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The following represents some of the work in the unmanned control vehicle/Target that I have had the privilege to lead or make a substantial contribution to. I should point out that I have had the privilege to lead a group of engineers that made my life much easier. The names of some of them are are: Dr. John Medrano, Arron Hardesty, Manuel Soto, Myron Moore and Richard
Gonzalez.
Special Thanks to my mentor and my dear friend Mr. Marving Hake (RIP),
(the smartest person I have known in my life), for teaching me how to be a
good systems engineer.
I will be
interested in working as a consultant for the development of ground and
airborne control systems for Air Force, Navy or Army targets and UAVs.
If you are
interested in some of my work please do not hesitate to contact me at luis.alvarado@earthlink.net.
The following pictures show some aircraft and ground remote control targets I have have work with.
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QF-4 Drone Aircraft
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QF-106 Drone Aircraft
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MQM-107E Subscale Drone
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BQM-34A Subscale Drone
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M60 Tank Drone
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Truck Target
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RECENT WORK
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Working as a contractor for the System Engineering Directorate at WSMR, New Mexico, in the development of a ground target control system using the Common Range Integrated Instrumentation System, CRIIS, L -band TDMA data link and GPS/IMU tracking and control system.
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In conjunction
with University of Texas at EL Paso student Manuel Soto, presently developing a
path-planning algorithm to safely generate target
presentation profiles in real time. The algorithm automatically
selects the best path given a starting point and the goal. The best
path decision is based on a cost function that will include time of
arrival, terrain information, aircraft velocity profile, no fly zone
areas such as range boundaries and optical sites, and most
importantly sensor target
obscuration requirements. We are planning to present some of our
very interesting work at the next American Institute of Aeronautics
and Astronautics, AIAA, conference in San Diego California on May8,
2007. See Link http:
AIAA Conference. A similar presentation will be made at the NDIA conference in San Diego California on October 2007. See link http: NDIA Targets 2007.
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Manuel Soto (www.mannysoto.com) finished documenting the path planner algorithm as part of his Master's Degree Thesis (congratulations to Manny; excellent work). Here is a copy of his thesis:
UAV Guidance System via State-Space Heuristic Search
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Finished developing a very simple application of a Kalman-Bucy filter for a ground navigation algorithm designed to estimate the ground speed and acceleration of an MQM-107E target using down linked GPS target position measurements and maybe down-linked target normal accelerations. It should be noted that GPS velocity information is not down-linked and the down linked Normal accelerations are very nosy and are considerably biased. The filter was tested using a MATLAB simulation of a target
flying at different speeds and accelerations. I am also simulating
telemetry errors. The filter is presently being evaluated with real MQM-107 D/E Targets.
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Finished
integrating advanced maneuver capabilities for the MQM-107E target.
The maneuvers included barrel rolls, pitch backs and slice
maneuvers.
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Presently working with my new hire, Hugo Curiel, in a new cross track control algorithm for the QF-4 and MQM-107E targets. Cross track is the perpendicular distance between the vehicle and the flight pattern. This algorithm will use their autopilot acceleration control modes to control its lateral movement. This will provide DFCS and GRDCS with the capability to control the cross track of the targets during very tight, high-G, turns. I am planning to write a paper on this subject. -
In conjunction with Manuel Soto, I am writing a paper that will describe how to modify the present DOD target control systems to operate in a Net-Centric environment. If my abstract is approved it will be presented at the Test Week 2008 Conference in Huntsville Alabama. -
Establishing at WSMR a Lean Six Sigma process for the certification of target control software. I am not an expert in this area but I am quick learner. -
Presented two Target Management Initiatives to OSD DOT&E in 2009. Each worth 1.3 million dollars. One related to an intelligent guidance system for Targets and UAVs and the other one related to an Open Source/Common Interface Architecture for Navigation, Guidance and Control Software. Please contact me if you are interested in this line of work.
The
following pictures show our path finding algorithm in action:
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A flyable path around a mountain
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A flyable path through a canyon
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Could be better
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Terrain Following Sample
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PREVIOUS WORK
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Developed control algorithms for the QF-106 and QF-4
full scale unmanned aerial targets, including the integration and
testing of automatic takeoff and automatic landing capability.
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Developed a math linear model for the QF-106 drone
aircraft with two types of autopilots. One using the standard
gain-scheduling autopilot and the other one using an adaptive autopilot
that uses pole-placement control algorithm and a system
identification model to determine the autopilot control gains.
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Developed way-point and flight pattern guidance
algorithms for Air Force and Army ground and aerial targets such as
the T-72 tank, QF-4, MQM-107, and BQM-34 targets. The guidance
algorithms are also capable of synchronizing multiple formation of
aerial vehicles on different flight patterns.
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Developed a way-point weave algorithm for unmanned
aerial vehicles where the target not only pulls the desired G's but
also aims to a point in space.
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Together with Arron Hardesty, developed
a nap-of-the-earth algorithm for Army aerial targets.
The prime objective of this task was the elimination of the
dependence upon an active emitter radar altimeter to reliably
conduct low-level operations over diverse terrain. This effort
demonstrated that current terrain databases, interfaced with
precision threat management architecture, can facilitate “silent”
low-level threat presentations.
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Developed
multiple MATLAB scripts to facilitate analysis of UAV and Target control
algorithms for different drone aircraft; QF-4, MQM-107E, BQM-34A.
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Responsible
for the integration and flight-testing of the QF-4 drone aircraft at
WSMR. Supported the development and Testing of the QF-4 ground
control system for the Gulf Range Drone Control Upgrade System (GRDCUS)
at EGLIN Air Force Base.
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Provided lead support to the Flight Testing of the
QF-4 MSTCS L-band Target at Eglin and Holloman AFB. This included
the development of detailed test procedures, conduct flight
readiness reviews, dress rehearsal of the mission using a 6-DOF
simulator, post mission data analysis, recommend control software
changes and direct interface and coordination with Air Force test
pilots and target controllers.
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Developed mathematical models for DFCS
aircraft control and navigation systems. These theoretical models
were used for the development and the stability analysis of the DFCS
control laws. Among the mathematical models we have, the High Flyer
theoretical model and the QF-4 and QF-106 aircraft linear models.
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Provided support for DFCS operational
missions. This included assessing mission requirements, definition
of required system modifications, and evaluation of system
performance.
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Adapted Target Control System to operate with
different data link types including the simultaneous utilization of
915 MHZ and UHF frequencies for command and control. This task
involved the networking and interface between different data link
ground units with SUN workstations and RISC6000 computers.
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Developed 6-DOF
simulation models for aerial and ground targets. Have used
simulation models for control software development, mission
pre-planning, and personnel training.
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Programming experience using a wide variety of
computer operating systems and languages, including Unix, Windows,
C/C++ in procedural and object oriented environments.
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Experience using 4th
generations programs such as MATLAB and SIMULINK for data analysis
and design of control, navigation and guidance algorithms.
OTHER WORK
I also have had the opportunity to
work in the areas of missile detection and optical scoring systems as
indicated below:
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Conducted statistical and probability
studies for early warning missile detection.
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Simulation of missile threat scenarios in the
evaluation of system performance.
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Developed
background elimination algorithms for Optical Infra Red Sensors
installed in Satellites placed on geocentric orbits. These
algorithms were designed to discard non-missile data.
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Designed,
implemented, and tested real time software to provide accurate and
reliable displays and data products for range missions
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Developed a motion
detection algorithm for an optical scoring system. Also developed MATLAB tools to evaluate the theoretical accuracy of the scoring
system under different geometric configurations.
The
following are some of my publications that you may find interesting, I will add more
documents in the future:
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