible and thermal imagery collected from the drone, and streaming those into the virtual reality flight deck in real time.
The Super Strypi Navigation, Guidance & Control Software is a real-time implementation of the navigation, guidance and control algorithms designed to deliver a payload to a desired orbit for the rail launched Super Strypi launch vehicle. The software contains all flight control algorithms required from pre-launch until orbital insertion. The flight sequencer module calls the NG&C functions at the appropriate times of flight. Additional functionality includes all the low level drivers and I/O for communicating to other systems within the launch vehicle and to the ground support equipment. The software is designed such that changes to the launch location and desired orbit can be changed without recompiling the code.
Hypersonic flight is not new. The V-2 rocket and the vast majority of the ballistic missiles that it inspired achieved hypersonic speeds (i.e., speeds faster than the speed of sound or Mach 5+) as they fell from the sky, as did crewed aircraft like the rocket-powered X-15. Rather than speed, today’s renewed attention to hypersonic weapons owes to developments that enable controlled flight. These new systems have two sub-varieties: hypersonic glide vehicles and hypersonic cruise missiles. Glide vehicles are the cousins of ballistic warheads: they are lofted on high velocity boosters, separate, then use momentum and control surfaces to skip and glide through the upper atmosphere before crashing onto their targets. The cruise missiles use an advanced propulsion system (a SCRAMJET) for powered flight. While the descriptions are straightforward, the engineering needed to accomplish the guidance and maneuvering (not to mention survivability) of these weapons is far from clear.
This paper presents the closed-loop experimental framework and dynamic model validation for a 1/12-scale underwater kite design. The pool-based tow testing framework described herein, which involves a fully actuated, closed-loop controlled kite and flexible tether, significantly expands upon the capabilities of any previously developed open-source framework for experimental underwater kite characterization. Specifically, the framework has allowed for the validation of three closed-loop flight control strategies, along with a critical comparison between dynamic model predictions and experimental results. In this paper, we provide a detailed presentation of the experimental tow system and kite setup, describe the control algorithms implemented and tested, and quantify the level of agreement between our multi-degree-of-freedom kite dynamic model and experimental data. Finally, we also present a sensitivity analysis that helps to identify the most influential parameters to kite performance and further explain the remaining mismatches between the model and data.
The original data were collected during the AAF Engineering Flights (AEF2025) in the vicinity of the ARM Bankhead National Forest (BNF) Atmospheric Observatory (https://www.arm.gov/capabilities/observatories/bnf ) in northwestern Alabama in March 2025. The ARM Aerial Facility ArcticShark uncrewed aerial system (UAS, https://www.arm.gov/capabilities/observatories/aaf/uas) was based at the public-use airport of Posey Field, Alabama (FAA LID: 1M4, 34.28027778° N, 87.60055556° W, 283m MSL) from March 9 through March 24, 2025. The ArcticShark UAS performed nine flights, including eight research flights over the AMF3 (BNF Main Site) and Supplemental Facilities to measure atmospheric state, turbulence, surface IR temperature and imagery, and aerosol number concentration and size distribution. The current data set presents fast response temperature in the atmospheric boundary layer and lower free troposphere measured on the airborne platform throughout the field campaign. The primary instruments used to create the current data set were the fine wire thermocouple probe, the Aircraft Integrated Meteorological Measurement System (AIMMS-30), the Pitot-static system (part of UAS flight control), and the infrared gas analyzer sensor for H2O and CO2 (LI-840). All parameters used in temperature calculations (static pressure, True Air Speed, and absolute humidity in form of dew point temperature) were included in the data set. For user convenience, one additional parameter was also included: the type of flight flag (level, up, down, turn, and combination of thereof).
The original data were collected on board the ARM Aerial Facility ArcticShark uncrewed aerial system (UAS; https://www.arm.gov/capabilities/observatories/aaf/uas ) during the “Characterizing HEterogeneous Land-Atmosphere eXchanges at BNF” field campaign (CHEAX-BNF; https://arm.gov/research/campaigns/aaf2025CHELAX-BNF ). The ARM Aerial Facility ArcticShark UAS was based at the public-use airport of Posey Field, AL (FAA LID: 1M4, 34.28027778° N, 87.60055556° W, 283m MSL) from May 28 to June 23, 2025. The ArcticShark UAS performed 5 flights, including 4 research flights over the BNF Main Site (ARM Mobile Facility 3, https://arm.gov/capabilities/observatories/amf ) and Supplemental Facilities to measure atmospheric state, turbulence, surface IR temperature and imagery, aerosol number concentration, and aerosol size distribution. The current data set presents fast response temperature in the atmospheric boundary layer and lower free troposphere measured on the airborne platform throughout the field campaign. The primary instruments used to create the current data set were the fine wire thermocouple probe, the Aircraft Integrated Meteorological Measurement System (AIMMS-30), the Pitot-static system (part of UAS flight control), and the infrared gas analyzer sensor for H2O and CO2 (LI-840). All parameters used in temperature calculations (static pressure, True Air Speed, and absolute humidity in the form of dew point temperature) were included in the data set. For user convenience, one additional parameter was also included: the type of flight flag (level, up, down, turn, and combination of thereof).
This paper addresses the design of light weight radiation sensors for the small-scale unmanned aerial system (UAS), and its implementation for low-altitude radiation source localization and contour mapping. The compact, high-resolution gamma-ray CZT sensors were integrated to UAS platforms as plug-and-play components using Robot Operation System (ROS). In this work, the UAS swarm consists of three platforms positioned in circular formation. The onboard data analysis provides time and position stamped intensities of gamma-ray peaks for each UAS-based sensor that are used as the input data for the swarm flight control algorithm. Each UAS measures radiation simultaneously for estimating gradient of radiation to compute a bulk heading angle of the swarm for contour mapping, which can provide relatively precise boundary of the safe area for potential human exploration. The UAS radiation sensors allow measurements from just few meters up to hundreds of meters thus filling the gap between land- and helicopter- based platforms. The swarm of UAS has advantages over a single agent based approach in detecting radiative sources and effectively mapping the area. The proposed method can locate sources of radiation as well as mapping the contaminated area for enhancing situation awareness capabilities for first responders. Computer simulation is presented for UAS swarm based source localization and contour mapping in the simulated radiation fields created by the MCNP code. Selected key gradient estimation and contour mapping algorithms are validated experimentally with small scale multicopter UAS in the indoor flight test bed. (authors)
The U.S. Nuclear Regulatory Commission has responsibility for regulating the safe decommissioning of facilities and sites to meet the License Termination Rule in 10 Code of Federal Regulations (CFR) Part 20, Standards for Protection Against Radiation, Subpart E “Radiological Criteria for License Termination.” Decommissioning is performed in accordance with 10 CFR Part 50, Domestic Licensing of Production and Utilization Facilities, as part of license termination (§50.82) and release of the facility or site for unrestricted use (§50.83). The guidance currently demonstrates the minimum requirements and necessary conditions for conducting radiological surveys by a person carrying a radiation detector(s). The Pacific Northwest National Laboratory (PNNL) evaluated the use of an unoccupied aerial vehicle (UAV) to conduct radiological surveys that could be used in decommissioning to potentially reduce time, cost, and worker safety compared to current survey methods. The objective of this project was to evaluate the performance and limitations of a UAV to support a decommissioning radiological survey and compare it to a radiological survey conducted by a human. The primary research questions of interest evaluated were: 1. Did observed UAV paths differ from human paths and, if so, how much? 2. Did survey path deviation affect survey results and, if so, how? 3. Were radiological measurements from human and UAV surveys significantly different? To answer these research questions, an experimental field was set up at PNNL’s 3440 test track, and it included radiological sources commonly surveyed during decommissioning: cobalt-60 (Co-60), cesium-137 (Cs-137), and americium-241 (Am-241). Nine check sources (three each of Am-241, Cs-137, and Co-60) with activities ranging from 3.54 µCi to 39.34 µCi were set over a path that also included an area for measuring background radiation. An Aurelia X6 UAV coupled with a GPS and lidar unit was used to conduct the radiological surveys. UAV and human surveys were conducted using two different NaI(Tl) scintillation radiation detectors (2 in. × 2 in. Ludlum, Inc. and 2 in. × 0.04 in. Alpha Spectra, Inc.) at a travel velocity of approximately 0.2 m/s at a low (15–40 cm median altitude) or high (87–105 cm median altitude) survey altitude. Since the survey velocity and altitude parameters were atypical for normal UAV operations, testing was done prior to conducting the radiological surveys to establish airworthiness, evaluate the navigation system, and establish flight control. Human and UAV surveys were paired according to the detector type and altitude regime to compare the survey data. The results of this proof-of-concept research determined that the UAV and human surveys followed similar survey paths and detected the radiological sources with no significant statistical difference (in 33 out of 36 surveys). However, further research is needed prior to deploying UAVs for decommissioning surveys.
This paper outlines development process of unmanned multirotor aerial vehicle HF-4X, which consists of design and manufacturing semi-autonomous UAV dedicated for indoor flight, which would be capable of stable and controllable mission flight. A micro air vehicle was designed to participate in the International Micro Air Vehicle Conference and Flight Competition. In this paper much attention was paid to the structure of flight control system, stabilization algorithms, analysis of IMU sensors, fusion algorithms.
Abstract On‐orbit close proximity operations involve robotic spacecraft maneuvering and making decisions for a growing number of mission scenarios demanding autonomy, including on‐orbit assembly, repair, and astronaut assistance. Of these scenarios, on‐orbit assembly is an enabling technology that will allow large space structures to be built in situ, using smaller building block modules. However, like many of these scenarios, robotic on‐orbit assembly involves several technical hurdles, such as changing system models. For instance, grappled modules moved by a free‐flying “assembler” robot can cause significant changes in the combined system inertia, which have cascading impacts on motion planning and control portions of the autonomy stack. Further, on‐orbit assembly and other scenarios require collision‐avoiding motion planning, particularly when operating in a “construction site” scenario of multiple assembler robots and structures. Multiple key technologies that address these complicating factors for autonomous microgravity close proximity operations are detailed in this work, in particular: (1) application of global long‐horizon planning, accomplished using offline and online sampling‐based planner options that consider the system dynamics; (2) adaptation of the recently proposed RATTLE information‐aware planning framework for on‐orbit reconfiguration model learning; and (3) connection with robust control tools to provide low‐level control robustness using current system knowledge. These approaches were demonstrated for an autonomous on‐orbit assembly use case by the RElative Satellite sWarming and Robotic Maneuvering (ReSWARM) experiments using NASA's Astrobee robots on the International Space Station. Results of the ReSWARM experiments are provided along with significant operational and implementation detail discussing the practicalities of hardware implementation and unique aspects of working with the Astrobee free‐flyer robots in microgravity. ReSWARM provides a base set of planning and control tools for robotic close proximity operations, demonstrates them in microgravity, and outlines some of the important hardware aspects that future autonomous free‐flyers will need to consider.
The development of better electrochemical energy storage systems has sparked significant interest in using Li-ion batteries for electric vertical takeoff and landing (eVTOL) applications. To ensure the optimal performance and safety of onboard batteries, their behavior under different charging/discharging protocols and environmental conditions must be understood. Here, this paper presents a comprehensive evaluation of commercial Li-ion batteries for eVTOL applications, focusing on their responses to varying charging/discharging strategies and mechanical vibrations experienced during flight. Through controlled experiments, the effects of rapid cycling on battery performance were investigated, including effects on lifespan, capacity, and internal resistance. Additionally, the impact of mechanical vibrations on battery behavior was assessed to identify potential challenges for onboard batteries. The results of this study revealed intriguing insights into the interplay between temperature, vibration, and battery performance. This work contributes to the broader adoption of electric aerial transportation, promising a greener and safer future for urban mobility.
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This paper presents the formulation and results for a control-aware optimization of the combined geometric and structural design of an energy-harvesting underwater kite. Because kite-based energy-harvesting systems, both airborne and underwater, possess strong coupling between closed-loop flight control, geometric design, and structural design, consideration of all three facets of the design within a single codesign framework is highly desirable. However, while prior literature has addressed one or two attributes of the design at a time, this work constitutes the first comprehensive effort aimed at addressing all three. In particular, focusing on the goals of power maximization and mass minimization, we present a codesign formulation that fuses a geometric optimization tool, structural optimization tool, and closed-loop flight efficiency map. The resulting integrated codesign tool is used to address two mathematical optimization formulations that exhibit subtle differences: a Pareto optimal formulation and a dual-objective formulation that focuses on a weighted power-to-mass ratio as the techno-economic metric of merit. Further, based on the resulting geometric and structural designs, using a mediumfidelity closed-loop simulation tool, the proposed formulation is shown to achieve more than three times the powerto-mass ratio of a previously published, unoptimized benchmark design.
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Unintended consequences of increasing wind energy production include bat mortalities from wind turbine blade strikes. Ultrasonic deterrents (UDs) have been developed to reduce bat mortalities at wind turbines. Our goal was to experimentally assess the species-specific effectiveness of three emission treatments from the UD developed by NRG Systems. We conducted trials in a flight cage measuring approximately 60 m × 10 m × 4.4 m (length × width × height) from July 2020 to May 2021 in San Marcos, Texas, USA. A single UD was placed at either end of the flight cage, and we randomly selected one for each night of field trials. Trials focused on a red bat species group (Lasiurus borealis and Lasiurus blossevillii; n = 46) and four species: cave myotis (Myotis velifer; n = 57), Brazilian free-tailed bats (Tadarida brasiliensis; n = 73), evening bats (Nycteceius humeralis; n = 53), and tricolored bats (Perimyotis subflavus; n = 17). The trials occurred during three treatment emissions: low (emissions from subarrays at 20, 26, and 32 kHz), high (emissions from subarrays at 38, 44, and 50 kHz), and combined (all six emission frequencies). We placed one wild-captured bat into the flight cage for each trial, which consisted of an acclimation period, a control period with the UD powered off, and the three emission treatments (order randomly selected), each interspersed with a control period. We tracked bat flight using four thermal cameras placed outside the flight cage. We quantified the effectiveness of each treatment by comparing the distances each bat flew from the UD during each treatment vs. the control period using quantile regression. Additionally, we conducted an exploratory analysis of differences between sex and season and sex within season using analysis of variance. Broadly, UDs were effective at altering the bats’ flight paths as they flew farther from the UD during treatments than during controls; however, results varied by species, sex, season, and sex within season. For the red bat group, bats flew farther from the UD during all treatments than during the control period at all percentiles (p < 0.001), and treatments were comparable in effectiveness. For cave myotis, all percentile distances were farther from the UD during each of the treatments than during the control, except the 90th percentile distance during high, and low was most effective. For evening bats and Brazilian free-tailed bats, results were inconsistent, but high and low were most effective, respectively. For tricolored bats, combined and low were significant at the 10th–75th percentiles, high was significant at all percentiles, and combined was most effective. Results suggest UDs may be an effective means of reducing bat mortalities due to wind turbine blade strikes. We recommend that continued research on UDs focus on low emission treatments, which have decreased sound attenuation and demonstrated effectiveness across the bat species evaluated in this study.