60th American Society International Annual Forum 2004

Baltimore,xxx Maryland, USA 7 – 10 June 2004

Volume 1 of 3

ISBN: 978-1-61782-933-8

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Copyright© (2004) by the American Helicopter Society International All rights reserved.

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Curran Associates, Inc. 57 Morehouse Lane Red Hook, NY 12571 USA Phone: 845-758-0400 Fax: 845-758-2634 Email: [email protected] Web: www.proceedings.com TABLE OF CONTENTS

VOLUME 1

V-22 Low-Speed/High Rate of Descent (HROD) Test Results ...... 1 Ron Kisor, Robert Blyth, Albert Brand, Tom MacDonald

Model & Full Scale Tiltrotor Download Reduction Tests Using Active Flow Control ...... 24 M.A. McVeigh, H. Nagib, T. Wood, J. Kiedaisch, A. Stalker, I. Wygnanski

Induced Power of the ...... 33 Robert A. Ormiston

An Experimental and Analytical Investigation of Scissors Rotor Aerodynamics in Hover...... 54 Guo-Hua Xu

Hovering Performance of a Rotor With Slotted Blade Tips...... 63 Yong Oun Han, J. Gordon Leishman

Micro- Performance Improvement Using Trailing-Edge Gurney Flaps...... 73 Jeremy M. Nelson, Nikhil A. Koratkar

Performance and Flowfield Measurements on a 10-inch Ducted Rotor VTOL UAV...... 88 Preston Martin, Chee Tung

Three-Dimensional State-Space Modeling of Ground Effect with Dynamic Flow Field...... 108 Ke Yu, David A. Peters

Composite Landing Gear Components Made with RTM...... 122 H.G.S.J. Thuis, J.F.M. Wiggenraad, H.P.J. de Vries

Application of Manufacturing Science to UH 60 Rotors ...... 133 Dave Martin, Paul Medeiros

The Correct Use of Finite Element Models for Stress Analysis of ...... 140 Robert E. Vaughan, Michael F. Daniel

Crack Growth Analysis and Test of a Main Rotor Damper Attachment Lug...... 193 George Schneider, Jinlu Wang

A CAD Tool for Developing Fault-to-Failure Damage Progression Models for Condition-Based Maintenance Systems ...... 202 William T. Fujimoto

Fatigue Life Analysis of Helicopter Components Based on Usage Monitoring ...... 218 Michael McFalls, David White, Anthony Jackson

Engine Usage Monitoring in the U.S. Army Lead the Fleet Program...... 225 David White, Michael McFalls

Overview of the Small Heavy Fuel Engine (SHFE) Compressor with Advanced Flow Features for Enhanced Part - Power Performance...... 230 Tom A. Marshall,Mike Barton, Kevin Kerner

U.S. Halon Replacement Program for Rotorcraft Engine Nacelle Fire Protection...... 235 F. Dale Cox, Scott J. Silies

Review Flight Test on CH-47D Rotory Wing Aircraft to Indentify the Operating Environment of the Hydraulic Filter Elements...... 244 Peter Rao, Larry Hollingsworth Sr., Kenneth Wegrzyn, X. Tao

Analytical Approach to Helicopter-Ship Certification ...... 257 Zhou Min, Chen Chang, Seah Choon Siang, Lek Ngak Yong, Seah Zuo Qin Jacqueline, Wee Teck Beng Adrian

Advanced Rotor Wake Interference Modeling for Multiple Aircraft Shipboard Landing Simulation...... 269 Chengjian He, Hong Xin, Mahendra Bhagwat

Distributed Multi-Vehicle Simulation Including High-Order Airwake Representation ...... 286 Robert M. McKillip Jr., Daniel A. Wachspress, Jeffrey D. Keller, Glen R. Whitehouse, Todd R. Quackenbush, Alexander H. Boschitsch

Modeling and Simulation of Rotor Engagement and Disengagement During Shipboard Operations ...... 315 Hao Kang, Chengjian He, Dean Carico

Helicopter Non Linear Flight Dynamic Modeling Using Vector Graph Theoretic Methods ...... 325 Sriprakash P. Sarathy, Daniel P. Schrage, Kayin R. Cannon

Validation of a Rotor Dynamic Wake Distortion Model for Helicopter Maneuvering Flight Simulation ...... 331 Jinggen Zhao, J.V.R. Prasad, David A. Peters

A Simplified Inflow Model of a Helicopter Rotor in Vertical Descent ...... 349 Chang Chen, J.V.R. Prasad, Pierre-Marie Basset

Civil Certification Methods for Advanced Rotorcraft Flight Control Systems...... 365 David King, Robert McCallister, Kenneth Arifian

Integration of Link 16 into Military ...... 378 Alan E. Goess, Ronald E. Vaillant

Transforming Army Aviation Software For Network-Centric Warfare ...... 386 John D. Sechrist, Thomas DeMaria

Modeling Artificial Intelligence Systems Adapting Fractal and Chaos Theories to Software-Intensive System Architectures...... 398 Jennifer L. Mackenzie

S-92 Fly-by-Wire Advanced Flight Control System ...... 404 Bruce Boczar, Brian J. Hull

Controlled Flight Into Terrain (CFIT) and Enhanced Ground Proximity Warning System (EGPWS) for Helicopters...... 425 Yasuo Ishihara

GPS Integrity Monitoring Integration in the Kaman SH-2G(A) Super Seasprite Helicopter for the Royal Australian Navy ...... 429 Robert Scott

Air-Ground Mobility: Discovering Qualities of Vertical Maneuver Necessary to Project the Future Force ...... 436 Allen Huber, D. Brian Godwin, Larry Frakes

Managing Army Airspace for Integrated Manned and Unmanned Aviation Operations...... 446 David Blake Stringer, Daniel P. Schrage

Not All Attack Helicopter Tactics Are Created Equal: Cobras at War...... 455 Robert D. Curtis, Mark J. Gibson

An Approach to Modeling The Effectiveness of MTI Radars in Detecting Dynamic RCS ...... 465 Rupert L. Seals, Ian G. Stone

Threat Lethality Prediction and Cognitive Decision Aiding with the Survivability Planner Associate Rerouter (SPAR)...... 471 Torrey Deas

Interoperability of Army Aviation Platforms in NCO Environment ...... 482 Donald B. Farr, Donald Wilkins

Rotor Airloads Prediction Using Loose Aerodynamic/Structural Coupling ...... 497 Mark Potsdam, Hyeonsoo Yeo, Wayne Johnson

Strategies For Tiltrotor Airframe Download Reduction Using Active Flow Control ...... 519 Ahmed A. Hassan

Aerodynamic Shape Optimization of Rotor Blades in Hover Using Unstructured Meshes ...... 536 Sang Wook Lee, Oh Joon Kwon

Aeromechanical Analysis Tools for Design and Simulation of VTOL UAV Systems ...... 548 Todd R. Quackenbush, Daniel A. Wachspress, Alexander H. Boschitsch, Christine L. Solomon

Evaluation of CFD to Determine Two-Dimensional Airfoil Characteristics for Rotorcraft Applications ...... 564 Marilyn Smith, Mark Potsdam, Tin-Chee Wong, James Baeder, Sujeet Phanse

A Large-Scale Active-Twist Rotor ...... 579 Douglas B. Weems, David M. Anderson, Mathew B. Mathew, Richard C. Bussom

Helicopter Elastomeric Drive Shaft Mount Design Synthesis and Performance Analysis ...... 591 Jacques Virasak

Design and Testing of a Rotor for Autonomous ...... 598 Jayant Sirohi, V.T. Nagaraj, Inderjit Chopra

Swept Tip Design Trade Study - New Affordable Main Rotor Blade for the AH-64D Apache Attack Helicopter ...... 612 Robert Loftus

Hover Performance and Swashplate Design of a Coaxial Rotary Wing Micro Air Vehicle...... 629 Felipe Bohorquez, Darryll Pines

A Method of Qualitative Analysis During Conceptual Design as Applied to Unmanned Aerial Vehicles ...... 642 Dimitri N. Mavris, Kyle B. Collins, Daniel P. Schrage

Compression Strength Prediction of Impact-Damaged Composite Sandwich Panels ...... 656 James Ratcliffe, Wade Jackson, Jeffery Schaff

Development Of A Braided Composite Drive Shaft with Captured End Fittings...... 673 Sherman Lin, Scott Poster

Design, Fabrication, Testing of New Affordable Main Rotor Blade for the AH-64 Apache Helicopter...... 688 Pierre Jouin, Robert Loftus, Antonio Llanos

Robust Metal to Composite Hybrid Bonded Joint...... 697 Jian Li, Stephen L. Guymon

Thermal and Environmental Barrier Coatings for Advanced Propulsion Engine Systems...... 703 Dongming Zhu, Robert A. Miller

Potential Benefits of Improving U.S. Army Helicopter Hydraulic System Filters ...... 710 Ted Elsasser, Kenneth Wegrzyn

Cyclic Multi-Pass Tests of Hydraulic Filters Using Taguchi Experimental Design Method to Identify Significant Test Parameters...... 714 Peter Rao, X. Tao, Kenneth Wegrzyn, Randy Sullivan

A Numerical Study of Sand Separation Applicable to Engine Inlet Particle Separator Systems ...... 722 M.E. Taslim, A. Khanicheh, S.D. Spring, W.R. Oliver

AATD APU Erosion Kit for the AH-64 D Apache Longbow ...... 733 Stephen P. Kinney

Simulation Evaluation of the UH-60M Helicopter Against the ADS-33E Handling Qualities Specification ...... 740 Firdosh Choksey, Pablo Gonzalez II

Tactile Limit Avoidance Cueing Using Adaptive Dynamic Trim ...... 763 Suraj Unnikrishnan, Geoffrey J. Jeram, J.V.R. Prasad

Hub Moment Limit Protection Using Neural Network Prediction...... 775 Nilesh A. Sahani, Joseph F. Horn, Geoffrey J.J. Jeram, J.V.R. Prasad

Autogiro Handling Qualities Assessment ...... 787 Marat Bagiev, Douglas G. Thomson, Stewart S. Houston

BA609 First Flight VSTOL Handling Qualities...... 800 Robert Fortenbaugh, Roy Hopkins II, David King

VOLUME 2

Optimization of Critical Trajectories for Rotorcraft Vehicles...... 816 Carlo L. Bottasso, Alessandro Croce, Domenico Leonello, Luca Riviello

Flight-Test of a Tactile Situational Awareness System in a High-Hover Task...... 836 G. Craig, S. Jennings, B. Cheung, A. Rupert, K. Schultz

Crew Capability Evaluation For Helicopter Emergency Medical Service Operations - Detailed Methodology...... 843 Stephen Charlesworth, Raden Kusumo, Arvind K. Sinha, Simon V. Atyeo

Command and Control of Unmanned Vehicles - Where Are We Going?...... 848 Thomas M. Spura, Jerry L. Franke, Robert J. Szczerba, Mike Scarangella

An Evaluation Methodology for Traffic Awareness Displays...... 861 Joe De Maio, Munro Dearing

Applying Software Safety Methodologies to the SH-2G(A) Glass Cockpit...... 871 Michael V. Hoagland

Synthetic and Enhanced Vision Information Systems for Military Rotorcraft...... 887 C. Cale Stephens, Tom Vogl

Comanche Helmet-Mounted Display Symbology Evaluation ...... 896 Susan R. Dowell, Terry Turpin, R. Jay Shively, Zoltan Szoboszlay

Improving the Flight Path Marker Symbol on Rotorcraft Synthetic Vision Displays...... 905 Zoltan Szoboszlay, Gordon H. Hardy, Terence M. Welsh

A Dual-Stiffness-Energy Sensor for Crack Detection in Spur Gears ...... 919 C. Wakha, Lin Liu, Darryll Pines

Dynamic Signal Analysis and Neural Network Modeling for Life Prediction of Flight Control Actuators ...... 928 Carl S. Byington, Matthew Watson, Doug Edwards

Investigation of Gear and Bearing Fatigue Damage Using Debris Particle Distributions...... 938 Paula J. Dempsey, David G. Lewicki, Harry J. Decker

Helicopter Rotor Wake Dynamics During Simulated Tactical Maneuvers ...... 949 Shreyas Ananthan, J. Gordon Leishman

Helicopter Blade Tip Vortex Modifications in Hover Using Piezoelectrically Modulated Blowing...... 981 Roxana Vasilescu, D. Stefan Dancila

Evaluation of Isolated Fuselage and Rotor-Fuselage Interaction Using CFD ...... 995 Thomas Renaud, David O’brien, Marilyn Smith, Mark Potsdam

Rotorwash Prediction Using an Applied Computational Fluid Dynamics Tool...... 1010 Marvin A. Moulton, James A. O’Malley, R. Ganesh Rajagopalan

Efficient High-Resolution Wake Modelling Using the Vorticity Transport Equation...... 1025 A.J. Line, R.E. Brown

A Generalized Model for Transiotional Blade Tip Vortices ...... 1040 Manikandan Ramasamy, J. Gordon Leishman

Fuselage and Tail-Rotor Interference Effects on Helicopter Wake Development in Descending Flight...... 1057 R.E. Brown, A.J. Line, Gary A. Ahlin

Flow Control Strategies for Improved Aerodynamic Efficiency of Micro-Rotorcraft...... 1077 Jongmin Kim

User Interface Design of an Integrated Decision Support System for Helicopters Mid-Life Upgrade...... 1089 Raden Kusumo, Arvind K. Sinha, Daniel P. Schrage

Helicopter Horizontal Tail Incidence Control to Reduce Rotor Cyclic Pitch and Blade Flapping...... 1098 Farhan Gandhi, Martin K. Sekula

Modelling Upgrade Design of Maritime Helicopters for Anti-Submarine Missions-Project Framework ...... 1120 Srinivas Jonnalagadda, Arvind K. Sinha, Peter Hoffmann, Daniel P. Schrage

Rejuvinating Airframes - A New Paradigm ...... 1129 Bruce F. Kay

Behavior of RTB Solutions in the Presence of Adjustment Errors ...... 1140 Dennis Power, Robert Hess

Achieving HUMS Benefits In The Military Environment - HUMS Developments On The CH-146 Griffon Fleet...... 1146 Michael. J. Augustin, Scott. J. Bradley

CH47D Forward Transmission Input Pinion Seeded Fault Test ...... 1157 Joseph Petrella, James Kachelries, Thomas Neupert

Rotor Track and Balance Cost Benefit Analysis and Impact on Opeational Availability ...... 1166 Mark Revor, Eric Bechhoefer

Healthwatch-2 System Overview...... 1176 Eric Barszcz, Marianne Mosher, Edward M. Huff

HUMS Optimal Weighting of Condition Indicators to Determine the Health of a Component ...... 1186 Eric Bechhoefer, Andreas P.F. Bernhard

Estimating LCF Damage Rate in Fielded T700 Engines ...... 1192 Dean Hutson

TF41 Engine Fan Disk Seeded Fault Crack Propagation Test ...... 1201 David G. Lewicki, William C. Emmerling, Donald Altobelli, Silvia Seng, Chuck Frankenberger, Leo Fila

Helicopter Transmission Diagnostics using Empirical Mode Decomposition...... 1210 Paul Samuel, Darryll Pines

Design and Analysis of 5100 HP RDS-21 Demonstrator Gearbox...... 1221 Yuriy Gmirya, David Binney, Harsh Vinayak, Vincent Millea, E. C. Ames

Determination of the Crack Propagation Life of a Planetary Gear Carrier...... 1229 Glenn J. Sahrmann

Face Gear Finite Element Stress AnalysisTool Development ...... 1238 Keith B. Smith, Robert R. Filler

HELISIM: From Engineering Simulation to Level D Training Simulation ...... 1251 Laurent Scannapieco, Philippe Gaulene, Bernard Benoit, André-Michel Dequin

Verification & Validation of a UH-60 FLIGHTLAB® Model in Support of the UH-60M Limited User Test...... 1267 Kris Strope, Christopher “Kit” Borden, Jeff Harding

A Multi-Disciplinary Rotorcraft Simulation Facility Composed of Commodity Components and Open Source Software ...... 1276 Joseph F. Horn, Derek O. Bridges, Charu Sharma, Leonard V. Lopes, Kenneth S. Brentner

CV-22 Tactics Simulation: Flight Director Coupled Modes for Low Speed Terminal Area Operations...... 1288 Stacey L. Winger, Scott T. Dubeck, Michael Hargis, Matthew Magness

Synthesis of Helicopter Fuzzy Flight Control System and Its Simulation...... 1300 Song Yanguo, Zhang Chenglin, Chen Renliang

From the Cierva C.4 to the Cartercopter: An Analysis of How the Autogiro Became the Gyroplane...... 1309 Bruce H. Charnov

Aerial Jeep Retrospective...... 1358 Robert R. Piper

Variable Configuration Aircraft Patented in the U.S. Before the Second World War...... 1366 Donald F. Dixon

A Chronicle of Early British Rotorcraft ...... 1378 J. Gordon Leishman

Unmanned Rotorcraft Demonstrator Artis: Challenges in Autonomous Control and Teaming ...... 1404 Joerg S. Dittrich, Frank Thielecke, Hans-Peter Schwaneck

Robust Nonlinear Fault-Tolerant Control of a Small-Scale Helicopter ...... 1412 Denis Garagic, Jovan D. Boskovic, Raman K. Mehra

A Practical Approach to Obstacle Field Route Planning for Unmanned Rotorcraft...... 1425 Jason K. Howlett, Greg Schulein, M. Hossein Mansur

Routing UAVs to Minimize the Chance of Detection...... 1435 Amit Malik, Rajan Batta, Mark H. Karwan

Simulated Autonomous Landing of a Rotorcraft Unmanned Aerial Vehicle in a Non-cooperative Environment ...... 1448 Joshua Hintze, Daniel Christian, Colin Theodore, Mark Tischler, Tim McLain, James Montgomery

Expanded Ship and Autoland Operations by Quiescent Deck Recognition for UAV Signal to Land ...... 1459 Bernard Ferrier, Dennis Baker, G.A. Ouellette, Kim Berche

Hard Surface and Water Impact Simulations of Two Helicopter Subfloor Concepts ...... 1474 Cheng-Ho Tho, Chad E. Sparks, Ashish K. Sareen

Influence of Added Head Mass Properties on Head/Neck Loads During Standard Helicopter Impact Conditions ...... 1490 Glenn Paskoff, Edwin Sieveka

Numerical Simulation of a Composite Helicopter Sub-Floor Structure Subjected to Water Impact...... 1511 Dieter Kohlgrüber, Andrea Vigliotti, Victor Weissberg, Hans Bartosch

A Summary of DOD-Sponsored Research Performed at NASA Langley's Impact Dynamics Research Facility ...... 1522 Karen E. Jackson, Richard L. Boitnott, Edwin L. Fasanella, Lisa E. Jones, Karen H. Lyle

Multi-Terrain Impact Testing and Simulation of a Composite Energy Absorbing Fuselage Section ...... 1535 Edwin L. Fasanella, Karen E. Jackson, Karen H. Lyle, Chad E. Sparks, Ashish K. Sareen

The Carter Heliplane Transport Slowed Rotor/Compound Aircraft: Candidate for the Air-Maneuver Transport (AMT)...... 1547 Jay Carter Jr.

A New VTOL UAV Cyclocopter with Cycloidal Blades System...... 1569 Chul Yong Yun, Illkyung Park, Ho Yong Lee, Jai Sang Jung, In Seong Hwang, Seung Jo Kim, Sung Nam Jung

Design of the Scheme of High-Speed Helicopter RD15...... 1587 Wang Huanjin, Gao Zheng

Heavy Lift Aircraft for Seabasing Combines 19-ton Payload with 300-knot Cruise Capability...... 1594 Steve Van Riper, E. Roberts Wood

An Interference-Free Quad-Tilt Design...... 1602 F.X. Hurley

Helicopter Vibration Suppression via Multiple Trailing Edge Flaps Controlled by Resonance Actuation System ...... 1611 Jun-Sik Kim, Edward C. Smith, K.W. Wang

VOLUME 3

Actuation Requirements of Swashplateless Trailing-Edge Flap Helicopter Rotor in Maneuvering and Autorotation Flights ...... 1623 Jinwei Shen, Inderjit Chopra

Wind Tunnel Testing of Low Vibration Mach Scale Rotor with Composite Tailored Blades ...... 1632 Jinsong Bao, V.T. Nagaraj, Inderjit Chopra, Andreas P.F. Bernhard

Simultaneous Vibration and Noise Reduction in Rotorcraft Using Aeroelastic Simulation...... 1648 Li Liu, Dan Patt Peretz, P. Friedmann

Gahel - General Code for ...... 1673 Paul Cranga, Tomasz Krysinski, Henning Strehlow

Analysis Refinements for Prediction of Rotor Vibratory Loads in High-Speed Forward Flight...... 1683 Anubhav Datta, Jayanarayanan Sitaraman, James Baeder, Inderjit Chopra

Assessment of Comprehensive Analysis Calculation of Structural Loads on Rotors...... 1701 Hyeonsoo Yeo, Wayne Johnson

Computational Procedures for the Aeroelastic Simulation of Maneuvering Rotorcraft Vehicles...... 1727 Carlo L. Bottasso, Alessandro Croce, Domenico Leonello, Luca Riviello

In-Flight Assessment of a Pursuit Guidance Display Format for Manually Flown Precision Instrument Approaches...... 1749 Ernesto Moralez III, George E. Tucker, William S. Hindson, Chad R. Frost, Gordon H. Hardy

Augmenting the Vigilante™ Unmanned Aerial Vehicle System for Safe, Effective, and Flexible Employment of 2.75-Inch Rockets...... 1762 Kenneth B. Johnson

Automated Data Translation for Avionics Health Management through Intelligent Evidence Streams and Databases ...... 1767 Patrick W. Kalgren, Carl S. Byington, Bryan P. Donovan

The Evolution of Army Aviation into Network Centric Warfare Using IDM Technology®...... 1777 Robert Woodward, Melissa McCarthy

Active Controller Performance Requirements...... 1785 Pieter Einthoven

Simulation Modeling of Unsteady Maneuvers Using a Time Accurate Free Wake ...... 1798 Maria Ribera, Roberto Celi

Reducing Rotor-Body Coupling Using Active Control...... 1818 Vineet Sahasrabudhe, Phillip J. Gold

The Application of Power - Rolls-Royce Turboshaft Operational Experience during Operation Iraqi Freedom & Op Telic...... 1835 Jim Hitchcock, Larry DeMott

Wind Tunnel Testing of an Individual Blade Controller for a Dissimilar Rotor ...... 1846 Beatrice Roget, Inderjit Chopra

Full-Scale Rotorcraft Downwash Surveys in a Shipboard Environment...... 1860 Mark J. Silva, William P. Geyer, John Nelson

CH-53E M3M Ramp Mounted Weapon System...... 1876 Anthony C. Archer, Christopher J. Barrett

Flexible Flight Testing Data Acquisition and Real-Time Processing System for the A109E Power...... 1885 Clotilde Grimault, Luigi Ricci Moretti, Lionel Tauszig

The Use of GPS Tracking and Guidance Systems for the Chicken Little Joint Project's "Acoustic Week" Flight Test Program...... 1892 Mark Hardesty, David Conner, Charles Smith, William Terrel

Acoustic Directivity of Maneuvering Helicopters Using Wave Tracing Concepts ...... 1910 Shreyas Ananthan, J. Gordon Leishman

A New Aerorodynamic and Acoustic Computation Chain for BVI Noise Prediction in Unsteady Flight Conditions ...... 1928 Guillaume Perez, Michel Costes

Numerical Analysis of BVI Noise Reduction by Active Tab ...... 1939 Takashi Aoyama, Choongmo Yang, Shigeru Saito

Control of Helicopter Rotor Tip Vortex Structure using Blowing Devices...... 1952 Karthikeyan Duraisamy, James Baeder

Duct Effects on Rotor Noise in Radiation...... 1968 Han-Lim Choi, Ki-Hoon Chung, Duck-Joo Lee

The SH-2G Super Seasprite Tailcone - A Unique Advantage...... 1980 Curtis Orkin, Polis Vrionides

Autonomous UAV Concept for Titanic Missions ...... 1988 Chivey Wu, Uche Ofoma, Chunlei He

Hover Performance of a Small-Scale Shrouded Rotor for Micro Air Vehicle Applications ...... 2007 Jason Pereira, Inderjit Chopra

Wing Design and Optimization for a Flapping Wing Micro Air Vehicle...... 2022 Beerinder Singh, Inderjit Chopra

Helicopter Vibration and Rotor Power Reduction through Horizontal Tail Incidence Angle Control...... 2033 Martin K. Sekula, Farhan Gandhi

Active Controller for Comanche Air Resonance Stability Augmentation ...... 2048 Brahmananda Panda, Evhen Mychalowycz, Bruce Kothmann, Robert Blackwell

Discrete-Time, Closed-Loop Aeromechanical Stability Analysis of Helicopters with Higher Harmonic Control...... 2060 Marco Lovera, Carlos Malpica

Stability Analysis of the Slowed-Rotor Compound Helicopter Configuration ...... 2077 Matthew W. Floros, Wayne Johnson

Further Results of Soft-Inplane Tiltrotor Aeromechanics Investigation Using Two Multibody Analyses...... 2101 Pierangelo Masarati, David J. Piatak, Giuseppe Quaranta, Jeffrey D. Singleton

Intelligent Autonomy for Multiple, Coordinated UAVs...... 2118 Lora G. Weiss, A. Scott Lewis

An Intelligent Approach to Coordinated Control of Multiple Unmanned Aerial Vehicles...... 2128 George Vachtsevanos, Liang Tang, Johan Reimann

A Rotorcraft Adaptation of Geneva Aerospace's Variable Autonomy Control System ...... 2137 Billy B. Pate

A Playbook Approach to Variable Autonomy Control: Application for Control of Multiple, Heterogeneous Unmanned Air Vehicles...... 2146 Christopher A. Miller, Robert P. Goldman, Harry B. Funk, Peggy Wu, Billy B. Pate

Managing Army Airspace for Integrated Manned and Unmanned Aviation Operations...... 2158 David Blake Stringer, Daniel P. Schrage

Mature Speech Recognition Technology for Military Helicopters ...... 2167 Paul Collins, Tim McKelvy, Martin Abbott

Solutions that Permit Safer Flight in Degraded Visual Environments (DVE)...... 2174 John Judge, Kevin Bredenbeck, Vineet Sahasrabudhe

Comanche Warning, Caution, Advisory System - A "Display By Exception" Cockpit Philosophy ...... 2181 Margaret A. MacIsaac, Lorren Stiles

Investigation of Automated Rotor Smoothing Using Continuous Vibration Measurements ...... 2193 John D. Berry, Robert W. Branhof, Jonathan A. Keller, Lem Grant, Paul Grabill

Utility of the IMD HUMS in an Operational Setting on the UH-60L Blackhawk...... 2202 Ray Dora, Johnny Wright, Robert Hess, Byron Boydstun

U.S. Army Lead the Fleet Implementation of Structural Usage Monitoring...... 2212 Michael McFalls, David White

Application of MetalSCAN Oil Debris Monitor to a Fleet of Sea King Helicopters ...... 2217 Doug Dubowski, Dan Witwer

Closed Loop IBC-System and Flight Test Results on the CH-53G Helicopter...... 2226 Daniel Fürst, Christoph Keßler, Thomas Auspitzer, Matthias Müller, André Hausberg, Holger Witte

Investigation of In-Flight Gross Weight and CG Estimation for the V-22 Aircraft...... 2244 Naipei P. Bi, David J. Haas, Kelly McCool

Design Improvement and Test Evaluation of FBR Bearingless Main Rotor ...... 2255 Hiroshi Taguchi, Tsutomu Nagayoshi, Shugo Yasui, Tomoki Ota, Takuma Mizutani

A Modular, Networked Data Acquisition System for Airborne Applications ...... 2262 Robert King, Jeremy Partain

The USMC H-1 Upgrade Program - Initial Flight Test Status ...... 2266 Ajay Sehgal, Dave Platz

V-22 High Rate of Descent (HROD) Test Procedures and Long Record Analysis...... 2287 Albert Brand, Ron Kisor, Robert Blyth, Dave Mason, Chris Host

The ABC™ Rotor - A Historical Perspective...... 2306 Robert K. Burgess

Present Situation and Prospects of Helicopter Technology...... 2353 Ni Xianping, Cai Ruhong, Cao Xijin, Yu Jianzhou

Weighty Matters: How Weight and Center of Gravity (CG) Concerns Shaped the Helicopter Industry, 1943-1953 ...... 2363 Roger Douglas Connor

Kaman's Unmanned Air Vehicle Designs - A Run through History Including the Latest Developments...... 2389 Polis Vrionides

Hurricanes, Tornadoes, Wake Turbulence and BVI Vortices Come in All Sizes Nikolsky Lecture...... 2394 Barnes W. McCormick

Author Index