Investigation of methods for increasing the energy efficiency on unmanned aerial vehicles (UAVS)

In recent years, development of Unmanned Aerial Vehicles (UAV) has become a significant growing segment of the global aviation industry. These vehicles are developed with the intention of operating in regions where the presence of onboard human pilots is either too risky or unnecessary. Their popularity with both the military and civilian sectors have seen the use of UAVs in a diverse range of applications, from reconnaissance and surveillance tasks for the military, to civilian uses such as aid relief and monitoring tasks. Efficient energy utilisation on an UAV is essential to its functioning, often to achieve the operational goals of range, endurance and other specific mission requirements. Due to the limitations of the space available and the mass budget on the UAV, it is often a delicate balance between the onboard energy available (i.e. fuel) and achieving the operational goals. This thesis presents an investigation of methods for increasing the energy efficiency on UAVs. One method is via the development of a Mission Waypoint Optimisation (MWO) procedure for a small fixed-wing UAV, focusing on improving the onboard fuel economy. MWO deals with a pre-specified set of waypoints by modifying the given waypoints within certain limits to achieve its optimisation objectives of minimising/maximising specific parameters. A simulation model of a UAV was developed in the MATLAB Simulink environment, utilising the AeroSim Blockset and the in-built Aerosonde UAV block and its parameters. This simulation model was separately integrated with a multi-objective Evolutionary Algorithm (MOEA) optimiser and a Sequential Quadratic Programming (SQP) solver to perform single-objective and multi-objective optimisation procedures of a set of real-world waypoints in order to minimise the onboard fuel consumption. The results of both procedures show potential in reducing fuel consumption on a UAV in a ight mission. Additionally, a parallel Hybrid-Electric Propulsion System (HEPS) on a small fixedwing UAV incorporating an Ideal Operating Line (IOL) control strategy was developed. An IOL analysis of an Aerosonde engine was performed, and the most efficient (i.e. provides greatest torque output at the least fuel consumption) points of operation for this engine was determined. Simulation models of the components in a HEPS were designed and constructed in the MATLAB Simulink environment. It was demonstrated through simulation that an UAV with the current HEPS configuration was capable of achieving a fuel saving of 6.5%, compared to the ICE-only configuration. These components form the basis for the development of a complete simulation model of a Hybrid-Electric UAV (HEUAV).

Limestone and speleothem trace element geochemistry as tools for palaeoclimatic reconstruction, Mount Etna region, central-coastal Queensland

This study investigated potential palaeoclimate proxies provided by rare earth element (REE) geochemistry in speleothems and in clay mineralogy of cave sediments. Speleothem and sediment samples were collected from a series of cave fill deposits that occurred with rich vertebrate fossil assemblages in and around Mount Etna National Park, Rockhampton (central coastal Queensland). The fossil deposits range from Plio- Pleistocene to Holocene in age (based on uranium/thorium dating) and appear to represent depositional environments ranging from enclosed rainforest to semi-arid grasslands. Therefore, the Mount Etna cave deposits offer the perfect opportunity to test new palaeoclimate tools as they include deposits that span a known significant climate shift on the basis of independent faunal data. The first section of this study investigates the REE distribution of the host limestone to provide baseline geochemistry for subsequent speleothem investigations. The Devonian Mount Etna Beds were found to be more complex than previous literature had documented. The studied limestone massif is overturned, highly recrystallised in parts and consists of numerous allochthonous blocks with different spatial orientations. Despite the complex geologic history of the Mount Etna Beds, Devonian seawater-like REE patterns were recovered in some parts of the limestone and baseline geochemistry was determined for the bulk limestone for comparison with speleothem REE patterns. The second part of the study focused on REE distribution in the karst system and the palaeoclimatic implications of such records. It was found that REEs have a high affinity for calcite surfaces and that REE distributions in speleothems vary between growth bands much more than along growth bands, thus providing a temporal record that may relate to environmental changes. The morphology of different speleothems (i.e., stalactites, stalagmites, and flowstones) has little bearing on REE distributions provided they are not contaminated with particulate fines. Thus, baseline knowledge developed in the study suggested that speleothems were basically comparable for assessing palaeoclimatically controlled variations in REE distributions. Speleothems from rainforest and semi-arid phases were compared and it was found that there are definable differences in REE distribution that can be attributed to climate. In particular during semiarid phases, total REE concentration decreased, LREE became more depleted, Y/Ho increased, La anomalies were more positive and Ce anomalies were more negative. This may reflect more soil development during rainforest phases and more organic particles and colloids, which are known to transport REEs, in karst waters. However, on a finer temporal scale (i.e. growth bands) within speleothems from the same climate regime, no difference was seen. It is suggested that this may be due to inadequate time for soil development changes on the time frames represented by differences in growth band density. The third part of the study was a reconnaissance investigation focused on mineralogy of clay cave sediments, illite/kaolinite ratios in particular, and the potential palaeoclimatic implications of such records. Although the sample distribution was not optimal, the preliminary results suggest that the illite/kaolinite ratio increased during cold and dry intervals, consistent with decreased chemical weathering during those times. The study provides a basic framework for future studies at differing latitudes to further constrain the parameters of the proxy. The identification of such a proxy recorded in cave sediment has broad implications as clay ratios could potentially provide a basic local climate proxy in the absence of fossil faunas and speleothem material. This study suggests that REEs distributed in speleothems may provide information about water throughput and soil formation, thus providing a potential palaeoclimate proxy. It highlights the importance of understanding the host limestone geochemistry and broadens the distribution and potential number of cave field sites as palaeoclimate information no longer relies solely on the presence of fossil faunas and or speleothems. However, additional research is required to better understand the temporal scales required for the proxies to be recognised.

Design, simulation and analysis of a parallel hybrid electric propulsion system for unmanned aerial vehicles

Aerial Vehicles (UAV) has become a significant growing segment of the global aviation industry. These vehicles are developed with the intention of operating in regions where the presence of onboard human pilots is either too risky or unnecessary. Their popularity with both the military and civilian sectors have seen the use of UAVs in a diverse range of applications, from reconnaissance and surveillance tasks for the military, to civilian uses such as aid relief and monitoring tasks. Efficient energy utilisation on an UAV is essential to its functioning, often to achieve the operational goals of range, endurance and other specific mission requirements. Due to the limitations of the space available and the mass budget on the UAV, it is often a delicate balance between the onboard energy available (i.e. fuel) and achieving the operational goals. This paper presents the development of a parallel Hybrid Electric Propulsion System (HEPS) on a small fixed-wing UAV incorporating an Ideal Operating Line (IOL) control strategy. A simulation model of an UAV was developed in the MATLAB Simulink environment, utilising the AeroSim Blockset and the in-built Aerosonde UAV block and its parameters. An IOL analysis of an Aerosonde engine was performed, and the most efficient (i.e. provides greatest torque output at the least fuel consumption) points of operation for this engine were determined. Simulation models of the components in a HEPS were designed and constructed in the MATLAB Simulink environment. It was demonstrated through simulation that an UAV with the current HEPS configuration was capable of achieving a fuel saving of 6.5%, compared to the ICE-only configuration. These components form the basis for the development of a complete simulation model of a Hybrid-Electric UAV (HEUAV).

Sensors for missions

An onboard payload may be seen in most instances as the “Raison d’Etre” for a UAV. It will define its capabilities, usability and hence market value. Large and medium UAV payloads exhibit significant differences in size and computing capability when compared with small UAVs. The latter have stringent size, weight, and power requirements, typically referred as SWaP, while the former still exhibit endless appetite for compute capability. The tendency for this type of UAVs (Global Hawk, Hunter, Fire Scout, etc.) is to increase payload density and hence processing capability. An example of this approach is the Northrop Grumman MQ-8 Fire Scout helicopter, which has a modular payload architecture that incorporates off-the-shelf components. Regardless of the UAV size and capabilities, advances in miniaturization of electronics are enabling the replacement of multiprocessing, power-hungry general-purpose processors for more integrated and compact electronics (e.g., FPGAs). Payloads play a significant role in the quality of ISR (intelligent, surveillance, and reconnaissance) data, and also in how quick that information can be delivered to the end user. At a high level, payloads are important enablers of greater mission autonomy, which is the ultimate aim in every UAV. This section describes common payload sensors and introduces two examples cases in which onboard payloads were used to solve real-world problems. A collision avoidance payload based on electro optical (EO) sensors is first introduced, followed by a remote sensing application for power line inspection and vegetation management.

Tornado Damage Assessment in the aftermath of the May 20th 2013 Moore Oklahoma Tornado

This report presents observations, findings, and recommendations from an engineering reconnaissance trip following the May 20th, 2013 tornado that struck Moore, Oklahoma. A team of faculty, research scientists, professional engineers, and civil engineering students were tasked with investigating and documenting the performance of critical facility buildings and residences, (IBC Occupancy Category II, III, and IV), in Moore, OK. The Enhanced Fujita (EF) 5 tornado created a 17-mile long damage swath destroying over 12,000 buildings and killing 24 people. The total economic loss from this single event was estimated at $3 billion. The May 20th tornado was the third major tornado to hit Moore in the previous 15 years.

The influence of Lord Robert Baden-Powell on the development of the Boy Scout Movement with observations on its operation in Queensland 1907-1937

The purpose of the Boy Scout Movement was to create boys who were honest, obedient to constituted authority and loyal to the King and the British Empire. This thesis examines the influence that Scouting's founder, Lord Robert Baden-Powell, had on the development of Scouting in Queensland in the period 1907 to 1937, and concludes that that influence was profound. Baden-Powell conceived the Boy Scout Movement, and its non-formal educative method as an answer to some of the social, economic, and political problems at the beginning of the twentieth century – a paradigm recognised and acknowledged by educators of the day.

Synagogue Council of America records 1935-1974

Contains the constitution, by-laws, correspondence, papers, and minutes of the Synagogue Council of America (1935-1958), an incomplete set of the minutes of the Plenum, (1949-1965), the minutes of the Executive Committee (1946-1969), Officers' (Summit) Meetings (1955-1967) and the minutes and reports of the Budget Committee (1946-1966), financial reports and statements for 1942-1965 and fundraising activities (1958-1968).

Design of a quadrotor micro air vehicle

In this paper, we present the design and development details of a micro air vehicle (MAV) built around a quadrotor configuration. A survey of implemented MAVs suggests that a quadrotor design has several advantages over other configurations, especially in the context of swarm intelligence applications. Our design approach consists of three stages. However, the focus of this paper is restricted to the first stage that involves selection of crucial components such as motor-rotor pair, battery source, and structural material. The application of MAVs are broad-ranging, from reconnaissance to search and rescue, and have immense potential in the rapidly advancing field of swarm intelligence.

UAV Grouping and Coordination Tactics for Ground Attack Missions

Grouping and coordination tactics for ground attack missions by a heterogeneous mix of reconnaissance, enemy suppression, and attack unmanned aerial vehicles (UAVs) is presented. Dubins' paths are used to determine the optimal number of attack UAVs and their positional and heading freedoms, as functions of weapon seeker range and field of view. A generic battlefield scenario with layered defense is created and the tactics are evaluated on a Group Flyer simulation platform for both nominal and off-nominal conditions.

Comment peut-on encore philosopher après la Révélation?

Résumé: Le défi vital que la Révélation pose à la philosophie légitime la question de leurs rapports possibles. La raison considère d’abord l’absence de rapport en distinguant radicalement ce qui relève de chacune. Mais l’élan fondamental orienté vers le divin qui anime cette faculté, la rend naturellement théologique. Pour éviter le scepticisme, incompatible avec son dynamisme naturel, la raison finit par dévaloriser la Révélation. Cette attitude signifie l’unicité de l’autorité théologique de la raison, alors naturellement divine. Développée à partir du XVIIIème siècle, elle culmine avec l’homme démiurgique des XIX et XXème siècles. Mais, ne pouvant justifier l’universalité de ses élaborations idéologiques, la raison hésite entre le scepticisme ou le totalitarisme, deux renoncements à l’exercice philosophique. L’acceptation du soutien lumineux de la Révélation, qui suppose l’humble reconnaissance des limites de la raison, ne nuit pas à cet exercice, mais le féconde, et, seule, en permet l’épanouissement. Eclairée par la Révélation, la philosophie contribue au bonheur suprême des hommes, qui demeure son intention fondamentale.

Ground-water resources data of Charlotte, DeSoto, and Hardee Counties, Florida

Charlotte, De Soto, and Hardee counties are east-southeast of Tampa in west-central peninsular Florida, figure 1. In order to plan the future water-resource development of the area, information about the water resources is needed. To meet this need, the Water Resources Division of the U.S. Geological Survey, in cooperation with the Peace River Basin Board of the Southwest Florida Water Management District as part of the statewide cooperative program with the Division of Geology, Florida Board of Conservation, began a continuing hydrologic data collection program in July, 1963, as an initial step in the investigation and evaluation of the groundwater resources of Hardee and De Soto counties. A similar hydrologic data program commenced in Charlotte County in July, 1964. Previous work in Hardee and De Soto counties included a one year reconnaissance by the Division of Water Resources and Conservation, Florida Board of Conservation, which concluded in June, 1963, and resulted in a hydrologic report (Woodard, 1964). As an outgrowth of the hydrologic data program, a Map Series report portraying the chemical character of water in the Floridan aquifer in the southern Peace River basin was prepared in 1967 (Kaufman and Dion). The data contained herein constitute the basis for the Map Series report. Additional selected data, including records of wells and chemical analyses,, on the ground-water resources of the three county area are also included and are published to make the data available. (Document has 28 pages.)

Interim report on the hydrologic features of the Green Swamp area in Central Florida

The Green Swamp area in central Florida is another area where man is developing agricultural land from marginal land. Though the area is by no means as extensive as that of the Everglades, the present efforts for its development are similar to the early efforts for developing the Everglades in that many miles of canals and ditches have been constructed to improve the drainage. Lest the early mistakes of the Everglades be repeated, the Florida Department of Water Resources considered that an appraisal of the physical and hydrologic features of the area was needed to determine the broad effects of draining and developing the swamp. This reconnaissance provides information required by the State of Florida for determining its responsibility and policy in regard to the Green Swamp area and for formulating future plans for water management of the area. Some of the features that have been determined are: the amount of rainfall on the area; the pattern of surfacewater drainage; the amount and direction of surface-water runoff; the direction of ground-water movement; the interrelationship of rainfall, surface water, and ground water; the effects of improved drainage facilities'; and the effects of the hydrologic environment on the chemical quality of water of the area.(PDF contains 106 pages.)

Integrating cultural, economic and environmental requirements for fish production in Borno State

The study examines the integration of cultural, economic and environmental requirements for fish production in Borno State, Nigeria. A reconnaissance survey was conducted transferring some selected Local Government Areas. 60 questionnaires were administered in the six Local Governments representing Southern Borno State with Biu and Shani, central Borno with Konduga & Jere and Northern Borno with Gubia and Kukawa respectively. There is no cultural constraint to fish production but about 63% prefers to invest in other farming activities than in fish farming. 33% are not aware that fish can be cultured apart from getting it from the wild. 35% have the impression that fish farming ventures can be handled by government only. The economic earnings for fish production are high especially in some parts of Northern Borno, but the Local market potentials throughout the state are great. Nigeria has suitable soil for ponds apart from few locations at the central and Northern Borno that are made by sandy soil. Numerous perennial and seasonal rivers, streams, lakes, pools and flood plains adequate for fish culture especially in Southern Borno exist. The mean annual rainfall can result in some water storage in ponds. In areas where the annual precipitation is less than 550mm, exist few flow boreholes with potentials for fish production. The temperature regime may support growth and survival of fish even during the hottest months of the year (March, April and May). With the understanding and manipulation of these requirements, fish production in Nigeria can be greatly enhanced

Plate tectonic constraints on flat subduction and paleomagnetic constraints on rifting

Plate tectonics shapes our dynamic planet through the creation and destruction of lithosphere. This work focuses on increasing our understanding of the processes at convergent and divergent boundaries through geologic and geophysical observations at modern plate boundaries. Recent work had shown that the subducting slab in central Mexico is most likely the flattest on Earth, yet there was no consensus about what caused it to originate. The first chapter of this thesis sets out to systematically test all previously proposed mechanisms for slab flattening on the Mexican case. What we have discovered is that there is only one model for which we can find no contradictory evidence. The lack of applicability of the standard mechanisms used to explain flat subduction in the Mexican example led us to question their applications globally. The second chapter expands the search for a cause of flat subduction, in both space and time. We focus on the historical record of flat slabs in South America and look for a correlation between the shallowing and steepening of slab segments with relation to the inferred thickness of the subducting oceanic crust. Using plate reconstructions and the assumption that a crustal anomaly formed on a spreading ridge will produce two conjugate features, we recreate the history of subduction along the South American margin and find that there is no correlation between the subduction of a bathymetric highs and shallow subduction. These studies have proven that a subducting crustal anomaly is neither a sufficient or necessary condition of flat slab subduction. The final chapter in this thesis looks at the divergent plate boundary in the Gulf of California. Through geologic reconnaissance mapping and an intensive paleomagnetic sampling campaign, we try to constrain the location and orientation of a widespread volcanic marker unit, the Tuff of San Felipe. Although the resolution of the applied magnetic susceptibility technique proved inadequate to contain the direction of the pyroclastic flow with high precision, we have been able to detect the tectonic rotation of coherent blocks as well as rotation within blocks.