Search

Mid-Air Helicopter Delivery (MAHD) is a new Entry, Descent and Landing (EDL) architecture to enable in situ mobility for Mars science at lower cost than previous rover missions. It uses a jetpack to slow down a Mars Science Helicopter (MSH) after separation from the backshell, and reach aerodynamic conditions suitable for helicopter take-off in mid air. MAHD's lander-free approach leaves enough room in the aeroshell to accommodate larger rotors. This drastically improves flight performance compared to heritage EDL approaches, notably +60\% science payload mass. MAHD also brings cost savings, a simpler architecture, improved surface access and can reach higher elevations on Mars. This paper introduces a design for the MAHD system architecture and operations. We present a mechanical configuration which fits both MSH and the jetpack within the 2.65-m Mars heritage aeroshell, and a jetpack control architecture which fully leverages the available helicopter avionics. We discuss preliminary numerical models of the flow dynamics resulting from the interaction between the jets, the rotors and the side winds. We define a force-torque sensing architecture capable of handling the wind and trimming the rotors to prepare for safe take-off. Finally, we analyze the dynamic environment and closed-loop control simulation results to demonstrate the preliminary feasibility of MAHD.

Mid-Air Deployment (MAD) of a rotorcraft during Entry, Descent and Landing (EDL) on Mars eliminates the need to carry a propulsion or airbag landing system. This reduces the total mass inside the aeroshell by more than 100 kg, aeroshell complexity, and likely the risk and cost associated to the mission. Moreover, the lighter entry mass enables landing in the Martian highlands, at elevations inaccessible to current EDL technologies. This paper proposes a novel MAD concept for a Mars helicopter. We suggest a minimum science payload package to perform relevant science in the highlands. A variant of the Ingenuity helicopter is proposed to provide increased deceleration during MAD, and enough lift to fly the science payload in the highlands. We show in simulation that the lighter aeroshell results in lower terminal velocity (30 m/s) at the end of the parachute phase of the EDL, and at higher altitudes than other approaches. After discussing the aerodynamics, controls, guidance and mechanical challenges associated to deploying at such speed, we propose a backshell architecture that addresses them to release the helicopter in the safest conditions. Finally, we implemented the helicopter model and aerodynamic descent perturbations in the JPL Dynamics and Real-Time Simulation (DARTS) framework. Preliminary performance evaluation indicate landing and helicopter operations can be achieved up to +5 km MOLA.

The Mars Helicopter (MH), launching as a part of the Mars 2020 mission, will begin a new era of planetary exploration. Mars research has historically been conducted through landers, rovers, and satellites. As both government and private industries prepare for human exploration of the Martian surface within two decades, more in depth knowledge of what awaits on the surface is critical. Planetary aerial vehicles increase the range of terrain that can be examined, compared to traditional landers and rovers and have more near surface capability than orbiters. The Jet Propulsion Laboratory (JPL) and NASA Ames are currently exploring possibilities for a Mars Science Helicopter (MSH), a second-generation Mars rotorcraft with the capability of conducting science investigations independently of a lander or rover (although this type of vehicle could also be used assist rovers or landers in future missions). Preliminary designs of coaxial-helicopter and hexacopter configurations have targeted the minimum capability of lifting a payload in the range of two to three kilograms with an overall vehicle mass of approximately twenty kilograms. These MSH designs’ sizes are constrained by the aeroshell dimensions(currently focused on employing legacy Pathfinder or MSL aeroshells), rather than vehicle structural or aeroperformance limitations. Feasibility of the MSH configurations has been investigated considering packaging/deployment, rotor aerodynamics, and structural analysis studies. Initial findings suggest not only the overall feasibility of MSH configurations but also indicate that improvements up to 11.1 times increase in range or 1.3 times increase in hover time might be achievable, even with an additional science payload, compared to the current design of the MH.

NASA is exploring rotorcraft designs for VTOL air taxi operations, also known as urban air mobility (UAM) or on-demand mobility (ODM) applications. Several concept vehicles have been developed, intended to focus and guide NASA research activities in support of aircraft development for this emerging market. This paper examines a single main-rotor helicopter designed specifically for low-noise air taxi operations. Based on demonstrated technology, the aircraft uses a turboshaft engine with a sound-absorbing installation, and the NOTAR anti-torque system to eliminate tail-rotor noise, consequently the noise and annoyance of the aircraft are dominated by the main rotor. Several design parameters are explored to reduce the noise, including rotor tip speed, blade geometry, and higher-harmonic control. Commensurate with the level of design detail, the noise is calculated for compact loading and thickness sources on the rotating blades. The metric is the reduction of the noise for the helicopter certification conditions (takeoff, flyover, and approach), relative a baseline aircraft with typical (high) tip speed, conventional blade planform, and no higher-harmonic control.

The Mars Helicopter (MH) will be flying on the NASA Mars 2020 rover mission scheduled to launch in July of 2020. Research is being performed at the Jet Propulsion Laboratory (JPL) and NASA Ames Research Center to extend the current capabilities and develop the Mars Science Helicopter (MSH) as the next possible step for Martian rotorcraft. The low atmospheric density and the relatively small-scale rotors result in very low chord-based Reynolds number flows over the rotor airfoils. The low Reynolds number regime results in rapid performance degradation for conventional airfoils due to laminar separation without reattachment. Unconventional airfoil shapes with sharp leading edges are explored and optimized for aerodynamic performance at representative Reynolds-Mach combinations for a concept rotor. Sharp leading edges initiate immediate flow separation, and the occurrence of large-scale vortex shedding is found to contribute to the relative performance increase of the optimized airfoils, compared to conventional airfoil shapes. The oscillations are shown to occur independent from laminar-turbulent transition and therefore result in sustainable performance at lower Reynolds numbers. Comparisons are presented to conventional airfoil shapes and peak lift-to-drag ratio increases between 17% and 41% are observed for similar section lift.

The Mars Helicopter Technology Demonstrator will be flying on the NASA Mars 2020 rover mission scheduled to launch in July of 2020. The goal is to demonstrate the viability and potential of heavier-than-air vehicles in the Martian atmosphere. Research is performed at the Jet Propulsion Laboratory and NASA Ames Research Center to extend these capabilities and develop the Mars Science Helicopter as the next possible step for Martian rotorcraft. The Mars Science Helicopter mass is scaled up to the 5 to 20 kg range, allowing a greater payload (approximately 0.5 to 2.0 kg), and greater range (approximately 3 km). Key to achieving these targets is careful aerodynamic rotor design. The Martian atmosphere’s low density and the small helicopter rotors result in very low chord-based Reynolds number flows, which reduces rotor performance. A continuous genetic algorithm is developed to optimize airfoil shapes at representative conditions for the Martian atmosphere. Previous research indicates that sharp leading edges and plate-like airfoils can out-perform conventional airfoil shapes. The present optimization allows for camber and thickness variation of curved and polygonal thin airfoils with sharp leading edges. The airfoil performance is evaluated at the highest attainable liftto- drag ratio near a moderate lift coefficient at compressible Mach numbers, as expected for Martian rotor application. Increases between 16% and 29% in airfoil lift-to-drag ratio at fixed lift coefficients are observed when compared with the Mars Helicopter Technology Demonstrator airfoils. Improvements in hover figure of merit are estimated to be between 4% and 10%, when applied to the Mars Helicopter Technology Demonstrator.

High-fidelity computational fluid dynamics simulations of NASA’s Side-by-side air taxi concept have been carried out. The three-dimensional unsteady Navier-Stokes equations are solved on overset grids using high-order accurate schemes, dual-time stepping, and a hybrid turbulence model. The flow solver has been loosely coupled with a helicopter comprehensive analysis code in order to get the trimmed flight solution. The vehicle simulated is a six-passenger side-by-side intermeshing rotor helicopter with hybrid propulsion for air taxi operations, also known as urban air mobility applications. This concept vehicle is intended to focus and guide NASA research activities in support of aircraft development for emerging aviation markets, in particular vertical take-off and landing air taxi operations.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

This presentation will be displayed on the Aeromechanics Branch website. It outlines: NASA Exploration of Urban Air Mobility, Reduced-Emission Rotorcraft Concepts, Concept Vehicles for Air Taxi Operations, Vehicles for UAM Mission and Market and Observations.

NASA is exploring rotorcraft designs for VTOL air taxi operations, also known as urban air mobility (UAM) or on-demand mobility (ODM) applications. Several concept vehicles have been developed, intended to focus and guide NASA research activities in support of aircraft development for this emerging market. This paper summarizes the work conducted to date. To initially explore the broad design trade-space, three concept vehicles were designed: a quadrotor with electric propulsion; a side-by-side helicopter with hybrid propulsion; and a tiltwing with turbo-electric propulsion. Next a specific UAM mission was developed, accounting for the existing geography, population patterns, infrastructure, and weather in twenty-eight markets across the United States of America. Then in order to quantify the tradeoffs and performance targets necessary for practical implementation of the UAM vision, aircraft were designed to perform this mission, considering a range of aircraft types and propulsion system architectures: quadrotor aircraft, with turboshaft and all-electric propulsion; side-by-side aircraft, with turboshaft and all-electric propulsion; and lift+cruise aircraft with all-electric and turbo-electric propulsion. In examining these vehicles, performance targets and recurring technology themes emerged, which can guide investments in research and development within NASA, other government agencies, academia, and industry. In addition, results from the designs support observations about the trade-offs and key design decisions.

The Mars Helicopter is part of the NASA Mars 2020 rover mission scheduled to launch in July of 2020. Its goal is to demonstrate the viability and potential of heavier-than-air vehicles in the Martian atmosphere. Ultimately, it aims to bridge the resolution gap between orbiters and the rover as well as allow access to otherwise inaccessible regions. The low density of the Martian atmosphere and the relatively small-scale rotor result in very low Reynolds number flows. The low density and low Reynolds numbers reduce the lifting force and lifting efficiency, respectively. This paper describes the generation of the improved Mars Helicopter aerodynamic rotor model. The goal is to generate a performance model for the Mars Helicopter rotor using a free wake analysis, since this has a low computational cost for design. The improvements in the analysis are two-fold and are expanded on from two prior publications. First, the fidelity of the simulations is increased by performing higher-order two-dimensional time-accurate OVERFLOW simulations allowing for higher accuracy aerodynamic coefficients and a better understanding of the boundary layer behavior as well as its transient features. Second, a version of the model is generated to duplicate the exact testing conditions in the 25-ft. diameter Space Simulator at the Jet Propulsion Laboratory, which allows for better correlation of rotor performance figures. Previous work correlated performance with that test, but did not consider the higher temperatures in the experiment compared to those of the Martian atmosphere. The higher temperatures in the experiment are expected to give conservative performance estimates, as they give rise to an increase in speed of sound and decrease in observed Reynolds numbers.

The Mars Helicopter is part of the NASA Mars 2020 rover mission scheduled to launch in July of 2020. Its goal is to demonstrate the viability and potential of heavier-than-air vehicles in the Martian atmosphere. Ultimately, it aims to bridge the resolution gap between orbiters and the rover as well as allow access to otherwise inaccessible regions. The low density of the Martian atmosphere and the relatively small-scale rotor result in very low Reynolds number flows. The low density and low Reynolds numbers reduce the lifting force and lifting efficiency, respectively. This paper describes the generation of the improved Mars Helicopter aerodynamic rotor model. The goal is to generate a performance model for the Mars Helicopter rotor using a free wake analysis, since this has a low computational cost for design. The improvements in the analysis are two-fold and are expanded on from two prior publications. First, the fidelity of the simulations is increased by performing higher-order two-dimensional time-accurate OVERFLOW simulations allowing for higher accuracy aerodynamic coefficients and a better understanding of the boundary layer behavior as well as its transient features. Second, a version of the model is generated to duplicate the exact testing conditions in the 25–ft. diameter Space Simulator at the Jet Propulsion Laboratory, which allows for better correlation of rotor performance figures. Previous work correlated performance with that test, but did not consider the higher temperatures in the experiment compared to those of the Martian atmosphere. The higher temperatures in the experiment are expected to give conservative performance estimates, as they give rise to an increase in speed of sound and decrease in observed Reynolds numbers.

The current push for Urban Air Mobility (UAM) is predicated on the feasibility of novel aircraft types, which will be enabled by the near-term availability of mature technology for high performance subsystems. A number of candidate concept aircraft are presently being designed to meet a set of UAM requirements, in order to quantify the tradeoffs and performance targets necessary for practical implementation of the UAM vision. In examining these vehicles, performance targets and recurring technology themes emerge, which may guide investments in research and development within NASA, other government agencies, academia, and industry.

The present research is aimed at providing a performance model for the Mars Helicopter (MH), to understand the complexity of the flow, and future regions of improvement. The Martian atmosphere's low density and the MH's relatively small rotor result in very low chord-based Reynolds number flows, Rec = O(10(exp 3)-10(exp 4)). The low density and subcritical Reynolds number reduce the lifting force and lifting efficiency, respectively. The high drag coefficients in subcritical flow, especially for thicker sections, are attributed to laminar separation from the rear of the airfoil. The goal is to generate a performance model for the MH rotor for a free wake analysis, since the computational budget for a complete Navier-Stokes solution for a rotating body-fitted rotor is substantial. In this study, a RANS-based approach is used to generate the airfoil deck using OVERFLOW with stitched experimental data for very high angles of attack. The model is presented through airfoil data tables (C81 files) that are used by comprehensive rotor analysis codes such as CAMRADII, or the mid-fidelity CFD solver RotCFD. These codes have proven to provide accurate performance predictions for all rotor operations at only a fraction of the computational expense of three- dimensional body-fitted viscous grids.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

The present research is aimed at providing a performance model for the Mars Helicopter (MH), to understand the complexity of the flow, and identify future regions of improvement. The low density of the Martian atmosphere and the relatively small MH rotor, result in very low chord-based Reynolds number flows. The low density and Reynolds numbers reduce the lifting force and lifting efficiency, respectively. The high drag coefficients in subcritical flow, especially for thicker sections, are attributed to laminar separation from the rear of the airfoil. In the absence of test data, efforts have been made to explore these effects using prior very low Reynolds number research efforts. The rotor chord-based Reynolds number range is observed to be subcritical, which makes boundary layer transition unlikely to occur. The state of the two-dimensional rotor boundary layer in hover is approximated by calculating the instability point, laminar separation point, and the transition location to provide understanding of the flow state in the high Mach-low Reynolds number regime. The results are used to investigate the need for turbulence modeling in Computational Fluid Dynamics (CFD) calculations afterwards. The goal is to generate a performance model for the MH rotor for a free wake analysis, because the computational budget for a complete Navier-Stokes solution for a rotating body-fitted rotor is substantial. In this study, a Reynolds-Averaged Navier-Stokes (RANS) based approach is used to generate the airfoil deck using C81Gen with stitched experimental data for very high angles of attack. A full Grid Resolution Study is performed and over 4,500 cases are completed to create the full airfoil deck. The laminar separation locations are predicted within the accuracy of the approximate method when compared with the CFD calculations. The model is presented through airfoil data tables (c81 files) that are used by comprehensive rotor analysis codes such as CAMRADII, or the mid-fidelity CFD solver RotCFD. Finally, the rotor performance is compared with experimental data from the 25ft Space Simulator at the NASA Jet Propulsion Laboratory (JPL) and shows good correlation for the rotor Figure of Merit over the available thrust range.

Concept vehicles are presented for air taxi operations, also known as urban air mobility or on-demand mobility applications. Considering the design-space dimensions of payload (passengers and pilot), range, aircraft type, and propulsion system, three aircraft are designed: a single passenger (250-lb payload), 50-nm range quadrotor with electric propulsion; a six-passenger (1200-lb payload), 4x50 = 200-nm range side-by-side helicopter with hybrid propulsion; and a fifteen-passenger (3000-lb payload), 8x50 = 400-nm range tiltwing with turbo-electric propulsion. These concept vehicles are intended to focus and guide NASA research activities in support of aircraft development for emerging aviation markets, in particular VTOL air taxi operations. Research areas are discussed, illustrated by results from the design of the concept vehicles.

Python-based wrappers for OpenMDAO are used to integrate disparate software for practical conceptual design of rotorcraft. The suite of tools which are connected thus far include aircraft sizing, comprehensive analysis, and parametric geometry. The tools are exercised to design aircraft with aggressive goals for emission reductions relative to fielded state-of-the-art rotorcraft. Several advanced reduced-emission rotorcraft are designed and analyzed, demonstrating the flexibility of the tools to consider a wide variety of potentially transformative vertical flight vehicles. To explore scale effects, aircraft have been sized for 5, 24, or 76 passengers in their design missions. Aircraft types evaluated include tiltrotor, single-main-rotor, coaxial, and side-by-side helicopters. Energy and drive systems modeled include Lithium-ion battery, hydrogen fuel cell, turboelectric hybrid, and turboshaft drive systems. Observations include the complex nature of the trade space for this simple problem, with many potential aircraft design and operational solutions for achieving significant emission reductions. Also interesting is that achieving greatly reduced emissions may not require exotic component technologies, but may be achieved with a dedicated design objective of reducing emissions.

Aerial exploration of Mars with helicopters could provide mission capabilities that go beyond that of orbiting satellites, landed spacecraft and rovers. Helicopters allow examination of Mars at visual resolutions comparable to landers and rovers but over much longer ranges. They could access and land at designated targets in a controlled manner and could be used to carry or retrieve small payloads. Helicopters could enhance rover missions by quickly scouting out safe traverse routes or providing reconnaissance on possible science target destinations and, as standalone systems, could be used to explore areas that may not be reachable by rovers. Mars helicopters may also be considered as elements of a sample return architecture where they could be used for timely retrieval of small science samples back to a Mars ascent vehicle for return to Earth. The challenge to helicopter use on Mars is the thin carbon dioxide atmosphere with approximately 1% of the density of Earth’s atmosphere. Much like the Sojourner rover on the Pathfinder mission paved the way for the Spirit, Opportunity, Curiosity and the Mars 2020 rovers, an initial demonstration on Mars is desirable so as to inform the development of future helicopter missions. The Jet Propulsion Laboratory is leading a collaborative effort with AeroVironment Inc., and NASA centers Ames, Langley and Glenn to develop a small helicopter as a technology demonstrator. In this paper we briefly describe the results of this effort including results from controlled free-flight of a full-scale (approx 850 g) prototype flown in a test chamber under Mars conditions, the design and development of the 1800 g (not-to-exceed mass) technology demonstrator helicopter, and the operation of the helicopter.

Helicopters have the potential to transform Mars exploration by providing a highly mobile platform for forward reconnaissance as an aid for ground-based systems. Helicopter flight on Mars is challenging due to the extremely thin atmosphere, which is only partially offset by a reduction in gravity. NASA is considering the possibility of sending a small helicopter to the Martian surface as part of a future mission. In this paper we focus on flight dynamics and controllability issues for the proposed Mars Helicopter, in particular the areas in which the dynamics departs from typical behavior on Earth. We discuss insights gained from modeling and simulation, as well as system identification performed with a test vehicle in the relevant atmospheric condition, culminating in the first demonstration of controlled helicopter flight in Martian atmospheric conditions in May 2016.

Starting with the first attempted flybys of Mars in the 1960s, human exploration of the Red Planet has evolved through ever-more sophisticated means, with the use of orbiters, stationary landers, and more recently rovers that have traveled over distances of tens of kilometers in search of new knowledge. Yet, despite discussion since the early days of space exploration, no mission has so far attempted to unlock the aerial dimension of Mars exploration through the use of atmospheric flyers. This could be about to change, as NASA is currently considering sending a small helicopter to the Martian surface as part of a future mission, as a technology demonstration to verify the feasibility and utility of using helicopters for future Mars exploration. The use of helicopters promises to bridge a resolution gap in current Mars exploration capabilities—betweeen orbiters providing large-area imagery at low resolution, and rovers that provide detailed imagery limited by line-of-sight from the current rover location. Paired with a rover, a helicopter can act as a forward reconnaisance platform, helping to identify promising science targets or mapping the terrain ahead of the rover. Looking further ahead, helicopters may one day carry their own science payloads to areas that are inaccessible to rovers.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

Over the past decade, NASA, under a succession of rotary-wing programs has been moving towards coupling multiple discipline analyses to evaluate rotorcraft conceptual designs. Handling qualities is one of the component analyses to be included in such a future Multidisciplinary Analysis and Optimization framework for conceptual design of VTOL aircraft. Similarly, the future vision for the capability of the Concept Design and Assessment Technology Area of the U.S Army Aviation Development Directorate also includes a handling qualities component. SIMPLI-FLYD is a tool jointly developed by NASA and the U.S. Army to perform modeling and analysis for the assessment of the handling qualities of rotorcraft conceptual designs. Illustrative scenarios of a tiltrotor in forward flight and singlemain rotor helicopter at hover are analyzed using SIMPLI-FLYD and the conceptual design sizing tool, NDARC, integrated in a single process. The effects of variations of design parameters such as horizontal tail and tail rotor size were evaluated in the form of margins to fixed- and rotary-wing handling qualities metrics and the computed vehicle empty weight. The handling qualities design margins are shown to vary across the flight envelope due to both changing flight dynamic and control characteristics and changing handling qualities specification requirements. The current SIMPLI-FLYD capability and future developments are discussed in the context of an overall rotorcraft conceptual design process.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

The NDARC code performs design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance analysis, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. The principal tasks (sizing, mission analysis, flight performance analysis) are shown in the figure as boxes with heavy borders. Heavy arrows show control of subordinate tasks. The aircraft description consists of all the information, input and derived, that denes the aircraft. The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. This information can be the result of the sizing task; can come entirely from input, for a fixed model; or can come from the sizing task in a previous case or previous job. The aircraft description information is available to all tasks and all solutions. The sizing task determines the dimensions, power, and weight of a rotorcraft that can perform a specified set of design conditions and missions. The aircraft size is characterized by parameters such as design gross weight, weight empty, rotor radius, and engine power available. The relations between dimensions, power, and weight generally require an iterative solution. From the design flight conditions and missions, the task can determine the total engine power or the rotor radius (or both power and radius can be fixed), as well as the design gross weight, maximum takeoff weight, drive system torque limit, and fuel tank capacity. For each propulsion group, the engine power or the rotor radius can be sized. Missions are defined for the sizing task, and for the mission performance analysis. A mission consists of a number of mission segments, for which time, distance, and fuel burn are evaluated. For the sizing task, certain missions are designated to be used for design gross weight calculations; for transmission sizing; and for fuel tank sizing. The mission parameters include mission takeoff gross weight and useful load. For specified takeoff fuel weight with adjustable segments, the mission time or distance is adjusted so the fuel required for the mission equals the takeoff fuel weight. The mission iteration is on fuel weight or energy. Flight conditions are specified for the sizing task, and for the flight performance analysis. For the sizing task, certain flight conditions are designated to be used for design gross weight calculations; for transmission sizing; for maximum takeoff weight calculations; and for anti-torque or auxiliary thrust rotor sizing. The flight condition parameters include gross weight and useful load. For flight conditions and mission takeoff, the gross weight can be maximized, such that the power required equals the power available. A flight state is defined for each mission segment and each flight condition. The aircraft performance can be analyzed for the specified state, or a maximum effort performance can be identified. The maximum effort is specified in terms of a quantity such as best endurance or best range, and a variable such as speed, rate of climb, or altitude.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration exibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tilt-rotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

A rotorcraft was designed for military operations in a confined urban environment. The specifications included major increases in useful load, range, and speed relative current aircraft capabilities, with a size constraint based on the dimensions of urban streets and intersections. Analysis showed that this combination of requirements is best satisfied by a coaxial main-rotor configuration, with lift compounding to off-load the rotors at high speed, and ducted fans under the rotor disk for propulsion. The baseline design is described, and the aircraft performance is summarized for utility, attack, MEDEVAC, and cargo delivery missions. The impact on size and performance is examined for a number of excursions, including lift-offset main rotors. Technology development required to achieve this advance in capability is recommended.

The NASA Design and Analysis of Rotorcraft (NDARC) software is an aircraft system analysis tool that supports both conceptual design efforts and technology impact assessments. The principal tasks are to design (or size) a rotorcraft to meet specified requirements, including vertical takeoff and landing (VTOL) operation, and then analyze the performance of the aircraft for a set of conditions. For broad and lasting utility, it is important that the code have the capability to model general rotorcraft configurations, and estimate the performance and weights of advanced rotor concepts. The architecture of the NDARC code accommodates configuration flexibility, a hierarchy of models, and ultimately multidisciplinary design, analysis, and optimization. Initially the software is implemented with low-fidelity models, typically appropriate for the conceptual design environment. An NDARC job consists of one or more cases, each case optionally performing design and analysis tasks. The design task involves sizing the rotorcraft to satisfy specified design conditions and missions. The analysis tasks can include off-design mission performance calculation, flight performance calculation for point operating conditions, and generation of subsystem or component performance maps. For analysis tasks, the aircraft description can come from the sizing task, from a previous case or a previous NDARC job, or be independently generated (typically the description of an existing aircraft). The aircraft consists of a set of components, including fuselage, rotors, wings, tails, and propulsion. For each component, attributes such as performance, drag, and weight can be calculated; and the aircraft attributes are obtained from the sum of the component attributes. Description and analysis of conventional rotorcraft configurations is facilitated, while retaining the capability to model novel and advanced concepts. Specific rotorcraft configurations considered are single-main-rotor and tail-rotor helicopter, tandem helicopter, coaxial helicopter, and tiltrotor. The architecture of the code accommodates addition of new or higher-fidelity attribute models for a component, as well as addition of new components.

Presentation discusses aircraft design capability and assesses how current and future technology may impact the development of a wide array of aircraft configurations and concepts.

A full three-dimensional finite element-multibody structural dynamic solver is coupled to a three-dimensional Reynolds-averaged Navier-Stokes solver for the prediction of integrated aeromechanical stresses and strains on a rotor blade in forward flight. The objective is to lay the foundations of all major pieces of an integrated three-dimensional rotor dynamic analysis - from model construction to aeromechanical solution to stress/strain calculation. The primary focus is on the aeromechanical solution. Two types of three-dimensional CFD/CSD interfaces are constructed for this purpose with an emphasis on resolving errors from geometry mis-match so that initial-stage approximate structural geometries can also be effectively analyzed. A three-dimensional structural model is constructed as an approximation to a UH-60A-like fully articulated rotor. The aerodynamic model is identical to the UH-60A rotor. For preliminary validation measurements from a UH-60A high speed flight is used where CFD coupling is essential to capture the advancing side tip transonic effects. The key conclusion is that an integrated aeromechanical analysis is indeed possible with three-dimensional structural dynamics but requires a careful description of its geometry and discretization of its parts.

The conceptual design code NDARC (NASA Design and Analysis of Rotorcraft) was initially implemented to model conventional rotorcraft propulsion systems, consisting of turboshaft engines burning jet fuel, connected to one or more rotors through a mechanical transmission. The NDARC propulsion system representation has been extended to cover additional propulsion concepts, including electric motors and generators, rotor reaction drive, turbojet and turbofan engines, fuel cells and solar cells, batteries, and fuel (energy) used without weight change. The paper describes these propulsion system components, the architecture of their implementation in NDARC, and the form of the models for performance and weight. Requirements are defined for improved performance and weight models of the new propulsion system components. With these new propulsion models, NDARC can be used to develop environmentally-friendly rotorcraft designs.

Maximum blade loading capability of a coaxial, lift-offset rotor is investigated using a rotorcraft configuration designed in the context of short-haul, medium-size civil and military missions. The aircraft was sized for a 6600-lb payload and a range of 300 nm. The rotor planform and twist were optimized for hover and cruise performance. For the present rotor performance calculations, the collective pitch angle is progressively increased up to and through stall with the shaft angle set to zero. The effects of lift offset on rotor lift, power, controls, and blade airloads and structural loads are examined. The maximum lift capability of the coaxial rotor increases as lift offset increases and extends well beyond the McHugh lift boundary as the lift potential of the advancing blades are fully realized. A parametric study is conducted to examine the differences between the present coaxial rotor and the McHugh rotor in terms of maximum lift capabilities and to identify important design parameters that define the maximum lift capability of the rotor. The effects of lift offset on rotor blade airloads and structural loads are also investigated. Flap bending moment increases substantially as lift offset increases to carry the hub roll moment even at low collective values. The magnitude of flap bending moment is dictated by the lift-offset value (hub roll moment) but is less sensitive to collective and speed.

A history of the development of rotorcraft comprehensive analyses is presented. Comprehensive analyses are digital computer programs that calculate the aeromechanical behavior of the rotor and aircraft, bringing together the most advanced models of the geometry, structure, dynamics, and aerodynamics available in rotary wing technology. The development of the major codes of the last five decades from industry, government, and universities is described. A number of common themes observed in this history are discussed.

Multiple compound helicopter configurations are designed using a combination of rotorcraft sizing and comprehensive analysis codes. Results from both the conceptual design phase and rotor comprehensive analysis are presented. The designs are evaluated for their suitability to a short-to-medium-haul civil transport mission carrying a payload of 90 passengers. Multiple metrics are used to determine the best configuration, with heavy emphasis placed on minimizing fuel burn.

Multiple metrics are applied to the design of large civil rotorcraft, integrating minimum cost and minimum environmental impact. The design mission is passenger transport with similar range and capacity to a regional jet. Separate aircraft designs are generated for minimum empty weight, fuel burn, and environmental impact. A metric specifically developed for the design of aircraft is employed to evaluate emissions. The designs are generated using the NDARC rotorcraft sizing code, and rotor analysis is performed with the CAMRAD II aeromechanics code. Design and mission parameters such as wing loading, disk loading, and cruise altitude are varied to minimize both cost and environmental impact metrics. This paper presents the results of these parametric sweeps as well as the final aircraft designs.

Multiple metrics are applied to the design of a large civil tiltrotor, integrating minimum cost and minimum environmental impact. The design mission is passenger transport with similar range and capacity to a regional jet. Separate aircraft designs are generated for minimum empty weight, fuel burn, and environmental impact. A metric specifically developed for the design of aircraft is employed to evaluate emissions. The designs are generated using the NDARC rotorcraft sizing code, and rotor analysis is performed with the CAMRAD II aeromechanics code. Design and mission parameters such as wing loading, disk loading, and cruise altitude are varied to minimize both cost and environmental impact metrics. This paper presents the results of these parametric sweeps as well as the final aircraft designs.

The structural properties of Higher harmonic Aeroacoustic Rotor Test (HART I) blades have been measured using the original set of blades tested in the wind tunnel in 1994. A comprehensive rotor dynamics analysis is performed to address the effect of the measured blade properties on airloads, blade motions, and structural loads of the rotor. The measurements include bending and torsion stiffness, geometric offsets, and mass and inertia properties of the blade. The measured properties are correlated against the estimated values obtained initially by the manufacturer of the blades. The previously estimated blade properties showed consistently higher stiffnesses, up to 30% for the flap bending in the blade inboard root section. The measured offset between the center of gravity and the elastic axis is larger by about 5% chord length, as compared with the estimated value. The comprehensive rotor dynamics analysis was carried out using the measured blade property set for HART I rotor with and without HHC (Higher Harmonic Control) pitch inputs. A significant improvement on blade motions and structural loads is obtained with the measured blade properties.

Advanced Technology Life-cycle Analysis System (ATLAS) is a system-of-systems technology-portfolio-analysis software tool. ATLAS affords capabilities to (1) compare estimates of the mass and cost of an engineering system based on competing technological concepts; (2) estimate life-cycle costs of an outer-space-exploration architecture for a specified technology portfolio; (3) collect data on state-of-the-art and forecasted technology performance, and on operations and programs; and (4) calculate an index of the relative programmatic value of a technology portfolio. ATLAS facilitates analysis by providing a library of analytical spreadsheet models for a variety of systems. A single analyst can assemble a representation of a system of systems from the models and build a technology portfolio. Each system model estimates mass, and life-cycle costs are estimated by a common set of cost models. Other components of ATLAS include graphical-user-interface (GUI) software, algorithms for calculating the aforementioned index, a technology database, a report generator, and a form generator for creating the GUI for the system models. At the time of this reporting, ATLAS is a prototype, embodied in Microsoft Excel and several thousand lines of Visual Basic for Applications that run on both Windows and Macintosh computers.

A conceptual design study of a large civil compound helicopter is presented. The objective is to determine how a compound helicopter performs when compared to both a conventional helicopter and a tiltrotor using a design mission that is shorter than optimal for a tiltrotor and longer than optimal for a helicopter. The designs are generated and analyzed using conceptual design software and are further evaluated with a comprehensive rotorcraft analysis code. Multiple metrics are used to determine the suitability of each design for the given mission. Plots of various trade studies and parameter sweeps as well as comprehensive analysis results are presented. The results suggest that the compound helicopter examined for this study would not be competitive with a tiltrotor or conventional helicopter, but multiple possibilities are identified for improving the performance of the compound helicopter in future research.

The design and performance of compound helicopters utilizing lift-offset rotors are examined, in the context of short-haul, medium-size civil and military missions. The analysis tools used are the comprehensive analysis CAMRAD II and the sizing code NDARC. Following correlation of the comprehensive analysis with existing lift-offset aircraft flight test data, the rotor performance model for the sizing code was developed, and an initial estimate was made of the rotor size and key hover and cruise flight conditions. The rotor planform and twist were optimized for those conditions, and the sizing code rotor performance model updated. Two models for estimating the blade and hub weight of lift-offset rotors are discussed. The civil and military missions are described, along with the aircraft design assumptions. The aircraft are sized for 30 passengers or 6600 lb payload, with a range of 300 nm. Civil and military aircraft designs are described for each of the rotor weight models. Disk loading and blade loading were varied to optimize the designs, based on gross weight and fuel burn. The influence of technology is shown, in terms of rotor hub drag and rotor weight.

Rene H. Miller (May 19, 1916 January 28, 2003), Emeritus H. N. Slater Professor of Flight Transportation, was one of the most influential pioneers in rotary wing aeromechanics as well as a visionary whose dream was the development of a tilt-rotor based short haul air transportation system. This paper pays a long overdue tribute to his memory and to his extraordinary contributions.