Dynamic modeling, simulation and control design of a parafoil-payload system for ship launched aerial delivery system (SLADS)

The objective of this research was to develop a high-fidelity dynamic model of a parafoilpayload system with respect to its application for the Ship Launched Aerial Delivery System (SLADS). SLADS is a concept in which cargo can be transfered from ship to shore using a parafoil-payload system. It is accomplished in two phases: An initial towing phase when the glider follows the towing vessel in a passive lift mode and an autonomous gliding phase when the system is guided to the desired point. While many previous researchers have analyzed the parafoil-payload system when it is released from another airborne vehicle, limited work has been done in the area of towing up the system from ground or sea. One of the main contributions of this research was the development of a nonlinear dynamic model of a towed parafoil-payload system. After performing an extensive literature review of the existing methods of modeling a parafoil-payload system, a five degree-of-freedom model was developed. The inertial and geometric properties of the system were investigated to predict accurate results in the simulation environment. Since extensive research has been done in determining the aerodynamic characteristics of a paraglider, an existing aerodynamic model was chosen to incorporate the effects of air flow around the flexible paraglider wing. During the towing phase, it is essential that the parafoil-payload system follow the line of the towing vessel path to prevent an unstable flight condition called ‘lockout’. A detailed study of the causes of lockout, its mathematical representation and the flight conditions and the parameters related to lockout, constitute another contribution of this work. A linearized model of the parafoil-payload system was developed and used to analyze the stability of the system about equilibrium conditions. The relationship between the control surface inputs and the stability was investigated. In addition to stability of flight, one more important objective of SLADS is to tow up the parafoil-payload system as fast as possible. The tension in the tow cable is directly proportional to the rate of ascent of the parafoil-payload system. Lockout instability is more favorable when tow tensions are large. Thus there is a tradeoff between susceptibility to lockout and rapid deployment. Control strategies were also developed for optimal tow up and to maintain stability in the event of disturbances.

Finnish Miners versus Ivy League Capitalists

Finnish immigrants were recruited to work in the copper mines of Michigan by Boston capitalists intimately associated with Harvard. Boston capitalists defined the culture of capitalism in the United States. They extended their culture across the continent as they acquired mines and railroads. Finnish workers encountered Ivy League capitalism in Michigan, Minnesota, Idaho, Montana, Wyoming, Colorado, Utah and Arizona—often with the same interrelated group of capitalists. The two groups continually met in explosive confrontations in Montana, Michigan, Minnesota, and Arizona. To the Ivy League capitalists, Finns were terrorists who threatened the American social order. For the Finns, it was a war for social justice. In my presentation, I will trace the experience of Finnish workers in corporations controlled by Ivy League capitalists from the first strike at Calumet & Hecla in 1873 to the Red Scare of 1919-1921.

Optimal game theoretic distributed control methodologies in small scale power systems

This dissertation presents the competitive control methodologies for small-scale power system (SSPS). A SSPS is a collection of sources and loads that shares a common network which can be isolated during terrestrial disturbances. Micro-grids, naval ship electric power systems (NSEPS), aircraft power systems and telecommunication system power systems are typical examples of SSPS. The analysis and development of control systems for small-scale power systems (SSPS) lacks a defined slack bus. In addition, a change of a load or source will influence the real time system parameters of the system. Therefore, the control system should provide the required flexibility, to ensure operation as a single aggregated system. In most of the cases of a SSPS the sources and loads must be equipped with power electronic interfaces which can be modeled as a dynamic controllable quantity. The mathematical formulation of the micro-grid is carried out with the help of game theory, optimal control and fundamental theory of electrical power systems. Then the micro-grid can be viewed as a dynamical multi-objective optimization problem with nonlinear objectives and variables. Basically detailed analysis was done with optimal solutions with regards to start up transient modeling, bus selection modeling and level of communication within the micro-grids. In each approach a detail mathematical model is formed to observe the system response. The differential game theoretic approach was also used for modeling and optimization of startup transients. The startup transient controller was implemented with open loop, PI and feedback control methodologies. Then the hardware implementation was carried out to validate the theoretical results. The proposed game theoretic controller shows higher performances over traditional the PI controller during startup. In addition, the optimal transient surface is necessary while implementing the feedback controller for startup transient. Further, the experimental results are in agreement with the theoretical simulation. The bus selection and team communication was modeled with discrete and continuous game theory models. Although players have multiple choices, this controller is capable of choosing the optimum bus. Next the team communication structures are able to optimize the players’ Nash equilibrium point. All mathematical models are based on the local information of the load or source. As a result, these models are the keys to developing accurate distributed controllers.

The Copper Strike of 1968-1969

In May of 1968, workers at the Kingston mine, a branch of the Calumet Division of Universal Oil Products walked off the site in protest of a safety issue involving a man-car. Knowing their contracts were due for negotiation in just a few months, the workers quickly returned, only to find themselves striking yet again just three months later, when negotiations failed. Requesting pay equal to that of the workers at the nearby White Pine mine was unacceptable to the heads of Universal Oil, the corporation which bought the long running Calumet & Hecla just a year earlier in 1968. The strike would last for nine months, ending in a total shutdown of all mining operations on the Keweenaw Peninsula, and bring an economic hardship to the area that would take decades to recover from. The Copper Strike of 1968-1969 is often forgotten, though extremely important to the story of the copper industry in Michigan, as well as to the United States. This paper has not yet been submitted.

A Balance Shifted: The Unionization of Michigan’s Lake Copper District, 1935-1955

Three decades after the unsuccessful 1913-1914 strike at the Lake District copper mines of Michigan, workers organized as Local 584 of the International Union of Mine, Mill, and Smelter Workers (Mine Mill) signed a union contract with Calumet & Hecla Consolidated Copper Company. C & H was the last and most significant of the region’s three major copper mining companies to unionize during the three-year period from 1939 to 1942. This paper tells the untold history of the successful union drives in the Lake District’s copper mines, starting with Copper Range Company in 1939 and encompassing the subsequent unionizations of Quincy Mining Company and finally C & H. The paper develops thematic connections between the 1913-1914, including Mine Mill’s lineage to the Western Federation of Miners, parallel ethnic dimensions, and, most significantly, the contrasting role of state authority between the two time periods. The paper carries the Lake District’s labor history forward to 1955 to include United Steelworkers’ successful challenge to Mine Mill in 1950 and the strike of 1955. This history also incorporates source material from the papers of highly influential union organizer and representative Eugene Saari, material which to date has not been integrated into the labor history of the region. This paper has not yet been submitted.

"Brethren upon the same level" : membership and class in Calumet's Masonic Lodge

The Keweenaw Peninsula of Upper Michigan was a ethnic conglomerate of cultures and ideas, with people attracted to the area by the mineral wealth found along the Copper Range. The center of copper mining from the mid 1860s to 1968 was in the vicinity of Calumet Township, home to the world-famous Calumet and Hecla Mining Company. The township depended on the mines and the company’s president Agassiz’s strove to make the area a “model community,” that included groups such as the Free and Accepted Masons. Men from myriad backgrounds arrived in Calumet from the British Isles, Germany, Finland, Eastern and Southern Europe and the Eastern United States. As in other communities from the time period these men formed common interest groups like Masonic Lodge 271, which received its charter in 1870. Gentlemen joined with merchants and craftsmen. They became “brethren upon the same level,” and were elevated to the status of Master Mason. This symbolic transformation within the Lodge removed the men from the “profane world” outside the sanctity of Masonry, and in the ritualistic transformation of the meeting they were reborn into Masonry’s sacred mysteries. Masonry acted as a means of moral guidance to men and gave them access to a larger social and economic community through a common connection of brotherhood. As the candidates moved through the three Blue Lodge degrees of Entered Apprentice, Fellowcraft, and Master Mason they saw each other as “brethren upon the same level” – all economic classes equal within the Masonic Lodge. To examine equality within Lodge 271, this study sorted workers into classes to allow a comparison of Lodge 271’s membership. Possibly a comparison between other lodges can be drawn from the membership. The Union Building in Calumet, MI will be examined for its role in the ritualistic transformation of Masonry as it housed Masonic activities and transformations. This transformation brought men into the lodge of brothers. While Masonry professed equality between members however, to what extent did the membership of the lodge reflect this between the brethren? To what extent did economic class determine who was made “brethren upon the same level? 1 Arthur Thurner, Calumet Copper and People: History of a Michigan Mining Community, 1864-1970 (Hancock, MI: Book Concern, 1974), 122.