Quasi-cylindrical approximation to the swirling flow in an atomizer chamber

A quasi-cylindrical approximation is used to analyse the axisymmetric swirling flow of a liquid with a hollow air core in the chamber of a pressure swirl atomizer. The liquid is injected into the chamber with an azimuthal velocity component through a number of slots at the periphery of one end of the chamber, and flows out as an anular sheet through a central orifice at the other end, following a conical convergence of the chamber wall. An effective inlet condition is used to model the effects of the slots and the boundary layer that develops at the nearby endwall of the chamber. An analysis is presented of the structure of the liquid sheet at the end of the exit orifice, where the flow becomes critical in the sense that upstream propagation of long-wave perturbations ceases to be possible. This nalysis leads to a boundary condition at the end of the orifice that is an extension of the condition of maximum flux used with irrotational models of the flow. As is well known, the radial pressure gradient induced by the swirling flow in the bulk of the chamber causes the overpressure that drives the liquid towards the exit orifice, and also leads to Ekman pumping in the boundary layers of reduced azimuthal velocity at the convergent wall of the chamber and at the wall opposite to the exit orifice. The numerical results confirm the important role played by the boundary layers. They make the thickness of the liquid sheet at the end of the orifice larger than predicted by rrotational models, and at the same time tend to decrease the overpressure required to pass a given flow rate through the chamber, because the large axial velocity in the boundary layers takes care of part of the flow rate. The thickness of the boundary layers increases when the atomizer constant (the inverse of a swirl number, proportional to the flow rate scaled with the radius of the exit orifice and the circulation around the air core) decreases. A minimum value of this parameter is found below which the layer of reduced azimuthal velocity around the air core prevents the pressure from increasing and steadily driving the flow through the exit orifice. The effects of other parameters not accounted for by irrotational models are also analysed in terms of their influence on the boundary layers.

New methods to reduce leakage errors in planar near-field measurements

This paper describes two methods to cancel the effect of two kinds of leakage signals which may be presented when an antenna is measured in a planar near-field range. One method tries to reduce leakage bias errors from the receiver¿s quadrature detector and it is based on estimating the bias constant added to every near-field data sample. Then, that constant is subtracted from the data, removing its undesired effect on the far-field pattern. The estimation is performed by back-propagating the field from the scan plane to the antenna under test plane (AUT) and averaging all the data located outside the AUT aperture. The second method is able to cancel the effect of the leakage from faulty transmission lines, connectors or rotary joints. The basis of this method is also a reconstruction process to determine the field distribution on the AUT plane. Once this distribution is known, a spatial filtering is applied to cancel the contribution due to those faulty elements. After that, a near-field-to-far-field transformation is applied, obtaining a new radiation pattern where the leakage effects have disappeared. To verify the effectiveness of both methods, several examples are presented.

3D Object following based on visual information for Unmanned Aerial Vehicles

This article presents a novel system and a control strategy for visual following of a 3D moving object by an Unmanned Aerial Vehicle UAV. The presented strategy is based only on the visual information given by an adaptive tracking method based on the color information, which jointly with the dynamics of a camera fixed to a rotary wind UAV are used to develop an Image-based visual servoing IBVS system. This system is focused on continuously following a 3D moving target object, maintaining it with a fixed distance and centered on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

Simulation of Freight Trains Equipped with Partially Filled Tank Containers and Related Resonance Phenomenon

To study the fluid motion-vehicle dynamics interaction, a model of four, liquid filled two-axle container freight wagons was set up. The railway vehicle has been modelled as a multi-body system (MBS). To include fluid sloshing, an equivalent mechanical model has been developed and incorporated. The influence of several factors has been studied in computer simulations, such as track defects, curve negotiation, train velocity, wheel wear, liquid and solid wagonload, and container baffles. SIMPACK has been used for MBS analysis, and ANSYS for liquid sloshing modelling and equivalent mechanical systems validation. Acceleration and braking manoeuvres of the freight train set the liquid cargo into motion. This longitudinal sloshing motion of the fluid cargo inside the tanks initiated a swinging motion of some components of the coupling gear. The coupling gear consists of UIC standard traction hooks and coupling screws that are located between buffers. One of the coupling screws is placed in the traction hook of the opposite wagon thus joining the two wagons, whereas the unused coupling screw rests on a hanger. Simulation results showed that, for certain combinations of type of liquid, filling level and container dimensions, the liquid cargo could provoke an undesirable, although not hazardous, release of the unused coupling screw from its hanger. The coupling screw's release was especially obtained when a period of acceleration was followed by an abrupt braking manoeuvre at 1 m/s2. It was shown that a resonance effect between the liquid's oscillation and the coupling screw's rotary motion could be the reason for the coupling screw's undesired release. Possible solutions to avoid the phenomenon are given.Acceleration and braking manoeuvres of the freight train set the liquid cargo into motion. This longitudinal sloshing motion of the fluid cargo inside the tanks initiated a swinging motion of some components of the coupling gear. The coupling gear consists of UIC standard traction hooks and coupling screws that are located between buffers. One of the coupling screws is placed in the traction hook of the opposite wagon thus joining the two wagons, whereas the unused coupling screw rests on a hanger. This paper reports on a study of the fluid motion-train vehicle dynamics interaction. In the study, a model of four, liquid-filled two-axle container freight wagons was developed. The railway vehicle has been modeled as a multi-body system (MBS). To include fluid sloshing, an equivalent mechanical model has been developed and incorporated. The influence of several factors has been studied in computer simulations, such as track defects, curve negotiation, train velocity, wheel wear, liquid and solid wagonload, and container baffles. A simulation program was used for MBS analysis, and a finite element analysis program was used for liquid sloshing modeling and equivalent mechanical systems validation. Acceleration and braking maneuvers of the freight train set the liquid cargo into motion. This longitudinal sloshing motion of the fluid cargo inside the tanks initiated a swinging motion of some components of the coupling gear. Simulation results showed that, for certain combinations of type of liquid, filling level and container dimensions, the liquid cargo could provoke an undesirable, although not hazardous, release of an unused coupling screw from its hanger. It was shown that a resonance effect between the liquid's oscillation and the coupling screw's rotary motion could be the reason for the coupling screw's undesired release. Solutions are suggested to avoid the resonance problem, and directions for future research are given.

Aerial Object Following Using Visual Fuzzy Servoing

This article presents a visual servoing system to follow a 3D moving object by a Micro Unmanned Aerial Vehicle (MUAV). The presented control strategy is based only on the visual information given by an adaptive tracking method based on the colour information. A visual fuzzy system has been developed for servoing the camera situated on a rotary wing MAUV, that also considers its own dynamics. This system is focused on continuously following of an aerial moving target object, maintaining it with a fixed safe distance and centred on the image plane. The algorithm is validated on real flights on outdoors scenarios, showing the robustness of the proposed systems against winds perturbations, illumination and weather changes among others. The obtained results indicate that the proposed algorithms is suitable for complex controls task, such object following and pursuit, flying in formation, as well as their use for indoor navigation

Utilización del cultivo plurianual de pataca (Helianthus tuberosus L.) para la producción de hidratos de carbono fermentables a partir de los tallos

La pataca (Helianthus tuberosus L.) es una especie de cultivo con un alto potencial en la producción de hidratos de carbono de reserva en forma de polifructanos, especialmente inulina, que se acumulan temporalmente en los tallos en forma de polisacáridos para translocarse posteriormente a los tubérculos, donde son almacenados. Aunque tradicionalmente el producto de interés del cultivo son los tubérculos, que acumulan gran cantidad de hidratos de carbono fermentables (HCF) cuando se recogen al final del ciclo de desarrollo, en este trabajo se pretende evaluar el potencial de la pataca como productor de HCF a partir de los tallos cosechados en el momento de máximo contenido en HCF, mediante un sistema de cultivo plurianual. Se han realizado los siguientes estudios: i) Determinación del momento óptimo de cosecha en ensayos con 12 clones ii) Potencial del cultivo plurianual de la pataca en términos de producción anual de biomasa aérea y de HCF en cosechas sucesivas, iii) Ensayos de conservación de la biomasa aérea, iv) Estimación de los costes de las dos modalidades de cultivo de pataca para producción de HCF y v) Estimación de la sostenibilidad energética de la producción de bioetanol mediante la utilización de los subproductos. Para la determinación del momento óptimo de la cosecha de la biomasa aérea se ensayaron 12 clones de diferente precocidad en Madrid; 4 tempranos (Huertos de Moya, C-17, Columbia y D-19) y 8 tardíos (Boniches, China, K-8, Salmantina, Nahodka, C-13, INIA y Violeta de Rennes). El máximo contenido en HCF tuvo lugar en el estado fenológico de botón floral-flor que además coincidió con la máxima producción de biomasa aérea. De acuerdo con los resultados obtenidos, la cosecha de los clones tempranos se debería realizar en el mes de julio y en los clones tardíos en septiembre, siendo éstos últimos más productivos. La producción media más representativa entre los 12 clones, obtenida en el estado fenológico de botón floral fue de 23,40 t ms/ha (clon INIA), con un contenido medio en HCF de 30,30 % lo que supondría una producción potencial media de 7,06 t HCF/ha. La producción máxima en HCF se obtuvo en el clon Boniches con 7,61 t/ha y 22,81 t ms/ha de biomasa aérea. En el sistema de cultivo plurianual la cantidad de tallos por unidad de superficie aumenta cada año debido a la cantidad de tubérculos que van quedando en el terreno, sobre todo a partir del 3er año, lo que produce la disminución del peso unitario de los tallos, con el consiguiente riesgo de encamado. El aclareo de los tallos nacidos a principios de primavera mediante herbicidas tipo Glifosato o mediante una labor de rotocultor rebaja la densidad final de tallos y mejora los rendimientos del cultivo. En las experiencias de conservación de la biomasa aérea se obtuvo una buena conservación por un período de 6 meses de los HCF contenidos en los tallos secos empacados y almacenados bajo cubierta. Considerando que el rendimiento práctico de la fermentación alcohólica es de 0,5 l de etanol por cada kg de azúcar, la producción potencial de etanol para una cosecha de tallos de 7,06 t de HCF/ha sería de 3.530 l/ha. El bagazo producido en la extracción de los HCF de la biomasa aérea supondría 11,91 t/ha lo que utilizado para fines térmicos supone más de 3 veces la energía primaria requerida en el proceso de producción de etanol, considerando un poder calorífico inferior de 3.832,6 kcal/kg. Para una producción de HCF a partir de la biomasa aérea de 7,06 t/ha y en tubérculos al final del ciclo de 12,11 t/ha, los costes de producción estimados para cada uno de ellos fueron de 184,69 €/t para los HCF procedentes de la biomasa aérea y 311,30 €/t para los de tubérculos. Como resultado de este trabajo se puede concluir que la producción de HCF a partir de la biomasa aérea de pataca en cultivo plurianual, es viable desde un punto de vista técnico, con reducción de los costes de producción respecto al sistema tradicional de cosecha de tubérculos. Entre las ventajas técnicas de esta modalidad de cultivo, cabe destacar: la reducción de operaciones de cultivo, la facilidad y menor coste de la cosecha, y la posibilidad de conservación de los HCF en la biomasa cosechada sin mermas durante varios meses. Estas ventajas, compensan con creces el menor rendimiento por unidad de superficie que se obtiene con este sistema de cultivo frente al de cosecha de los tubérculos. Jerusalem artichoke (Helianthus tuberosus L.) (JA) is a crop with a high potential for the production of carbohydrates in the form of polyfructans, especially inulin, which are temporarily accumulated in the stems in the form of polysaccharides. Subsequently they are translocated to the tubers, where they are finally accumulated. In this work the potential of Jerusalem artichoke for fermentable carbohydrates from stems that are harvested at their peak of carbohydrates accumulation is assessed as compared to the traditional cultivation system that aims at the production of tubers harvested at the end of the growth cycle. Tubers are storage organs of polyfructans, namely fermentable carbohydrates. Studies addressed in this work were: i) Determination of the optimum period of time for stem harvesting as a function of clone precocity in a 12-clone field experiment; ii) Study of the potential of JA poly-annual crop regarding the annual yield of aerial biomass and fermentable carbohydrates (HCF) over the years; iii) Tests of storage of the aerial biomass, iv) Comparative analysis of the two JA cultivation systems for HCF production: the poly-annual system for aerial biomass harvesting versus the annual cultivation system for tubers and v) Estimation of the energy sustainability of the bioethanol production by using by-products of the production chain. In order to determine the best period of time for aerial biomass harvesting twelve JA clones of different precocity were tested in Madrid: four early clones (Huertos de Moya, C-17, Columbia and D-19) and eight late clones (Boniches, China, K-8 , Salmantina, Nahodka, C-13, INIA and Violeta de Rennes). Best time was between the phenological stages of floral buds (closed capitula) and blossom (opened capitula), period in which the peak of biomass production coincides with the peak of HCF accumulation in the stems. According to the results, the early clones should be harvested in July and the late ones in September, being the late clones more productive. The clone named INIA was the one that exhibited more steady yields in biomass over the 12 clones experimented. The average potential biomass production of this clone was 23.40 t dm/ha when harvested at the floral buds phenological stage; mean HCF content is 30.30%, representing 7.06 t HCF/ha yield. However, the highest HCF production was obtained for the clone Boniches, 7.61 t HCF/ha from a production of 22.81 t aerial biomass/ha. In the poly-annual cultivation system the number of stems per unit area increases over the years due to the increase in the number of tubers that are left under ground; this effect is particularly important after the 3rd year of the poly-annual crop and results in a decrease of the stems unit weight and a risk of lodging. Thinning of JA shoots in early spring, by means of an herbicide treatment based on glyphosate or by means of one pass with a rotary tiller, results in a decrease of the crop stem density and in higher crop yields. Tests of biomass storing showed that the method of keeping dried stems packed and stored under cover results in a good preservation of HCF for a period of six months at least. Assuming that the fermentation yield is 0.5 L ethanol per kg sugars and a HCF stem production of 7.06 t HCF/ha, the potential for bioethanol is estimated at 3530 L/ha. The use of bagasse -by-product of the process of HCF extraction from the JA stems- for thermal purposes would represent over 3 times the primary energy required for the industrial ethanol production process, assuming 11.91 t/ha bagasse and 3832.6 kcal/kg heating value. HCF production costs of 7.06 t HCF/ha yield from aerial biomass and HCF production costs of 12.11 t HCF/ha from tubers were estimated at 184.69 €/t HCF and 311.30 €/t HCF, respectively. It can be concluded that the production of HCF from JA stems, following a poly-annual cultivation system, can be feasible from a technical standpoint and lead to lower production costs as compared to the traditional annual cultivation system for the production of HCF from tubers. Among the technical advantages of the poly-annual cultivation system it is worth mentioning the reduction in crop operations, the ease and efficiency of harvesting operations and the possibility of HCF preservation without incurring in HCF losses during the storage period, which can last several months. These advantages might compensate the lower yield of HCF per unit area that is obtained in the poly-annual crop system, which aims at stems harvesting, versus the annual one, which involves tubers harvesting.

Use of calculus of variations to determine the shape of hovering rotors of minimum power and its application to micro air vehicles

In this paper, calculus of variations and combined blade element and momentum theory (BEMT) are used to demonstrate that, in hover, when neither root nor tip losses are considered; the rotor, which minimizes the total power (MPR), generates an induced velocity that varies linearly along the blade span. The angle of attack of every blade element is constant and equal to its optimum value. The traditional ideal twist (ITR) and optimum (OR) rotors are revisited in the context of this variational framework. Two more optimum rotors are obtained considering root and tip losses, the ORL, and the MPRL. A comparison between these five rotors is presented and discussed. The MPR and MPRL present a remarkable saving of power for low values of both thrust coefficient and maximum aerodynamic efficiency. The result obtained can be exploited to improve the aerodynamic behaviour of rotary wing micro air vehicles (MAV). A comparison with experimental results obtained from the literature is presented.

A General Purpose Configurable Navigation Controller for Micro Aerial Multirotor Vehicles

In this paper, we consider the problem of autonomous navigation of multirotor platforms in GPS-denied environments. The focus of this work is on safe navigation based on unperfect odometry measurements, such as on-board optical flow measurements. The multirotor platform is modeled as a flying object with specific kinematic constraints that must be taken into account in order to obtain successful results. A navigation controller is proposed featuring a set of configurable parameters that allow, for instance, to have a configuration setup for fast trajectory following, and another to soften the control laws and make the vehicle navigation more precise and slow whenever necessary. The proposed controller has been successfully implemented in two different multirotor platforms with similar sensoring capabilities showing the openness and tolerance of the approach. This research is focused around the Computer Vision Group's objective of applying multirotor vehicles to civilian service applications. The presented work was implemented to compete in the International Micro Air Vehicle Conference and Flight Competition IMAV 2012, gaining two awards: the Special Award on "Best Automatic Performance - IMAV 2012" and the second overall prize in the participating category "Indoor Flight Dynamics - Rotary Wing MAV". Most of the code related to the present work is available as two open-source projects hosted in GitHub.

Pararotor dynamics: center of mass displacement from the blade plane—analytical approach

The pararotor is a biology-inspired decelerator device based on the autorotation of a rotary wing whose main purpose is to guide a load descent into a certain atmosphere. This paper focuses on a practical approach to the general dynamic stability of a pararotor whose center of mass is displaced from the blade plane. The analytical study departs from the motion equations of pararotor flight, considering the center of mass displacement from the blade plane, studied over a number of simplifying hypotheses that allows determining the most important influences to flight behavior near equilibrium. Two practical indexes are developed to characterize the stability of a pararotor in terms of geometry, inertia, and the aerodynamic characteristics of the device. Based on these two parameters, a stability diagram can be defined upon which stability regions can be identified. It was concluded that the ability to reach stability conditions depends mainly on a limited number of parameters associated with the pararotor configuration: the relationship between moments of inertia, the position of the blades, the planform shape (associated with the blade aerodynamic coefficients and blade area), and the vertical distance between the center of mass and the blade plane. These parameters can be evaluated by computing practical indexes to determine stability behavior.

Applications of Formal Languages to Management of Manned and Unmanned Aircraft

En el futuro, la gestión del tráfico aéreo (ATM, del inglés air traffic management) requerirá un cambio de paradigma, de la gestión principalmente táctica de hoy, a las denominadas operaciones basadas en trayectoria. Un incremento en el nivel de automatización liberará al personal de ATM —controladores, tripulación, etc.— de muchas de las tareas que realizan hoy. Las personas seguirán siendo el elemento central en la gestión del tráfico aéreo del futuro, pero lo serán mediante la gestión y toma de decisiones. Se espera que estas dos mejoras traigan un incremento en la eficiencia de la gestión del tráfico aéreo que permita hacer frente al incremento previsto en la demanda de transporte aéreo. Para aplicar el concepto de operaciones basadas en trayectoria, el usuario del espacio aéreo (la aerolínea, piloto, u operador) y el proveedor del servicio de navegación aérea deben negociar las trayectorias mediante un proceso de toma de decisiones colaborativo. En esta negociación, es necesaria una forma adecuada de compartir dichas trayectorias. Compartir la trayectoria completa requeriría un gran ancho de banda, y la trayectoria compartida podría invalidarse si cambiase la predicción meteorológica. En su lugar, podría compartirse una descripción de la trayectoria independiente de las condiciones meteorológicas, de manera que la trayectoria real se pudiese calcular a partir de dicha descripción. Esta descripción de la trayectoria debería ser fácil de procesar usando un programa de ordenador —ya que parte del proceso de toma de decisiones estará automatizado—, pero también fácil de entender para un operador humano —que será el que supervise el proceso y tome las decisiones oportunas—. Esta tesis presenta una serie de lenguajes formales que pueden usarse para este propósito. Estos lenguajes proporcionan los medios para describir trayectorias de aviones durante todas las fases de vuelo, desde la maniobra de push-back (remolcado hasta la calle de rodaje), hasta la llegada a la terminal del aeropuerto de destino. También permiten describir trayectorias tanto de aeronaves tripuladas como no tripuladas, incluyendo aviones de ala fija y cuadricópteros. Algunos de estos lenguajes están estrechamente relacionados entre sí, y organizados en una jerarquía. Uno de los lenguajes fundamentales de esta jerarquía, llamado aircraft intent description language (AIDL), ya había sido desarrollado con anterioridad a esta tesis. Este lenguaje fue derivado de las ecuaciones del movimiento de los aviones de ala fija, y puede utilizarse para describir sin ambigüedad trayectorias de este tipo de aeronaves. Una variante de este lenguaje, denominada quadrotor AIDL (QR-AIDL), ha sido desarrollada en esta tesis para permitir describir trayectorias de cuadricópteros con el mismo nivel de detalle. Seguidamente, otro lenguaje, denominado intent composite description language (ICDL), se apoya en los dos lenguajes anteriores, ofreciendo más flexibilidad para describir algunas partes de la trayectoria y dejar otras sin especificar. El ICDL se usa para proporcionar descripciones genéricas de maniobras comunes, que después se particularizan y combinan para formar descripciones complejas de un vuelo. Otro lenguaje puede construirse a partir del ICDL, denominado flight intent description language (FIDL). El FIDL especifica requisitos de alto nivel sobre las trayectorias —incluyendo restricciones y objetivos—, pero puede utilizar características del ICDL para proporcionar niveles de detalle arbitrarios en las distintas partes de un vuelo. Tanto el ICDL como el FIDL han sido desarrollados en colaboración con Boeing Research & Technology Europe (BR&TE). También se ha desarrollado un lenguaje para definir misiones en las que interactúan varias aeronaves, el mission intent description language (MIDL). Este lenguaje se basa en el FIDL y mantiene todo su poder expresivo, a la vez que proporciona nuevas semánticas para describir tareas, restricciones y objetivos relacionados con la misión. En ATM, los movimientos de un avión en la superficie de aeropuerto también tienen que ser monitorizados y gestionados. Otro lenguaje formal ha sido diseñado con este propósito, llamado surface movement description language (SMDL). Este lenguaje no pertenece a la jerarquía de lenguajes descrita en el párrafo anterior, y se basa en las clearances (autorizaciones del controlador) utilizadas durante las operaciones en superficie de aeropuerto. También proporciona medios para expresar incertidumbre y posibilidad de cambios en las distintas partes de la trayectoria. Finalmente, esta tesis explora las aplicaciones de estos lenguajes a la predicción de trayectorias y a la planificación de misiones. El concepto de trajectory language processing engine (TLPE) se usa en ambas aplicaciones. Un TLPE es una función de ATM cuya principal entrada y salida se expresan en cualquiera de los lenguajes incluidos en la jerarquía descrita en esta tesis. El proceso de predicción de trayectorias puede definirse como una combinación de TLPEs, cada uno de los cuales realiza una pequeña sub-tarea. Se le ha dado especial importancia a uno de estos TLPEs, que se encarga de generar el perfil horizontal, vertical y de configuración de la trayectoria. En particular, esta tesis presenta un método novedoso para la generación del perfil vertical. El proceso de planificar una misión también se puede ver como un TLPE donde la entrada se expresa en MIDL y la salida consiste en cierto número de trayectorias —una por cada aeronave disponible— descritas utilizando FIDL. Se ha formulado este problema utilizando programación entera mixta. Además, dado que encontrar caminos óptimos entre distintos puntos es un problema fundamental en la planificación de misiones, también se propone un algoritmo de búsqueda de caminos. Este algoritmo permite calcular rápidamente caminos cuasi-óptimos que esquivan todos los obstáculos en un entorno urbano. Los diferentes lenguajes formales definidos en esta tesis pueden utilizarse como una especificación estándar para la difusión de información entre distintos actores de la gestión del tráfico aéreo. En conjunto, estos lenguajes permiten describir trayectorias con el nivel de detalle necesario en cada aplicación, y se pueden utilizar para aumentar el nivel de automatización explotando esta información utilizando sistemas de soporte a la toma de decisiones. La aplicación de estos lenguajes a algunas funciones básicas de estos sistemas, como la predicción de trayectorias, han sido analizadas. ABSTRACT Future air traffic management (ATM) will require a paradigm shift from today’s mainly tactical ATM to trajectory-based operations (TBOs). An increase in the level of automation will also relieve humans —air traffic control officers (ATCOs), flight crew, etc.— from many of the tasks they perform today. Humans will still be central in this future ATM, as decision-makers and managers. These two improvements (TBOs and increased automation) are expected to provide the increase in ATM performance that will allow coping with the expected increase in air transport demand. Under TBOs, trajectories are negotiated between the airspace user (an airline, pilot, or operator) and the air navigation service provider (ANSP) using a collaborative decision making (CDM) process. A suitable method for sharing aircraft trajectories is necessary for this negotiation. Sharing a whole trajectory would require a high amount of bandwidth, and the shared trajectory might become invalid if the weather forecast changed. Instead, a description of the trajectory, decoupled from the weather conditions, could be shared, so that the actual trajectory could be computed from this trajectory description. This trajectory description should be easy to process using a computing program —as some of the CDM processes will be automated— but also easy to understand for a human operator —who will be supervising the process and making decisions. This thesis presents a series of formal languages that can be used for this purpose. These languages provide the means to describe aircraft trajectories during all phases of flight, from push back to arrival at the gate. They can also describe trajectories of both manned and unmanned aircraft, including fixedwing and some rotary-wing aircraft (quadrotors). Some of these languages are tightly interrelated and organized in a language hierarchy. One of the key languages in this hierarchy, the aircraft intent description language (AIDL), had already been developed prior to this thesis. This language was derived from the equations of motion of fixed-wing aircraft, and can provide an unambiguous description of fixed-wing aircraft trajectories. A variant of this language, the quadrotor AIDL (QR-AIDL), is developed in this thesis to allow describing a quadrotor aircraft trajectory with the same level of detail. Then, the intent composite description language (ICDL) is built on top of these two languages, providing more flexibility to describe some parts of the trajectory while leaving others unspecified. The ICDL is used to provide generic descriptions of common aircraft manoeuvres, which can be particularized and combined to form complex descriptions of flight. Another language is built on top of the ICDL, the flight intent description language (FIDL). The FIDL specifies high-level requirements on trajectories —including constraints and objectives—, but can use features of the ICDL to provide arbitrary levels of detail in different parts of the flight. The ICDL and FIDL have been developed in collaboration with Boeing Research & Technology Europe (BR&TE). Also, the mission intent description language (MIDL) has been developed to allow describing missions involving multiple aircraft. This language is based on the FIDL and keeps all its expressive power, while it also provides new semantics for describing mission tasks, mission objectives, and constraints involving several aircraft. In ATM, the movement of aircraft while on the airport surface also has to be monitored and managed. Another formal language has been designed for this purpose, denoted surface movement description language (SMDL). This language does not belong to the language hierarchy described above, and it is based on the clearances used in airport surface operations. Means to express uncertainty and mutability of different parts of the trajectory are also provided. Finally, the applications of these languages to trajectory prediction and mission planning are explored in this thesis. The concept of trajectory language processing engine (TLPE) is used in these two applications. A TLPE is an ATM function whose main input and output are expressed in any of the languages in the hierarchy described in this thesis. A modular trajectory predictor is defined as a combination of multiple TLPEs, each of them performing a small subtask. Special attention is given to the TLPE that builds the horizontal, vertical, and configuration profiles of the trajectory. In particular, a novel method for the generation of the vertical profile is presented. The process of planning a mission can also be seen as a TLPE, where the main input is expressed in the MIDL and the output consists of a number of trajectory descriptions —one for each aircraft available in the mission— expressed in the FIDL. A mixed integer linear programming (MILP) formulation for the problem of assigning mission tasks to the available aircraft is provided. In addition, since finding optimal paths between locations is a key problem to mission planning, a novel path finding algorithm is presented. This algorithm can compute near-shortest paths avoiding all obstacles in an urban environment in very short times. The several formal languages described in this thesis can serve as a standard specification to share trajectory information among different actors in ATM. In combination, these languages can describe trajectories with the necessary level of detail for any application, and can be used to increase automation by exploiting this information using decision support tools (DSTs). Their applications to some basic functions of DSTs, such as trajectory prediction, have been analized.

Field-winding fault detection in synchronous machines with static excitation through frequency response analysis.

Frequency Response Analysis is a well-known technique for the diagnosis of power transformers. Currently, this technique is under research for its application in rotary electrical machines. This paper presents significant results on the application of Frequency Response Analysis to fault detection in field winding of synchronous machines with static excitation. First, the influence of the rotor position on the frequency response is evaluated. Secondly, some relevant test results are shown regarding ground fault and inter-turn fault detection in field windings at standstill condition. The influence of the fault resistance value is also taken into account. This paper also studies the applicability of Frequency Response Analysis in fault detection in field windings while rotating. This represents an important feature because some defects only appear with the machine rated speed. Several laboratory test results show the applicability of this fault detection technique in field windings at full speed with no excitation current.