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Technical Paper

Static Calibration and Compensation of the Tau Parallel Kinematic Robot Using a Single 6-DOF Laser Tracker

Parallel kinematic mechanisms (PKMs) offer advantages of high stiffness to mass ratios, greater potential for accuracy and repeatability, and lower cost when compared to traditional assembly machines. Because of this, there is a strong interest in using PKMs for aerospace assembly and joining operations. This paper looks at the calibration of a prototype Gantry TAU robot by extending the higher-order implicit loop calibration techniques developed for serial link mechanisms to parallel link mechanisms. The kinematic model is based on the geometric model proposed by Dressler et al., augmented with a cubic spline error model of the motion errors for each of the three translation actuators resulting in 185 parameters. Measurements are taken with a 6-DOF laser tracker, and the kinematic parameters are solved as the maximum likelihood parameter estimate.
Technical Paper

Securing Wireless eEnabled Airplane Applications at Airports: Challenges & Approaches

{Next-generation network enabled (eEnabled) airplanes will digitally communicate with ground systems continuously at airport, for collection, distribution and loading of airplane data and software parts. Wireless technologies further bring the opportunity of pervasive connection with eEnabled airplane anywhere at airports. However, safety critical airplane information assets mandate secure solutions for eEnabled airplane applications. In this paper, we address the issue of securing wireless eEnabled airplane applications at airports for reliable and safe airplane operation. We identify the special challenges and present research results by comparing the state-of-the-art technologies and proposing the strategy of “defense in depth.”}
Technical Paper

Model Validation Planning and Process on the INVENT Program

Validation is a critical component of model-based design (MBD). Without it, regardless of the level of model verification, neither the accuracy nor the domain of applicability of the models is known. Thus, it is risky to base design decisions on the predictions of unvalidated models. The Integrated Vehicle Energy Technology (INVENT) program is planning a series of hardware experiments that will be used to validate a large set of unit-, subsystem-, and system-level models. Although validating such a large number of interacting models is a large task, it provides an excellent opportunity to test the limits of MBD.
Technical Paper

Enhancements to Software Tools and Progress in Model-Based Design of EOA on the INVENT Program

The diverse and complex requirements of next-generation energy optimized aircraft (EOA) demand detailed transient and dynamic model-based design (MBD) to ensure the proper operation of numerous interconnected and interacting subsystems across multiple disciplines. In support of the U.S. Air Force's Integrated Vehicle Energy Technology (INVENT) program, several MBD-derived software tools, including models of EOA technologies, have been developed. To validate these models and demonstrate the performance of EOA technologies, a series of Integrated Ground Demonstration (IGD) hardware tests are planned. Several of the numerous EOA software tools and MBD-based processes have been updated and adapted to support this activity.
Journal Article

A Framework for Developing an EPS Health Management System

This paper describes a framework for developing an Integrated Electrical Power System (EPS) Health Management System. The framework is based on the perspective that health management, unlike other capabilities, is not a self-contained, stand-alone system, but is rather an integral part of every aircraft subsystem, system, and the entire platform. Ultimately, the objective is to improve the entire maintenance, logistics and fleet operations support processes. This perspective requires a new mindset when applying systems engineering design principles. The paper provides an overview description of the framework, the potential benefits of the approach and some critical design and implementation issues based on current development efforts.