Sample records for autonomous helicopter slung

  1. Adaptive Control System for Autonomous Helicopter Slung Load Operations

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon


    This paper presents design and verification of an estimation and control system for a helicopter slung load system. The estimator provides position and velocity estimates of the slung load and is designed to augment existing navigation in autonomous helicopters. Sensor input is provided by a vision...

  2. Modeling, Estimation, and Control of Helicopter Slung Load System

    Bisgaard, Morten


    Denne afhandling omhandler autonom flyvning med helicopter slung load systemer og præsenterer en metodik der beskriver system udvikling fra modellering og system analyse, over sensor fusion og tilstands estimering, til kontroller design. To forskellige udviklingsgrene præsenteres: Flyvning med generisk slung load og landmine detektion med helikopter slung load system.Et hoved bidrag for denne afhandling er udviklingen af en komplet helikopter og slung load model. Den generiske slung load mode...

  3. Swing Damping for Helicopter Slung Load Systems using Delayed Feedback

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon


    This paper presents the design and verification of a swing reducing controller for helicopter slung load systems using intentional delayed feedback. It is intended for augmenting a trajectory tracking helicopter controller and thereby improving the slung load handing capabilities for autonomous h...

  4. Modeling, Estimation, and Control of Helicopter Slung Load System

    Bisgaard, Morten

    . To enable slung load flight capabilities for general cargo transport, an integrated estimation and control system is developed for use on already autonomous helicopters. The estimator uses vision based updates only and needs little prior knowledge of the slung load system as it estimates the length......This thesis treats the subject of autonomous helicopter slung load flight and presents the reader with a methodology describing the development path from modeling and system analysis over sensor fusion and state estimation to controller synthesis. The focus is directed along two different...

  5. Input Shaping for Helicopter Slung Load Swing Reduction

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon


    This chapter presents a feedforward swing reducing control system for augmenting already existing helicopter controllers and enables slung load flight with autonomous helicopters general cargo transport. The feedforward controller is designed to avoid excitation of the lightly damped modes...... of the system by shaping the reference trajectory using robust input shaping. It is developed as part of an integrated adaptive control system consisting of state estimator, feedforward, and feedback controller capable of simultaneously preventing swing in the slung load from helicopter motion and actively...

  6. Vision Aided State Estimation for Helicopter Slung Load System

    Bisgaard, Morten; Bendtsen, Jan Dimon; la Cour-Harbo, Anders;


    This paper presents the design and verification of a state estimator for a helicopter based slung load system. The estimator is designed to augment the IMU driven estimator found in many helicopter UAV s and uses vision based updates only. The process model used for the estimator is a simple 4...... state acceleration driven pendulum. Sensor input for the filter is provided by a vision based system that measures the position of the slung load. The estimator needs no prior knowledge of the system as it estimates the length of the suspension system together with the system states. Finally...

  7. Full State Estimation for Helicopter Slung Load System

    Bisgaard, Morten; la Cour-Harbo, Anders; Bendtsen, Jan Dimon

    This paper presents the design of a state estimator system for a generic helicopter based slung load system. The estimator is designed to deliver full rigid body state information for both helicopter and load and is based on the unscented Kalman filter. Two different approaches are investigated....... A simple and effective virtual sensor method is developed to maintain the constraints imposed by the wires in the system. The full model based approach uses a complex aerodynamical model to describe the helicopter together with a generic rigid body model. This rigid body model is based on a redundant...... coordinate formulation and can be used to model all body to body slung load suspension systems. Both estimators include bias estimation for the accelerometers and gyros and the model based estimator furthermore includes estimation of external wind disturbances. A vision system is used to measure the motion...

  8. Autonomous vertical autorotation for unmanned helicopters

    Dalamagkidis, Konstantinos

    Small Unmanned Aircraft Systems (UAS) are considered the stepping stone for the integration of civil unmanned vehicles in the National Airspace System (NAS) because of their low cost and risk. Such systems are aimed at a variety of applications including search and rescue, surveillance, communications, traffic monitoring and inspection of buildings, power lines and bridges. Amidst these systems, small helicopters play an important role because of their capability to hold a position, to maneuver in tight spaces and to take off and land from virtually anywhere. Nevertheless civil adoption of such systems is minimal, mostly because of regulatory problems that in turn are due to safety concerns. This dissertation examines the risk to safety imposed by UAS in general and small helicopters in particular, focusing on accidents resulting in a ground impact. To improve the performance of small helicopters in this area, the use of autonomous autorotation is proposed. This research goes beyond previous work in the area of autonomous autorotation by developing an on-line, model-based, real-time controller that is capable of handling constraints and different cost functions. The approach selected is based on a non-linear model-predictive controller, that is augmented by a neural network to improve the speed of the non-linear optimization. The immediate benefit of this controller is that a class of failures that would otherwise result in an uncontrolled crash and possible injuries or fatalities can now be accommodated. Furthermore besides simply landing the helicopter, the controller is also capable of minimizing the risk of serious injury to people in the area. This is accomplished by minimizing the kinetic energy during the last phase of the descent. The presented research is designed to benefit the entire UAS community as well as the public, by allowing for safer UAS operations, which in turn also allow faster and less expensive integration of UAS in the NAS.

  9. Nonlinear Feedforward Control for Wind Disturbance Rejection on Autonomous Helicopter

    Bisgaard, Morten; la Cour-Harbo, Anders; A. Danapalasingam, Kumeresan

    This paper presents the design and verification of a model based nonlinear feedforward controller for wind disturbance rejection on autonomous helicopters. The feedforward control is based on a helicopter model that is derived using a number of carefully chosen simplifications to make it suitable...

  10. Square tracking sensor for autonomous helicopter hover stabilization

    Oertel, Carl-Henrik


    Sensors for synthetic vision are needed to extend the mission profiles of helicopters. A special task for various applications is the autonomous position hold of a helicopter above a ground fixed or moving target. As a proof of concept for a general synthetic vision solution a restricted machine vision system, which is capable of locating and tracking a special target, was developed by the Institute of Flight Mechanics of Deutsche Forschungsanstalt fur Luft- und Raumfahrt e.V. (i.e., German Aerospace Research Establishment). This sensor, which is specialized to detect and track a square, was integrated in the fly-by-wire helicopter ATTHeS (i.e., Advanced Technology Testing Helicopter System). An existing model following controller for the forward flight condition was adapted for the hover and low speed requirements of the flight vehicle. The special target, a black square with a length of one meter, was mounted on top of a car. Flight tests demonstrated the automatic stabilization of the helicopter above the moving car by synthetic vision.

  11. Underslung Payload Tension Control from an Autonomous Unmanned Helicopter

    McCabe, Brian John


    A tension control algorithm for the deployment of a unmanned ground vehicle from an autonomous helicopter is designed and tested in this thesis. The physical hardware which the controller will run on is detailed. The plant model and underlying controllers are derived and modeled. The tension controller algorithm is selected, derived, and modeled. The parameters of the tension controller are chosen and simulations are run with the chosen parameters. The tension control algorithm...

  12. Merged Vision and GPS Control of a Semi-Autonomous, Small Helicopter

    Rock, Stephen M.


    This final report documents the activities performed during the research period from April 1, 1996 to September 30, 1997. It contains three papers: Carrier Phase GPS and Computer Vision for Control of an Autonomous Helicopter; A Contestant in the 1997 International Aerospace Robotics Laboratory Stanford University; and Combined CDGPS and Vision-Based Control of a Small Autonomous Helicopter.

  13. Autonomous formation flight of helicopters: Model predictive control approach

    Chung, Hoam

    Formation flight is the primary movement technique for teams of helicopters. However, the potential for accidents is greatly increased when helicopter teams are required to fly in tight formations and under harsh conditions. This dissertation proposes that the automation of helicopter formations is a realistic solution capable of alleviating risks. Helicopter formation flight operations in battlefield situations are highly dynamic and dangerous, and, therefore, we maintain that both a high-level formation management system and a distributed coordinated control algorithm should be implemented to help ensure safe formations. The starting point for safe autonomous formation flights is to design a distributed control law attenuating external disturbances coming into a formation, so that each vehicle can safely maintain sufficient clearance between it and all other vehicles. While conventional methods are limited to homogeneous formations, our decentralized model predictive control (MPC) approach allows for heterogeneity in a formation. In order to avoid the conservative nature inherent in distributed MPC algorithms, we begin by designing a stable MPC for individual vehicles, and then introducing carefully designed inter-agent coupling terms in a performance index. Thus the proposed algorithm works in a decentralized manner, and can be applied to the problem of helicopter formations comprised of heterogenous vehicles. Individual vehicles in a team may be confronted by various emerging situations that will require the capability for in-flight reconfiguration. We propose the concept of a formation manager to manage separation, join, and synchronization of flight course changes. The formation manager accepts an operator's commands, information from neighboring vehicles, and its own vehicle states. Inside the formation manager, there are multiple modes and complex mode switchings represented as a finite state machine (FSM). Based on the current mode and collected

  14. Quad-Rotor Helicopter Autonomous Navigation Based on Vanishing Point Algorithm

    Jialiang Wang


    Full Text Available Quad-rotor helicopter is becoming popular increasingly as they can well implement many flight missions in more challenging environments, with lower risk of damaging itself and its surroundings. They are employed in many applications, from military operations to civilian tasks. Quad-rotor helicopter autonomous navigation based on the vanishing point fast estimation (VPFE algorithm using clustering principle is implemented in this paper. For images collected by the camera of quad-rotor helicopter, the system executes the process of preprocessing of image, deleting noise interference, edge extracting using Canny operator, and extracting straight lines by randomized hough transformation (RHT method. Then system obtains the position of vanishing point and regards it as destination point and finally controls the autonomous navigation of the quad-rotor helicopter by continuous modification according to the calculated navigation error. The experimental results show that the quad-rotor helicopter can implement the destination navigation well in the indoor environment.

  15. Helicopter Rotor Blade Monitoring using Autonomous Wireless Sensor Network

    Sanchez Ramirez, Andrea; Loendersloot, Richard; Tinga, Tiedo; Basu, B


    The advancement on Wireless Sensor Networks for vibration monitoring presents important possibilities for helicopter rotor health and usage monitoring. While main rotor blades account for the main source of lift for helicopters, rotor induced vibration establishes an important source for understanding the rotor performance and blade condition. A discussion on the dual character of blades as rotating structures results in two different interrogation strategies for external and internal dynamic...

  16. Development of an Autonomous Flight Control System for Small Size Unmanned Helicopter Based on Dynamical Model


    It is devoted to the development of an autonomous flight control system for small size unmanned helicopter based on dynamical model. At first, the mathematical model of a small size helicopter is described. After that simple but effective MTCV control algorithm was proposed. The whole flight control algorithm is composed of two parts:orientation controller based on the model for rotation dynamics and a robust position controller for a double integrator. The MTCV block is also used to achieve translation velocity control. To demonstrate the performance of the presented algorithm, simulation results and results achieved in real flight experiments were presented.


    T. Merz


    Full Text Available This paper presents the design of an autonomous unmanned helicopter system for low-altitude remote sensing. The proposed concepts and methods are generic and not limited to a specific helicopter. The development was driven by the need for a dependable, modular, and affordable system with sufficient payload capacity suitable for both research and real-world deployment. The helicopter can be safely operated without a backup pilot in a contained area beyond visual range. This enables data collection in inaccessible or dangerous areas. Thanks to its terrain following and obstacle avoidance capability, the system does not require a priori information about terrain elevation and obstacles. Missions are specified in state diagrams and flight plans. We present performance characteristics of our system and show results of its deployment in real-world scenarios. We have successfully completed several dozen infrastructure inspection missions and crop monitoring missions facilitating plant phenomics studies.

  18. 3D Vision Based Landing Control of a Small Scale Autonomous Helicopter

    Zhenyu Yu


    Full Text Available Autonomous landing is a challenging but important task for Unmanned Aerial Vehicles (UAV to achieve high level of autonomy. The fundamental requirement for landing is the knowledge of the height above the ground, and a properly designed controller to govern the process. This paper presents our research results in the study of landing an autonomous helicopter. The abovetheground height sensing is based on a 3D vision system. We have designed a simple planefitting method for estimating the height over the ground. The method enables vibration free measurement with the camera rigidly attached on the helicopter without using complicated gimbal or active vision mechanism. The estimated height is used by the landing control loop. Considering the ground effect during landing, we have proposed a twostage landing procedure. Two controllers are designed for the two landing stages respectively. The sensing approach and control strategy has been verified in field flight test and has demonstrated satisfactory performance.

  19. Real-time path planning and autonomous control for helicopter autorotation

    Yomchinda, Thanan

    Autorotation is a descending maneuver that can be used to recover helicopters in the event of total loss of engine power; however it is an extremely difficult and complex maneuver. The objective of this work is to develop a real-time system which provides full autonomous control for autorotation landing of helicopters. The work includes the development of an autorotation path planning method and integration of the path planner with a primary flight control system. The trajectory is divided into three parts: entry, descent and flare. Three different optimization algorithms are used to generate trajectories for each of these segments. The primary flight control is designed using a linear dynamic inversion control scheme, and a path following control law is developed to track the autorotation trajectories. Details of the path planning algorithm, trajectory following control law, and autonomous autorotation system implementation are presented. The integrated system is demonstrated in real-time high fidelity simulations. Results indicate feasibility of the capability of the algorithms to operate in real-time and of the integrated systems ability to provide safe autorotation landings. Preliminary simulations of autonomous autorotation on a small UAV are presented which will lead to a final hardware demonstration of the algorithms.

  20. Terrain and Radiation Mapping in Post-Disaster Environments Using an Autonomous Helicopter

    Kevin Kochersberger


    Full Text Available Recent events have highlighted the need for unmanned remote sensing in dangerous areas, particularly where structures have collapsed or explosions have occurred, to limit hazards to first responders and increase their efficiency in planning response operations. In the case of the Fukushima nuclear reactor explosion, an unmanned helicopter capable of obtaining overhead images, gathering radiation measurements, and mapping both the structural and radiation content of the environment would have given the response team invaluable data early in the disaster, thereby allowing them to understand the extent of the damage and areas where dangers to personnel existed. With this motivation, the Unmanned Systems Lab at Virginia Tech has developed a remote sensing system for radiation detection and aerial imaging using a 90 kg autonomous helicopter and sensing payloads for the radiation detection and imaging operations. The radiation payload, which is the sensor of focus in this paper, consists of a scintillating type detector with associated software and novel search algorithms to rapidly and effectively map and locate sources of high radiation intensity. By incorporating this sensing technology into an unmanned aerial vehicle system, crucial situational awareness can be gathered about a post-disaster environment and response efforts can be expedited. This paper details the radiation mapping and localization capabilities of this system as well as the testing of the various search algorithms using simulated radiation data. The various components of the system have been flight tested over a several-year period and a new production flight platform has been built to enhance reliability and maintainability. The new system is based on the Aeroscout B1-100 helicopter platform, which has a one-hour flight endurance and uses a COFDM radio system that gives the helicopter an effective range of 7 km.

  1. Aeromagnetic survey using an unmanned autonomous helicopter over Tarumae Volcano, northern Japan

    Hashimoto, Takeshi; Koyama, Takao; Kaneko, Takayuki; Ohminato, Takao; Yanagisawa, Takatoshi; Yoshimoto, Mitsuhiro; Suzuki, Eiichi


    Unmanned aerial vehicles (UAVs) have recently received attention in various research fields for their ability to perform measurements, surveillance, and operations in hazardous areas. Our application is volcano surveillance, in which we used an unmanned autonomous helicopter to conduct a dense low-altitude aeromagnetic survey over Tarumae Volcano, northern Japan. In autonomous flight, we demonstrated positioning control with an accuracy of ~10 m, which would be difficult for an ordinary crewed vehicle. In contrast to ground-based magnetic measurement, which is highly susceptible to local anomalies, the field gradient in the air with a terrain clearance of 100 to 300 m was fairly small at 1 nT/m. This result suggests that detection of temporal changes of an order of 10 nT may be feasible through a direct comparison of magnetic data between separate surveys by means of such a system, rather than that obtained by upward continuation to a common reduction surface. We assessed the temporal magnetic changes in the air, assuming the same remagnetising source within the volcano that was recently determined through ground surveys. We conclude that these expected temporal changes would reach a detection level in several years through a future survey in the air with the same autonomous vehicle.

  2. A remote radiation monitoring system using an autonomous unmanned helicopter for nuclear emergencies

    A feasibility study of a remote radiation monitoring system using a autonomous unmanned helicopter, mounted with a radiation detector and three CCD cameras, was carried out for surveying the dose-rate distribution of environmental radiation. This system can fly to destinations and return under automatic operation, measure radiation data during flight, and immediately transmit the data, including images, to a monitoring station on the ground. It is also possible to monitor the data on a map on a computer display in real time. Flight tests confirmed that the system can measure fluctuations of dose-rate distribution on the ground, and could be used for radiation monitoring in case of a nuclear emergency. (author)

  3. The Effectiveness of Pole Placement Method in Control System Design for an Autonomous Helicopter Model in Hovering Flight

    Abas Ab. Wahab


    Full Text Available This paper presents the results of attitude, velocity, heave and yaw controller design for an autonomous model scaled helicopter using identified model of vehicle dynamic from parameterized state-space model with quasi-steady attitude dynamic approximation (6 Degree of Freedom model. Multivariable state-space control methodology such as pole placement was used to design the linear state-space feedback for the stabilization of helicopter because of its simple controller architecture. The design specification for controller design was selected according to Military Handling Qualities Specification ADS-33C. Results indicate that acceptable controller can be designed using pole placement method with quasi-steady attitude approximation and it has been shown that the controller design was compliance with design criteria of hover requirement in ADS-33C.

  4. Helicopter Field Testing of NASA's Autonomous Landing and Hazard Avoidance Technology (ALHAT) System fully Integrated with the Morpheus Vertical Test Bed Avionics

    Epp, Chirold D.; Robertson, Edward A.; Ruthishauser, David K.


    The Autonomous Landing and Hazard Avoidance Technology (ALHAT) Project was chartered to develop and mature to a Technology Readiness Level (TRL) of six an autonomous system combining guidance, navigation and control with real-time terrain sensing and recognition functions for crewed, cargo, and robotic planetary landing vehicles. The ALHAT System must be capable of identifying and avoiding surface hazards to enable a safe and accurate landing to within tens of meters of designated and certified landing sites anywhere on a planetary surface under any lighting conditions. This is accomplished with the core sensing functions of the ALHAT system: Terrain Relative Navigation (TRN), Hazard Detection and Avoidance (HDA), and Hazard Relative Navigation (HRN). The NASA plan for the ALHAT technology is to perform the TRL6 closed loop demonstration on the Morpheus Vertical Test Bed (VTB). The first Morpheus vehicle was lost in August of 2012 during free-flight testing at Kennedy Space Center (KSC), so the decision was made to perform a helicopter test of the integrated ALHAT System with the Morpheus avionics over the ALHAT planetary hazard field at KSC. The KSC helicopter tests included flight profiles approximating planetary approaches, with the entire ALHAT system interfaced with all appropriate Morpheus subsystems and operated in real-time. During these helicopter flights, the ALHAT system imaged the simulated lunar terrain constructed in FY2012 to support ALHAT/Morpheus testing at KSC. To the best of our knowledge, this represents the highest fidelity testing of a system of this kind to date. During this helicopter testing, two new Morpheus landers were under construction at the Johnson Space Center to support the objective of an integrated ALHAT/Morpheus free-flight demonstration. This paper provides an overview of this helicopter flight test activity, including results and lessons learned, and also provides an overview of recent integrated testing of ALHAT on the second

  5. Helicopter flight test of 3D imaging flash LIDAR technology for safe, autonomous, and precise planetary landing

    Roback, Vincent; Bulyshev, Alexander; Amzajerdian, Farzin; Reisse, Robert


    Two flash lidars, integrated from a number of cutting-edge components from industry and NASA, are lab characterized and flight tested for determination of maximum operational range under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project (in its fourth development and field test cycle) which is seeking to develop a guidance, navigation, and control (GNC) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The flash lidars incorporate pioneering 3-D imaging cameras based on Indium-Gallium-Arsenide Avalanche Photo Diode (InGaAs APD) and novel micro-electronic technology for a 128 x 128 pixel array operating at 30 Hz, high pulse-energy 1.06 μm Nd:YAG lasers, and high performance transmitter and receiver fixed and zoom optics. The two flash lidars are characterized on the NASA-Langley Research Center (LaRC) Sensor Test Range, integrated with other portions of the ALHAT GNC system from partner organizations into an instrument pod at NASA-JPL, integrated onto an Erickson Aircrane Helicopter at NASA-Dryden, and flight tested at the Edwards AFB Rogers dry lakebed over a field of humanmade geometric hazards during the summer of 2010. Results show that the maximum operational range goal of 1 km is met and exceeded up to a value of 1.2 km. In addition, calibrated 3-D images of several hazards are acquired in realtime for later reconstruction into Digital Elevation Maps (DEM's).

  6. Helicopter Flight Test of 3-D Imaging Flash LIDAR Technology for Safe, Autonomous, and Precise Planetary Landing

    Roback, Vincent; Bulyshev, Alexander; Amzajerdian, Farzin; Reisse, Robert


    Two flash lidars, integrated from a number of cutting-edge components from industry and NASA, are lab characterized and flight tested for determination of maximum operational range under the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project (in its fourth development and field test cycle) which is seeking to develop a guidance, navigation, and control (GN&C) and sensing system based on lidar technology capable of enabling safe, precise crewed or robotic landings in challenging terrain on planetary bodies under any ambient lighting conditions. The flash lidars incorporate pioneering 3-D imaging cameras based on Indium-Gallium-Arsenide Avalanche Photo Diode (InGaAs APD) and novel micro-electronic technology for a 128 x 128 pixel array operating at 30 Hz, high pulse-energy 1.06 micrometer Nd:YAG lasers, and high performance transmitter and receiver fixed and zoom optics. The two flash lidars are characterized on the NASA-Langley Research Center (LaRC) Sensor Test Range, integrated with other portions of the ALHAT GN&C system from partner organizations into an instrument pod at NASA-JPL, integrated onto an Erickson Aircrane Helicopter at NASA-Dryden, and flight tested at the Edwards AFB Rogers dry lakebed over a field of human-made geometric hazards during the summer of 2010. Results show that the maximum operational range goal of 1 km is met and exceeded up to a value of 1.2 km. In addition, calibrated 3-D images of several hazards are acquired in real-time for later reconstruction into Digital Elevation Maps (DEM's).

  7. Robotic Helicopter Surveying (MAS 13)

    Srikanth Saripalli; Jonathan Kelly; Sukhatme, Gaurav S.


    We present a method for highly accurate surveying using an autonomous helicopter equipped with a downward looking camera. Given a location that needs to be mapped the helicopter creates accurate aerial maps by combining visual data with inertial and GPS data. We present initial results that show maps of Lake Fulmor using the helicopter. These maps were created manually but they demonstrate the method used.

  8. Pheno-Copter: A Low-Altitude, Autonomous Remote-Sensing Robotic Helicopter for High-Throughput Field-Based Phenotyping

    Scott C. Chapman


    Full Text Available Plant breeding trials are extensive (100s to 1000s of plots and are difficult and expensive to monitor by conventional means, especially where measurements are time-sensitive. For example, in a land-based measure of canopy temperature (hand-held infrared thermometer at two to 10 plots per minute, the atmospheric conditions may change greatly during the time of measurement. Such sensors measure small spot samples (2 to 50 cm2, whereas image-based methods allow the sampling of entire plots (2 to 30 m2. A higher aerial position allows the rapid measurement of large numbers of plots if the altitude is low (10 to 40 m and the flight control is sufficiently precise to collect high-resolution images. This paper outlines the implementation of a customized robotic helicopter (gas-powered, 1.78-m rotor diameter with autonomous flight control and software to plan flights over experiments that were 0.5 to 3 ha in area and, then, to extract, straighten and characterize multiple experimental field plots from images taken by three cameras. With a capacity to carry 1.5 kg for 30 min or 1.1 kg for 60 min, the system successfully completed >150 flights for a total duration of 40 h. Example applications presented here are estimations of the variation in: ground cover in sorghum (early season; canopy temperature in sugarcane (mid-season; and three-dimensional measures of crop lodging in wheat (late season. Together with this hardware platform, improved software to automate the production of ortho-mosaics and digital elevation models and to extract plot data would further benefit the development of high-throughput field-based phenotyping systems.

  9. Helicopter-borne laser autonomous positioning of buried pipeline%机载激光对埋地管道的自主定位

    刘海芳; 王瑞; 钟诗胜; 刘克强


    为实现用机载激光对埋地天然气管道泄漏进行遥感检测,提出了机载激光自主定位管道的定位测量方法,利用机载GPS和惯性姿态测量系统得到载机的位置和姿态,结合已知的埋地管道地理位置信息,采用解析几何中的点法式求出激光对管道的自主定位点;然后利用坐标转换求出激光束在载机坐标系中的方位角和俯仰角,通过机械机构驱动激光完成对管道的引导定位.利用自行研制的激光夹持对准机构进行了地面定点实验,结果显示,地面定位最大误差为8.4m,平均定位误差<6.9 m;若进一步提高载机姿态、位置传感器精度及执行机构精度,激光对管道的引导定位误差会更小.结果表明本文所阐述的激光对埋地管道自主定位算法可用于机载激光对埋地天然气管道的遥感检测.%To realize the remote detection of the leak of a buried natural gas pipeline by an airborne laser, a helicopter-borne laser autonomous positioning method for the buried natural gas pipeline was presented. Based on the position and attitude of the carrier aircraft obtained by an airborne GPS and an inertial attitude measurement system, the laser autonomous positioning point of the pipeline was obtained based on the known location information and by the space vector method. Furthermore,the azimuth and pitch angles of the airborne laser were solved through the coordinate transformation. Finally, driven by the mechanism, the laser-guiding positioning of the pipeline was fulfilled. With application of the laser clamping alignment mechanism independently developed by ourselves, the ground point-fixed experiment proves that the proposed algorithm can offer the accuracy of the ground positioning by 6. 9 m,and it will be more accurate when the precision of the carrier aircraft attitude and the position sensor is further improved. Experiments demonstrate that the algorithm is suitable for the remote detection of the

  10. MMW radar enhanced vision systems: the Helicopter Autonomous Landing System (HALS) and Radar-Enhanced Vision System (REVS) are rotary and fixed wing enhanced flight vision systems that enable safe flight operations in degraded visual environments

    Cross, Jack; Schneider, John; Cariani, Pete


    Sierra Nevada Corporation (SNC) has developed rotary and fixed wing millimeter wave radar enhanced vision systems. The Helicopter Autonomous Landing System (HALS) is a rotary-wing enhanced vision system that enables multi-ship landing, takeoff, and enroute flight in Degraded Visual Environments (DVE). HALS has been successfully flight tested in a variety of scenarios, from brown-out DVE landings, to enroute flight over mountainous terrain, to wire/cable detection during low-level flight. The Radar Enhanced Vision Systems (REVS) is a fixed-wing Enhanced Flight Vision System (EFVS) undergoing prototype development testing. Both systems are based on a fast-scanning, threedimensional 94 GHz radar that produces real-time terrain and obstacle imagery. The radar imagery is fused with synthetic imagery of the surrounding terrain to form a long-range, wide field-of-view display. A symbology overlay is added to provide aircraft state information and, for HALS, approach and landing command guidance cuing. The combination of see-through imagery and symbology provides the key information a pilot needs to perform safe flight operations in DVE conditions. This paper discusses the HALS and REVS systems and technology, presents imagery, and summarizes the recent flight test results.

  11. Skycrane Helicopter


    The Sikorsky S-64 Skycrane helicopter, which saw service with the U.S.Army as the CH-54 Tarhe, flew at Langley in its later version, the CH-54B. The 'Crane' was used in studies into the handling of large helicopters, and as such sported various loads attached to the airframe. The Army retired its Skycranes in the 1970s and they were completely removed from military service in the 1980s. Ex-military Skycranes entered commercial service, where they are used in various heavy-lift roles, including the lumber industry. The U.S. military preferred a heavy-lift aircraft that also had a cabin capable of carrying cargo and troops.

  12. Evaluating SLAM algorithms for Autonomous Helicopters

    Skoglund, Martin


    Navigation with unmanned aerial vehicles (UAVs) requires good knowledge of the current position and other states. A UAV navigation system often uses GPS and inertial sensors in a state estimation solution. If the GPS signal is lost or corrupted state estimation must still be possible and this is where simultaneous localization and mapping (SLAM) provides a solution. SLAM considers the problem of incrementally building a consistent map of a previously unknown environment and simultaneously loc...

  13. Small Business Innovations (Helicopters)


    The amount of engine power required for a helicopter to hover is an important, but difficult, consideration in helicopter design. The EHPIC program model produces converged, freely distorted wake geometries that generate accurate analysis of wake-induced downwash, allowing good predictions of rotor thrust and power requirements. Continuum Dynamics, Inc., the Small Business Innovation Research (SBIR) company that developed EHPIC, also produces RotorCRAFT, a program for analysis of aerodynamic loading of helicopter blades in forward flight. Both helicopter codes have been licensed to commercial manufacturers.

  14. Model Reference Sliding Mode Control of Small Helicopter X.R.B based on Vision

    Wei Wang; Kenzo Nonami; Yuta Ohira


    This paper presents autonomous control for indoor small helicopter X.R.B. In case of natural disaster like earthquake, a MAV (Micro Air Vehicle) which can fly autonomously will be very effective for surveying the site and environment in dangerous area or narrow space, where human cannot access safely. In addition, it will be helpful to prevent secondary disaster. This paper describes vision based autonomous hovering control, guidance control for X.R.B by model reference sliding mode control.

  15. 78 FR 9793 - Airworthiness Directives; Bell Helicopter Textron Helicopters


    ... Model 204B, 205A, 205A-1, 205B and 210 helicopters with certain part-numbered main rotor hub inboard... a main rotor blade, and subsequent loss of helicopter control. DATES: This AD becomes effective... helicopters, are susceptible to the same type of cracking because they are of similar design and...

  16. Power Efficient Video Communication for Mini Helicopter

    Ingvaldsen, Ola Naalsund


    In this thesis, a video communication system for use in a mini helicopter is reviewed. The transmitter is located in a small battery powered mini helicopter, weighing about 15 grams, and the receiver is the helicopter's remote control. The operator controls the helicopter only based on the video feed sent from the helicopter, hence it is critical that the delay is kept to a minimum. Due to the helicopter's small size, the energy available is very limited, and both coding and transmission shou...

  17. Advanced Airfoils Boost Helicopter Performance


    Carson Helicopters Inc. licensed the Langley RC4 series of airfoils in 1993 to develop a replacement main rotor blade for their Sikorsky S-61 helicopters. The company's fleet of S-61 helicopters has been rebuilt to include Langley's patented airfoil design, and the helicopters are now able to carry heavier loads and fly faster and farther, and the main rotor blades have twice the previous service life. In aerial firefighting, the performance-boosting airfoils have helped the U.S. Department of Agriculture's Forest Service control the spread of wildfires. In 2003, Carson Helicopters signed a contract with Ducommun AeroStructures Inc., to manufacture the composite blades for Carson Helicopters to sell

  18. Development of helicopter attitude axes controlled hover flight without pilot assistance and vehicle crashes

    Simon, Miguel

    testing any one or combination of the following attitude axes controlled flight: (1) pitch, (2) roll and (3) yaw. The subsequent development of a novel method to decouple, stabilize and teach the helicopter hover flight is a primary contribution of this thesis. The novel method included the development of a non-linear modeling technique for linearizing the RPM state equation dynamics so that a simple but accurate transfer function is derivable between the "available torque of the engine" and RPM. Specifically, the main rotor and tail rotor torques are modeled accurately with a bias term plus a nonlinear term involving the product of RPM squared times the main rotor blade pitch angle raised to the three-halves power. Application of this non-linear modeling technique resulted in a simple, representative and accurate transfer function model of the open-loop plant for the entire helicopter system so that all the feedback control laws for autonomous flight purposes could be derived easily using classical control theory. This is one of the contributions of this dissertation work. After discussing the integration of hardware and software elements of our helicopter research test bed system, we perform a number of experiments and tests using the two specially built test stands. Feedback gains are derived for controlling the following: (1) engine throttle to maintain prescribed main rotor angular speed, (2) main rotor collective pitch to maintain constant elevation, (3) longitudinal cyclic pitch to maintain prescribed pitch angle, (4) lateral cyclic pitch to maintain prescribed roll angle, and (5) yaw axis to maintain prescribed compass direction. (Abstract shortened by UMI.)

  19. Agent, autonomous

    Luciani, Annie


    The expression autonomous agents, widely used in virtual reality, computer graphics, artificial intelligence and artificial life, corresponds to the simulation of autonomous creatures, virtual (i.e. totally computed by a program), or embodied in a physical envelope, as done in autonomous robots.

  20. 78 FR 35773 - Airworthiness Directives; MD Helicopters, Inc. (MDHI), Helicopters


    ... the MDHI Model MD900 helicopters with certain main rotor blade (MRB) retention bolts (bolts) installed... MD 900 helicopters with a main rotor blade retention bolt (bolt), part number (P/N) 900R3100001-103... exist or develop on other products of the same type design. Related Service Information We have...

  1. Identification, control and visually-guided behavior for a model helicopter

    Saripalli, Srikanth

    Research on unmanned aerial vehicles is motivated by applications where human intervention is impossible, risky or expensive e.g. hazardous material recovery, traffic monitoring, disaster relief support, military operations etc. Due to its vertical take-off, landing and hover capabilities, a helicopter is an attractive platform for such applications. There are significant challenges to building an autonomous robotic helicopter - these span the areas of system identification, low-level control, state estimation, and planning. Towards the goal of fully-autonomous helicopters this thesis makes the following contributions. A continuous-discrete extended Kalman filter has been developed that combines inertial data with GPS and compass data to provide estimates of the 6DOF state of the helicopter. Using this filter a model for the helicopter has been identified based on frequency response techniques. The model has been validated in flight tests on a small helicopter testbed (1.6 m rotor diameter) at speeds upto 5 m/s. Based on evidence from this model a decoupled low-level controller has been developed which is embedded in a control architecture suitable for visually-guided navigation. As a novel application, we show how such a controller can be used to perform trajectory following on the helicopter where the desired trajectories are typical spacecraft landing trajectories, and the only controls available are thrusters. This in effect, produces a low-cost testbed for testing spacecraft landing and hazard avoidance on a planetary surface. Finally, we develop and extensively experimentally characterize algorithms for vision-based autonomous landing, object tracking, and sensor deployment.

  2. A Primer on Autonomous Aerial Vehicle Design

    Coppejans, Hugo H. G.; Myburgh, Herman C.


    There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. PMID:26633410

  3. A Primer on Autonomous Aerial Vehicle Design

    Hugo H. G. Coppejans


    Full Text Available There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV, such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers.

  4. A Primer on Autonomous Aerial Vehicle Design.

    Coppejans, Hugo H G; Myburgh, Herman C


    There is a large amount of research currently being done on autonomous micro-aerial vehicles (MAV), such as quadrotor helicopters or quadcopters. The ability to create a working autonomous MAV depends mainly on integrating a simultaneous localization and mapping (SLAM) solution with the rest of the system. This paper provides an introduction for creating an autonomous MAV for enclosed environments, aimed at students and professionals alike. The standard autonomous system and MAV automation are discussed, while we focus on the core concepts of SLAM systems and trajectory planning algorithms. The advantages and disadvantages of using remote processing are evaluated, and recommendations are made regarding the viability of on-board processing. Recommendations are made regarding best practices to serve as a guideline for aspirant MAV designers. PMID:26633410

  5. Helicopter Rotor Antenna

    Pogorzelski, Ronald J.; Cable, Vaughn P.


    This effort was directed toward demonstration of the efficacy of a concept for mitigation of the rotor blade modulation problem in helicopter communications. An antenna is envisioned with radiating elements mounted on the rotor and rotating with it. The rf signals are coupled to the radio stationary with respect to the airframe via a coupler of unique design. The coupler has an rf cavity within which a mode is established and the field distribution of this mode is sampled by probes rotating with the radiating elements. In this manner the radiated pattern is "despun" with respect to the rotor. Theoretical analysis has indicated that this arrangement will be less susceptible to rotor blade modulation that would be a conventional fixed mounted antenna. A small coupler operating at S-band was designed, fabricated, and mounted on a mockup representative of a helicopter body. A small electric motor was installed to rotate the rotor portion of the coupler along with a set of radiating elements during testing. This test article was be evaluated using the JPL Mesa Antenna Measurement Facility to establish its ability to mitigate rotor blade modulation. It was found that indeed such a coupler will result in a despun pattern and that such a pattern can be effective in mitigation of rotor blade modulation.

  6. Modeling, Control and Coordination of Helicopter Systems

    Ren, Beibei; Chen, Chang; Fua, Cheng-Heng; Lee, Tong Heng


    Modeling, Control and Coordination of Helicopter Systems provides a comprehensive treatment of helicopter systems, ranging from related nonlinear flight dynamic modeling and stability analysis to advanced control design for single helicopter systems, and also covers issues related to the coordination and formation control of multiple helicopter systems to achieve high performance tasks. Ensuring stability in helicopter flight is a challenging problem for nonlinear control design and development. This book is a valuable reference on modeling, control and coordination of helicopter systems,providing readers with practical solutions for the problems that still plague helicopter system design and implementation. Readers will gain a complete picture of helicopters at the systems level, as well as a better understanding of the technical intricacies involved. This book also: Presents a complete picture of modeling, control and coordination for helicopter systems Provides a modeling platform for a general class of ro...

  7. Vertebral pain in helicopter pilots

    Auffret, R.; Delahaye, R. P.; Metges, P. J.; VICENS


    Pathological forms of spinal pain engendered by piloting helicopters were clinically studied. Lumbalgia and pathology of the dorsal and cervical spine are discussed along with their clinical and radiological signs and origins.

  8. Sandia Helicopter Acoustic Detector (SHAD)

    Arlowe, H. D.


    The Sandia Helicopter Acoustic Detector was developed to provide a low cost alternative to radar for countering the helicopter threat at new DOE facilities. The main buildings of these new designs are generally hardened to provide significant delay to a helicopter borne adversary team. Under these circumstances the sensor is only required to detect helicopters that are in their final landing phase and at close range (less than 75 m). This short detection range allows the use of a fairly simple acoustic detection algorithm without making the system overly sensitive to wind noise, motor vehicles, and ventilation/heat exchange blowers. This work was sponsored by the Department of Energy/Office of Safeguards and Security as part of the overall Sandia Fixed Facility Physical Protection Program.

  9. Helicopter accident survivability.

    Vyrnwy-Jones, P; Thornton, R


    Army Air Corps accident and fatality rates have now reached levels which compare favourably with data from other civilian and military sources. This improvement is the result of enhanced helicopter design and parallel progress in aircrew training. The introduction of new generations of turbine powered rotor craft has largely eliminated mechanical failure as the cause of accident. As a result 75% of Army Air Corps accidents are due to pilot error. This contribution is likely to increase in the future as the pilot's task is made more difficult by the incumberance of personal equipment. Methods whereby occupant protection and aircraft crashworthiness can be improved are reviewed and it is concluded that it would make sound economic sense to implement some of these well proven design features. PMID:6527344

  10. The evolution of helicopters

    Chen, R.; Wen, C. Y.; Lorente, S.; Bejan, A.


    Here, we show that during their half-century history, helicopters have been evolving into geometrically similar architectures with surprisingly sharp correlations between dimensions, performance, and body size. For example, proportionalities emerge between body size, engine size, and the fuel load. Furthermore, the engine efficiency increases with the engine size, and the propeller radius is roughly the same as the length scale of the whole body. These trends are in accord with the constructal law, which accounts for the engine efficiency trend and the proportionality between "motor" size and body size in animals and vehicles. These body-size effects are qualitatively the same as those uncovered earlier for the evolution of aircraft. The present study adds to this theoretical body of research the evolutionary design of all technologies [A. Bejan, The Physics of Life: The Evolution of Everything (St. Martin's Press, New York, 2016)].

  11. Human-Vehicle Interface for Semi-Autonomous Operation of Uninhabited Aero Vehicles

    Jones, Henry L.; Frew, Eric W.; Woodley, Bruce R.; Rock, Stephen M.


    The robustness of autonomous robotic systems to unanticipated circumstances is typically insufficient for use in the field. The many skills of human user often fill this gap in robotic capability. To incorporate the human into the system, a useful interaction between man and machine must exist. This interaction should enable useful communication to be exchanged in a natural way between human and robot on a variety of levels. This report describes the current human-robot interaction for the Stanford HUMMINGBIRD autonomous helicopter. In particular, the report discusses the elements of the system that enable multiple levels of communication. An intelligent system agent manages the different inputs given to the helicopter. An advanced user interface gives the user and helicopter a method for exchanging useful information. Using this human-robot interaction, the HUMMINGBIRD has carried out various autonomous search, tracking, and retrieval missions.

  12. Variable-Tilt Helicopter Rotor Mast

    Kelley, Henry L.


    Variable-tilt helicopter rotor mast proposed to improve helicopter performance and reduce vibration, especially at upper end of forward-speed range of helicopters. Achieved by use of universal coupling in main rotor mast or by tilting entire engine-and-transmission platform. Performance, energy efficiency, and safety enhanced.

  13. 46 CFR 108.653 - Helicopter facilities.


    ... 46 Shipping 4 2010-10-01 2010-10-01 false Helicopter facilities. 108.653 Section 108.653 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Equipment Markings and Instructions § 108.653 Helicopter facilities. (a) Each helicopter...

  14. 46 CFR 108.486 - Helicopter decks.


    ... 46 Shipping 4 2010-10-01 2010-10-01 false Helicopter decks. 108.486 Section 108.486 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Fire Extinguishing Systems Fire Protection for Helicopter Facilities § 108.486 Helicopter decks....

  15. Investigating Flight with a Toy Helicopter

    Liebl, Michael


    Flight fascinates people of all ages. Recent advances in battery technology have extended the capabilities of model airplanes and toy helicopters. For those who have never outgrown a childhood enthusiasm for the wonders of flight, it is possible to buy inexpensive, remotely controlled planes and helicopters. A toy helicopter offers an opportunity…

  16. Wavelet analysis of helicopter noise signal

    ZHANG Qiang; WANG Huaming; HU Zhangwei


    Helicopter noise features under typical flight condition were investigated based on wavelet transform. The contribution of blade-vortex interaction (BVI) to helicopter noise and low frequency oscillations beat was shown clearly from the detail of wavelet decomposition for helicopter noise signal.

  17. [Importance of helicopter rescue].

    Hofer, G; Voelckel, W G


    Helicopter emergency medical service (HEMS) have become a main part of prehospital emergency medical services over the last 40 years. Recently, an ongoing discussion about financial shortage and personal shortcomings question the role of cost-intensive air rescue. Thus, the value of HEMS must be examined and discussed appropriately. Since the number of physician-staffed ground ambulances may decrease due to the limited availability of qualified physicians, HEMS may fill the gap. In addition patient transfer to specialized hospitals will require an increasing number of air transports in order to minimize prehospital time. The higher risk ratio for HEMS missions when compared with ground rescue requires a rigorous quality management system. When it comes to missions in remote and exposed areas, the scope of medical treatment must be adjusted to the individual situation. Medical competence is key in order to balance guideline compliant or maximal care versus optimal care characterized as a mission-specific, individualized emergency care concept. Although, medical decision making and treatment is typically based on the best scientific evidence, personal skills, competence, and the mission scenario will determine the scope of interventions suitable to improve outcome. Thus, the profile of requirements for the HEMS medical crew is high. PMID:24618925

  18. 77 FR 35306 - Airworthiness Directives; Bell Helicopter Textron, Inc. Helicopters


    ... visibility, and subsequent loss of structural integrity and helicopter control. FAA's Determination We are... Policies and Procedures (44 FR 11034, February 26, 1979); 3. Will not affect intrastate aviation in Alaska... the FAA with promoting safe flight of civil aircraft in air commerce by prescribing regulations...

  19. Helicopter Toy and Lift Estimation

    Shakerin, Said


    A $1 plastic helicopter toy (called a Wacky Whirler) can be used to demonstrate lift. Students can make basic measurements of the toy, use reasonable assumptions and, with the lift formula, estimate the lift, and verify that it is sufficient to overcome the toy's weight. (Contains 1 figure.)

  20. Military display market segment: helicopters

    Desjardins, Daniel D.; Hopper, Darrel G.


    The military display market is analyzed in terms of one of its segments: helicopter displays. Parameters requiring special consideration, to include luminance ranges, contrast ratio, viewing angles, and chromaticity coordinates, are examined. Performance requirements for rotary-wing displays relative to several premier applications are summarized. Display sizes having aggregate defense applications of 5,000 units or greater and having DoD applications across 10 or more platforms, are tabulated. The issue of size commonality is addressed where distribution of active area sizes across helicopter platforms, individually, in groups of two through nine, and ten or greater, is illustrated. Rotary-wing displays are also analyzed by technology, where total quantities of such displays are broken out into CRT, LCD, AMLCD, EM, LED, Incandescent, Plasma and TFEL percentages. Custom, versus Rugged commercial, versus commercial off-the-shelf designs are contrasted. High and low information content designs are identified. Displays for several high-profile military helicopter programs are discussed, to include both technical specifications and program history. The military display market study is summarized with breakouts for the helicopter market segment. Our defense-wide study as of March 2004 has documented 1,015,494 direct view and virtual image displays distributed across 1,181 display sizes and 503 weapon systems. Helicopter displays account for 67,472 displays (just 6.6% of DoD total) and comprise 83 sizes (7.0% of total DoD) in 76 platforms (15.1% of total DoD). Some 47.6% of these rotary-wing applications involve low information content displays comprising just a few characters in one color; however, as per fixed-wing aircraft, the predominant instantiation involves higher information content units capable of showing changeable graphics, color and video.

  1. Portable-Beacon Landing System for Helicopters

    Davis, Thomas J.; Clary, George R.; Chisholm, John P.; Macdonald, Stanley L.


    Prototype beacon landing system (BLS) allows helicopters to make precise landings in all weather. BLS easily added to existing helicopter avionic equipment and readily deployed at remote sites. Small and light, system employs X-band radar and digital processing. Variety of beams pulsed sequentially by ground station after initial interrogation by weather radar of approaching helicopter. Airborne microprocessor processes pulses to determine glide slope, course deviation, and range.

  2. Poster presentation Sandia helicopter acoustic detector

    In reviewing the safeguards plans for several proposed fuel cycle facilities, the advantages of a short-range helicopter detector became apparent. The main buildings of these new designs are generally hardened so as to provide significant delay to a helicopter-borne adversary team. Under these circumstances the sensor is only required to detect helicopters which are in their final landing phase and at close range (less than 75 meters). This paper describes the Sandia detector, which is designed to only look at spectral lines between 20 and 40 Hz, and depends upon the harmonic content of the rotor pulses for detecting the lower rotor speed helicopters. 1 ref

  3. Control of helicopter rotorblade aerodynamics

    Fabunmi, James A.


    The results of a feasibility study of a method for controlling the aerodynamics of helicopter rotorblades using stacks of piezoelectric ceramic plates are presented. A resonant mechanism is proposed for the amplification of the displacements produced by the stack. This motion is then converted into linear displacement for the actuation of the servoflap of the blades. A design which emulates the actuation of the servoflap on the Kaman SH-2F is used to demonstrate the fact that such a system can be designed to produce the necessary forces and velocities needed to control the aerodynamics of the rotorblades of such a helicopter. Estimates of the electrical power requirements are also presented. A Small Business Innovation Research (SBIR) Phase 2 Program is suggested, whereby a bench-top prototype of the device can be built and tested. A collaborative effort between AEDAR Corporation and Kaman Aerospace Corporation is anticipated for future effort on this project.

  4. Autonomous Search

    Hamadi, Youssef; Saubion, Frédéric


    Decades of innovations in combinatorial problem solving have produced better and more complex algorithms. These new methods are better since they can solve larger problems and address new application domains. They are also more complex which means that they are hard to reproduce and often harder to fine-tune to the peculiarities of a given problem. This last point has created a paradox where efficient tools are out of reach of practitioners. Autonomous search (AS) represents a new research field defined to precisely address the above challenge. Its major strength and originality consist in the

  5. Pure Autonomic Failure

    ... Drugs GARD Information Navigator FAQs About Rare Diseases Pure autonomic failure Title Other Names: Bradbury Eggleston syndrome; ... Categories: Nervous System Diseases ; RDCRN Summary Summary Listen Pure autonomic failure is characterized by generalized autonomic failure ...

  6. Degloving injury from a helicopter rotor strike.

    Nelson, J M; Sawyer, M A


    The incidence of helicopter accidents has decreased, but lethality remains considerable. Rotor strikes are deadlier than crash-related injuries. We describe a degloving injury caused by a helicopter tail rotor strike managed with rapid resuscitation and early split-thickness skin grafting. PMID:8775394

  7. A study of helicopter interior noise reduction

    Howlett, J. T.; Clevenson, S. A.


    The interior noise levels of existing helicopters are discussed along with an ongoing experimental program directed towards reducing these levels. Results of several noise and vibration measurements on Langley Research Center's Civil Helicopter Research Aircraft are presented, including measurements taken before and after installation of an acoustically-treated cabin. The predominant noise source in this helicopter is the first stage planetary gear-clash in the main gear box, both before and after installation of the acoustically treated cabin. Noise reductions of up to 20 db in some octave bands may be required in order to obtain interior noise levels comparable to commercial jet transports.

  8. Helicopter attempts tow of Liberty Bell 7


    Marine helicopter appears to have Liberty Bell 7 in tow after Virgil I. Grissom's successful flight of 305 miles down the Atlantic Missile Range. Minutes after 'Gus' Grissom got out of the spacecraft, it sank.

  9. Tail Rotor Airfoils Stabilize Helicopters, Reduce Noise


    Founded by former Ames Research Center engineer Jim Van Horn, Van Horn Aviation of Tempe, Arizona, built upon a Langley Research Center airfoil design to create a high performance aftermarket tail rotor for the popular Bell 206 helicopter. The highly durable rotor has a lifetime twice that of the original equipment manufacturer blade, reduces noise by 40 percent, and displays enhanced performance at high altitudes. These improvements benefit helicopter performance for law enforcement, military training, wildfire and pipeline patrols, and emergency medical services.

  10. An ambulance helicopter for emergency calls.

    Sellwood, N


    The use of a helicopter as a primary response vehicle for the Cornwall Ambulance Service is presented. A brief analysis of the activities of the First Air Ambulance is described and an appraisal of its effects on the overall performance of the Service is given. Emphasis is given to patient acceptability and also to the flexibility of the helicopter in terms of its response to different situations. In conclusion, The Air Ambulance, as part of an integrated ambulance service, is an effective pr...

  11. 75 FR 69862 - Airworthiness Directives; MD Helicopters, Inc. Model MD900 Helicopters


    ... exist or develop on other helicopters of the same type design. Therefore, this AD requires, within 4...-AD. Applicability: Model MD900 helicopters, with lower main rotor hub (hub), part number 900R2101008... the main rotor hub (hub) for a crack. If a crack is found, this AD requires, before further...

  12. 76 FR 41662 - Airworthiness Directives; MD Helicopters, Inc. Model MD900 Helicopters


    ... helicopters of this same type design. AD Requirements This AD requires a visual inspection, and if necessary...) Inspect the main rotor lower hub assembly for a crack by following the specified portions of MD Helicopter... rotor lower hub assembly (lower hub) for a crack, and if you find a crack, before further...

  13. 77 FR 23388 - Airworthiness Directives; Bell Helicopter Textron Canada Limited Helicopters


    ... helicopters with certain main rotor blades installed to reduce the life limit of those blades. This AD is... main rotor blade and subsequent loss of control of the helicopter. DATES: This AD becomes effective May... blade failure and has reduced the life limit on all affected blades from 3,600 hours...

  14. Autonomic Nervous System Disorders

    Your autonomic nervous system is the part of your nervous system that controls involuntary actions, such as the beating of your heart ... breathing and swallowing Erectile dysfunction in men Autonomic nervous system disorders can occur alone or as the result ...

  15. Autoimmune Autonomic Ganglionopathy

    ... Accessed 9/2/2015. Autoimmune Autonomic Ganglionopathy Summary. Dysautonomia International . ... page Basic Information In Depth Information Basic Information Dysautonomia International offers an information page on Autoimmune autonomic ...

  16. US Helicopter Expands Service to Newark Liberty International Airport


    @@ US Helicopter Corporation ("US Helicopter") (OTC Bulletin Board: USHP) and Continental Airlines (NYSE: CAL)announced a partnership to provide eight-minute shuttle service between Manhattan and Newark Liberty International Airport beginning Dec.18, 2006.

  17. 77 FR 39911 - The New York North Shore Helicopter Route


    ... operations offshore. The FAA published the route on the Helicopter Route Chart for New York, effective May 8...'' (75 FR 29471). The FAA proposed requiring civil helicopters operating along Long Island, New York's... helicopter flights over communities along the north shore of Long Island by moving those flights offshore...

  18. 46 CFR 132.320 - Helicopter-landing decks.


    ... 46 Shipping 4 2010-10-01 2010-10-01 false Helicopter-landing decks. 132.320 Section 132.320 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) OFFSHORE SUPPLY VESSELS FIRE-PROTECTION EQUIPMENT Miscellaneous § 132.320 Helicopter-landing decks. Each vessel with a helicopter-landing deck...

  19. 78 FR 17593 - Airworthiness Directives; Bell Helicopter Textron, Inc.


    ... lead to the loss of main rotor (M/R) blade pitch control and subsequent loss of helicopter control..., which could lead to the loss of M/R blade pitch control and subsequent loss of helicopter control... helicopters. This AD requires establishing a lower life limit on certain swashplate outer ring...

  20. Toward Visual Autonomous Ship Board Landing of a VTOL UAV

    Sánchez López, José Luis; Saripalli, Srikanth; Campoy Cervera, Pascual; Pestana Puerta, Jesús; Fu, Changhong


    In this paper we tackle the problem of landing a helicopter autonomously on a ship deck, using as the main sensor, an on-board colour camera. To create a test-bed, we first adequately simulate the movement of a ship landing platform on the Sea, for different Sea States, for different ships, randomly and realistically enough. We use a commercial parallel robot to get this movement. Once we had this, we developed an accurate and robust computer vision system to measure the pose of the helipad w...

  1. Computer-vision-based autonomous control for quadrocopter

    Lukežič, Alan


    The main goal of the thesis is presenting the implementation of the mobile platform Parrot AR.Drone for object tracking. Parrot is a quadrocopter – an aerial vehicle similar to a helicopter, but with four propellers. As there is a camera attached to it and there is the possibility of wireless connection via laptop, the system belongs to the computer vision and robotics field. We created a system which is capable of autonomous tracking a manually selected object. For tracking we used two exist...

  2. Evolution of civil aeromedical helicopter aviation.

    Meier, D R; Samper, E R


    The rapid increase in the use of helicopters for hospital transport during the 1980s is the culmination of several hundred years of military medical innovation. Mass battefield casualties spurred both technologic and medical changes necessary for today's sophisticated helicopter systems in use worldwide, particularly in the United States. The Napoleonic Era and the American Civil War provided the framework for the evolution of today's state-of-the-art emergency medical techniques. The use of airplanes to evacuate the wounded eventually led to using helicopters for rescue missions in World War II. The combat experiences of the United States in Korea, the British in Malaya, and the French in Indochina proved that rotary-wing aircraft were invaluable in reducing battlefield death rates. Any skepticism about the efficacy of helicopter medical evacuation was erased during the Vietnam conflict. As an integral part of the modern battlefield, these specialized aircraft became a necessity. The observations and experience of American servicemen and medical personnel in Vietnam established the foundation for the acceptance of helicopter transport in modern hospital systems. PMID:2665130

  3. Helicopter stability during aggressive maneuvers

    Mohan, Ranjith

    The dissertation investigates helicopter trim and stability during level bank-angle and diving bank-angle turns. The level turn is moderate in that sufficient power is available to maintain level maneuver, and the diving turn is severe where the power deficit is overcome by the kinetic energy of descent. The investigation basically represents design conditions where the peak loading goes well beyond the steady thrust limit and the rotor experiences appreciable stall. The major objectives are: (1) to assess the sensitivity of the trim and stability predictions to the approximations in modeling stall, (2) to correlate the trim predictions with the UH-60A flight test data, and (3) to demonstrate the feasibility of routinely using the exact fast-Floquet periodic eigenvector method for mode identification in the stability analysis. The UH-60A modeling and analysis are performed using the comprehensive code RCAS (Army's Rotorcraft Comprehensive Analysis System). The trim and damping predictions are based on quasisteady stall, ONERA-Edlin (Equations Differentielles Lineaires) and Leishman-Beddoes dynamic stall models. From the correlation with the test data, the strengths and weaknesses of the trim predictions are presented.

  4. A New Hybrid Control Architecture to Attenuate Large Horizontal Wind Disturbance for a Small-Scale Unmanned Helicopter

    Xiaorui Zhu


    Full Text Available This paper presents a novel method to attenuate large horizontal wind disturbance for a small‐scale unmanned autonomous helicopter combining wind tunnel‐based experimental data and a backstepping algorithm. Large horizontal wind disturbance is harmful to autonomous helicopters, especially to small ones because of their low inertia and the high cross‐coupling effects among the multiple inputs. In order to achieve more accurate and faster attenuation of large wind disturbance, a new hybrid control architecture is proposed to take advantage of the direct force/moment compensation based on the wind tunnel experimental data. In this architecture, large horizontal wind disturbance is treated as an additional input to the control system instead of a small perturbation around the equilibrium state. A backstepping algorithm is then designed to guarantee the stable convergence of the helicopter to the desired position. The proposed technique is finally evaluated in simulation on the platform, HIROBO Eagle, compared with a traditional wind velocity compensation method.

  5. Simulation of Flow around Isolated Helicopter Fuselage

    Garipov A.O.


    Full Text Available Low fuselage drag has always been a key target of helicopter manufacturers. Therefore, this paper focuses on CFD predictions of the drag of several components of a typical helicopter fuselage. In the first section of the paper, validation of the obtained CFD predictions is carried out using wind tunnel measurements. The measurements were carried out at the Kazan National Research Technical University n.a. A. Tupolev. The second section of the paper is devoted to the analysis of drag contributions of several components of the ANSAT helicopter prototype fuselage using the RANS approach. For this purpose, several configurations of fuselages are considered with different levels of complexity including exhausts and skids. Depending on the complexity of the considered configuration and CFD mesh both the multi-block structured HMB solver and the unstructured commercial tool Fluent are used. Finally, the effect of an actuator disk on the predicted drag is addressed.

  6. Autonomous Aerial Sensors for Wind Power Meteorology - A Pre-Project

    Giebel, Gregor; Schmidt Paulsen, Uwe; Bange, Jens;

    Autonomous Aerial Sensors, i.e. meteorological sensors mounted on Unmanned Aerial Systems UAS, can characterise the atmospheric flow in and around wind farms. We instrumented three planes, a helicopter and a lighter-than-air LTA system to fly one week together in a well-instrumented wind farm...... a wind farm in Lolland and on an atmospheric campaign in France. Planning of an offshore campaign using the developed techniques is underway....

  7. Depth Image Processing for Obstacle Avoidance of an Autonomous VTOL UAV

    Andert, Franz; Strickert, Gordon; Thielecke, Frank


    We describe a new approach for stereo-based obstacle avoidance. This method analyzes the images of a stereo camera in realtime and searches for a safe target point that can be reached without collision. The obstacle avoidance system is used by our unmanned helicopter ARTIS (Autonomous Rotorcraft Testbed for Intelligent Systems) and its simulation environment. It is optimized for this UAV, but not limited to aircraft systems.

  8. Sources of helicopter rotor hub inplane shears

    Kottapalli, Sesi


    Sources of helicopter rotor hub inplane shears are identified using simplified equations and the full aeroelastic analysis code, CAMRAD/JA (Johnson, 1988). Analytical results are obtained for an articulated rotor operating at moderate thrust and high airspeed. It is found that the blade chordwise inplane shear, which includes the aerodynamic component, the Coriolis contribution, and the inertial component, and the hub inplane shears are strongly dependent on the out-of-plane response. The sources of helicopter rotor hub inplane shears lie not only in the inplane response but depend on the flap and elastic flatwise responses/modes.

  9. Helicopter trajectory planning using optimal control theory

    Menon, P. K. A.; Cheng, V. H. L.; Kim, E.


    A methodology for optimal trajectory planning, useful in the nap-of-the-earth guidance of helicopters, is presented. This approach uses an adjoint-control transformation along with a one-dimensional search scheme for generating the optimal trajectories. In addition to being useful for helicopter nap-of-the-earth guidance, the trajectory planning solution is of interest in several other contexts, such as robotic vehicle guidance and terrain-following guidance for cruise missiles and aircraft. A distinguishing feature of the present research is that the terrain constraint and the threat envelopes are incorporated in the equations of motion. Second-order necessary conditions are examined.

  10. Development of a Cost-efficient Autonomous MAV for an Unstructured Indoor Environment

    Kernbach, Serge


    Performing rescuing and surveillance operations with autonomous ground and aerial vehicles become more and more apparent task. Involving unmanned robot systems allows making these operations more efficient, safe and reliable especially in hazardous areas. This work is devoted to the development of a cost-efficient micro aerial vehicle in a quadrocopter shape for developmental purposes within indoor scenarios. It has been constructed with off-the-shelf components available for mini helicopters. Additional sensors and electronics are incorporated into this aerial vehicle to stabilize its flight behavior and to provide a capability of an autonomous navigation in a partially unstructured indoor environment.

  11. Flight validated high-order models of UAV helicopter dynamics in hover and forward flight using analytical and parameter identification techniques

    Bhandari, Subodh

    There has been a significant growth in the use of UAV helicopters for a multitude of military and civilian applications over the last few years. Due to these numerous applications, from crop dusting to remote sensing, UAV helicopters are now a major topic of interest within the aerospace community. The main research focus is on the development of automatic flight control systems (AFCS). The design of AFCS for these vehicles requires a mathematical model representing the dynamics of the vehicle. The mathematical model is developed either from first-principles, using the equations of motion of the vehicle, or from the flight data, using parameter identification techniques. The traditional six-degrees-of-freedom (6-DoF) dynamics model is not suitable for high-bandwidth control system design. Such models are valid only within the low- to mid-frequency range. The agility and high maneuverability of small-scale helicopters require a high-bandwidth control system for full authority autonomous performance. The design of a high-bandwidth control system in turn requires a high-fidelity simulation model that is able to capture the key dynamics of the helicopter. These dynamics include the rotor dynamics. This dissertation presents the development of a 14-degrees-of-freedom (14-DoF) state-space linear model for the KU Thunder Tiger Raptor 50 UAV helicopter from first-principles and from flight test data using a parameter identification technique for the hovering and forward flight conditions. The model includes rigid body, rotor regressive, rotor inflow, stabilizer bar, and rotor coning dynamics. The model is implemented within The MathWork's MATLAB/Simulink environment. The simulation results show that the high-order model is able to predict the helicopter's dynamics up to the frequency of 30 rad/sec. The main contributions of this dissertation are the development of a high-order simulation model for a small UAV helicopter from first-principles and the identification of a

  12. Laser Velocimeter For Use On Helicopter Rotor

    Dunagan, Stephen E.


    Laser velocimeter developed to measure flow of air in vicinity of one of blades of helicopter rotor. Image-rotating optic transforms laser beams to rotating reference frame. Transformed beams stationary with respect to rotor blade; enabling continuous monitoring of velocity of flow at some point in reference frame attached to blade, provided that blade did not vibrate.

  13. 46 CFR 109.577 - Helicopter fueling.


    ... subparts 98.30 and 98.33 of this chapter and the provisions of 49 CFR parts 171 through 179 that apply to... 46 Shipping 4 2010-10-01 2010-10-01 false Helicopter fueling. 109.577 Section 109.577 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS...

  14. Fuzzy logic mode switching in helicopters

    Sherman, Porter D.; Warburton, Frank W.


    The application of fuzzy logic to a wide range of control problems has been gaining momentum internationally, fueled by a concentrated Japanese effort. Advanced Research & Development within the Engineering Department at Sikorsky Aircraft undertook a fuzzy logic research effort designed to evaluate how effective fuzzy logic control might be in relation to helicopter operations. The mode switching module in the advanced flight control portion of Sikorsky's motion based simulator was identified as a good candidate problem because it was simple to understand and contained imprecise (fuzzy) decision criteria. The purpose of the switching module is to aid a helicopter pilot in entering and leaving coordinated turns while in flight. The criteria that determine the transitions between modes are imprecise and depend on the varied ranges of three flight conditions (i.e., simulated parameters): Commanded Rate, Duration, and Roll Attitude. The parameters were given fuzzy ranges and used as input variables to a fuzzy rulebase containing the knowledge of mode switching. The fuzzy control program was integrated into a real time interactive helicopter simulation tool. Optimization of the heading hold and turn coordination was accomplished by interactive pilot simulation testing of the handling quality performance of the helicopter dynamic model. The fuzzy logic code satisfied all the requirements of this candidate control problem.

  15. Trigeminal autonomic cephalgias

    Benoliel, Rafael


    1. Trigeminal autonomic cephalgias (TACs) are headaches/facial pains classified together based on:a suspected common pathophysiology involving the trigeminovascular system, the trigeminoparasympathetic reflex and centres controlling circadian rhythms;a similar clinical presentation of trigeminal pain, and autonomic activation.

  16. Testing for autonomic neuropathy

    Hilsted, J


    disease, and may be nonspecific. A number of recently developed quantifiable and reproducible autonomic nerve function tests are reviewed, with emphasis on the physiological basis of the tests and on practical applicability. Finally, diagnostic criteria, based on autonomic nerve function tests, are...

  17. Finite difference time domain grid generation from AMC helicopter models

    Cravey, Robin L.


    A simple technique is presented which forms a cubic grid model of a helicopter from an Aircraft Modeling Code (AMC) input file. The AMC input file defines the helicopter fuselage as a series of polygonal cross sections. The cubic grid model is used as an input to a Finite Difference Time Domain (FDTD) code to obtain predictions of antenna performance on a generic helicopter model. The predictions compare reasonably well with measured data.

  18. Helicopter Emergency Medical Services: effects, costs and benefits

    Ringburg, Akkie


    textabstractAdvanced prehospital medical care with air transport was introduced in the Netherlands in May 1995. The fi rst helicopter Mobile Medical Team, also called Helicopter Emergency Medical Service (HEMS) was a joint venture initiative of the VU Medical Center in Amsterdam and the Algemene Nederlandse WielrijdersBond (ANWB). The medical team consisted of a trauma surgeon or anaesthesiologist and a specialised trauma nurse, whereas, the ANWB Medical Air Assistance (MAA) helicopter compan...

  19. Helicopter mission optimization study. [portable computer technology for flight optimization

    Olson, J. R.


    The feasibility of using low-cost, portable computer technology to help a helicopter pilot optimize flight parameters to minimize fuel consumption and takeoff and landing noise was demonstrated. Eight separate computer programs were developed for use in the helicopter cockpit using a hand-held computer. The programs provide the helicopter pilot with the ability to calculate power required, minimum fuel consumption for both range and endurance, maximum speed and a minimum noise profile for both takeoff and landing. Each program is defined by a maximum of two magnetic cards. The helicopter pilot is required to key in the proper input parameter such as gross weight, outside air temperature or pressure altitude.

  20. Autonomous linear lossless systems

    Rao, Shodhan; Rapisarda, Paolo


    We define a lossless autonomous system as one having a quadratic differential form associated with it called an energy function, which is positive and which is conserved. We define an oscillatory system as one which has all its trajectories bounded on the entire time axis. In this paper, we show that an autonomous system is lossless if and only if it is oscillatory. Next we discuss a few properties of energy functions of autonomous lossless systems and a suitable way of splitting a given ener...

  1. Autonomous surveillance for biosecurity.

    Jurdak, Raja; Elfes, Alberto; Kusy, Branislav; Tews, Ashley; Hu, Wen; Hernandez, Emili; Kottege, Navinda; Sikka, Pavan


    The global movement of people and goods has increased the risk of biosecurity threats and their potential to incur large economic, social, and environmental costs. Conventional manual biosecurity surveillance methods are limited by their scalability in space and time. This article focuses on autonomous surveillance systems, comprising sensor networks, robots, and intelligent algorithms, and their applicability to biosecurity threats. We discuss the spatial and temporal attributes of autonomous surveillance technologies and map them to three broad categories of biosecurity threat: (i) vector-borne diseases; (ii) plant pests; and (iii) aquatic pests. Our discussion reveals a broad range of opportunities to serve biosecurity needs through autonomous surveillance. PMID:25744760

  2. Noise reduction experience at Hughes Helicopter, Inc.

    Janakiram, D. S.


    Noise reduction is mostly limited to light helicopters whose noise signature is dominated by their tail rotors. It is primarily hardware oriented. Well known noise reduction techniques such as reduction of rotor speeds with an accompanying increase in solidity to maintain performance, engine noise reduction with the use of exhaust mufflers, and acoustic blanketing of transmission and engine compartment are used. The concept of blade phasing as a means of reducing tail rotor noise is also used. Engine noise (exhaust noise), power train noise and airframe noise becomes important at low rotor tip speeds and means must be found to reduce these noise sources if further noise reductions are desired. The use of a special test rig aids in isolating the various noise sources and arriving at the penalties (performance or payload) involved in quieting them. Significant noise reduction are achieved for the light helicopter with minimum performance or weight penalties because of the dominance of a single noise source (the tail rotor).

  3. Vehicle for civil helicopter ride quality research

    Snyder, W. J.; Schlegel, R. G.


    A research aircraft for investigating the factors involved in civil helicopter operations was developed for NASA Langley Research Center. The aircraft is a reconfigured 17000 kg (36000 lb) military transport helicopter. The basic aircraft was reconfigured with advanced acoustic treatment, air-conditioning, and a 16-seat airline cabin. During the spring of 1975, the aircraft was flight tested to measure interior environment characteristics - noise and vibration - and was flown on 60 subjective flight missions with over 600 different subjects. Data flights established noise levels somewhat higher than expected, with a pure tone at 1400 Hz and vertical vibration levels between 0.07g and 0.17g. The noise and vibration levels were documented during subjective flight evaluations as being the primary source of discomfort. The aircraft will be utilized to document in detail the impact of various noise and vibration levels on passenger comfort during typical short-haul missions.

  4. Optimal short range trajectories for helicopters

    Slater, G. L.; Erzberger, H.


    An optimal flight path algorithm using a simplified altitude state model and an apriori climb-cruise-descent flight profile has been developed and applied to determine minimum fuel and minimum cost trajectories for a helicopter flying a fixed range trajectory. The performance model is based on standard flight manual data and is such that on-line trajectory optimization is feasible with a relatively small computer. The results show that the optimal flight path and optimal cruise altitude can represent a 10 percent fuel saving on a minimum fuel trajectory. The optimal trajectories show considerable variability due to helicopter weight, ambient winds and the relative cost trade-off between time and fuel. In general, 'reasonable' variations from the optimal velocities and cruise altitudes do not significantly degrade the optimal cost.

  5. Model helicopter rotor low frequency broadband noise

    Humbad, N. G.; Harris, W. L.


    The results of an experimental investigation of low frequency broadband noise (LFBN) radiated from model helicopter rotors are presented. The results up to tip Mach number of 0.50 suggest that the peak sound pressure level (SPL) of LFBN appears to follow tip Mach number to a fourth power law and rms velocity of turbulence to a second power law. The experimental results on the effect of tip speed and advance ratio on the peak SPL of LFBN can be explained on the basis of a simple scaling law. However, the experimental results on the effect of blade loading on the peak SPL of LFBN is still not clearly understood. A simple peak SPL scaling law for noise from a helicopter in forward flight encountering a sinusoidal gust is also developed. The trends predicted by the scaling law with the experimental results are found satisfactory for the cases of variation of the peak SPL of LFBN with tip speed and advance ratio.

  6. Learning Basic Mechatronics through Helicopter Workshop

    Adzly Anuar; Maryam Huda Ahmad Phesal; Azrul Abidin Zakaria; Goh Chin Hock; Sivadass Thiruchelvam; Dickson Neoh Tze How; Muhammad Fahmi Abdul Ghani; Khairul Salleh Mohamed Sahari


    In recent years, technologies related to mechatronics and robotics is available even to elementary level students. It is now common to see schools in Malaysia using Lego Mindstorm as a tool for active learning on mechatronics and robotics. A new yet interesting way of learning mechatronics and robotics is introduced by Dr. Dan Barry, a former astronaut and his son Andrew Barry during their visit to Malaysia. The kits used are based on a 4-channel RC helicopter, Arduino Uno microcontroller, IR...

  7. Helicopter Airborne Laser Positioning System (HALPS)

    Eppel, Joseph C.; Christiansen, Howard; Cross, Jeffrey; Totah, Joseph


    The theory of operation, configuration, laboratory, and ground test results obtained with a helicopter airborne laser positioning system developed by Princeton University is presented. Unfortunately, due to time constraints, flight data could not be completed for presentation at this time. The system measures the relative position between two aircraft in three dimensions using two orthogonal fan-shaped laser beams sweeping across an array of four detectors. Specifically, the system calculates the relative range, elevation, and azimuth between an observation aircraft and a test helicopter with a high degree of accuracy. The detector array provides a wide field of view in the presence of solar interference due to compound parabolic concentrators and spectral filtering of the detector pulses. The detected pulses and their associated time delays are processed by the electronics and are sent as position errors to the helicopter pilot who repositions the aircraft as part of the closed loop system. Accuracies obtained in the laboratory at a range of 80 ft in the absence of sunlight were + or - 1 deg in elevation; +0.5 to -1.5 deg in azimuth; +0.5 to -1.0 ft in range; while elevation varied from 0 to +28 deg and the azimuth varied from 0 to + or - 45 deg. Accuracies in sunlight were approximately 40 deg (+ or - 20 deg) in direct sunlight.


    Meeshika Arora


    In order to achieve autonomous operation of a vehiclein urban situations with unpredictable traffic, several real timesystems must interoperate, including environment perceptionplanning and control. In addition a robust vehicle platform withappropriate sensors, computational hardware, networking andsoftware infrastructure is essential.

  9. Highly Autonomous Systems Workshop

    Doyle, R.; Rasmussen, R.; Man, G.; Patel, K.


    It is our aim by launching a series of workshops on the topic of highly autonomous systems to reach out to the larger community interested in technology development for remotely deployed systems, particularly those for exploration.

  10. Engineering Autonomous Driving Software

    Berger, Christian; Rumpe, Bernhard


    A larger number of people with heterogeneous knowledge and skills running a project together needs an adaptable, target, and skill-specific engineering process. This especially holds for a project to develop a highly innovative, autonomously driving vehicle to participate in the 2007 DARPA Urban Challenge. In this contribution, we present essential elements of a software and systems engineering process to develop a so-called artificial intelligence capable of driving autonomously in complex u...

  11. Autonomous Star Tracker Algorithms

    Betto, Maurizio; Jørgensen, John Leif; Kilsgaard, Søren;


    Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances.......Proposal, in response to an ESA R.f.P., to design algorithms for autonomous star tracker operations.The proposal also included the development of a star tracker breadboard to test the algorithms performances....

  12. Radiation Monitoring using an Unmanned Helicopter in the Evacuation Zone Set up by the Fukushima Daiichi NPP Accident.

    Torii, Tatsuo; Sanada, Yukihisa; Nishizawa, Yukiyasu; Kondo, Atsuya; Shoji, Yasunori; ikeda, Kazutaka


    By the nuclear accident of the Fukushima Daiichi Nuclear Power Plant (NPP) caused by the East Japan earthquake and the following tsunami occurred on March 11, 2011, a large amount of radioactive materials was released from the NPP. In recent years, technologies for an unmanned helicopter have been developed and applied to natural disasters. In expectation of the application of the unmanned helicopter to airborne radiation monitoring, we had developed a radiation monitoring system using an autonomous unmanned helicopter (AUH). Then, we measured the ambient dose-rate at the height of 1-m above the ground and the soil deposition of radioactive cesium (Cs-134, Cs-137) by using the AUH system in the evacuation zone of residents around the NPP. Here, we report on the measurement technique and the result. As a result measured around a river at 10-km away from the NPP, high contaminated areas compared with the circumstance are detected along the dry riverbed. It was seemed that it had flowed along the river from highly contaminated areas in the upper stream.

  13. On the capability of helicopter gravimetry.

    Bielenberg, Olaf; Meyer, Uwe; Götze, Hans-Jürgen; Choi, Sungchan


    Affordable, high performance inertial navigation systems, their integration with GPS, and modern high performance airborne vertical sensors make helicopter gravimetry an attractive alternative to other methods for obtaining gravity data. As part of the Dead Sea Integrated Research Project (DESIRE) in late spring 2007 a helicopter borne gravimetry survey was conducted over the Dead Sea Basin along and across the rift between Aquaba and the Dead Sea. A German Sikorsky S-76B helicopter system was used to carry a GT-1A gravity meter system supplied by Canadian Micro Gravity. The GT-1A is an airborne, single vertical sensor, GPS-INS scalar gravity meter with a Schuler-tuned three-axis gyro-stabilized inertial platform, that uses intelligent platform control to maintain platform verticality during turbulent motion. Low speed and terrain following helicopter gravity flights were performed to acquire the best possible data quality and high resolution, considering extreme elevation differences associated with the Dead Sea Basin. The Dead Sea Valley lies more than 400 m below sea level, while the shoulders are more than 1500 m high. The resulting initial airborne gravity data were merged with existent ground based data for enhanced mapping and modelling providing a seamless gravity map of the area. During terrain following flights the vertical accelerations effecting the helicopter and also the vertical sensor of the gravity meter are logically much higher compared to straight level flights. To investigate the effects of this two different flight performances on the gravity measurements, a test flight over flat terrain at a constant altitude with very small vertical accelerations was performed. The acceleration data occurred during this simulated airborne survey flight were recorded using an inertial measurement unit iVRU-FC constructed by iMAR-Navigation, which was also part of the equipment used during the gravimetry survey flights of DESIRE. This means that the

  14. Stabilization and trajectory tracking control for underactuated quadrotor helicopter subject to wind-gust disturbance

    Mohd Ariffanan Mohd Basri; Abdul Rashid Husain; Kumeresan A Danapalasingam


    The control of quadrotor helicopter has been a great challenge for control engineers and researchers since quadrotor is an underactuated and a highly unstable nonlinear system. In this paper, the dynamic model of quadrotor has been derived and a so-called robust optimal backstepping control (ROBC) is designed to address its stabilization and trajectory tracking problem in the existence of external disturbances. The robust controller is achieved by incorporating a prior designed optimal backstepping control (OBC) with a switching function. The control law design utilizes the switching function in order to attenuate the effects caused by external disturbances. In order to eliminate the chattering phenomenon, the sign function is replaced by the saturation function. A new heuristic algorithm namely Gravitational Search Algorithm (GSA) has been employed in designing the OBC. The proposed method is evaluated on a quadrotor simulation environment to demonstrate the effectiveness and merits of the theoretical development. Simulation results show that the proposed ROBC scheme can achieve favorable control performances compared to the OBC for autonomous quadrotor helicopter in the presence of external disturbances.

  15. Detection of Sensor Faults in Small Helicopter UAVs Using Observer/Kalman Filter Identification

    Guillermo Heredia


    Full Text Available Reliability is a critical issue in navigation of unmanned aerial vehicles (UAVs since there is no human pilot that can react to any abnormal situation. Due to size and cost limitations, redundant sensor schemes and aeronautical-grade navigation sensors used in large aircrafts cannot be installed in small UAVs. Therefore, other approaches like analytical redundancy should be used to detect faults in navigation sensors and increase reliability. This paper presents a sensor fault detection and diagnosis system for small autonomous helicopters based on analytical redundancy. Fault detection is accomplished by evaluating any significant change in the behaviour of the vehicle with respect to the fault-free behaviour, which is estimated by using an observer. The observer is obtained from input-output experimental data with the Observer/Kalman Filter Identification (OKID method. The OKID method is able to identify the system and an observer with properties similar to a Kalman filter, directly from input-output experimental data. Results are similar to the Kalman filter, but, with the proposed method, there is no need to estimate neither system matrices nor sensor and process noise covariance matrices. The system has been tested with real helicopter flight data, and the results compared with other methods.

  16. Optical Detection Of Ice On A Helicopter Rotor

    Cornwell, Donald M., Jr.; Spadin, Paul L.


    Ice forming on helicopter rotor blades under adverse weather conditions detected via effect on polarization of reflected light, according to proposal. Ice-detection system based on this principal alerts helicopter pilot to need for corrective action, and/or turns on deicing equipment automatically.

  17. 77 FR 42971 - Airworthiness Directives; Various Restricted Category Helicopters


    ... helicopters to require inspecting the main rotor mast (mast) for a crack. This AD is prompted by two reported... condition described previously is likely to exist or develop in other helicopters of the same type design... because they have the same mast design and are operated similarly to the AFE fleet. This AD does...

  18. 77 FR 64706 - Airworthiness Directives; Eurocopter France Helicopters


    ... result in failure of the main rotor transmission and subsequent loss of control of the helicopter. To... exists and is likely to exist or develop on other helicopters of the same type design. Related Service... result in the chip-detector system failing to detect deterioration of the main rotor mast lift...

  19. The Helicopter Parent (Part 2): International Arrivals and Departures

    Somers, Patricia; Settle, Jim


    The phenomenon of helicopter parenting has been widely reported, yet the research literature is anemic on the topic. Based on interviews and focus groups involving 190 academic and student services professionals, this article continues by discussing the social, psychological, economic, and cultural factors that influence helicoptering; exploring…

  20. 78 FR 58256 - Airworthiness Directives; Eurocopter France Helicopters


    ... (78 FR 24041) for Eurocopter Model AS350B3 helicopters with MOD 07 5601 installed. AD 2012-25-04... requirements of AD 2012-25-04, Amendment 39-17285 (78 FR 24041, April 24, 2013). Additionally, this proposed AD... FR 24041, April 24, 2013). Modifying the helicopter would be terminating action for the...

  1. 78 FR 24041 - Airworthiness Directives; Eurocopter France Helicopters


    ... Procedures (44 FR 11034, February 26, 1979); 3. Will not affect intrastate aviation in Alaska to the extent... France Helicopters AGENCY: Federal Aviation Administration (FAA), Department of Transportation (DOT... directive (EAD) for Eurocopter France (Eurocopter) Model AS350B3 helicopters with certain...

  2. 46 CFR 108.489 - Helicopter fueling facilities.


    ... 46 Shipping 4 2010-10-01 2010-10-01 false Helicopter fueling facilities. 108.489 Section 108.489 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Fire Extinguishing Systems Fire Protection for Helicopter Facilities §...

  3. 46 CFR 108.487 - Helicopter deck fueling operations.


    ... 46 Shipping 4 2010-10-01 2010-10-01 false Helicopter deck fueling operations. 108.487 Section 108.487 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) A-MOBILE OFFSHORE DRILLING UNITS DESIGN AND EQUIPMENT Fire Extinguishing Systems Fire Protection for Helicopter Facilities §...

  4. 29 CFR 1926.958 - External load helicopters.


    ... 29 Labor 8 2010-07-01 2010-07-01 false External load helicopters. 1926.958 Section 1926.958 Labor Regulations Relating to Labor (Continued) OCCUPATIONAL SAFETY AND HEALTH ADMINISTRATION, DEPARTMENT OF LABOR... External load helicopters. In all operations performed using a rotorcraft for moving or placing...

  5. 77 FR 57524 - Stage 3 Helicopter Noise Certification Standards


    ... * * * (a) Limits. For compliance with this appendix, the applicant must show by flight test that the... Privacy Act Statement can be found in the Federal Register published on April 11, 2000 (65 FR 19477-19478... lowering of noise limits for new helicopter types while using the same helicopter noise certification...

  6. Model Tests on the Economy and Effectiveness of Helicopter Propellers

    Munk, Max M


    The average velocity of helicopter blades relative to the air is greater than that of airplane wings. The helicopter may turn out to be more economical than the airplane wing for extreme velocities of horizontal flight, the airplane then requiring a very great speed range.

  7. Helicopter Emergency Medical Services: effects, costs and benefits

    A.N. Ringburg (Akkie)


    textabstractAdvanced prehospital medical care with air transport was introduced in the Netherlands in May 1995. The fi rst helicopter Mobile Medical Team, also called Helicopter Emergency Medical Service (HEMS) was a joint venture initiative of the VU Medical Center in Amsterdam and the Algemene Ned

  8. 78 FR 37152 - Airworthiness Directives; Bell Helicopter Textron Canada Limited (Bell) Helicopters


    ... reducing the life limit of the blade if the spar spacer is oversized. This proposed AD is prompted by the... life limits of those main rotor blades. The proposed actions are intended to prevent failure of a M/R blade and subsequent loss of control of the helicopter. DATES: We must receive comments on this...

  9. 75 FR 52912 - Airworthiness Directives; Bell Helicopter Textron Canada Limited Model 427 Helicopters


    ... 12866; 2. Is not a ``significant rule'' under the DOT Regulatory Policies and Procedures (44 FR 11034... 427 helicopters, all serial numbers (SNs), certificated in any category. Subject (d) Air Transport... already done, do the following actions: (1) Applicable to SNs 56001 through 56073, and 56077: Within...

  10. 76 FR 2607 - Airworthiness Directives; MD Helicopters, Inc. (MDHI) Model MD900 Helicopters


    ... position. (ii) Pull the following AP circuit breakers located on the A601 Essential Bus Circuit Breaker... YSAS switches instead of pulling the circuit breakers and installing placards that limit airspeed to... the helicopter to its normal configuration by returning the switches and circuit breakers to...

  11. 75 FR 62639 - Air Ambulance and Commercial Helicopter Operations, Part 91 Helicopter Operations, and Part 135...


    ... in the Federal Register published on April 11, 2000 (65 FR 19477-78) or you may visit http://Dockets.... Helicopter air medical transportation was first used prominently during the Korean War to move injured... safety culture, and aeronautical decisionmaking skills. The following provides a summary of many of...

  12. 77 FR 64439 - Airworthiness Directives; Bell Helicopter Textron Canada (Bell) Model Helicopters


    ... and copilot airspeed indicators; (ii) Leak test the pilot pitot static system; and (iii) Operationally test the overspeed warning system. (2) For helicopters with a Single or Dual Automatic Flight Control... Policies and Procedures (44 FR 11034, February 26, 1979); 3. Will not affect intrastate aviation in...

  13. Neck and shoulder muscle activity and posture among helicopter pilots and crew-members during military helicopter flight

    Murray, Mike; Lange, Britt; Chreiteh, Shadi Samir;


    Neck pain among helicopter pilots and crew-members is common. This study quantified the physical workload on neck and shoulder muscles using electromyography (EMG) measures during helicopter flight. Nine standardized sorties were performed, encompassing: cruising from location A to location B (AB...

  14. Effects of exhaust temperature on helicopter infrared signature

    The effects of exhaust temperature on infrared signature (in 3–5 μm band) for a helicopter equipped with integrative infrared suppressor were numerically investigated. The internal flow of exhaust gas and the external downwash flow, as well as the mixing between exhaust gas and downwash were simulated by CFD software to determine the temperature distributions on the helicopter skin and in the exhaust plume. Based on the skin and plume temperature distributions, a forward–backward ray-tracing method was used to calculate the infrared radiation intensity from the helicopter with a narrow-band model. The results show that for a helicopter with its integrative infrared suppressor embedded inside its rear airframe, the exhaust temperature has significant influence on the plume radiation characteristics, while the helicopter skin radiation intensity has little impact. When the exhaust temperature is raised from 900 K to 1200 K, the plume radiation intensity in 3–5 μm band is increased by about 100%, while the skin radiation intensity is increased by only about 5%. In general, the effects of exhaust temperature on helicopter infrared radiation intensity are mainly concentrated on plume, especially obvious for a lower skin emissivity case. -- Highlights: ► The effect of exhaust temperature on infrared signature for a helicopter is numerically investigated. ► The impact of exhaust temperature on helicopter skin temperature is revealed. ► The impact of exhaust temperature on plume radiation characteristics is revealed. ► The impact of exhaust temperature on helicopter skin radiation is revealed. ► The impact of exhaust temperature on helicopter's total infrared radiation intensity is revealed

  15. Novel approaches to helicopter obstacle warning

    Seidel, Christian; Samuelis, Christian; Wegner, Matthias; Münsterer, Thomas; Rumpf, Thomas; Schwartz, Ingo


    EADS Germany is the world market leader in commercial Helicopter Laser Radar (HELLAS) Obstacle Warning Systems. The HELLAS-Warning System has been introduced into the market in 2000, is in service at German Border Control (Bundespolizei) and Royal Thai Airforce and is successfully evaluated by the Foreign Comparative Test Program (FCT) of the USSOCOM. Currently the successor system HELLAS-Awareness is in development. It will have extended sensor performance, enhanced realtime data processing capabilities and advanced HMI features. We will give an outline of the new sensor unit concerning detection technology and helicopter integration aspects. The system provides a widespread field of view with additional dynamic line of sight steering and a large detection range in combination with a high frame rate of 3Hz. The workflow of the data processing will be presented with focus on novel filter techniques and obstacle classification methods. As commonly known the former are indispensable due to unavoidable statistical measuring errors and solarisation. The amount of information in the filtered raw data is further reduced by ground segmentation. The remaining raised objects are extracted and classified in several stages into different obstacle classes. We will show the prioritization function which orders the obstacles concerning to their threat potential to the helicopter taking into account the actual flight dynamics. The priority of an object determines the display and provision of warnings to the pilot. Possible HMI representation includes video or FLIR overlay on multifunction displays, audio warnings and visualization of information on helmet mounted displays and digital maps. Different concepts will be presented.

  16. Composite curved frames for helicopter fuselage structure

    Rich, M. J.; Lowry, D. W.


    This paper presents the results of analysis and testing of composite curved frames. A major frame was selected from the UH-60 Black Hawk helicopter and designed as a composite structure. The curved beam effects were expected to increase flange axial stresses and induce transverse bending. A NASTRAN finite element analysis was conducted and the results were used in the design of composite curved frame specimens. Three specimens were fabricated and five static tests were conducted. The NASTRAN analysis and test results are compared for axial, transverse, and Web strains. Results show the curved beam effects are closely predicted by a NASTRAN analysis and the effects increase with loading on the composite frames.

  17. Architecture of autonomous systems

    Dikshit, Piyush; Guimaraes, Katia; Ramamurthy, Maya; Agrawala, Ashok; Larsen, Ronald L.


    Automation of Space Station functions and activities, particularly those involving robotic capabilities with interactive or supervisory human control, is a complex, multi-disciplinary systems design problem. A wide variety of applications using autonomous control can be found in the literature, but none of them seem to address the problem in general. All of them are designed with a specific application in mind. In this report, an abstract model is described which unifies the key concepts underlying the design of automated systems such as those studied by the aerospace contractors. The model has been kept as general as possible. The attempt is to capture all the key components of autonomous systems. With a little effort, it should be possible to map the functions of any specific autonomous system application to the model presented here.

  18. Exercise and autonomic function.

    Goldsmith, R L; Bloomfield, D M; Rosenwinkel, E T


    The complex interplay between the dichotomous subdivisions of the autonomic nervous system establishes and maintains a delicately tuned homeostasis in spite of an ever-changing environment. Aerobic exercise training can increase activity of the parasympathetic nervous system and decrease sympathetic activity. Conversely, it is well-documented that cardiac disease is often characterized by attenuated parasympathetic activity and heightened sympathetic tone. A correlation between autonomic disequilibrium and disease has led to the hypothesis that exercise training, as a therapy that restores the autonomic nervous system towards normal function, may be associated with, and possibly responsible for, outcome improvements in various populations. This is merely one of the many benefits that is conferred by chronic exercise training and reviewed in this issue. PMID:10758814

  19. Overview of the Autonomic Nervous System

    ... reversible or progressive. Anatomy of the autonomic nervous system The autonomic nervous system is the part of ... they connect with. Function of the autonomic nervous system The autonomic nervous system controls internal body processes ...

  20. Image based augmentation of an autonomous VTOL-MAV

    Frietsch, N.; Maier, A.; Kessler, C.; Meister, O.; Seibold, J.; Trommer, G. F.


    In this paper, the development of a vision based system for a small-scale VTOL-MAV is presented. The on-board GPS/INS navigation system is augmented by further sensors in order to allow for an autonomous waypoint mode. Especially in urban environments the GPSsignal quality is disturbed by shading and multipath propagation. The investigated vision system based on algorithms analyzing the optical flow is essential to enable the helicopter to reliably hover even in these scenarios. Due to the integration of the vision based navigation information into the navigation filter, GPSsignal outages can be bridged. The necessary height above ground information is estimated from the relative altitude change given by the barometric altimeter and the optical flow.

  1. Experimental Autonomous Vehicle Systems

    Ravn, Ole; Andersen, Nils Axel


    The paper describes the requirements for and a prototype configuration of a software architecture for control of an experimental autonomous vehicle. The test bed nature of the system is emphasised in the choice of architecture making re-configurability, data logging and extendability simple. The...

  2. ADAM: ADaptive Autonomous Machine

    Oosten, van Daan C.; Nijenhuis, Lucas F.J.; Bakkers, André W.P.; Vervoort, Wiek A.


    This paper describes a part of the development of an adaptive autonomous machine that is able to move in an unknown world extract knowledge out of the perceived data, has the possibility to reason, and finally has the capability to exchange experiences and knowledge with other agents. The agent is n

  3. Autonomous Security Patrol System

    Erramouspe, Jake


    This project provides an efficient and cost-effective solution to building security and active monitoring. The security is monitored and controlled by autonomous patrol robots. Any indication of a security breach will result in an immediate alarm and activation of the robot group to subdue and tranquilize the intruder.

  4. Software Architecture for Autonomous Spacecraft

    Shih, Jimmy S.


    The thesis objective is to design an autonomous spacecraft architecture to perform both deliberative and reactive behaviors. The Autonomous Small Planet In-Situ Reaction to Events (ASPIRE) project uses the architecture to integrate several autonomous technologies for a comet orbiter mission.

  5. Importance of engine as a source of helicopter external noise

    Janakiram, R. D.; Smith, M. J.; Tadghighi, H.


    A turboshaft engine's importance as a source of helicopter external noise is presently evaluated experimentally and analytically on the basis of test data from an MD500E helicopter, with and without engine muffler, during level flyovers and climbing flight. A strong engine noise component is noted for helicopter positions nearly overhead and beyond observed position, especially in the 200-1000 Hz range; its strong rearward directivity suggests the noise source to be the broadband exhaust or combustion noise radiated from the exhaust duct. The engine muffler furnished estimated perceived noise level reductions of 2-3 dB for the centerline.

  6. Optical Shaft-Angle Encoder For Helicopter Rotor

    Golub, Robert A.; Fitzpatrick, Fred; Dennis, Dale V.; Taylor, Bryant D.


    Angular position of helicopter rotor blade determined precisely. Accomplished by use of optical shaft-angle encoder called "256 Ring" on rotor swashplate. Each 360 degree rotation of helicopter main rotor broken down into 256 reflective segments. As rotor rotates, beam of light reflected in turn from each segment into optoelectronic system. One of 256 segments reflects larger pulse than others do. Position of rotor determined by counting number of pulses after this reference pulse. While swashplate mounting requirements unique to each type of helicopter, concept applicable to all types of rotorcraft.

  7. Study of the helicopter blade running elevation measurement system


    Helicopter blade running elevation measurement is an important measure target in helicopter blade dynamic balance experimentation. The elevation influences the helicopter's security and other performance capabilities. In testing, however, it has been difficult to measure the elevation when the rotor reaches high speeds. To get a simple, fast and highly accurate measurement system, photo electricity technology was applied to measuring the blade running elevation. Discussed is the measurement principle of blade running elevation, the design of the measurement system and analysis of the measurement precision.

  8. Simulating effectiveness of helicopter evasive manoeuvres to RPG attack

    Anderson, D.; Thomson, D. G.


    The survivability of helicopters under attack by ground troops using rocket propelled grenades has been amply illustrated over the past decade. Given that an RPG is unguided and it is infeasible to cover helicopters in thick armour, existing optical countermeasures are ineffective - the solution is to compute an evasive manoeuvre. In this paper, an RPG/helicopter engagement model is presented. Manoeuvre profiles are defined in the missile approach warning sensor camera image plane using a local maximum acceleration vector. Required control inputs are then computed using inverse simulation techniques. Assessments of platform survivability to several engagement scenarios are presented.

  9. Operators end helicopter flights ferrying crews over rough seas

    Roche, Pat


    New criteria for offshore helicopter flight safety have been established by oil and gas operators in Newfoundland and Labrador following a 2009 crash investigation. Choppers will no longer fly personnel over rough seas when they exceed the capability of the flotation equipment. Seventeen people died when a Sikorsky S-92A helicopter crashed into the sea. Offshore oil and gas operators in Newfoundland presently contract five large helicopters; the three that are used regularly for passengers are enhanced with flotation equipment that can stand six metre waves and the other two have the standard manufacturer's equipment to survive four metre waves.

  10. Task and Motion Planning for Selective Weed Conrol using a Team of Autonomous Vehicles

    Hameed, Ibrahim; la Cour-Harbo, Anders; Hansen, Karl Damkjær


    with the right amount. In this article, a task and motion planning for a team of autonomous vehicles to reduce chemicals in farming is presented. Field data are collected by small unmanned helicopters equipped with a range of sensors, including multispectral and thermal cameras. Data collected are transmitted...... to a ground station to be analyzed and triggers aerial and ground-based vehicles to start close inspection and/or plant/weed treatment in specified areas. A complete trajectory is generated to enable ground-based vehicle to visit infested areas and start chemical/mechanical weed treatment....

  11. A Computational Tool for Helicopter Rotor Noise Prediction Project

    National Aeronautics and Space Administration — This SBIR project proposes to develop a computational tool for helicopter rotor noise prediction based on hybrid Cartesian grid/gridless approach. The uniqueness of...

  12. Flight tests of IFR landing approach systems for helicopters

    Bull, J. S.; Hegarty, D. M.; Peach, L. L.; Phillips, J. D.; Anderson, D. J.; Dugan, D. C.; Ross, V. L.


    Joint NASA/FAA helicopter flight tests were conducted to investigate airborne radar approaches (ARA) and microwave landing system (MLS) approaches. Flight-test results were utilized to prove NASA with a data base to be used as a performance measure for advanced guidance and navigation concepts, and to provide FAA with data for establishment of TERPS criteria. The first flight-test investigation consisted of helicopter IFR approaches to offshore oil rigs in the Gulf of Mexico, using weather/mapping radar, operational pilots, and a Bell 212 helicopter. The second flight-test investigation consisted of IFR MLS approaches at Crows Landing (near Ames Research Center), with a Bell UH-1H helicopter, using NASA, FAA, and operational industry pilots. Tests are described and results discussed.


    B. P. Hudzietz


    Full Text Available We demonstrate a method for unmanned aerial vehicle based structure from motion mapping and show it to be a viable option for large scale, high resolution terrain modeling. Current methods of large scale terrain modeling can be cost and time prohibitive. We present a method for integrating low cost cameras and unmanned aerial vehicles for the purpose of 3D terrain mapping. Using structure from motion, aerial images taken of the landscape can be reconstructed into 3D models of the terrain. This process is well suited for use on unmanned aerial vehicles due to the light weight and low cost of equipment. We discuss issues of flight path planning and propose an algorithm to assist in the generation of these paths. The structure from motion mapping process is experimentally evaluated in three distinct environments: ground based testing on man-made environments, ground based testing on natural environments, and airborne testing on natural environments. Ground based testing on natural environments was shown to be extremely useful for camera calibration, and the resulting models were found to have a maximum error of 4.26 cm and standard deviation of 1.50 cm. During airborne testing, several areas of approximately 30,000 m2 were mapped. These areas were mapped with acceptable accuracy and a resolution of 1.24 cm.

  14. 78 FR 23692 - Airworthiness Directives; Eurocopter France Helicopters


    ... AS350B, BA, B1, B2, B3, and D, and Model AS355E, F, F1, F2, and N helicopters with certain tail rotor (T..., F1, F2, and N helicopters with a tail rotor (T/R) blade, part number (P/N) 355A12-0040-00, 355A-12... ] exist or develop on other products of the same type design. Related Service Information We...

  15. Vertical-plane pendulum absorbers for minimizing helicopter vibratory loads

    Amer, K. B.; Neff, J. R.


    The use of pendulum dynamic absorbers mounted on the blade root and operating in the vertical plane to minimize helicopter vibratory loads was discussed. A qualitative description was given of the concept of the dynamic absorbers and some results of analytical studies showing the degree of reduction in vibratory loads attainable are presented. Operational experience of vertical plane dynamic absorbers on the OH-6A helicopter is also discussed.

  16. Advanced Modelling of Helicopter Nonlinear Dynamics and Aerodynamics

    Castillo-Rivera, Salvador


    The work presented here provides a comprehensive dynamic and aerodynamic helicopter model. The possible applications of this work are wide including, control systems applications, reference and trajectory tracking methods implementation amongst others. The model configuration corresponds to a Sikorsky helicopter; a main rotor in perpendicular combination with a tail rotor. Also, a particular model of unmanned aerial vehicle has been modelled as part of collaboration with the La Laguna Univers...

  17. A Simplified Mobile Ad Hoc Network Structure for Helicopter Communication

    Abdelgader, Abdeldime Mohamed Salih; Wu, Lenan; Nasr, Mohammed Mohsen Mohammed


    There are a number of volunteer and statutory organizations who are capable of conducting an emergency response using helicopters. Rescue operations require a rapidly deployable high bandwidth network to coordinate necessary relief efforts between rescue teams on the ground and helicopters. Due to massive destruction and loss of services, ordinary communication infrastructures may collapse in these situations. Consequently, information exchange becomes one of the major challenges in these cir...

  18. Helicopter Rotor Blade With Free Tip

    Stroub, Robert H.; Young, Larry; Cawthorne, Matthew; Keys, Charles


    Free-tip rotor blades improve fuel efficiency and performance characteristics of helicopters. Outermost portion of blade pivots independently with respect to inboard portion about pitch axis parallel to blade axis, located forward of aerodynamic center. Centrifugal force acts on tension/torsion strap and biases tip nose-up. Airstream turns tip nose-down, other torques cause tip to "weathervane" to intermediate angular position resulting in net lift. Reduces fluctuations in lift, with two effects: flapwise vibratory loads on blade and vibratory loads on pitch-control mechanism reduced; negative lift produced by advancing fixed tip eliminated, reducing power required to achieve same overall lift. Applies to tilt rotors and tail rotors as well.

  19. On helicopter rotor low frequency broadband noise

    Williams, Morgan; Harris, Wesley L.


    The effect of shear-layer-type inflow turbulence on the low-frequency broadband noise of a model helicopter rotor is experimentally studied. The measurements and the one-dimensional energy spectral density indicate that the upstream airfoil wake turbulence is nonisotropic, but approaches isotropy at high wavenumbers. Turbulence measurements also indicate that the wake turbulence is weak. The effect of the inflow turbulence intensity on the peak sound pressure level follows an intensity-velocity squared scaling law. A number of length scales and turbulence intensities exist which can be measured in the airfoil wake depending on the position at which the measurements are taken. Comparison of experimental and theoretical sound pressure power spectral densities indicates that the initial anisotropy of the inflow turbulence does not invalidate the isotropic turbulence assumption made in noise prediction models as long as measured turbulence intensities and length scales are used.

  20. Mobile Autonomous Humanoid Assistant

    Diftler, M. A.; Ambrose, R. O.; Tyree, K. S.; Goza, S. M.; Huber, E. L.


    A mobile autonomous humanoid robot is assisting human co-workers at the Johnson Space Center with tool handling tasks. This robot combines the upper body of the National Aeronautics and Space Administration (NASA)/Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Segway(TradeMark) Robotic Mobility Platform yielding a dexterous, maneuverable humanoid perfect for aiding human co-workers in a range of environments. This system uses stereo vision to locate human team mates and tools and a navigation system that uses laser range and vision data to follow humans while avoiding obstacles. Tactile sensors provide information to grasping algorithms for efficient tool exchanges. The autonomous architecture utilizes these pre-programmed skills to form human assistant behaviors. The initial behavior demonstrates a robust capability to assist a human by acquiring a tool from a remotely located individual and then following the human in a cluttered environment with the tool for future use.

  1. Autonomous single camera exploration

    Vidal-Calleja, Teresa A.; Sanfeliu, Alberto; Andrade-Cetto, J.


    In this paper we present an active exploration strategy for a mobile robot navigating in 3D. The aim is to control a moving robot that autonomously builds a visual feature map while at the same time optimises its localisation in this map. The technique chooses the most appropriate commands maximising the information gain between prior states and measurements, while performing 6DOF bearing only SLAM at video rate. Maximising the mutual information helps the vehicle avoid ill-conditioned measur...

  2. Autonomous Underwater Vehicle control

    Vidal Morató, Jordi; Gomáriz Castro, Spartacus; Manuel Lázaro, Antonio


    In this paper the system control design stages for an autonomous underwater vehicle are presented. The vehicle must be able to sail on sea surface, following a path without losing its route and once a position is reached, a dive following a perpendicular path to the surface is carried out. A two level system control are proposed. The primary level will control the navigation of the vehicle where a linear controllers are proposed. Whereas in secondary level guidance system, collision system, s...

  3. The autonomous acoustic buoy

    Pellicer, Francisco; Reitsma, Robert; Agüera, Joaquín; Marinas, Alexandra


    The Acoustic Buoy is a project between the Laboratory of Applied Bioacoustics (LAB) and the Universitat Politècnica de Catalunya (UPC). In areas that the human activities produce high noise levels, such as oil exploration or construction, there is a need to monitor the environment for the presence of cetaceans. Another need is for fishing, to prevent endangered species from being killed. This can be done with an Autonomous Acoustic Buoy (AAB). Mooring or anchoring at to the seaflo...

  4. Mobile Intelligent Autonomous Systems

    Jitendra R. Raol; Ajith Gopal


    Mobile intelligent autonomous systems (MIAS) is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i) perception and reasoning, (ii) mobility and navigation,(iii) haptics and teleoperation, (iv) image fusion/computervision, (v) modelling of manipulators, (vi) hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii) ve...

  5. Nature's Autonomous Oscillators

    Mayr, H. G.; Yee, J.-H.; Mayr, M.; Schnetzler, R.


    Nonlinearity is required to produce autonomous oscillations without external time dependent source, and an example is the pendulum clock. The escapement mechanism of the clock imparts an impulse for each swing direction, which keeps the pendulum oscillating at the resonance frequency. Among nature's observed autonomous oscillators, examples are the quasi-biennial oscillation and bimonthly oscillation of the Earth atmosphere, and the 22-year solar oscillation. The oscillations have been simulated in numerical models without external time dependent source, and in Section 2 we summarize the results. Specifically, we shall discuss the nonlinearities that are involved in generating the oscillations, and the processes that produce the periodicities. In biology, insects have flight muscles, which function autonomously with wing frequencies that far exceed the animals' neural capacity; Stretch-activation of muscle contraction is the mechanism that produces the high frequency oscillation of insect flight, discussed in Section 3. The same mechanism is also invoked to explain the functioning of the cardiac muscle. In Section 4, we present a tutorial review of the cardio-vascular system, heart anatomy, and muscle cell physiology, leading up to Starling's Law of the Heart, which supports our notion that the human heart is also a nonlinear oscillator. In Section 5, we offer a broad perspective of the tenuous links between the fluid dynamical oscillators and the human heart physiology.

  6. Trigeminal autonomic cephalalgias.

    Eller, M; Goadsby, P J


    The trigeminal autonomic cephalalgias (TACs) are a group of primary headache disorders characterised by lateralized symptoms: prominent headache and ipsilateral cranial autonomic features, such as conjunctival injection, lacrimation and rhinorrhea. The TACs are: cluster headache (CH), paroxysmal hemicrania (PH), short-lasting unilateral neuralgiform headache attacks with conjunctival injection and tearing (SUNCT)/short-lasting neuralgiform headache attacks with cranial autonomic features (SUNA) and hemicrania continua (HC). Their diagnostic criteria are outlined in the International Classification of Headache Disorders, third edition-beta (ICHD-IIIb). These conditions are distinguished by their attack duration and frequency, as well as response to treatment. HC is continuous and by definition responsive to indomethacin. The main differential when considering this headache is chronic migraine. Other TACs are remarkable for their short duration and must be distinguished from other short-lasting painful conditions, such as trigeminal neuralgia and primary stabbing headache. Cluster headache is characterised by exquisitely painful attacks that occur in discrete episodes lasting 15-180 min a few times a day. In comparison, PH occurs more frequently and is of shorter duration, and like HC is responsive to indomethacin. SUNCT/SUNA is the shortest duration and highest frequency TAC; attacks can occur over a hundred times every day. PMID:24888770

  7. Jam avoidance with autonomous systems

    Tordeux, Antoine; Lassarre, Sylvain


    Many car-following models are developed for jam avoidance in highways. Two mechanisms are used to improve the stability: feedback control with autonomous models and increasing of the interaction within cooperative ones. In this paper, we compare the linear autonomous and collective optimal velocity (OV) models. We observe that the stability is significantly increased by adding predecessors in interaction with collective models. Yet autonomous and collective approaches are close when the speed...

  8. Chemical Specification of Autonomic Systems

    Banâtre, Jean-Pierre; Fradet, Pascal; Radenac, Yann


    Autonomic computing provides a vision of information systems allowing self-management of many predefined properties. Such systems take care of their own behavior and of their interactions with other components without any external intervention. One of the major challenges concerns the expression of properties and constraints of autonomic systems. We believe that the {\\em chemical programming paradigm} (represented here by the Gamma formalism) is well-suited to the specification of autonomic s...

  9. Catecholamines and diabetic autonomic neuropathy

    Hilsted, J


    plasma catecholamine measurements is not due to changes in the clearance of catecholamines in diabetic autonomic neuropathy. The physiological responses to infused adrenaline and to noradrenaline are enhanced, for noradrenaline mainly cardiovascular responses. Adrenoceptors (alpha and beta adrenoceptors......In diabetic patients with autonomic neuropathy plasma noradrenaline concentration, used as an index of sympathetic nervous activity, is low. This decrease is, however, only found in patients with a long duration of diabetes with clinically severe autonomic neuropathy. This apparent insensitivity of...

  10. Robotics and Autonomous Systems Laboratory

    Federal Laboratory Consortium — FUNCTION: Provides an environment for developing and evaluating intelligent software for both actual and simulated autonomous vehicles. Laboratory computers provide...

  11. Jam avoidance with autonomous systems

    Tordeux, Antoine


    Many car-following models are developed for jam avoidance in highways. Two mechanisms are used to improve the stability: feedback control with autonomous models and increasing of the interaction within cooperative ones. In this paper, we compare the linear autonomous and collective optimal velocity (OV) models. We observe that the stability is significantly increased by adding predecessors in interaction with collective models. Yet autonomous and collective approaches are close when the speed difference term is taking into account. Within the linear OV models tested, the autonomous models including speed difference are sufficient to maximise the stability.

  12. Collaborating with Autonomous Agents

    Trujillo, Anna C.; Cross, Charles D.; Fan, Henry; Hempley, Lucas E.; Motter, Mark A.; Neilan, James H.; Qualls, Garry D.; Rothhaar, Paul M.; Tran, Loc D.; Allen, B. Danette


    With the anticipated increase of small unmanned aircraft systems (sUAS) entering into the National Airspace System, it is highly likely that vehicle operators will be teaming with fleets of small autonomous vehicles. The small vehicles may consist of sUAS, which are 55 pounds or less that typically will y at altitudes 400 feet and below, and small ground vehicles typically operating in buildings or defined small campuses. Typically, the vehicle operators are not concerned with manual control of the vehicle; instead they are concerned with the overall mission. In order for this vision of high-level mission operators working with fleets of vehicles to come to fruition, many human factors related challenges must be investigated and solved. First, the interface between the human operator and the autonomous agent must be at a level that the operator needs and the agents can understand. This paper details the natural language human factors e orts that NASA Langley's Autonomy Incubator is focusing on. In particular these e orts focus on allowing the operator to interact with the system using speech and gestures rather than a mouse and keyboard. With this ability of the system to understand both speech and gestures, operators not familiar with the vehicle dynamics will be able to easily plan, initiate, and change missions using a language familiar to them rather than having to learn and converse in the vehicle's language. This will foster better teaming between the operator and the autonomous agent which will help lower workload, increase situation awareness, and improve performance of the system as a whole.

  13. Autonomous packaging robot

    Vo, Van Thanh


    The objective of the autonomous packaging robot application is to replace manual product packaging in food industry with a fully automatic robot. The objective is achieved by using the combination of machine vision, central computer, sensors, microcontroller and a typical ABB robot. The method is to equip the robot with different sensors: camera as “eyes” of robot, distance sensor and microcontroller as “sense of touch” of the robot, central computer as “brain” of the robot. Because the ro...

  14. Autonomous component carrier selection

    Garcia, Luis Guilherme Uzeda; Pedersen, Klaus; Mogensen, Preben


    in local areas, basing our study case on LTE-Advanced. We present extensive network simulation results to demonstrate that a simple and robust interference management scheme, called autonomous component carrier selection allows each cell to select the most attractive frequency configuration; improving...... management and efficient system operation. Due to the expected large number of user-deployed cells, centralized network planning becomes unpractical and new scalable alternatives must be sought. In this article, we propose a fully distributed and scalable solution to the interference management problem...

  15. Autonomous mobile robot teams

    Agah, Arvin; Bekey, George A.


    This paper describes autonomous mobile robot teams performing tasks in unstructured environments. The behavior and the intelligence of the group is distributed, and the system does not include a central command base or leader. The novel concept of the Tropism-Based Cognitive Architecture is introduced, which is used by the robots in order to produce behavior transforming their sensory information to proper action. The results of a number of simulation experiments are presented. These experiments include worlds where the robot teams must locate, decompose, and gather objects, and defend themselves against hostile predators, while navigating around stationary and mobile obstacles.

  16. 75 FR 22510 - Airworthiness Directives; Eurocopter France (ECF) Model EC120B Helicopters


    ... a main rotor blade, and subsequent loss of control of the helicopter. EASA, the airworthiness... helicopters of the same type design, the FAA issued EAD 2010-05-51. The AD requires, at specified intervals... affect the controllability and structural integrity of the helicopter. Therefore, inspecting the...

  17. 77 FR 20518 - Airworthiness Directives; Agusta S.p.A. Helicopters


    ... helicopters, the possibility exists, due to part number commonality between the rotor blade type designs, that....A. (Agusta) Model AB412 helicopters with certain tail rotor blades (blades) installed. This AD... advises that Rotor Blades Inc. (RBI) informed Bell Helicopter Textron Inc. (BHTI) about four incidents...

  18. 76 FR 66209 - Airworthiness Directives; Sikorsky Aircraft Corporation (Sikorsky) Model S-92A Helicopters


    ... the Sikorsky Model S-92A helicopters. This proposal would require inspecting each tail rotor blade... develop on other helicopters of the same type design. Therefore, the proposed AD would require inspecting... helicopters, tail rotor blade assembly (blade), part numbers (P/N) 92170-11000-044, -045, and - 046, with...

  19. 75 FR 69858 - Airworthiness Directives; Eurocopter France (Eurocopter) Model AS332L2 Helicopters


    ... power to the main rotor system, and subsequent loss of control of the helicopter. DATES: This AD becomes... or develop on other Model AS332L2 helicopters of the same type design. There are no products of this... costs of compliance since there are no helicopters of this type design on the U.S. Registry....

  20. Helicopter Parenting: The Effect of an Overbearing Caregiving Style on Peer Attachment and Self-Efficacy

    van Ingen, Daniel J.; Freiheit, Stacy R.; Steinfeldt, Jesse A.; Moore, Linda L.; Wimer, David J.; Knutt, Adelle D.; Scapinello, Samantha; Roberts, Amber


    Helicopter parenting, an observed phenomenon on college campuses, may adversely affect college students. The authors examined how helicopter parenting is related to self-efficacy and peer relationships among 190 undergraduate students ages 16 to 28 years. Helicopter parenting was associated with low self-efficacy, alienation from peers, and a lack…

  1. Application of Computational Fluid Dynamics in the problems of determining the aerodynamic characteristics of the helicopter

    Andrei Batrakov; Lyaisan Garipova; Aleksandr Kysumov; George Barakos


    In this article, computational Fluid Dynamics is used to study the complex interactions between the rotor and fuselage of the helicopter. Helicopter flows have been under investigation using isolated fuselage models, actuator disks as well as complete rotor-fuselage configurations. The paper highlights the flow detail that can be available to modern helicopter engineers equipped with modern software and computer clusters.

  2. Towards autonomous vehicular clouds

    Stephan Olariu


    Full Text Available The dawn of the 21st century has seen a growing interest in vehicular networking and its myriad potential applications. The initial view of practitioners and researchers was that radio-equipped vehicles could keep the drivers informed about potential safety risks and increase their awareness of road conditions. The view then expanded to include access to the Internet and associated services. This position paper proposes and promotes a novel and more comprehensive vision namely, that advances in vehicular networks, embedded devices and cloud computing will enable the formation of autonomous clouds of vehicular computing, communication, sensing, power and physical resources. Hence, we coin the term, autonomous vehicular clouds (AVCs. A key feature distinguishing AVCs from conventional cloud computing is that mobile AVC resources can be pooled dynamically to serve authorized users and to enable autonomy in real-time service sharing and management on terrestrial, aerial, or aquatic pathways or theaters of operations. In addition to general-purpose AVCs, we also envision the emergence of specialized AVCs such as mobile analytics laboratories. Furthermore, we envision that the integration of AVCs with ubiquitous smart infrastructures including intelligent transportation systems, smart cities and smart electric power grids will have an enormous societal impact enabling ubiquitous utility cyber-physical services at the right place, right time and with right-sized resources.

  3. Nemesis Autonomous Test System

    Barltrop, Kevin J.; Lee, Cin-Young; Horvath, Gregory A,; Clement, Bradley J.


    A generalized framework has been developed for systems validation that can be applied to both traditional and autonomous systems. The framework consists of an automated test case generation and execution system called Nemesis that rapidly and thoroughly identifies flaws or vulnerabilities within a system. By applying genetic optimization and goal-seeking algorithms on the test equipment side, a "war game" is conducted between a system and its complementary nemesis. The end result of the war games is a collection of scenarios that reveals any undesirable behaviors of the system under test. The software provides a reusable framework to evolve test scenarios using genetic algorithms using an operation model of the system under test. It can automatically generate and execute test cases that reveal flaws in behaviorally complex systems. Genetic algorithms focus the exploration of tests on the set of test cases that most effectively reveals the flaws and vulnerabilities of the system under test. It leverages advances in state- and model-based engineering, which are essential in defining the behavior of autonomous systems. It also uses goal networks to describe test scenarios.

  4. Learning for Autonomous Navigation

    Angelova, Anelia; Howard, Andrew; Matthies, Larry; Tang, Benyang; Turmon, Michael; Mjolsness, Eric


    Robotic ground vehicles for outdoor applications have achieved some remarkable successes, notably in autonomous highway following (Dickmanns, 1987), planetary exploration (1), and off-road navigation on Earth (1). Nevertheless, major challenges remain to enable reliable, high-speed, autonomous navigation in a wide variety of complex, off-road terrain. 3-D perception of terrain geometry with imaging range sensors is the mainstay of off-road driving systems. However, the stopping distance at high speed exceeds the effective lookahead distance of existing range sensors. Prospects for extending the range of 3-D sensors is strongly limited by sensor physics, eye safety of lasers, and related issues. Range sensor limitations also allow vehicles to enter large cul-de-sacs even at low speed, leading to long detours. Moreover, sensing only terrain geometry fails to reveal mechanical properties of terrain that are critical to assessing its traversability, such as potential for slippage, sinkage, and the degree of compliance of potential obstacles. Rovers in the Mars Exploration Rover (MER) mission have got stuck in sand dunes and experienced significant downhill slippage in the vicinity of large rock hazards. Earth-based off-road robots today have very limited ability to discriminate traversable vegetation from non-traversable vegetation or rough ground. It is impossible today to preprogram a system with knowledge of these properties for all types of terrain and weather conditions that might be encountered.

  5. Terfenol-D driven flaps for helicopter vibration reduction

    Fenn, Ralph C.; Downer, James R.; Bushko, Dariusz A.; Gondhalekar, Vijay; Ham, Norman D.


    The utility of helicopter aviation is limited by the high vibration levels caused by the interaction of each rotor blade with the wake of preceding blades. Existing full-blade actuation using a swashplate has various problems such as insufficient bandwidth, limitations in the number of harmonics controlled, high maintenance, and lack of spanwise lift variation. These problems are avoided by the proposed flap operated, individual blade control system, which uses magnetostrictive actuation technology. Terfenol-D actuation has many advantages over competing technologies such as hydraulic systems, electric motors, and piezoelectric elements. These benefits include all-electric operation, simplicity and reliability, low mass, low voltage, and insensitivity to centripetal acceleration. A blade mounted Terfenol-D actuator was developed for the high-weight-penalty helicopter application. The optimum coil to Terfenol-D volume ratio was derived that gives the highest mechanical power output for a small actuator envelope and mass. A fixed ability to dissipate coil resistive losses is assumed. The magnetostrictive actuation system will weigh less than 1% of gross vehicle weight, and use only 0.7% of cruise power. Other required subsystems of the vibration reduction system are available from commercial sources or are described in the literature. Helicopter vibration reduction greater than 90% is predicted because of superior actuator performance and individual blade control. This magnetostrictive actuator technology will also produce future helicopter systems having lower noise and higher performance. Such advances will significantly improve the utility and competitiveness of helicopters for civilian and military transportation.

  6. A Newly Adopted Helicopter Platform for Geophysical and Remote Sensing

    Meyer, Uwe


    The Federal Institute for Geosciences and Natural Resources in Hannover owns a Sikorsky S-76B helicopter for geophysical and remote sensing airborne surveys. This platform has been completely refurbished and in parts newly designed to be fit for easy installations of complex geophysical instruments underneath, upon and within the helicopter. The airborne platform is equipped with a modern basic navigation equipment consisting of several GNSS antennae, state of the art inertial navigation systems, laser altimeter and video camera systems. Different other modules can be added to the helicopter as a state of the art gamma spectrometer, a laser scanner, airborne gravity meters etc. within the cabin. Moreover, external sensing systems as a photogrammetric camera, infraread camera or optional mulitspectral systems can be installed on the outer skin of the cabin. Different kinds of bird systems towed underneath the helicopter can be hooked up using standard cabling, glas fibres or wireless LAN. Available birds are equipped for frequency domain electromagnetics or gradient magnetics (IPHT Jena & Supracon, Jena). Besides, large georadar systems can be installed as well. The helicopter is able as well to carry TEM-gear or system in development. Main survey targets are groundwater systems, mineral deposits and natural hazards.


    Valentin BUTOESCU


    Full Text Available A vortex model of a helicopter rotor is presented. Each blade of the rotor has three degrees of freedom: flapping, lagging and feathering. The motions after each degree of freedom are also known for all blades. The blade is modelled as a thin vortex surface. The wakes are free fluid surfaces. A system of five equations are obtained: the first one is the integral equation of the lifting surface (rotor, the next three describe the wakes motion, and the last one relates the vortex strength on the wakes and the variation of vorticity on the rotor. A numerical solution of this system is presented. To avoid the singularities that can occur due to the complexity of vortex system, a desingularized model of the vortex core was adopted. A Mathcad worksheet containing the method has been written.The original contribution of the work. The calculation method of the motion of the wakes free vortex system, the development of the vortex cores in time and a new method to approximate the aerodynamic influence of remoted wake regions.

  8. Modeling Aerodynamically Generated Sound of Helicopter Rotors

    Brentner, Kenneth S.; Farassat, F.


    A great deal of progress has been made in the modeling of aerodynamically generated sound of rotors over the past decade. Although the modeling effort has focused on helicopter main rotors, the theory is generally valid for a wide range of rotor configurations. The Ffowcs Williams Hawkings (FW-H) equation has been the foundation for much of the development. The monopole and dipole source terms of the FW-H equation account for the thickness and loading noise, respectively. Bladevortex-interaction noise and broadband noise are important types of loading noise, hence much research has been directed toward the accurate modeling of these noise mechanisms. Both subsonic and supersonic quadrupole noise formulations have been developed for the prediction of high-speed impulsive noise. In an effort to eliminate the need to compute the quadrupole contribution, the FW-H equation has also been utilized on permeable surfaces surrounding all physical noise sources. Comparisons of the Kirchhoff formulation for moving surfaces with the FW-H equation have shown that the Kirchhoff formulation for moving surfaces can give erroneous results for aeroacoustic problems. Finally, significant progress has been made incorporating the rotor noise models into full vehicle noise prediction tools.

  9. Yaw Motion Cues in Helicopter Simulation

    Schroeder, Jeffrey A.; Johnson, Walter W.


    A piloted simulation that examined the effects of yaw motion cues on pilot-vehicle performance, pilot workload, and pilot motion perception was conducted on the NASA Ames Vertical Motion Simulator. The vehicle model that was used represented an AH-64 helicopter. Three tasks were performed in which only combinations of vehicle yaw and vertical displacement were allowed. The commands issued to the motion platform were modified to present the following four motion configurations for a pilot located forward of the center of rotation: (1) only the linear translations, (2) only the angular rotation, (3) both the linear translations and the angular rotation, and (4) no motion. The objective data indicated that pilot-vehicle performance was reduced and the necessary control activity increased when linear motion was removed; however, the lack of angular rotation did not result in a measured degradation for almost all cases. Also, pilots provided subjective assessments of their compensation required, the motion fidelity, and their judgment of whether or not linear or rotational cockpit motion was present. Ratings of compensation and fidelity were affected only by linear acceleration, and the rotational motion had no significant impact. Also, when only linear motion was present, pilots typically reported the presence of rotation. Thus, linear acceleration cues, not yaw rotational cues, appear necessary to simulate hovering flight.

  10. Condition Monitoring for Helicopter Data. Appendix A

    Wen, Fang; Willett, Peter; Deb, Somnath


    In this paper the classical "Westland" set of empirical accelerometer helicopter data is analyzed with the aim of condition monitoring for diagnostic purposes. The goal is to determine features for failure events from these data, via a proprietary signal processing toolbox, and to weigh these according to a variety of classification algorithms. As regards signal processing, it appears that the autoregressive (AR) coefficients from a simple linear model encapsulate a great deal of information in a relatively few measurements; it has also been found that augmentation of these by harmonic and other parameters can improve classification significantly. As regards classification, several techniques have been explored, among these restricted Coulomb energy (RCE) networks, learning vector quantization (LVQ), Gaussian mixture classifiers and decision trees. A problem with these approaches, and in common with many classification paradigms, is that augmentation of the feature dimension can degrade classification ability. Thus, we also introduce the Bayesian data reduction algorithm (BDRA), which imposes a Dirichlet prior on training data and is thus able to quantify probability of error in an exact manner, such that features may be discarded or coarsened appropriately.

  11. Helicopter EMS: Research Endpoints and Potential Benefits

    Stephen H. Thomas


    Full Text Available Patients, EMS systems, and healthcare regions benefit from Helicopter EMS (HEMS utilization. This article discusses these benefits in terms of specific endpoints utilized in research projects. The endpoint of interest, be it primary, secondary, or surrogate, is important to understand in the deployment of HEMS resources or in planning further HEMS outcomes research. The most important outcomes are those which show potential benefits to the patients, such as functional survival, pain relief, and earlier ALS care. Case reports are also important “outcomes” publications. The benefits of HEMS in the rural setting is the ability to provide timely access to Level I or Level II trauma centers and in nontrauma, interfacility transport of cardiac, stroke, and even sepsis patients. Many HEMS crews have pharmacologic and procedural capabilities that bring a different level of care to a trauma scene or small referring hospital, especially in the rural setting. Regional healthcare and EMS system's benefit from HEMS by their capability to extend the advanced level of care throughout a region, provide a “backup” for areas with limited ALS coverage, minimize transport times, make available direct transport to specialized centers, and offer flexibility of transport in overloaded hospital systems.

  12. Expanded Perspectives on Autonomous Learners

    Oxford, Rebecca L.


    This paper explores two general perspectives on autonomous learners: psychological and sociocultural. These perspectives introduce a range of theoretically grounded facets of autonomous learners, facets such as the self-regulated learner, the emotionally intelligent learner, the self-determined learner, the mediated learner, the socioculturally…

  13. Application of smart materials to helicopter rotor active control

    Straub, Friedrich K.; Ealey, Mark A.; Schetky, Lawrence M.


    Helicopter design is limited by the compromise inherent in meeting hover and forward flight requirements, and the unsteady environment encountered in forward flight. Active control of helicopter rotors using smart material, in-blade actuation can overcome these barriers and provide substantial reductions in noise and vibrations and improved performance. The present study covers the blade/actuator integration and actuator development for a full scale system to demonstrate active control of noise and vibrations as well as inflight blade tracking on the MD Explorer helicopter. A piezoelectric multilayer stack actuator, driving a trailing edge flap, is used for active control. A shape memory alloy torsion actuator, driving a trailing edge trim tab, is used for inflight tracking. Overall, this DARPA sponsored program entails the design, development, and fabrication of the full scale active control rotor system. If successful, an entry in the NASA Ames 40 X 80 foot wind tunnel and flight tests are planned for a follow on program.

  14. Aerodynamic analysis of a helicopter fuselage with rotating rotor head

    Reß, R.; Grawunder, M.; Breitsamter, Ch.


    The present paper describes results of wind tunnel experiments obtained during a research programme aimed at drag reduction of the fuselage of a twin engine light helicopter configuration. A 1 : 5 scale model of a helicopter fuselage including a rotating rotor head and landing gear was investigated in the low-speed wind tunnel A of Technische Universität a München (TUM). The modelled parts of the helicopter induce approxiu mately 80% of the total parasite drag thus forming a major potential for shape optimizations. The present paper compares results of force and moment measurements of a baseline configuration and modified variants with an emphasis on the aerodynamic drag, lift, and yawing moment coefficients.

  15. Flap motion of helicopter rotors with novel, dynamic stall model

    Han Wei


    Full Text Available In this paper, a nonlinear flapping equation for large inflow angles and flap angles is established by analyzing the aerodynamics of helicopter blade elements. In order to obtain a generalized flap equation, the Snel stall model was first applied to determine the lift coefficient of the helicopter rotor. A simulation experiment for specific airfoils was then conducted to verify the effectiveness of the Snel stall model as it applies to helicopters. Results show that the model requires no extraneous parameters compared to the traditional stall model and is highly accurate and practically applicable. Based on the model, the relationship between the flapping angle and the angle of attack was analyzed, as well as the advance ratio under the dynamic stall state.

  16. Evaluation of ride quality prediction methods for operational military helicopters

    Leatherwood, J. D.; Clevenson, S. A.; Hollenbaugh, D. D.


    The results of a simulator study conducted to compare and validate various ride quality prediction methods for use in assessing passenger/crew ride comfort within helicopters are presented. Included are results quantifying 35 helicopter pilots' discomfort responses to helicopter interior noise and vibration typical of routine flights, assessment of various ride quality metrics including the NASA ride comfort model, and examination of possible criteria approaches. Results of the study indicated that crew discomfort results from a complex interaction between vibration and interior noise. Overall measures such as weighted or unweighted root-mean-square acceleration level and A-weighted noise level were not good predictors of discomfort. Accurate prediction required a metric incorporating the interactive effects of both noise and vibration. The best metric for predicting crew comfort to the combined noise and vibration environment was the NASA discomfort index.

  17. Cognitive perspectives on map displays for helicopter flight

    Harwood, Kelly


    Currently accessible technologies are providing entirely new display concepts for enhancing helicopter navigation. Yet the effectiveness of such displays depends on the extent to which they are configured according to principles from research on human performance. Computer generated map displays in the present study were configured according to previous research on maps, navigational problem solving, and spatial cognition in large scale environments. Interest centered on the representation of different spatial relationships that would best support helicopter navigational problem solving. One map display emphasized the global relationships between objects in the environment. The other map showed the pilot's relationship to objects as he traveled through the environment. Twenty skilled pilots used the maps to complete several navigational tasks that occurred within a realistic simulation program tailored for helicopter navigation. Findings indicate that the type of task and mode of flight (low level or Nap of the Earth (NOE)) are important determinants of map display effectiveness.

  18. Evolutionary Autonomous Health Monitoring System (EAHMS) Project

    National Aeronautics and Space Administration — For supporting NASA's Robotics, Tele-Robotics and Autonomous Systems Roadmap, we are proposing the "Evolutionary Autonomous Health Monitoring System" (EAHMS) for...

  19. Autonomous Gaussian Decomposition

    Lindner, Robert R; Murray, Claire E; Stanimirović, Snežana; Babler, Brian L; Heiles, Carl; Hennebelle, Patrick; Goss, W M; Dickey, John


    We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21cm absorption spectra from the 21cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the HI line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the up...

  20. Autonomous Flying Controls Testbed

    Motter, Mark A.


    The Flying Controls Testbed (FLiC) is a relatively small and inexpensive unmanned aerial vehicle developed specifically to test highly experimental flight control approaches. The most recent version of the FLiC is configured with 16 independent aileron segments, supports the implementation of C-coded experimental controllers, and is capable of fully autonomous flight from takeoff roll to landing, including flight test maneuvers. The test vehicle is basically a modified Army target drone, AN/FQM-117B, developed as part of a collaboration between the Aviation Applied Technology Directorate (AATD) at Fort Eustis,Virginia and NASA Langley Research Center. Several vehicles have been constructed and collectively have flown over 600 successful test flights.

  1. Mobile Intelligent Autonomous Systems

    Jitendra R. Raol


    Full Text Available Mobile intelligent autonomous systems (MIAS is a fast emerging research area. Although it can be regarded as a general R&D area, it is mainly directed towards robotics. Several important subtopics within MIAS research are:(i perception and reasoning, (ii mobility and navigation,(iii haptics and teleoperation, (iv image fusion/computervision, (v modelling of manipulators, (vi hardware/software architectures for planning and behaviour learning leadingto robotic architecture, (vii vehicle-robot path and motionplanning/control, (viii human-machine interfaces for interaction between humans and robots, and (ix application of artificial neural networks (ANNs, fuzzy logic/systems (FLS,probabilistic/approximate reasoning (PAR, Bayesian networks(BN and genetic algorithms (GA to the above-mentioned problems. Also, multi-sensor data fusion (MSDF playsvery crucial role at many levels of the data fusion process:(i kinematic fusion (position/bearing tracking, (ii imagefusion (for scene recognition, (iii information fusion (forbuilding world models, and (iv decision fusion (for tracking,control actions. The MIAS as a technology is useful for automation of complex tasks, surveillance in a hazardousand hostile environment, human-assistance in very difficultmanual works, medical robotics, hospital systems, autodiagnosticsystems, and many other related civil and military systems. Also, other important research areas for MIAScomprise sensor/actuator modelling, failure management/reconfiguration, scene understanding, knowledge representation, learning and decision-making. Examples ofdynamic systems considered within the MIAS would be:autonomous systems (unmanned ground vehicles, unmannedaerial vehicles, micro/mini air vehicles, and autonomousunder water vehicles, mobile/fixed robotic systems, dexterousmanipulator robots, mining robots, surveillance systems,and networked/multi-robot systems, to name a few.Defence Science Journal, 2010, 60(1, pp.3-4,

  2. Wavy-Planform Helicopter Blades Make Less Noise

    Brooks, Thomas F.


    Wavy-planform rotor blades for helicopters have been investigated for the first time in an effort to reduce noise. Two of the main sources of helicopter noise are blade/vortex interaction (BVI) and volume displacement. (The noise contributed by volume displacement is termed thickness noise.) The reduction in noise generated by a wavyplanform blade, relative to that generated by an otherwise equivalent straight-planform blade, affects both main sources: (1) the BVI noise is reduced through smoothing and defocusing of the aerodynamic loading on the blade and (2) the thickness noise is reduced by reducing gradients of thickness with respect to listeners on the ground.

  3. Interior noise reduction in a large civil helicopter

    Howlett, J. T.; Clevenson, S. A.; Rypf, J. A.; Snyder, W. J.


    The results of an evaluation of the effectiveness of current noise reduction technology in attaining acceptable levels of interior noise in a large (about 20,000 kg) passenger-carrying helicopter are presented. The helicopter studied is a modified CH-53A with a specially designed, acoustically treated passenger cabin. The acoustic treatment reduced the average A-weighted interior noise levels from 115 db to 87 db. The study suggests selected improvements in the acoustic treatment which could result in additional reduction in cabin noise levels. The resulting levels would be only slightly greater than the interior noise levels of current narrow-body jet transports.

  4. Important Scaling Parameters for Testing Model-Scale Helicopter Rotors

    Singleton, Jeffrey D.; Yeager, William T., Jr.


    An investigation into the effects of aerodynamic and aeroelastic scaling parameters on model scale helicopter rotors has been conducted in the NASA Langley Transonic Dynamics Tunnel. The effect of varying Reynolds number, blade Lock number, and structural elasticity on rotor performance has been studied and the performance results are discussed herein for two different rotor blade sets at two rotor advance ratios. One set of rotor blades were rigid and the other set of blades were dynamically scaled to be representative of a main rotor design for a utility class helicopter. The investigation was con-densities permits the acquisition of data for several Reynolds and Lock number combinations.

  5. Digital flight control design for a tandem-rotor helicopter

    Stengel, R. F.; Broussard, J. R.; Berry, P. W.


    Methods and results in the continuing development of a digital flight control system (DFCS) for the CH-47B helicopter are examined. The helicopter is the research vehicle for the NASA VTOL Approach and Landing Technology (VALT) Program. It is equipped with comprehensive equipment for the investigation of navigation, guidance, and control requirements for future VTOL aircraft. Two control modes (attitude-command and velocity-command) are implemented, and each mode provides 'Type 1' response to guidance commands. DFCS design is based upon optimal estimation and control methods, which are found to provide flexible and efficient means for defining practical digital control systems.

  6. The Effect of Helicopter Rotors on GPS Signal Reception

    Brodin, Gary; Cooper, John; Walsh, David; Stevens, Jeff


    This paper presents the results of an experiment to investigate the impact of helicopter rotor blades on GPS signal reception. An offshore transport helicopter was equipped with a measurement system including a TSO-C129 compliant receiver and a custom research receiver. GPS signals passing through rotor discs of this aircraft were found to suffer a reduction in received signal strength, leading to potential navigation and RAIM availability concerns. The phenomenon will vary between installations and receiver types. Test procedures to identify the occurrence of the phenomenon in operational GPS installations are presented, together with possible in-service monitoring programs to assess the impact on the navigation function.

  7. Helicopter rotor dynamics and aeroelasticity - Some key ideas and insights

    Friedmann, Peretz P.


    Four important current topics in helicopter rotor dynamics and aeroelasticity are discussed: (1) the role of geometric nonlinearities in rotary-wing aeroelasticity; (2) structural modeling, free vibration, and aeroelastic analysis of composite rotor blades; (3) modeling of coupled rotor/fuselage areomechanical problems and their active control; and (4) use of higher-harmonic control for vibration reduction in helicopter rotors in forward flight. The discussion attempts to provide an improved fundamental understanding of the current state of the art. In this way, future research can be focused on problems which remain to be solved instead of producing marginal improvements on problems which are already understood.

  8. Identification of Helicopter Rigid Body Dynamics from Flight Data.

    Jatinder Singh


    Full Text Available This paper discusses helicopter modelling and identification related aspects. By applying thesystem identification methodology, longitudinal and lateral-directional rigid body helicopter dynamics are identified from flight data. Aerodynamic parameters from single input excitation as wellas multimanoeuver evaluation are estimated utilising output-error approach. The formulatedmathematical models yield adequate fit to measured time histories. Results obtained from the proof-of-match for model validation indicate that the identified derivatives can satisfactorily predictlongitudinal dynamics to a given arbitrary input. It is further demonstrated for the present study thatlateral body dynamics can be adequately predicted by including cross-coupling terms in the estimation model.

  9. Civil helicopter noise assessment study Boeing-Vertol model 347. [recommendations for reduction of helicopter noise levels

    Hinterkeuser, E. G.; Sternfeld, H., Jr.


    A study was conducted to forecast the noise restrictions which may be imposed on civil transport helicopters in the 1975-1985 time period. Certification and community acceptance criteria were predicted. A 50 passenger tandem rotor helicopter based on the Boeing-Vertol Model 347 was studied to determine the noise reductions required, and the means of achieving them. Some of the important study recommendations are: (1) certification limits should be equivalent to 95 EPNdb at data points located at 500 feet to each side of the touchdown/takeoff point, and 1000 feet from this point directly under the approach and departure flight path. (2) community acceptance should be measured as Equivalent Noise Level (Leq), based on dBA, with separate limits for day and night operations, and (3) in order to comply with the above guidelines, the Model 347 helicopter will require studies and tests leading to several modifications.

  10. Bell Helicopter Advanced Rotocraft Transmission (ART) program

    Henry, Zachary S.


    Future rotorcraft transmissions require key emerging material and component technologies using advanced and innovative design practices in order to meet the requirements for a reduced weight to power ratio, a decreased noise level, and a substantially increased reliability. The specific goals for the future rotorcraft transmission when compared with a current state-of-the-art transmission (SOAT) are: (1) a 25 percent weight reduction; (2) a 10 dB reduction in the transmitted noise level; and (3) a system reliability of 5000 hours mean-time-between-removal (MTBR) for the transmission. This report summarizes the work conducted by Bell Helicopter Textron, Inc. to achieve these goals under the Advanced Rotorcraft Transmission (ART) program from 1988 to 1995. The reference aircraft selected by BHTI for the ART program was the Tactical Tiltrotor which is a 17,000 lb gross weight aircraft. A tradeoff study was conducted comparing the ART with a Selected SOAT. The results showed the ART to be 29 percent lighter and up to 13 dB quieter with a calculated MTBR in excess of 5000 hours. The results of the following high risk component and material tests are also presented: (1) sequential meshing high contact ratio planetary with cantilevered support posts; (2) thin dense chrome plated M50 NiL double row spherical roller planetary bearings; (3) reduced kinematic error and increased bending strength spiral bevel gears; (4) high temperature WE43 magnesium housing evaluation and coupon corrosion tests; (5) flexure fatigue tests of precision forged coupons simulating precision forged gear teeth; and (6) flexure fatigue tests of plasma carburized coupons simulating plasma carburized gear teeth.

  11. Stroboscope Controller for Imaging Helicopter Rotors

    Jensen, Scott; Marmie, John; Mai, Nghia


    A versatile electronic timing-and-control unit, denoted a rotorcraft strobe controller, has been developed for use in controlling stroboscopes, lasers, video cameras, and other instruments for capturing still images of rotating machine parts especially helicopter rotors. This unit is designed to be compatible with a variety of sources of input shaftangle or timing signals and to be capable of generating a variety of output signals suitable for triggering instruments characterized by different input-signal specifications. It is also designed to be flexible and reconfigurable in that it can be modified and updated through changes in its control software, without need to change its hardware. Figure 1 is a block diagram of the rotorcraft strobe controller. The control processor is a high-density complementary metal oxide semiconductor, singlechip 8-bit microcontroller. It is connected to a 32K x 8 nonvolatile static random-access memory (RAM) module. Also connected to the control processor is a 32K 8 electrically programmable read-only-memory (EPROM) module, which is used to store the control software. Digital logic support circuitry is implemented in a field-programmable gate array (FPGA). A 240 x 128-dot, 40- character 16-line liquid-crystal display (LCD) module serves as a graphical user interface; the user provides input through a 16-key keypad mounted next to the LCD. A 12-bit digital-to-analog converter (DAC) generates a 0-to-10-V ramp output signal used as part of a rotor-blade monitoring system, while the control processor generates all the appropriate strobing signals. Optocouplers are used to isolate all input and output digital signals, and optoisolators are used to isolate all analog signals. The unit is designed to fit inside a 19-in. (.48-cm) rack-mount enclosure. Electronic components are mounted on a custom printed-circuit board (see Figure 2). Two power-conversion modules on the printedcircuit board convert AC power to +5 VDC and 15 VDC, respectively.

  12. Cybersecurity for aerospace autonomous systems

    Straub, Jeremy


    High profile breaches have occurred across numerous information systems. One area where attacks are particularly problematic is autonomous control systems. This paper considers the aerospace information system, focusing on elements that interact with autonomous control systems (e.g., onboard UAVs). It discusses the trust placed in the autonomous systems and supporting systems (e.g., navigational aids) and how this trust can be validated. Approaches to remotely detect the UAV compromise, without relying on the onboard software (on a potentially compromised system) as part of the process are discussed. How different levels of autonomy (task-based, goal-based, mission-based) impact this remote characterization is considered.

  13. Revolutionary Concepts for Helicopter Noise Reduction: SILENT Program

    Edwards, Bryan; Cox, Charles; Booth, Earl R., Jr. (Technical Monitor)


    As part of a NASA initiative to reduce helicopter main rotor noise, a Phase 1 study has been performed of candidate noise reduction concepts. Both conventional and novel design technologies have been analyzed that reduce the community impact of helicopter operations. In this study the noise reduction potential and design implications are assessed for conventional means of noise reduction, e.g., tip speed reduction, tip shapes and airfoil tailoring, and for two innovative design concepts: modulated blade spacing and x-force control. Main rotor designs that incorporate modulated blade spacing are shown to have reduced peak noise levels in most flight operations. X-force control alters the helicopter's force balance whereby the miss distance between main rotor blades and shed vortices can be controlled. This control provides a high potential to mitigate BVI noise radiation. Each concept is evaluated using best practice design and analysis methods, achieving the study's aim to significantly reduce noise with minimal performance degradation and no vibration increase. It is concluded that a SILENT main rotor design, incorporating the modulated blade spacing concept, offers significantly reduced noise levels and the potential of a breakthrough in how a helicopter's sound is perceived and judged. The SILENT rotor represents a definite advancement in the state-of-the-art and is selected as the design concept for demonstration in Phase 2. A Phase 2 Implementation Plan is developed for whirl cage and wind tunnel evaluations of a scaled model SILENT rotor.

  14. A designer's viewpoint: Requirements for reducing helicopter noise

    Cohen, E. E.


    Functional requirements of helicopter noise reduction are discussed from the work environment point by view, i.e., what conditions must exist before the designer can take aim, without too many restraints, at reducing noise, community demand for noise reduction, regulatory requirements, competition, and penalties are among the topics discussed.

  15. Helicopter Rotor Noise Prediction: Background, Current Status, and Future Direction

    Brentner, Kenneth S.


    Helicopter noise prediction is increasingly important. The purpose of this viewgraph presentation is to: 1) Put into perspective the recent progress; 2) Outline current prediction capabilities; 3) Forecast direction of future prediction research; 4) Identify rotorcraft noise prediction needs. The presentation includes an historical perspective, a description of governing equations, and the current status of source noise prediction.

  16. Design of helicopter rotor blades for optimum dynamic characteristics

    Peters, D. A.; Ko, T.; Korn, A.; Rossow, M. P.


    The mass and stiffness distributions for helicopter rotor blades are tailored in such a way to give a predetermined placement of blade natural frequencies. The optimal design is pursued with respect of minimum weight, sufficient inertia, and reasonable dynamic characteristics. Finite element techniques are used as a tool. Rotor types include hingeless, articulated, and teetering.

  17. 78 FR 44043 - Airworthiness Directives; Eurocopter France Helicopters


    ...) Applicability This AD applies to Eurocopter Model EC225LP helicopters with a main rotor hub (MRH) assembly with... discovery of corrosion on the swashplates when the main rotor hub (MRH) assemblies were reconditioned. The... unsafe condition is likely to exist or develop on other products of the same type design. Related...

  18. New design of hingeless helicopter rotor improves stability

    Ormiston, R. A.; Bousman, W. G.; Hodges, D. H.; Peters, D. A.


    Cantilever blades are attached directly to rotor hub, thereby substantially reducing cost and complexity and increasing reliability of helicopter rotor. Combination of structural flap-lag coupling and pitch-lag coupling provides damping of 6 to 10%, depending on magnitude of coupling parameters.

  19. 78 FR 44045 - Airworthiness Directives; Sikorsky Aircraft Corporation (Sikorsky) Helicopters


    ... unsafe condition exists and is likely to exist or develop on other helicopters of this same type design... 12866; 2. Is not a ``significant rule'' under the DOT Regulatory Policies and Procedures (44 FR 11034... (P/N) 38023-10374- 041; (2) Main Rotor Hub, P/N 70070-10046-055 and -056; (3) Main Rotor Spindle...

  20. 78 FR 51127 - Airworthiness Directives; Various Restricted Category Helicopters


    ... unsafe condition exists and is likely to exist or develop on other helicopters of the same type design... Southwest Florida Aviation, Inc. This proposed AD would require inspecting the tail rotor (T/R) cable.... Is not a ``significant rule'' under the DOT Regulatory Policies and Procedures (44 FR 11034,...

  1. Investigation of Current Methods to Identify Helicopter Gear Health

    Dempsey, Paula J.; Lewicki, David G.; Le, Dy D.


    This paper provides an overview of current vibration methods used to identify the health of helicopter transmission gears. The gears are critical to the transmission system that provides propulsion, lift and maneuvering of the helicopter. This paper reviews techniques used to process vibration data to calculate conditions indicators (CI's), guidelines used by the government aviation authorities in developing and certifying the Health and Usage Monitoring System (HUMS), condition and health indicators used in commercial HUMS, and different methods used to set thresholds to detect damage. Initial assessment of a method to set thresholds for vibration based condition indicators applied to flight and test rig data by evaluating differences in distributions between comparable transmissions are also discussed. Gear condition indicator FM4 values are compared on an OH58 helicopter during 14 maneuvers and an OH58 transmission test stand during crack propagation tests. Preliminary results show the distributions between healthy helicopter and rig data are comparable and distributions between healthy and damaged gears show significant differences.

  2. 78 FR 22213 - Airworthiness Directives; Eurocopter France Helicopters


    ... Policies and Procedures (44 FR 11034, February 26, 1979); 3. Will not affect intrastate aviation in Alaska... France Helicopters AGENCY: Federal Aviation Administration (FAA), DOT. ACTION: Notice of proposed rulemaking (NPRM). SUMMARY: We propose to adopt a new airworthiness directive (AD) for Eurocopter...

  3. 77 FR 36220 - Airworthiness Directives; Eurocopter France Helicopters


    ... ``significant rule'' under the DOT Regulatory Policies and Procedures (44 FR 11034, February 26, 1979); 3. Will... C3 helicopters with a MGB, all part numbers, that was delivered before December 5, 2007, installed on.... (g) Subject Joint Aircraft Service Component (JASC) Code: 6320: Main Rotor Gearbox. Issued in...

  4. 78 FR 63853 - Airworthiness Directives; Eurocopter France (Eurocopter) Helicopters


    ... Regulatory Policies and Procedures (44 FR 11034, February 26, 1979); ] 3. Will not affect intrastate aviation....00.49 is for non-FAA type certificated military Models AS550A2, C2, C3, and U2 helicopters. EASB No... in Docket No. FAA-2013-0878. (i) Subject Joint Aircraft Service Component (JASC) Code: 6400...

  5. The Computational Electromagnetic Modelling of the CH-146 Griffon Helicopter

    Rogers, Sarah Alicia

    Selecting the optimal location for a new antenna on an aircraft is a difficult task. Given the limited space that is available on the fuselage, there maybe only a few available locations from which to choose. The performance of a new antenna is often hindered by nearby structures on the aircraft, which may block or diffract the antenna's desired radiation. In addition, given that there are many other antennas and electronic systems onboard aircraft, potential interference produced by the new antenna must also be considered. The choice of the best antenna location must therefore be based on the careful study of the electromagnetic performance of the antenna at each location. Given that it is unlikely that a new antenna can be physically tested in various locations on an operational aircraft, recourse must be made to computer simulation. In this work, the selection of an appropriate location for a new satellite communication antenna is considered for the CH-146 Griffon helicopter. To this end, a new computer electromagnetic model of the CH-146 Griffon helicopter was created, validated, and used to characterize the helicopter's electromagnetic environment. A commercial computational software called FEKO was subsequently used to calculate the radiation patterns, near-fields, and surface current distribution generated on the helicopter model by a broad-patterned antenna installed at three different locations on the aircraft. A subsequent analysis of the calculated results was then used to determine the best of the three possible placements of the proposed satellite communications antenna.

  6. 78 FR 40956 - Airworthiness Directives; Eurocopter Deutschland (Eurocopter) Helicopters


    .... The air conditioning compressor is driven by a pulley attached to the rotor brake disc. We received a report of a recent incident where the fasteners attaching the air conditioning compressor pulley to the... helicopters with a Metro Aviation (Metro) vapor-cycle air conditioning kit installed in accordance...

  7. Robust Helicopter Stabilization in the Face of Wind Disturbance

    A. Danapalasingam, Kumeresan; Leth, John-Josef; la Cour-Harbo, Anders;


    helicopter model affected by a wind disturbance is addressed. The wind disturbance is assumed to be a sum of a fixed number of sinusoids with unknown amplitudes, frequencies and phases. An estimate of the disturbance is introduced to be adapted using state measurements for control purposes. A nonlinear...... handling parameter and model uncertainties....

  8. 78 FR 40072 - Airworthiness Directives; Eurocopter France Helicopters


    ...'' under the DOT Regulatory Policies and Procedures (44 FR 11034, February 26, 1979); 3. Will not affect... Federal Aviation Administration 14 CFR Part 39 RIN 2120-AA64 Airworthiness Directives; Eurocopter France... France (Eurocopter) Model AS332C1 and AS332L1 helicopters. This proposed AD would require replacing...

  9. 78 FR 57047 - Airworthiness Directives; Eurocopter France Helicopters


    ... On February 11, 2013, at 78 FR 9634, the Federal Register published our notice of proposed rulemaking... FR 9634, February 11, 2013). FAA's Determination These helicopters have been approved by the aviation... changes are consistent with the intent of the proposals in the NPRM (78 FR 9634, February 11, 2013)...

  10. 77 FR 44118 - Airworthiness Directives; Eurocopter France Helicopters


    ... Order 12866; 2. Is not a ``significant rule'' under DOT Regulatory Policies and Procedures (44 FR 11034...-056-AD; Amendment 39-17133; AD 2012-15-04] RIN 2120-AA64 Airworthiness Directives; Eurocopter France... France (Eurocopter) Model EC155B1 helicopters with a certain automated flight control system...

  11. 78 FR 65871 - Airworthiness Directives; Eurocopter France Helicopters


    ..., at 78 FR 33764, the Federal Register published our notice of proposed rulemaking (NPRM), which... NPRM (78 FR 33764, June 5, 2013). FAA's Determination These helicopters have been approved by the... Executive Order 12866; (2) Is not a ``significant rule'' under DOT Regulatory Policies and Procedures (44...

  12. Synthetic vision helicopter flights using high resolution LIDAR terrain data

    Sindlinger, A.; Meuter, M.; Barraci, N.; Güttler, M.; Klingauf, U.; Schiefele, J.; Howland, D.


    Helicopters are widely used for operations close to terrain such as rescue missions; therefore all-weather capabilities are highly desired. To minimize or even avoid the risk of collision with terrain and obstacles, Synthetic Vision Systems (SVS) could be used to increase situational awareness. In order to demonstrate this, helicopter flights have been performed in the area of Zurich, Switzerland A major component of an SVS is the three-dimensional (3D) depiction of terrain data, usually presented on the primary flight display (PFD). The degree of usability in low level flight applications is a function of the terrain data quality. Today's most precise, large scale terrain data are derived from airborne laser scanning technologies such as LIDAR (light detection and ranging). A LIDAR dataset provided by Swissphoto AG, Zurich with a resolution of 1m was used. The depiction of high resolution terrain data consisting of 1 million elevation posts per square kilometer on a laptop in an appropriate area around the helicopter is challenging. To facilitate the depiction of the high resolution terrain data, it was triangulated applying a 1.5m error margin making it possible to depict an area of 5x5 square kilometer around the helicopter. To position the camera correctly in the virtual scene the SVS had to be supplied with accurate navigation data. Highly flexible and portable measurement equipment which easily could be used in most aircrafts was designed. Demonstration flights were successfully executed in September, October 2005 in the Swiss Alps departing from Zurich.

  13. 77 FR 36216 - Airworthiness Directives; Eurocopter France Helicopters


    ... ``significant rule'' under the DOT Regulatory Policies and Procedures (44 FR 11034, February 26, 1979); 3. Will... AS355NP helicopters with certain Aerazur emergency flotation gear attachment brackets (brackets) installed. This proposed AD would require an initial and recurring inspection of the brackets for a crack, and...

  14. Aeromechanical Analysis of a Smart Helicopter Rotor in Forward Flight

    Jacopo Serafini


    Full Text Available This paper deals with a smart system integrated into a helicopter blade aimed at giving an anhedral shape to the blade tip region to alleviate the blade-vortex interaction phenomenon that may cause reduced helicopter performance in terms of noise and vibrations. The blade tip morphing is obtained through the joint action of a magneto-rheological fluid (MRF device, a shape-memory alloy ribbons- based (SMA device and a set of concentrated masses properly distributed spanwise. The presence of this smart actuator (particularly the concentrated masses inside the blades modifies the aeromechanical behaviour of the rotor and may be detrimental in terms of hub vibratory loads, pitch control effectiveness and aeroelastic stability. Following a previous literature work concerning with the effectiveness of the smart actuated rotor in hovering conditions, the present paper focuses on the aeromechanical effects due to the inclusion of the smart device in a four-bladed helicopter rotor in forward flight where blade morphing is not needed. Aim of this work is to investigate on the compatibility of the smart system with the required aeromechanical performance of the rotor, highlighting the feasibility of its application on helicopters.

  15. Using Paper Helicopters to Teach Statistical Process Control

    Johnson, Danny J.


    This hands-on project uses a paper helicopter to teach students how to distinguish between common and special causes of variability when developing and using statistical process control charts. It allows the student to experience a process that is out-of-control due to imprecise or incomplete product design specifications and to discover how the…

  16. 77 FR 63285 - Airworthiness Directives; Brantly International, Inc. Helicopters


    ... using a 10X power magnifying glass and conducting a tap ] test every 25 hours TIS and a visual... Policies and Procedures (44 FR 11034, February 26, 1979); 3. Will not affect intrastate aviation in Alaska... helicopter during flight. Laboratory analysis concluded that the M/R blade failure was caused by...

  17. Acoustic Helicopter and FW Aircraft Detection and Classification

    Koersel, A.C. van


    The possibility to detect the passage of aircraft (either propeller or jet) with one or more mechanical wave sensors (acoustic or seismic) is investigated. An existing algorithm-sensor demonstator can detect and classify helicopter targets. In its current form it is developed to reject other targets

  18. Flight Test Guide (Part 61 Revised): Instrument Pilot: Helicopter.

    Federal Aviation Administration (DOT), Washington, DC. Flight Standards Service.

    The guide provides an outline of the skills required to pass the flight test for an Instrument Pilot Helicopter Rating under Part 61 (revised) of Federal Aviation Regulations. General procedures for flight tests are described and the following pilot operations outlined: maneuvering by reference to instruments, IFR navigation, instrument…

  19. At Issue: Helicopter Parents and Millennial Students, an Annotated Bibliography

    Pricer, Wayne F.


    Technological advances have made it easy for parents and children--many of them students--to communicate instantaneously. Devices and technologies such as cell phones, laptops, texting, and e-mail all enable various forms of instant communication. "Helicopter parents" are regarded as very overprotective and overly involved in the affairs of their…

  20. From Self-Flying Helicopters to Classrooms of the Future

    Young, Jeffrey R.


    On a summer day four years ago, a Stanford University computer-science professor named Andrew Ng held an unusual air show on a field near the campus. His fleet of small helicopter drones flew under computer control, piloted by artificial-intelligence software that could teach itself to fly after watching a human operator. By the end of the day,…

  1. Autonomic Dysregulation in Multiple Sclerosis.

    Pintér, Alexandra; Cseh, Domonkos; Sárközi, Adrienn; Illigens, Ben M; Siepmann, Timo


    Multiple sclerosis (MS) is a chronic, progressive central neurological disease characterized by inflammation and demyelination. In patients with MS, dysregulation of the autonomic nervous system may present with various clinical symptoms including sweating abnormalities, urinary dysfunction, orthostatic dysregulation, gastrointestinal symptoms, and sexual dysfunction. These autonomic disturbances reduce the quality of life of affected patients and constitute a clinical challenge to the physician due to variability of clinical presentation and inconsistent data on diagnosis and treatment. Early diagnosis and initiation of individualized interdisciplinary and multimodal strategies is beneficial in the management of autonomic dysfunction in MS. This review summarizes the current literature on the most prevalent aspects of autonomic dysfunction in MS and provides reference to underlying pathophysiological mechanisms as well as means of diagnosis and treatment. PMID:26213927

  2. Framework for Autonomous Optimization Project

    National Aeronautics and Space Administration — Phoenix Integration and MIT propose to create a novel autonomous optimization tool and application programming interface (API). The API will demonstrate the ability...

  3. Future Autonomous and Automated Systems Testbed Project

    National Aeronautics and Space Administration — FAAST is an R/C helicopter platform that is being developed by the Aeroscience and Flight Mechanics Division (EG) as a low-cost, low-risk, hands-on way for...

  4. Autonomous Mission Operations Roadmap

    Frank, Jeremy David


    As light time delays increase, the number of such situations in which crew autonomy is the best way to conduct the mission is expected to increase. However, there are significant open questions regarding which functions to allocate to ground and crew as the time delays increase. In situations where the ideal solution is to allocate responsibility to the crew and the vehicle, a second question arises: should the activity be the responsibility of the crew or an automated vehicle function? More specifically, we must answer the following questions: What aspects of mission operation responsibilities (Plan, Train, Fly) should be allocated to ground based or vehicle based planning, monitoring, and control in the presence of significant light-time delay between the vehicle and the Earth?How should the allocated ground based planning, monitoring, and control be distributed across the flight control team and ground system automation? How should the allocated vehicle based planning, monitoring, and control be distributed between the flight crew and onboard system automation?When during the mission should responsibility shift from flight control team to crew or from crew to vehicle, and what should the process of shifting responsibility be as the mission progresses? NASA is developing a roadmap of capabilities for Autonomous Mission Operations for human spaceflight. This presentation will describe the current state of development of this roadmap, with specific attention to in-space inspection tasks that crews might perform with minimum assistance from the ground.

  5. Autonomous Gaussian Decomposition

    Lindner, Robert R.; Vera-Ciro, Carlos; Murray, Claire E.; Stanimirović, Snežana; Babler, Brian; Heiles, Carl; Hennebelle, Patrick; Goss, W. M.; Dickey, John


    We present a new algorithm, named Autonomous Gaussian Decomposition (AGD), for automatically decomposing spectra into Gaussian components. AGD uses derivative spectroscopy and machine learning to provide optimized guesses for the number of Gaussian components in the data, and also their locations, widths, and amplitudes. We test AGD and find that it produces results comparable to human-derived solutions on 21 cm absorption spectra from the 21 cm SPectral line Observations of Neutral Gas with the EVLA (21-SPONGE) survey. We use AGD with Monte Carlo methods to derive the H i line completeness as a function of peak optical depth and velocity width for the 21-SPONGE data, and also show that the results of AGD are stable against varying observational noise intensity. The autonomy and computational efficiency of the method over traditional manual Gaussian fits allow for truly unbiased comparisons between observations and simulations, and for the ability to scale up and interpret the very large data volumes from the upcoming Square Kilometer Array and pathfinder telescopes.

  6. Semantic Web Meets Autonomic Ubicomp

    Belecheanu, R A; Jawaheer, G; Hoskins, A.; McCann, J; Payne, T.


    The placement of autonomic systems’ management functionality into a ubiquitous computing environment is a difficult task due to the lack of systems’ resources and the need for ‘intelligence’ to ensure that the system is selfhealing/ organising or configuring. For such systems to adapt to changes to their current environment they need to be able to (re) configure the workflow of their services. In this paper, we propose the ANS, an autonomic middleware for ubicomp devices. We briefly describe ...

  7. Design of Autonomous Gel Actuators

    Shuji Hashimoto; Shingo Maeda; Yusuke Hara; Satoshi Nakamaru


    In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ) reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the c...

  8. Design of Autonomous Gel Actuators

    Shuji Hashimoto


    Full Text Available In this paper, we introduce autonomous gel actuators driven by chemical energy. The polymer gels prepared here have cyclic chemical reaction networks. With a cyclic reaction, the polymer gels generate periodical motion. The periodic motion of the gel is produced by the chemical energy of the oscillatory Belouzov-Zhabotinsky (BZ reaction. We have succeeded in making synthetic polymer gel move autonomously like a living organism. This experimental fact represents the great possibility of the chemical robot.

  9. Build Autonomic Agents with ABLE



    The IBM Agent Building and Learning Environment(ABLE) provides a lightweight Java~(TM) agent frame- work,a comprehensive JavaBeansTM library of intelligent software components,a set of development and test tools, and an agent platform.After the introduction to ABLE,classes and interfaces in the ABLE agent framework were put forward.At last an autonomic agent that is an ABLE-based architecture for incrementally building autonomic systems was discussed.

  10. Autonomous vertical profiler data management

    Afzulpurkar, S.; Navelkar, G.S.; Desa, E.S.; Madhan, R.; Dabholkar, N.; Prabhudesai, S.P.; Mascarenhas, A.A.M.Q.

    and reduced data �� Ease in operation and one man deployable 2 Fig.1. Autonomous Vertical Profiler Table 1. Autonomous Vertical Profiler Specifications 2. Communication Communication with the AVP is through the satellite modem... Aluminum alloy, Acetal nose & tail cones Propulsion Single DC thruster Electronics 8051 and ARM7 microcontroller based Communication Radio modem (2.4 GHz) & Satellite Transmission (Iridium) GUI Labview based Energy Source Lithium Ion Polymer batteries...