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Agamemnon Crassidis

Agamemnon Crassidis
Application Lead-Transporation Domain-PhD Engineering; Graduate Director-Mechanical Engineering, Associate Professor

Phone: 585-475-4730
Office: GLE/2103

 

Dr. Agamemnon Crassidis received his B.S., M.S. and Ph.D. in Mechanical Engineering from the University of Buffalo. Prior to arriving at RIT he worked for Calspan Corporation at the Flight Research Facility in Buffalo, NY as a Senior Aeronautical Engineer and Lead Systems Engineer for an experimental F-16 flight research aircraft (VISTA) used primarily as an in-flight simulator and advanced flight control law development.

Dr. Crassidis’s current research focus is in the area Unmanned Vehicles (UVs) including ground and aerial vehicles. Current research projects include:

  • A Low-Cost Mini-Inertial-Measurement-Navigation-System (MIMNS). The revolutionary new design for the MIMNS unit has significantly reduced cost and increased accuracy and capability compared to existing commercially available systems. The benefit and relative impact of the low cost MIMNS unit is to provide an enhanced measurement and guidance/navigation platform for future unmanned air, ground, and underwater vehicles. In particular, the MIMNS unit and resulting hardware can be used for robust individual flight control and navigation of coordinated teams of autonomous unmanned vehicles. It is expected that hundreds of mini vehicles would constitute a team. Therefore, navigation and measurement units are required for providing guidance information and control system (which would be adaptive) information for each one of these vehicles. The weight and size of the navigation and measurement units will be small and cost effective for providing a robust coordinated team system. Also, enhanced measurement capabilities of the MIMNS unit can be used by a flight control system to decrease computationally requirements with increased robust and performance capabilities. Currently, a prototype MIMNS unit has been constructed, data measurements have been taken, and the hypothesis is being tested.
  • An Autonomous Robotic Mapping Robot. Currently, the MIMNS unit was incorporated in an autonomous robot that utilizes the MIMNS to record its path as it navigates through an unknown area where GPS is not accessible. The robot records its path in a 2-dimensional space at regular time intervals. The recorded data is used to create a map that is transferable in a file format readable by a computer for post-processing.
  • Identification Update of Aerodynamic Models with Sensor Consistency Checks. This research focuses on the improvement of identification techniques in updating nonlinear aerodynamic coefficient models enhancing the efficiency of the parameter identification process. An aerodynamic parametric model (usually determined from wind tunnel tests) is assumed to be known. Time history analysis is used for the identification process. The algorithm develops and implements sensor consistency models to check the accuracy of flight data used in parameter identification. The newly developed models were tested on and experimental F-16 research vehicle (VISTA). Results of the improved identification technique indicate the effectiveness of updating a nonlinear aerodynamic model and determining sensor biases and scale factors independent of the aerodynamic parameter estimation. Currently the sensor consistency model is being developed for real-time applications to determine sensor failures and inconsistencies critical for advanced control law development.
  • Nonlinear Autonmous Control Laws for Unmanned Vehicles. This research focuses on using modified versions of nonlinear control algorithms such as Sliding Mode Control to develop autonomous flight control laws. The control strategies incorporate robust features for various Unmanned Aerial Vehicle (UAV) requirements. Also, battle damage robustness is considered. Future plans include testing of the nonlinear control strategy on a UAV flight testbed.
  • Integrating Unmanned Air Systems (UASs) into the National Airspace System (NAS) using a voice recognition type system.

Recent Publications

  • Crassidis, A.L. and Komendat, A.J., “Center of Gravity Estimation of an Aircraft Solely Using Standard Aircraft Measurement Sensors”, Proceedings of the AIAA Atmospheric Flight Mechanics Conference, AIAA-2012-4413, Minneapolis, Minnesota, 2012
  • Crassidis, A.L. and Gurbaki, A.J., “Feasibility Study of a Novel Method for Real-Time Aerodynamic Coefficient Estimation”, Proceedings of the AIAA Atmospheric Flight Mechanics Conference, AIAA-2012-4411, Minneapolis, Minnesota, 2012
  • Crassidis, A.L. and Prosser, D., “The Applicability of Unsteady Vortex Panel Methods to the Design of Hovering Flapping-Wing Micro Air Vehicles”, Proceedings of the AIAA Atmospheric Flight Mechanics Conference, AIAA-2011-1967, Portland, Oregon, 2011
  • Crassidis, A.L., and Scorse, W.T., “Robust Longitudinal and Transverse Rate Gyro Bias Estimation for Precise Pitch and Roll Attitude Estimation in Highly Dynamic Operating Environments Utilizing a Two Dimensional Accelerometer Array”, Proceedings of the AIAA Atmospheric Flight Mechanics Conference, AIAA-2011-2073, Portland, Oregon, 2011
  • Crassidis, A.L., “Real-time Nonlinear Parameter Estimation Algorithm for Estimating Aerodynamic Models and Sensor Faults”, Proceedings of the AIAA Atmospheric Flight Mechanics Conference, AIAA-2010-130461, Toronto, Canada, 2010
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