@article{ThomaGardiFisheretal.2024, author = {Thoma, Andreas and Gardi, Alessandro and Fisher, Alex and Braun, Carsten}, title = {Improving local path planning for UAV flight in challenging environments by refining cost function weights}, series = {CEAS Aeronautical Journal}, journal = {CEAS Aeronautical Journal}, publisher = {Springer}, address = {Wien}, issn = {1869-5590 (eISSN)}, doi = {10.1007/s13272-024-00741-x}, pages = {12 Seiten}, year = {2024}, abstract = {Unmanned Aerial Vehicles (UAV) constantly gain in versatility. However, more reliable path planning algorithms are required until full autonomous UAV operation is possible. This work investigates the algorithm 3DVFH* and analyses its dependency on its cost function weights in 2400 environments. The analysis shows that the 3DVFH* can find a suitable path in every environment. However, a particular type of environment requires a specific choice of cost function weights. For minimal failure, probability interdependencies between the weights of the cost function have to be considered. This dependency reduces the number of control parameters and simplifies the usage of the 3DVFH*. Weights for costs associated with vertical evasion (pitch cost) and vicinity to obstacles (obstacle cost) have the highest influence on the failure probability of the local path planner. Environments with mainly very tall buildings (like large American city centres) require a preference for horizontal avoidance manoeuvres (achieved with high pitch cost weights). In contrast, environments with medium-to-low buildings (like European city centres) benefit from vertical avoidance manoeuvres (achieved with low pitch cost weights). The cost of the vicinity to obstacles also plays an essential role and must be chosen adequately for the environment. Choosing these two weights ideal is sufficient to reduce the failure probability below 10\%.}, language = {en} } @article{StaatHeitzer1997, author = {Staat, Manfred and Heitzer, M.}, title = {Limit and Shakedown Analysis Using a General Purpose Finite Element Code}, series = {Proceedings of NAFEMS World Congress '97 on Design, Simulation \& Optimisation : reliability \& applicability of computational methods ; Stuttgart, Germany, 9 - 11 April 1997}, journal = {Proceedings of NAFEMS World Congress '97 on Design, Simulation \& Optimisation : reliability \& applicability of computational methods ; Stuttgart, Germany, 9 - 11 April 1997}, publisher = {NAFEMS}, address = {Glasgow}, isbn = {1-87437-620-4}, pages = {522 -- 533}, year = {1997}, language = {en} } @article{StaatBallmann1988, author = {Staat, Manfred and Ballmann, J.}, title = {Computation of impacts on elastic solids by methods of bicharacteristics}, series = {Computational Mechanics '88 : theory and applications ; proceedings of the International Conference on Computational Engineering Science April 10-14, 1988, Atlanta, GA, USA ; vol. 2}, journal = {Computational Mechanics '88 : theory and applications ; proceedings of the International Conference on Computational Engineering Science April 10-14, 1988, Atlanta, GA, USA ; vol. 2}, pages = {1719 -- 1722}, year = {1988}, abstract = {Shock waves, explosions, impacts or cavitation bubble collapses may generate stress waves in solids causing cracks or unexpected dammage due to focussing, physical nonlinearity or interaction with existing cracks. There is a growing interest in wave propagation, which poses many novel problems to experimentalists and theorists.}, subject = {Bicharakteristikenverfahren}, language = {en} } @article{Staat2004, author = {Staat, Manfred}, title = {Plastic collapse analysis of longitudinally flawed pipes and vessels}, year = {2004}, abstract = {Improved collapse loads of thick-walled, crack containing pipes and vessels are suggested. Very deep cracks have a residual strength which is better modelled by a global limit load. In all burst tests, the ductility of pressure vessel steels was sufficiently high whereby the burst pressure could be predicted by limit analysis with no need to apply fracture mechanics. The relative prognosis error increases however, for long and deep defects due to uncertainties of geometry and strength data.}, subject = {Druckbeh{\"a}lter}, language = {en} } @article{Staat2000, author = {Staat, Manfred}, title = {Direct FEM Limit and Shakedown Analysis with Uncertain Data}, year = {2000}, abstract = {The structural reliability with respect to plastic collapse or to inadaptation is formulated on the basis of the lower bound limit and shakedown theorems. A direct definition of the limit state function is achieved which permits the use of the highly effective first order reliability methods (FORM) is achieved. The theorems are implemented into a general purpose FEM program in a way capable of large-scale analysis. The limit state function and its gradient are obtained from a mathematical optimization problem. This direct approach reduces considerably the necessary knowledge of uncertain technological input data, the computing time, and the numerical error, leading to highly effective and precise reliability analyses.}, subject = {Finite-Elemente-Methode}, language = {en} } @article{Staat2001, author = {Staat, Manfred}, title = {Cyclic plastic deformation tests to verify FEM-based shakedown analyses}, year = {2001}, abstract = {Fatigue analyses are conducted with the aim of verifying that thermal ratcheting is limited. To this end it is important to make a clear distintion between the shakedown range and the ratcheting range (continuing deformation). As part of an EU-supported research project, experiments were carried out using a 4-bar model. The experiment comprised a water-cooled internal tube, and three insulated heatable outer test bars. The system was subjected to alternating axial forces, superimposed with alternating temperatures at the outer bars. The test parameters were partly selected on the basis of previous shakedown analyses. During the test, temperatures and strains were measured as a function of time. The loads and the resulting stresses were confirmed on an ongoing basis during performance of the test, and after it. Different material models were applied for this incremental elasto-plastic analysis using the ANSYS program. The results of the simulation are used to verify the FEM-based shakedown analysis.}, subject = {Materialerm{\"u}dung}, language = {en} } @article{Staat2005, author = {Staat, Manfred}, title = {Local and global collapse pressure of longitudinally flawed pipes and cylindrical vessels}, year = {2005}, abstract = {Limit loads can be calculated with the finite element method (FEM) for any component, defect geometry, and loading. FEM suggests that published long crack limit formulae for axial defects under-estimate the burst pressure for internal surface defects in thick pipes while limit loads are not conservative for deep cracks and for pressure loaded crack-faces. Very deep cracks have a residual strength, which is modelled by a global collapse load. These observations are combined to derive new analytical local and global collapse loads. The global collapse loads are close to FEM limit analyses for all crack dimensions.}, subject = {Finite-Elemente-Methode}, language = {en} } @article{Staat2005, author = {Staat, Manfred}, title = {Direct finite element route for design-by-analysis of pressure components}, year = {2005}, abstract = {In the new European standard for unfired pressure vessels, EN 13445-3, there are two approaches for carrying out a Design-by-Analysis that cover both the stress categorization method (Annex C) and the direct route method (Annex B) for a check against global plastic deformation and against progressive plastic deformation. This paper presents the direct route in the language of limit and shakedown analysis. This approach leads to an optimization problem. Its solution with Finite Element Analysis is demonstrated for mechanical and thermal actions. One observation from the examples is that the so-called 3f (3Sm) criterion fails to be a reliable check against progressive plastic deformation. Precise conditions are given, which greatly restrict the applicability of the 3f criterion.}, subject = {Einspielen }, language = {en} } @article{Staat2003, author = {Staat, Manfred}, title = {Shakedown and ratchetting under tension-torsion loadings: analysis and experiments}, year = {2003}, abstract = {Structural design analyses are conducted with the aim of verifying the exclusion of ratchetting. To this end it is important to make a clear distinction between the shakedown range and the ratchetting range. The performed experiment comprised a hollow tension specimen which was subjected to alternating axial forces, superimposed with constant moments. First, a series of uniaxial tests has been carried out in order to calibrate a bounded kinematic hardening rule. The load parameters have been selected on the basis of previous shakedown analyses with the PERMAS code using a kinematic hardening material model. It is shown that this shakedown analysis gives reasonable agreement between the experimental and the numerical results. A linear and a nonlinear kinematic hardening model of two-surface plasticity are compared in material shakedown analysis.}, subject = {Einspielen }, language = {en} } @article{Staat2000, author = {Staat, Manfred}, title = {Basis Reduction for the Shakedown Problem for Bounded Kinematic Hardening Material}, year = {2000}, abstract = {Limit and shakedown analysis are effective methods for assessing the load carrying capacity of a given structure. The elasto-plastic behavior of the structure subjected to loads varying in a given load domain is characterized by the shakedown load factor, defined as the maximum factor which satisfies the sufficient conditions stated in the corresponding static shakedown theorem. The finite element dicretization of the problem may lead to very large convex optimization. For the effective solution a basis reduction method has been developed that makes use of the special problem structure for perfectly plastic material. The paper proposes a modified basis reduction method for direct application to the two-surface plasticity model of bounded kinematic hardening material. The considered numerical examples show an enlargement of the load carrying capacity due to bounded hardening.}, subject = {Finite-Elemente-Methode}, language = {en} }