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Sample records for airborne collision avoidance

  1. Airborne Collision Detection and Avoidance for Small UAS Sense and Avoid Systems

    NASA Astrophysics Data System (ADS)

    Sahawneh, Laith Rasmi

    , sense and avoid, minimum sensing range, airborne collision detection and avoidance, collision detection, collision risk assessment, collision avoidance, conflict detection, conflict avoidance, path planning.

  2. Airborne Collision Detection and Avoidance for Small UAS Sense and Avoid Systems

    NASA Astrophysics Data System (ADS)

    Sahawneh, Laith Rasmi

    , sense and avoid, minimum sensing range, airborne collision detection and avoidance, collision det

  3. Adaptive Stress Testing of Airborne Collision Avoidance Systems

    NASA Technical Reports Server (NTRS)

    Lee, Ritchie; Kochenderfer, Mykel J.; Mengshoel, Ole J.; Brat, Guillaume P.; Owen, Michael P.

    2015-01-01

    This paper presents a scalable method to efficiently search for the most likely state trajectory leading to an event given only a simulator of a system. Our approach uses a reinforcement learning formulation and solves it using Monte Carlo Tree Search (MCTS). The approach places very few requirements on the underlying system, requiring only that the simulator provide some basic controls, the ability to evaluate certain conditions, and a mechanism to control the stochasticity in the system. Access to the system state is not required, allowing the method to support systems with hidden state. The method is applied to stress test a prototype aircraft collision avoidance system to identify trajectories that are likely to lead to near mid-air collisions. We present results for both single and multi-threat encounters and discuss their relevance. Compared with direct Monte Carlo search, this MCTS method performs significantly better both in finding events and in maximizing their likelihood.

  4. Operational Collision Avoidance

    NASA Technical Reports Server (NTRS)

    Guit, Bill

    2015-01-01

    This presentation will describe the early days of the EOS Aqua and Aura operational collision avoidance process. It will highlight EOS debris avoidance maneuvers, EOS high interest event statistic and A-Train systematic conjunctions and conclude with future challenges. This is related to earlier e-DAA (tracking number 21692) that an abstract was submitted to a different conference. Eric Moyer, ESMO Deputy Project Manager has reviewed and approved this presentation on May 6, 2015

  5. Reactive Collision Avoidance Algorithm

    NASA Technical Reports Server (NTRS)

    Scharf, Daniel; Acikmese, Behcet; Ploen, Scott; Hadaegh, Fred

    2010-01-01

    The reactive collision avoidance (RCA) algorithm allows a spacecraft to find a fuel-optimal trajectory for avoiding an arbitrary number of colliding spacecraft in real time while accounting for acceleration limits. In addition to spacecraft, the technology can be used for vehicles that can accelerate in any direction, such as helicopters and submersibles. In contrast to existing, passive algorithms that simultaneously design trajectories for a cluster of vehicles working to achieve a common goal, RCA is implemented onboard spacecraft only when an imminent collision is detected, and then plans a collision avoidance maneuver for only that host vehicle, thus preventing a collision in an off-nominal situation for which passive algorithms cannot. An example scenario for such a situation might be when a spacecraft in the cluster is approaching another one, but enters safe mode and begins to drift. Functionally, the RCA detects colliding spacecraft, plans an evasion trajectory by solving the Evasion Trajectory Problem (ETP), and then recovers after the collision is avoided. A direct optimization approach was used to develop the algorithm so it can run in real time. In this innovation, a parameterized class of avoidance trajectories is specified, and then the optimal trajectory is found by searching over the parameters. The class of trajectories is selected as bang-off-bang as motivated by optimal control theory. That is, an avoiding spacecraft first applies full acceleration in a constant direction, then coasts, and finally applies full acceleration to stop. The parameter optimization problem can be solved offline and stored as a look-up table of values. Using a look-up table allows the algorithm to run in real time. Given a colliding spacecraft, the properties of the collision geometry serve as indices of the look-up table that gives the optimal trajectory. For multiple colliding spacecraft, the set of trajectories that avoid all spacecraft is rapidly searched on

  6. Collision avoidance sensor skin

    NASA Technical Reports Server (NTRS)

    1991-01-01

    The objective was to totally eliminate the possibility of a robot (or any mechanism for that matter) inducing a collision in space operations. We were particularly concerned that human beings were safe under all circumstances. This was apparently accomplished, and it is shown that GSFC has a system that is ready for space qualification and flight. However, it soon became apparent that much more could be accomplished with this technology. Payloads could be made invulnerable to collision avoidance and the blind spots behind them eliminated. This could be accomplished by a simple, non-imaging set of 'Capaciflector' sensors on each payload. It also is evident that this system could be used to align and dock the system with a wide margin of safety. Throughout, lighting problems could be ignored, and unexpected events and modeling errors taken in stride. At the same time, computational requirements would be reduced. This can be done in a simple, rugged, reliable manner that will not disturb the form factor of space systems. It will be practical for space applications. The lab experiments indicate we are well on the way to accomplishing this. Still, the research trail goes deeper. It now appears that the sensors can be extended to end effectors to provide precontact information and make robot docking (or any docking connection) very smooth, with minimal loads impacted back into the mating structures. This type of ability would be a major step forward in basic control techniques in space. There are, however, baseline and restructuring issues to be tackled. The payloads must get power and signals to them from the robot or from the astronaut servicing tool. This requires a standard electromechanical interface. Any of several could be used. The GSFC prototype shown in this presentation is a good one. Sensors with their attendant electronics must be added to the payloads, end effectors, and robot arms and integrated into the system.

  7. Automatic Collision Avoidance Technology (ACAT)

    NASA Technical Reports Server (NTRS)

    Swihart, Donald E.; Skoog, Mark A.

    2007-01-01

    This document represents two views of the Automatic Collision Avoidance Technology (ACAT). One viewgraph presentation reviews the development and system design of Automatic Collision Avoidance Technology (ACAT). Two types of ACAT exist: Automatic Ground Collision Avoidance (AGCAS) and Automatic Air Collision Avoidance (AACAS). The AGCAS Uses Digital Terrain Elevation Data (DTED) for mapping functions, and uses Navigation data to place aircraft on map. It then scans DTED in front of and around aircraft and uses future aircraft trajectory (5g) to provide automatic flyup maneuver when required. The AACAS uses data link to determine position and closing rate. It contains several canned maneuvers to avoid collision. Automatic maneuvers can occur at last instant and both aircraft maneuver when using data link. The system can use sensor in place of data link. The second viewgraph presentation reviews the development of a flight test and an evaluation of the test. A review of the operation and comparison of the AGCAS and a pilot's performance are given. The same review is given for the AACAS is given.

  8. A problem of collision avoidance

    NASA Technical Reports Server (NTRS)

    Vincent, T. L.; Cliff, E. M.; Grantham, W. J.; Peng, W. Y.

    1972-01-01

    Collision avoidance between two vehicles of constant speed with limited turning radii, moving in a horizontal plane is investigated. Collision avoidance is viewed as a game by assuming that the operator of one vehicle has perfect knowledge of the state of the other, whereas the operator of the second vehicle is unaware of any impending danger. The situation envisioned is that of an encounter between a commercial aircraft and a small light aircraft. This worse case situation is examined to determine the conditions under which the commercial aircraft should execute a collision avoidance maneuver. Three different zones of vulnerability are defined and the boundaries, or barriers, between these zones are determined for a typical aircraft encounter. A discussion of the methods used to obtain the results as well as some of the salient features associated with the resultant barriers is included.

  9. ACAT Ground Collision Avoidance Flight Tests Over

    NASA Video Gallery

    NASA's Dryden Flight Research Center has concluded flight tests of an Automatic Ground Collision Avoidance System (Auto GCAS) under the joint U.S. Air Force/NASA F-16D Automatic Collision Avoidance...

  10. Flight Tests Validate Collision-Avoidance System

    NASA Video Gallery

    Flights tests of a smartphone-assisted automatic ground collision avoidance system at NASA's Dryden Flight Research Center consistently commanded evasive maneuvers when it sensed that the unmanned ...

  11. Details Of Collision-Avoidance Study

    NASA Technical Reports Server (NTRS)

    Chappell, Sheryl L.; Billings, Charles E.; Olsen, M. Christine; Scott, Barry C.; Tuttell, Robert J.; Kozon, Thomas E.

    1990-01-01

    Report provides background information on and detailed description of study of pilots' use of traffic-alert and collision-avoidance system (TCAS II) in simulated flights. Described in article, "Evaluation of an Aircraft-Collision-Avoidance System" (ARC-12367). Plans, forms, training narratives, scripts, questionnaires, and other information compiled.

  12. Integrated Collision Avoidance System for Air Vehicle

    NASA Technical Reports Server (NTRS)

    Lin, Ching-Fang (Inventor)

    2013-01-01

    Collision with ground/water/terrain and midair obstacles is one of the common causes of severe aircraft accidents. The various data from the coremicro AHRS/INS/GPS Integration Unit, terrain data base, and object detection sensors are processed to produce collision warning audio/visual messages and collision detection and avoidance of terrain and obstacles through generation of guidance commands in a closed-loop system. The vision sensors provide more information for the Integrated System, such as, terrain recognition and ranging of terrain and obstacles, which plays an important role to the improvement of the Integrated Collision Avoidance System.

  13. Telerobotics with whole arm collision avoidance

    SciTech Connect

    Wilhelmsen, K.; Strenn, S.

    1993-09-01

    The complexity of teleorbotic operations in a cluttered environment is exacerbated by the need to present collision information to the operator in an understandable fashion. In addition to preventing movements which will cause collisions, a system providing some form of virtual force reflection (VFR) is desirable. With this goal in mind, Lawrence Livermore National Laboratory (LLNL) has installed a kinematically master/slave system and developed a whole arm collision avoidance system which interacts directly with the telerobotic controller. LLNL has also provided a structure to allow for automated upgrades of workcell models and provide collision avoidance even in a dynamically changing workcell.

  14. Windshear detection and avoidance - Airborne systems survey

    NASA Technical Reports Server (NTRS)

    Bowles, Roland L.

    1990-01-01

    Functional requirements for airborne windshear detection and warning systems are discussed in terms of the threat posed to civil aircraft operations. A preliminary set of performance criteria for predictive windshear detection and warning systems is defined. Candidate airborne remote sensor technologies based on microwave Doppler radar, Doppler laser radar (lidar), and infrared radiometric techniques are discussed in the context of overall system requirements, and the performance of each sensor is assessed for representative microburst environments and ground clutter conditions. Preliminary simulation results demonstrate that all three sensors show potential for detecting windshear, and provide adequate warning time to allow flight crews to avoid the affected area or escape from the encounter. Radar simulation and analysis show that by using bin-to-bin automatic gain control, clutter filtering, limited detection range, and suitable antenna tilt management, windshear from wet microbursts can be accurately detected. Although a performance improvement can be obtained at higher radar frequency, the baseline X-band system also detected the presence of windshear hazard for a dry microburst. Simulation results of end-to-end performance for competing coherent lidar systems are presented.

  15. A collision avoidance system for workpiece protection

    SciTech Connect

    Schmitt, D.J.; Weber, T.M.; Novak, J.L.; Maslakowski, J.E.

    1995-04-01

    This paper describes an application of Sandia`s non-contact capacitive sensing technology for collision avoidance during the manufacturing of rocket engine thrust chambers. The collision avoidance system consists of an octagon shaped collar with a capacitive proximity sensor mounted on each face. The sensors produced electric fields which extend several inches from the face of the collar and detect potential collisions between the robot and the workpiece. A signal conditioning system processes the sensor output and provides varying voltage signals to the robot controller for stopping the robot.

  16. Active Collision Avoidance for Planetary Landers

    NASA Technical Reports Server (NTRS)

    Rickman, Doug; Hannan, Mike; Srinivasan, Karthik

    2014-01-01

    Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be miles from the mission objective, or, mission objectives may be tailored to suit landing sites. Future robotic exploration missions should be capable of autonomously identifying a safe landing target within a specified target area selected by mission requirements. Such autonomous landing sites must (1) 'see' the surface, (2) identify a target, and (3) land the vehicle. Recent advances in radar technology have resulted in small, lightweight, low power radars that are used for collision avoidance and cruise control systems in automobiles. Such radar systems can be adapted for use as active hazard avoidance systems for planetary landers. The focus of this CIF proposal is to leverage earlier work on collision avoidance systems for MSFC's Mighty Eagle lander and evaluate the use of automotive radar systems for collision avoidance in planetary landers.

  17. Collision avoidance for CTV: Requirements and capabilities

    NASA Astrophysics Data System (ADS)

    Nosek, Thomas; Rourke, Kenneth

    Collision avoidance must be ensured during Cargo Transfer Vehicle (CTV) operations near the space station. The design of the Collision Avoidance Maneuver (CAM) will involve analysis of CTV failure modes during rendezvous and proximity operations as well as analysis of possible problems external to the CTV, but that would require CTV to execute a CAM. In considering the requirements and design of the CAM for the CTV, the CAM design for the Orbital Maneuvering Vehicle (OMV) is a useful reference point from which some lessons can be learned and many CTV design options can be set forth.

  18. Collision avoidance for CTV: Requirements and capabilities

    NASA Technical Reports Server (NTRS)

    Nosek, Thomas; Rourke, Kenneth

    1991-01-01

    Collision avoidance must be ensured during Cargo Transfer Vehicle (CTV) operations near the space station. The design of the Collision Avoidance Maneuver (CAM) will involve analysis of CTV failure modes during rendezvous and proximity operations as well as analysis of possible problems external to the CTV, but that would require CTV to execute a CAM. In considering the requirements and design of the CAM for the CTV, the CAM design for the Orbital Maneuvering Vehicle (OMV) is a useful reference point from which some lessons can be learned and many CTV design options can be set forth.

  19. Affordable MMW aircraft collision avoidance system

    NASA Astrophysics Data System (ADS)

    Almsted, Larry D.; Becker, Robert C.; Zelenka, Richard E.

    1997-06-01

    Collision avoidance is of concern to all aircraft, requiring the detection and identification of hazardous terrain or obstacles in sufficient time for clearance maneuvers. The collision avoidance requirement is even more demanding for helicopters, as their unique capabilities result in extensive operations at low-altitude, near to terrain and other hazardous obstacles. TO augment the pilot's visual collision avoidance abilities, some aircraft are equipped with 'enhanced-vision' systems or terrain collision warning systems. Enhanced-vision systems are typically very large and costly systems that are not very covert and are also difficult to install in a helicopter. The display is typically raw images from infrared or radar sensors, and can require a high degree of pilot interpretation and attention. Terrain collision warning system that rely on stored terrain maps are often of low resolution and accuracy and do not represent hazards to the aircraft placed after map sampling. Such hazards could include aircraft parked on runway, man- made towers or buildings and hills. In this paper, a low cost dual-function scanning pencil-beam, millimeter-wave radar forward sensor is used to determine whether an aircraft's flight path is clear of obstructions. Due to the limited space and weight budget in helicopters, the system is a dual function system that is substituted in place of the existing radar altimeter. The system combines a 35 GHz forward looking obstacle avoidance radar and a 4.3 GHz radar altimeter. The forward looking 35 GHz 3D radar's returns are used to construct a terrain and obstruction database surrounding an aircraft, which is presented to the pilot as a synthetic perspective display. The 35 GHz forward looking radar and the associated display was evaluated in a joint NASA Honeywell flight test program in 1996. The tests were conducted on a NASA/Army test helicopter. The test program clearly demonstrated the systems potential usefulness for collision avoidance.

  20. GEO Collision Avoidance using a Service Vehicle

    NASA Astrophysics Data System (ADS)

    Duncan, M.; Concha, M.

    2013-09-01

    Space Situational Awareness (SSA) is defined as the knowledge and characterization of all aspects of space. SSA is now a fundamental and critical component of space operations. The increased dependence on our space assets has in turn lead to a greater need for accurate, near real-time knowledge of all space activities. Key areas of SSA include improved tracking of small objects, determining the intent of maneuvering spacecraft, identifying all potential high risk conjunction events, and leveraging non-traditional sensors in support of the SSA mission. As the size of the space object population grows, the number of collision avoidance maneuvers grows. Moreover, as the SSA mission evolves to near real-time assessment and analysis, the need for new, more sophisticated collision avoidance methods are required. This paper demonstrates the utility of using a service vehicle to perform collision avoidance maneuver for GEO satellites. We present the planning and execution details required to successfully execute a maneuver; given the traditional conjunction analysis timelines. Various operational constraints and scenarios are considered as part of the demonstration. Development of the collision avoidance strategy is created using SpaceNav's collision risk management tool suite. This study aims to determine the agility required of any proposed servicing capability to provide collision avoidance within traditional conjunction analysis and collision avoidance operations timelines. Key trades and analysis items are given to be: 1. How do we fuse the spacecraft state data with the tracking data collected from the proximity sensor that resides on the servicing spacecraft? 2. How do we deal with the possibility that the collision threat for the event may change as the time to close approach is reduced? 3. Perform trade space of maneuver/thrust time versus achievable change in the spacecraft's orbit. 4. Perform trade space of proximity of service vehicle to spacecraft versus time

  1. Threat detection system for intersection collision avoidance

    NASA Astrophysics Data System (ADS)

    Jocoy, Edward H.; Pierowicz, John A.

    1998-01-01

    Calspan SRL Corporation is currently developing an on- vehicle threat detection system for intersection collision avoidance (ICA) as part of its ICA program with the National Highway Transportation Safety Administration. Crash scenarios were previously defined and an on-board radar sensor was designed. This paper describes recent efforts that include the development of a simulation of a multitarget tracker and collision avoidance algorithm used to predict system performance in a variety of target configurations in the various ICA crash scenarios. In addition, a current headway radar was mounted on the Calspan Instrumented Vehicle and in-traffic data were recorded for two limited crash scenarios. Warning functions were developed through the simulation and applied to the recorded data.

  2. Collision avoidance for CTV: Requirements and capabilities

    NASA Technical Reports Server (NTRS)

    Nosek, Thomas P.

    1991-01-01

    Cargo transfer vehicle (CTV) operations near Space Station Freedom will require positive collision avoidance maneuver (CAM) capability to preclude any change of collision, even in the event of CTV failures. The requirements for CAM are discussed, and the CAM design approach and design of the Orbiting Maneuvering Vehicle (OMV) are reviewed; this design met requirements for OMV operation near the Space Station, provided a redundant collision avoidance maneuver capability. Significant portions of the OMV CAM design should be applicable to CTV. The key features of the OMV design are summarized and related to the CTV mission design to that of OMV's. CAM is a defined sequence of events executed by the CTV to place the vehicle in a safe position relative to a target such as the Space Station. CAM can be performed through software commands to the propulsion system, or through commands pre-stored in hardware. Various techniques for triggering CAM are considered, and the risks associated with CAM enable and execution in phases are considered. OMV CAM design features both hardware and software CAM capability, with analyses conducted to assess the ability to meet the collision-free requirement during all phases of the mission.

  3. Collision avoidance for CTV: Requirements and capabilities

    NASA Astrophysics Data System (ADS)

    Nosek, Thomas P.

    Cargo transfer vehicle (CTV) operations near Space Station Freedom will require positive collision avoidance maneuver (CAM) capability to preclude any change of collision, even in the event of CTV failures. The requirements for CAM are discussed, and the CAM design approach and design of the Orbiting Maneuvering Vehicle (OMV) are reviewed; this design met requirements for OMV operation near the Space Station, provided a redundant collision avoidance maneuver capability. Significant portions of the OMV CAM design should be applicable to CTV. The key features of the OMV design are summarized and related to the CTV mission design to that of OMV's. CAM is a defined sequence of events executed by the CTV to place the vehicle in a safe position relative to a target such as the Space Station. CAM can be performed through software commands to the propulsion system, or through commands pre-stored in hardware. Various techniques for triggering CAM are considered, and the risks associated with CAM enable and execution in phases are considered. OMV CAM design features both hardware and software CAM capability, with analyses conducted to assess the ability to meet the collision-free requirement during all phases of the mission.

  4. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Collision avoidance analysis. 417.231..., DEPARTMENT OF TRANSPORTATION LICENSING LAUNCH SAFETY Flight Safety Analysis § 417.231 Collision avoidance analysis. (a) General. A flight safety analysis must include a collision avoidance analysis...

  5. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 4 2012-01-01 2012-01-01 false Collision avoidance analysis. 417.231..., DEPARTMENT OF TRANSPORTATION LICENSING LAUNCH SAFETY Flight Safety Analysis § 417.231 Collision avoidance analysis. (a) General. A flight safety analysis must include a collision avoidance analysis...

  6. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 4 2013-01-01 2013-01-01 false Collision avoidance analysis. 417.231..., DEPARTMENT OF TRANSPORTATION LICENSING LAUNCH SAFETY Flight Safety Analysis § 417.231 Collision avoidance analysis. (a) General. A flight safety analysis must include a collision avoidance analysis...

  7. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 4 2011-01-01 2011-01-01 false Collision avoidance analysis. 417.231..., DEPARTMENT OF TRANSPORTATION LICENSING LAUNCH SAFETY Flight Safety Analysis § 417.231 Collision avoidance analysis. (a) General. A flight safety analysis must include a collision avoidance analysis...

  8. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 4 2014-01-01 2014-01-01 false Collision avoidance analysis. 417.231..., DEPARTMENT OF TRANSPORTATION LICENSING LAUNCH SAFETY Flight Safety Analysis § 417.231 Collision avoidance analysis. (a) General. A flight safety analysis must include a collision avoidance analysis...

  9. Collision Avoidance for Airport Traffic Concept Evaluation

    NASA Technical Reports Server (NTRS)

    Jones, Denise R.; Prinzel, Lawrence J., III; Otero, Sharon D.; Barker, Glover D.

    2009-01-01

    An initial Collision Avoidance for Airport Traffic (CAAT) concept for the Terminal Maneuvering Area (TMA) was evaluated in a simulation study at the National Aeronautics and Space Administration (NASA) Langley Research Center. CAAT is being designed to enhance surface situation awareness and provide cockpit alerts of potential conflicts during runway, taxi, and low altitude air-to-air operations. The purpose of the study was to evaluate the initial concept for an aircraft-based method of conflict detection and resolution (CD&R) in the TMA focusing on conflict detection algorithms and alerting display concepts. This paper gives an overview of the CD&R concept, simulation study, and test results.

  10. Collision Avoidance for Airport Traffic Simulation Evaluation

    NASA Technical Reports Server (NTRS)

    Jones, Denise R.; Prinzel, Lawrence J., III; Shelton, Kevin J.; Bailey, Randall E.; Otero, Sharon D.; Barker, Glover D.

    2010-01-01

    A Collision Avoidance for Airport Traffic (CAAT) concept for the airport Terminal Maneuvering Area (TMA) was evaluated in a simulation study at the National Aeronautics and Space Administration (NASA) Langley Research Center. CAAT is being designed to enhance surface situation awareness and provide cockpit alerts of potential conflicts during runway, taxi, and low altitude air-to-air operations. The purpose of the study was to evaluate pilot reaction to conflict events in the TMA near the airport, different alert timings for various scenarios, alerting display concepts, and directive alerting concepts. This paper gives an overview of the conflict detection and resolution (CD&R) concept, simulation study, and test results

  11. Conjunctions and Collision Avoidance with Electrodynamic Tethers

    NASA Astrophysics Data System (ADS)

    Levin, E.

    2013-09-01

    Electrodynamic propulsion technology is currently in development by NASA, ESA, and JAXA for the purpose of affordable removal of large debris objects from LEO. At the same time, the Naval Research Laboratory is preparing a 3U CubeSat with a 1-km electrodynamic tether for a flight demonstration of electrodynamic propulsion. This type of propulsion does not require fuel. The electrodynamic thrust is the Lorentz force acting on the electric current in a long conductor (tether) in the geomagnetic field. Electrons are collected from the ambient plasma on one end and emitted back into the plasma from the other end. The electric current loop is closed through the ionosphere, as demonstrated in two previous flights. The vehicle is solar powered. To support safe navigation of electrodynamic tethers, proper conjunction analysis and collision avoidance strategies are needed. The typical lengths of electrodynamic tethers for near-term applications are measured in kilometers, and the conjunction geometry is very different from the geometry of conjunctions between compact objects. It is commonly thought that the collision cross-section in a conjunction between a tether and a compact object is represented by the product of the tether length and the size of the object. However, rigorous analysis shows that this is not the case, and that the above assumption leads to grossly overestimated collision probabilities. The paper will present the results of a detailed mathematical analysis of the conjunction geometry and collision probabilities in close approaches between electrodynamic tethers and compact objects, such as satellites, rocket bodies, and debris fragments. Electrodynamic spacecraft will not require fuel, and therefore, can thrust constantly. Their orbit transfers can take many days, but can result in major orbit changes, including large rotations of the orbital plane, both in the inclination and the node. During these orbit transfers, the electrodynamic spacecraft will

  12. Collision avoidance of two moving objects using the anticipated path

    NASA Astrophysics Data System (ADS)

    Rhee, Seung Hak; Ahmad, Muhammad Bilal; Park, Seung-Jin; Beak, Kyoung-Ju; Park, Jong An

    2004-03-01

    Collision avoidance is one of the most important problems in autonomous vehicles, ship navigation, and robot manipulators, etc. Image processing technique could be applied for solving the collision avoidance of moving objects. The collision could be avoided if the direction of the moving object could be accurately anticipated. The problem is how to anticipate the expected path of the moving object, so that the other moving objects in the expected path should be detected and avoided for collision avoidance. Collisions could be avoided by searching the obstacles and moving objects in the expected path, but the moving objects, which would come inside the expected path, should also be detected for fully collision avoidance. In this paper, the expected path of the moving object is determined from the previous history of the moving object using the statistical measurements.

  13. 14 CFR 437.65 - Collision avoidance analysis.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 4 2010-01-01 2010-01-01 false Collision avoidance analysis. 437.65... analysis. (a) For a permitted flight with a planned maximum altitude greater than 150 kilometers, a permittee must obtain a collision avoidance analysis from United States Strategic Command. (b) The...

  14. 14 CFR 121.356 - Collision avoidance system.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... maximum certificated takeoff weight (1) An appropriate class of Mode S transponder that meets Technical... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section. (c) Piston... later version, or (3) A collision avoidance system and Mode S transponder that meet paragraph (a)(1)...

  15. 14 CFR 121.356 - Collision avoidance system.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... maximum certificated takeoff weight (1) An appropriate class of Mode S transponder that meets Technical... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section. (c) Piston... later version, or (3) A collision avoidance system and Mode S transponder that meet paragraph (a)(1)...

  16. 14 CFR 121.356 - Collision avoidance system.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... maximum certificated takeoff weight (1) An appropriate class of Mode S transponder that meets Technical... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section. (c) Piston... later version, or (3) A collision avoidance system and Mode S transponder that meet paragraph (a)(1)...

  17. 14 CFR 121.356 - Collision avoidance system.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... maximum certificated takeoff weight (1) An appropriate class of Mode S transponder that meets Technical... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section. (c) Piston... later version, or (3) A collision avoidance system and Mode S transponder that meet paragraph (a)(1)...

  18. A collision avoidance system for a spaceplane manipulator arm

    NASA Technical Reports Server (NTRS)

    Sciomachen, Anna; Magnani, Piergiovanni

    1989-01-01

    Part of the activity in the area of collision avoidance related to the Hermes spaceplane is reported. A collision avoidance software system which was defined, developed and implemented in this project is presented. It computes the intersection between the solids representing the arm, the payload, and the objects. It is feasible with respect to the resources available on board, considering its performance.

  19. 14 CFR 437.65 - Collision avoidance analysis.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 4 2011-01-01 2011-01-01 false Collision avoidance analysis. 437.65 Section 437.65 Aeronautics and Space COMMERCIAL SPACE TRANSPORTATION, FEDERAL AVIATION ADMINISTRATION... permittee must obtain a collision avoidance analysis from United States Strategic Command. (b) The...

  20. 14 CFR 125.224 - Collision avoidance system.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one of the following... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section....

  1. 14 CFR 125.224 - Collision avoidance system.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one of the following... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section....

  2. 14 CFR 125.224 - Collision avoidance system.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one of the following... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section....

  3. 14 CFR 129.18 - Collision avoidance system.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... class of Mode S transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one... C-118, or a later version, or (3) A collision avoidance system and Mode S transponder that...

  4. 14 CFR 129.18 - Collision avoidance system.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... class of Mode S transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one... C-118, or a later version, or (3) A collision avoidance system and Mode S transponder that...

  5. 14 CFR 129.18 - Collision avoidance system.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... class of Mode S transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one... C-118, or a later version, or (3) A collision avoidance system and Mode S transponder that...

  6. 14 CFR 125.224 - Collision avoidance system.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one of the following... collision avoidance system and Mode S transponder that meet paragraph (a)(1) of this section....

  7. 14 CFR 129.18 - Collision avoidance system.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... class of Mode S transponder that meets Technical Standard Order (TSO) C-112, or a later version, and one... C-118, or a later version, or (3) A collision avoidance system and Mode S transponder that...

  8. Collision Avoidance Functional Requirements for Step 1. Revision 6

    NASA Technical Reports Server (NTRS)

    2006-01-01

    This Functional Requirements Document (FRD) describes the flow of requirements from the high level operational objectives down to the functional requirements specific to cooperative collision avoidance for high altitude, long endurance unmanned aircraft systems. These are further decomposed into performance and safety guidelines that are backed up by analysis or references to various documents or research findings. The FRD should be considered when establishing future policies, procedures, and standards pertaining to cooperative collision avoidance.

  9. Orbital debris-debris collision avoidance

    NASA Astrophysics Data System (ADS)

    Mason, James; Stupl, Jan; Marshall, William; Levit, Creon

    2011-11-01

    We focus on preventing collisions between debris and debris, for which there is no current, effective mitigation strategy. We investigate the feasibility of using a medium-powered (5 kW) ground-based laser combined with a ground-based telescope to prevent collisions between debris objects in low-Earth orbit (LEO). The scheme utilizes photon pressure alone as a means to perturb the orbit of a debris object. Applied over multiple engagements, this alters the debris orbit sufficiently to reduce the risk of an upcoming conjunction. We employ standard assumptions for atmospheric conditions and the resulting beam propagation. Using case studies designed to represent the properties (e.g. area and mass) of the current debris population, we show that one could significantly reduce the risk of nearly half of all catastrophic collisions involving debris using only one such laser/telescope facility. We speculate on whether this could mitigate the debris fragmentation rate such that it falls below the natural debris re-entry rate due to atmospheric drag, and thus whether continuous long-term operation could entirely mitigate the Kessler syndrome in LEO, without need for relatively expensive active debris removal.

  10. Investigation of airborne lidar for avoidance of windshear hazards

    NASA Technical Reports Server (NTRS)

    Targ, Russell; Bowles, Roland L.

    1990-01-01

    A generalized windshear hazard index is defined, which is derived from considerations of wind conditions at the present position of an aircraft and from remotely sensed information along the extended flight path. Candidate airborne sensor technologies based on microwave Doppler radar, Doppler lidar, and infrared radiometric techniques are discussed in the context of overall system functional requirements. Initial results of a performance and technology assessment study for competing lidars are presented. Based on a systems approach to the windshear threat, lidar appears to be a viable technology for windshear detection and avoidance, even in conditions of moderately heavy precipitation. The proposed airborne CO2 and Ho:YAG lidar windshear-detection systems analyzed here can give the pilot information about the line-of-sight component of windshear threat from his present position to a region extending 1 to 3 km in front of the aircraft. This constitutes a warning time of 15 to 45 seconds. The technology necessary to design, build, and test such a brassboard 10.6 micron CO2 lidar is now available. However, for 2-micron systems, additional analytical and laboratory investigations are needed to arrive at optimum 2-micron rare-earth-based laser crystals.

  11. Windshear avoidance - Requirements and proposed system for airborne lidar detection

    NASA Technical Reports Server (NTRS)

    Targ, Russell; Bowles, Roland L.

    1988-01-01

    A generalized windshear hazard index is derived from considerations of wind conditions and an aircraft's present and potential altitude. Based on a systems approach to the windshear threat, lidar appears to be a viable methodology for windshear detection and avoidance, even in conditions of moderately heavy precipitation. The airborne CO2 and Ho:YAG lidar windshear detection systems analyzed can each give the pilot information about the line-of-sight component of windshear threat from his present position to a region extending 1 to 3 km in front of the aircraft. This constitutes a warning time of 15 to 45 s. The technology necessary to design, build and test such a brassboard 10.6-micron CO2 lidar is at hand.

  12. Digital-Difference Processing For Collision Avoidance.

    NASA Technical Reports Server (NTRS)

    Shores, Paul; Lichtenberg, Chris; Kobayashi, Herbert S.; Cunningham, Allen R.

    1988-01-01

    Digital system for automotive crash avoidance measures and displays difference in frequency between two sinusoidal input signals of slightly different frequencies. Designed for use with Doppler radars. Characterized as digital mixer coupled to frequency counter measuring difference frequency in mixer output. Technique determines target path mathematically. Used for tracking cars, missiles, bullets, baseballs, and other fast-moving objects.

  13. Predictive Potential Field-Based Collision Avoidance for Multicopters

    NASA Astrophysics Data System (ADS)

    Nieuwenhuisen, M.; Schadler, M.; Behnke, S.

    2013-08-01

    Reliable obstacle avoidance is a key to navigating with UAVs in the close vicinity of static and dynamic obstacles. Wheel-based mobile robots are often equipped with 2D or 3D laser range finders that cover the 2D workspace sufficiently accurate and at a high rate. Micro UAV platforms operate in a 3D environment, but the restricted payload prohibits the use of fast state-of-the-art 3D sensors. Thus, perception of small obstacles is often only possible in the vicinity of the UAV and a fast collision avoidance system is necessary. We propose a reactive collision avoidance system based on artificial potential fields, that takes the special dynamics of UAVs into account by predicting the influence of obstacles on the estimated trajectory in the near future using a learned motion model. Experimental evaluation shows that the prediction leads to smoother trajectories and allows to navigate collision-free through passageways.

  14. A neuro-collision avoidance strategy for robot manipulators

    NASA Technical Reports Server (NTRS)

    Onema, Joel P.; Maclaunchlan, Robert A.

    1992-01-01

    The area of collision avoidance and path planning in robotics has received much attention in the research community. Our study centers on a combination of an artificial neural network paradigm with a motion planning strategy that insures safe motion of the Articulated Two-Link Arm with Scissor Hand System relative to an object. Whenever an obstacle is encountered, the arm attempts to slide along the obstacle surface, thereby avoiding collision by means of the local tangent strategy and its artificial neural network implementation. This combination compensates the inverse kinematics of a robot manipulator. Simulation results indicate that a neuro-collision avoidance strategy can be achieved by means of a learning local tangent method.

  15. Modeling and Simulation of an UAS Collision Avoidance Systems

    NASA Technical Reports Server (NTRS)

    Oliveros, Edgardo V.; Murray, A. Jennifer

    2010-01-01

    This paper describes a Modeling and Simulation of an Unmanned Aircraft Systems (UAS) Collision Avoidance System, capable of representing different types of scenarios for UAS collision avoidance. Commercial and military piloted aircraft currently utilize various systems for collision avoidance such as Traffic Alert and Collision A voidance System (TCAS), Automatic Dependent Surveillance-Broadcast (ADS-B), Radar and ElectroOptical and Infrared Sensors (EO-IR). The integration of information from these systems is done by the pilot in the aircraft to determine the best course of action. In order to operate optimally in the National Airspace System (NAS) UAS have to work in a similar or equivalent manner to a piloted aircraft by applying the principle of "detect-see and avoid" (DSA) to other air traffic. Hence, we have taken these existing sensor technologies into consideration in order to meet the challenge of researching the modeling and simulation of an approximated DSA system. A Schematic Model for a UAS Collision Avoidance System (CAS) has been developed ina closed loop block diagram for that purpose. We have found that the most suitable software to carry out this task is the Satellite Tool Kit (STK) from Analytical Graphics Inc. (AGI). We have used the Aircraft Mission Modeler (AMM) for modeling and simulation of a scenario where a UAS is placed on a possible collision path with an initial intruder and then with a second intruder, but is able to avoid them by executing a right tum maneuver and then climbing. Radars have also been modeled with specific characteristics for the UAS and both intruders. The software provides analytical, graphical user interfaces and data controlling tools which allow the operator to simulate different conditions. Extensive simulations have been carried out which returned excellent results.

  16. Automatic Aircraft Collision Avoidance System and Method

    NASA Technical Reports Server (NTRS)

    Skoog, Mark (Inventor); Hook, Loyd (Inventor); McWherter, Shaun (Inventor); Willhite, Jaimie (Inventor)

    2014-01-01

    The invention is a system and method of compressing a DTM to be used in an Auto-GCAS system using a semi-regular geometric compression algorithm. In general, the invention operates by first selecting the boundaries of the three dimensional map to be compressed and dividing the three dimensional map data into regular areas. Next, a type of free-edged, flat geometric surface is selected which will be used to approximate terrain data of the three dimensional map data. The flat geometric surface is used to approximate terrain data for each regular area. The approximations are checked to determine if they fall within selected tolerances. If the approximation for a specific regular area is within specified tolerance, the data is saved for that specific regular area. If the approximation for a specific area falls outside the specified tolerances, the regular area is divided and a flat geometric surface approximation is made for each of the divided areas. This process is recursively repeated until all of the regular areas are approximated by flat geometric surfaces. Finally, the compressed three dimensional map data is provided to the automatic ground collision system for an aircraft.

  17. Information transfer in pilots' use of a collision avoidance system

    NASA Technical Reports Server (NTRS)

    Chappell, Sheryl L.; Scott, Barry C.; Billings, Charles E.

    1987-01-01

    A flight simulator study of pilots' use of the Traffic-alert and Collision Avoidance System is described. Three levels of information on the location of other air traffic were presented to different groups of airline pilots. The amount of informtion on the location of other traffic had little effect on pilots' performance of the maneuvers commanded by the collision avoidance system. Measured crew responses were similar with no presentation of traffic location, with limited information, and with continuous traffic information. No learning effects were observed, and differences in flight experience did not contribute to the performance difference found.

  18. Why the Horizon is Important for Airborne Sense and Avoid Applications

    NASA Astrophysics Data System (ADS)

    Minwalla, C.; Ellis, K.

    2015-08-01

    The utility of the horizon for airborne sense-and-avoid (ABSAA) applications is explored in this work. The horizon is a feature boundary across which an airborne scene can be separated into surface and sky and serves as a salient, heading-independent feature that may be mapped into an electro-optical sensor. The virtual horizon as established in this paper represents the horizon that would be seen assuming a featureless earth model and infinite visibility and is distinct from the apparent horizon in an imaging sensor or the pilot's eye. For level flight, non-maneuvering collision course trajectories, it is expected that targets of interest will appear in close proximity to this virtual horizon. This paper presents a model for establishing the virtual horizon and its projection into a camera reference plane as part of the sensing element in an ABSAA system. Evaluation of the model was performed on a benchmark dataset of airborne collision geometries flown at the National Research Council (NRC) using the Cerberus camera array. The model was compared against ground truth flight test data collected using high accuracy inertial navigation systems aboard aircraft on several 'near-miss' intercepts. The paper establishes the concept of 'virtual horizon proximity' (VHP), the minimum distance from a detected target and the virtual horizon, and investigates the utility of using this metric as a means of rejecting false positive detections, and increasing range at first detection through the use of a region of interest (ROI) mask centred on the virtual horizon. The use of this horizon-centred ROI was shown to increase the range at first detection by an average factor of two, and was shown to reduce false positives for six popular feature detector algorithms applied across the suite of flight test imagery.

  19. 14 CFR 129.18 - Collision avoidance system.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ...) Turbine-powered airplane of more than 33,000 pounds maximum certificated takeoff weight (1) An appropriate... of the followign approved units;(i) TCAS II that meets TSO C-119b (version 7.0), or takeoff weight a...) A collision avoidance system equivalent to TSO C-119b (version 7.0), or a later version, capable...

  20. 14 CFR 121.356 - Collision avoidance system.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... maximum certificated takeoff weight (1) An appropriate class of Mode S transponder that meets Technical... meets TSO C-119b (version 7.0), or takeoff weight a later version. (ii) TCAS II that meets TSO C-119a... that meets TSO C-119b (version 7.0), or a later version.(iii) A collision avoidance system...

  1. Defining the Collision Avoidance Region for DAA Systems

    NASA Technical Reports Server (NTRS)

    Thipphavong, David; Cone, Andrew; Park, Chunki; Lee, Seung Man; Santiago, Confesor

    2016-01-01

    Unmanned aircraft systems (UAS) will be required to equip with a detect-­-and-­-avoid (DAA) system in order to satisfy the federal aviation regulations to maintain well clear of other aircraft, some of which may be equipped with a Traffic Collision Avoidance System (TCAS) to mitigate the possibility of mid-­-air collisions. As such, the minimum operational performance standards (MOPS) for UAS DAA systems are being designed with TCAS interoperability in mind by a group of industry, government, and academic institutions named RTCA Special Committee-228 (SC-228). This document will discuss the development of the spatial-­-temporal volume known as the collision avoidance region in which the DAA system is not allowed to provide vertical guidance to maintain or regain DAA well clear that could conflict with resolution advisories (RAs) issued by the intruder aircraft's TCAS system. Three collision avoidance region definition candidates were developed based on the existing TCAS RA and DAA alerting definitions. They were evaluated against each other in terms of their interoperability with TCAS RAs and DAA alerts in an unmitigated factorial encounter analysis of 1.3 million simulated pairs.

  2. A new collision avoidance model for pedestrian dynamics

    NASA Astrophysics Data System (ADS)

    Wang, Qian-Ling; Chen, Yao; Dong, Hai-Rong; Zhou, Min; Ning, Bin

    2015-03-01

    The pedestrians can only avoid collisions passively under the action of forces during simulations using the social force model, which may lead to unnatural behaviors. This paper proposes an optimization-based model for the avoidance of collisions, where the social repulsive force is removed in favor of a search for the quickest path to destination in the pedestrian’s vision field. In this way, the behaviors of pedestrians are governed by changing their desired walking direction and desired speed. By combining the critical factors of pedestrian movement, such as positions of the exit and obstacles and velocities of the neighbors, the choice of desired velocity has been rendered to a discrete optimization problem. Therefore, it is the self-driven force that leads pedestrians to a free path rather than the repulsive force, which means the pedestrians can actively avoid collisions. The new model is verified by comparing with the fundamental diagram and actual data. The simulation results of individual avoidance trajectories and crowd avoidance behaviors demonstrate the reasonability of the proposed model. Project supported by the National Natural Science Foundation of China (Grant Nos. 61233001 and 61322307) and the Fundamental Research Funds for Central Universities of China (Grant No. 2013JBZ007).

  3. Evaluation Of An Aircraft-Collision-Avoidance System

    NASA Technical Reports Server (NTRS)

    Chappell, Sheryl L.; Billings, Charles E.; Olsen, M. Christine; Scott, Barry C.; Tuttell, Robert J.; Kozon, Thomas E.

    1990-01-01

    Report describes study of pilots' use of traffic alert and collision-avoidance system (TCAS II) in simulated airplane flights. Gives alert by light and sound when another aircraft within 40 s of passing very closely. If other aircraft still poses threat 15 to 20 s later, TCAS II advises pilot to maneuver vertically or to continue on same flightpath but alter rate of ascent or descent. Report describes methodology, summarizes results, and presents conclusions.

  4. 14 CFR 135.180 - Traffic Alert and Collision Avoidance System.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Traffic Alert and Collision Avoidance... Aircraft and Equipment § 135.180 Traffic Alert and Collision Avoidance System. (a) Unless otherwise... equipped with an approved traffic alert and collision avoidance system. If a TCAS II system is...

  5. 14 CFR 135.180 - Traffic Alert and Collision Avoidance System.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Traffic Alert and Collision Avoidance... Aircraft and Equipment § 135.180 Traffic Alert and Collision Avoidance System. (a) Unless otherwise... equipped with an approved traffic alert and collision avoidance system. If a TCAS II system is...

  6. 14 CFR 135.180 - Traffic Alert and Collision Avoidance System.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Traffic Alert and Collision Avoidance... Aircraft and Equipment § 135.180 Traffic Alert and Collision Avoidance System. (a) Unless otherwise... equipped with an approved traffic alert and collision avoidance system. If a TCAS II system is...

  7. 14 CFR 135.180 - Traffic Alert and Collision Avoidance System.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Traffic Alert and Collision Avoidance... Aircraft and Equipment § 135.180 Traffic Alert and Collision Avoidance System. (a) Unless otherwise... equipped with an approved traffic alert and collision avoidance system. If a TCAS II system is...

  8. 14 CFR 135.180 - Traffic Alert and Collision Avoidance System.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Traffic Alert and Collision Avoidance... Aircraft and Equipment § 135.180 Traffic Alert and Collision Avoidance System. (a) Unless otherwise... equipped with an approved traffic alert and collision avoidance system. If a TCAS II system is...

  9. Cooperative Collision Avoidance Technology Demonstration Data Analysis Report

    NASA Technical Reports Server (NTRS)

    2007-01-01

    This report details the National Aeronautics and Space Administration (NASA) Access 5 Project Office Cooperative Collision Avoidance (CCA) Technology Demonstration for unmanned aircraft systems (UAS) conducted from 21 to 28 September 2005. The test platform chosen for the demonstration was the Proteus Optionally Piloted Vehicle operated by Scaled Composites, LLC, flown out of the Mojave Airport, Mojave, CA. A single intruder aircraft, a NASA Gulf stream III, was used during the demonstration to execute a series of near-collision encounter scenarios. Both aircraft were equipped with Traffic Alert and Collision Avoidance System-II (TCAS-II) and Automatic Dependent Surveillance Broadcast (ADS-B) systems. The objective of this demonstration was to collect flight data to support validation efforts for the Access 5 CCA Work Package Performance Simulation and Systems Integration Laboratory (SIL). Correlation of the flight data with results obtained from the performance simulation serves as the basis for the simulation validation. A similar effort uses the flight data to validate the SIL architecture that contains the same sensor hardware that was used during the flight demonstration.

  10. Control of a serpentine manipulator with collision avoidance

    NASA Technical Reports Server (NTRS)

    Byers, Robert M.

    1993-01-01

    The robotics lab at the Kennedy Space Center is investigating the possibility of using a 'serpentine' manipulator for Shuttle inspection and payload processing. Serpentine manipulators are characterized by a large number of degrees of freedom giving them a high degree of redundancy. This redundancy allows them to be used to reach confined areas while avoiding collisions with their environment. In this paper, the author describes a new approach to controlling the joint rates for an n degree of freedom robot such that it moves its end effector to a desired position while simultaneously avoiding collision of any part of the robot arm with obstacles. Joint rates which move the end effector toward the target are found via a Lyapunov stability function. The gradient of an obstacle cost function indicates the direction toward obstacle collision in the joint space. The component of the end effector joint rates orthogonal to the obstacle gradient becomes the commanded joint rates. A notional eleven DOF model is used to numerically demonstrate the efficacy of the control law.

  11. A real-time robot arm collision avoidance system

    NASA Technical Reports Server (NTRS)

    Shaffer, Clifford A.; Herb, Gregory M.

    1992-01-01

    A data structure and update algorithm are presented for a prototype real-time collision avoidance safety system simulating a multirobot workspace. The data structure is a variant of the octree, which serves as a spatial index. An octree recursively decomposes 3D space into eight equal cubic octants until each octant meets some decomposition criteria. The N-objects octree, which indexes a collection of 3D primitive solids is used. These primitives make up the two (seven-degrees-of-freedom) robot arms and workspace modeled by the system. As robot arms move, the octree is updated to reflect their changed positions. During most update cycles, any given primitive does not change which octree nodes it is in. Thus, modification to the octree is rarely required. Cycle time for interpreting current arm joint angles, updating the octree to reflect new positions, and detecting/reporting imminent collisions averages 30 ms on an Intel 80386 processor running at 20 MHz.

  12. Sequential Probability Ratio Test for Spacecraft Collision Avoidance Maneuver Decisions

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell; Markley, F. Landis

    2013-01-01

    A document discusses sequential probability ratio tests that explicitly allow decision-makers to incorporate false alarm and missed detection risks, and are potentially less sensitive to modeling errors than a procedure that relies solely on a probability of collision threshold. Recent work on constrained Kalman filtering has suggested an approach to formulating such a test for collision avoidance maneuver decisions: a filter bank with two norm-inequality-constrained epoch-state extended Kalman filters. One filter models the null hypotheses that the miss distance is inside the combined hard body radius at the predicted time of closest approach, and one filter models the alternative hypothesis. The epoch-state filter developed for this method explicitly accounts for any process noise present in the system. The method appears to work well using a realistic example based on an upcoming, highly elliptical orbit formation flying mission.

  13. Z-Basic algorithm for collision avoidance system

    NASA Technical Reports Server (NTRS)

    Dear, Roger G.; Sherif, Yosef S.

    1991-01-01

    A Z-Basic prediction algorithm for an aircraft ground-based collision avoidance system is presented. This system searches for mutually overlapping prediction intervals that are influenced by the aircrafts' maneuver capabilities and surveillance accuracy. Z-Basic provides a powerful, fast, interactive, simple to use, and inexpensive Basic compiler. The algorithm is applied to a typical terminal airspace situation. The computer program was executed on Macintosh+, and the execution was less than one minute. The program is easy to understand and implement.

  14. Sequential Probability Ratio Test for Collision Avoidance Maneuver Decisions

    NASA Technical Reports Server (NTRS)

    Carpenter, J. Russell; Markley, F. Landis

    2010-01-01

    When facing a conjunction between space objects, decision makers must chose whether to maneuver for collision avoidance or not. We apply a well-known decision procedure, the sequential probability ratio test, to this problem. We propose two approaches to the problem solution, one based on a frequentist method, and the other on a Bayesian method. The frequentist method does not require any prior knowledge concerning the conjunction, while the Bayesian method assumes knowledge of prior probability densities. Our results show that both methods achieve desired missed detection rates, but the frequentist method's false alarm performance is inferior to the Bayesian method's

  15. Flight test evaluation of a prototype optical instrument for airborne sense-and-avoid applications

    NASA Astrophysics Data System (ADS)

    Minwalla, Cyrus; Thomas, Paul; Ellis, Kristopher; Hornsey, Richard; Jennings, Sion

    2012-06-01

    A prototype, wide-field, optical sense-and-avoid instrument was constructed from low-cost commercial off-the-shelf components, and configured as a network of smart camera nodes. To detect small, general-aviation aircraft in a timely manner, such a sensor must detect targets at a range of 5-10 km at an update rate of a few Hz. This paper evaluates the flight test performance of the "DragonflEYE" sensor as installed on a Bell 205 helicopter. Both the Bell 205 and the Bell 206 (intruder aircraft) were fully instrumented to record position and orientation. Emphasis was given to the critical case of head-on collisions at typical general aviation altitudes and airspeeds. Imagery from the DragonflEYE was stored for the offline assessment of performance. Methodologies for assessing the key figures of merit, such as the signal-to-noise ratio, the range at first detection (R0) and angular target size were developed. Preliminary analysis indicated an airborne detection range of 6:7 km under typical visual meteorological conditions, which significantly exceeded typical visual acquisition ranges under the same conditions.

  16. Investigation of airborne lidar for avoidance of windshear hazards

    NASA Technical Reports Server (NTRS)

    Targ, Russell; Bowles, Roland L.

    1988-01-01

    The present generalized windshear hazard index is formulated in terms of wind conditions at the given aircraft position and of remotely-sensed information obtained along the extended flight path. Overall system functional requirements are addressed by comparing microwave Doppler radar, Doppler lidar, and IR radiometry candidate techniques, giving attention to airborne CO2 and Ho:YAG lidar windshear-detection systems; these furnish pilots with data on the line-of-sight component of windshear threats over as much as 1-3 km, for a warning time of 15-45 sec. While the technology for a 10.6-micron, CO2 laser-based lidar is available, additional development is required for 2-micron, Ho:YAG laser-based systems.

  17. Orbital Dynamics of the ISS: Spacecraft Protection and Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Celestino, Claudia C.; Sampaio, Jarbas; Vilhena de Moraes, Rodolpho; Fiorilo de Melo, Cristiano

    The increasing number of objects orbiting the Earth justifies the attention and interest in the observation, spacecraft protection and collision avoidance. These studies involve different disturbances and resonances in the orbital motions of these objects. Considering approximately 10000 cataloged objects around the Earth, one can verify the distribution of the objects as: 7% of operational spacecraft, 22% of old spacecraft, 17% of rocket bodies, 41% of miscellaneous fragments and about 13% of mission-related objects. The uncatalogued objects larger than 1 cm are estimated in some value between 50000 and 600000. Most of the space debris are found in the LEO region. In this work, the orbital motions of space debris are studied in the neighborhood of the ISS - International Space Station. Resonant orbital motions are considered and real data from the 2-line element set of the NORAD (North American Defense) are used to compare with the analytical model. Figures show the time behavior of the orbital elements, resonant angles and resonant periods. One can observe that the collision risk of space debris with the ISS is growing and solutions for the space debris mitigation are necessary.

  18. Stereo-based Collision Avoidance System for Urban Traffic

    NASA Astrophysics Data System (ADS)

    Moriya, Takashi; Ishikawa, Naoto; Sasaki, Kazuyuki; Nakajima, Masato

    2002-11-01

    Numerous car accidents occur on urban road. However, researches done so far on driving assistance are subjecting highways whose environment is relatively simple and easy to handle, and new approach for urban settings is required. Our purpose is to extend its support to the following conditions in city traffic: the presence of obstacles such as pedestrians and telephone poles; the lane mark is not always drawn on a road; drivers may lack the sense of awareness of the lane mark. We propose a collision avoidance system, which can be applied to both highways and urban traffic environment. In our system, stereo cameras are set in front of a vehicle and the captured images are processed through a computer. We create a Projected Disparity Map (PDM) from stereo image pair, which is a disparity histogram taken along ordinate direction of obtained disparity image. When there is an obstacle in front, we can detect it by finding a peak appeared in the PDM. With a speed meter and a steering sensor, the stop distance and the radius of curvature of the self-vehicle are calculated, in order to set the observation-required area, which does not depend on lane marks, within a PDM. A danger level will be computed from the distance and the relative speed to the closest approaching object detected within the observation-required area. The method has been tested in urban traffic scenes and has shown to be effective for judging dangerous situation, and gives proper alarm to a driver.

  19. Uav Positioning and Collision Avoidance Based on RSS Measurements

    NASA Astrophysics Data System (ADS)

    Masiero, A.; Fissore, F.; Guarnieri, A.; Pirotti, F.; Vettore, A.

    2015-08-01

    In recent years, Unmanned Aerial Vehicles (UAVs) are attracting more and more attention in both the research and industrial communities: indeed, the possibility to use them in a wide range of remote sensing applications makes them a very flexible and attractive solution in both civil and commercial cases (e.g. precision agriculture, security and control, monitoring of sites, exploration of areas difficult to reach). Most of the existing UAV positioning systems rely on the use of the GPS signal. Despite this can be a satisfactory solution in open environments where the GPS signal is available, there are several operating conditions of interest where it is unavailable or unreliable (e.g. close to high buildings, or mountains, in indoor environments). Consequently, a different approach has to be adopted in these cases. This paper considers the use ofWiFi measurements in order to obtain position estimations of the device of interest. More specifically, to limit the costs for the devices involved in the positioning operations, an approach based on radio signal strengths (RSS) measurements is considered. Thanks to the use of a Kalman filter, the proposed approach takes advantage of the temporal dynamic of the device of interest in order to improve the positioning results initially provided by means of maximum likelihood estimations. The considered UAVs are assumed to be provided with communication devices, which can allow them to communicate with each other in order to improve their cooperation abilities. In particular, the collision avoidance problem is examined in this work.

  20. 14 CFR 91.221 - Traffic alert and collision avoidance system equipment and use.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 2 2010-01-01 2010-01-01 false Traffic alert and collision avoidance... RULES Equipment, Instrument, and Certificate Requirements § 91.221 Traffic alert and collision avoidance system equipment and use. (a) All airspace: U.S.-registered civil aircraft. Any traffic alert...

  1. 14 CFR 91.221 - Traffic alert and collision avoidance system equipment and use.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 2 2014-01-01 2014-01-01 false Traffic alert and collision avoidance... RULES Equipment, Instrument, and Certificate Requirements § 91.221 Traffic alert and collision avoidance system equipment and use. (a) All airspace: U.S.-registered civil aircraft. Any traffic alert...

  2. 14 CFR 91.221 - Traffic alert and collision avoidance system equipment and use.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 2 2011-01-01 2011-01-01 false Traffic alert and collision avoidance... RULES Equipment, Instrument, and Certificate Requirements § 91.221 Traffic alert and collision avoidance system equipment and use. (a) All airspace: U.S.-registered civil aircraft. Any traffic alert...

  3. 14 CFR 91.221 - Traffic alert and collision avoidance system equipment and use.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 2 2013-01-01 2013-01-01 false Traffic alert and collision avoidance... RULES Equipment, Instrument, and Certificate Requirements § 91.221 Traffic alert and collision avoidance system equipment and use. (a) All airspace: U.S.-registered civil aircraft. Any traffic alert...

  4. 14 CFR 91.221 - Traffic alert and collision avoidance system equipment and use.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 2 2012-01-01 2012-01-01 false Traffic alert and collision avoidance... RULES Equipment, Instrument, and Certificate Requirements § 91.221 Traffic alert and collision avoidance system equipment and use. (a) All airspace: U.S.-registered civil aircraft. Any traffic alert...

  5. World-model-based collision avoidance system for a force-reflecting telerobot

    NASA Astrophysics Data System (ADS)

    Bluethmann, Bill; Unruh, Stanley G.; Faddis, Terry N.; Barr, Bill G.

    1993-03-01

    A world model collision avoidance system has been developed in the Kansas Augmented Telerobotics Laboratory (KATL) at the University of Kansas. Collision avoidance is implemented on a Kraft Telerobotics master/slave system. The two primary components of the system discussed within are the building the obstacle model and the scheme for the distributed sampling of the obstacle model by the slave model. The system rune in real-time on a PC-AT platform. The collision avoidance system samples the location of objects in the slave's surroundings from the KATL world model. The system then converts a simplified constructive solid geometry (CSG) representation of the world model into the octree representation of the obstacle model. The world model represents objects with variable amounts of detail. This allows the user to select the amount of detail that is passed the collision avoidance system, which leads directly to the amount of detail in the obstacle model. At run time, the future position of the slave is predicted. The collision avoidance system resolves each link of the slave into an octree structure and requests the octree of the obstacle model in the vicinity of the slave across an Arcnet LAN. The system uses a fast algorithm to determine whether a collision will occur. If a collision is imminent, feedback forces are applied to the master to avoid the potential collision.

  6. An optimal control strategy for collision avoidance of mobile robots in non-stationary environments

    NASA Technical Reports Server (NTRS)

    Kyriakopoulos, K. J.; Saridis, G. N.

    1991-01-01

    An optimal control formulation of the problem of collision avoidance of mobile robots in environments containing moving obstacles is presented. Collision avoidance is guaranteed if the minimum distance between the robot and the objects is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Furthermore, time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. Simulation results verify the value of the proposed strategy.

  7. Development and evaluation of collision warning/collision avoidance algorithms using an errable driver model

    NASA Astrophysics Data System (ADS)

    Yang, Hsin-Hsiang; Peng, Huei

    2010-12-01

    Collision warning/collision avoidance (CW/CA) systems must be designed to work seamlessly with a human driver, providing warning or control actions when the driver's response (or lack of) is deemed inappropriate. The effectiveness of CW/CA systems working with a human driver needs to be evaluated thoroughly because of legal/liability and other (e.g. traffic flow) concerns. CW/CA systems tuned only under open-loop manoeuvres were frequently found to work unsatisfactorily with human-in-the-loop. However, tuning CW/CA systems with human drivers co-existing is slow and non-repeatable. Driver models, if constructed and used properly, can capture human/control interactions and accelerate the CW/CA development process. Design and evaluation methods for CW/CA algorithms can be categorised into three approaches, scenario-based, performance-based and human-centred. The strength and weakness of these approaches were discussed in this paper and a humanised errable driver model was introduced to improve the developing process. The errable driver model used in this paper is a model that emulates human driver's functions and can generate both nominal (error-free) and devious (with error) behaviours. The car-following data used for developing and validating the model were obtained from a large-scale naturalistic driving database. Three error-inducing behaviours were introduced: human perceptual limitation, time delay and distraction. By including these error-inducing behaviours, rear-end collisions with a lead vehicle were found to occur at a probability similar to traffic accident statistics in the USA. This driver model is then used to evaluate the performance of several existing CW/CA algorithms. Finally, a new CW/CA algorithm was developed based on this errable driver model.

  8. Influence of person- and situation-specific characteristics on collision avoidance behavior in human locomotion.

    PubMed

    Knorr, Alexander G; Willacker, Lina; Hermsdörfer, Joachim; Glasauer, Stefan; Krüger, Melanie

    2016-09-01

    In everyday situations, pedestrians deploy successful strategies to avoid collisions with other persons crossing their paths. In this study, 2 experiments were conducted to investigate to what extent personal or situational characteristics affect role attribution and contribution to successful collision avoidance in human locomotion. Pairs of subjects walked at their natural speed from a start to a goal point. Walking paths were defined in such a way that subjects would collide halfway on their trajectory, if they did not actively avoid colliding by speed or path adjustments. In the first experiment, we investigated whether crossing order, path, and speed adjustments correlate with subject-specific parameters, such as gender, height, and personality traits. It is interesting that individuals' collision avoidance behavior was not correlated with any of these factors. In the second experiment, initial walking speed and heading were used to predict the crossing order. It was found that these 2 parameters are sufficient to estimate future role attribution with 95% confidence already 2.5 m before the crossing; that is, even before any collision avoidance behavior is initiated. In sum, this suggests that collision avoidance strategies in human locomotion are based on situational rather than on personal characteristics. These situational characteristics result in role attributions, which are highly predictable within and across pairs of pedestrians, whereby the role-dependent contribution of the pedestrian giving way is of greater relevance for successful collision avoidance. (PsycINFO Database Record PMID:26999273

  9. Evaluation of human behavior in collision avoidance: a study inside immersive virtual reality.

    PubMed

    Ouellette, Michel; Chagnon, Miguel; Faubert, Jocelyn

    2009-04-01

    During our daily displacements, we should consider the individuals advancing toward us in order to avoid a possible collision with our congeneric. We developed an experimental design in a virtual immersion room, which allows us to evaluate human capacities for avoiding collisions with other people. In addition, the design allows participants to interact naturally inside this immersive virtual reality setup when a pedestrian is moving toward them, creating a possible risk of collision. Results suggest that the performance is associated with visual and motor capacities and could be adjusted by cognitive social perception. PMID:19250010

  10. Fighting Testing ACAT/FRRP: Automatic Collision Avoidance Technology/Fighter Risk Reduction Project

    NASA Technical Reports Server (NTRS)

    Skoog, Mark A.

    2009-01-01

    This slide presentation reviews the work of the Flight testing Automatic Collision Avoidance Technology/Fighter Risk Reduction Project (ACAT/FRRP). The goal of this project is to develop common modular architecture for all aircraft, and to enable the transition of technology from research to production as soon as possible to begin to reduce the rate of mishaps. The automated Ground Collision Avoidance System (GCAS) system is designed to prevent collision with the ground, by avionics that project the future trajectory over digital terrain, and request an evasion maneuver at the last instance. The flight controls are capable of automatically performing a recovery. The collision avoidance is described in the presentation. Also included in the presentation is a description of the flight test.

  11. Experimental characterization of collision avoidance in pedestrian dynamics.

    PubMed

    Parisi, Daniel R; Negri, Pablo A; Bruno, Luciana

    2016-08-01

    In the present paper, the avoidance behavior of pedestrians was characterized by controlled experiments. Several conflict situations were studied considering different flow rates and group sizes in crossing and head-on configurations. Pedestrians were recorded from above, and individual two-dimensional trajectories of their displacement were recovered after image processing. Lateral swaying amplitude and step lengths were measured for free pedestrians, obtaining similar values to the ones reported in the literature. Minimum avoidance distances were computed in two-pedestrian experiments. In the case of one pedestrian dodging an arrested one, the avoidance distance did not depend on the relative orientation of the still pedestrian with respect to the direction of motion of the first. When both pedestrians were moving, the avoidance distance in a perpendicular encounter was longer than the one obtained during a head-on approach. It was found that the mean curvature of the trajectories was linearly anticorrelated with the mean speed. Furthermore, two common avoidance maneuvers, stopping and steering, were defined from the analysis of the acceleration and curvature in single trajectories. Interestingly, it was more probable to observe steering events than stopping ones, also the probability of simultaneous steering and stopping occurrences was negligible. The results obtained in this paper can be used to validate and calibrate pedestrian dynamics models. PMID:27627328

  12. Power mobility with collision avoidance for older adults: user, caregiver, and prescriber perspectives.

    PubMed

    Wang, Rosalie H; Korotchenko, Alexandra; Hurd Clarke, Laura; Mortenson, W Ben; Mihailidis, Alex

    2013-01-01

    Collision avoidance technology has the capacity to facilitate safer mobility among older power mobility users with physical, sensory, and cognitive impairments, thus enabling independence for more users. Little is known about consumers' perceptions of collision avoidance. This article draws on interviews (29 users, 5 caregivers, and 10 prescribers) to examine views on design and utilization of this technology. Data analysis identified three themes: "useful situations or contexts," "technology design issues and real-life application," and "appropriateness of collision avoidance technology for a variety of users." Findings support ongoing development of collision avoidance for older adult users. The majority of participants supported the technology and felt that it might benefit current users and users with visual impairments, but might be unsuitable for people with significant cognitive impairments. Some participants voiced concerns regarding the risk for injury with power mobility use and some identified situations where collision avoidance might be beneficial (driving backward, avoiding dynamic obstacles, negotiating outdoor barriers, and learning power mobility use). Design issues include the need for context awareness, reliability, and user interface specifications. User desire to maintain driving autonomy supports development of collaboratively controlled systems. This research lays the groundwork for future development by illustrating consumer requirements for this technology. PMID:24458968

  13. LightForce: An Update on Orbital Collision Avoidance Using Photon Pressure

    NASA Technical Reports Server (NTRS)

    Stupl, Jan; Mason, James; De Vries, Willem; Smith, Craig; Levit, Creon; Marshall, William; Salas, Alberto Guillen; Pertica, Alexander; Olivier, Scot; Ting, Wang

    2012-01-01

    We present an update on our research on collision avoidance using photon-pressure induced by ground-based lasers. In the past, we have shown the general feasibility of employing small orbit perturbations, induced by photon pressure from ground-based laser illumination, for collision avoidance in space. Possible applications would be protecting space assets from impacts with debris and stabilizing the orbital debris environment. Focusing on collision avoidance rather than de-orbit, the scheme avoids some of the security and liability implications of active debris removal, and requires less sophisticated hardware than laser ablation. In earlier research we concluded that one ground based system consisting of a 10 kW class laser, directed by a 1.5 m telescope with adaptive optics, could avoid a significant fraction of debris-debris collisions in low Earth orbit. This paper describes our recent efforts, which include refining our original analysis, employing higher fidelity simulations and performing experimental tracking tests. We investigate the efficacy of one or more laser ground stations for debris-debris collision avoidance and satellite protection using simulations to investigate multiple case studies. The approach includes modeling of laser beam propagation through the atmosphere, the debris environment (including actual trajectories and physical parameters), laser facility operations, and simulations of the resulting photon pressure. We also present the results of experimental laser debris tracking tests. These tests track potential targets of a first technical demonstration and quantify the achievable tracking performance.

  14. Experimental Studies Of Pilot Performance At Collision Avoidance During Closely Spaced Parallel Approaches

    NASA Technical Reports Server (NTRS)

    Pritchett, Amy R.; Hansman, R. John

    1997-01-01

    Efforts to increase airport capacity include studies of aircraft systems that would enable simultaneous approaches to closely spaced parallel runway in Instrument Meteorological Conditions (IMC). The time-critical nature of a parallel approach results in key design issues for current and future collision avoidance systems. Two part-task flight simulator studies have examined the procedural and display issues inherent in such a time-critical task, the interaction of the pilot with a collision avoidance system, and the alerting criteria and avoidance maneuvers preferred by subjects.

  15. Dynamic Vibrotactile Signals for Forward Collision Avoidance Warning Systems

    PubMed Central

    Meng, Fanxing; Gray, Rob; Ho, Cristy; Ahtamad, Mujthaba

    2015-01-01

    Objective: Four experiments were conducted in order to assess the effectiveness of dynamic vibrotactile collision-warning signals in potentially enhancing safe driving. Background: Auditory neuroscience research has demonstrated that auditory signals that move toward a person are more salient than those that move away. If this looming effect were found to extend to the tactile modality, then it could be utilized in the context of in-car warning signal design. Method: The effectiveness of various vibrotactile warning signals was assessed using a simulated car-following task. The vibrotactile warning signals consisted of dynamic toward-/away-from-torso cues (Experiment 1), dynamic versus static vibrotactile cues (Experiment 2), looming-intensity- and constant-intensity-toward-torso cues (Experiment 3), and static cues presented on the hands or on the waist, having either a low or high vibration intensity (Experiment 4). Results: Braking reaction times (BRTs) were significantly faster for toward-torso as compared to away-from-torso cues (Experiments 1 and 2) and static cues (Experiment 2). This difference could not have been attributed to differential responses to signals delivered to different body parts (i.e., the waist vs. hands; Experiment 4). Embedding a looming-intensity signal into the toward-torso signal did not result in any additional BRT benefits (Experiment 3). Conclusion: Dynamic vibrotactile cues that feel as though they are approaching the torso can be used to communicate information concerning external events, resulting in a significantly faster reaction time to potential collisions. Application: Dynamic vibrotactile warning signals that move toward the body offer great potential for the design of future in-car collision-warning system. PMID:25850161

  16. LightForce: Photon Pressure Induced Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Levit, C.; Smith, C.; Stupl, J.; Mason, J.; Marshall, M.

    2012-09-01

    We investigate the feasibility of using a medium-powered (5 kW) ground-based laser combined with a ground-based telescope to prevent collisions between debris objects in low-Earth orbit (LEO), for which there is no current, effective mitigation strategy. The scheme utilizes photon pressure alone as a means to perturb the orbit of a debris object. Applied over multiple engagements, this alters the debris orbit succinctly to reduce the risk of an upcoming conjunction. We employ standard assumptions for atmospheric conditions and the resulting beam propagation. Using case studies designed to represent the properties (e.g. area and mass) of the current debris population, we show that one could significantly reduce the risk of more than half of all debris-debris collisions using only one such laser/telescope facility. We speculate on whether this could mitigate the debris fragmentation rate such that it falls below the natural debris re-entry rate due to atmospheric drag, and thus whether continuous long-term operation could entirely mitigate the Kessler syndrome in LEO, without need for relatively expensive active debris removal.

  17. NASA's Orbital Debris Conjuction Assessment and Collision Avoidance Strategy

    NASA Technical Reports Server (NTRS)

    Gavin, Richard T.

    2010-01-01

    NASA has successfully used debris avoidance maneuvers to protect our spacecraft for more than 20 . years. This process which started out using parametric data and maneuver boxes has seen considerable evolution and now allows us to continue nominal operations for all but the most threatening objects. This has greatly reduced the interruptions to the critical mission objectives being pursued by NASA s Space Station, Space Shuttle, and robotic satellites.

  18. Real-time collision avoidance manipulator transfer movements

    NASA Technical Reports Server (NTRS)

    Chen, N.; Dwyer, T. A. W., III

    1987-01-01

    Collision free robot manipulator maneuvers for transferring a payload from one location to another in the presence of obstacles are discussed. Such maneuvers are executed by means of two algorithms running in parallel. The first algorithm performs an on-line, one step ahead acceleration optimization, with an adaptive N-step ahead precaution measure to prevent overshooting the specified forbidden joint coordinates. The second algorithm, an on-line planning algorithm, at the same time, selects the current target state and the current forbidden joint coordinates for the first algorithm. Since the task is a point to point transfer movement, the problem is dealt in robot joint space directly and the kinematic problem can be bypassed completely. A simulation example using a 2 degree-of-freedom planner robot is given.

  19. Using a mobile robot to study locust collision avoidance responses.

    PubMed

    Blanchard, M; Verschure, P F; Rind, F C

    1999-10-01

    The visual systems of insects perform complex processing using remarkably compact neural circuits, yet these circuits are often studied using simplified stimuli which fail to reveal their behaviour in more complex visual environments. We address this issue by testing models of these circuits in real-world visual environments using a mobile robot. In this paper we focus on the lobula giant movement detector (LGMD) system of the locust which responds selectively to objects which approach the animal on a collision course and is thought to trigger escape behaviours. We show that a neural network model of the LGMD system shares the preference for approaching objects and detects obstacles over a range of speeds. Our results highlight aspects of the basic response properties of the biological system which have important implications for the behavioural role of the LGMD. PMID:10630469

  20. Effectiveness and driver acceptance of a semi-autonomous forward obstacle collision avoidance system.

    PubMed

    Itoh, Makoto; Horikome, Tatsuya; Inagaki, Toshiyuki

    2013-09-01

    This paper proposes a semi-autonomous collision avoidance system for the prevention of collisions between vehicles and pedestrians and objects on a road. The system is designed to be compatible with the human-centered automation principle, i.e., the decision to perform a maneuver to avoid a collision is made by the driver. However, the system is partly autonomous in that it turns the steering wheel independently when the driver only applies the brake, indicating his or her intent to avoid the obstacle. With a medium-fidelity driving simulator, we conducted an experiment to investigate the effectiveness of this system for improving safety in emergency situations, as well as its acceptance by drivers. The results indicate that the system effectively improves safety in emergency situations, and the semi-autonomous characteristic of the system was found to be acceptable to drivers. PMID:23453775

  1. Design and evaluation of steering protection for avoiding collisions during a lane change.

    PubMed

    Itoh, Makoto; Inagaki, Toshiyuki

    2014-01-01

    This paper discusses the design of a driver assistance system for avoiding collisions with vehicles in blind spots. The following three types of support systems are compared: (1) a warning system that provides the driver with an auditory alert, (2) a 'soft' protection system that makes the steering wheel stiffer to tell the driver that a lane-change manoeuvre is not recommended and (3) a 'hard' protection system that cancels the driver's input and controls the tyre angle autonomously to prevent lane departure. The results of an experiment showed that the hard protection system was more effective for collision avoidance than either the warning or the soft protection system. The warning and soft protection systems were almost the same in terms of collision avoidance. The results suggest that the human-centred automation principle, which requires the human to have the final authority over the automation, can be violated depending on the context. PMID:24206200

  2. Optimal motion planning for collision avoidance of mobile robots in non-stationary environments

    NASA Technical Reports Server (NTRS)

    Kyriakopoulos, K. J.; Saridis, G. N.

    1992-01-01

    An optimal control formulation of the problem of collision avoidance of mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the minimum distance between the robot and the object is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. Time consistency with the nominal plan is desirable. A numerical solution of the optimization problem is obtained. A perturbation control type of approach is used to update the optimal plan. Simulation results verify the value of the proposed strategy.

  3. An integrated collision prediction and avoidance scheme for mobile robots in non-stationary environments

    NASA Technical Reports Server (NTRS)

    Kyriakopoulos, K. J.; Saridis, G. N.

    1993-01-01

    A formulation that makes possible the integration of collision prediction and avoidance stages for mobile robots moving in general terrains containing moving obstacles is presented. A dynamic model of the mobile robot and the dynamic constraints are derived. Collision avoidance is guaranteed if the distance between the robot and a moving obstacle is nonzero. A nominal trajectory is assumed to be known from off-line planning. The main idea is to change the velocity along the nominal trajectory so that collisions are avoided. A feedback control is developed and local asymptotic stability is proved if the velocity of the moving obstacle is bounded. Furthermore, a solution to the problem of inverse dynamics for the mobile robot is given. Simulation results verify the value of the proposed strategy.

  4. Collision-avoidance behaviors of minimally restrained flying locusts to looming stimuli

    PubMed Central

    Chan, R. WM.; Gabbiani, F.

    2013-01-01

    SUMMARY Visually guided collision avoidance is of paramount importance in flight, for instance to allow escape from potential predators. Yet, little is known about the types of collision-avoidance behaviors that may be generated by flying animals in response to an impending visual threat. We studied the behavior of minimally restrained locusts flying in a wind tunnel as they were subjected to looming stimuli presented to the side of the animal, simulating the approach of an object on a collision course. Using high-speed movie recordings, we observed a wide variety of collision-avoidance behaviors including climbs and dives away from – but also towards – the stimulus. In a more restrained setting, we were able to relate kinematic parameters of the flapping wings with yaw changes in the trajectory of the animal. Asymmetric wing flapping was most strongly correlated with changes in yaw, but we also observed a substantial effect of wing deformations. Additionally, the effect of wing deformations on yaw was relatively independent of that of wing asymmetries. Thus, flying locusts exhibit a rich range of collision-avoidance behaviors that depend on several distinct aerodynamic characteristics of wing flapping flight. PMID:23364572

  5. Collision avoidance in TV white spaces: a cross-layer design approach for cognitive radio networks

    NASA Astrophysics Data System (ADS)

    Foukalas, Fotis; Karetsos, George T.

    2015-07-01

    One of the most promising applications of cognitive radio networks (CRNs) is the efficient exploitation of TV white spaces (TVWSs) for enhancing the performance of wireless networks. In this paper, we propose a cross-layer design (CLD) of carrier sense multiple access with collision avoidance (CSMA/CA) mechanism at the medium access control (MAC) layer with spectrum sensing (SpSe) at the physical layer, for identifying the occupancy status of TV bands. The proposed CLD relies on a Markov chain model with a state pair containing both the SpSe and the CSMA/CA from which we derive the collision probability and the achievable throughput. Analytical and simulation results are obtained for different collision avoidance and SpSe implementation scenarios by varying the contention window, back off stage and probability of detection. The obtained results depict the achievable throughput under different collision avoidance and SpSe implementation scenarios indicating thereby the performance of collision avoidance in TVWSs-based CRNs.

  6. Autonomous manoeuvring systems for collision avoidance on single carriageway roads.

    PubMed

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Oscar

    2012-01-01

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles' positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed. PMID:23443391

  7. Autonomous Manoeuvring Systems for Collision Avoidance on Single Carriageway Roads

    PubMed Central

    Jiménez, Felipe; Naranjo, José Eugenio; Gómez, Óscar

    2012-01-01

    The accurate perception of the surroundings of a vehicle has been the subject of study of numerous automotive researchers for many years. Although several projects in this area have been successfully completed, very few prototypes have actually been industrialized and installed in mass produced cars. This indicates that these research efforts must continue in order to improve the present systems. Moreover, the trend to include communication systems in vehicles extends the potential of these perception systems transmitting their information via wireless to other vehicles that may be affected by the surveyed environment. In this paper we present a forward collision warning system based on a laser scanner that is able to detect several potential danger situations. Decision algorithms try to determine the most convenient manoeuvre when evaluating the obstacles’ positions and speeds, road geometry, etc. Once detected, the presented system can act on the actuators of the ego-vehicle as well as transmit this information to other vehicles circulating in the same area using vehicle-to-vehicle communications. The system has been tested for overtaking manoeuvres under different scenarios and the correct actions have been performed. PMID:23443391

  8. Cooperative Collision Avoidance Step 1 - Technology Demonstration Flight Test Report. Revision 1

    NASA Technical Reports Server (NTRS)

    Trongale, Nicholas A.

    2006-01-01

    The National Aeronautics and Space Administration (NASA) Access 5 Project Office sponsored a cooperative collision avoidance flight demonstration program for unmanned aircraft systems (UAS). This flight test was accomplished between September 21st and September 27th 2005 from the Mojave Airport, Mojave, California. The objective of these flights was to collect data for the Access 5 Cooperative Collision Avoidance (CCA) Work Package simulation effort, i.e., to gather data under select conditions to allow validation of the CCA simulation. Subsequent simulation to be verified were: Demonstrate the ability to detect cooperative traffic and provide situational awareness to the ROA pilot; Demonstrate the ability to track the detected cooperative traffic and provide position information to the ROA pilot; Demonstrate the ability to determine collision potential with detected cooperative traffic and provide notification to the ROA pilot; Demonstrate that the CCA subsystem provides information in sufficient time for the ROA pilot to initiate an evasive maneuver to avoid collision; Demonstrate an evasive maneuver that avoids collision with the threat aircraft; and lastly, Demonstrate the ability to assess the adequacy of the maneuver and determine that the collision potential has been avoided. The Scaled Composites, LLC Proteus Optionally Piloted Vehicle (OPV) was chosen as the test platform. Proteus was manned by two on-board pilots but was also capable of being controlled from an Air Vehicle Control Station (AVCS) located on the ground. For this demonstration, Proteus was equipped with cooperative collision sensors and the required hardware and software to place the data on the downlink. Prior to the flight phase, a detailed set of flight test scenarios were developed to address the flight test objectives. Two cooperative collision avoidance sensors were utilized for detecting aircraft in the evaluation: Traffic Alert and Collision Avoidance System-II (TCAS-II) and

  9. Biologically inspired collision avoidance system for unmanned vehicles

    NASA Astrophysics Data System (ADS)

    Ortiz, Fernando E.; Graham, Brett; Spagnoli, Kyle; Kelmelis, Eric J.

    2009-05-01

    In this project, we collaborate with researchers in the neuroscience department at the University of Delaware to develop an Field Programmable Gate Array (FPGA)-based embedded computer, inspired by the brains of small vertebrates (fish). The mechanisms of object detection and avoidance in fish have been extensively studied by our Delaware collaborators. The midbrain optic tectum is a biological multimodal navigation controller capable of processing input from all senses that convey spatial information, including vision, audition, touch, and lateral-line (water current sensing in fish). Unfortunately, computational complexity makes these models too slow for use in real-time applications. These simulations are run offline on state-of-the-art desktop computers, presenting a gap between the application and the target platform: a low-power embedded device. EM Photonics has expertise in developing of high-performance computers based on commodity platforms such as graphic cards (GPUs) and FPGAs. FPGAs offer (1) high computational power, low power consumption and small footprint (in line with typical autonomous vehicle constraints), and (2) the ability to implement massively-parallel computational architectures, which can be leveraged to closely emulate biological systems. Combining UD's brain modeling algorithms and the power of FPGAs, this computer enables autonomous navigation in complex environments, and further types of onboard neural processing in future applications.

  10. 33 CFR 83.08 - Action to avoid collision (Rule 8).

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 33 Navigation and Navigable Waters 1 2013-07-01 2013-07-01 false Action to avoid collision (Rule 8). 83.08 Section 83.08 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY INLAND NAVIGATION RULES RULES Steering and Sailing Rules Conduct of Vessels in Any Condition...

  11. Calibration, Information, and Control Strategies for Braking to Avoid a Collision

    ERIC Educational Resources Information Center

    Fajen, Brett R.

    2005-01-01

    This study explored visual control strategies for braking to avoid collision by manipulating information about speed of self-motion. Participants watched computer-generated displays and used a brake to stop at an object in the path of motion. Global optic flow rate and edge rate were manipulated by adjusting eyeheight and ground-texture size.…

  12. Toward a computational approach for collision avoidance with real-world scenes

    NASA Astrophysics Data System (ADS)

    Keil, Matthias S.; Rodriguez-Vazquez, Angel

    2003-04-01

    In the central nervous systems of animals like pigeons and locusts, neurons were identified which signal objects approaching the animal on a direct collision course. In order to timely initiate escape behavior, these neurons must recognize a possible approach (or at least differentiate it from similar but non-threatening situations), and estimate the time-to-collision (ttc). Unraveling the neural circuitry for collision avoidance, and identifying the underlying computational principles, should thus be promising for building vision-based neuromorphic architectures, which in the near future could find applications in cars or planes. Unfortunately, a corresponding computational architecture which is able to handle real-situations (e.g. moving backgrounds, different lighting conditions) is still not available (successful collision avoidance of a robot was demonstrated only for a closed environment). Here we present two computational models for signalling impending collision. These models are parsimonious since they possess only the minimum number of computational units which are essential to reproduce corresponding biological data. Our models show robust performance in adverse situations, such as with approaching low-contrast objects, or with highly textured backgrounds. Furthermore, a condition is proposed under which the responses of our models match the so-called eta-function. We finally discuss which components need to be added to our model to convert it into a full-fledged real-world-environment collision detector.

  13. Status of recent developments in collision avoidance using motion detectors based on insect vision

    NASA Astrophysics Data System (ADS)

    Abbott, Derek; Moini, Alireza; Yakovleff, Andre; Nguyen, X. Thong; Beare, R.; Kim, W.; Bouzerdoum, Abdesselam; Bogner, Robert E.; Eshraghian, Kamran

    1997-02-01

    Insects tend to detect motion rather than images and this together with inherent parallelism in their visual architecture, leads to an efficient and compact means of collision avoidance. A VLSI implementation of a smart microsensor that mimics the early visual processing stage in insects has been developed. The system employs the `smart sensor' paradigm in that the detectors and processing circuitry are integrated on one chip. The IC is ideal for motion detectors, particularly collision avoidance tasks, as it essentially detects the speed, bearing and time-to-impact of a moving object. The Horridge model for insect vision has been directly mapped into VLSI and therefore the IC truly exploits the beauty of nature in that the insect eye is so compact with parallel processing, enabling compact motion detection without the computational overhead of intensive imaging, full image extraction and interpretation. This world-first has exciting applications in areas such as anti- collision for automobiles and autonomous robots.

  14. Collision Avoidance Practises for GEO Satellites in an Operational Control Centre

    NASA Astrophysics Data System (ADS)

    Lorda, L.; Fremeaux, C.

    2009-03-01

    The protection of the geostationary ring has always been a big concern for CNES, in charge of geostationary station-keeping since 1974. In particular, protecting this unique resource implies to absolutely avoid any collision in this region, as it could generate debris that would pollute on a long term basis the whole geostationary ring and so threaten all current and future missions.This paper will focus on CNES recent experience concerning on-orbit collision avoidance for operational geostationary satellites. The different stages of risk mitigation will be discussed : specific practices to increase safety during longitude drift phases, daily screening for conjunctions detection, analysis of risk and decision of performing an avoidance manoeuvre with respect to mission constraints. This process will be illustrated by two examples of operational management for proximity situations.

  15. Design and hardware-in-loop implementation of collision avoidance algorithms for heavy commercial road vehicles

    NASA Astrophysics Data System (ADS)

    Rajaram, Vignesh; Subramanian, Shankar C.

    2016-07-01

    An important aspect from the perspective of operational safety of heavy road vehicles is the detection and avoidance of collisions, particularly at high speeds. The development of a collision avoidance system is the overall focus of the research presented in this paper. The collision avoidance algorithm was developed using a sliding mode controller (SMC) and compared to one developed using linear full state feedback in terms of performance and controller effort. Important dynamic characteristics such as load transfer during braking, tyre-road interaction, dynamic brake force distribution and pneumatic brake system response were considered. The effect of aerodynamic drag on the controller performance was also studied. The developed control algorithms have been implemented on a Hardware-in-Loop experimental set-up equipped with the vehicle dynamic simulation software, IPG/TruckMaker®. The evaluation has been performed for realistic traffic scenarios with different loading and road conditions. The Hardware-in-Loop experimental results showed that the SMC and full state feedback controller were able to prevent the collision. However, when the discrepancies in the form of parametric variations were included, the SMC provided better results in terms of reduced stopping distance and lower controller effort compared to the full state feedback controller.

  16. Driver Behavioral Changes through Interactions with an Automatic Brake System for Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Itoh, Makoto; Fujiwara, Yusuke; Inagaki, Toshiyuki

    This paper discusses driver's behavioral changes as a result of driver's use of an automatic brake system for preventing a rear-end collision from occurring. Three types of automatic brake systems are investigated in this study. Type 1 brake system applies a strong automatic brake when a collision is very imminent. Type 2 brake system initiates brake operation softly when a rear-end crash may be anticipated. Types 1 and 2 are for avoidance of a collision. Type 3 brake system, on the other hand, applies a strong automatic brake to reduce the damage when a collision can not be avoided. An experiment was conducted with a driving simulator in order to analyze the driver's possible behavioral changes. The results showed that the time headway (THW) during car following phase was reduced by use of an automatic brake system of any type. The inverse of time to collision (TTC), which is an index of the driver's brake timing, increased by use of Type 1 brake system when the deceleration rate of the lead vehicle was relatively low. However, the brake timing did not change when the drivers used Type 2 or 3 brake system. As a whole, dangerous behavioral changes, such as overreliance on a brake system, were not observed for either type of brake system.

  17. Three-dimensional audio versus head-down traffic alert and collision avoidance system displays.

    PubMed

    Begault, D R; Pittman, M T

    1996-01-01

    The advantage of a head-up auditory display for situational awareness was evaluated in an experiment designed to measure and compare the acquisition time for capturing visual targets under two conditions: standard head-down Traffic Alert and Collision Avoidance System display and three-dimensional (3-D) audio Traffic Alert and Collision Avoidance System presentation. (The technology used for 3-D audio presentation allows a stereo headphone user to potentially localize a sound at any externalized position in 3-D auditory space). Ten commercial airline crews were tested under full-mission simulation conditions at the NASA-Ames Crew-Vehicle Systems Research Facility Advanced Concepts Flight Simulator. Scenario software generated targets corresponding to aircraft that activated a 3-D aural advisory (the head-up auditory condition) or a standard, visual-audio TCAS advisory (map display with monaural audio alert). Results showed a significant difference in target acquisition time between the two conditions, favoring the 3-D audio Traffic Alert and Collision Avoidance System condition by 500 ms. PMID:11539173

  18. Application of radar for automotive collision avoidance. Volume 1: Technical report

    NASA Technical Reports Server (NTRS)

    Lichtenberg, C. L. (Editor)

    1987-01-01

    The purpose of this project was research and development of an automobile collision avoidance radar system. The major finding was that the application of radar to the automobile collision avoidance problem deserves continued research even though the specific approach investigated in this effort did not perform adequately in its angle measurement capability. Additional findings were that: (1) preliminary performance requirements of a candidate radar system are not unreasonable; (2) the number and severity of traffic accidents could be reduced by using a collision avoidance radar system which observes a fairly wide (at least + or - 10 deg) field of view ahead of the vehicle; (3) the health radiation hazards of a probable radar design are not significant even when a large number of radar-equipped vehicles are considered; (4) effects of inclement weather on radar operation can be accommodated in most cases; (5) the phase monopulse radar technique as implemented demonstrated inferior angle measurement performance which warrants the recommendation of investigating alternative radar techniques; and (6) extended target and multipath effects, which presumably distort the amplitude and phase distribution across the antenna aperture, are responsible for the observed inadequate phase monopulse radar performance.

  19. Error Analysis in a Stereo Vision-Based Pedestrian Detection Sensor for Collision Avoidance Applications

    PubMed Central

    Llorca, David F.; Sotelo, Miguel A.; Parra, Ignacio; Ocaña, Manuel; Bergasa, Luis M.

    2010-01-01

    This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance. PMID:22319323

  20. Error analysis in a stereo vision-based pedestrian detection sensor for collision avoidance applications.

    PubMed

    Llorca, David F; Sotelo, Miguel A; Parra, Ignacio; Ocaña, Manuel; Bergasa, Luis M

    2010-01-01

    This paper presents an analytical study of the depth estimation error of a stereo vision-based pedestrian detection sensor for automotive applications such as pedestrian collision avoidance and/or mitigation. The sensor comprises two synchronized and calibrated low-cost cameras. Pedestrians are detected by combining a 3D clustering method with Support Vector Machine-based (SVM) classification. The influence of the sensor parameters in the stereo quantization errors is analyzed in detail providing a point of reference for choosing the sensor setup according to the application requirements. The sensor is then validated in real experiments. Collision avoidance maneuvers by steering are carried out by manual driving. A real time kinematic differential global positioning system (RTK-DGPS) is used to provide ground truth data corresponding to both the pedestrian and the host vehicle locations. The performed field test provided encouraging results and proved the validity of the proposed sensor for being used in the automotive sector towards applications such as autonomous pedestrian collision avoidance. PMID:22319323

  1. A Bio-inspired Collision Avoidance Model Based on Spatial Information Derived from Motion Detectors Leads to Common Routes

    PubMed Central

    Bertrand, Olivier J. N.; Lindemann, Jens P.; Egelhaaf, Martin

    2015-01-01

    Avoiding collisions is one of the most basic needs of any mobile agent, both biological and technical, when searching around or aiming toward a goal. We propose a model of collision avoidance inspired by behavioral experiments on insects and by properties of optic flow on a spherical eye experienced during translation, and test the interaction of this model with goal-driven behavior. Insects, such as flies and bees, actively separate the rotational and translational optic flow components via behavior, i.e. by employing a saccadic strategy of flight and gaze control. Optic flow experienced during translation, i.e. during intersaccadic phases, contains information on the depth-structure of the environment, but this information is entangled with that on self-motion. Here, we propose a simple model to extract the depth structure from translational optic flow by using local properties of a spherical eye. On this basis, a motion direction of the agent is computed that ensures collision avoidance. Flying insects are thought to measure optic flow by correlation-type elementary motion detectors. Their responses depend, in addition to velocity, on the texture and contrast of objects and, thus, do not measure the velocity of objects veridically. Therefore, we initially used geometrically determined optic flow as input to a collision avoidance algorithm to show that depth information inferred from optic flow is sufficient to account for collision avoidance under closed-loop conditions. Then, the collision avoidance algorithm was tested with bio-inspired correlation-type elementary motion detectors in its input. Even then, the algorithm led successfully to collision avoidance and, in addition, replicated the characteristics of collision avoidance behavior of insects. Finally, the collision avoidance algorithm was combined with a goal direction and tested in cluttered environments. The simulated agent then showed goal-directed behavior reminiscent of components of the navigation

  2. Small UAV Automatic Ground Collision Avoidance System Design Considerations and Flight Test Results

    NASA Technical Reports Server (NTRS)

    Sorokowski, Paul; Skoog, Mark; Burrows, Scott; Thomas, SaraKatie

    2015-01-01

    The National Aeronautics and Space Administration (NASA) Armstrong Flight Research Center Small Unmanned Aerial Vehicle (SUAV) Automatic Ground Collision Avoidance System (Auto GCAS) project demonstrated several important collision avoidance technologies. First, the SUAV Auto GCAS design included capabilities to take advantage of terrain avoidance maneuvers flying turns to either side as well as straight over terrain. Second, the design also included innovative digital elevation model (DEM) scanning methods. The combination of multi-trajectory options and new scanning methods demonstrated the ability to reduce the nuisance potential of the SUAV while maintaining robust terrain avoidance. Third, the Auto GCAS algorithms were hosted on the processor inside a smartphone, providing a lightweight hardware configuration for use in either the ground control station or on board the test aircraft. Finally, compression of DEM data for the entire Earth and successful hosting of that data on the smartphone was demonstrated. The SUAV Auto GCAS project demonstrated that together these methods and technologies have the potential to dramatically reduce the number of controlled flight into terrain mishaps across a wide range of aviation platforms with similar capabilities including UAVs, general aviation aircraft, helicopters, and model aircraft.

  3. Numerical approach of collision avoidance and optimal control on robotic manipulators

    NASA Technical Reports Server (NTRS)

    Wang, Jyhshing Jack

    1990-01-01

    Collision-free optimal motion and trajectory planning for robotic manipulators are solved by a method of sequential gradient restoration algorithm. Numerical examples of a two degree-of-freedom (DOF) robotic manipulator are demonstrated to show the excellence of the optimization technique and obstacle avoidance scheme. The obstacle is put on the midway, or even further inward on purpose, of the previous no-obstacle optimal trajectory. For the minimum-time purpose, the trajectory grazes by the obstacle and the minimum-time motion successfully avoids the obstacle. The minimum-time is longer for the obstacle avoidance cases than the one without obstacle. The obstacle avoidance scheme can deal with multiple obstacles in any ellipsoid forms by using artificial potential fields as penalty functions via distance functions. The method is promising in solving collision-free optimal control problems for robotics and can be applied to any DOF robotic manipulators with any performance indices and mobile robots as well. Since this method generates optimum solution based on Pontryagin Extremum Principle, rather than based on assumptions, the results provide a benchmark against which any optimization techniques can be measured.

  4. Potential interactions of collision avoidance advisories and cockpit displays of traffic information

    NASA Technical Reports Server (NTRS)

    Palmer, E.; Ellis, S. R.

    1983-01-01

    Future aircraft cockpits may be equipped with both collision avoidance systems and cockpit traffic situation displays. This paper summarizes a series of experiments investigating a pilot's ability to make a variety of traffic related decisions with a traffic display. Some of the key findings were: Pilots were not able to accurately judge the future position of an aircraft unless the display contained predictor symbols. Pilots' subjective judgements of threat were inversely proportional to time to closest approach but generally were not sensitive to small changes of other parameters of the encounter. When pilots were asked to make avoidance maneuvers based solely on the traffic display, they began their maneuvers well before a CAS advisory would have been triggered. Provided sufficient time was available, pilots preferred horizontal avoidance maneuvers.

  5. Fuzzy logic path planning system for collision avoidance by an autonomous rover vehicle

    NASA Technical Reports Server (NTRS)

    Murphy, Michael G.

    1993-01-01

    The Space Exploration Initiative of the United States will make great demands upon NASA and its limited resources. One aspect of great importance will be providing for autonomous (unmanned) operation of vehicles and/or subsystems in space flight and surface exploration. An additional, complicating factor is that much of the need for autonomy of operation will take place under conditions of great uncertainty or ambiguity. Issues in developing an autonomous collision avoidance subsystem within a path planning system for application in a remote, hostile environment that does not lend itself well to remote manipulation by Earth-based telecommunications is addressed. A good focus is unmanned surface exploration of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. Four major issues addressed are (1) avoidance of a fuzzy moving obstacle; (2) backoff from a deadend in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system. Examples of the need for collision avoidance by an autonomous rover vehicle on the surface of Mars with a moving obstacle would be wind-blown debris, surface flow or anomalies due to subsurface disturbances, another vehicle, etc. The other issues of backoff, sensor fusion, and adaptive learning are important in the overall path planning system.

  6. Adaptive Resampling Particle Filters for GPS Carrier-Phase Navigation and Collision Avoidance System

    NASA Astrophysics Data System (ADS)

    Hwang, Soon Sik

    resampling step for real-time kinematics GPS navigation. The experimental results demonstrate the performance of the ART and the insensitivity of the proposed approach to GPS CP cycle-slips. Third, the GPS has great potential for the development of new collision avoidance systems and is being considered for the next generation Traffic alert and Collision Avoidance System (TCAS). The current TCAS equipment, is capable of broadcasting GPS code information to nearby airplanes, and also, the collision avoidance system using the navigation information based on GPS code has been studied by researchers. In this dissertation, the aircraft collision detection system using GPS CP information is addressed. The PF with position samples is employed for the CP based relative position estimation problem and the same algorithm can be used to determine the vehicle attitude if multiple GPS antennas are used. For a reliable and enhanced collision avoidance system, three dimensional trajectories are projected using the estimates of the relative position, velocity, and the attitude. It is shown that the performance of GPS CP based collision detecting algorithm meets the accuracy requirements for a precise approach of flight for auto landing with significantly less unnecessary collision false alarms and no miss alarms.

  7. Advanced Whale Detection Methods to Improve Whale-Ship Collision Avoidance

    NASA Astrophysics Data System (ADS)

    McGillivary, P. A.; Tougher, B.

    2010-12-01

    Collisions between whales and ships are now estimated to account for fully a third of all whale deaths worldwide. Such collisions can incur costly ship repairs, and may damage or disable ship steering requiring costly response efforts from state and federal agencies. While collisions with rare whale species are problematic in further reducing their low population numbers, collisions with some of the more abundant whale species are also becoming more common as their populations increase. The problem is compounded as ship traffic likewise continues to grow, thus posing a growing risk to both whales and ships. Federal agencies are considering policies to alter shipping lanes to minimize whale-ship collisions off California and elsewhere. Similar efforts have already been undertaken for the Boston Harbor ship approach, where a bend in the shipping lane was introduced to reduce ship traffic through a favorite area of the highly endangered North Atlantic Right Whale. The Boston shipping approach lane was also flanked with a system of moorings with whale detection hydrophones which broadcast the presence of calling whales in or near the ship channel to approaching ships in real time. When so notified, ships can post lookouts to avoid whale collisions, and reduce speed to reduce the likelihood of whale death, which is highly speed dependent. To reduce the likelihood and seriousness of whale-ship collisions off California and Alaska in particular, there is a need to better know areas of particularly high use by whales, and consider implementation of reduced ship speeds in these areas. There is also an ongoing discussion of altering shipping lanes in the Santa Barbara Channel to avoid habitual Blue whales aggregation areas in particular. However, unlike the case for Boston Harbor, notification of ships that whales are nearby to reduce or avoid collisions is complicated because many California and Alaska whale species do not call regularly, and would thus be undetected by

  8. A study of the TCAS 2 collision avoidance system mounted on a Boeing 737 aircraft

    NASA Technical Reports Server (NTRS)

    Grandchamp, B.; Burnside, W. D.; Rojas, R. G.

    1987-01-01

    The purpose of this report is to determine the effects of scattering from major aircraft structures on the TCAS 2 collision avoidance system mounted on a Boeing 737. It is found that the major source of scattering for angles of observation above the horizon is the vertical stabilizer and that its effect may be greatly reduced by mounting the TCAS 2 array close to the nose of the aircraft. In addition, by mounting the array close to the nose, the effects of fuselage blockage on the array patterns at elevation angles below the horizon may be greatly reduced in the forward direction.

  9. Application of radar for automotive collision avoidance. Volume 2: Development plan and progress reports

    NASA Technical Reports Server (NTRS)

    Lichtenberg, Christopher L. (Editor)

    1987-01-01

    The purpose of this project was research and development of an automobile collision avoidance radar system. Items within the scope of the one-year effort were to: (1) review previous authors' work in this field; (2) select a suitable radar approach; (3) develop a system design; (4) perform basic analyses and observations pertinent to radar design, performance, and effects; (5) fabricate and collect radar data from a data collection radar; (6) analyze and derive conclusions from the radar data; and (7) make recommendations about the likelihood of success of the investigated radar techniques. The final technical report presenting all conclusions is contained in Volume 1.

  10. A Summary of the NASA ISS Space Debris Collision Avoidance Program

    NASA Technical Reports Server (NTRS)

    Frisbee, Joseph

    2002-01-01

    Creating and implementing a process for the mitigation of the impact hazards due to cornets and asteroids will prove to be a complex and involved process. The closest similar program is the collision avoidance process currently used for protection of the International Space Station (ISS). This process, in operation for over three years, has many similarities to the NEG risk problem. By reviewing the ISS program, a broader perspective on the complications of and requirements for a NEO risk mitigation program might be obtained. Specifically, any lessons learned and continuing issues of concern might prove useful in the development of a NEO risk assessment and mitigation program.

  11. On Capaciflector sensor data interpretation using the constrained deconvolution algorithm. [proximity imaging system for collision avoidance

    NASA Technical Reports Server (NTRS)

    Campbell, Charles E., Jr.; Kizhner, Semion

    1992-01-01

    The Capaciflector, a capacitive proximity sensor, is being developed by NASA for collision avoidance. Capaciflector provides a single output value as measure of altered base frequency. This value is a characteristic of an external object in the sensor's field of view. An attempt is made to use the Capaciflector for imaging with operating range from 1 to 2 inches. By positional arangement of sensors in a grid pattern and electronic activation of sensors over the grid one at a time an object characteristic image is obtained. The article describes the Capaciflector experimental imaging system and preliminary results obtained by the system.

  12. Fuzzy Logic Path Planning System for Collision Avoidance by an Autonomous Rover Vehicle

    NASA Technical Reports Server (NTRS)

    Murphy, Michael G.

    1991-01-01

    Systems already developed at JSC have shown the benefits of applying fuzzy logic control theory to space related operations. Four major issues are addressed that are associated with developing an autonomous collision avoidance subsystem within a path planning system designed for application in a remote, hostile environment that does not lend itself well to remote manipulation of the vehicle involved through Earth-based telecommunication. A good focus for this is unmanned exploration of the surface of Mars. The uncertainties involved indicate that robust approaches such as fuzzy logic control are particularly appropriate. The four major issues addressed are: (1) avoidance of a single fuzzy moving obstacle; (2) back off from a dead end in a static obstacle environment; (3) fusion of sensor data to detect obstacles; and (4) options for adaptive learning in a path planning system.

  13. Collision Avoidance Short Course: Conjunction Assessment Risk Analysis - NASA Robotic CARA. Part I: ; Theory

    NASA Technical Reports Server (NTRS)

    Hejduk, M. D.; Frigm, Ryan C.

    2015-01-01

    Satellite conjunction assessment is perhaps the fastest growing area in space situational awareness and protection with military, civil and commercial satellite owner-operators embracing more and more sophisticated processes to avoid the avoidable - namely collisions between high value space assets and orbital debris. NASA and Centre National d'Etudes Spatiales (CNES) have collaborated to offer an introductory short course on all the major aspects of the conjunctions assessment problem. This half-day course will cover satellite conjunction dynamics and theory. Joint Space Operations Center (JsPOC) conjunction data products, major risk assessment parameters and plots, conjunction remediation decision support, and present and future challenges. This briefing represents the NASA portion of the course.

  14. Remote Maneuver of Space Debris Using Photon Pressure for Active Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Smith, C.

    2014-09-01

    The Space Environment Research Corporation (SERC) is a consortium of companies and research institutions that have joined together to pursue research and development of technologies and capabilities that will help to preserve the orbital space environment. The consortium includes, Electro Optics Systems (Australia), Lockheed Martin Australia, Optus Satellite Systems (Australia), The Australian national University, RMIT University, National Institute of Information and Communications Technology (NICT, Japan) as well as affiliates from NASA Ames and ESA. SERC is also the recipient of and Australian Government Cooperative Research Centre grant. SERC will pursue a wide ranging research program including technologies to improve tracking capability and capacity, orbit determination and propagation algorithms, conjunction analysis and collision avoidance. All of these technologies will contribute to the flagship program to demonstrate active collision avoidance using photon pressure to provide remote maneuver of space debris. This project joins of the proposed NASA Lightforce concept with infrastructure and capabilities provided by SERC. This paper will describe the proposed research and development program to provide an on-orbit demonstration within the next five years for remote maneuver of space debris.

  15. CA-LOD: Collision Avoidance Level of Detail for Scalable, Controllable Crowds

    NASA Astrophysics Data System (ADS)

    Paris, Sébastien; Gerdelan, Anton; O'Sullivan, Carol

    The new wave of computer-driven entertainment technology throws audiences and game players into massive virtual worlds where entire cities are rendered in real time. Computer animated characters run through inner-city streets teeming with pedestrians, all fully rendered with 3D graphics, animations, particle effects and linked to 3D sound effects to produce more realistic and immersive computer-hosted entertainment experiences than ever before. Computing all of this detail at once is enormously computationally expensive, and game designers as a rule, have sacrificed the behavioural realism in favour of better graphics. In this paper we propose a new Collision Avoidance Level of Detail (CA-LOD) algorithm that allows games to support huge crowds in real time with the appearance of more intelligent behaviour. We propose two collision avoidance models used for two different CA-LODs: a fuzzy steering focusing on the performances, and a geometric steering to obtain the best realism. Mixing these approaches allows to obtain thousands of autonomous characters in real time, resulting in a scalable but still controllable crowd.

  16. Modeling of driver's collision avoidance maneuver based on controller switching model.

    PubMed

    Kim, Jong-Hae; Hayakawa, Soichiro; Suzuki, Tatsuya; Hayashi, Koji; Okuma, Shigeru; Tsuchida, Nuio; Shimizu, Masayuki; Kido, Shigeyuki

    2005-12-01

    This paper presents a modeling strategy of human driving behavior based on the controller switching model focusing on the driver's collision avoidance maneuver. The driving data are collected by using the three-dimensional (3-D) driving simulator based on the CAVE Automatic Virtual Environment (CAVE), which provides stereoscopic immersive virtual environment. In our modeling, the control scenario of the human driver, that is, the mapping from the driver's sensory information to the operation of the driver such as acceleration, braking, and steering, is expressed by Piecewise Polynomial (PWP) model. Since the PWP model includes both continuous behaviors given by polynomials and discrete logical conditions, it can be regarded as a class of Hybrid Dynamical System (HDS). The identification problem for the PWP model is formulated as the Mixed Integer Linear Programming (MILP) by transforming the switching conditions into binary variables. From the obtained results, it is found that the driver appropriately switches the "control law" according to the sensory information. In addition, the driving characteristics of the beginner driver and the expert driver are compared and discussed. These results enable us to capture not only the physical meaning of the driving skill but the decision-making aspect (switching conditions) in the driver's collision avoidance maneuver as well. PMID:16366240

  17. Collision avoidance in next-generation fiber positioner robotic systems for large survey spectrographs

    NASA Astrophysics Data System (ADS)

    Makarem, Laleh; Kneib, Jean-Paul; Gillet, Denis; Bleuler, Hannes; Bouri, Mohamed; Jenni, Laurent; Prada, Francisco; Sanchez, Justo

    2014-06-01

    Some of the next-generation massive spectroscopic survey projects plan to use thousands of fiber positioner robots packed at a focal plane to quickly move the fiber ends in parallel from the previous to the next target points. The most direct trajectories are prone to collision that could damage the robots and have an impact on the survey operation. We thus present here a motion planning method based on a novel decentralized navigation function for collision-free coordination of fiber positioners. The navigation function takes into account the configuration of positioners as well as the actuator constraints. We provide details of the proof of convergence and collision avoidance. Decentralization results in linear complexity for the motion planning as well as no dependence of motion duration on the number of positioners. Therefore, the coordination method is scalable for large-scale spectrograph robots. The short in-motion duration of positioner robots will thus allow the time dedicated for observation to be maximized.

  18. Elderly adults delay proprioceptive reweighting during the anticipation of collision avoidance when standing.

    PubMed

    Eikema, D J A; Hatzitaki, V; Konstantakos, V; Papaxanthis, C

    2013-03-27

    The ability to reweight visual and proprioceptive information is critical for maintaining postural stability in a dynamic environment. In this study, we examined whether visual anticipation of collision avoidance (AV) while standing could facilitate the down-weighting of altered proprioception in young and elderly adults. Twelve young (24.91±6.44years) and 12 elderly (74.8±6.42years) participants stood upright for 180s under two task conditions: (a) quiet stance (QS) and (b) standing while anticipating virtual objects to be avoided. In order to disrupt the accuracy of proprioceptive input participants were exposed to bilateral Achilles tendon vibration during the middle 60s of standing in both tasks. Visual field dependence was assessed using the Rod and Frame Test (RFT). Elderly demonstrated significantly higher visual field dependence compared to the young participants. Analysis of the normalized Root Mean Square (RMS) of the Center of Pressure velocity (dCoP) revealed that young participants immediately reduced the sway velocity variability induced by tendon vibration during the anticipation of collision AV compared to the QS task. In the elderly, however, the modulating influence of visual anticipation was delayed and became significant only in the last two time intervals of the vibration phase. These results suggest that volitionally shifting reliance on vision when anticipating a collision AV event facilitates the down-weighting of altered proprioception. Elderly adults seem to be unable to dynamically exploit visual anticipation in order to down weight the altered proprioception possibly as a result of their more permanent up-weighting of the visual modality. Sensory reweighting seems to be a more time consuming process in aging which may have important clinical implications for falling. PMID:23305764

  19. Optimal Recovery Trajectories for Automatic Ground Collision Avoidance Systems (Auto GCAS)

    NASA Astrophysics Data System (ADS)

    Suplisson, Angela W.

    The US Air Force recently fielded the F-16 Automatic Ground Collision Avoidance System (Auto GCAS). This system meets the operational requirements of being both aggressive and timely, meaning that extremely agile avoidance maneuvers will be executed at the last second to avoid the ground. This small window of automatic operation maneuvering in close proximity to the ground makes the problem challenging. There currently exists no similar Auto GCAS for manned military 'heavy' aircraft with lower climb performance such as transport, tanker, or bomber aircraft. The F-16 Auto GCAS recovery is a single pre-planned roll to wings-level and 5-g pull-up which is very effective for fighters due to their high g and climb performance, but it is not suitable for military heavy aircraft. This research proposes a new optimal control approach to the ground collision avoidance problem for heavy aircraft by mapping the aggressive and timely requirements of the automatic recovery to the optimal control formulation which includes lateral maneuvers around terrain. This novel mapping creates two ways to pose the optimal control problem for Auto GCAS; one as a Max Distance with a Timely Trigger formulation and the other as a Min Control with an Aggressive Trigger formulation. Further, the optimal path and optimal control admitted by these two formulations are demonstrated to be equivalent at the point the automatic recovery is initiated for the simplified 2-D case. The Min Control formulation was demonstrated to have faster computational speed and was chosen for the 3-D case. Results are presented for representative heavy aircraft scenarios against 3-D digital terrain. The Min Control formulation was then compared to a Multi-Trajectory Auto GCAS with five pre-planned maneuvers. Metrics were developed to quantify the improvement from using an optimal approach versus the pre-planned maneuvers. The proposed optimal Min Control method was demonstrated to require less control or trigger later

  20. Head-Up Auditory Displays for Traffic Collision Avoidance System Advisories: A Preliminary Investigation

    NASA Technical Reports Server (NTRS)

    Begault, Durand R.

    1993-01-01

    The advantage of a head-up auditory display was evaluated in a preliminary experiment designed to measure and compare the acquisition time for capturing visual targets under two auditory conditions: standard one-earpiece presentation and two-earpiece three-dimensional (3D) audio presentation. Twelve commercial airline crews were tested under full mission simulation conditions at the NASA-Ames Man-Vehicle Systems Research Facility advanced concepts flight simulator. Scenario software generated visual targets corresponding to aircraft that would activate a traffic collision avoidance system (TCAS) aural advisory; the spatial auditory position was linked to the visual position with 3D audio presentation. Results showed that crew members using a 3D auditory display acquired targets approximately 2.2 s faster than did crew members who used one-earpiece head- sets, but there was no significant difference in the number of targets acquired.

  1. Comparing and validating models of driver steering behaviour in collision avoidance and vehicle stabilisation

    NASA Astrophysics Data System (ADS)

    Markkula, G.; Benderius, O.; Wahde, M.

    2014-12-01

    A number of driver models were fitted to a large data set of human truck driving, from a simulated near-crash, low-friction scenario, yielding two main insights: steering to avoid a collision was best described as an open-loop manoeuvre of predetermined duration, but with situation-adapted amplitude, and subsequent vehicle stabilisation could to a large extent be accounted for by a simple yaw rate nulling control law. These two phenomena, which could be hypothesised to generalise to passenger car driving, were found to determine the ability of four driver models adopted from the literature to fit the human data. Based on the obtained results, it is argued that the concept of internal vehicle models may be less valuable when modelling driver behaviour in non-routine situations such as near-crashes, where behaviour may be better described as direct responses to salient perceptual cues. Some methodological issues in comparing and validating driver models are also discussed.

  2. Analysis of Compression Algorithm in Ground Collision Avoidance Systems (Auto-GCAS)

    NASA Technical Reports Server (NTRS)

    Schmalz, Tyler; Ryan, Jack

    2011-01-01

    Automatic Ground Collision Avoidance Systems (Auto-GCAS) utilizes Digital Terrain Elevation Data (DTED) stored onboard a plane to determine potential recovery maneuvers. Because of the current limitations of computer hardware on military airplanes such as the F-22 and F-35, the DTED must be compressed through a lossy technique called binary-tree tip-tilt. The purpose of this study is to determine the accuracy of the compressed data with respect to the original DTED. This study is mainly interested in the magnitude of the error between the two as well as the overall distribution of the errors throughout the DTED. By understanding how the errors of the compression technique are affected by various factors (topography, density of sampling points, sub-sampling techniques, etc.), modifications can be made to the compression technique resulting in better accuracy. This, in turn, would minimize unnecessary activation of A-GCAS during flight as well as maximizing its contribution to fighter safety.

  3. Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

    NASA Technical Reports Server (NTRS)

    Prinz, F. B. S.; Mahalingam, S.

    1992-01-01

    A capacitance based proximity sensor, the 'Capaciflector' (Vranish 92), has been developed at the Goddard Space Flight Center of NASA. We had investigated the use of this sensor for avoiding and maneuvering around unexpected objects (Mahalingam 92). The approach developed there would help in executing collision-free gross motions. Another important aspect of robot motion planning is fine motion planning. Let us classify manipulator robot motion planning into two groups at the task level: gross motion planning and fine motion planning. We use the term 'gross planning' where the major degrees of freedom of the robot execute large motions, for example, the motion of a robot in a pick and place type operation. We use the term 'fine motion' to indicate motions of the robot where the large dofs do not move much, and move far less than the mirror dofs, such as in inserting a peg in a hole. In this report we describe our experiments and experiences in this area.

  4. A 5 meter range non-planar CMUT array for Automotive Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Hernandez Aguirre, Jonathan

    A discretized hyperbolic paraboloid geometry capacitive micromachined ultrasonic transducer (CMUT) array has been designed and fabricated for automotive collision avoidance. The array is designed to operate at 40 kHz, beamwidth of 40° with a maximum sidelobe intensity of -10dB. An SOI based fabrication technology has been used for the 5x5 array with 5 sensing surfaces along each x and y axis and 7 elevation levels. An assembly and packaging technique has been developed to realize the non-planar geometry in a PGA-68 package. A highly accurate mathematical method has been presented for analytical characterization of capacitive micromachined ultrasonic transducers (CMUTs) built with square diaphragms. The method uses a new two-dimensional polynomial function to more accurately predict the deflection curve of a multilayer square diaphragm subject to both mechanical and electrostatic pressure and a new capacitance model that takes into account the contribution of the fringing field capacitances.

  5. A study of a collision avoidance system mounted on a curved ground plane

    NASA Technical Reports Server (NTRS)

    Law, P. H.; Burnside, W. D.; Rojas, R. G.

    1986-01-01

    Research conducted on a traffic advisory and collision avoidance system (TCAS 2) mounted on a curved ground plane is described. It is found that a curved finite ground plane can be used as a good simulation model for the fuselage of an aircraft but may not be good enough to model a whole aircraft due to the shadowing of the vertical stabilizer, wings, etc. The surface curvature of this curved disc significantly affects the monopulse characteristics in the azimuth plane but not as much in the elevation plane. These variations of the monopulse characteristics verify the need of a lookup table for the 64 azimuth beam positions. The best location of a TCAS 2 array on a Boeing 737 is to move it as far from the vertical stabilizer as possible.

  6. New VLSI smart sensor for collision avoidance inspired by insect vision

    NASA Astrophysics Data System (ADS)

    Abbott, Derek; Moini, Alireza; Yakovleff, Andre; Nguyen, X. Thong; Blanksby, Andrew; Kim, Gyudong; Bouzerdoum, Abdesselam; Bogner, Robert E.; Eshraghian, Kamran

    1995-01-01

    An analog VLSI implementation of a smart microsensor that mimics the early visual processing stage in insects is described with an emphasis on the overall concept and the front- end detection. The system employs the `smart sensor' paradigm in that the detectors and processing circuitry are integrated on the one chip. The integrated circuit is composed of sixty channels of photodetectors and parallel processing elements. The photodetection circuitry includes p-well junction diodes on a 2 micrometers CMOS process and a logarithmic compression to increase the dynamic range of the system. The future possibility of gallium arsenide implementation is discussed. The processing elements behind each photodetector contain a low frequency differentiator where subthreshold design methods have been used. The completed IC is ideal for motion detection, particularly collision avoidance tasks, as it essentially detects distance, speed & bearing of an object. The Horridge Template Model for insect vision has been directly mapped into VLSI and therefore the IC truly exploits the beauty of nature in that the insect eye is so compact with parallel processing, enabling compact motion detection without the computational overhead of intensive imaging, full image extraction and interpretation. This world-first has exciting applications in the areas of automobile anti- collision, IVHS, autonomous robot guidance, aids for the blind, continuous process monitoring/web inspection and automated welding, for example.

  7. A collision avoidance algorithm for the mobile robot and the robot manipulator in multi-robot system

    NASA Astrophysics Data System (ADS)

    Jih, Yeung-Jaw Joe

    1991-08-01

    As the modern, highly automated factory becomes more and more complicated, the collision avoidance between robots and other obstacles in the work space becomes increasingly important as well. A local collision avoidance algorithm which was developed based on the general structure of the Artificial Potential Field Force along with the Strategy Force and the Pseudo Distance Function is presented. In this algorithm, a goal attracting force is defined in order to drive the robot from the starting position to the goal position. When the distance between a robot and obstacle becomes smaller than a pre-defined effective avoidance distance, an artificial repulsion force is generated as a function of the distance resulting in repulsion between the two closing objects. The commanding force (by combining goal attracting force and the repulsion force) drives the robot toward the goal position without colliding with other objects in the work space. Since the repulsion force, developed here, depends on the distance only, the complicated geometric function for the object model is less important in the algorithm used in this dissertation. The simplicity of this improved artificial force collision algorithm would make it possible to be used on a real-time basis within a time variant environment. Further improvement is realized by introducing a Strategy Force within the Artificial Force whenever a locking situation is detected. The Euclidean distance between the objects normally used in this algorithm is also replaced by a defined Pseudo Distance calculated by a Pseudo Distance Function. The Pseudo Distance Function uses basic geometric information between two objects to calculate the Pseudo Distance. The Pseudo Distance is always smaller than the true minimum distance. This greatly simplified robot collision avoidance algorithm is applicable not only on a two-dimensional mobile robot system but on a three-dimensional multi-robot system as well. Simulations are performed on both

  8. A Collision Avoidance Strategy for a Potential Natural Satellite around the Asteroid Bennu for the OSIRIS-REx Mission

    NASA Technical Reports Server (NTRS)

    Mashiku, Alinda K.; Carpenter, J. Russell

    2016-01-01

    The cadence of proximity operations for the OSIRIS-REx mission may have an extra induced challenge given the potential of the detection of a natural satellite orbiting the asteroid Bennu. Current ground radar observations for object detection orbiting Bennu show no found objects within bounds of specific size and rotation rates. If a natural satellite is detected during approach, a different proximity operation cadence will need to be implemented as well as a collision avoidance strategy for mission success. A collision avoidance strategy will be analyzed using the Wald Sequential Probability Ratio Test.

  9. Conceptual model for collision detection and avoidance for runway incursion prevention

    NASA Astrophysics Data System (ADS)

    Latimer, Bridgette A.

    The Federal Aviation Administration (FAA), National Transportation and Safety Board (NTSB), National Aeronautics and Space Administration (NASA), numerous corporate entities, and research facilities have each come together to determine ways to make air travel safer and more efficient. These efforts have resulted in the development of a concept known as the Next Generation (Next Gen) of Aircraft or Next Gen. The Next Gen concept promises to be a clear departure from the way in which aircraft operations are performed today. The Next Gen initiatives require that modifications are made to the existing National Airspace System (NAS) concept of operations, system level requirements, software (SW) and hardware (HW) requirements, SW and HW designs and implementations. A second example of the changes in the NAS is the shift away from air traffic controllers having the responsibility for separation assurance. In the proposed new scheme of free flight, each aircraft would be responsible for assuring that it is safely separated from surrounding aircraft. Free flight would allow the separation minima for enroute aircraft to be reduced from 2000 nautical miles (nm) to 1000 nm. Simply put "Free Flight is a concept of air traffic management that permits pilots and controllers to share information and work together to manage air traffic from pre-flight through arrival without compromising safety [107]." The primary goal of this research project was to create a conceptual model that embodies the essential ingredients needed for a collision detection and avoidance system. This system was required to operate in two modes: air traffic controller's perspective and pilot's perspective. The secondary goal was to demonstrate that the technologies, procedures, and decision logic embedded in the conceptual model were able to effectively detect and avoid collision risks from both perspectives. Embodied in the conceptual model are five distinct software modules: Data Acquisition, State

  10. Fuzzy logic control system to provide autonomous collision avoidance for Mars rover vehicle

    NASA Technical Reports Server (NTRS)

    Murphy, Michael G.

    1990-01-01

    NASA is currently involved with planning unmanned missions to Mars to investigate the terrain and process soil samples in advance of a manned mission. A key issue involved in unmanned surface exploration on Mars is that of supporting autonomous maneuvering since radio communication involves lengthy delays. It is anticipated that specific target locations will be designated for sample gathering. In maneuvering autonomously from a starting position to a target position, the rover will need to avoid a variety of obstacles such as boulders or troughs that may block the shortest path to the target. The physical integrity of the rover needs to be maintained while minimizing the time and distance required to attain the target position. Fuzzy logic lends itself well to building reliable control systems that function in the presence of uncertainty or ambiguity. The following major issues are discussed: (1) the nature of fuzzy logic control systems and software tools to implement them; (2) collision avoidance in the presence of fuzzy parameters; and (3) techniques for adaptation in fuzzy logic control systems.

  11. The Traffic-Alert and Collision Avoidance System (TCAS) in the glass cockpit

    NASA Technical Reports Server (NTRS)

    Chappell, Sheryl L.

    1988-01-01

    This volume contains the contributions of the participants in the NASA Ames Research Center workshop on the traffic-alert and collision avoidance system (TCAS) implementation for aircraft with cathode ray tube (CRT) or flat panel displays. To take advantage of the display capability of the advanced-technology aircraft, NASA sponsored this workshop with the intent of bringing together industry personnel, pilots, and researchers so that pertinent issues in the area could be identified. During the 2-day workshop participants addressed a number of issues including: What is the optimum format for TCAS advisories. Where and how should maneuver advisories be presented to the crew. Should the maneuver advisories be presented on the primary flight display. Is it appropriate to have the autopilot perform the avoidance maneuver. Where and how should traffic information be presented to the crew. Should traffic information be combined with weather and navigation information. How much traffic should be shown and what ranges should be used. Contained in the document are the concepts and suggestions produced by the workshop participants.

  12. Step 1:Human System Integration (HSI) FY05 Pilot-Technology Interface Requirements for Collision Avoidance

    NASA Technical Reports Server (NTRS)

    2007-01-01

    This document provides definition of technology human interface requirements for Collision Avoidance (CA). This was performed through a review of CA-related, HSI requirements documents, standards, and recommended practices. Technology concepts in use by the Access 5 CA work package were considered... Beginning with the HSI high-level functional requirement for CA, and CA technology elements, HSI requirements for the interface to the pilot were identified. Results of the analysis describe (1) the information required by the pilot to have knowledge CA system status, and (2) the control capability needed by the pilot to obtain CA information and affect an avoidance maneuver. Fundamentally, these requirements provide the candidate CA technology concepts with the necessary human-related elements to make them compatible with human capabilities and limitations. The results of the analysis describe how CA operations and functions should interface with the pilot to provide the necessary CA functionality to the UA-pilot system .Requirements and guidelines for CA are partitioned into four categories: (1) General, (2) Alerting, (3) Guidance, and (4) Cockpit Display of Traffic Information. Each requirement is stated and is supported with a rationale and associated reference(s).

  13. Cost and benefit estimates of partially-automated vehicle collision avoidance technologies.

    PubMed

    Harper, Corey D; Hendrickson, Chris T; Samaras, Constantine

    2016-10-01

    Many light-duty vehicle crashes occur due to human error and distracted driving. Partially-automated crash avoidance features offer the potential to reduce the frequency and severity of vehicle crashes that occur due to distracted driving and/or human error by assisting in maintaining control of the vehicle or issuing alerts if a potentially dangerous situation is detected. This paper evaluates the benefits and costs of fleet-wide deployment of blind spot monitoring, lane departure warning, and forward collision warning crash avoidance systems within the US light-duty vehicle fleet. The three crash avoidance technologies could collectively prevent or reduce the severity of as many as 1.3 million U.S. crashes a year including 133,000 injury crashes and 10,100 fatal crashes. For this paper we made two estimates of potential benefits in the United States: (1) the upper bound fleet-wide technology diffusion benefits by assuming all relevant crashes are avoided and (2) the lower bound fleet-wide benefits of the three technologies based on observed insurance data. The latter represents a lower bound as technology is improved over time and cost reduced with scale economies and technology improvement. All three technologies could collectively provide a lower bound annual benefit of about $18 billion if equipped on all light-duty vehicles. With 2015 pricing of safety options, the total annual costs to equip all light-duty vehicles with the three technologies would be about $13 billion, resulting in an annual net benefit of about $4 billion or a $20 per vehicle net benefit. By assuming all relevant crashes are avoided, the total upper bound annual net benefit from all three technologies combined is about $202 billion or an $861 per vehicle net benefit, at current technology costs. The technologies we are exploring in this paper represent an early form of vehicle automation and a positive net benefit suggests the fleet-wide adoption of these technologies would be beneficial

  14. Stereo-vision framework for autonomous vehicle guidance and collision avoidance

    NASA Astrophysics Data System (ADS)

    Scott, Douglas A.

    2003-08-01

    During a pre-programmed course to a particular destination, an autonomous vehicle may potentially encounter environments that are unknown at the time of operation. Some regions may contain objects or vehicles that were not anticipated during the mission-planning phase. Often user-intervention is not possible or desirable under these circumstances. Thus it is required for the onboard navigation system to automatically make short-term adjustments to the flight plan and to apply the necessary course corrections. A suitable path is visually navigated through the environment to reliably avoid obstacles without significant deviations from the original course. This paper describes a general low-cost stereo-vision sensor framework, for passively estimating the range-map between a forward-looking autonomous vehicle and its environment. Typical vehicles may be either unmanned ground or airborne vehicles. The range-map image describes a relative distance from the vehicle to the observed environment and contains information that could be used to compute a navigable flight plan, and also visual and geometric detail about the environment for other onboard processes or future missions. Aspects relating to information flow through the framework are discussed, along with issues such as robustness, implementation and other advantages and disadvantages of the framework. An outline of the physical structure of the system is presented and an overview of the algorithms and applications of the framework are given.

  15. LightForce Photon-Pressure Collision Avoidance: Efficiency Assessment on an Entire Catalogue of Space Debris

    NASA Technical Reports Server (NTRS)

    Stupl, Jan Michael; Faber, Nicolas; Foster, Cyrus; Yang Yang, Fan; Levit, Creon

    2013-01-01

    The potential to perturb debris orbits using photon pressure from ground-based lasers has been confirmed by independent research teams. Two useful applications of this scheme are protecting space assets from impacts with debris and stabilizing the orbital debris environment, both relying on collision avoidance rather than de-orbiting debris. This paper presents the results of a new assessment method to analyze the efficiency of the concept for collision avoidance. Earlier research concluded that one ground based system consisting of a 10 kW class laser, directed by a 1.5 m telescope with adaptive optics, can prevent a significant fraction of debris-debris collisions in low Earth orbit. That research used in-track displacement to measure efficiency and restricted itself to an analysis of a limited number of objects. As orbit prediction error is dependent on debris object properties, a static displacement threshold should be complemented with another measure to assess the efficiency of the scheme. In this paper we present the results of an approach using probability of collision. Using a least-squares fitting method, we improve the quality of the original TLE catalogue in terms of state and co-state accuracy. We then calculate collision probabilities for all the objects in the catalogue. The conjunctions with the highest risk of collision are then engaged by a simulated network of laser ground stations. After those engagements, the perturbed orbits are used to re-assess the collision probability in a 20 minute window around the original conjunction. We then use different criteria to evaluate the utility of the laser-based collision avoidance scheme and assess the number of base-line ground stations needed to mitigate a significant number of high probability conjunctions. Finally, we also give an account how a laser ground station can be used for both orbit deflection and debris tracking.

  16. Operational Impact of Improved Space Tracking on Collision Avoidance in the Future LEO Space Debris Environment

    NASA Astrophysics Data System (ADS)

    Sibert, D.; Borgeson, D.; Peterson, G.; Jenkin, A.; Sorge, M.

    2010-09-01

    Even if global space policy successfully curtails on orbit explosions and ASAT demonstrations, studies indicate that the number of debris objects in Low Earth Orbit (LEO) will continue to grow solely from debris on debris collisions and debris generated from new launches. This study examines the threat posed by this growing space debris population over the next 30 years and how improvements in our space tracking capabilities can reduce the number of Collision Avoidance (COLA) maneuvers required keep the risk of operational satellite loss within tolerable limits. Particular focus is given to satellites operated by the Department of Defense (DoD) and Intelligence Community (IC) in Low Earth Orbit (LEO). The following debris field and space tracking performance parameters were varied parametrically in the experiment to study the impact on the number of collision avoidance maneuvers required: - Debris Field Density (by year 2009, 2019, 2029, and 2039) - Quality of Track Update (starting 1 sigma error ellipsoid) - Future Propagator Accuracy (error ellipsoid growth rates - Special Perturbations in 3 axes) - Track Update Rate for Debris (stochastic) - Track Update Rate for Payloads (stochastic) Baseline values matching present day tracking performance for quality of track update, propagator accuracy, and track update rate were derived by analyzing updates to the unclassified Satellite Catalog (SatCat). Track update rates varied significantly for active payloads and debris and as such we used different models for the track update rates for military payloads and debris. The analysis was conducted using the System Effectiveness Analysis Simulation (SEAS) an agent based model developed by the United States Air Force Space Command’s Space and Missile Systems Center to evaluate the military utility of space systems. The future debris field was modeled by The Aerospace Corporation using a tool chain which models the growth of the 10cm+ debris field using high fidelity

  17. Collision avoidance during teleoperation using whole arm proximity sensors coupled to a virtual environment

    SciTech Connect

    Novak, J.L.; Feddema, J.T.; Miner, N.E.; Stansfield, S.A.

    1993-08-01

    Much of the current robotics effort at the US DOE is directed toward remote handling of hazardous waste. Telerobotic systems are being developed to remotely inspect, characterize, and process waste. This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on an articulated robot arm. The capacitance-based sensors generate electric fields which completely encompass the robot arm and detect obstacles as they approach from any direction. The robot is moved through the workspace using a velocity command generated either by an operator through a force-sensing input device or a preprogrammed sequence of motions. The directional obstacle information gathered by the WHAP sensors is then used in a matrix column maximization algorithm that automatically selects the sensor closest to an obstacle during each robot controller cycle. The distance from this sensor to the obstacle is used to reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful perturbation of the velocity command to prevent a collision. By scaling only the component of the velocity vector in the direction of the nearest obstacle, the control system restricts motion in the direction of an obstacle while permitting unconstrained motion in other directions. The actual robot joint positions and the WHAP sensor readings are communicated to an operator interface consisting of a graphical model of the Puma robot and its environment. Circles are placed on the graphical robot surface at positions corresponding to the locations of the WHAP sensor. As the individual sensors detect obstacles, the associated circles change color, providing the operator with visual feedback as to the location and relative size of the obstacle. At the same time, the graphical robot position is updated to reflect the actual state of the robot. This information permits the operator to plan alternative paths around unmodeled, but sensed, obstacles.

  18. An airborne magnetometry study across Zagros collision zone along Ahvaz-Isfahan route in Iran

    NASA Astrophysics Data System (ADS)

    Oskooi, Behrooz; Abedi, Maysam

    2015-12-01

    Convergence between the Eurasian and Arabian plates formed the Zagros orogenic belt between Late Cretaceous and Pliocene as a relatively young and active fold-thrust belt in Iran. The structural geology along Ahvaz to Isfahan route across Zagros is investigated employing magnetic data in order to determine the crustal structure in the collision zone of the two Palaeo-continents. Airborne magnetometry data with a line space of survey of 7.5 km have been used to image the variations of the apparent magnetic susceptibility along this route. At first the airborne data were stably 500-m downward continued to the ground surface in order to enhance subtle changes of the Earth's magnetic field. Then 3D inverse modeling of magnetic data was implemented, while the cross section of the magnetic susceptibility variations along the route was mapped down to a depth of 100 km. The acquired magnetic susceptibility model could appropriately predict the observed magnetic data as well. In addition, the analytic signal filter was applied to the reduced-to-pole magnetic data leading to the determination of active faults in Zagros fold-thrust belt (ZFTB) structural zone based upon the generated peaks. Some probable locations of fault events were also suggested in Sanandaj-Sirjan Zone (SSZ). The locations of faults correspond well to the magnetic susceptibility variations on the inverted section. Probable direction, slope and depth extension of these faults were also plotted on the magnetic susceptibility model, showing an intensively tectonized zone of the SSZ. The main difference between two domains is that the Eurasian plate seems to contain high magnetic susceptible materials compared to the Arabian plate. The recovered model of the apparent magnetic susceptibility values indicated that the average thickness of the non-magnetic sedimentary units is about 11 km and the Curie depth locates approximately at depth of 24 km for the whole studied area.

  19. Longitudinal driver model and collision warning and avoidance algorithms based on human driving databases

    NASA Astrophysics Data System (ADS)

    Lee, Kangwon

    Intelligent vehicle systems, such as Adaptive Cruise Control (ACC) or Collision Warning/Collision Avoidance (CW/CA), are currently under development, and several companies have already offered ACC on selected models. Control or decision-making algorithms of these systems are commonly evaluated under extensive computer simulations and well-defined scenarios on test tracks. However, they have rarely been validated with large quantities of naturalistic human driving data. This dissertation utilized two University of Michigan Transportation Research Institute databases (Intelligent Cruise Control Field Operational Test and System for Assessment of Vehicle Motion Environment) in the development and evaluation of longitudinal driver models and CW/CA algorithms. First, to examine how drivers normally follow other vehicles, the vehicle motion data from the databases were processed using a Kalman smoother. The processed data was then used to fit and evaluate existing longitudinal driver models (e.g., the linear follow-the-leader model, the Newell's special model, the nonlinear follow-the-leader model, the linear optimal control model, the Gipps model and the optimal velocity model). A modified version of the Gipps model was proposed and found to be accurate in both microscopic (vehicle) and macroscopic (traffic) senses. Second, to examine emergency braking behavior and to evaluate CW/CA algorithms, the concepts of signal detection theory and a performance index suitable for unbalanced situations (few threatening data points vs. many safe data points) are introduced. Selected existing CW/CA algorithms were found to have a performance index (geometric mean of true-positive rate and precision) not exceeding 20%. To optimize the parameters of the CW/CA algorithms, a new numerical optimization scheme was developed to replace the original data points with their representative statistics. A new CW/CA algorithm was proposed, which was found to score higher than 55% in the

  20. LightForce Photon-Pressure Collision Avoidance: Efficiency Assessment on an Entire Catalogue of Space Debris

    NASA Astrophysics Data System (ADS)

    Stupl, J.; Faber, N.; Foster, C.; Yang, F.; Levit, C.

    2013-09-01

    The potential to perturb debris orbits using photon pressure from ground-based lasers has been confirmed by independent research teams. Useful applications of this scheme are protecting space assets from impacts with debris and stabilizing the orbital debris environment, both relying on collision avoidance rather than de-orbiting debris. This paper presents the results of a new assessment method to analyze the efficiency of the concept. Earlier research concluded that one ground based system consisting of a 10 kW class laser, directed by a 1.5 m telescope with adaptive optics, can avoid a significant fraction of debris-debris collisions in low Earth orbit. That research used in-track displacement to measure efficiency and restricted itself to an analysis of a limited number of objects. As orbit prediction error is dependent on debris object properties, a static displacement threshold should be complemented with another measure to assess the efficiency of the scheme. In this paper we present the results of an approach using probability of collision. Using a least-squares fitting method, we improve the quality of the original TLE catalogue in terms of state and co-state accuracy. We then calculate collision probabilities for all the objects in the catalogue. The conjunctions with the highest risk of collision are then engaged by a simulated network of laser ground stations. After those engagements, the perturbed orbits are used to re-assess the collision probability in a 24h window around the original conjunction. We then use different criteria to evaluate the utility of the laser based collision avoidance scheme and assess the number of base-line ground stations needed to mitigate a significant number of high probability conjunctions. Finally, we also give an account how a laser ground station can be used for both orbit deflection and debris tracking.

  1. Advanced Emergency Braking Controller Design for Pedestrian Protection Oriented Automotive Collision Avoidance System

    PubMed Central

    Lie, Guo; Zejian, Ren; Pingshu, Ge; Jing, Chang

    2014-01-01

    Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian. PMID:25097870

  2. Imperfect in-vehicle collision avoidance warning systems can aid drivers.

    PubMed

    Maltz, Masha; Shinar, David

    2004-01-01

    An experiment was conducted to determine the effects of an in-vehicle collision avoidance warning system (IVCAWS) on driver performance. A driving simulator was driven by 135 licensed drivers. Of these, 120 received alerts from the IVCAWS when their headway to a lead car was less than 2 s, and the other 15 (the control group) received no alerts. Drivers received varied alert interfaces: auditory, visual, and multimodal. The system had varied levels of reliability, determined by both false alarm rate and failure of the IVCAWS to alert to short headway. Results indicated that the IVCAWS led to safer (longer) headway maintenance. High false alarm rates induced drivers to slow down unnecessarily; large numbers of missed alerts did not have any significant impact on drivers. Driver acceptance of the system was mixed. Interface played a role in driver reliance on the system, with the multimodal interfaces generating least reliance. Actual or potential applications of this research include IVCAWS interface selection for greater system efficacy and user acceptance and the advisability of implementation, even of imperfect systems, for drivers who seek to maintain a safer headway. PMID:15359683

  3. Advanced emergency braking controller design for pedestrian protection oriented automotive collision avoidance system.

    PubMed

    Lie, Guo; Zejian, Ren; Pingshu, Ge; Jing, Chang

    2014-01-01

    Automotive collision avoidance system, which aims to enhance the active safety of the vehicle, has become a hot research topic in recent years. However, most of the current systems ignore the active protection of pedestrian and other vulnerable groups in the transportation system. An advanced emergency braking control system is studied by taking into account the pedestrians and the vehicles. Three typical braking scenarios are defined and the safety situations are assessed by comparing the current distance between the host vehicle and the obstacle with the critical braking distance. To reflect the nonlinear time-varying characteristics and control effect of the longitudinal dynamics, the vehicle longitudinal dynamics model is established in CarSim. Then the braking controller with the structure of upper and lower layers is designed based on sliding mode control and the single neuron PID control when confronting deceleration or emergency braking conditions. Cosimulations utilizing CarSim and Simulink are finally carried out on a CarSim intelligent vehicle model to explore the effectiveness of the proposed controller. Results display that the designed controller has a good response in preventing colliding with the front vehicle or pedestrian. PMID:25097870

  4. Collision avoidance in commercial aircraft Free Flight via neural networks and non-linear programming.

    PubMed

    Christodoulou, Manolis A; Kontogeorgou, Chrysa

    2008-10-01

    In recent years there has been a great effort to convert the existing Air Traffic Control system into a novel system known as Free Flight. Free Flight is based on the concept that increasing international airspace capacity will grant more freedom to individual pilots during the enroute flight phase, thereby giving them the opportunity to alter flight paths in real time. Under the current system, pilots must request, then receive permission from air traffic controllers to alter flight paths. Understandably the new system allows pilots to gain the upper hand in air traffic. At the same time, however, this freedom increase pilot responsibility. Pilots face a new challenge in avoiding the traffic shares congested air space. In order to ensure safety, an accurate system, able to predict and prevent conflict among aircraft is essential. There are certain flight maneuvers that exist in order to prevent flight disturbances or collision and these are graded in the following categories: vertical, lateral and airspeed. This work focuses on airspeed maneuvers and tries to introduce a new idea for the control of Free Flight, in three dimensions, using neural networks trained with examples prepared through non-linear programming. PMID:18991361

  5. Magneto-inductive skin sensor for robot collision avoidance: A new development

    NASA Technical Reports Server (NTRS)

    Chauhan, D. S.; Dehoff, Paul H.

    1989-01-01

    Safety is a primary concern for robots operating in space. The tri-mode sensor addresses that concern by employing a collision avoidance/management skin around the robot arms. This rf-based skin sensor is at present a dual mode (proximity and tactile). The third mode, pyroelectric, will complement the other two. The proximity mode permits the robot to sense an intruding object, to range the object, and to detect the edges of the object. The tactile mode permits the robot to sense when it has contacted an object, where on the arm it has made contact, and provides a three-dimensional image of the shape of the contact impression. The pyroelectric mode will be added to permit the robot arm to detect the proximity of a hot object and to add sensing redundancy to the two other modes. The rf-modes of the sensing skin are presented. These modes employ a highly efficient magnetic material (amorphous metal) in a sensing technique. This results in a flexible sensor array which uses a primarily inductive configuration to permit both capacitive and magnetoinductive sensing of object; thus optimizing performance in both proximity and tactile modes with the same sensing skin. The fundamental operating principles, design particulars, and theoretical models are provided to aid in the description and understanding of this sensor. Test results are also given.

  6. Self-organized complementary joint action: Behavioral dynamics of an interpersonal collision-avoidance task.

    PubMed

    Richardson, Michael J; Harrison, Steven J; Kallen, Rachel W; Walton, Ashley; Eiler, Brian A; Saltzman, Elliot; Schmidt, R C

    2015-06-01

    Understanding stable patterns of interpersonal movement coordination is essential to understanding successful social interaction and activity (i.e., joint action). Previous research investigating such coordination has primarily focused on the synchronization of simple rhythmic movements (e.g., finger/forearm oscillations or pendulum swinging). Very few studies, however, have explored the stable patterns of coordination that emerge during task-directed complementary coordination tasks. Thus, the aim of the current study was to investigate and model the behavioral dynamics of a complementary collision-avoidance task. Participant pairs performed a repetitive targeting task in which they moved computer stimuli back and forth between sets of target locations without colliding into each other. The results revealed that pairs quickly converged onto a stable, asymmetric pattern of movement coordination that reflected differential control across participants, with 1 participant adopting a more straight-line movement trajectory between targets, and the other participant adopting a more elliptical trajectory between targets. This asymmetric movement pattern was also characterized by a phase lag between participants and was essential to task success. Coupling directionality analysis and dynamical modeling revealed that this dynamic regime was due to participant-specific differences in the coupling functions that defined the task-dynamics of participant pairs. Collectively, the current findings provide evidence that the dynamical coordination processes previously identified to underlie simple motor synchronization can also support more complex, goal-directed, joint action behavior, and can participate the spontaneous emergence of complementary joint action roles. PMID:25751036

  7. Region-Based Collision Avoidance Beaconless Geographic Routing Protocol in Wireless Sensor Networks

    PubMed Central

    Lee, JeongCheol; Park, HoSung; Kang, SeokYoon; Kim, Ki-Il

    2015-01-01

    Due to the lack of dependency on beacon messages for location exchange, the beaconless geographic routing protocol has attracted considerable attention from the research community. However, existing beaconless geographic routing protocols are likely to generate duplicated data packets when multiple winners in the greedy area are selected. Furthermore, these protocols are designed for a uniform sensor field, so they cannot be directly applied to practical irregular sensor fields with partial voids. To prevent the failure of finding a forwarding node and to remove unnecessary duplication, in this paper, we propose a region-based collision avoidance beaconless geographic routing protocol to increase forwarding opportunities for randomly-deployed sensor networks. By employing different contention priorities into the mutually-communicable nodes and the rest of the nodes in the greedy area, every neighbor node in the greedy area can be used for data forwarding without any packet duplication. Moreover, simulation results are given to demonstrate the increased packet delivery ratio and shorten end-to-end delay, rather than well-referred comparative protocols. PMID:26057037

  8. Self-Organized Complementary Joint Action: Behavioral Dynamics of an Interpersonal Collision-Avoidance Task

    PubMed Central

    Richardson, Michael J.; Harrison, Steven J.; Kallen, Rachel W.; Walton, Ashley; Eiler, Brian A.; Saltzman, Elliot; Schmidt, R. C.

    2016-01-01

    Understanding stable patterns of interpersonal movement coordination is essential to understanding successful social interaction and activity (i.e., joint action). Previous research investigating such coordination has primarily focused on the synchronization of simple rhythmic movements (e.g., finger/forearm oscillations or pendulum swinging). Very few studies, however, have explored the stable patterns of coordination that emerge during task-directed complementary coordination tasks. Thus, the aim of the current study was to investigate and model the behavioral dynamics of a complementary collision-avoidance task. Participant pairs performed a repetitive targeting task in which they moved computer stimuli back and forth between sets of target locations without colliding into each other. The results revealed that pairs quickly converged onto a stable, asymmetric pattern of movement coordination that reflected differential control across participants, with 1 participant adopting a more straight-line movement trajectory between targets, and the other participant adopting a more elliptical trajectory between targets. This asymmetric movement pattern was also characterized by a phase lag between participants and was essential to task success. Coupling directionality analysis and dynamical modeling revealed that this dynamic regime was due to participant-specific differences in the coupling functions that defined the task-dynamics of participant pairs. Collectively, the current findings provide evidence that the dynamical coordination processes previously identified to underlie simple motor synchronization can also support more complex, goal-directed, joint action behavior, and can participate the spontaneous emergence of complementary joint action roles. PMID:25751036

  9. Motor planning modulates sensory-motor control of collision avoidance behavior in the bullfrog, Rana catesbeiana

    PubMed Central

    Nakagawa, Hideki; Nishida, Yuuya

    2012-01-01

    Summary In this study, we examined the collision avoidance behavior of the frog, Rana catesbeiana to an approaching object in the upper visual field. The angular velocity of the frog's escape turn showed a significant positive correlation with the turn angle (r2 = 0.5741, P<0.05). A similar mechanism of velocity control has been known in head movements of the owl and in human saccades. By analogy, this suggests that the frog planned its escape velocity in advance of executing the turn, to make the duration of the escape behavior relatively constant. For escape turns less than 60°, the positive correlation was very strong (r2 = 0.7097, P<0.05). Thus, the frog controlled the angular velocity of small escape turns very accurately and completed the behavior within a constant time. On the other hand, for escape turns greater than 60°, the same correlation was not significant (r2 = 0.065, P>0.05). Thus, the frog was not able to control the velocity of the large escape turns accurately and did not complete the behavior within a constant time. In the latter case, there was a small but significant positive correlation between the threshold angular size and the angular velocity (r2 = 0.1459, P<0.05). This suggests that the threshold is controlled to compensate for the insufficient escape velocity achieved during large turn angles, and could explain a significant negative correlation between the turn angle and the threshold angular size (r2 = 0.1145, P<0.05). Thus, it is likely that the threshold angular size is also controlled by the turn angle and is modulated by motor planning. PMID:23213389

  10. Algorithms for Collision Detection Between a Point and a Moving Polygon, with Applications to Aircraft Weather Avoidance

    NASA Technical Reports Server (NTRS)

    Narkawicz, Anthony; Hagen, George

    2016-01-01

    This paper proposes mathematical definitions of functions that can be used to detect future collisions between a point and a moving polygon. The intended application is weather avoidance, where the given point represents an aircraft and bounding polygons are chosen to model regions with bad weather. Other applications could possibly include avoiding other moving obstacles. The motivation for the functions presented here is safety, and therefore they have been proved to be mathematically correct. The functions are being developed for inclusion in NASA's Stratway software tool, which allows low-fidelity air traffic management concepts to be easily prototyped and quickly tested.

  11. Ultra-low power anti-crosstalk collision avoidance light detection and ranging using chaotic pulse position modulation approach

    NASA Astrophysics Data System (ADS)

    Jie, Hao; Ma-li, Gong; Peng-fei, Du; Bao-jie, Lu; Fan, Zhang; Hai-tao, Zhang; Xing, Fu

    2016-07-01

    A novel concept of collision avoidance single-photon light detection and ranging (LIDAR) for vehicles has been demonstrated, in which chaotic pulse position modulation is applied on the transmitted laser pulses for robust anti-crosstalk purposes. Besides, single-photon detectors (SPD) and time correlated single photon counting techniques are adapted, to sense the ultra-low power used for the consideration of compact structure and eye safety. Parameters including pulse rate, discrimination threshold, and number of accumulated pulses have been thoroughly analyzed based on the detection requirements, resulting in specified receiver operating characteristics curves. Both simulation and indoor experiments were performed to verify the excellent anti-crosstalk capability of the presented collision avoidance LIDAR despite ultra-low transmitting power. Project supported by Tsinghua University Initiative Scientific Research Program, China (Grant No. 2014z21035).

  12. LightForce Photon-Pressure Collision Avoidance: Updated Efficiency Analysis Utilizing a Highly Parallel Simulation Approach

    NASA Technical Reports Server (NTRS)

    Stupl, Jan; Faber, Nicolas; Foster, Cyrus; Yang, Fan Yang; Nelson, Bron; Aziz, Jonathan; Nuttall, Andrew; Henze, Chris; Levit, Creon

    2014-01-01

    This paper provides an updated efficiency analysis of the LightForce space debris collision avoidance scheme. LightForce aims to prevent collisions on warning by utilizing photon pressure from ground based, commercial off the shelf lasers. Past research has shown that a few ground-based systems consisting of 10 kilowatt class lasers directed by 1.5 meter telescopes with adaptive optics could lower the expected number of collisions in Low Earth Orbit (LEO) by an order of magnitude. Our simulation approach utilizes the entire Two Line Element (TLE) catalogue in LEO for a given day as initial input. Least-squares fitting of a TLE time series is used for an improved orbit estimate. We then calculate the probability of collision for all LEO objects in the catalogue for a time step of the simulation. The conjunctions that exceed a threshold probability of collision are then engaged by a simulated network of laser ground stations. After those engagements, the perturbed orbits are used to re-assess the probability of collision and evaluate the efficiency of the system. This paper describes new simulations with three updated aspects: 1) By utilizing a highly parallel simulation approach employing hundreds of processors, we have extended our analysis to a much broader dataset. The simulation time is extended to one year. 2) We analyze not only the efficiency of LightForce on conjunctions that naturally occur, but also take into account conjunctions caused by orbit perturbations due to LightForce engagements. 3) We use a new simulation approach that is regularly updating the LightForce engagement strategy, as it would be during actual operations. In this paper we present our simulation approach to parallelize the efficiency analysis, its computational performance and the resulting expected efficiency of the LightForce collision avoidance system. Results indicate that utilizing a network of four LightForce stations with 20 kilowatt lasers, 85% of all conjunctions with a

  13. Galaxy cluster collision speeds as a test of LCDM: possible systematics & how to avoid them

    NASA Astrophysics Data System (ADS)

    Banik, Indranil; Zhao, Hongsheng

    2016-05-01

    The formation of structure may have been more efficient than expected in the concordance LCDM model. This is suggested by the early formation of the El Gordo cluster, but perhaps even more so by the high collision velocity of the two components of the Bullet Cluster. Unfortunately, the collision is mostly within the plane of the sky. With proper motions near-impossible to observe at z = 0.3, the collision speed estimate comes from modelling of the shock created in the gas by the collision. Also important is the separation of the gas and dark matter, inferred from comparing X-ray images with weak gravitational lensing maps. I will describe how the collision speed may be measured directly using the Moving Cluster Effect (MCE). This is based on the time-dependent potential of the cluster making double images of a background galaxy have different redshifts. I'll also explain some of the systematics that may affect such a measurement and some strategies that may reduce these. Measurements using the MCE may allow a much more reliable test of LCDM based on how often such fast collisions between galaxy clusters actually occur. More info: MNRAS, vol 450, page 3155

  14. Risk management algorithm for rear-side collision avoidance using a combined steering torque overlay and differential braking

    NASA Astrophysics Data System (ADS)

    Lee, Junyung; Yi, Kyongsu; Yoo, Hyunjae; Chong, Hyokjin; Ko, Bongchul

    2015-06-01

    This paper describes a risk management algorithm for rear-side collision avoidance. The proposed risk management algorithm consists of a supervisor and a coordinator. The supervisor is designed to monitor collision risks between the subject vehicle and approaching vehicle in the adjacent lane. An appropriate criterion of intervention, which satisfies high acceptance to drivers through the consideration of a realistic traffic, has been determined based on the analysis of the kinematics of the vehicles in longitudinal and lateral directions. In order to assist the driver actively and increase driver's safety, a coordinator is designed to combine lateral control using a steering torque overlay by motor-driven power steering and differential braking by vehicle stability control. In order to prevent the collision while limiting actuator's control inputs and vehicle dynamics to safe values for the assurance of the driver's comfort, the Lyapunov theory and linear matrix inequalities based optimisation methods have been used. The proposed risk management algorithm has been evaluated via simulation using CarSim and MATLAB/Simulink.

  15. Avoiding space robot collisions utilizing the NASA/GSFC tri-mode skin sensor

    NASA Technical Reports Server (NTRS)

    Prinz, F. B.

    1991-01-01

    Sensor based robot motion planning research has primarily focused on mobile robots. Consider, however, the case of a robot manipulator expected to operate autonomously in a dynamic environment where unexpected collisions can occur with many parts of the robot. Only a sensor based system capable of generating collision free paths would be acceptable in such situations. Recently, work in this area has been reported in which a deterministic solution for 2DOF systems has been generated. The arm was sensitized with 'skin' of infra-red sensors. We have proposed a heuristic (potential field based) methodology for redundant robots with large DOF's. The key concepts are solving the path planning problem by cooperating global and local planning modules, the use of complete information from the sensors and partial (but appropriate) information from a world model, representation of objects with hyper-ellipsoids in the world model, and the use of variational planning. We intend to sensitize the robot arm with a 'skin' of capacitive proximity sensors. These sensors were developed at NASA, and are exceptionally suited for the space application. In the first part of the report, we discuss the development and modeling of the capacitive proximity sensor. In the second part we discuss the motion planning algorithm.

  16. A Time Tree Medium Access Control for Energy Efficiency and Collision Avoidance in Wireless Sensor Networks

    PubMed Central

    Lee, Kilhung

    2010-01-01

    This paper presents a medium access control and scheduling scheme for wireless sensor networks. It uses time trees for sending data from the sensor node to the base station. For an energy efficient operation of the sensor networks in a distributed manner, time trees are built in order to reduce the collision probability and to minimize the total energy required to send data to the base station. A time tree is a data gathering tree where the base station is the root and each sensor node is either a relaying or a leaf node of the tree. Each tree operates in a different time schedule with possibly different activation rates. Through the simulation, the proposed scheme that uses time trees shows better characteristics toward burst traffic than the previous energy and data arrival rate scheme. PMID:22319270

  17. Traffic Alert and Collision Avoidance System (TCAS): Cockpit Display of Traffic Information (CDTI) investigation. Phase 1: Feasibility study

    NASA Technical Reports Server (NTRS)

    Burgess, Malcolm; Davis, Dean; Hollister, Walter; Sorensen, John A.

    1991-01-01

    The possibility of the Threat Alert and Collision Avoidance System (TCAS) traffic sensor and display being used for meaningful Cockpit Display of Traffic Information (CDTI) applications has resulted in the Federal Aviation Administration initiating a project to establish the technical and operational requirements to realize this potential. Phase 1 of the project is presented here. Phase 1 was organized to define specific CDTI applications for the terminal area, to determine what has already been learned about CDTI technology relevant to these applications, and to define the engineering required to supply the remaining TCAS-CDTI technology for capacity benefit realization. The CDTI applications examined have been limited to those appropriate to the final approach and departure phases of flight.

  18. Collision Avoidance: Coordination of Predicted Conjunctions between NASA Satellites and Satellites of other Countries

    NASA Astrophysics Data System (ADS)

    Kelly, A.; Watson, W.

    2014-09-01

    This paper describes one of the challenges facing the flight operations teams of the International Earth Observing constellation satellites at the 705 km orbit, including NASAs satellites. The NASA Earth Science Mission Operations (ESMO) Project has been dealing with predicted conjunctions (close approach) between operational/non-operational space objects and the satellites in the International Earth observing constellations for several years. Constellation satellites include: NASAs Earth Observing System (EOS) Terra, Aqua, and Aura, CloudSat, the joint NASA/CNES CALIPSO mission, Earth Observing 1 (EO-1), the Japan Aerospace and Exploration Agency (JAXA) Global Change Observation Mission-Water 1 (GCOM-W1) mission, the United States Geological Survey (USGS) Landsat 7 and Landsat 8, and until 2013, Argentinas SAC-C mission and the CNES PARASOL mission. The NASA Conjunction Analysis and Risk Assessment (CARA) team provides daily reports to the ESMO Project regarding any high interest close approach events (HIEs) involving the constellation satellites. The daily CARA reports provide risk assessment results that help the operations teams to determine if there is a need to perform a risk mitigation action. If the conjuncting space object is an operational satellite that is capable of maneuvering, the affected satellite team needs to coordinate their action plan with the owner operator of the conjuncting satellite. It is absolutely critical for the two teams to communicate as soon as possible. The goal is to minimize the collision risk; this can happen if both satellite operators do not coordinate their maneuver plans. The constellation teams have established guidelines for coordinating HIEs. This coordination process has worked successfully for several years for satellites that are operated by other organizations in the United States and by NASAs international partners, all with whom NASA has a cooperative agreement. However, the situation is different for HIEs with

  19. Optical Monitoring Strategy for Avoiding Collisions of GEO Satellites with Close Approaching IGSO Objects

    NASA Astrophysics Data System (ADS)

    Choi, Jin; Jo, Jung Hyun; Yim, Hong-Suh; Choi, Young-Jun; Park, Maru; Park, Sun-Youp; Bae, Young-Ho; Roh, Dong-Goo; Cho, Sungki; Park, Young-Sik; Jang, Hyun-Jung; Kim, Ji-Hye; Park, Jang-Hyun

    2015-12-01

    Several optical monitoring strategies by a ground-based telescope to protect a Geostationary Earth Orbit (GEO) satellite from collisions with close approaching objects were investigated. Geostationary Transfer Orbit (GTO) objects, Inclined GeoSynchronous Orbit (IGSO) objects, and drifted GEO objects forced by natural perturbations are hazardous to operational GEO satellites regarding issues related to close approaches. The status of these objects was analyzed on the basis of their orbital characteristics in Two-Line Element (TLE) data from the Joint Space Operation Center (JSpOC). We confirmed the conjunction probability with all catalogued objects for the domestic operational GEO satellite, Communication, Ocean and Meteorological Satellite (COMS) using the Conjunction Analysis Tools by Analytical Graphics, Inc (AGI). The longitudinal drift rates of GeoSynchronous Orbit (GSO) objects were calculated, with an analytic method and they were confirmed using the Systems Tool Kit by AGI. The required monitoring area was determined from the expected drift duration and inclination of the simulated target. The optical monitoring strategy for the target area was analyzed through the orbit determination accuracy. For this purpose, the close approach of Russian satellite Raduga 1-7 to Korean COMS in 2011 was selected.

  20. Real-time obstacle and collision avoidance system for fixed wing unmanned aerial systems

    NASA Astrophysics Data System (ADS)

    Esposito, Julien F.

    The first original contribution of this research is the Advanced Mapping and Waypoint Generator (AMWG), a piece of software which processes publicly available elevation data in order to only retain the information necessary for a given altitude-specific flight mission. The AMWG is what makes systematic offline trajectory possible. The AMWG first creates altitude groups in order to discard elevations points which are not relevant to a specific mission because of the altitude flown at. Those groups referred to as altitude layers can in turn be reused if the original layer becomes unsafe for the altitude range in use, and the other layers are used for altitude re-scheduling in order to update the current altitude layer to a safer layer. Each layer is bounded by a lower and higher altitude, within which terrain contours are considered constant according to a conservative approach involving the principle of natural erosion. The AMWG then proceeds to obstacle contours extraction using threshold and edge detection vision algorithms. A simplification of those obstacle contours and their corresponding free space zones counterparts is performed using a fixed -tolerance Douglas-Peucker algorithm. This simplification allows free space zones to be described by vectors instead of point clouds, which enables UAS point location. The final product of the AWMG is a network of connected free space trapezoidal cells with embedded connectivity information referred to as the Synthetic Terrain Avoidance (STA network). The walls of the trapezoidal cells are then extruded as the AWMG essentially approximates a three-dimensional world by considering it as a stratification of two-dimensional layers, but the real-time phase needs 3D support. Using the graph conceptual view and the depth first search algorithm, all the connected cell sequences joining the departure to the arrival cell can be listed, a capability which is used during aircraft rerouting. By connecting two adjacent cells

  1. LightForce photon-pressure collision avoidance: Efficiency analysis in the current debris environment and long-term simulation perspective

    NASA Astrophysics Data System (ADS)

    Yang Yang, Fan; Nelson, Bron; Aziz, Jonathan; Carlino, Roberto; Dono Perez, Andres; Faber, Nicolas; Foster, Cyrus; Frost, Chad; Henze, Chris; Karacalıoğlu, Arif Göktuğ; Levit, Creon; Marshall, William; Mason, James; O'Toole, Conor; Swenson, Jason; Worden, Simon P.; Stupl, Jan

    2016-09-01

    This work provides an efficiency analysis of the LightForce space debris collision avoidance scheme in the current debris environment and describes a simulation approach to assess its impact on the long-term evolution of the space debris environment. LightForce aims to provide just-in-time collision avoidance by utilizing photon pressure from ground-based industrial lasers. These ground stations impart minimal accelerations to increase the miss distance for a predicted conjunction between two objects. In the first part of this paper we will present research that investigates the short-term effect of a few systems consisting of 20 kW class lasers directed by 1.5 m diameter telescopes using adaptive optics. The results found such a network of ground stations to mitigate more than 85 percent of conjunctions and could lower the expected number of collisions in Low Earth Orbit (LEO) by an order of magnitude. While these are impressive numbers that indicate LightForce's utility in the short-term, the remaining 15 % of possible collisions contain (among others) conjunctions between two massive objects that would add large amount of debris if they collide. Still, conjunctions between massive objects and smaller objects can be mitigated. Hence, we choose to expand the capabilities of the simulation software to investigate the overall effect of a network of LightForce stations on the long-term debris evolution. In the second part of this paper, we will present the planned simulation approach for that effort. For the efficiency analysis of collision avoidance in the current debris environment, we utilize a simulation approach that uses the entire Two Line Element (TLE) catalog in LEO for a given day as initial input. These objects are propagated for one year and an all-on-all conjunction analysis is performed. For conjunctions that fall below a range threshold, we calculate the probability of collision and record those values. To assess efficiency, we compare a baseline

  2. Output consensus and collision avoidance of a team of flexible spacecraft for on-orbit autonomous assembly

    NASA Astrophysics Data System (ADS)

    Chen, Ti; Wen, Hao; Hu, Haiyan; Jin, Dongping

    2016-04-01

    Multiple spacecraft that work in concert to assemble as a cohesive unit will play an important role in future space missions. In addition, the individual spacecraft trends to be more and more flexible. A typical flexible spacecraft usually consists of a relatively rigid craft body with one or more flexible appendages, which can be reasonably simplified as free-floating hub-beam system and formulated in a floating frame. The formulation of the network of hub-beam systems is a team of Lagrangian systems in essence. In this study, a compound controller which combines an output consensus controller and a collision avoidance controller to a team of hub-beam systems is proposed. To achieve the assembly mission and suppress the vibration of flexible spacecraft appendages, the design of the control law is decomposed into four steps. Firstly, the hub-beam systems in the team are numbered according to specific rules. Secondly, the attitudes of the hubs are regulated to the desired values synchronously. Thirdly, the whole team of hub-beam systems is driven to the pre-assembly states. Fourthly, the team of hub-beam systems is assembled. In the second and the third step, the compound controller is used to actuate the team to the target configuration. In the fourth step, only the output consensus controller is needed. Finally, two case studies are given to verify the effectiveness of the proposed autonomous assembly strategy.

  3. SU-E-T-64: CG-Based Radiation Therapy Simulator with Physical Modeling for Avoidance of Collisions Between Gantry and Couch Or Patient

    SciTech Connect

    Yamanouchi, M; Arimura, H; Yuda, I

    2014-06-01

    Purpose: It is time-consuming and might cause re-planning to check couch-gantry and patient-gantry collisions on a radiotherapy machine when using couch rotations for non-coplanar beam angles. The aim of this study was to develop a computer-graphics (CG)-based radiation therapy simulator with physical modeling for avoidance of collisions between gantry and couch or patient on a radiotherapy machine. Methods: The radiation therapy simulator was three-dimensionally constructed including a radiotherapy machine (Clinac iX, Varian Medical Systems), couch, and radiation treatment room according to their designs by using a physical-modeling-based computer graphics software (Blender, free and open-source). Each patient was modeled by applying a surface rendering technique to their planning computed tomography (CT) images acquired from 16-slice CT scanner (BrightSpeed, GE Healthcare). Immobilization devices for patients were scanned by the CT equipment, and were rendered as the patient planning CT images. The errors in the collision angle of the gantry with the couch or patient between gold standards and the estimated values were obtained by fixing the gantry angle for the evaluation of the proposed simulator. Results: The average error of estimated collision angles to the couch head side was -8.5% for gantry angles of 60 to 135 degree, and -5.5% for gantry angles of 225 to 300 degree. Moreover, the average error of estimated collision angles to the couch foot side was -1.1% for gantry angles of 60 to 135 degree, and 1.4% for gantry angles of 225 to 300 degree. Conclusion: The CG-based radiation therapy simulator could make it possible to estimate the collision angle between gantry and couch or patient on the radiotherapy machine without verifying the collision angles in the radiation treatment room.

  4. Unmanned Aircraft Systems Human-in-the-Loop Controller and Pilot Acceptability Study: Collision Avoidance, Self-Separation, and Alerting Times (CASSAT)

    NASA Technical Reports Server (NTRS)

    Comstock, James R., Jr.; Ghatas, Rania W.; Vincent, Michael J.; Consiglio, Maria C.; Munoz, Cesar; Chamberlain, James P.; Volk, Paul; Arthur, Keith E.

    2016-01-01

    The Federal Aviation Administration (FAA) has been mandated by the Congressional funding bill of 2012 to open the National Airspace System (NAS) to Unmanned Aircraft Systems (UAS). With the growing use of unmanned systems, NASA has established a multi-center "UAS Integration in the NAS" Project, in collaboration with the FAA and industry, and is guiding its research efforts to look at and examine crucial safety concerns regarding the integration of UAS into the NAS. Key research efforts are addressing requirements for detect-and-avoid (DAA), self-separation (SS), and collision avoidance (CA) technologies. In one of a series of human-in-the-loop experiments, NASA Langley Research Center set up a study known as Collision Avoidance, Self-Separation, and Alerting Times (CASSAT). The first phase assessed active air traffic controller interactions with DAA systems and the second phase examined reactions to the DAA system and displays by UAS Pilots at a simulated ground control station (GCS). Analyses of the test results from Phase I and Phase II are presented in this paper. Results from the CASSAT study and previous human-in-the-loop experiments will play a crucial role in the FAA's establishment of rules, regulations, and procedures to safely, efficiently, and effectively integrate UAS into the NAS.

  5. LightForce Photon-pressure Collision Avoidance: Efficiency Analysis in the Current Debris Environment and Long-Term Simulation Perspective

    NASA Technical Reports Server (NTRS)

    Yang, Fan Y.; Nelson, Bron; Carlino, Roberto; Perez, Andres D.; Faber, Nicolas; Henze, Chris; Karacahoglu, Arif G.; O'Toole, Conor; Swenson, Jason; Stupl, Jan

    2015-01-01

    This work provides an efficiency analysis of the LightForce space debris collision avoidance scheme in the current debris environment and describes a simulation approach to assess its impact on the long-term evolution of the space debris environment. LightForce aims to provide just-in-time collision avoidance by utilizing photon pressure from ground-based industrial lasers. These ground stations impart minimal accelerations to increase the miss distance for a predicted conjunction between two objects. In the first part of this paper we will present research that investigates the short-term effect of a few systems consisting of 10kW class lasers directed by 1.5 m diameter telescopes using adaptive optics. The results found such a network of ground stations to mitigate more than 85 percent of conjunctions and could lower the expected number of collisions in Low Earth Orbit (LEO) by an order of magnitude. While these are impressive numbers that indicate LightForce's utility in the short-term, the remaining 15 percent of possible collisions contain (among others) conjunctions between two massive objects that would add large amount of debris if they collide. Still, conjunctions between massive objects and smaller objects can be mitigated. Hence we choose to expand the capabilities of the simulation software to investigate the overall effect of a network of LightForce stations on the long-term debris evolution. In the second part of this paper, we will present the planed simulation approach for that effort.

  6. Pilots' use of a traffic alert and collision-avoidance system (TCAS 2) in simulated air carrier operations. Volume 1: Methodology, summary and conclusions

    NASA Technical Reports Server (NTRS)

    Chappell, Sheryl L.; Billings, Charles E.; Scott, Barry C.; Tuttell, Robert J.; Olsen, M. Christine; Kozon, Thomas E.

    1989-01-01

    Pilots' use of and responses to a traffic alert and collision-avoidance system (TCAS 2) in simulated air carrier line operations are described in Volume 1. TCAS 2 monitors the positions of nearby aircraft by means of transponder interrogation, and it commands a climb or descent when conflicting aircraft are projected to reach an unsafe closest point-of-approach within 20 to 25 seconds. A different level of information about the location of other air traffic was presented to each of three groups of flight crews during their execution of eight simulated air carrier flights. A fourth group of pilots flew the same segments without TCAS 2 equipment. Traffic conflicts were generated at intervals during the flights; many of the conflict aircraft were visible to the flight crews. The TCAS equipment successfully ameliorated the seriousness of all conflicts; three of four non-TCAS crews had hazardous encounters. Response times to TCAS maneuver commands did not differ as a function of the amount of information provided, nor did response accuracy. Differences in flight experience did not appear to contribute to the small performance differences observed. Pilots used the displays of conflicting traffic to maneuver to avoid unseen traffic before maneuver advisories were issued by the TCAS equipment. The results indicate: (1) that pilots utilize TCAS effectively within the response times allocated by the TCAS logic, and (2) that TCAS 2 is an effective collision avoidance device. Volume II contains the appendices referenced in Volume I, providing details of the experiment and the results, and the text of two reports written in support of the program.

  7. Pilots' use of a traffic alert and collision-avoidance system (TCAS 2) in simulated air carrier operations. Volume 2: Appendices

    NASA Technical Reports Server (NTRS)

    Chappell, Sheryl L.; Billings, Charles E.; Scott, Barry C.; Tuttell, Robert J.; Olsen, M. Christine; Kozon, Thomas E.

    1989-01-01

    Pilots' use of and responses to a traffic alert and collision-avoidance system (TCAS 2) in simulated air carrier line operations are discribed in Volume 1. TCAS 2 monitors the positions of nearby aircraft by means of transponder interrogation, and it commands a climb or descent which conflicting aircraft are projected to reach an unsafe closest point-of-approach within 20 to 25 seconds. A different level of information about the location of other air traffic was presented to each of three groups of flight crews during their execution of eight simulated air carrier flights. A fourth group of pilots flew the same segments without TCAS 2 equipment. Traffic conflicts were generated at intervals during the flights; many of the conflict aircraft were visible to the flight crews. The TCAS equipment successfully ameliorated the seriousness of all conflicts; three of four non-TCAS crews had hazardous encounters. Response times to TCAS maneuver commands did not differ as a function of the amount of information provided, nor did response accuracy. Differences in flight experience did not appear to contribute to the small performance differences observed. Pilots used the displays of conflicting traffic to maneuver to avoid unseen traffic before maneuver advisories were issued by the TCAS equipment. The results indicate: (1) that pilots utilize TCAS effectively within the response times allocated by the TCAS logic, and (2) that TCAS 2 is an effective collision avoidance device. Volume 2 contains the appendices referenced in Volume 1, providing details of the experiment and the results, and the text of two reports written in support of the program.

  8. Analysis of palladium concentrations in airborne particulate matter with reductive co-precipitation, He collision gas, and ID-ICP-Q-MS.

    PubMed

    Alsenz, H; Zereini, F; Wiseman, C L S; Püttmann, W

    2009-11-01

    The concentration of platinum group elements (PGE) in the environment has increased significantly in the last 20 years mainly due to their use as catalysts in automotive catalytic converters. The quantitation of these metals in different environmental compartments is, however, challenging due to their very low concentrations and the presence of interfering matrix constituents when inductively coupled plasma-mass spectrometry (ICP-MS) is used for analysis. Previously, the research focus was on the analysis of platinum (Pt) and rhodium (Rh). However, due to the increasing use of palladium (Pd) in automotive catalytic converters, quantitation of this element in airborne particulate matter (PM) is also needed. Compared to Pt and Rh, measurements of Pd using ICP-MS are plagued by greater molecular interferences arising from elements such as copper (Cu), zinc (Zn) strontium (Sr), yttrium (Y), and zirconium (Zr). The aim of this study was to evaluate the applicability of reductive co-precipitation procedures using both mercury (Hg) and tellurium (Te) for the pre-concentration of Pd from airborne PM. Furthermore, helium (He) was tested as a collision gas for isotope dilution-inductively coupled plasma-quadrupole-mass spectrometry (ID-ICP-Q-MS) to measure Pd in the Hg and Te precipitates. Airborne PM samples (PM10) were collected from Neuglobsow (Brandenburg, north-eastern Germany) and Deuselbach (Rhineland-Palatinate, south-western Germany), considered to represent background levels, and from the city Frankfurt am Main (Hesse, Germany), a high-traffic area. Samples were first digested with aqua regia in a high-pressure asher (HPA) at 320 degrees C and 130 bar prior to the application of reductive co-precipitation procedures. The method was validated with road dust reference material BCR-723 and the CANMET-CCRMP reference material TDB-1 and WPR-1. In airborne PM collected at the background areas Neuglobsow and Deuselbach, Pd was detected with median concentrations values of

  9. Separation Assurance and Collision Avoidance

    NASA Technical Reports Server (NTRS)

    Lauderdale, Todd

    2010-01-01

    Objective SACA-1: Determine the level of safety provided by tactical separation assurance safety monitoring systems for UAS missions. a) Rationale: Continuous mission-risk monitoring can provide equivalent levels of safety for UAS operations possibly reducing the burden on other safety systems. b) Approach: Utilize and adapt algorithms and approaches developed for the NextGen Airspace Systems Program for UAS applications.

  10. Direct sun and airborne MAX-DOAS measurements of the collision induced oxygen complex, O2O2 absorption with significant pressure and temperature differences

    NASA Astrophysics Data System (ADS)

    Spinei, E.; Cede, A.; Herman, J.; Mount, G. H.; Eloranta, E.; Morley, B.; Baidar, S.; Dix, B.; Ortega, I.; Koenig, T.; Volkamer, R.

    2014-09-01

    The collision induced O2 complex, O2O2, is a very important trace gas in remote sensing measurements of aerosol and cloud properties. Some ground based MAX-DOAS measurements of O2O2 slant column density require correction factors of 0.75 ± 0.1 to reproduce radiative transfer modeling (RTM) results for a near pure Rayleigh atmosphere. One of the potential causes of this discrepancy is believed to be uncertainty in laboratory measured O2O2 absorption cross section temperature and pressure dependence, due to difficulties in replicating atmospheric conditions in the laboratory environment. This paper presents direct-sun (DS) and airborne multi-axis (AMAX) DOAS measurements of O2O2 absorption optical depths under actual Earth atmospheric conditions in two wavelength regions (335-390 nm and 435-490 nm). DS irradiance measurements were made by the research grade MFDOAS instrument from 2007-2014 at seven sites with significant pressure (778-1013 hPa) and O2O2 profile weighted temperature (247-275 K) differences. Aircraft MAX-DOAS measurements were conducted by the University of Colorado AMAX-DOAS instrument on 29 January 2012 over the Southern Hemisphere subtropical Pacific Ocean. Scattered solar radiance spectra were collected at altitudes between 9 and 13.2 km, with O2O2 profile weighted temperatures of 231-244 K, and near pure Rayleigh scattering conditions. Due to the well defined DS air mass factors and extensively characterized atmospheric conditions during the AMAX-DOAS measurements, O2O2"pseudo" absorption cross sections, σ, are derived from the observed optical depths and estimated O2O2column densities. Vertical O2O2 columns are calculated from the atmospheric sounding temperature, pressure and specific humidity profiles. Based on the atmospheric DS observations, there is no pressure dependence of the O2O2 σ, within the measurement errors (3%). The two data sets are combined to derive peak σ temperature dependence of 360 and 477 nm absorption bands from 231

  11. Laser Systems For Use With Airborne Platforms

    NASA Astrophysics Data System (ADS)

    Jepsky, Joseph

    1984-10-01

    This paper describes a family of airborne laser systems in use for terrain profiling, surveying, mapping, altimetry, collision avoidance and shipboard landing systems using fixed and rotary wing aircraft as the platforms. The laser altimeter has also been used in systems compatible with the Army T-16 and. T-22 carrier missiles (platform). Both pulsed gallium arsenide and Nd:YAG (neodymium-doped, yttrium-aluminum-garnet) laser rangefinders have been used for these applications. All of these systems use ACCI's advanced measurement techniques that permit range accuracies of 8 cm, single shot, 1 cm averaged, to be achieved. Pulse rates up to 4 Khz are employed for airborne profiling. This high data density rate provides 1 data point every 2" along the aircraft flight line at aircraft speed of 500 knots. Scanning modes for some applications are employed. Systems have been integrated with all current inertial navigation systems (Litton, Ferranti and Honeywell), as well as a number of microwave positioning systems. Removal of aircraft motion from the laser range measurements by use of an accelerometer is described. Flight data from a number of program performed by U.S. and Canadian Federal Agencies, in addition to those of commercial surveying and mapping companies are described.

  12. Avoiding Ticks

    MedlinePlus

    ... Avoiding ticks On people On pets In the yard Removing a tick Symptoms of tickborne illness Geographic ... ticks on your pets Preventing ticks in the yard File Formats Help: How do I view different ...

  13. Fourth Airborne Geoscience Workshop

    NASA Technical Reports Server (NTRS)

    1991-01-01

    The focus of the workshop was on how the airborne community can assist in achieving the goals of the Global Change Research Program. The many activities that employ airborne platforms and sensors were discussed: platforms and instrument development; airborne oceanography; lidar research; SAR measurements; Doppler radar; laser measurements; cloud physics; airborne experiments; airborne microwave measurements; and airborne data collection.

  14. Airborne laser

    NASA Astrophysics Data System (ADS)

    Lamberson, Steven E.

    2002-06-01

    The US Air Force Airborne Laser (ABL) is an airborne, megawatt-class laser system with a state-of-the-art atmospheric compensation system to destroy enemy ballistic missiles at long ranges. This system will provide both deterrence and defense against the use of such weapons during conflicts. This paper provides an overview of the ABL weapon system including: the notional operational concept, the development approach and schedule, the overall aircraft configuration, the technologies being incorporated in the ABL, and the risk reduction approach being utilized to ensure program success.

  15. Performance of Traffic-Alert Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Sampath, Krishna Sampath

    The performance of two TCAS systems is studied in the presence of electromagnetic scatterers. TCAS is an aircraft mounted angle of arrival (AOA) system, which estimates the bearing of a signal transmitted from a mode -S transponder on another nearby aircraft (intruder). Two systems are studied: (i) Comparison of Relative Amplitude system (CRA) and (ii) Spiral Phase Antenna (SPA). The CRA antenna receives the reply via four switched beams. The bearing is estimated by comparing the amplitudes of the received signal. The SPA is based on the phase interferometer, which utilizes the received phase via sum and difference beams. The AOA is computed by comparing the reply with similar values on a calibration table, which is generated by modeling the TCAS antenna on the bare fuselage of a Boeing 727-200. The antenna patterns for the TCAS are found via high frequency methods based on the Uniform Geometric Theory of Diffraction (UTD). By minimizing the standard deviation of the bearing error in a specified angular sector, optimal locations for top and bottom mounted TCAS antennas are found on the Boeing 727-200, 737-300 and 747-200 airframes. It will be shown that the overall bearing errors of the amplitude system are consistently smaller than the spiral phase TCAS. The effect of two types of nearby scatterers- -antennas, and engine inlets--is studied. The AT741 L-band blade, DMC60-1 VHF Communication antenna were chosen as being representative antenna interference examples. Models are derived for the blades via a moment method analysis followed by a least squares procedure to synthesize the scattering patterns. Studies were conducted to estimate the minimum separation between the two antennas for acceptable operation. It will be shown that the spiral phase TCAS is adversely affected by the presence of a blade antenna. The amplitude system does not suffer from this limitation, especially for the forward look angles which are of most interest here. A model to represent the inlet scattering is based on the multiple scattering method and UTD. The engine on top of the B727-200 fuselage is modeled by a terminated circular waveguide. Then, the effect of moving the antenna forward on the fuselage is studied. It is again shown that the performance of the amplitude system is superior.

  16. Ground-based direct-sun DOAS and airborne MAX-DOAS measurements of the collision-induced oxygen complex, O2O2, absorption with significant pressure and temperature differences

    NASA Astrophysics Data System (ADS)

    Spinei, E.; Cede, A.; Herman, J.; Mount, G. H.; Eloranta, E.; Morley, B.; Baidar, S.; Dix, B.; Ortega, I.; Koenig, T.; Volkamer, R.

    2015-02-01

    The collision-induced O2 complex, O2O2, is a very important trace gas for understanding remote sensing measurements of aerosols, cloud properties and atmospheric trace gases. Many ground-based multi-axis differential optical absorption spectroscopy (MAX-DOAS) measurements of the O2O2 optical depth require correction factors of 0.75 ± 0.1 to reproduce radiative transfer modeling (RTM) results for a nearly pure Rayleigh atmosphere. One of the potential causes of this discrepancy is uncertainty in laboratory-measured O2O2 absorption cross section temperature and pressure dependencies due to difficulties in replicating atmospheric conditions in the laboratory environment. This paper presents ground-based direct-sun (DS) and airborne multi-axis (AMAX) DOAS measurements of O2O2 absorption optical depths under actual atmospheric conditions in two wavelength regions (335-390 and 435-490 nm). DS irradiance measurements were made by the Washington State University research-grade Multi-Function Differential Spectroscopy Instrument instrument from 2007 to 2014 at seven sites with significant pressure (778 to 1013 hPa) and O2O2 profile-weighted temperature (247 to 275 K) differences. Aircraft MAX-DOAS measurements were conducted by the University of Colorado (CU) AMAX-DOAS instrument on 29 January 2012 over the Southern Hemispheric subtropical Pacific Ocean. Scattered solar radiance spectra were collected at altitudes between 9 and 13.2 km, with O2O2 profile-weighted temperatures of 231 to 244 K and nearly pure Rayleigh scattering conditions. Due to the well-defined DS air-mass factors during ground-based measurements and extensively characterized atmospheric conditions during the aircraft AMAX-DOAS measurements, O2O2 "pseudo" absorption cross sections, σ, are derived from the observed optical depths and estimated O2O2 column densities. Vertical O2O2 columns are calculated from the atmospheric sounding temperature, pressure and specific humidity profiles. Based on the ground

  17. Teachers Avoiding Learners' Avoidance: Is It Possible?

    ERIC Educational Resources Information Center

    Tadayyon, Maedeh; Zarrinabadi, Nourollah; Ketabi, Saeed

    2016-01-01

    Dealing with learners who prefer to take the back seat and avoid classroom participation can be every teacher's nightmare. This lack of participation may cause teacher frustration, and possibly the only way to reduce this lack of participation is to access the concept of avoidance strategy. Avoidance strategy is the abandonment of a classroom task…

  18. Integration of Weather Avoidance and Traffic Separation

    NASA Technical Reports Server (NTRS)

    Consiglio, Maria C.; Chamberlain, James P.; Wilson, Sara R.

    2011-01-01

    This paper describes a dynamic convective weather avoidance concept that compensates for weather motion uncertainties; the integration of this weather avoidance concept into a prototype 4-D trajectory-based Airborne Separation Assurance System (ASAS) application; and test results from a batch (non-piloted) simulation of the integrated application with high traffic densities and a dynamic convective weather model. The weather model can simulate a number of pseudo-random hazardous weather patterns, such as slow- or fast-moving cells and opening or closing weather gaps, and also allows for modeling of onboard weather radar limitations in range and azimuth. The weather avoidance concept employs nested "core" and "avoid" polygons around convective weather cells, and the simulations assess the effectiveness of various avoid polygon sizes in the presence of different weather patterns, using traffic scenarios representing approximately two times the current traffic density in en-route airspace. Results from the simulation experiment show that the weather avoidance concept is effective over a wide range of weather patterns and cell speeds. Avoid polygons that are only 2-3 miles larger than their core polygons are sufficient to account for weather uncertainties in almost all cases, and traffic separation performance does not appear to degrade with the addition of weather polygon avoidance. Additional "lessons learned" from the batch simulation study are discussed in the paper, along with insights for improving the weather avoidance concept. Introduction

  19. 75 FR 20671 - Seventieth Meeting: RTCA Special Committee 147: Minimum Operational Performance Standards for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-04-20

    ... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY: Federal... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment meeting. SUMMARY...: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems...

  20. 76 FR 11846 - Seventy-second Meeting: RTCA Special Committee 147: Minimum Operational Performance Standards for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-03-03

    ... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY: Federal... Operational Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment...: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems...

  1. 75 FR 52590 - Seventy-First Meeting: RTCA Special Committee 147: Minimum Operational Performance Standards for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2010-08-26

    ... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY: Federal... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment meeting. SUMMARY...: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems...

  2. 76 FR 58077 - Seventy-Third Meeting: RTCA Special Committee 147: Minimum Operational Performance Standards for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2011-09-19

    ... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY: Federal... Operational Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment...: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems...

  3. Moving Obstacle Avoidance for Unmanned Aerial Vehicles

    NASA Astrophysics Data System (ADS)

    Lin, Yucong

    There has been a vast increase in applications of Unmanned Aerial Vehicles (UAVs) in civilian domains. To operate in the civilian airspace, a UAV must be able to sense and avoid both static and moving obstacles for flight safety. While indoor and low-altitude environments are mainly occupied by static obstacles, risks in space of higher altitude primarily come from moving obstacles such as other aircraft or flying vehicles in the airspace. Therefore, the ability to avoid moving obstacles becomes a necessity for Unmanned Aerial Vehicles. Towards enabling a UAV to autonomously sense and avoid moving obstacles, this thesis makes the following contributions. Initially, an image-based reactive motion planner is developed for a quadrotor to avoid a fast approaching obstacle. Furthermore, A Dubin's curve based geometry method is developed as a global path planner for a fixed-wing UAV to avoid collisions with aircraft. The image-based method is unable to produce an optimal path and the geometry method uses a simplified UAV model. To compensate these two disadvantages, a series of algorithms built upon the Closed-Loop Rapid Exploratory Random Tree are developed as global path planners to generate collision avoidance paths in real time. The algorithms are validated in Software-In-the-Loop (SITL) and Hardware-In-the-Loop (HIL) simulations using a fixed-wing UAV model and in real flight experiments using quadrotors. It is observed that the algorithm enables a UAV to avoid moving obstacles approaching to it with different directions and speeds.

  4. Autonomous Aircraft Operations using RTCA Guidelines for Airborne Conflict Management

    NASA Technical Reports Server (NTRS)

    Krishnamurthy, Karthik; Wing, David J.; Barmore, Bryan E.; Barhydt, Richard; Palmer, Michael T.; Johnson, Edward J.; Ballin, Mark G.; Eischeid, Todd M.

    2003-01-01

    A human-in-the-loop experiment was performed at the NASA Langley Research Center to study the feasibility of DAG-TM autonomous aircraft operations in highly constrained airspace. The airspace was constrained by a pair of special-use airspace (SUA) regions on either side of the pilot's planned route. Traffic flow management (TFM) constraints were imposed as a required time of arrival and crossing altitude at an en route fix. Key guidelines from the RTCA Airborne Conflict Management (ACM) concept were applied to autonomous aircraft operations for this experiment. These concepts included the RTCA ACM definitions of distinct conflict detection and collision avoidance zones, and the use of a graded system of conflict alerts for the flight crew. Three studies were conducted in the course of the experiment. The first study investigated the effect of hazard proximity upon pilot ability to meet constraints and solve conflict situations. The second study investigated pilot use of the airborne tools when faced with an unexpected loss of separation (LOS). The third study explored pilot interactions in an over-constrained conflict situation, with and without priority rules dictating who should move first. Detailed results from these studies were presented at the 5th USA/Europe Air Traffic Management R&D Seminar (ATM2003). This overview paper focuses on the integration of the RTCA ACM concept into autonomous aircraft operations in highly constrained situations, and provides an overview of the results presented at the ATM2003 seminar. These results, together with previously reported studies, continue to support the feasibility of autonomous aircraft operations.

  5. Airborne rescue system

    NASA Technical Reports Server (NTRS)

    Haslim, Leonard A. (Inventor)

    1991-01-01

    The airborne rescue system includes a boom with telescoping members for extending a line and collar to a rescue victim. The boom extends beyond the tip of the helicopter rotor so that the victim may avoid the rotor downwash. The rescue line is played out and reeled in by winch. The line is temporarily retained under the boom. When the boom is extended, the rescue line passes through clips. When the victim dons the collar and the tension in the line reaches a predetermined level, the clips open and release the line from the boom. Then the rescue line can form a straight line between the victim and the winch, and the victim can be lifted to the helicopter. A translator is utilized to push out or pull in the telescoping members. The translator comprises a tape and a rope. Inside the telescoping members the tape is curled around the rope and the tape has a tube-like configuration. The tape and rope are provided from supply spools.

  6. Launch Collision Probability

    NASA Technical Reports Server (NTRS)

    Bollenbacher, Gary; Guptill, James D.

    1999-01-01

    This report analyzes the probability of a launch vehicle colliding with one of the nearly 10,000 tracked objects orbiting the Earth, given that an object on a near-collision course with the launch vehicle has been identified. Knowledge of the probability of collision throughout the launch window can be used to avoid launching at times when the probability of collision is unacceptably high. The analysis in this report assumes that the positions of the orbiting objects and the launch vehicle can be predicted as a function of time and therefore that any tracked object which comes close to the launch vehicle can be identified. The analysis further assumes that the position uncertainty of the launch vehicle and the approaching space object can be described with position covariance matrices. With these and some additional simplifying assumptions, a closed-form solution is developed using two approaches. The solution shows that the probability of collision is a function of position uncertainties, the size of the two potentially colliding objects, and the nominal separation distance at the point of closest approach. ne impact of the simplifying assumptions on the accuracy of the final result is assessed and the application of the results to the Cassini mission, launched in October 1997, is described. Other factors that affect the probability of collision are also discussed. Finally, the report offers alternative approaches that can be used to evaluate the probability of collision.

  7. Avoiding the Flu

    MedlinePlus

    ... of this page please turn Javascript on. Feature: Flu Avoiding the Flu Past Issues / Fall 2009 Table of Contents Children ... help avoid getting and passing on the flu. Influenza (Seasonal) The flu is a contagious respiratory illness ...

  8. Airborne oceanographic lidar system

    NASA Technical Reports Server (NTRS)

    Bressel, C.; Itzkan, I.; Nunes, J. E.; Hoge, F.

    1977-01-01

    The characteristics of an Airborne Oceanographic Lidar (AOL) are given. The AOL system is described and its potential for various measurement applications including bathymetry and fluorosensing is discussed.

  9. Recommendations for Sense and Avoid Policy Compliance

    NASA Technical Reports Server (NTRS)

    2005-01-01

    Since unmanned aircraft do not have a human on board, they need to have a sense and avoid capability that provides an "equivalent level of safety" (ELOS) to manned aircraft. The question then becomes - is sense and avoid ELOS for unmanned aircraft adequate to satisfy the requirements of 14 CFR 91.113? Access 5 has proposed a definition of sense and avoid, but the question remains as to whether any sense and avoid system can comply with 14 CFR 91.113 as currently written. The Access 5 definition of sense and avoid ELOS allows for the development of a sense and avoid system for unmanned aircraft that would comply with 14 CFR 91.113. Compliance is based on sensing and avoiding other traffic at an equivalent level of safety for collision avoidance, as manned aircraft. No changes to Part 91 are necessary, with the possible exception of changing "see" to "sense," or obtaining an interpretation from the FAA General Counsel that "sense" is equivalent to "see."

  10. Avoidance maneuevers selected while viewing cockpit traffic displays

    NASA Technical Reports Server (NTRS)

    Smith, J. D.; Ellis, S. R.; Lee, E.

    1982-01-01

    Ten airline pilots rates the collision danger of air traffic presented on cockpit displays of traffic information while they monitored simulated departures from Denver. They selected avoidance maneuvers when necessary for separation. Most evasive maneuvers were turns rather than vertical maneuvers. Evasive maneuvers chosen for encounters with low or moderate collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threst situations pilots turned toward the intruder only at chance levels. Intruders coming from positions in front of the pilot's own ship were more frequently avoided by turns toward than when intruders approached laterally or from behind. Some of the implications of the pilots' turning-toward tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

  11. 78 FR 6401 - Seventy Fifth Meeting: RTCA Special Committee 147, Minimum Operational Performance Standards for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-01-30

    ... Operational Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY... RTCA Special Committee 147, Minimum Operational Performance Standards for Traffic Alert and Collision... Alert and Collision Avoidance Systems Airborne Equipment. DATES: The meeting will be held February...

  12. Avoidant personality disorder

    MedlinePlus

    ... Names Personality disorder - avoidant References American Psychiatric Association. Diagnostic and statistical manual of mental disorders. 5th ed. Arlington, VA: American Psychiatric Publishing. 2013. ...

  13. Collision tectonics

    SciTech Connect

    Coward, M.P.; Ries, A.C.

    1985-01-01

    The motions of lithospheric plates have produced most existing mountain ranges, but structures produced as a result of, and following the collision of continental plates need to be distinguished from those produced before by subduction. If subduction is normally only stopped when collision occurs, then most geologically ancient fold belts must be collisional, so it is essential to recognize and understand the effects of the collision process. This book consists of papers that review collision tectonics, covering tectonics, structure, geochemistry, paleomagnetism, metamorphism, and magmatism.

  14. Avoidable mortality in Lithuania.

    PubMed Central

    Gaizauskiene, A; Gurevicius, R

    1995-01-01

    STUDY OBJECTIVE--The study aimed to analyse avoidable mortality in Lithuania as an index of the quality of health care and to assess trends in avoidable mortality from 1970-90. SETTING AND PARTICIPANTS--All deaths of Lithuanian residents aged between 0 and 64 years between 1970 and 1990 were analysed. MEASUREMENTS AND MAIN RESULTS--Twenty seven per cent of all deaths in this age group were avoidable. Avoidable deaths were grouped into preventable and treatable ones. Treatable causes of death accounted for 54%, and preventable, 46% of avoidable mortality. Time trends showed that general mortality and mortality from avoidable causes of death in this age group were almost stable between 1970 and 1990. Mortality from treatable causes of death fell, while deaths from preventable causes increased. The results in the preventable group were greatly affected by deaths from malignant neoplasms of trachea, bronchus, and lungs. Differences were noted between the sexes in total mortality as well as in avoidable mortality. CONCLUSIONS--Avoidable causes of death are relatively common and, consequently, they are of practical importance for public health and studies of the health care quality in Lithuania. Reorganisation of health care is to be carried out and considerable emphasis will be placed on health education, promotion, and prevention, as primary prevention measures have not been effective thus far. PMID:7629464

  15. Avoiding Statistical Mistakes

    ERIC Educational Resources Information Center

    Strasser, Nora

    2007-01-01

    Avoiding statistical mistakes is important for educators at all levels. Basic concepts will help you to avoid making mistakes using statistics and to look at data with a critical eye. Statistical data is used at educational institutions for many purposes. It can be used to support budget requests, changes in educational philosophy, changes to…

  16. Airborne gravity is here

    SciTech Connect

    Hammer, S.

    1982-01-11

    After 20 years of development efforts, the airborne gravity survey has finally become a practical exploration method. Besides gravity data, the airborne survey can also collect simultaneous, continuous records of high-precision magneticfield data as well as terrain clearance; these provide a topographic contour map useful in calculating terrain conditions and in subsequent planning and engineering. Compared with a seismic survey, the airborne gravity method can cover the same area much more quickly and cheaply; a seismograph could then detail the interesting spots.

  17. Toolsets for Airborne Data

    Atmospheric Science Data Center

    2015-04-02

    article title:  Toolsets for Airborne Data     View larger image The ... limit of detection values. Prior to accessing the TAD Web Application ( https://tad.larc.nasa.gov ) for the first time, users must ...

  18. Linear Collisions

    ERIC Educational Resources Information Center

    Walkiewicz, T. A.; Newby, N. D., Jr.

    1972-01-01

    A discussion of linear collisions between two or three objects is related to a junior-level course in analytical mechanics. The theoretical discussion uses a geometrical approach that treats elastic and inelastic collisions from a unified point of view. Experiments with a linear air track are described. (Author/TS)

  19. The airborne laser

    NASA Astrophysics Data System (ADS)

    Lamberson, Steven; Schall, Harold; Shattuck, Paul

    2007-05-01

    The Airborne Laser (ABL) is an airborne, megawatt-class laser system with a state-of-the-art atmospheric compensation system to destroy enemy ballistic missiles at long ranges. This system will provide both deterrence and defense against the use of such weapons during conflicts. This paper provides an overview of the ABL weapon system including: the notional operational concept, the development approach and schedule, the overall aircraft configuration, the technologies being incorporated in the ABL, and the current program status.

  20. Avoiding Computer Viruses.

    ERIC Educational Resources Information Center

    Rowe, Joyce; And Others

    1989-01-01

    The threat of computer sabotage is a real concern to business teachers and others responsible for academic computer facilities. Teachers can minimize the possibility. Eight suggestions for avoiding computer viruses are given. (JOW)

  1. Avoided Crossing and Synchronization

    NASA Astrophysics Data System (ADS)

    Sekii, T.; Shibahashi, H.

    2013-12-01

    We examine avoided crossing of stellar pulsations in the nonlinear regime, where synchronization may occur, based on a simple model of weakly coupled van der Pol oscillators with close frequencies. For this simple case, avoided crossing is unaffected in the sense that there is a frequency difference between the symmetric and antisymmetric modes, but as a result of synchronization, unlike the linear oscillations case, the system can vibrate in only one of the modes.

  2. Sense and Avoid Safety Analysis for Remotely Operated Unmanned Aircraft in the National Airspace System. Version 5

    NASA Technical Reports Server (NTRS)

    Carreno, Victor

    2006-01-01

    This document describes a method to demonstrate that a UAS, operating in the NAS, can avoid collisions with an equivalent level of safety compared to a manned aircraft. The method is based on the calculation of a collision probability for a UAS , the calculation of a collision probability for a base line manned aircraft, and the calculation of a risk ratio given by: Risk Ratio = P(collision_UAS)/P(collision_manned). A UAS will achieve an equivalent level of safety for collision risk if the Risk Ratio is less than or equal to one. Calculation of the probability of collision for UAS and manned aircraft is accomplished through event/fault trees.

  3. Traffic jam driving with NMV avoidance

    NASA Astrophysics Data System (ADS)

    Milanés, Vicente; Alonso, Luciano; Villagrá, Jorge; Godoy, Jorge; de Pedro, Teresa; Oria, Juan P.

    2012-08-01

    In recent years, the development of advanced driver assistance systems (ADAS) - mainly based on lidar and cameras - has considerably improved the safety of driving in urban environments. These systems provide warning signals for the driver in the case that any unexpected traffic circumstance is detected. The next step is to develop systems capable not only of warning the driver but also of taking over control of the car to avoid a potential collision. In the present communication, a system capable of autonomously avoiding collisions in traffic jam situations is presented. First, a perception system was developed for urban situations—in which not only vehicles have to be considered, but also pedestrians and other non-motor-vehicles (NMV). It comprises a differential global positioning system (DGPS) and wireless communication for vehicle detection, and an ultrasound sensor for NMV detection. Then, the vehicle's actuators - brake and throttle pedals - were modified to permit autonomous control. Finally, a fuzzy logic controller was implemented capable of analyzing the information provided by the perception system and of sending control commands to the vehicle's actuators so as to avoid accidents. The feasibility of the integrated system was tested by mounting it in a commercial vehicle, with the results being encouraging.

  4. 3D model generation using an airborne swarm

    NASA Astrophysics Data System (ADS)

    Clark, R. A.; Punzo, G.; Dobie, G.; MacLeod, C. N.; Summan, R.; Pierce, G.; Macdonald, M.; Bolton, G.

    2015-03-01

    Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing through photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm's computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.

  5. 3D model generation using an airborne swarm

    SciTech Connect

    Clark, R. A.; Punzo, G.; Macdonald, M.; Dobie, G.; MacLeod, C. N.; Summan, R.; Pierce, G.; Bolton, G.

    2015-03-31

    Using an artificial kinematic field to provide co-ordination between multiple inspection UAVs, the authors herein demonstrate full 3D modelling capability based on a photogrammetric system. The operation of the system is demonstrated by generating a full 3D surface model of an intermediate level nuclear waste storage drum. Such drums require periodic inspection to ensure that drum distortion or corrosion is carefully monitored. Performing this inspection with multiple airborne platforms enables rapid inspection of structures that are inaccessible to on-surface remote vehicles and are in human-hazardous environments. A three-dimensional surface-meshed model of the target can then be constructed in post-processing through photogrammetry analysis of the visual inspection data. The inspection environment uses a tracking system to precisely monitor the position of each aerial vehicle within the enclosure. The vehicles used are commercially available Parrot AR. Drone quadcopters, controlled through a computer interface connected over an IEEE 802.11n (WiFi) network, implementing a distributed controller for each vehicle. This enables the autonomous and distributed elements of the control scheme to be retained, while alleviating the vehicles of the control algorithm’s computational load. The control scheme relies on a kinematic field defined with the target at its centre. This field defines the trajectory for all the drones in the volume relative to the central target, enabling the drones to circle the target at a set radius while avoiding drone collisions. This function enables complete coverage along the height of the object, which is assured by transitioning to another inspection band only after completing circumferential coverage. Using a swarm of vehicles, the time until complete coverage can be significantly reduced.

  6. Collision-free motion of two robot arms in a common workspace

    NASA Technical Reports Server (NTRS)

    Basta, Robert A.; Mehrotra, Rajiv; Varanasi, Murali R.

    1987-01-01

    Collision-free motion of two robot arms in a common workspace is investigated. A collision-free motion is obtained by detecting collisions along the preplanned trajectories using a sphere model for the wrist of each robot and then modifying the paths and/or trajectories of one or both robots to avoid the collision. Detecting and avoiding collisions are based on the premise that: preplanned trajectories of the robots follow a straight line; collisions are restricted to between the wrists of the two robots (which corresponds to the upper three links of PUMA manipulators); and collisions never occur between the beginning points or end points on the straight line paths. The collision detection algorithm is described and some approaches to collision avoidance are discussed.

  7. The Airborne Laser

    NASA Astrophysics Data System (ADS)

    Lamberson, Steven E.

    2002-09-01

    The US Air Force Airborne Laser (ABL) is an airborne, megawatt-class laser system with a state-of-the-art atmospheric compensation system to destroy enemy ballistic missiles at long ranges. This system will provide both deterrence and defense against the use of such weapons during conflicts. This paper provides an overview of the ABL weapon system including: the notional operational concept, the development approach and schedule, the overall aircraft configuration, the technologies being incorporated in the ABL, and the risk reduction approach being utilized to ensure program success.

  8. Airborne oceanographic lidar system

    NASA Technical Reports Server (NTRS)

    1975-01-01

    Specifications and preliminary design of an Airborne Oceanographic Lidar (AOL) system, which is to be constructed for installation and used on a NASA Wallops Flight Center (WFC) C-54 research aircraft, are reported. The AOL system is to provide an airborne facility for use by various government agencies to demonstrate the utility and practicality of hardware of this type in the wide area collection of oceanographic data on an operational basis. System measurement and performance requirements are presented, followed by a description of the conceptual system approach and the considerations attendant to its development. System performance calculations are addressed, and the system specifications and preliminary design are presented and discussed.

  9. Sense-and-Avoid Equivalent Level of Safety Definition for Unmanned Aircraft Systems. Revision 9

    NASA Technical Reports Server (NTRS)

    2005-01-01

    Since unmanned aircraft do not have a pilot on-board the aircraft, they cannot literally comply with the "see and avoid" requirement beyond a short distance from the location of the unmanned pilot. No performance standards are presently defined for unmanned Sense and Avoid systems, and the FAA has no published approval criteria for a collision avoidance system. Before the FAA can develop the necessary guidance (rules / regulations / policy) regarding the see-and-avoid requirements for Unmanned Aircraft Systems (UAS), a concise understanding of the term "equivalent level of safety" must be attained. Since this term is open to interpretation, the UAS industry and FAA need to come to an agreement on how this term can be defined and applied for a safe and acceptable collision avoidance capability for unmanned aircraft. Defining an equivalent level of safety (ELOS) for sense and avoid is one of the first steps in understanding the requirement and developing a collision avoidance capability. This document provides a functional level definition of see-and-avoid as it applies to unmanned aircraft. The sense and avoid ELOS definition is intended as a bridge between the see and avoid requirement and the system level requirements for unmanned aircraft sense and avoid systems. Sense and avoid ELOS is defined in a rather abstract way, meaning that it is not technology or system specific, and the definition provides key parameters (and a context for those parameters) to focus the development of cooperative and non-cooperative sense and avoid system requirements.

  10. Avoiding Sophomore Jinx.

    ERIC Educational Resources Information Center

    Fitzpatrick, James

    2002-01-01

    After the first year, new superintendents should take care to avoid the "sophomore jinx" by communicating effectively with the board president every week and with board members before meetings. Public engagement is also an integral part of a superintendent's job. (MLF)

  11. Pitcherpot: Avoiding Honeypot Detection

    NASA Astrophysics Data System (ADS)

    Panchal, Vinod K.; Bhatnagar, Pramod K.; Bhatnagar, Mitul

    This paper explores the various ways honeypots could be detected by the malicious attacker. This includes the different prevalent criteria and characteristics for honeypots generation & their weaknesses. Further this paper proposes a new way of implementation of a honeypot (Pitcher pots Systems) that effectively facilitate its identity avoidance and yet offers better ways to study the attacker.

  12. Myelin Avoids the JAM.

    PubMed

    Follis, Rose M; Carter, Bruce D

    2016-08-17

    In this issue of Neuron, Redmond et al. (2016) identify junction adhesion molecule 2 (JAM2) as an inhibitor of somatodendritic myelination in spinal cord neurons, thereby elucidating how myelin forms on axons but avoids dendrites and cell bodies. PMID:27537479

  13. Avoiding the "M" Word.

    ERIC Educational Resources Information Center

    Klinger, Donna

    2001-01-01

    Provides an overview of roundtable discussions by top business officers about how higher education can capitalize on strategic alliances. Describes how, by working with one another and with corporate partners, colleges and universities can avoid closing their doors or merging with stronger institutions. (EV)

  14. Plants to Avoid

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Knowledge of poisonous plants is extremely important for home owners, gardeners, farmers, hunters, hikers, and the rest of the general public. Among the most important plants to avoid in the Delta Region are poison ivy, bull nettle, eastern black nightshade, Queen Ann’s lace, jimsonweed, and trumpe...

  15. Psychological Treatments to Avoid

    ERIC Educational Resources Information Center

    Thomason, Timothy C.

    2010-01-01

    Certain psychological treatments should be avoided, and a list of such treatments would provide valuable guidance for counselors, as well as potential clients. It is well established that some therapies are potentially dangerous, and some fringe therapies are highly unlikely to help clients beyond a placebo effect. This article provides an…

  16. NASA Airborne Lidar July 1991

    Atmospheric Science Data Center

    2016-05-26

    NASA Airborne Lidar July 1991 Data from the 1991 NASA Langley Airborne Lidar flights following the eruption of Pinatubo in July ... and Osborn [1992a, 1992b]. Project Title:  NASA Airborne Lidar Discipline:  Field Campaigns ...

  17. NASA Airborne Lidar May 1992

    Atmospheric Science Data Center

    2016-05-26

    NASA Airborne Lidar May 1992 An airborne Nd:YAG (532 nm) lidar was operated by the NASA Langley Research Center about a year following the June 1991 eruption of ... Osborn [1992a, 1992b].  Project Title:  NASA Airborne Lidar Discipline:  Field Campaigns ...

  18. Genes, Race, and Population: Avoiding a Collision of Categories

    PubMed Central

    Kahn, Jonathan

    2006-01-01

    A wide array of federal mandates have a profound impact on the use of racial and ethnic categories in biomedical research, clinical practice, product development, and health policy. Current discussions over the appropriate use of racial and ethnic categories in biomedical contexts have largely focused on the practices of individual researchers. By contrast, our discussion focuses on relations between the daily practices of biomedical professionals and federal regulatory mandates. It draws upon the legal doctrine of equal protection to move beyond such debates and to propose guidelines to address the structural forces imposed by federal regulations that mandate how data about race and ethnicity are used in biomedical research. It offers a framework to manage the tension involved in using existing federally mandated categories of race and ethnicity alongside new scientific findings about human genetic variation. PMID:17018831

  19. 14 CFR 125.224 - Collision avoidance system.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... more than 33,000 pounds maximum certificated takeoff weight (1) An appropriate class of Mode S... system equivalent to TSO C-119b (version 7.0), or a later version, capable of coordinating with units... than 33,000 pounds maximum certificated takeoff weight (1) TCAS I that meets TSO C-118, or a...

  20. Performance Evaluation of Evasion Maneuvers for Parallel Approach Collision Avoidance

    NASA Technical Reports Server (NTRS)

    Winder, Lee F.; Kuchar, James K.; Waller, Marvin (Technical Monitor)

    2000-01-01

    Current plans for independent instrument approaches to closely spaced parallel runways call for an automated pilot alerting system to ensure separation of aircraft in the case of a "blunder," or unexpected deviation from the a normal approach path. Resolution advisories by this system would require the pilot of an endangered aircraft to perform a trained evasion maneuver. The potential performance of two evasion maneuvers, referred to as the "turn-climb" and "climb-only," was estimated using an experimental NASA alerting logic (AILS) and a computer simulation of relative trajectory scenarios between two aircraft. One aircraft was equipped with the NASA alerting system, and maneuvered accordingly. Observation of the rates of different types of alerting failure allowed judgement of evasion maneuver performance. System Operating Characteristic (SOC) curves were used to assess the benefit of alerting with each maneuver.

  1. Infrared augmentation system for collision avoidance on airport surfaces

    NASA Astrophysics Data System (ADS)

    Berman, Elizabeth A.

    1998-07-01

    The Federal Aviation Administration is examining a variety of technologies for augmenting surface radar detection at airports. This paper describes the testing of infrared cameras and operational concepts to improve detection and tracking of targets on airport surfaces. Three different cameras were tested during summer and winter months and during inclement weather. Two operational concepts were tested at Dulles International Airport. A prototype image processing system is described that extracts target coordinates from camera video output and passes them to an AMASS simulator for fusion with radar and other target tracking data. All three cameras evaluated were able to detect and recognize a variety of targets on a runway surface including humans, vehicles, and small and large airplanes. The range to detection and recognition varies with each camera's instantaneous FOV, thermal sensitivity, atmospheric conditions and operating conditions. Each camera was found to meet specific FAA requirements in unique ways.

  2. Airborne antenna pattern calculations

    NASA Technical Reports Server (NTRS)

    Knerr, T. J.; Schaffner, P. R.; Mielke, R. R.; Gilreath, M. C.

    1980-01-01

    A procedure for numerically calculating radiation patterns of fuselage-mounted airborne antennas using the Volumetric Pattern Analysis Program is presented. Special attention is given to aircraft modeling. An actual case study involving a large commercial aircraft is included to illustrate the analysis procedure.

  3. Recognizing Airborne Hazards.

    ERIC Educational Resources Information Center

    Schneider, Christian M.

    1990-01-01

    The heating, ventilating, and air conditioning (HVAC) systems in older buildings often do not adequately handle air-borne contaminants. Outlines a three-stage Indoor Air Quality (IAQ) assessment and describes a case in point at a Pittsburgh, Pennsylvania, school. (MLF)

  4. Airborne Fraunhofer Line Discriminator

    NASA Technical Reports Server (NTRS)

    Gabriel, F. C.; Markle, D. A.

    1969-01-01

    Airborne Fraunhofer Line Discriminator enables prospecting for fluorescent materials, hydrography with fluorescent dyes, and plant studies based on fluorescence of chlorophyll. Optical unit design is the coincidence of Fraunhofer lines in the solar spectrum occurring at the characteristic wavelengths of some fluorescent materials.

  5. Airborne Remote Sensing

    NASA Technical Reports Server (NTRS)

    1992-01-01

    NASA imaging technology has provided the basis for a commercial agricultural reconnaissance service. AG-RECON furnishes information from airborne sensors, aerial photographs and satellite and ground databases to farmers, foresters, geologists, etc. This service produces color "maps" of Earth conditions, which enable clients to detect crop color changes or temperature changes that may indicate fire damage or pest stress problems.

  6. International Symposium on Airborne Geophysics

    NASA Astrophysics Data System (ADS)

    Mogi, Toru; Ito, Hisatoshi; Kaieda, Hideshi; Kusunoki, Kenichiro; Saltus, Richard W.; Fitterman, David V.; Okuma, Shigeo; Nakatsuka, Tadashi

    2006-05-01

    Airborne geophysics can be defined as the measurement of Earth properties from sensors in the sky. The airborne measurement platform is usually a traditional fixed-wing airplane or helicopter, but could also include lighter-than-air craft, unmanned drones, or other specialty craft. The earliest history of airborne geophysics includes kite and hot-air balloon experiments. However, modern airborne geophysics dates from the mid-1940s when military submarine-hunting magnetometers were first used to map variations in the Earth's magnetic field. The current gamut of airborne geophysical techniques spans a broad range, including potential fields (both gravity and magnetics), electromagnetics (EM), radiometrics, spectral imaging, and thermal imaging.

  7. Doppler micro sense and avoid radar

    NASA Astrophysics Data System (ADS)

    Gorwara, Ashok; Molchanov, Pavlo; Asmolova, Olga

    2015-10-01

    There is a need for small Sense and Avoid (SAA) systems for small and micro Unmanned Aerial Systems (UAS) to avoid collisions with obstacles and other aircraft. The proposed SAA systems will give drones the ability to "see" close up and give them the agility to maneuver through tight areas. Doppler radar is proposed for use in this sense and avoid system because in contrast to optical or infrared (IR) systems Doppler can work in more harsh conditions such as at dusk, and in rain and snow. And in contrast to ultrasound based systems, Doppler can better sense small sized obstacles such as wires and it can provide a sensing range from a few inches to several miles. An SAA systems comprised of Doppler radar modules and an array of directional antennas that are distributed around the perimeter of the drone can cover the entire sky. These modules are designed so that they can provide the direction to the obstacle and simultaneously generate an alarm signal if the obstacle enters within the SAA system's adjustable "Protection Border". The alarm signal alerts the drone's autopilot to automatically initiate an avoidance maneuver. A series of Doppler radar modules with different ranges, angles of view and transmitting power have been designed for drones of different sizes and applications. The proposed Doppler radar micro SAA system has simple circuitry, works from a 5 volt source and has low power consumption. It is light weight, inexpensive and it can be used for a variety of small unmanned aircraft.

  8. Impact of Tactical and Strategic Weather Avoidance on Separation Assurance

    NASA Technical Reports Server (NTRS)

    Refai, Mohamad S.; Windhorst, Robert

    2011-01-01

    The ability to keep flights away from weather hazards while maintaining aircraft-to-aircraft separation is critically important. The Advanced Airspace Concept is an automation concept that implements a ground-based strategic conflict resolution algorithm for management of aircraft separation. The impact of dynamic and uncertain weather avoidance on this concept is investigated. A strategic weather rerouting system is integrated with the Advanced Airspace Concept, which also provides a tactical weather avoidance algorithm, in a fast time simulation of the Air Transportation System. Strategic weather rerouting is used to plan routes around weather in the 20 minute to two-hour time horizon. To address forecast uncertainty, flight routes are revised at 15 minute intervals. Tactical weather avoidance is used for short term trajectory adjustments (30 minute planning horizon) that are updated every minute to address any weather conflicts (instances where aircraft are predicted to pass through weather cells) that are left unresolved by strategic weather rerouting. The fast time simulation is used to assess the impact of tactical weather avoidance on the performance of automated conflict resolution as well as the impact of strategic weather rerouting on both conflict resolution and tactical weather avoidance. The results demonstrate that both tactical weather avoidance and strategic weather rerouting increase the algorithm complexity required to find aircraft conflict resolutions. Results also demonstrate that tactical weather avoidance is prone to higher airborne delay than strategic weather rerouting. Adding strategic weather rerouting to tactical weather avoidance reduces total airborne delays for the reported scenario by 18% and reduces the number of remaining weather violations by 13%. Finally, two features are identified that have proven important for strategic weather rerouting to realize these benefits; namely, the ability to revise reroutes and the use of maneuvers

  9. See and avoidance behaviors for autonomous navigation

    NASA Astrophysics Data System (ADS)

    Lee, Dah-Jye; Beard, Randal W.; Merrell, Paul C.; Zhan, Pengcheng

    2004-12-01

    Recent advances in many multi-discipline technologies have allowed small, low-cost fixed wing unmanned air vehicles (UAV) or more complicated unmanned ground vehicles (UGV) to be a feasible solution in many scientific, civil and military applications. Cameras can be mounted on-board of the unmanned vehicles for the purpose of scientific data gathering, surveillance for law enforcement and homeland security, as well as to provide visual information to detect and avoid imminent collisions for autonomous navigation. However, most current computer vision algorithms are highly complex computationally and usually constitute the bottleneck of the guidance and control loop. In this paper, we present a novel computer vision algorithm for collision detection and time-to-impact calculation based on feature density distribution (FDD) analysis. It does not require accurate feature extraction, tracking, or estimation of focus of expansion (FOE). Under a few reasonable assumptions, by calculating the expansion rate of the FDD in space, time-to-impact can be accurately estimated. A sequence of monocular images is studied, and different features are used simultaneously in FDD analysis to show that our algorithm can achieve a fairly good accuracy in collision detection. In this paper we also discuss reactive path planning and trajectory generation techniques that can be accomplished without violating the velocity and heading rate constraints of the UAV.

  10. [Air-borne disease].

    PubMed

    Lameiro Vilariño, Carmen; del Campo Pérez, Victor M; Alonso Bürger, Susana; Felpeto Nodar, Irene; Guimarey Pérez, Rosa; Pérez Alvarellos, Alberto

    2003-11-01

    Respiratory protection is a factor which worries nursing professionals who take care of patients susceptible of transmitting microorganisms through the air more as every day passes. This type of protection covers the use of surgical or hygienic masks against the transmission of infection by airborne drops to the use of highly effective masks or respirators against the transmission of airborne diseases such as tuberculosis or SARS, a recently discovered disease. The adequate choice of this protective device and its correct use are fundamental in order to have an effective protection for exposed personnel. The authors summarize the main protective respiratory devices used by health workers, their characteristics and degree of effectiveness, as well as the circumstances under which each device is indicated for use. PMID:14705591

  11. Airborne forest fire research

    NASA Technical Reports Server (NTRS)

    Mattingly, G. S.

    1974-01-01

    The research relating to airborne fire fighting systems is reviewed to provide NASA/Langley Research Center with current information on the use of aircraft in forest fire operations, and to identify research requirements for future operations. A literature survey, interview of forest fire service personnel, analysis and synthesis of data from research reports and independent conclusions, and recommendations for future NASA-LRC programs are included.

  12. MLS airborne antenna research

    NASA Technical Reports Server (NTRS)

    Yu, C. L.; Burnside, W. D.

    1975-01-01

    The geometrical theory of diffraction was used to analyze the elevation plane pattern of on-aircraft antennas. The radiation patterns for basic elements (infinitesimal dipole, circumferential and axial slot) mounted on fuselage of various aircrafts with or without radome included were calculated and compared well with experimental results. Error phase plots were also presented. The effects of radiation patterns and error phase plots on the polarization selection for the MLS airborne antenna are discussed.

  13. An information theoretic approach for generating an aircraft avoidance Markov Decision Process

    NASA Astrophysics Data System (ADS)

    Weinert, Andrew J.

    Developing a collision avoidance system that can meet safety standards required of commercial aviation is challenging. A dynamic programming approach to collision avoidance has been developed to optimize and generate logics that are robust to the complex dynamics of the national airspace. The current approach represents the aircraft avoidance problem as Markov Decision Processes and independently optimizes a horizontal and vertical maneuver avoidance logics. This is a result of the current memory requirements for each logic, simply combining the logics will result in a significantly larger representation. The "curse of dimensionality" makes it computationally inefficient and unfeasible to optimize this larger representation. However, existing and future collision avoidance systems have mostly defined the decision process by hand. In response, a simulation-based framework was built to better understand how each potential state quantifies the aircraft avoidance problem with regards to safety and operational components. The framework leverages recent advances in signals processing and database, while enabling the highest fidelity analysis of Monte Carlo aircraft encounter simulations to date. This framework enabled the calculation of how well each state of the decision process quantifies the collision risk and the associated memory requirements. Using this analysis, a collision avoidance logic that leverages both horizontal and vertical actions was built and optimized using this simulation based approach.

  14. Avoidable waste management costs

    SciTech Connect

    Hsu, K.; Burns, M.; Priebe, S.; Robinson, P.

    1995-01-01

    This report describes the activity based costing method used to acquire variable (volume dependent or avoidable) waste management cost data for routine operations at Department of Energy (DOE) facilities. Waste volumes from environmental restoration, facility stabilization activities, and legacy waste were specifically excluded from this effort. A core team consisting of Idaho National Engineering Laboratory, Los Alamos National Laboratory, Rocky Flats Environmental Technology Site, and Oak Ridge Reservation developed and piloted the methodology, which can be used to determine avoidable waste management costs. The method developed to gather information was based on activity based costing, which is a common industrial engineering technique. Sites submitted separate flow diagrams that showed the progression of work from activity to activity for each waste type or treatability group. Each activity on a flow diagram was described in a narrative, which detailed the scope of the activity. Labor and material costs based on a unit quantity of waste being processed were then summed to generate a total cost for that flow diagram. Cross-complex values were calculated by determining a weighted average for each waste type or treatability group based on the volume generated. This study will provide DOE and contractors with a better understanding of waste management processes and their associated costs. Other potential benefits include providing cost data for sites to perform consistent cost/benefit analysis of waste minimization and pollution prevention (WMIN/PP) options identified during pollution prevention opportunity assessments and providing a means for prioritizing and allocating limited resources for WMIN/PP.

  15. Airborne field strength monitoring

    NASA Astrophysics Data System (ADS)

    Bredemeyer, J.; Kleine-Ostmann, T.; Schrader, T.; Münter, K.; Ritter, J.

    2007-06-01

    In civil and military aviation, ground based navigation aids (NAVAIDS) are still crucial for flight guidance even though the acceptance of satellite based systems (GNSS) increases. Part of the calibration process for NAVAIDS (ILS, DME, VOR) is to perform a flight inspection according to specified methods as stated in a document (DOC8071, 2000) by the International Civil Aviation Organization (ICAO). One major task is to determine the coverage, or, in other words, the true signal-in-space field strength of a ground transmitter. This has always been a challenge to flight inspection up to now, since, especially in the L-band (DME, 1GHz), the antenna installed performance was known with an uncertainty of 10 dB or even more. In order to meet ICAO's required accuracy of ±3 dB it is necessary to have a precise 3-D antenna factor of the receiving antenna operating on the airborne platform including all losses and impedance mismatching. Introducing precise, effective antenna factors to flight inspection to achieve the required accuracy is new and not published in relevant papers yet. The authors try to establish a new balanced procedure between simulation and validation by airborne and ground measurements. This involves the interpretation of measured scattering parameters gained both on the ground and airborne in comparison with numerical results obtained by the multilevel fast multipole algorithm (MLFMA) accelerated method of moments (MoM) using a complex geometric model of the aircraft. First results will be presented in this paper.

  16. Mutagenicity of airborne particles.

    PubMed

    Chrisp, C E; Fisher, G L

    1980-09-01

    The physical and chemical properties of airborne particles are important for the interpretation of their potential biologic significance as genotoxic hazards. For polydisperse particle size distributions, the smallest, most respirable particles are generally the most mutagenic. Particulate collection for testing purposes should be designed to reduce artifact formation and allow condensation of mutagenic compounds. Other critical factors such as UV irradiation, wind direction, chemical reactivity, humidity, sample storage, and temperature of combustion are important. Application of chemical extraction methods and subsequent class fractionation techniques influence the observed mutagenic activity. Particles from urban air, coal fly ash, automobile and diesel exhaust, agricultural burning and welding fumes contain primarily direct-acting mutagens. Cigarette smoke condensate, smoke from charred meat and protein pyrolysates, kerosene soot and cigarette smoke condensates contain primarily mutagens which require metabolic activation. Fractionation coupled with mutagenicity testing indicates that the most potent mutagens are found in the acidic fractions of urban air, coal fly ash, and automobile diesel exhaust, whereas mutagens in rice straw smoke and cigarette smoke condensate are found primarily in the basic fractions. The interaction of the many chemical compounds in complex mixtures from airborne particles is likely to be important in determining mutagenic or comutagenic potentials. Because the mode of exposure is generally frequent and prolonged, the presence of tumor-promoting agents in complex mixtures may be a major factor in evaluation of the carcinogenic potential of airborne particles. PMID:7005667

  17. Obstacle avoidance in social groups: new insights from asynchronous models

    PubMed Central

    Croft, Simon; Budgey, Richard; Pitchford, Jonathan W.; Wood, A. Jamie

    2015-01-01

    For moving animals, the successful avoidance of hazardous obstacles is an important capability. Despite this, few models of collective motion have addressed the relationship between behavioural and social features and obstacle avoidance. We develop an asynchronous individual-based model for social movement which allows social structure within groups to be included. We assess the dynamics of group navigation and resulting collision risk in the context of information transfer through the system. In agreement with previous work, we find that group size has a nonlinear effect on collision risk. We implement examples of possible network structures to explore the impact social preferences have on collision risk. We show that any social heterogeneity induces greater obstacle avoidance with further improvements corresponding to groups containing fewer influential individuals. The model provides a platform for both further theoretical investigation and practical application. In particular, we argue that the role of social structures within bird flocks may have an important role to play in assessing the risk of collisions with wind turbines, but that new methods of data analysis are needed to identify these social structures. PMID:25833245

  18. Obstacle avoidance in social groups: new insights from asynchronous models.

    PubMed

    Croft, Simon; Budgey, Richard; Pitchford, Jonathan W; Wood, A Jamie

    2015-05-01

    For moving animals, the successful avoidance of hazardous obstacles is an important capability. Despite this, few models of collective motion have addressed the relationship between behavioural and social features and obstacle avoidance. We develop an asynchronous individual-based model for social movement which allows social structure within groups to be included. We assess the dynamics of group navigation and resulting collision risk in the context of information transfer through the system. In agreement with previous work, we find that group size has a nonlinear effect on collision risk. We implement examples of possible network structures to explore the impact social preferences have on collision risk. We show that any social heterogeneity induces greater obstacle avoidance with further improvements corresponding to groups containing fewer influential individuals. The model provides a platform for both further theoretical investigation and practical application. In particular, we argue that the role of social structures within bird flocks may have an important role to play in assessing the risk of collisions with wind turbines, but that new methods of data analysis are needed to identify these social structures. PMID:25833245

  19. Airborne wireless communication systems, airborne communication methods, and communication methods

    DOEpatents

    Deaton, Juan D.; Schmitt, Michael J.; Jones, Warren F.

    2011-12-13

    An airborne wireless communication system includes circuitry configured to access information describing a configuration of a terrestrial wireless communication base station that has become disabled. The terrestrial base station is configured to implement wireless communication between wireless devices located within a geographical area and a network when the terrestrial base station is not disabled. The circuitry is further configured, based on the information, to configure the airborne station to have the configuration of the terrestrial base station. An airborne communication method includes answering a 911 call from a terrestrial cellular wireless phone using an airborne wireless communication system.

  20. Airborne Submillimeter Spectroscopy

    NASA Technical Reports Server (NTRS)

    Zmuidzinas, J.

    1998-01-01

    This is the final technical report for NASA-Ames grant NAG2-1068 to Caltech, entitled "Airborne Submillimeter Spectroscopy", which extended over the period May 1, 1996 through January 31, 1998. The grant was funded by the NASA airborne astronomy program, during a period of time after the Kuiper Airborne Observatory was no longer operational. Instead. this funding program was intended to help develop instrument concepts and technology for the upcoming SOFIA (Stratospheric Observatory for Infrared Astronomy) project. SOFIA, which is funded by NASA and is now being carried out by a consortium lead by USRA (Universities Space Research Association), will be a 747 aircraft carrying a 2.5 meter diameter telescope. The purpose of our grant was to fund the ongoing development of sensitive heterodyne receivers for the submillimeter band (500-1200 GHz), using sensitive superconducting (SIS) detectors. In 1997 July we submitted a proposal to USRA to construct a heterodyne instrument for SOFIA. Our proposal was successful [1], and we are now continuing our airborne astronomy effort with funding from USRA. A secondary purpose of the NAG2-1068 grant was to continue the anaIN'sis of astronomical data collected with an earlier instrument which was flown on the NASA Kuiper Airborne Observatory (KAO). The KAO instrument and the astronomical studies which were carried out with it were supported primarily under another grant, NAG2-744, which extended over October 1, 1991 through Januarv 31, 1997. For a complete description of the astronomical data and its anailysis, we refer the reader to the final technical report for NAG2-744, which was submitted to NASA on December 1. 1997. Here we report on the SIS detector development effort for SOFIA carried out under NAG2-1068. The main result of this effort has been the demonstration of SIS mixers using a new superconducting material niobium titanium nitride (NbTiN), which promises to deliver dramatic improvements in sensitivity in the 700

  1. Avoiding dangerous climate change

    SciTech Connect

    Hans Joachim Schellnhuber; Wolfgang Cramer; Nebojsa Nakicenovic; Tom Wigley; Gary Yohe

    2006-02-15

    In 2005 the UK Government hosted the Avoiding Dangerous Climate Change conference to take an in-depth look at the scientific issues associated with climate change. This volume presents the most recent findings from the leading international scientists that attended the conference. The topics addressed include critical thresholds and key vulnerabilities of the climate system, impacts on human and natural systems, socioeconomic costs and benefits of emissions pathways, and technological options for meeting different stabilisation levels of greenhouse gases in the atmosphere. Contents are: Foreword from Prime Minister Tony Blair; Introduction from Rajendra Pachauri, Chairman of the IPCC; followed by 41 papers arranged in seven sections entitled: Key Vulnerabilities of the Climate System and Critical Thresholds; General Perspectives on Dangerous Impacts; Key Vulnerabilities for Ecosystems and Biodiversity; Socio-Economic Effects; Regional Perspectives; Emission Pathways; and Technological Options. Four papers have been abstracted separately for the Coal Abstracts database.

  2. Measuring Experiential Avoidance in Adults: The Avoidance and Fusion Questionnaire

    ERIC Educational Resources Information Center

    Schmalz, Jonathan E.; Murrell, Amy R.

    2010-01-01

    To date, general levels of experiential avoidance are primarily measured by the Acceptance and Action Questionnaire-II (AAQ-II), but it includes items of questionable comprehensibility. The Avoidance and Fusion Questionnaire for Youth (AFQ-Y), previously validated as a measure of experiential avoidance with children and adolescents, was…

  3. Airborne ultrasound enters the ear through the eyes

    NASA Astrophysics Data System (ADS)

    Lenhardt, Martin

    2005-09-01

    Musical spectrum above 20000 Hz has been demonstrated to influence human judgments and physiology. Moreover airborne ultrasonic noise has been implicated in hearing loss, tinnitus, and other subjective effects such as headaches and fullness in the ear. Contact ultrasound, i.e., with a transducer affixed to the skin of the head/neck, is audible; assumed by bone conduction. However, lightly touching the soft tissues of the head, avoiding bone, can also produce audibility. When contact ultrasound is applied to the head, energy from 25 to ~60 kHz can be recorded from the closed eyelid, with care to avoid sensor contact with the orbit. If the same frequency band of noise is passed through a transducer in from of the eye, with just air coupling, the same response is again recordable on the head. An acrylic barrier between the eye and the transducer eliminates the response. Once airborne ultrasound exceeds the impedance mismatch of the eye it readily propagates through the soft tissues of the eye and brain via one of the fluid windows (end lymphatic, perilymphatic or vascular) to the cochlea. The eye fenestration explains how people can detect airborne ultrasonic components in music and develop ear effects from airborne ultrasonic noise.

  4. PHARUS airborne SAR concept

    NASA Astrophysics Data System (ADS)

    Snoeij, Paul; Pouwels, Henk; Koomen, Peter J.; Hoogeboom, Peter

    1995-11-01

    PHARUS (phased array universal SAR) is an airborne SAR concept which is being developed in the Netherlands. The PHARUS system differs from other airborne SARs by the use of a phased array antenna, which provides both for the flexibility in the design as well as for a compact, light-weight instrument that can be carried on small aircraft. The concept allows for the construction of airborne SAR systems on a common generic basis but tailored to specific user needs and can be seen as a preparation for future spaceborne SAR systems using solid state transmitters with electronically steerable phased array antenna. The whole approach is aimed at providing an economic and yet technically sophisticated solution to remote sensing or surveying needs of a specific user. The solid state phased array antenna consists of a collection of radiating patches; the design flexibility for a large part resides in the freedom to choose the number of patches, and thereby the essential radar performance parameters such as resolution and swath width. Another consequence of the use of the phased array antenna is the system's compactness and the possibility to rigidly mount it on a small aircraft. The use of small aircraft of course considerably improves the cost/benefit ratio of the use of airborne SAR. Flight altitude of the system is flexible between about 7,000 and 40,000 feet, giving much operational freedom within the meteo and airspace control limits. In the PHARUS concept the airborne segment is complemented by a ground segment, which consists of a SAR processor, possibly extended by a matching image processing package. (A quick look image is available in real-time on board the aircraft.) The SAR processor is UNIX based and runs on easily available hardware (SUN station). Although the additional image processing software is available, the SAR processing software is nevertheless designed to be able to interface with commercially available image processing software, as well as being able

  5. Airborne radioactive contamination monitoring

    SciTech Connect

    Whitley, C.R.; Adams, J.R.; Bounds, J.A.; MacArthur, D.W.

    1996-03-01

    Current technologies for the detection of airborne radioactive contamination do not provide real-time capability. Most of these techniques are based on the capture of particulate matter in air onto filters which are then processed in the laboratory; thus, the turnaround time for detection of contamination can be many days. To address this shortcoming, an effort is underway to adapt LRAD (Long-Range-Alpha-Detection) technology for real-time monitoring of airborne releases of alpa-emitting radionuclides. Alpha decays in air create ionization that can be subsequently collected on electrodes, producing a current that is proportional to the amount of radioactive material present. Using external fans on a pipe containing LRAD detectors, controlled samples of ambient air can be continuously tested for the presence of radioactive contamination. Current prototypes include a two-chamber model. Sampled air is drawn through a particulate filter and then through the first chamber, which uses an electrostatic filter at its entrance to remove ambient ionization. At its exit, ionization that occurred due to the presence of radon is collected and recorded. The air then passes through a length of pipe to allow some decay of short-lived radon species. A second chamber identical to the first monitors the remaining activity. Further development is necessary on air samples without the use of particulate filtering, both to distinguish ionization that can pass through the initial electrostatic filter on otherwise inert particulate matter from that produced through the decay of radioactive material and to separate both of these from the radon contribution. The end product could provide a sensitive, cost-effective, real-time method of determining the presence of airborne radioactive contamination.

  6. Airborne Raman lidar

    NASA Astrophysics Data System (ADS)

    Heaps, Wm. S.; Burris, J.

    1996-12-01

    We designed and tested an airborne lidar system using Raman scattering to make simultaneous measurements of methane, water vapor, and temperature in a series of flights on a NASA-operated C-130 aircraft. We present the results for methane detection, which show that the instrument has the requisite sensitivity to atmospheric trace gases. Ultimately these measurements can be used to examine the transport of chemically processed air from within the polar vortex to mid-latitudinal regions and the exchange of stratospheric air between tropical and mid-latitudinal regions.

  7. Airborne Oceanographic Lidar System

    NASA Technical Reports Server (NTRS)

    Bressel, C.; Itzkan, I.; Nunes, J. E.; Hoge, F.

    1977-01-01

    The Airborne Oceanographic Lidar (AOL), a spatially scanning range-gated device installed on board a NASA C-54 aircraft, is described. The AOL system is capable of measuring topographical relief or water depth (bathymetry) with a range resolution of plus or minus 0.3 m in the vertical dimension. The system may also be used to measure fluorescent spectral signatures from 3500 to 8000 A with a resolution of 100 A. Potential applications of the AOL, including sea state measurements, water transparency assessments, oil spill identification, effluent identification and crop cover assessment are also mentioned.

  8. CAT altitude avoidance system

    NASA Technical Reports Server (NTRS)

    Gary, B. L. (Inventor)

    1982-01-01

    A method and apparatus are provided for indicating the altitude of the tropopause or of an inversion layer wherein clear air turbulence (CAT) may occur, and the likely severity of any such CAT, includes directing a passive microwave radiometer on the aircraft at different angles with respect to the horizon. The microwave radiation measured at a frequency of about 55 GHz represents the temperature of the air at an ""average'' range of about 3 kilometers, so that the sine of the angle of the radiometer times 3 kilometers equals the approximate altitude of the air whose temperature is measured. A plot of altitude (with respect to the aircraft) versus temperature of the air at that altitude, can indicate when an inversion layer is present and can indicate the altitude of the tropopause or of such an inversion layer. The plot can also indicate the severity of any CAT in an inversion layer. If CAT has been detected in the general area, then the aircraft can be flown at an altitude to avoid the tropopause or inversion layer.

  9. Airborne concentrations of peanut protein.

    PubMed

    Johnson, Rodney M; Barnes, Charles S

    2013-01-01

    Food allergy to peanut is a significant health problem, and there are reported allergic reactions to peanuts despite not eating or having physical contact with peanuts. It is presumed that an allergic reaction may have occurred from inhalation of airborne peanut allergens. The purpose of this study was to detect the possible concentrations of airborne peanut proteins for various preparations and during specific activities. Separate Ara h 1 and Ara h 2 monoclonal enzyme-linked immunosorbent assays and a polyclonal sandwich enzyme immunoassay for peanuts were used to detect the amount of airborne peanut protein collected using a Spincon Omni 3000 air collector (Sceptor Industries, Inc., Kansas City, MO) under different peanut preparation methods and situations. Air samples were measured for multiple peanut preparations and scenarios. Detectable amounts of airborne peanut protein were measured using a whole peanut immunoassay when removing the shells of roasted peanut. No airborne peanut allergen (Ara h 1 or Ara h 2) or whole peanut protein above the LLD was measured in any of the other peanut preparation collections. Ara h 1, Ara h 2, and polyclonal peanut proteins were detected from water used to boil peanuts. Small amounts of airborne peanut protein were detected in the scenario of removing shells from roasted peanuts; however, Ara h 1 and Ara h 2 proteins were unable to be consistently detected. Although airborne peanut proteins were detected, the concentration of airborne peanut protein that is necessary to elicit a clinical allergic reaction is unknown. PMID:23406937

  10. Airborne ballistic camera tracking systems

    NASA Technical Reports Server (NTRS)

    Redish, W. L.

    1976-01-01

    An operational airborne ballistic camera tracking system was tested for operational and data reduction feasibility. The acquisition and data processing requirements of the system are discussed. Suggestions for future improvements are also noted. A description of the data reduction mathematics is outlined. Results from a successful reentry test mission are tabulated. The test mission indicated that airborne ballistic camera tracking systems are feasible.

  11. Airborne transmission of lyssaviruses.

    PubMed

    Johnson, N; Phillpotts, R; Fooks, A R

    2006-06-01

    In 2002, a Scottish bat conservationist developed a rabies-like disease and subsequently died. This was caused by infection with European bat lyssavirus 2 (EBLV-2), a virus closely related to Rabies virus (RABV). The source of this infection and the means of transmission have not yet been confirmed. In this study, the hypothesis that lyssaviruses, particularly RABV and the bat variant EBLV-2, might be transmitted via the airborne route was tested. Mice were challenged via direct introduction of lyssavirus into the nasal passages. Two hours after intranasal challenge with a mouse-adapted strain of RABV (Challenge Virus Standard), viral RNA was detectable in the tongue, lungs and stomach. All of the mice challenged by direct intranasal inoculation developed disease signs by 7 days post-infection. Two out of five mice challenged by direct intranasal inoculation of EBLV-2 developed disease between 16 and 19 days post-infection. In addition, a simple apparatus was evaluated in which mice could be exposed experimentally to infectious doses of lyssavirus from an aerosol. Using this approach, mice challenged with RABV, but not those challenged with EBLV-2, were highly susceptible to infection by inhalation. These data support the hypothesis that lyssaviruses, and RABV in particular, can be spread by airborne transmission in a dose-dependent manner. This could present a particular hazard to personnel exposed to aerosols of infectious RABV following accidental release in a laboratory environment. PMID:16687600

  12. MEST- avoid next extinction

    NASA Astrophysics Data System (ADS)

    Cao, Dayong

    2012-11-01

    Asteroid 2011 AG5 will impact on Earth in 2040. (See Donald K. Yoemans, ``Asteroid 2011 AG5 - A Reality Check,'' NASA-JPL, 2012) In 2011, The author say: the dark hole will take the dark comet to impact our solar system in 20 years, and give a systemic model between the sun and its companion-dark hole to explain why were there periodicity mass extinction on earth. (see Dayong Cao, BAPS.2011.CAL.C1.7, BAPS.2011.DFD.LA.24, BAPS.2012.APR.K1.78 and BAPS.2011.APR.K1.17) The dark Asteroid 2011 AG5 (as a dark comet) is made of the dark matter which has a space-time (as frequence-amplitude square) center- a different systemic model from solar systemic model. It can asborb the space-time and wave. So it is ``dark.'' When many dark matters hit on our earth, they can break our atom structure and our genetic code to trigger the Mass Extinction. In our experiments, consciousness can change the systematic model and code by a life-informational technology. So it can change the output signals of the solar cell. (see Dayong Cao, BAPS.2011.MAR.C1.286 and BAPS.2012.MAR.P33.14) So we will develop the genetic code of lives to evolution and sublimation, will use the dark matter to change the systemic model between dark hole and sun and will avoid next extinction.

  13. Puck collisions

    NASA Astrophysics Data System (ADS)

    Hauge, E. H.

    2012-09-01

    Collisions between two ice hockey pucks sliding on frictionless ice are studied, with both inelasticity and frictional contact between the colliding surfaces of the two pucks taken into account. The latter couples translational and rotational motion. The full solution depends on the sign and magnitude of the initial mismatch between the surface velocities at the point of contact. The initial state defines two physically distinct regimes for the friction coefficient. To illustrate the complexities, we discuss at length the typical situation (well known from curling) when puck number 1 is initially at rest, and is hit by puck number 2 with an arbitrary impact parameter, velocity and angular velocity. We find that the total outgoing angle between the pucks exceeds \\frac{1}{2}\\pi if and only if the collision leads to a net increase in the translational part of the kinetic energy. The conditions for this to happen are scrutinized, and the results are presented both analytically and numerically by a set of representative curves. This paper is written with an ambitious undergraduate, and her teacher, in mind.

  14. Autonomous obstacle avoidance using visual fixation and looming

    NASA Astrophysics Data System (ADS)

    Joarder, Kunal; Raviv, Daniel

    1992-11-01

    This paper describes a vision-based method for avoiding obstacles using the concepts of visual looming and fixating motion. Visual looming refers to the expansion of images of objects in the retina. Usually, this is due to the decreasing distance between the observer and the object. An increasing looming value signifies an increasing threat of collision with the object. The visual task of avoiding collision can be further simplified by purposive control of visual fixation at the objects in front of the moving camera. Using these two basic concepts real time obstacle avoidance in a tight perception-action loop is implemented. Three-dimensional space in front of the camera is divided into zones with various degrees of looming-based threat of collision. For each obstacle seen by a fixating camera, looming and its time derivative are calculated directly from the 2-D image. Depending on the threat posed by an obstacle, a course change is dictated. This looming based approach is simple, independent of the size of the 3-D object and its range and involves simple quantitative measurements. Results pertinent to a camera on a robot arm navigating between obstacles are presented.

  15. A Performance Assessment of an Airborne Separation Assistance System Using Realistic Complex Traffic Flows

    NASA Technical Reports Server (NTRS)

    Smith, Jeremy C.; Bussink, Frank J. L.

    2008-01-01

    This paper presents the results from a study that investigates the performance of a tactical Airborne Separation Assistance System (ASAS) in en route airspace, under varying demand levels, with realistic traffic flows. The ASAS concept studied here allows flight crews of equipped aircraft to perform separation from other air traffic autonomously. This study addresses the tactical aspects of an ASAS using aircraft state data (i.e. position and velocity) to detect and resolve projected conflicts. In addition, use of a conflict prevention system helps ASAS-equipped aircraft avoid maneuvers that may cause new conflicts. ASAS-capable aircraft are equipped with satellite-based navigation and Automatic Dependent Surveillance Broadcast (ADS-B) for transmission and receipt of aircraft state data. In addition to tactical conflict detection and resolution (CD&R), a complete, integrated ASAS is likely to incorporate a strategic CD&R component with a longer look-ahead time, using trajectory intent information. A system-wide traffic flow management (TFM) component, located at the FAA command center helps aircraft to avoid regions of excessive traffic density and complexity. A Traffic Alert and Collision Avoidance System (TCAS), as used today is the system of last resort. This integrated approach avoids sole reliance on the use of the tactical CD&R studied here, but the tactical component remains a critical element of the complete ASAS. The focus of this paper is to determine to what extent the proposed tactical component of ASAS alone can maintain aircraft separation at demand levels up to three times that of current traffic. The study also investigates the effect of mixing ASAS-equipped aircraft with unequipped aircraft (i.e. current day) that do not have the capability to self-separate. Position and velocity data for unequipped aircraft needs to be available to ASASequipped. Most likely, for this future concept, state data would be available from instrument flight rules (IFR

  16. Processor architecture for airborne SAR systems

    NASA Technical Reports Server (NTRS)

    Glass, C. M.

    1983-01-01

    Digital processors for spaceborne imaging radars and application of the technology developed for airborne SAR systems are considered. Transferring algorithms and implementation techniques from airborne to spaceborne SAR processors offers obvious advantages. The following topics are discussed: (1) a quantification of the differences in processing algorithms for airborne and spaceborne SARs; and (2) an overview of three processors for airborne SAR systems.

  17. Evaluation of meteorological airborne Doppler radar

    NASA Technical Reports Server (NTRS)

    Hildebrand, P. H.; Mueller, C. K.

    1984-01-01

    This paper will discuss the capabilities of airborne Doppler radar for atmospheric sciences research. The evaluation is based on airborne and ground based Doppler radar observations of convective storms. The capability of airborne Doppler radar to measure horizontal and vertical air motions is evaluated. Airborne Doppler radar is shown to be a viable tool for atmospheric sciences research.

  18. Airborne agent concentration analysis

    DOEpatents

    Gelbard, Fred

    2004-02-03

    A method and system for inferring airborne contaminant concentrations in rooms without contaminant sensors, based on data collected by contaminant sensors in other rooms of a building, using known airflow interconnectivity data. The method solves a least squares problem that minimizes the difference between measured and predicted contaminant sensor concentrations with respect to an unknown contaminant release time. Solutions are constrained to providing non-negative initial contaminant concentrations in all rooms. The method can be used to identify a near-optimal distribution of sensors within the building, when then number of available sensors is less than the total number of rooms. This is achieved by having a system-sensor matrix that is non-singular, and by selecting that distribution which yields the lowest condition number of all the distributions considered. The method can predict one or more contaminant initial release points from the collected data.

  19. Airborne Wind Turbine

    SciTech Connect

    2010-09-01

    Broad Funding Opportunity Announcement Project: Makani Power is developing an Airborne Wind Turbine (AWT) that eliminates 90% of the mass of a conventional wind turbine and accesses a stronger, more consistent wind at altitudes of near 1,000 feet. At these altitudes, 85% of the country can offer viable wind resources compared to only 15% accessible with current technology. Additionally, the Makani Power wing can be economically deployed in deep offshore waters, opening up a resource which is 4 times greater than the entire U.S. electrical generation capacity. Makani Power has demonstrated the core technology, including autonomous launch, land, and power generation with an 8 meter wingspan, 20 kW prototype. At commercial scale, Makani Power aims to develop a 600 kW, 28 meter wingspan product capable of delivering energy at an unsubsidized cost competitive with coal, the current benchmark for low-cost power.

  20. Use of a Prototype Airborne Separation Assurance System for Resolving Near-Term Conflicts During Autonomous Aircraft Operations

    NASA Technical Reports Server (NTRS)

    Barhydt, Richard; Eischeid, Todd M.; Palmer, Michael T.; Wing, David J.

    2003-01-01

    NASA is currently investigating a new concept of operations for the National Airspace System, designed to improve capacity while maintaining or improving current levels of safety. This concept, known as Distributed Air/Ground Traffic Management (DAGTM), allows appropriately equipped autonomous aircraft to maneuver freely for flight optimization while resolving conflicts with other traffic and staying out of special use airspace and hazardous weather. In order to perform these tasks, pilots use prototype conflict detection, prevention, and resolution tools, collectively known as an Airborne Separation Assurance System (ASAS). While ASAS would normally allow pilots to resolve conflicts before they become hazardous, evaluation of system performance in sudden, near-term conflicts is needed in order to determine concept feasibility. An experiment was conducted in NASA Langley's Air Traffic Operations Lab to evaluate the prototype ASAS for enabling pilots to resolve near-term conflicts and examine possible operational effects associated with the use of lower separation minimums. Sixteen commercial airline pilots flew a total of 32 traffic scenarios that required them to use prototype ASAS tools to resolve close range pop-up conflicts. Required separation standards were set at either 3 or 5 NM lateral spacing, with 1000 ft vertical separation being used for both cases. Reducing the lateral separation from 5 to 3 NM did not appear to increase operational risk, as indicated by the proximity to the intruder aircraft. Pilots performed better when they followed tactical guidance cues provided by ASAS than when they didn't follow the guidance. In an effort to improve compliance rate, ASAS design changes are currently under consideration. Further studies will of evaluate these design changes and consider integration issues between ASAS and existing Airborne Collision Avoidance Systems (ACAS).

  1. An Algorithm for Autonomous Formation Obstacle Avoidance

    NASA Astrophysics Data System (ADS)

    Cruz, Yunior I.

    The level of human interaction with Unmanned Aerial Systems varies greatly from remotely piloted aircraft to fully autonomous systems. In the latter end of the spectrum, the challenge lies in designing effective algorithms to dictate the behavior of the autonomous agents. A swarm of autonomous Unmanned Aerial Vehicles requires collision avoidance and formation flight algorithms to negotiate environmental challenges it may encounter during the execution of its mission, which may include obstacles and chokepoints. In this work, a simple algorithm is developed to allow a formation of autonomous vehicles to perform point to point navigation while avoiding obstacles and navigating through chokepoints. Emphasis is placed on maintaining formation structures. Rather than breaking formation and individually navigating around the obstacle or through the chokepoint, vehicles are required to assemble into appropriately sized/shaped sub-formations, bifurcate around the obstacle or negotiate the chokepoint, and reassemble into the original formation at the far side of the obstruction. The algorithm receives vehicle and environmental properties as inputs and outputs trajectories for each vehicle from start to the desired ending location. Simulation results show that the algorithm safely routes all vehicles past the obstruction while adhering to the aforementioned requirements. The formation adapts and successfully negotiates the obstacles and chokepoints in its path while maintaining proper vehicle separation.

  2. Healthcare avoidance: a critical review.

    PubMed

    Byrne, Sharon K

    2008-01-01

    The purpose of this study is to provide a critical review and synthesis of theoretical and research literature documenting the impact of avoidance on healthcare behaviors, identify the factors that influence healthcare avoidance and delay in the adult population, and propose a direction for future research. The Theory of Reasoned Action, Theory of Planned Behavior, Theory of Care-Seeking Behavior, the Transtheoretical Model, and the Behavioral Model of Health Services Use/Utilization are utilized to elaborate on the context within which individual intention to engage in healthcare behaviors occurs. Research literature on the concept of healthcare avoidance obtained by using computerized searches of CINAHL, MEDLINE, PSYCH INFO, and HAPI databases, from 1995 to 2007, were reviewed. Studies were organized by professional disciplines. Healthcare avoidance is a common and highly variable experience. Multiple administrative, demographic, personal, and provider factors are related to healthcare avoidance, for example, distrust of providers and/or the science community, health beliefs, insurance status, or socioeconomic/income level. Although the concept is recognized by multiple disciplines, limited research studies address its impact on healthcare decision making. More systematic research is needed to determine correlates of healthcare avoidance. Such studies will help investigators identify patients at risk for avoidant behaviors and provide the basis for health-promoting interventions. Methodological challenges include identification of characteristics of individuals and environments that hinder healthcare behaviors, as well as, the complexity of measuring healthcare avoidance. Studies need to systematically explore the influence of avoidance behaviors on specific healthcare populations at risk. PMID:18758277

  3. Airborne Cloud Computing Environment (ACCE)

    NASA Technical Reports Server (NTRS)

    Hardman, Sean; Freeborn, Dana; Crichton, Dan; Law, Emily; Kay-Im, Liz

    2011-01-01

    Airborne Cloud Computing Environment (ACCE) is JPL's internal investment to improve the return on airborne missions. Improve development performance of the data system. Improve return on the captured science data. The investment is to develop a common science data system capability for airborne instruments that encompasses the end-to-end lifecycle covering planning, provisioning of data system capabilities, and support for scientific analysis in order to improve the quality, cost effectiveness, and capabilities to enable new scientific discovery and research in earth observation.

  4. Chemical avoidance responses of fishes.

    PubMed

    Tierney, Keith B

    2016-05-01

    The hydrosphere is a repository for all of our waste and mistakes, be they sewage, garbage, process-affected waters, runoff, and gases. For fish living in environments receiving undesirable inputs, moving away seems an obvious way to avoid harm. While this should occur, there are numerous examples where it will not. The inability to avoid harmful environments may lead to sensory impairments that in turn limit the ability to avoid other dangers or locate benefits. For avoidance to occur, the danger must first be perceived, which may not happen if the fish is 'blinded' in some capacity. Second, the danger must be recognized for what it is, which may also not happen if the fish is cognitively confused or impaired. Third, it is possible that the fish may not be able to leave the area, or worse, learns to prefer a toxic environment. Concerning generating regulations around avoidance, there are two possibilities: that an avoidance threshold be used to set guidelines for effluent release with the intention of driving fishes away; the second is to set a contaminant concentration that would not affect the avoidance or attraction responses to other cues. With the complexities of the modern world in which we release diverse pollutants, from light to municipal effluents full of 1000s of chemicals, to the diversity present in ecosystems, it is impossible to have avoidance data on every stimulus-species combination. Nevertheless, we may be able to use existing avoidance response data to predict the likelihood of avoidance of untested stimuli. Where we cannot, this review includes a framework that can be used to direct new research. This review is intended to collate existing avoidance response data, provide a framework for making decisions in the absence of data, and suggest studies that would facilitate the prediction of risk to fish health in environments receiving intentional and unintentional human-based chemical inputs. PMID:26970365

  5. Acquaintance Rape: Effective Avoidance Strategies.

    ERIC Educational Resources Information Center

    Levine-MacCombie, Joyce; Koss, Mary P.

    1986-01-01

    Determined that acknowledged and unacknowledged acquaintance rape victims and rape avoiders could be discriminated by situational variables and response strategies. Avoiders were less likely to have experienced passive or internalizing emotions at the time of the assault, perceived the assault as less violent, and were more likely to have utilized…

  6. Airborne Particulate Threat Assessment

    SciTech Connect

    Patrick Treado; Oksana Klueva; Jeffrey Beckstead

    2008-12-31

    Aerosol threat detection requires the ability to discern between threat agents and ambient background particulate matter (PM) encountered in the environment. To date, Raman imaging technology has been demonstrated as an effective strategy for the assessment of threat agents in the presence of specific, complex backgrounds. Expanding our understanding of the composition of ambient particulate matter background will improve the overall performance of Raman Chemical Imaging (RCI) detection strategies for the autonomous detection of airborne chemical and biological hazards. Improving RCI detection performance is strategic due to its potential to become a widely exploited detection approach by several U.S. government agencies. To improve the understanding of the ambient PM background with subsequent improvement in Raman threat detection capability, ChemImage undertook the Airborne Particulate Threat Assessment (APTA) Project in 2005-2008 through a collaborative effort with the National Energy Technology Laboratory (NETL), under cooperative agreement number DE-FC26-05NT42594. During Phase 1 of the program, a novel PM classification based on molecular composition was developed based on a comprehensive review of the scientific literature. In addition, testing protocols were developed for ambient PM characterization. A signature database was developed based on a variety of microanalytical techniques, including scanning electron microscopy, FT-IR microspectroscopy, optical microscopy, fluorescence and Raman chemical imaging techniques. An automated particle integrated collector and detector (APICD) prototype was developed for automated collection, deposition and detection of biothreat agents in background PM. During Phase 2 of the program, ChemImage continued to refine the understanding of ambient background composition. Additionally, ChemImage enhanced the APICD to provide improved autonomy, sensitivity and specificity. Deliverables included a Final Report detailing our

  7. Convective Weather Avoidance with Uncertain Weather Forecasts

    NASA Technical Reports Server (NTRS)

    Karahan, Sinan; Windhorst, Robert D.

    2009-01-01

    Convective weather events have a disruptive impact on air traffic both in terminal area and in en-route airspaces. In order to make sure that the national air transportation system is safe and efficient, it is essential to respond to convective weather events effectively. Traffic flow control initiatives in response to convective weather include ground delay, airborne delay, miles-in-trail restrictions as well as tactical and strategic rerouting. The rerouting initiatives can potentially increase traffic density and complexity in regions neighboring the convective weather activity. There is a need to perform rerouting in an intelligent and efficient way such that the disruptive effects of rerouting are minimized. An important area of research is to study the interaction of in-flight rerouting with traffic congestion or complexity and developing methods that quantitatively measure this interaction. Furthermore, it is necessary to find rerouting solutions that account for uncertainties in weather forecasts. These are important steps toward managing complexity during rerouting operations, and the paper is motivated by these research questions. An automated system is developed for rerouting air traffic in order to avoid convective weather regions during the 20- minute - 2-hour time horizon. Such a system is envisioned to work in concert with separation assurance (0 - 20-minute time horizon), and longer term air traffic management (2-hours and beyond) to provide a more comprehensive solution to complexity and safety management. In this study, weather is dynamic and uncertain; it is represented as regions of airspace that pilots are likely to avoid. Algorithms are implemented in an air traffic simulation environment to support the research study. The algorithms used are deterministic but periodically revise reroutes to account for weather forecast updates. In contrast to previous studies, in this study convective weather is represented as regions of airspace that pilots

  8. Postcopulatory inbreeding avoidance in guppies.

    PubMed

    Fitzpatrick, J L; Evans, J P

    2014-12-01

    In many species, the negative fitness effects of inbreeding have facilitated the evolution of a wide range of inbreeding avoidance mechanisms. Although avoidance mechanisms operating prior to mating are well documented, evidence for postcopulatory mechanisms of inbreeding avoidance remain scarce. Here, we examine the potential for paternity biases to favour unrelated males when their sperm compete for fertilizations though postcopulatory inbreeding avoidance mechanisms in the guppy, Poecilia reticulata. To test this possibility, we used a series of artificial inseminations to deliver an equal number of sperm from a related (either full sibling or half sibling) and unrelated male to a female while statistically controlling for differences in sperm quality between rival ejaculates. In this way, we were able to focus exclusively on postcopulatory mechanisms of inbreeding avoidance and account for differences in sperm competitiveness between rival males. Under these carefully controlled conditions, we report a significant bias in paternity towards unrelated males, although this effect was only apparent when the related male was a full sibling. We also show that sperm competition generally favours males with highly viable sperm and thus that some variance in sperm competitiveness can be attributed to difference in sperm quality. Our findings for postcopulatory inbreeding avoidance are consistent with prior work on guppies, revealing that sperm competition success declines linearly with the level of relatedness, but also that such effects are only apparent at relatedness levels of full siblings or higher. These findings reveal that postcopulatory processes alone can facilitate inbreeding avoidance. PMID:25387854

  9. Airborne GLM Simulator (FEGS)

    NASA Astrophysics Data System (ADS)

    Quick, M.; Blakeslee, R. J.; Christian, H. J., Jr.; Stewart, M. F.; Podgorny, S.; Corredor, D.

    2015-12-01

    Real time lightning observations have proven to be useful for advanced warning and now-casting of severe weather events. In anticipation of the launch of the Geostationary Lightning Mapper (GLM) onboard GOES-R that will provide continuous real time observations of total (both cloud and ground) lightning, the Fly's Eye GLM Simulator (FEGS) is in production. FEGS is an airborne instrument designed to provide cal/val measurements for GLM from high altitude aircraft. It consists of a 5 x 5 array of telescopes each with a narrow passband filter to isolate the 777.4 nm neutral oxygen emission triplet radiated by lightning. The telescopes will measure the optical radiance emitted by lightning that is transmitted through the cloud top with a temporal resolution of 10 μs. When integrated on the NASA ER-2 aircraft, the FEGS array with its 90° field-of-view will observe a cloud top area nearly equal to a single GLM pixel. This design will allow FEGS to determine the temporal and spatial variation of light that contributes to a GLM event detection. In addition to the primary telescope array, the instrument includes 5 supplementary optical channels that observe alternate spectral emission features and will enable the use of FEGS for interesting lightning physics applications. Here we present an up-to-date summary of the project and a description of its scientific applications.

  10. Ternary drop collisions

    NASA Astrophysics Data System (ADS)

    Hinterbichler, Hannes; Planchette, Carole; Brenn, Günter

    2015-10-01

    It has been recently proposed to use drop collisions for producing advanced particles or well-defined capsules, or to perform chemical reactions where the merged drops constitute a micro-reactor. For all these promising applications, it is essential to determine whether the merged drops remain stable after the collision, forming a single entity, or if they break up. This topic, widely investigated for binary drop collisions of miscible and immiscible liquid, is quite unexplored for ternary drop collisions. The current study aims to close this gap by experimentally investigating collisions between three equal-sized drops of the same liquid arranged centri-symmetrically. Three drop generators are simultaneously operated to obtain controlled ternary drop collisions. The collision outcomes are observed via photographs and compared to those of binary collisions. Similar to binary collisions, a regime map is built, showing coalescence and bouncing as well as reflexive and stretching separation. Significant differences are observed in the transitions between these regimes.

  11. Group force mobility model and its obstacle avoidance capability

    NASA Astrophysics Data System (ADS)

    Williams, Sean A.; Huang, Dijiang

    2009-10-01

    Many mobility models attempt to provide realistic simulation to many real world scenarios. However, existing mobility models, such as RPGM [X. Hong, M. Gerla, G. Pei, C. Chiang, A group mobility model for ad hoc wireless networks, in: Proceedings of ACM/IEEE MSWiM'99, Seattle, WA, August 1999, pp. 53-60] and others, fail to address many aspects. These limitations range from mobile node (MN) collision avoidance, obstacle avoidance, and the interaction of MNs within a group. Our research, the group force mobility model (GFMM) [S.A. Williams, D. Huang, A group force mobility model, Appeared at 9th Communications and Networking Simulation Symposium, April 2006], proposes a novel idea which introduces the concept of attraction and repulsion forces to address many of these limitations. Williams and Huang [A group force mobility model, Appeared at 9th Communications and Networking Simulation Symposium, April 2006] described some of the limitations and drawbacks that many models neglect. This model effectively simulates the interaction of MNs within a group, the interaction of groups to one another, the coherency of a group, and the avoidance of collision with groups, nodes, and obstacles. This paper provides an overview of GFMM and particularly illustrates the GFMM's ability to avoid collision with obstacles, which is a vital property to posses in order to provide a realistic simulaition. We compare our model with the commonly used RPGM model and provide statistical assessments based on connectivity metrics such as link changed, link duration, and relative speed. All will be detailed and explained in this paper.

  12. Vertical jumping and signaled avoidance

    PubMed Central

    Cándido, Antonio; Maldonado, Antonio; Vila, Jaime

    1988-01-01

    This paper reports an experiment intended to demonstrate that the vertical jumping response can be learned using a signaled-avoidance technique. A photoelectric cell system was used to record the response. Twenty female rats, divided equally into two groups, were exposed to intertrial intervals of either 15 or 40 s. Subjects had to achieve three successive criteria of acquisition: 3, 5, and 10 consecutive avoidance responses. Results showed that both groups learned the avoidance response, requiring increasingly larger numbers of trials as the acquisition criteria increased. No significant effect of intertrial interval was observed. PMID:16812559

  13. Endless self-avoiding walks

    NASA Astrophysics Data System (ADS)

    Clisby, Nathan

    2013-06-01

    We introduce a self-avoiding walk model for which end-effects are completely eliminated. We enumerate the number of these walks for various lattices in dimensions two and three, and use these enumerations to study the properties of this model. We find that endless self-avoiding walks have the same connective constant as self-avoiding walks, and the same Flory exponent ν. However, there is no power law correction to the exponential number growth for this new model, i.e. the critical exponent γ = 1 exactly in any dimension. In addition, the number growth has no analytic corrections to scaling, and we have convincing numerical evidence to support the conjecture that the amplitude for the number growth is a universal quantity. The technique by which end-effects are eliminated may be generalized to other models of polymers such as interacting self-avoiding walks.

  14. Vision-based obstacle avoidance

    DOEpatents

    Galbraith, John

    2006-07-18

    A method for allowing a robot to avoid objects along a programmed path: first, a field of view for an electronic imager of the robot is established along a path where the electronic imager obtains the object location information within the field of view; second, a population coded control signal is then derived from the object location information and is transmitted to the robot; finally, the robot then responds to the control signal and avoids the detected object.

  15. Sensor management for collision alert in orbital object tracking

    NASA Astrophysics Data System (ADS)

    Xu, Peiran; Chen, Huimin; Charalampidis, D.; Shen, Dan; Chen, Genshe; Blasch, Erik; Pham, Khanh

    2011-06-01

    Given the increasingly dense environment in both low-earth orbit (LEO) and geostationary orbit (GEO), a sudden change in the trajectory of any existing resident space object (RSO) may cause potential collision damage to space assets. With a constellation of electro-optical/infrared (EO/IR) sensor platforms and ground radar surveillance systems, it is important to design optimal estimation algorithms for updating nonlinear object states and allocating sensing resources to effectively avoid collisions among many RSOs. Previous work on RSO collision avoidance often assumes that the maneuver onset time or maneuver motion of the space object is random and the sensor management approach is designed to achieve efficient average coverage of the RSOs. Few attempts have included the inference of an object's intent in the response to an RSO's orbital change. We propose a game theoretic model for sensor selection and assume the worst case intentional collision of an object's orbital change. The intentional collision results from maximal exposure of an RSO's path. The resulting sensor management scheme achieves robust and realistic collision assessment, alerts the impending collisions, and identifies early RSO orbital change with lethal maneuvers. We also consider information sharing among distributed sensors for collision alert and an object's intent identification when an orbital change has been declared. We compare our scheme with the conventional (non-game based) sensor management (SM) scheme using a LEO-to-LEO space surveillance scenario where both the observers and the unannounced and unplanned objects have complete information on the constellation of vulnerable assets. We demonstrate that, with adequate information sharing, the distributed SM method can achieve the performance close to that of centralized SM in identifying unannounced objects and making early warnings to the RSO for potential collision to ensure a proper selection of collision avoidance action.

  16. Airborne Laser Polar Nephelometer

    NASA Technical Reports Server (NTRS)

    Grams, Gerald W.

    1973-01-01

    A polar nephelometer has been developed at NCAR to measure the angular variation of the intensity of light scattered by air molecules and particles. The system has been designed for airborne measurements using outside air ducted through a 5-cm diameter airflow tube; the sample volume is that which is common to the intersection of a collimated source beam and the detector field of view within the airflow tube. The source is a linearly polarized helium-neon laser beam. The optical system defines a collimated field-of-view (0.5deg half-angle) through a series of diaphragms located behind a I72-mm focal length objective lens. A photomultiplier tube is located immediately behind an aperture in the focal plane of the objective lens. The laser beam is mechanically chopped (on-off) at a rate of 5 Hz; a two-channel pulse counter, synchronized to the laser output, measures the photomultiplier pulse rate with the light beam both on and off. The difference in these measured pulse rates is directly proportional to the intensity of the scattered light from the volume common to the intersection of the laser beam and the detector field-of-view. Measurements can be made at scattering angles from 15deg to 165deg with reference to the direction of propagation of the light beam. Intermediate angles are obtained by selecting the angular increments desired between these extreme angles (any multiple of 0.1deg can be selected for the angular increment; 5deg is used in normal operation). Pulses provided by digital circuits control a stepping motor which sequentially rotates the detector by pre-selected angular increments. The synchronous photon-counting system automatically begins measurement of the scattered-light intensity immediately after the rotation to a new angle has been completed. The instrument has been flown on the NASA Convair 990 airborne laboratory to obtain data on the complex index of refraction of atmospheric aerosols. A particle impaction device is operated simultaneously

  17. A Robot Manipulator with Adaptive Fuzzy Controller in Obstacle Avoidance

    NASA Astrophysics Data System (ADS)

    Sreekumar, Muthuswamy

    2016-03-01

    Building robots and machines to act within a fuzzy environment is a problem featuring complexity and ambiguity. In order to avoid obstacles, or move away from it, the robot has to perform functions such as obstacle identification, finding the location of the obstacle, its velocity, direction of movement, size, shape, and so on. This paper presents about the design, and implementation of an adaptive fuzzy controller designed for a 3 degree of freedom spherical coordinate robotic manipulator interfaced with a microcontroller and an ultrasonic sensor. Distance between the obstacle and the sensor and its time rate are considered as inputs to the controller and how the manipulator to take diversion from its planned trajectory, in order to avoid collision with the obstacle, is treated as output from the controller. The obstacles are identified as stationary or moving objects and accordingly adaptive self tuning is accomplished with three set of linguistic rules. The prototype of the manipulator has been fabricated and tested for collision avoidance by placing stationary and moving obstacles in its planned trajectory. The performance of the adaptive control algorithm is analyzed in MATLAB by generating 3D fuzzy control surfaces.

  18. Sense and avoid technology for unmanned aircraft systems

    NASA Astrophysics Data System (ADS)

    McCalmont, John; Utt, James; Deschenes, Michael; Taylor, Michael; Sanderson, Richard; Montgomery, Joel; Johnson, Randal S.; McDermott, David

    2007-04-01

    The Sensors Directorate of the Air Force Research Laboratory (AFRL), in conjunction with the Global Hawk Systems Group, the J-UCAS System Program Office and contractor Defense Research Associates, Inc. (DRA) is conducting an Advanced Technology Demonstration (ATD) of a sense-and-avoid capability with the potential to satisfy the Federal Aviation Administration's (FAA) requirement for Unmanned Aircraft Systems (UAS) to provide "an equivalent level of safety, comparable to see-and-avoid requirements for manned aircraft". This FAA requirement must be satisfied for UAS operations within the national airspace. The Sense-and-Avoid, Phase I (Man-in-the-Loop) and Phase II (Autonomous Maneuver) ATD demonstrated an on-board, wide field of regard, multi-sensor visible imaging system operating in real time and capable of passively detecting approaching aircraft, declaring potential collision threats in a timely manner and alerting the human pilot located in the remote ground control station or autonomously maneuvered the aircraft. Intruder declaration data was collected during the SAA I & II Advanced Technology Demonstration flights conducted during December 2006. A total of 27 collision scenario flights were conducted and analyzed. The average detection range was 6.3 NM and the mean declaration range was 4.3 NM. The number of false alarms per engagement has been reduced to approximately 3 per engagement.

  19. A Robot Manipulator with Adaptive Fuzzy Controller in Obstacle Avoidance

    NASA Astrophysics Data System (ADS)

    Sreekumar, Muthuswamy

    2016-07-01

    Building robots and machines to act within a fuzzy environment is a problem featuring complexity and ambiguity. In order to avoid obstacles, or move away from it, the robot has to perform functions such as obstacle identification, finding the location of the obstacle, its velocity, direction of movement, size, shape, and so on. This paper presents about the design, and implementation of an adaptive fuzzy controller designed for a 3 degree of freedom spherical coordinate robotic manipulator interfaced with a microcontroller and an ultrasonic sensor. Distance between the obstacle and the sensor and its time rate are considered as inputs to the controller and how the manipulator to take diversion from its planned trajectory, in order to avoid collision with the obstacle, is treated as output from the controller. The obstacles are identified as stationary or moving objects and accordingly adaptive self tuning is accomplished with three set of linguistic rules. The prototype of the manipulator has been fabricated and tested for collision avoidance by placing stationary and moving obstacles in its planned trajectory. The performance of the adaptive control algorithm is analyzed in MATLAB by generating 3D fuzzy control surfaces.

  20. An airborne isothermal haze chamber

    NASA Technical Reports Server (NTRS)

    Hindman, E. E.

    1981-01-01

    Thermal gradient diffusion cloud chambers (TGDCC) are used to determine the concentrations of cloud condensation nuclei (CCN) with critical supersaturations greater than or equal to about 0.2%. The CCN concentrations measured with the airborne IHC were lower than theoretically predicted by factors ranging between 7.9 and 9.0. The CCN concentrations measured with the airborne IHC were lower than the concentrations measured with the larger laboratory IHC's by factors ranging between 3.9 and 7.5. The bounds of the supersaturation ranges of the airborne IHC and the CSU-Mee TGDCC do not overlap. Nevertheless, the slopes of the interpolated data between the bounds agree favorably with the theoretical slopes.

  1. Airborne laser topographic mapping results

    NASA Technical Reports Server (NTRS)

    Krabill, W. B.; Collins, J. G.; Link, L. E.; Swift, R. N.; Butler, M. L.

    1984-01-01

    The results of terrain mapping experiments utilizing the National Aeronautics and Space Administration (NASA) Airborne Oceanographic Lidar (AOL) over forested areas are presented. The flight tests were conducted as part of a joint NASA/U.S. Army Corps of Engineers (CE) investigation aimed at evaluating the potential of an airborne laser ranging system to provide cross-sectional topographic data on flood plains that are difficult and expensive to survey using conventional techniques. The data described in this paper were obtained in the Wolf River Basin located near Memphis, TN. Results from surveys conducted under winter 'leaves off' and summer 'leaves on' conditions, aspects of day and night operation, and data obtained from decidous and coniferous tree types are compared. Data processing techniques are reviewed. Conclusions relative to accuracy and present limitations of the AOL, and airborne lidar systems in general, to terrain mapping over forested areas are discussed.

  2. WESTERN AIRBORNE CONTAMINANTS ASSESSMENT PROJECT RESEARCH PLAN

    EPA Science Inventory

    The goal of the Western Airborne Contaminants Assessment Project (WACAP) is to assess the deposition of airborne contaminants in Western National Parks, providing regional and local information on exposure, accumulation, impacts, and probable sources. This project is being desig...

  3. Collision experiments with fullerenes

    NASA Astrophysics Data System (ADS)

    Campbell, E. E. B.; Ehlich, R.; Westerburg, M.; Hertel, I. V.

    1993-12-01

    Relative fragmentation cross sections for fullerene ion collisions with rare gas atoms and SF6 are presented over a range of collision energies. Structure in the cross sections and threshold energy determinations can shed some light on the fragmentation dynamics. Cluster cluster collisions with fullerenes are also described which show evidence of fusion reactions.

  4. Whole arm obstacle avoidance for teleoperated robots

    SciTech Connect

    Feddema, J.T.; Novak, J.L.

    1993-10-01

    This paper describes a collision avoidance system using Whole Arm Proximity (WHAP) sensors on a PUMA 560 robot arm. The capacitance-based sensors generate electric fields which can completely encompass the robot arm and detect obstacles as they approach from any direction. The directional obstacle information gathered by the WHAP sensors together with the sensor geometry and robot configuration is used to scale the commanded joint velocities of the robot. A linearized relationship between the WHAP sensor reading and the distance from the obstacle allows direct transformation of perturbations in VHAP readings to perturbations in joint velocities. The VHAP reading is used to directly reduce the component of the command input velocity along the normal axis of the sensor, allowing graceful reductions in speed as the arm approaches the obstacle. By scaling only the component of the velocity vector in the,direction of the nearest obstacles, the control system restricts motion in the direction of obstacles while permitting unconstrained motion in other directions.

  5. Avoiding a maneuvering aircraft with TCAS. [Traffic Alert and Collison Avoidance System

    NASA Technical Reports Server (NTRS)

    Chappell, Sheryl L.

    1989-01-01

    The present investigation was carried out in NASA's Man-Vehicle Systems Research Facility B 727 simulator because of the need for veridical aircraft response. Pilot performance was measured in testing TCAS II after an avoidance maneuver has been initiated. A proposed change to the system will cause the TCAS II to issue a subsequent maneuver. This maneuver may be an increase in climb or descent rate from 1500 to 2500 ft/min, or a change from a climb to a descent or a descent to a climb. Three questions were addressed: (1) can the pilot detect the change in the maneuver advisory, (2) can the pilot respond promptly and accurately to the new advisory, and (3) can the maneuver be performed in the normal operating envelope of the aircraft. The reaction times found in the study suggest that pilots are able to respond within the two seconds targeted by the TCAS logic. The pilot performance data were used to modify the TCAS II logic to reflect actual pilot performance. This will result in a safe and appropriate maneuver selection in the rare instance when the conflicting aircraft maneuvers, and by doing so invalidates the initial maneuver issued by the collision avoidance system.

  6. NASA Airborne Lidar 1982-1984 Flights

    Atmospheric Science Data Center

    2016-05-26

    NASA Airborne Lidar 1982-1984 Flights Data from the 1982 NASA Langley Airborne Lidar flights following the eruption of El Chichon ... continuing to January 1984. Transcribed from the following NASA Tech Reports: McCormick, M. P., and M. T. Osborn, Airborne lidar ...

  7. Java Architecture for Detect and Avoid Extensibility and Modeling

    NASA Technical Reports Server (NTRS)

    Santiago, Confesor; Mueller, Eric Richard; Johnson, Marcus A.; Abramson, Michael; Snow, James William

    2015-01-01

    Unmanned aircraft will equip with a detect-and-avoid (DAA) system that enables them to comply with the requirement to "see and avoid" other aircraft, an important layer in the overall set of procedural, strategic and tactical separation methods designed to prevent mid-air collisions. This paper describes a capability called Java Architecture for Detect and Avoid Extensibility and Modeling (JADEM), developed to prototype and help evaluate various DAA technological requirements by providing a flexible and extensible software platform that models all major detect-and-avoid functions. Figure 1 illustrates JADEM's architecture. The surveillance module can be actual equipment on the unmanned aircraft or simulators that model the process by which sensors on-board detect other aircraft and provide track data to the traffic display. The track evaluation function evaluates each detected aircraft and decides whether to provide an alert to the pilot and its severity. Guidance is a combination of intruder track information, alerting, and avoidance/advisory algorithms behind the tools shown on the traffic display to aid the pilot in determining a maneuver to avoid a loss of well clear. All these functions are designed with a common interface and configurable implementation, which is critical in exploring DAA requirements. To date, JADEM has been utilized in three computer simulations of the National Airspace System, three pilot-in-the-loop experiments using a total of 37 professional UAS pilots, and two flight tests using NASA's Predator-B unmanned aircraft, named Ikhana. The data collected has directly informed the quantitative separation standard for "well clear", safety case, requirements development, and the operational environment for the DAA minimum operational performance standards. This work was performed by the Separation Assurance/Sense and Avoid Interoperability team under NASA's UAS Integration in the NAS project.

  8. Elastic Collisions and Gravity

    NASA Astrophysics Data System (ADS)

    Ball, Steven

    2009-04-01

    Elastic collisions are fascinating demonstrations of conservation principles. The mediating force must be conservative in an elastic collision. Truly elastic collisions take place only when the objects in collision do not touch, e.g. magnetic bumpers on low friction carts. This requires that we define a collision as a momentum transfer. Elastic collisions in 1-D can be solved in general and the implications are quite remarkable. For example, a heavy object moving initially towards a light object followed by an elastic collision results in a final velocity of the light object greater than either initial velocity. This is easily demonstrated with low friction carts. Gravitational elastic collisions involving a light spacecraft and an extremely massive body like a moon or planet can be approximated as 1-D collisions, such as the ``free return'' trajectory of Apollo 13 around the moon. The most fascinating gravitational collisions involve the gravitational slingshot effect used to boost spacecraft velocities. The maximum gravitational slingshot effect occurs when approaching a nearly 1-D collision, revealing that the spacecraft can be boosted to greater than twice the planet velocity, enabling the spacecraft to travel much further away from the Sun.

  9. Vortex-Surface Collisions^

    NASA Astrophysics Data System (ADS)

    Conlisk, A. T.

    1998-11-01

    The interaction of vortices with solid surfaces occurs in many different situations including, but not limited to tornadoes, propeller wakes, flows over swept wings and missile forebodies, turbomachinery flows, blade-vortex interactions and tip vortex-surface interactions on helicopters. Often, parts of a system must operate within such flows and thus encounter these vortices. In the present paper we discuss the nature of a particular subset of interactions called ``collisions''. A ``collision'' is characterized by the fact that the core of the vortex is permanently altered; usually the core is locally destroyed. The focus is on fully three-dimensional collisions although two-dimensional collisions are discussed as well. Examples of collisions in helicopter aerodynamics and turbomachinery flows are discussed and the dynamics of the vortex core during a collision process are illustrated for a 90^o collision. ^Supported by the US Army Research Office

  10. Airborne Imagery Collections Barrow 2013

    DOE Data Explorer

    Cherry, Jessica; Crowder, Kerri

    2015-07-20

    The data here are orthomosaics, digital surface models (DSMs), and individual frames captured during low altitude airborne flights in 2013 at the Barrow Environmental Observatory. The orthomosaics, thermal IR mosaics, and DSMs were generated from the individual frames using Structure from Motion techniques.

  11. Airborne fungi--a resurvey

    SciTech Connect

    Meyer, G.H.; Prince, H.E.; Raymer, W.J.

    1983-07-01

    A 15-month survey of airborne fungi at 14 geographical stations was conducted to determine the incidence of different fungal genera. Five of these stations were surveyed 25 years earlier. A comparison between previous studies and present surveys revealed similar organisms at each station with slight shifts in frequency of dominant genera.

  12. Tropospheric and Airborne Emission Spectrometers

    NASA Technical Reports Server (NTRS)

    Glavich, Thomas; Beer, Reinhard

    1996-01-01

    X This paper describes the development of two related instruments, the Tropospheric Emission Spectrometer (TES) and the Airborne Emission Spectrometer (AES). Both instruments are infrared imaging Fourier Transform Spectrometers, used for measuring the state of the lower atmosphere, and in particular the measurement of ozone and ozone sources and sinks.

  13. AARD - Autonomous Airborne Refueling Demonstration

    NASA Technical Reports Server (NTRS)

    Ewers, Dick

    2007-01-01

    This viewgraph document reviews the Autonomous Airborne Refueling Demonstration program, and NASA Dryden's work in the program. The primary goal of the program is to make one fully automatic probe-to-drogue engagement using the AARD system. There are pictures of the aircraft approaching to the docking.

  14. Airborne asbestos in public buildings

    SciTech Connect

    Chesson, J.; Hatfield, J.; Schultz, B.; Dutrow, E.; Blake, J. )

    1990-02-01

    The U.S. Environmental Protection Agency sampled air in 49 government-owned buildings (six buildings with no asbestos-containing material, six buildings with asbestos-containing material in generally good condition, and 37 buildings with damaged asbestos-containing material). This is the most comprehensive study to date of airborne asbestos levels in U.S. public buildings during normal building activities. The air outside each building was also sampled. Air samples were analyzed by transmission electron microscopy using a direct transfer preparation technique. The results show an increasing trend in average airborne asbestos levels; outdoor levels are lowest and levels in buildings with damaged asbestos-containing material are highest. However, the measured levels and the differences between indoors and outdoors and between building categories are small in absolute magnitude. Comparable studies from Canada and the UK, although differing in their estimated concentrations, also conclude that while airborne asbestos levels may be elevated in buildings that contain asbestos, levels are generally low. This conclusion does not eliminate the possibility of higher airborne asbestos levels during maintenance or renovation that disturbs the asbestos-containing material.

  15. Avoiding unfavourable outcomes in liposuction

    PubMed Central

    Khanna, Atul; Filobbos, George

    2013-01-01

    The origin of liposuction can be traced to an adverse event by Dujarrier in 1921 when he used a uterine curette to remove fat from the knees of a ballerina ending in an amputation secondary to damage of the femoral artery. The history of liposuction since then has been one of avoiding complications and optimising outcome. After this adverse event, liposuction was abandoned until the 1960's when Schrudde revived the practice using small stab incisions and sharp curettage with the secondary suction to aspirate the freed tissue. This technique was associated with a high incidence of complications especially seroma and skin necrosis. Illouz then replaced the curette with a blunt cannula connected to vacuum pump thus avoiding the complications of a sharp curette. Despite the presence of various techniques for liposuction, suction assisted liposuction (SAL) is still the standard technique of liposuction. This article aims to discuss literature regarding the various aspects of liposuction (SAL) and to highlight the salient points in the literature and in the senior author's experience in order to avoid unfavourable outcomes in liposuction. A literature review on avoiding complication is in liposuction including some of the seminal papers on liposuction. Liposuction is generally a safe procedure with reproducible outcome. Just like any surgical procedure it should be treated with the utmost care. Illouz published 10 commandments for liposuction in 1989 and we review these commandments to demonstrate how liposuction has evolved. PMID:24501475

  16. Biochar aging reduces earthworm avoidance

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Biochar, a black carbon substance produced by the pyrolysis of organic feedstocks, has been used in many soil improvement strategies ranging from nutrient addition to sequestration of C. Simple toxicity studies and laboratory preference/avoidance assays are recommended but results rarely reported. ...

  17. Avoiding plagiarism in academic writing.

    PubMed

    Anderson, Irene

    Plagiarism means taking the work of another and presenting it as one's own, resulting in potential upset for the original author and disrepute for the professions involved. This article aims to explore the issue of plagiarism and some mechanisms for detection and avoidance. PMID:19186631

  18. An investigation of collisions between fiber positioning units in LAMOST

    NASA Astrophysics Data System (ADS)

    Liu, Xiao-Jie; Wang, Gang

    2016-04-01

    The arrangement of fiber positioning units in the LAMOST focal plane may lead to collisions during the fiber allocation process. To avoid these collisions, a software-based protection system has to abandon some targets located in the overlapping field of adjacent fiber units. In this paper, we first analyze the probability of collisions between fibers and infer their possible reasons. It is useful to solve the problem of collisions among fiber positioning units so as to improve the efficiency of LAMOST. Based on this, a collision handling system is designed by using a master-slave control structure between the micro control unit and microcomputer. Simulated experiments validate that the system can provide real-time inspection and swap information between the fiber unit controllers and the main controller.

  19. A Neural Model of Visually Guided Steering, Obstacle Avoidance, and Route Selection

    ERIC Educational Resources Information Center

    Elder, David M.; Grossberg, Stephen; Mingolla, Ennio

    2009-01-01

    A neural model is developed to explain how humans can approach a goal object on foot while steering around obstacles to avoid collisions in a cluttered environment. The model uses optic flow from a 3-dimensional virtual reality environment to determine the position of objects on the basis of motion discontinuities and computes heading direction,…

  20. Vision Impairs the Abilities of Bats to Avoid Colliding with Stationary Obstacles

    PubMed Central

    Orbach, Dara N.; Fenton, Brock

    2010-01-01

    Background Free-flying insectivorous bats occasionally collide with stationary objects they should easily detect by echolocation and avoid. Collisions often occur with lighted objects, suggesting ambient light may deleteriously affect obstacle avoidance capabilities. We tested the hypothesis that free-flying bats may orient by vision when they collide with some obstacles. We additionally tested whether acoustic distractions, such as “distress calls” of other bats, contributed to probabilities of collision. Methodology/Principal Findings To investigate the role of visual cues in the collisions of free-flying little brown bats (Myotis lucifugus) with stationary objects, we set up obstacles in an area of high bat traffic during swarming. We used combinations of light intensities and visually dissimilar obstacles to verify that bats orient by vision. In early August, bats collided more often in the light than the dark, and probabilities of collision varied with the visibility of obstacles. However, the probabilities of collisions altered in mid to late August, coincident with the start of behavioural, hormonal, and physiological changes occurring during swarming and mating. Distress calls did not distract bats and increase the incidence of collisions. Conclusions/Significance Our findings indicate that visual cues are more important for free-flying bats than previously recognized, suggesting integration of multi-sensory modalities during orientation. Furthermore, our study highlights differences between responses of captive and wild bats, indicating a need for more field experiments. PMID:21085481

  1. Can airborne ultrasound monitor bubble size in chocolate?

    NASA Astrophysics Data System (ADS)

    Watson, N.; Hazlehurst, T.; Povey, M.; Vieira, J.; Sundara, R.; Sandoz, J.-P.

    2014-04-01

    Aerated chocolate products consist of solid chocolate with the inclusion of bubbles and are a popular consumer product in many countries. The volume fraction and size distribution of the bubbles has an effect on their sensory properties and manufacturing cost. For these reasons it is important to have an online real time process monitoring system capable of measuring their bubble size distribution. As these products are eaten by consumers it is desirable that the monitoring system is non contact to avoid food contaminations. In this work we assess the feasibility of using an airborne ultrasound system to monitor the bubble size distribution in aerated chocolate bars. The experimental results from the airborne acoustic experiments were compared with theoretical results for known bubble size distributions using COMSOL Multiphysics. This combined experimental and theoretical approach is used to develop a greater understanding of how ultrasound propagates through aerated chocolate and to assess the feasibility of using airborne ultrasound to monitor bubble size distribution in these systems. The results indicated that a smaller bubble size distribution would result in an increase in attenuation through the product.

  2. A capacitance-based proximity sensor for whole arm obstacle avoidance

    SciTech Connect

    Novak, J.L.; Feddema, J.T.

    1992-11-02

    This paper discusses an application of capacitive sensors for detecting incipient collisions during robot motion in unknown or partially modeled environments. Forty-five sensors capable of detecting obstacles up to 330 mm (13 in.) away were distributed over the surface of a PUMA 560 robot arm. Each sensor consisted of a 4 mm thick, 37 mm diameter rings around 21 mm diameter disks. These sensors can detect both conductive and non-conductive obstacles of arbitrary color and shape. The sensor hardware is reliable and inexpensive, and it may be fabricated using flexible printed circuit boards to provide whole-arm and joint protection for any robot or manipulator. Simple collision avoidance control algorithms that perturb the joint commands from a spaceball to avoid collisions have been implemented on the PUMA 560 robot.

  3. Spacecraft Maximum Allowable Concentrations for Selected Airborne Contaminants. Volume 3

    NASA Technical Reports Server (NTRS)

    1996-01-01

    This report, prepared by the Committee on Toxicology of the National Research Council's Board on Environmental Studies and Toxicology, is in response to a request from NASA for guidelines to develop spacecraft maximum allowable concentrations (SMACs) for space-station contaminants. SMACs are used to provide guidance on allowable chemical exposures during normal operations and emergency situations. Short-term SMACs refer to concentrations of airborne substances (such as gas, vapor, or aerosol) that will not compromise the performance of specific tasks during emergency conditions lasting up to 24 hours. Long-term SMACs are intended to avoid adverse health effects (either immediate or delayed) and to avoid degradation in crew performance with continuous exposure in a closed space-station environment for as long as 180 days.

  4. Satellite and airborne IR sensor validation by an airborne interferometer

    SciTech Connect

    Gumley, L.E.; Delst, P.F. van; Moeller, C.C.

    1996-11-01

    The validation of in-orbit longwave IR radiances from the GOES-8 Sounder and inflight longwave IR radiances from the MODIS Airborne Simulator (MAS) is described. The reference used is the airborne University of Wisconsin High Resolution Interferometer Sounder (HIS). The calibration of each sensor is described. Data collected during the Ocean Temperature Interferometric Survey (OTIS) experiment in January 1995 is used in the comparison between sensors. Detailed forward calculations of at-sensor radiance are used to account for the difference in GOES-8 and HIS altitude and viewing geometry. MAS radiances and spectrally averaged HIS radiances are compared directly. Differences between GOES-8 and HIS brightness temperatures, and GOES-8 and MAS brightness temperatures, are found to be with 1.0 K for the majority of longwave channels examined. The same validation approach will be used for future sensors such as the Moderate Resolution Imaging Spectroradiometer (MODIS) and the Atmospheric Infrared Sounder (AIRS). 11 refs., 2 figs., 4 tabs.

  5. Issues in Airborne Systems for Closely-Spaced Parallel Runway Operations

    NASA Technical Reports Server (NTRS)

    Pritchett, A.; Carpenter, B.; Asari, K.; Kuchar, J.; Hansman, R. J.

    1995-01-01

    Efforts to increase airport capacity include studies of aircraft systems that would enable simultaneous approaches to closely spaced parallel runways in Instrument Meteorological Conditions (IMC). The time-critical nature of a parallel approach results in key design issues for current and future collision avoidance systems. These issues are being studied in two ways. First, a part-task flight simulator study has examined the procedural and display issues inherent in such a time-critical task. Second, a prototype collision avoidance logic capable of generating this maneuver guidance has been designed using a recently developed methodology.

  6. Airborne chemistry: acoustic levitation in chemical analysis.

    PubMed

    Santesson, Sabina; Nilsson, Staffan

    2004-04-01

    This review with 60 references describes a unique path to miniaturisation, that is, the use of acoustic levitation in analytical and bioanalytical chemistry applications. Levitation of small volumes of sample by means of a levitation technique can be used as a way to avoid solid walls around the sample, thus circumventing the main problem of miniaturisation, the unfavourable surface-to-volume ratio. Different techniques for sample levitation have been developed and improved. Of the levitation techniques described, acoustic or ultrasonic levitation fulfils all requirements for analytical chemistry applications. This technique has previously been used to study properties of molten materials and the equilibrium shape()and stability of liquid drops. Temperature and mass transfer in levitated drops have also been described, as have crystallisation and microgravity applications. The airborne analytical system described here is equipped with different and exchangeable remote detection systems. The levitated drops are normally in the 100 nL-2 microL volume range and additions to the levitated drop can be made in the pL-volume range. The use of levitated drops in analytical and bioanalytical chemistry offers several benefits. Several remote detection systems are compatible with acoustic levitation, including fluorescence imaging detection, right angle light scattering, Raman spectroscopy, and X-ray diffraction. Applications include liquid/liquid extractions, solvent exchange, analyte enrichment, single-cell analysis, cell-cell communication studies, precipitation screening of proteins to establish nucleation conditions, and crystallisation of proteins and pharmaceuticals. PMID:14762640

  7. Estimating avoidable causes of cancer.

    PubMed Central

    Davis, D L; Muir, C

    1995-01-01

    Evidence that much cancer is preventable derives from observations of time trends and geographic patterns of cancer, birth cohort changes, high risks in groups with well-defined exposures, and experimental studies. In an effort to identify additional opportunities for reducing the impact of cancer on society, this conference assessed avoidable causes of cancer. The magnitude and extent of preventable causes of cancer are subjects of intense debate, with discrepancies often related to the use of different time frames and different weights for epidemiologic and toxicologic evidence. There is much agreement, however, about the exposures that increase risk, notably tobacco, alcohol, diet, radiation, medications, occupational exposures, general environmental exposures, and infectious agents. Interactions between carcinogenic exposures and genetic susceptibility are also important. Concerted efforts are needed to identify avoidable causes of cancer and to apply knowledge already obtained to reduce the cancer burden. PMID:8741803

  8. A capacitance-based proximity sensor for whole arm obstacle avoidance

    SciTech Connect

    Novak, J.L.; Feddema, J.T.

    1991-01-01

    This paper addresses the issue of collision avoidance in unknown or partially modeled environments using a capacitive sensor. An eight channel capacitance-based sensor system which can detect obstacles up to 400 mm (16 inches) away has been developed. This sensor can detect both conductive and non-conductive obstacles of arbitrary color and shape. The sensor hardware is reliable and inexpensive, and it may be fabricated using flexible printed circuit boards to provide whole-arm and joint protection for any robot or manipulator. Simple collision avoidance control algorithms have been implemented on a two-link robot arm. The sensor and control system enable the robot arm to avoid a conductive post and a concrete block. 13 refs., 9 figs.

  9. Driving-Simulator-Based Test on the Effectiveness of Auditory Red-Light Running Vehicle Warning System Based on Time-To-Collision Sensor

    PubMed Central

    Yan, Xuedong; Xue, Qingwan; Ma, Lu; Xu, Yongcun

    2014-01-01

    The collision avoidance warning system is an emerging technology designed to assist drivers in avoiding red-light running (RLR) collisions at intersections. The aim of this paper is to evaluate the effect of auditory warning information on collision avoidance behaviors in the RLR pre-crash scenarios and further to examine the casual relationships among the relevant factors. A driving-simulator-based experiment was designed and conducted with 50 participants. The data from the experiments were analyzed by approaches of ANOVA and structural equation modeling (SEM). The collisions avoidance related variables were measured in terms of brake reaction time (BRT), maximum deceleration and lane deviation in this study. It was found that the collision avoidance warning system can result in smaller collision rates compared to the without-warning condition and lead to shorter reaction times, larger maximum deceleration and less lane deviation. Furthermore, the SEM analysis illustrate that the audio warning information in fact has both direct and indirect effect on occurrence of collisions, and the indirect effect plays a more important role on collision avoidance than the direct effect. Essentially, the auditory warning information can assist drivers in detecting the RLR vehicles in a timely manner, thus providing drivers more adequate time and space to decelerate to avoid collisions with the conflicting vehicles. PMID:24566631

  10. Large aperture scanning airborne lidar

    NASA Technical Reports Server (NTRS)

    Smith, J.; Bindschadler, R.; Boers, R.; Bufton, J. L.; Clem, D.; Garvin, J.; Melfi, S. H.

    1988-01-01

    A large aperture scanning airborne lidar facility is being developed to provide important new capabilities for airborne lidar sensor systems. The proposed scanning mechanism allows for a large aperture telescope (25 in. diameter) in front of an elliptical flat (25 x 36 in.) turning mirror positioned at a 45 degree angle with respect to the telescope optical axis. The lidar scanning capability will provide opportunities for acquiring new data sets for atmospheric, earth resources, and oceans communities. This completed facility will also make available the opportunity to acquire simulated EOS lidar data on a near global basis. The design and construction of this unique scanning mechanism presents exciting technological challenges of maintaining the turning mirror optical flatness during scanning while exposed to extreme temperatures, ambient pressures, aircraft vibrations, etc.

  11. Disequilibration by Planetary Collision

    NASA Astrophysics Data System (ADS)

    Asphaug, E. I.; Jutzi, M.

    2010-12-01

    Molten planets equilibrate gravitationally, chemically, and thermally. Large scale collisions (a.k.a. giant impacts, similar-sized collisions) can upset the apple cart by bringing core material, late in the game, into mixture with mantle products, and by shredding stratified planets into strands of mantle and clumps of core (c.g. Asphaug et al. Nature 2006). Atmophiles and volatiles come along for the ride, and can find themselves in disequilibrium mixtures not anticipated by one-dimensional models of planetary evolution, or by planet growth models in which planets stick, merge, and mix perfectly in the aftermath of a collision. We present very high resolution case studies of such collisions.

  12. Magnetic airborne survey - geophysical flight

    NASA Astrophysics Data System (ADS)

    de Barros Camara, Erick; Nei Pereira Guimarães, Suze

    2016-06-01

    This paper provides a technical review process in the area of airborne acquisition of geophysical data, with emphasis for magnetometry. In summary, it addresses the calibration processes of geophysical equipment as well as the aircraft to minimize possible errors in measurements. The corrections used in data processing and filtering are demonstrated with the same results as well as the evolution of these techniques in Brazil and worldwide.

  13. Airborne microorganisms from waste containers.

    PubMed

    Jedlicka, Sabrina S; Stravitz, David M; Lyman, Charles E

    2012-01-01

    In physician's offices and biomedical labs, biological waste is handled every day. This waste is disposed of in waste containers designed for holding red autoclave bags. The containers used in these environments are closed hands-free containers, often with a step pedal. While these containers protect the user from surface-borne microorganisms, the containers may allow airborne microorganisms to escape via the open/close mechanism because of the air current produced upon open/close cycles. In this study, the air current was shown to be sufficient to allow airborne escape of microorganisms held in the container, including Aspergillus niger. However, bacterial cultures, such as Escherichia coli and Lactococcus lactis did not escape. This may be due to the choice of bacterial cultures and the absence of solid waste, such as dust or other particulate matter in the waste containers, that such strains of bacteria could travel on during aerosolization. We compared these results to those obtained using a re-designed receptacle, which mimimizes air currents, and detected no escaping microorganisms. This study highlights one potential source of airborne contamination in labs, hospitals, and other environments that dispose of biological waste. PMID:23047084

  14. Airborne lidar global positioning investigations

    NASA Technical Reports Server (NTRS)

    Krabill, W. B.

    1988-01-01

    The Global Positioning System (GPS) network of satellites shows high promise of revolutionizing methods for conducting surveying, navigation, and positioning. This is especially true in the case of airborne or satellite positioning. A single GPS receiver (suitably adapted for aircraft deployment) can yield positioning accuracies (world-wide) in the order of 30 to 50 m vertically, as well as horizontally. This accuracy is dramatically improved when a second GPS receiver is positioned at a known horizontal and vertical reference. Absolute horizontal and vertical positioning of 1 to 2 m are easily achieved over areas of separation of tens of km. If four common satellites remain in lock in both receivers, then differential phase pseudo-ranges on the GPS L-band carrier can be utilized to achieve accuracies of + or - 10 cm and perhaps as good as + or - 2 cm. The initial proof of concept investigation for airborne positioning using the phase difference between the airborne and stationary GPS receivers was conducted and is examined.

  15. NASA Student Airborne Research Program

    NASA Astrophysics Data System (ADS)

    Schaller, E. L.; Shetter, R. E.

    2012-12-01

    The NASA Student Airborne Research Program (SARP) is a unique summer internship program for advanced undergraduates and early graduate students majoring in the STEM disciplines. SARP participants acquire hands-on research experience in all aspects of an airborne research campaign, including flying onboard an major NASA resource used for studying Earth system processes. In summer 2012, thirty-two participants worked in four interdisciplinary teams to study surface, atmospheric, and oceanographic processes. Participants assisted in the operation of instruments onboard the NASA P-3B aircraft where they sampled and measured atmospheric gases and imaged land and water surfaces in multiple spectral bands. Along with airborne data collection, students participated in taking measurements at field sites. Mission faculty and research mentors helped to guide participants through instrument operation, sample analysis, and data reduction. Over the eight-week program, each student developed an individual research project from the data collected and delivered a conference-style final presentation on his/her results. We will discuss the results and effectiveness of the program from the first four summers and discuss plans for the future.

  16. Airborne particulate matter in spacecraft

    NASA Technical Reports Server (NTRS)

    1988-01-01

    Acceptability limits and sampling and monitoring strategies for airborne particles in spacecraft were considered. Based on instances of eye and respiratory tract irritation reported by Shuttle flight crews, the following acceptability limits for airborne particles were recommended: for flights of 1 week or less duration (1 mg/cu m for particles less than 10 microns in aerodynamic diameter (AD) plus 1 mg/cu m for particles 10 to 100 microns in AD); and for flights greater than 1 week and up to 6 months in duration (0.2 mg/cu m for particles less than 10 microns in AD plus 0.2 mg/cu m for particles 10 to 100 microns in AD. These numerical limits were recommended to aid in spacecraft atmosphere design which should aim at particulate levels that are a low as reasonably achievable. Sampling of spacecraft atmospheres for particles should include size-fractionated samples of 0 to 10, 10 to 100, and greater than 100 micron particles for mass concentration measurement and elementary chemical analysis by nondestructive analysis techniques. Morphological and chemical analyses of single particles should also be made to aid in identifying airborne particulate sources. Air cleaning systems based on inertial collection principles and fine particle collection devices based on electrostatic precipitation and filtration should be considered for incorporation into spacecraft air circulation systems. It was also recommended that research be carried out in space in the areas of health effects and particle characterization.

  17. Whole-arm obstacle avoidance system conceptual design

    SciTech Connect

    Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.

    1993-04-01

    Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER&WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER&WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. The conceptual design for a sensing system that will provide protection against such collisions is described herein. The whole-arm obstacle avoidance system consists of a set of sensor ``bracelets,`` which cover the surface area of the manipulator links to the maximum extent practical, and a host processor. The host processor accepts commands from the robot control system, controls the operation of the sensors, manipulates data received from the bracelets, and makes the data available to the manipulator control system. The bracelets consist of a subset of the sensors, associated sensor interface electronics, and a bracelet interface. Redundant communications links between the host processor and the bracelets are provided, allowing single-point failure protection. The system allows reporting of 8-bit data from up to 1000 sensors at a minimum of 50 Hz. While the initial prototype implementation of the system utilizes capacitance proximity sensor, the system concept allows multiple types of sensors. These sensors are uniquely addressable, allowing remote calibration, thresholding at the bracelet, and correlation of a sensor measurement with the associated sensor and its location on the manipulator. Variable resolution allows high-speed, single-bit sensing as well as lower-speed higher-resolution sensing, which is necessary for sensor calibration and potentially useful in control.

  18. Whole-arm obstacle avoidance system conceptual design

    SciTech Connect

    Wintenberg, A.L.; Butler, P.L.; Babcock, S.M.; Ericson, M.N.; Britton, C.L. Jr.

    1993-04-01

    Whole-arm obstacle avoidance is needed for a variety of robotic applications in the Environmental Restoration and Waste Management (ER WM) Program. Typical industrial applications of robotics involve well-defined workspaces, allowing a predetermined knowledge of collision-free paths for manipulator motion. In the unstructured or poorly defined hazardous environments of the ER WM Program, the potential for significant problems resulting from collisions between manipulators and the environment in which they are utilized is great. The conceptual design for a sensing system that will provide protection against such collisions is described herein. The whole-arm obstacle avoidance system consists of a set of sensor bracelets,'' which cover the surface area of the manipulator links to the maximum extent practical, and a host processor. The host processor accepts commands from the robot control system, controls the operation of the sensors, manipulates data received from the bracelets, and makes the data available to the manipulator control system. The bracelets consist of a subset of the sensors, associated sensor interface electronics, and a bracelet interface. Redundant communications links between the host processor and the bracelets are provided, allowing single-point failure protection. The system allows reporting of 8-bit data from up to 1000 sensors at a minimum of 50 Hz. While the initial prototype implementation of the system utilizes capacitance proximity sensor, the system concept allows multiple types of sensors. These sensors are uniquely addressable, allowing remote calibration, thresholding at the bracelet, and correlation of a sensor measurement with the associated sensor and its location on the manipulator. Variable resolution allows high-speed, single-bit sensing as well as lower-speed higher-resolution sensing, which is necessary for sensor calibration and potentially useful in control.

  19. Airborne derivation of microburst alerts from ground-based Terminal Doppler Weather Radar information: A flight evaluation

    NASA Technical Reports Server (NTRS)

    Hinton, David A.

    1993-01-01

    An element of the NASA/FAA windshear program is the integration of ground-based microburst information on the flight deck, to support airborne windshear alerting and microburst avoidance. NASA conducted a windshear flight test program in the summer of 1991 during which airborne processing of Terminal Doppler Weather Radar (TDWR) data was used to derive microburst alerts. Microburst information was extracted from TDWR, transmitted to a NASA Boeing 737 in flight via data link, and processed to estimate the windshear hazard level (F-factor) that would be experienced by the aircraft in each microburst. The microburst location and F-factor were used to derive a situation display and alerts. The situation display was successfully used to maneuver the aircraft for microburst penetrations, during which atmospheric 'truth' measurements were made. A total of 19 penetrations were made of TDWR-reported microburst locations, resulting in 18 airborne microburst alerts from the TDWR data and two microburst alerts from the airborne reactive windshear detection system. The primary factors affecting alerting performance were spatial offset of the flight path from the region of strongest shear, differences in TDWR measurement altitude and airplane penetration altitude, and variations in microburst outflow profiles. Predicted and measured F-factors agreed well in penetrations near microburst cores. Although improvements in airborne and ground processing of the TDWR measurements would be required to support an airborne executive-level alerting protocol, the practicality of airborne utilization of TDWR data link data has been demonstrated.

  20. Diet, nutrition, and avoidable cancer.

    PubMed Central

    Willett, W C

    1995-01-01

    In a 1981 review, Doll and Peto estimated that approximately 35% of cancer deaths in the United States were potentially avoidable by the modification of diet but that this percentage might be as low as 10% or as high as 70%. Since that time, the epidemiologic literature on diet and cancer has grown greatly, as has understanding of the mechanisms of carcinogenesis. In general, this expanded literature has not provided reason to alter the Doll and Peto estimate substantially. For colon cancer, evidence has accumulated that some of the international differences that were attributed to diet are probably due to physical activity. For breast cancer, the concept that fat intake per se is the primary reason for differences in rates among countries has not been supported by prospective studies. Although several lines of evidence suggest that caloric restriction and slow growth rates may contribute importantly to the low rates of breast cancer found outside Western countries, this may not translate directly to practical means of prevention. In contrast to breast cancer, more recent data have supported a causative role for red meat in the development of colon and prostate cancers, although perhaps not entirely due to its fat content. Whereas earlier thinking about nutrition and cancer emphasized the adverse effects of fat and other components in the diet, the most compelling evidence of the last decade has indicated the importance of protective factors, largely unidentified, in fruits and vegetables. Considering the more recent evidence, it is roughly estimated that about 32% of cancer may be avoidable by changes in diet; however, it now seems unlikely that less than 20% or more than 42% of cancer deaths would be avoidable by dietary change. PMID:8741778

  1. Survival rate of airborne Mycobacterium bovis.

    PubMed

    Gannon, B W; Hayes, C M; Roe, J M

    2007-04-01

    Despite years of study the principle transmission route of bovine tuberculosis to cattle remains unresolved. The distribution of pathological lesions, which are concentrated in the respiratory system, and the very low dose of Mycobacterium bovis needed to initiate infection from a respiratory tract challenge suggest that the disease is spread by airborne transmission. Critical to the airborne transmission of a pathogenic microorganism is its ability to survive the stresses incurred whilst airborne. This study demonstrates that M. bovis is resistant to the stresses imposed immediately after becoming airborne, 94% surviving the first 10 min after aerosolisation. Once airborne the organism is robust, its viability decreasing with a half-life of approximately 1.5 hours. These findings support the hypothesis that airborne transmission is the principle route of infection for bovine tuberculosis. PMID:17045316

  2. Development of an in-vehicle intersection collision countermeasure

    NASA Astrophysics Data System (ADS)

    Pierowicz, John

    1997-02-01

    Intersection collisions constitute approximately twenty-six percent of all accidents in the United States. Because of their complexity, and demands on the perceptual and decision making abilities of the driver, intersections present an increased risk of collisions between automobiles. This situation provides an opportunity to apply advanced sensor and processing capabilities to prevent these collisions. A program to determine the characteristics of intersection collisions and identify potential countermeasures will be described. This program, sponsored by the National Highway Traffic Safety Administration, utilized accident data to develop a taxonomy of intersection crashes. This taxonomy was used to develop a concept for an intersection collision avoidance countermeasure. The concept utilizes in-vehicle position, dynamic status, and millimeter wave radar system and an in-vehicle computer system to provide inputs to an intersection collision avoidance algorithm. Detection of potential violation of traffic control device, or proceeding into the intersection with inadequate gap will lead to the presentation of a warning to the driver. These warnings are presented to the driver primarily via a head-up display and haptic feedback. Roadside to vehicle communication provides information regarding phased traffic signal information. Active control of the vehicle's brake and steering systems are described. Progress in the development of the systems will be presented along with the schedule of future activities.

  3. Obstacle-avoiding navigation system

    DOEpatents

    Borenstein, Johann; Koren, Yoram; Levine, Simon P.

    1991-01-01

    A system for guiding an autonomous or semi-autonomous vehicle through a field of operation having obstacles thereon to be avoided employs a memory for containing data which defines an array of grid cells which correspond to respective subfields in the field of operation of the vehicle. Each grid cell in the memory contains a value which is indicative of the likelihood, or probability, that an obstacle is present in the respectively associated subfield. The values in the grid cells are incremented individually in response to each scan of the subfields, and precomputation and use of a look-up table avoids complex trigonometric functions. A further array of grid cells is fixed with respect to the vehicle form a conceptual active window which overlies the incremented grid cells. Thus, when the cells in the active window overly grid cell having values which are indicative of the presence of obstacles, the value therein is used as a multiplier of the precomputed vectorial values. The resulting plurality of vectorial values are summed vectorially in one embodiment of the invention to produce a virtual composite repulsive vector which is then summed vectorially with a target-directed vector for producing a resultant vector for guiding the vehicle. In an alternative embodiment, a plurality of vectors surrounding the vehicle are computed, each having a value corresponding to obstacle density. In such an embodiment, target location information is used to select between alternative directions of travel having low associated obstacle densities.

  4. Elastic and Inelastic Collisions

    ERIC Educational Resources Information Center

    Gluck, Paul

    2010-01-01

    There have been two articles in this journal that described a pair of collision carts used to demonstrate vividly the difference between elastic and inelastic collisions. One cart had a series of washers that were mounted rigidly on a rigid wooden framework, the other had washers mounted on rubber bands stretched across a framework. The rigidly…

  5. Ball Collision Experiments

    ERIC Educational Resources Information Center

    Cross, R.

    2015-01-01

    Experiments are described on collisions between two billiard balls and between a bat and a ball. The experiments are designed to extend a student's understanding of collision events and could be used either as a classroom demonstration or for a student project.

  6. 78 FR 66419 - Seventy Sixth Meeting: RTCA Special Committee 147, Minimum Operational Performance Standards for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-11-05

    ... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY: Federal... Special Committee 147, Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance... Sixth meeting of RTCA Special Committee 147, Minimum Operational Performance Standards for Traffic...

  7. 78 FR 61445 - Seventy-Sixth Meeting: RTCA Special Committee 147, Minimum Operational Performance Standards for...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2013-10-03

    ... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY: Federal... Special Committee 147, Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance...-Sixth meeting of RTCA Special Committee 147, Minimum Operational Performance Standards for Traffic...

  8. 77 FR 29749 - 74th Meeting: RTCA Special Committee 147, Minimal Operations Performance Standards for Traffic...

    Federal Register 2010, 2011, 2012, 2013, 2014

    2012-05-18

    ... Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment AGENCY: Federal Aviation... 147, Minimal Operations Performance Standards for Traffic Alert and Collision Avoidance Systems... RTCA Special Committee 147, Minimal Operations Performance Standards for Traffic Alert and...

  9. Particle Filtering for Obstacle Tracking in UAS Sense and Avoid Applications

    PubMed Central

    Moccia, Antonio

    2014-01-01

    Obstacle detection and tracking is a key function for UAS sense and avoid applications. In fact, obstacles in the flight path must be detected and tracked in an accurate and timely manner in order to execute a collision avoidance maneuver in case of collision threat. The most important parameter for the assessment of a collision risk is the Distance at Closest Point of Approach, that is, the predicted minimum distance between own aircraft and intruder for assigned current position and speed. Since assessed methodologies can cause some loss of accuracy due to nonlinearities, advanced filtering methodologies, such as particle filters, can provide more accurate estimates of the target state in case of nonlinear problems, thus improving system performance in terms of collision risk estimation. The paper focuses on algorithm development and performance evaluation for an obstacle tracking system based on a particle filter. The particle filter algorithm was tested in off-line simulations based on data gathered during flight tests. In particular, radar-based tracking was considered in order to evaluate the impact of particle filtering in a single sensor framework. The analysis shows some accuracy improvements in the estimation of Distance at Closest Point of Approach, thus reducing the delay in collision detection. PMID:25105154

  10. Autonomous hazard detection and avoidance

    NASA Technical Reports Server (NTRS)

    Pien, Homer

    1992-01-01

    During GFY 91, Draper Laboratory was awarded a task by NASA-JSC under contract number NAS9-18426 to study and evaluate the potential for achieving safe autonomous landings on Mars using an on-board autonomous hazard detection and avoidance (AHDA) system. This report describes the results of that study. The AHDA task had four objectives: to demonstrate, via a closed-loop simulation, the ability to autonomously select safe landing sites and the ability to maneuver to the selected site; to identify key issues in the development of AHDA systems; to produce strawman designs for AHDA sensors and algorithms; and to perform initial trade studies leading to better understanding of the effect of sensor/terrain/viewing parameters on AHDA algorithm performance. This report summarizes the progress made during the first year, with primary emphasis on describing the tools developed for simulating a closed-loop AHDA landing. Some cursory performance evaluation results are also presented.

  11. Fast swept-volume distance for robust collision detection

    SciTech Connect

    Xavier, P.G.

    1997-04-01

    The need for collision detection arises in several robotics areas, including motion-planning, online collision avoidance, and simulation. At the heart of most current methods are algorithms for interference detection and/or distance computation. A few recent algorithms and implementations are very fast, but to use them for accurate collision detection, very small step sizes can be necessary, reducing their effective efficiency. We present a fast, implemented technique for doing exact distance computation and interference detection for translationally-swept bodies. For rotationally swept bodies, we adapt this technique to improve accuracy, for any given step size, in distance computation and interference detection. We present preliminary experiments that show that the combination of basic and swept-body calculations holds much promise for faster accurate collision detection.

  12. Generalized regressive motion: a visual cue to collision.

    PubMed

    Chalupka, Krzysztof; Dickinson, Michael; Perona, Pietro

    2016-01-01

    Brains and sensory systems evolved to guide motion. Central to this task is controlling the approach to stationary obstacles and detecting moving organisms. Looming has been proposed as the main monocular visual cue for detecting the approach of other animals and avoiding collisions with stationary obstacles. Elegant neural mechanisms for looming detection have been found in the brain of insects and vertebrates. However, looming has not been analyzed in the context of collisions between two moving animals. We propose an alternative strategy, generalized regressive motion (GRM), which is consistent with recently observed behavior in fruit flies. Geometric analysis proves that GRM is a reliable cue to collision among conspecifics, whereas agent-based modeling suggests that GRM is a better cue than looming as a means to detect approach, prevent collisions and maintain mobility. PMID:27427952

  13. Geophex airborne unmanned survey system

    SciTech Connect

    Won, I.J.; Taylor, D.W.A.

    1995-03-01

    The purpose of this effort is to design, construct, and evaluate a portable, remotely-piloted, airborne, geophysical survey system. This nonintrusive system will provide {open_quotes}stand-off{close_quotes} capability to conduct surveys and detect buried objects, structures, and conditions of interest at hazardous locations. This system permits two operators to rapidly conduct geophysical characterization of hazardous environmental sites. During a survey, the operators remain remote from, but within visual distance, of, the site. The sensor system never contacts the Earth, but can be positioned near the ground so that weak anomalies can be detected.

  14. Airborne wavemeter validation and calibration

    NASA Technical Reports Server (NTRS)

    Goad, Joseph H., Jr.; Rinsland, Pamela L.; Kist, Edward H., Jr.; Geier, Erika B.; Banziger, Curtis G.

    1992-01-01

    This manuscript outlines a continuing effort to validate and verify the performance of an airborne autonomous wavemeter for tuning solid state lasers to a desired wavelength. The application is measuring the vertical profiles of atmospheric water vapor using a differential absorption lidar (DIAL) technique. Improved wavemeter performance data for varying ambient temperatures are presented. This resulted when the electronic grounding and shielding were improved. The results with short pulse duration lasers are also included. These lasers show that similar performance could be obtained with lasers operating in the continuous and the pulsed domains.

  15. High sensitive airborne radioiodine monitor.

    PubMed

    Ogata, Yoshimune; Yamasaki, Tadashi; Hanafusa, Ryuji

    2013-11-01

    Airborne radioiodine monitoring includes a problem in that commercial radioactive gas monitors have inadequate sensitivity. To solve this problem, we designed a highly sensitive monitoring system. The higher counting efficiency and lower background made it possible to perform the low-level monitoring. The characteristics of the system were investigated using gaseous (125)I. The minimum detectable activity concentration was 1 × 10(-4)Bq cm(-3) for 1 min counting, which is one tenth of the legal limit for the radiation controlled areas in Japan. PMID:23602709

  16. Geophex Airborne Unmanned Survey System

    SciTech Connect

    Won, I.J.; Keiswetter, D.

    1995-10-01

    The purpose of this effort is to design, construct, and evaluate a portable, remotely-piloted, airborne, geophysical survey system. This non-intrusive system will provide {open_quotes}stand-off{close_quotes} capability to conduct surveys and detect buried objects, structures, and conditions of interest at hazardous locations. This system permits rapid geophysical characterization of hazardous environmental sites. During a survey, the operators remain remote from, but within visual distance of, the site. The sensor system never contacts the Earth, but can be positioned near the ground so that weak geophysical anomalies can be detected.

  17. Cyberinfrastructure for Airborne Sensor Webs

    NASA Technical Reports Server (NTRS)

    Freudinger, Lawrence C.

    2009-01-01

    Since 2004 the NASA Airborne Science Program has been prototyping and using infrastructure that enables researchers to interact with each other and with their instruments via network communications. This infrastructure uses satellite links and an evolving suite of applications and services that leverage open-source software. The use of these tools has increased near-real-time situational awareness during field operations, resulting in productivity improvements and the collection of better data. This paper describes the high-level system architecture and major components, with example highlights from the use of the infrastructure. The paper concludes with a discussion of ongoing efforts to transition to operational status.

  18. Biological monitoring of airborne pollution

    SciTech Connect

    Ditz, D.W. )

    1990-01-01

    Common plants such as grasses, mosses, and even goldenrod may turn out to have a new high-tech role as monitors of airborne pollution from solid waste incinerators. Certain plants that respond to specific pollutants can provide continuous surveillance of air quality over long periods of time: they are bio-indicators. Other species accumulate pollutants and can serve as sensitive indicators of pollutants and of food-chain contamination: they are bio-accumulators. Through creative use of these properties, biological monitoring can provide information that cannot be obtained by current methods such as stack testing.

  19. Airborne Research Experience for Educators

    NASA Astrophysics Data System (ADS)

    Costa, V. B.; Albertson, R.; Smith, S.; Stockman, S. A.

    2009-12-01

    The Airborne Research Experience for Educators (AREE) Program, conducted by the NASA Dryden Flight Research Center Office of Education in partnership with the AERO Institute, NASA Teaching From Space Program, and California State University Fullerton, is a complete end-to-end residential research experience in airborne remote sensing and atmospheric science. The 2009 program engaged ten secondary educators who specialize in science, technology, engineering or mathematics in a 6-week Student Airborne Research Program (SARP) offered through NSERC. Educators participated in collection of in-flight remote sensor data during flights aboard the NASA DC-8 as well as in-situ research on atmospheric chemistry (bovine emissions of methane); algal blooms (remote sensing to determine location and degree of blooms for further in-situ analysis); and crop classification (exploration of how drought conditions in Central California have impacted almond and cotton crops). AREE represents a unique model of the STEM teacher-as-researcher professional development experience because it asks educators to participate in a research experience and then translate their experiences into classroom practice through the design, implementation, and evaluation of instructional materials that emphasize the scientific research process, inquiry-based investigations, and manipulation of real data. Each AREE Master Educator drafted a Curriculum Brief, Teachers Guide, and accompanying resources for a topic in their teaching assignment Currently, most professional development programs offer either a research experience OR a curriculum development experience. The dual nature of the AREE model engaged educators in both experiences. Educators’ content and pedagogical knowledge of STEM was increased through the review of pertinent research articles during the first week, attendance at lectures and workshops during the second week, and participation in the airborne and in-situ research studies, data

  20. Airborne Visible Laser Optical Communications Program (AVLOC)

    NASA Technical Reports Server (NTRS)

    Ward, J. H.

    1975-01-01

    The design, development, and operation of airborne and ground-based laser communications and laser radar hardware is described in support of the Airborne Visible Laser Optical Communication program. The major emphasis is placed on the development of a highly flexible test bed for the evaluation of laser communications systems techniques and components in an operational environment.

  1. Global Test Range: Toward Airborne Sensor Webs

    NASA Technical Reports Server (NTRS)

    Mace, Thomas H.; Freudinger, Larry; DelFrate John H.

    2008-01-01

    This viewgraph presentation reviews the planned global sensor network that will monitor the Earth's climate, and resources using airborne sensor systems. The vision is an intelligent, affordable Earth Observation System. Global Test Range is a lab developing trustworthy services for airborne instruments - a specialized Internet Service Provider. There is discussion of several current and planned missions.

  2. Airborne Relay-Based Regional Positioning System

    PubMed Central

    Lee, Kyuman; Noh, Hongjun; Lim, Jaesung

    2015-01-01

    Ground-based pseudolite systems have some limitations, such as low vertical accuracy, multipath effects and near-far problems. These problems are not significant in airborne-based pseudolite systems. However, the monitoring of pseudolite positions is required because of the mobility of the platforms on which the pseudolites are mounted, and this causes performance degradation. To address these pseudolite system limitations, we propose an airborne relay-based regional positioning system that consists of a master station, reference stations, airborne relays and a user. In the proposed system, navigation signals are generated from the reference stations located on the ground and are relayed via the airborne relays. Unlike in conventional airborne-based systems, the user in the proposed system sequentially estimates both the locations of airborne relays and his/her own position. Therefore, a delay due to monitoring does not occur, and the accuracy is not affected by the movement of airborne relays. We conducted several simulations to evaluate the performance of the proposed system. Based on the simulation results, we demonstrated that the proposed system guarantees a higher accuracy than airborne-based pseudolite systems, and it is feasible despite the existence of clock offsets among reference stations. PMID:26029953

  3. The Continuous wavelet in airborne gravimetry

    NASA Astrophysics Data System (ADS)

    Liang, X.; Liu, L.

    2013-12-01

    Airborne gravimetry is an efficient method to recover medium and high frequency band of earth gravity over any region, especially inaccessible areas, which can measure gravity data with high accuracy,high resolution and broad range in a rapidly and economical way, and It will play an important role for geoid and geophysical exploration. Filtering methods for reducing high-frequency errors is critical to the success of airborne gravimetry due to Aircraft acceleration determination based on GPS.Tradiontal filters used in airborne gravimetry are FIR,IIR filer and so on. This study recommends an improved continuous wavelet to process airborne gravity data. Here we focus on how to construct the continuous wavelet filters and show their working principle. Particularly the technical parameters (window width parameter and scale parameter) of the filters are tested. Then the raw airborne gravity data from the first Chinese airborne gravimetry campaign are filtered using FIR-low pass filter and continuous wavelet filters to remove the noise. The comparison to reference data is performed to determinate external accuracy, which shows that continuous wavelet filters applied to airborne gravity in this thesis have good performances. The advantages of the continuous wavelet filters over digital filters are also introduced. The effectiveness of the continuous wavelet filters for airborne gravimetry is demonstrated through real data computation.

  4. A Simple Method for Collecting Airborne Pollen

    ERIC Educational Resources Information Center

    Kevan, Peter G.; DiGiovanni, Franco; Ho, Rong H.; Taki, Hisatomo; Ferguson, Kristyn A.; Pawlowski, Agata K.

    2006-01-01

    Pollination is a broad area of study within biology. For many plants, pollen carried by wind is required for successful seed set. Airborne pollen also affects human health. To foster studies of airborne pollen, we introduce a simple device--the "megastigma"--for collecting pollen from the air. This device is flexible, yielding easily obtained data…

  5. Airborne Oceanographic Lidar (AOL) (Global Carbon Cycle)

    NASA Technical Reports Server (NTRS)

    2003-01-01

    This bimonthly contractor progress report covers the operation, maintenance and data management of the Airborne Oceanographic Lidar and the Airborne Topographic Mapper. Monthly activities included: mission planning, sensor operation and calibration, data processing, data analysis, network development and maintenance and instrument maintenance engineering and fabrication.

  6. Meeting Review: Airborne Aerosol Inlet Workshop

    NASA Technical Reports Server (NTRS)

    Baumgardner, Darrel; Huebert, Barry; Wilson, Chuck

    1991-01-01

    Proceedings from the Airborne Aerosol Inlet Workshop are presented. The two central topics of discussion were the role of aerosols in atmospheric processes and the difficulties in characterizing aerosols. The following topics were discussed during the working sessions: airborne observations to date; identification of inlet design issues; inlet modeling needs and directions; objectives for aircraft experiments; and future laboratory and wind tunnel studies.

  7. Avoidant/Restrictive Food Intake Disorder

    MedlinePlus

    ... Professional Version Eating Disorders Definition of Eating Disorders Anorexia Nervosa Avoidant/Restrictive Food Intake Disorder Binge Eating ... they eat. Eating Disorders Definition of Eating Disorders Anorexia Nervosa Avoidant/Restrictive Food Intake Disorder Binge Eating ...

  8. Are You a Seeker or an Avoider?

    ERIC Educational Resources Information Center

    Berman, Mark L.

    2002-01-01

    Some workers may consistently try to avoid failure, responsibility, and negative feedback. Trainers can help by assessing organizational circumstances; assist avoiders in developing knowledge, skills, and positive attitudes; and locate employee assistance programs or counseling if needed. (JOW)

  9. A discretization of Boltzmann's collision operator with provable convergence

    NASA Astrophysics Data System (ADS)

    Brechtken, Stefan

    2014-12-01

    The discretization of the right-hand side of the Boltzmann equation (aka the collision operator) on uniform grids generally suffers from some well known problems prohibiting the construction of deterministic high order discretizations which exactly sustain the basic properties of the collision operator. These problems mainly relate to problems arising from the discretization of spheres on uniform grids and the necessity that the discretization must possess some symmetry properties in order to provide the discrete versions of properties stemming from the continuous collision operator (number of collision invariants, avoidance of artificial collision invariants, type of equilibrium solutions, H-Theorem). We present a scheme to construct discretizations in 2 dimensions with arbitrarily high convergence orders on uniform grids, which are comparable to the approach by Rogier and Schneider [1] and the subsequent works by Michel and Schneider as well as Panferov and Heintz [2, 3] who used Farey sequences for the discretization. Moreover we take a closer look at this discretization in the framework of discrete velocity models to present results governing the correct collision invariants, lack of artificial collision invariants, the H-Theorem and the correct equilibrium solutions. Furthermore we classify lattice group models (LGpM) in the context of DVMs to transfer the high convergence order of these discretizations into the context of LGpMs and finally we take a short look at the numerical complexity.

  10. A theoretical model for airborne radars

    NASA Astrophysics Data System (ADS)

    Faubert, D.

    1989-11-01

    This work describes a general theory for the simulation of airborne (or spaceborne) radars. It can simulate many types of systems including Airborne Intercept and Airborne Early Warning radars, airborne missile approach warning systems etc. It computes the average Signal-to-Noise ratio at the output of the signal processor. In this manner, one obtains the average performance of the radar without having to use Monte Carlo techniques. The model has provision for a waveform without frequency modulation and one with linear frequency modulation. The waveform may also have frequency hopping for Electronic Counter Measures or for clutter suppression. The model can accommodate any type of encounter including air-to-air, air-to-ground (look-down) and rear attacks. It can simulate systems with multiple phase centers on receive for studying advanced clutter or jamming interference suppression techniques. An Airborne Intercept radar is investigated to demonstrate the validity and the capability of the model.

  11. Recommended Screening Practices for Launch Collision Aviodance

    NASA Technical Reports Server (NTRS)

    Beaver, Brian A.; Hametz, Mark E.; Ollivierre, Jarmaine C.; Newman, Lauri K.; Hejduk, Matthew D.

    2015-01-01

    The objective of this document is to assess the value of launch collision avoidance (COLA) practices and provide recommendations regarding its implementation for NASA robotic missions. The scope of this effort is limited to launch COLA screens against catalog objects that are either spacecraft or debris. No modifications to manned safety COLA practices are considered in this effort. An assessment of the value of launch COLA can be broken down into two fundamental questions: 1) Does collision during launch represent a significant risk to either the payload being launched or the space environment? 2) Can launch collision mitigation be performed in a manner that provides meaningful risk reduction at an acceptable level of operational impact? While it has been possible to piece together partial answers to these questions for some time, the first attempt to comprehensively address them is documented in reference (a), Launch COLA Operations: an Examination of Data Products, Procedures, and Thresholds, Revision A. This report is the product of an extensive study that addressed fundamental technical questions surrounding launch collision avoidance analysis and practice. The results provided in reference (a) will be cited throughout this document as these two questions are addressed. The premise of this assessment is that in order to conclude that launch COLA is a value-added activity, the answer to both of these questions must be affirmative. A "no" answer to either of these questions points toward the conclusion that launch COLA provides little or no risk mitigation benefit. The remainder of this assessment will focus on addressing these two questions.

  12. Geophex Airborne Unmanned Survey System

    SciTech Connect

    Won, I.L.; Keiswetter, D.

    1995-12-31

    Ground-based surveys place personnel at risk due to the proximity of buried unexploded ordnance (UXO) items or by exposure to radioactive materials and hazardous chemicals. The purpose of this effort is to design, construct, and evaluate a portable, remotely-piloted, airborne, geophysical survey system. This non-intrusive system will provide stand-off capability to conduct surveys and detect buried objects, structures, and conditions of interest at hazardous locations. During a survey, the operators remain remote from, but within visual distance of, the site. The sensor system never contacts the Earth, but can be positioned near the ground so that weak geophysical anomalies can be detected. The Geophex Airborne Unmanned Survey System (GAUSS) is designed to detect and locate small-scale anomalies at hazardous sites using magnetic and electromagnetic survey techniques. The system consists of a remotely-piloted, radio-controlled, model helicopter (RCH) with flight computer, light-weight geophysical sensors, an electronic positioning system, a data telemetry system, and a computer base-station. The report describes GAUSS and its test results.

  13. Termites eavesdrop to avoid competitors

    PubMed Central

    Evans, Theodore A.; Inta, Ra; Lai, Joseph C. S.; Prueger, Stefan; Foo, Nyuk Wei; Fu, Eugene Wei'en; Lenz, Michael

    2009-01-01

    Competition exclusion, when a single species dominates resources due to superior competitiveness, is seldom observed in nature. Termites compete for resources with deadly consequences, yet more than one species can be found feeding in the same wooden resource. This is especially surprising when drywood species, with colonies of a few hundred, are found cohabiting with subterranean species, with colonies of millions. Termites communicate vibro-acoustically and, as these signals can travel over long distances, they are vulnerable to eavesdropping. We investigated whether drywood termites could eavesdrop on vibration cues from subterranean species. We show, using choice experiments and recordings, that the drywood termite Cryptotermes secundus can distinguish its own species from the dominant competitor in the environment, the subterranean termite Coptotermes acinaciformis. The drywood termite was attracted to its own vibration cues, but was repelled by those of the subterranean species. This response increased with decreasing wood size, corresponding with both increased risk and strength of the cue. The drywood termites appear to avoid confrontation by eavesdropping on the subterranean termites; these results provide further evidence that vibro-acoustic cues are important for termite sensory perception and communication. PMID:19710058

  14. FVIII inhibitors: pathogenesis and avoidance

    PubMed Central

    2015-01-01

    The pathogenesis of inhibitory antibodies has been the focus of major scientific interest over the last decades, and several studies on underlying immune mechanisms and risk factors for formation of these antibodies have been performed with the aim of improving the ability to both predict and prevent their appearance. It seems clear that the decisive factors for the immune response to the deficient factor are multiple and involve components of both a constitutional and therapy-related nature. A scientific concern and obstacle for research in the area of hemophilia is the relatively small cohorts available for studies and the resulting risk of confounded and biased results. Careful interpretation of data is recommended to avoid treatment decisions based on a weak scientific platform. This review will summarize current concepts of the underlying immunological mechanisms and risk factors for development of inhibitory antibodies in patients with hemophilia A and discuss how these findings may be interpreted and influence our clinical management of patients. PMID:25712994

  15. Newton's Strange Collisions.

    ERIC Educational Resources Information Center

    Erlichson, Herman

    1995-01-01

    Discusses Newton's apparent oversight of the role of energy considerations in collisions between two spherical bodies related to the third corollary of his "Laws of Motion." Investigates several theories that provide solutions to the mysterious oversight. (LZ)

  16. Time rate collision matrix

    SciTech Connect

    Stoenescu, M.L.; Smith, T.M.

    1980-02-01

    The collision integral terms in Boltzmann equation are reformulated numerically leading to the substitution of the multiple integrals with a multiplicative matrix of the two colliding species velocity distribution functions which varies with the differential collision cross section. A matrix of lower rank may be constructed when one of the distribution functions is specified, in which case the matrix elements represent kinetic transition probabilities in the velocity space and the multiplication of the time rate collision matrix with the unknown velocity distribution function expresses the time rate of change of the distribution. The collision matrix may be used to describe the time evolution of systems in nonequilibrium conditions, to evaluate the rate of momentum and energy transfer between given species, or to generate validity criteria for linearized kinetic equations.

  17. Generation of airborne Listeria innocua from model floor drains.

    PubMed

    Berrang, Mark E; Frank, Joseph F

    2012-07-01

    Listeria monocytogenes can colonize floor drains in poultry processing and further processing facilities, remaining present even after cleaning and disinfection. Therefore, during wash down, workers exercise caution to avoid spraying hoses directly into drains in an effort to prevent the escape and transfer of drain microflora to food contact surfaces. The objective of this study was to examine the extent to which an inadvertent water spray into a colonized floor drain can cause the spread of airborne Listeria. Listeria innocua was used to inoculate a polyvinyl chloride model floor drain, resulting in approximately 10(8) cells per ml of phosphate-buffered saline and 10(4) attached cells per square centimeter of inner surface. Each model drain was subjected to a 2-s spray of tap water at 68.9 kPa from a distance of 1 m. Drains were sprayed while filled and again after emptying. Airborne cells were collected by using sedimentation plates containing Listeria selective agar which were placed on the floor and walls of a contained room at incremental horizontal and vertical distances of 0.6, 1.2, 2.4, or 4.0 m from the drain. Sedimentation plates were exposed for 10 min. A mechanical sampler was used to also collect air by impaction on the surface of Listeria selective agar to determine the number of cells per liter of air. The experiment was conducted in triplicate rooms for each of four replications. L. innocua was detected on sedimentation plates on the floor as far as 4.0 m from the drain and on walls as high as 2.4 m above the floor and 4 m from the drain. A 2-s spray with a water hose into a contaminated drain can cause airborne spread of Listeria, resulting in the potential for cross-contamination of food contact surfaces, equipment, and exposed product. PMID:22980019

  18. Total Probability of Collision as a Metric for Finite Conjunction Assessment and Collision Risk Management

    NASA Astrophysics Data System (ADS)

    Frigm, R.; Johnson, L.

    The Probability of Collision (Pc) has become a universal metric and statement of on-orbit collision risk. Although several flavors of the computation exist and are well-documented in the literature, the basic calculation requires the same input: estimates for the position, position uncertainty, and sizes of the two objects involved. The Pc is used operationally to make decisions on whether a given conjunction poses significant collision risk to the primary object (or space asset of concern). It is also used to determine necessity and degree of mitigative action (typically in the form of an orbital maneuver) to be performed. The predicted post-maneuver Pc also informs the maneuver planning process into regarding the timing, direction, and magnitude of the maneuver needed to mitigate the collision risk. Although the data sources, techniques, decision calculus, and workflows vary for different agencies and organizations, they all have a common thread. The standard conjunction assessment and collision risk concept of operations (CONOPS) predicts conjunctions, assesses the collision risk (typically, via the Pc), and plans and executes avoidance activities for conjunctions as a discrete events. As the space debris environment continues to increase and improvements are made to remote sensing capabilities and sensitivities to detect, track, and predict smaller debris objects, the number of conjunctions will in turn continue to increase. The expected order-of-magnitude increase in the number of predicted conjunctions will challenge the paradigm of treating each conjunction as a discrete event. The challenge will not be limited to workload issues, such as manpower and computing performance, but also the ability for satellite owner/operators to successfully execute their mission while also managing on-orbit collision risk. Executing a propulsive maneuver occasionally can easily be absorbed into the mission planning and operations tempo; whereas, continuously planning evasive

  19. Photon-photon collisions

    SciTech Connect

    Burke, D.L.

    1982-10-01

    Studies of photon-photon collisions are reviewed with particular emphasis on new results reported to this conference. These include results on light meson spectroscopy and deep inelastic e..gamma.. scattering. Considerable work has now been accumulated on resonance production by ..gamma gamma.. collisions. Preliminary high statistics studies of the photon structure function F/sub 2//sup ..gamma../(x,Q/sup 2/) are given and comments are made on the problems that remain to be solved.

  20. Preheating in bubble collisions

    SciTech Connect

    Zhang Jun; Piao Yunsong

    2010-08-15

    In a landscape with metastable minima, the bubbles will inevitably nucleate. We show that when the bubbles collide, due to the dramatic oscillation of the field at the collision region, the energy deposited in the bubble walls can be efficiently released by the explosive production of the particles. In this sense, the collision of bubbles is actually highly inelastic. The cosmological implications of this result are discussed.

  1. Radar system on a large autonomous vehicle for personnel avoidance

    NASA Astrophysics Data System (ADS)

    Silvious, Jerry; Wellman, Ron; Tahmoush, Dave; Clark, John

    2010-04-01

    The US Army Research Laboratory designed, developed and tested a novel switched beam radar system operating at 76 GHz for use in a large autonomous vehicle to detect and identify roadway obstructions including slowly-moving personnel. This paper discusses the performance requirements for the system to operate in an early collision avoidance mode to a range of 150 meters and at speeds of over 20 m/s. We report the measured capabilities of the system to operate in these modes under various conditions, such as rural and urban environments, and on various terrains, such as asphalt and grass. Finally, we discuss the range-Doppler map processing capabilities that were developed to correct for platform motion and identify roadway vehicles and personnel moving at 1 m/s or more along the path of the system.

  2. Avoidance of aluminum by rainbow trout

    SciTech Connect

    Exley, C.

    2000-04-01

    Aluminum is the principal toxicant in fish in acid waters. The ability to avoid Al, particularly at low concentrations, would confer a considerable ecological advantage, but previous research into avoidance of Al has produced mixed results. The author used a cylindrical perspex tank, 150 cm in length, to study avoidance of Al by rainbow trout fry. The fish avoided Al, and their response was dependent on pH. Avoidance that was demonstrated at pHs of 5.00, 5.50, 5.50, and 5.75 was abolished at a pH of 6.00. Fry avoided very low Al concentrations being sensitive to [Al] > 1.00 {micro}mol L{sup {minus}1} at a pH of 5.00. This unequivocal demonstration of avoidance by rainbow trout fry of Al may have important implications for the ecology of indigenous fish populations in surface waters impacted by acidic deposition.

  3. A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation

    PubMed Central

    Torres, Luis G.; Kuntz, Alan; Gilbert, Hunter B.; Swaney, Philip J.; Hendrick, Richard J.; Webster, Robert J.; Alterovitz, Ron

    2015-01-01

    Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot’s shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot’s tip. However, the robot’s unintuitive kinematics makes it difficult for a human user to manually ensure obstacle avoidance along the entire tentacle-like shape of the robot’s shaft. We present a motion planning approach for concentric tube robot teleoperation that enables the robot to interactively maneuver its tip to points selected by a user while automatically avoiding obstacles along its shaft. We achieve automatic collision avoidance by precomputing a roadmap of collision-free robot configurations based on a description of the anatomical obstacles, which are attainable via volumetric medical imaging. We also mitigate the effects of kinematic modeling error in reaching the goal positions by adjusting motions based on robot tip position sensing. We evaluate our motion planner on a teleoperated concentric tube robot and demonstrate its obstacle avoidance and accuracy in environments with tubular obstacles. PMID:26413381

  4. Automatic Searching Radioactive Sources by Airborne Radioactive Survey Using Multicopter

    NASA Astrophysics Data System (ADS)

    Rim, H.; Eun, S. B.; Kim, K.; Park, S.; Jung, H. K.

    2015-12-01

    In order to prepare emergency situation lost a dangerous radioelement source in advance and to search a radioactive source automatically, we develop airborne radioelement survey system by multicopter. This multicopter radioelement survey system consists of a small portable customized BGO (Bismuth Germanate Oxide) detector, video recording part, wireless connecting part to ground pilot, GPS, and several equipments for automatic flight. This system is possible to search flight by preprogramed lines. This radioactive detecting system are tested to find intentional hidden source, The performance of detecting a source is well proved with very low flight altitude in spite of depending on the magnitude of radioelement sources. The advantage of multicopter system, one of UAV (Unmanned Aerial Vehicle), is to avoid the potential of close access to a dangerous radioactive source by using fully automatic searching capability. In this paper, we introduce our multicopter system for detecting radioactive source and synthetic case history for demonstrating this system.

  5. Theoretical detection ranges for acoustic based manatee avoidance technology.

    PubMed

    Phillips, Richard; Niezrecki, Christopher; Beusse, Diedrich O

    2006-07-01

    The West Indian manatee (Trichechus manatus latirostris) has become endangered partly because of watercraft collisions in Florida's coastal waterways. To reduce the number of collisions, warning systems based upon detecting manatee vocalizations have been proposed. One aspect of the feasibility of an acoustically based warning system relies upon the distance at which a manatee vocalization is detectable. Assuming a mixed spreading model, this paper presents a theoretical analysis of the system detection capabilities operating within various background and watercraft noise conditions. This study combines measured source levels of manatee vocalizations with the modeled acoustic properties of manatee habitats to develop a method for determining the detection range and hydrophone spacing requirements for acoustic based manatee avoidance technologies. In quiet environments (background noise approximately 70 dB) it was estimated that manatee vocalizations are detectable at approximately 250 m, with a 6 dB detection threshold, In louder environments (background noise approximately 100dB) the detection range drops to 2.5 m. In a habitat with 90 dB of background noise, a passing boat with a maximum noise floor of 120 dB would be the limiting factor when it is within approximately 100 m of a hydrophone. The detection range was also found to be strongly dependent on the manatee vocalization source level. PMID:16875213

  6. Modis-N airborne simulator

    NASA Technical Reports Server (NTRS)

    Cech, Steven D.

    1992-01-01

    All required work associated with the above referenced contract has been successfully completed at this time. The Modis-N Airborne Simulator has been developed from existing AB184 Wildfire spectrometer parts as well as new detector arrays, optical components, and associated mechanical and electrical hardware. The various instrument components have been integrated into an operational system which has undergone extensive laboratory calibration and testing. The instrument has been delivered to NASA Ames where it will be installed on the NASA ER-2. The following paragraphs detail the specific tasks performed during the contract effort, the results obtained during the integration and testing of the instrument, and the conclusions which can be drawn from this effort.

  7. Airborne imaging spectrometer development tasks

    NASA Astrophysics Data System (ADS)

    Bolten, John

    The tasks that must be completed to design and build an airborne imaging spectrometer are listed. The manpower and resources required to do these tasks must be estimated by the people responsible for that work. The tasks are broken down by instrument subsystem or discipline. The instrument performance can be assessed at various stages during the development. The initial assessment should be done with the preliminary computer model. The instrument calibration facilities should be designed, but no calibration facilities are needed. The intermediate assessment can be done when the front end has been assembled. The preliminary instrument calibration facility should be available at this stage. The final assessment can only be done when the instrument is complete and ready for flight. For this, the final instrument calibration facility and the flight qualification facilities must be ready. The final assessment is discussed in each discipline under the section on integration and test.

  8. Research on MLS airborne antenna

    NASA Technical Reports Server (NTRS)

    Yu, C. L.; Burnside, W. D.

    1976-01-01

    Numerical solutions for the radiation patterns of antennas mounted on aircraft are developed. The airborne antenna problems associated with the Microwave Landing System (MLS) are emphasized. Based on the requirements of the MLS, volumetric pattern solutions are essential. Previous attempts at solving for the volumetric patterns were found to be far too complex and very inefficient. However as a result of previous efforts, it is possible to combine the elevation and roll plane pattern solutions to give the complete volumetric pattern. This combination is described as well as the aircraft simulation models used in the analysis. A numerical technique is presented to aid in the simulation of the aircraft studied. Finally, a description of the input data used in the computer code is given.

  9. Global deposition of airborne dioxin.

    PubMed

    Booth, Shawn; Hui, Joe; Alojado, Zoraida; Lam, Vicky; Cheung, William; Zeller, Dirk; Steyn, Douw; Pauly, Daniel

    2013-10-15

    We present a global dioxin model that simulates one year of atmospheric emissions, transport processes, and depositions to the earth's terrestrial and marine habitats. We map starting emission levels for each land area, and we also map the resulting deposits to terrestrial and marine environments. This model confirms that 'hot spots' of deposition are likely to be in northern Europe, eastern North America, and in parts of Asia with the highest marine dioxin depositions being the northeast and northwest Atlantic, western Pacific, northern Indian Ocean and the Mediterranean. It also reveals that approximately 40% of airborne dioxin emissions are deposited to marine environments and that many countries in Africa receive more dioxin than they produce, which results in these countries being disproportionately impacted. Since human exposure to dioxin is largely through diet, this work highlights food producing areas that receive higher atmospheric deposits of dioxin than others. PMID:23962732

  10. Airborne remote sensing of forest biomes

    NASA Technical Reports Server (NTRS)

    Sader, Steven A.

    1987-01-01

    Airborne sensor data of forest biomes obtained using an SAR, a laser profiler, an IR MSS, and a TM simulator are presented and examined. The SAR was utilized to investigate forest canopy structures in Mississippi and Costa Rica; the IR MSS measured forest canopy temperatures in Oregon and Puerto Rico; the TM simulator was employed in a tropical forest in Puerto Rico; and the laser profiler studied forest canopy characteristics in Costa Rica. The advantages and disadvantages of airborne systems are discussed. It is noted that the airborne sensors provide measurements applicable to forest monitoring programs.

  11. Ion Collision, Theory

    SciTech Connect

    Shukla, Anil K.

    2013-09-11

    The outcome of a collision between an ion and neutral species depends on the chemical and physical properties of the two reactants, their relative velocities, and the impact parameter of their trajectories. These include elastic and inelastic scattering of the colliding particles, charge transfer (including dissociative charge transfer), atom abstraction, complex formation and dissociation of the colliding ion. Each of these reactions may be characterized in terms of their energy-dependent rate coefficients, cross sections and reaction kinetics. A theoretical framework that emphasizes simple models and classical mechanics is presented for these processes. Collision processes are addressed in two categories of low-energy and high-energy collisions. Experiments under thermal or quasi-thermal conditions–swarms, drift tubes, chemical ionization and ion cyclotron resonance are strongly influenced by long-range forces and often involve collisions in which atom exchange and extensive energy exchange are common characteristics. High-energy collisions are typically impulsive, involve short-range intermolecular forces and are direct, fast processes.

  12. Generalization of socially transmitted and instructed avoidance

    PubMed Central

    Cameron, Gemma; Schlund, Michael W.; Dymond, Simon

    2015-01-01

    Excessive avoidance behavior, in which an instrumental action prevents an upcoming aversive event, is a defining feature of anxiety disorders. Left unchecked, both fear and avoidance of potentially threatening stimuli may generalize to perceptually related stimuli and situations. The behavioral consequences of generalization mean that aversive learning experiences with specific threats may lead to the inference that classes of related stimuli are threatening, potentially dangerous, and need to be avoided, despite differences in physical form. Little is known however about avoidance generalization in humans and the learning pathways by which it may be transmitted. In the present study, we compared two pathways to avoidance—instructions and social observation—on subsequent generalization of avoidance behavior, fear expectancy and physiological arousal. Participants first learned that one cue was a danger cue (conditioned stimulus, CS+) and another was a safety cue (CS−). Groups were then either instructed that a simple avoidance response in the presence of the CS+ cancelled upcoming shock (instructed-learning group) or observed a short movie showing a demonstrator performing the avoidance response to prevent shock (observational-learning group). During generalization testing, danger and safety cues were presented along with generalization stimuli that parametrically varied in perceptual similarity to the CS+. Reinstatement of fear and avoidance was also tested. Findings demonstrate, for the first time, generalization of socially transmitted and instructed avoidance: both groups showed comparable generalization gradients in fear expectancy, avoidance behavior and arousal. Return of fear was evident, suggesting that generalized avoidance remains persistent following extinction testing. The utility of the present paradigm for research on avoidance generalization is discussed. PMID:26150773

  13. Airborne Gamma-Spectrometry in Switzerland

    SciTech Connect

    Butterweck, Gernot; Bucher, Benno; Rybach, Ladislaus

    2008-08-07

    Airborne gamma-spectrometry is able to obtain fast radiological information over large areas. The airborne gamma-spectrometry unit deployed in Switzerland by the Swiss National Emergency Operations Centre (NEOC) consists of a Swiss army Super Puma helicopter equipped with four NaI-Detectors with a total volume of 17 liters, associated electronics and a real-time data evaluation and mapping unit developed by the Swiss Federal Institute of Technology (ETH) and the Paul Scherrer Institut (PSI). The operational readiness of the airborne gamma-spectrometry system is validated in annual exercises of one week duration. Data from 2005 and 2006 exercises are represented in maps of {sup 137}Cs activity concentration for two towns located in southern and western Switzerland. An indicator of man-made radioactivity (MMGC ratio) is demonstrated for an area with four different types of nuclear installations. The intercomparison between airborne gamma-spectrometry and ground measurements showed good agreement between both methods.

  14. Principles for Sampling Airborne Radioactivity from Stacks

    SciTech Connect

    Glissmeyer, John A.

    2010-10-18

    This book chapter describes the special processes involved in sampling the airborne effluents from nuclear faciities. The title of the book is Radioactive Air Sampling Methods. The abstract for this chapter was cleared as PNNL-SA-45941.

  15. SOURCES OF HUMAN EXPOSURE TO AIRBORNE PAH

    EPA Science Inventory

    Personal exposures to airborne particulate polycyclic aromatic hydrocarbons (PAHs) were studied in several populations in the US, Japan, and Czech Republic. Personal exposure monitors, developed for human exposure biomonitoring studies were used to collect fine particles (<_ 1....

  16. A bioinspired collision detection algorithm for VLSI implementation

    NASA Astrophysics Data System (ADS)

    Cuadri, J.; Linan, G.; Stafford, R.; Keil, M. S.; Roca, E.

    2005-06-01

    In this paper a bioinspired algorithm for collision detection is proposed, based on previous models of the locust (Locusta migratoria) visual system reported by F.C. Rind and her group, in the University of Newcastle-upon-Tyne. The algorithm is suitable for VLSI implementation in standard CMOS technologies as a system-on-chip for automotive applications. The working principle of the algorithm is to process a video stream that represents the current scenario, and to fire an alarm whenever an object approaches on a collision course. Moreover, it establishes a scale of warning states, from no danger to collision alarm, depending on the activity detected in the current scenario. In the worst case, the minimum time before collision at which the model fires the collision alarm is 40 msec (1 frame before, at 25 frames per second). Since the average time to successfully fire an airbag system is 2 msec, even in the worst case, this algorithm would be very helpful to more efficiently arm the airbag system, or even take some kind of collision avoidance countermeasures. Furthermore, two additional modules have been included: a "Topological Feature Estimator" and an "Attention Focusing Algorithm". The former takes into account the shape of the approaching object to decide whether it is a person, a road line or a car. This helps to take more adequate countermeasures and to filter false alarms. The latter centres the processing power into the most active zones of the input frame, thus saving memory and processing time resources.

  17. Mapping of airborne Doppler radar data

    SciTech Connect

    Lee, W.; Dodge, P.; Marks, F.D. Jr.; Hildebrand, P.H. NOAA, Miami, FL )

    1994-04-01

    Two sets of equations are derived to (1) map airborne Doppler radar data from an aircraft-relative coordinate system to an earth-relative coordinate system, and (2) remove the platform motion from the observed Doppler velocities. These equations can be applied to data collected by the National Oceanic and Atmospheric Administration WP-3D system, the National Center for Atmospheric Research Electra Doppler Radar (ELDORA) system, and other airborne radar systems.

  18. Collision of cosmic superstrings

    SciTech Connect

    Copeland, E. J.; Firouzjahi, H.; Kibble, T. W. B.; Steer, D. A.

    2008-03-15

    We study the formation of three-string junctions between (p,q)-cosmic superstrings, and collisions between such strings and show that kinematic constraints analogous to those found previously for collisions of Nambu-Goto strings apply here too, with suitable modifications to take account of the additional requirements of flux conservation. We examine in detail several examples involving collisions between strings with low values of p and q, and also examine the rates of growth or shrinkage of strings at a junction. Finally, we briefly discuss the formation of junctions for strings in a warped space, specifically with a Klebanov-Strassler throat, and show that similar constraints still apply with changes to the parameters taking account of the warping and the background flux.

  19. Microscope collision protection apparatus

    DOEpatents

    DeNure, Charles R.

    2001-10-23

    A microscope collision protection apparatus for a remote control microscope which protects the optical and associated components from damage in the event of an uncontrolled collision with a specimen, regardless of the specimen size or shape. In a preferred embodiment, the apparatus includes a counterbalanced slide for mounting the microscope's optical components. This slide replaces the rigid mounts on conventional upright microscopes with a precision ball bearing slide. As the specimen contacts an optical component, the contacting force will move the slide and the optical components mounted thereon. This movement will protect the optical and associated components from damage as the movement causes a limit switch to be actuated, thereby stopping all motors responsible for the collision.

  20. Challenges and opportunities of airborne metagenomics.

    PubMed

    Behzad, Hayedeh; Gojobori, Takashi; Mineta, Katsuhiko

    2015-05-01

    Recent metagenomic studies of environments, such as marine and soil, have significantly enhanced our understanding of the diverse microbial communities living in these habitats and their essential roles in sustaining vast ecosystems. The increase in the number of publications related to soil and marine metagenomics is in sharp contrast to those of air, yet airborne microbes are thought to have significant impacts on many aspects of our lives from their potential roles in atmospheric events such as cloud formation, precipitation, and atmospheric chemistry to their major impact on human health. In this review, we will discuss the current progress in airborne metagenomics, with a special focus on exploring the challenges and opportunities of undertaking such studies. The main challenges of conducting metagenomic studies of airborne microbes are as follows: 1) Low density of microorganisms in the air, 2) efficient retrieval of microorganisms from the air, 3) variability in airborne microbial community composition, 4) the lack of standardized protocols and methodologies, and 5) DNA sequencing and bioinformatics-related challenges. Overcoming these challenges could provide the groundwork for comprehensive analysis of airborne microbes and their potential impact on the atmosphere, global climate, and our health. Metagenomic studies offer a unique opportunity to examine viral and bacterial diversity in the air and monitor their spread locally or across the globe, including threats from pathogenic microorganisms. Airborne metagenomic studies could also lead to discoveries of novel genes and metabolic pathways relevant to meteorological and industrial applications, environmental bioremediation, and biogeochemical cycles. PMID:25953766

  1. Challenges and Opportunities of Airborne Metagenomics

    PubMed Central

    Behzad, Hayedeh; Gojobori, Takashi; Mineta, Katsuhiko

    2015-01-01

    Recent metagenomic studies of environments, such as marine and soil, have significantly enhanced our understanding of the diverse microbial communities living in these habitats and their essential roles in sustaining vast ecosystems. The increase in the number of publications related to soil and marine metagenomics is in sharp contrast to those of air, yet airborne microbes are thought to have significant impacts on many aspects of our lives from their potential roles in atmospheric events such as cloud formation, precipitation, and atmospheric chemistry to their major impact on human health. In this review, we will discuss the current progress in airborne metagenomics, with a special focus on exploring the challenges and opportunities of undertaking such studies. The main challenges of conducting metagenomic studies of airborne microbes are as follows: 1) Low density of microorganisms in the air, 2) efficient retrieval of microorganisms from the air, 3) variability in airborne microbial community composition, 4) the lack of standardized protocols and methodologies, and 5) DNA sequencing and bioinformatics-related challenges. Overcoming these challenges could provide the groundwork for comprehensive analysis of airborne microbes and their potential impact on the atmosphere, global climate, and our health. Metagenomic studies offer a unique opportunity to examine viral and bacterial diversity in the air and monitor their spread locally or across the globe, including threats from pathogenic microorganisms. Airborne metagenomic studies could also lead to discoveries of novel genes and metabolic pathways relevant to meteorological and industrial applications, environmental bioremediation, and biogeochemical cycles. PMID:25953766

  2. A Demonstration of Approach and Avoidance Conflicts

    ERIC Educational Resources Information Center

    Terry, W. Scott

    2010-01-01

    Choosing between 2 unpleasant alternatives (Would you rather be less intelligent or less attractive?) is more difficult than choosing between two desirable options (Would you rather be more intelligent or more attractive?). Here I describe a classroom demonstration of avoidance-avoidance conflicts. Students make a series of approach-approach and…

  3. How Do Speakers Avoid Ambiguous Linguistic Expressions?

    ERIC Educational Resources Information Center

    Ferreira, V.S.; Slevc, L.R.; Rogers, E.S.

    2005-01-01

    Three experiments assessed how speakers avoid linguistically and nonlinguistically ambiguous expressions. Speakers described target objects (a flying mammal, bat) in contexts including foil objects that caused linguistic (a baseball bat) and nonlinguistic (a larger flying mammal) ambiguity. Speakers sometimes avoided linguistic-ambiguity, and they…

  4. Strategic Family Therapy of Avoidant Behavior.

    ERIC Educational Resources Information Center

    Burgess, Thomas A.; Hinkle, J. Scott

    1993-01-01

    Notes that Millon's biopsychosocial model asserts that socioenvironmental factors of parental or peer rejection may shape development of avoidant behavior but does not elaborate on how family system may perpetuate its existence once disorder has evolved. Presents brief overview of avoidant behavior and strategic family therapy case study.…

  5. Pulsed Doppler lidar airborne scanner

    NASA Technical Reports Server (NTRS)

    Dimarzio, C. A.; Mcvicker, D. B.; Morrow, C. E.; Negus, C. C.

    1985-01-01

    This report covers the work accomplished during the reporting period on Pulsed Doppler Lidar Airborne Scanner and describes plans for the next reporting period. The objectives during the current phase of the contract are divided into four phases. Phase 1 includes ground testing of the system and analysis of data from the 1981 Severe Storms Test Flights. Phase 2 consists of preflight preparation and planning for the 1983 flight series. The flight test itself will be performed during Phase 3, and Phase 4 consists of post-flight analysis and operation of the system after that flight test. The range profile from five samples taken during Flight 10, around 1700 Z is given. The lowest curve is taken from data collected upwind of Mt. Shasta at about 10,000 feet of altitude, in a clear atmosphere, where no signals were observed. It thus is a good representation of the noise level as a function of range. The next curve was taken downwind of the mountain, and shows evidence of atmospheric returns. There is some question as to whether the data are valid at all ranges, or some ranges are contaminated by the others.

  6. Pulsed Doppler lidar airborne scanner

    NASA Astrophysics Data System (ADS)

    Dimarzio, C. A.; McVicker, D. B.; Morrow, C. E.; Negus, C. C.

    1985-10-01

    This report covers the work accomplished during the reporting period on Pulsed Doppler Lidar Airborne Scanner and describes plans for the next reporting period. The objectives during the current phase of the contract are divided into four phases. Phase 1 includes ground testing of the system and analysis of data from the 1981 Severe Storms Test Flights. Phase 2 consists of preflight preparation and planning for the 1983 flight series. The flight test itself will be performed during Phase 3, and Phase 4 consists of post-flight analysis and operation of the system after that flight test. The range profile from five samples taken during Flight 10, around 1700 Z is given. The lowest curve is taken from data collected upwind of Mt. Shasta at about 10,000 feet of altitude, in a clear atmosphere, where no signals were observed. It thus is a good representation of the noise level as a function of range. The next curve was taken downwind of the mountain, and shows evidence of atmospheric returns. There is some question as to whether the data are valid at all ranges, or some ranges are contaminated by the others.

  7. Performance Basis for Airborne Separation

    NASA Technical Reports Server (NTRS)

    Wing, David J.

    2008-01-01

    Emerging applications of Airborne Separation Assistance System (ASAS) technologies make possible new and powerful methods in Air Traffic Management (ATM) that may significantly improve the system-level performance of operations in the future ATM system. These applications typically involve the aircraft managing certain components of its Four Dimensional (4D) trajectory within the degrees of freedom defined by a set of operational constraints negotiated with the Air Navigation Service Provider. It is hypothesized that reliable individual performance by many aircraft will translate into higher total system-level performance. To actually realize this improvement, the new capabilities must be attracted to high demand and complexity regions where high ATM performance is critical. Operational approval for use in such environments will require participating aircraft to be certified to rigorous and appropriate performance standards. Currently, no formal basis exists for defining these standards. This paper provides a context for defining the performance basis for 4D-ASAS operations. The trajectory constraints to be met by the aircraft are defined, categorized, and assessed for performance requirements. A proposed extension of the existing Required Navigation Performance (RNP) construct into a dynamic standard (Dynamic RNP) is outlined. Sample data is presented from an ongoing high-fidelity batch simulation series that is characterizing the performance of an advanced 4D-ASAS application. Data of this type will contribute to the evaluation and validation of the proposed performance basis.

  8. Medicinal smoke reduces airborne bacteria.

    PubMed

    Nautiyal, Chandra Shekhar; Chauhan, Puneet Singh; Nene, Yeshwant Laxman

    2007-12-01

    This study represents a comprehensive analysis and scientific validation of our ancient knowledge about the effect of ethnopharmacological aspects of natural products' smoke for therapy and health care on airborne bacterial composition and dynamics, using the Biolog microplate panels and Microlog database. We have observed that 1h treatment of medicinal smoke emanated by burning wood and a mixture of odoriferous and medicinal herbs (havan sámagri=material used in oblation to fire all over India), on aerial bacterial population caused over 94% reduction of bacterial counts by 60 min and the ability of the smoke to purify or disinfect the air and to make the environment cleaner was maintained up to 24h in the closed room. Absence of pathogenic bacteria Corynebacterium urealyticum, Curtobacterium flaccumfaciens, Enterobacter aerogenes (Klebsiella mobilis), Kocuria rosea, Pseudomonas syringae pv. persicae, Staphylococcus lentus, and Xanthomonas campestris pv. tardicrescens in the open room even after 30 days is indicative of the bactericidal potential of the medicinal smoke treatment. We have demonstrated that using medicinal smoke it is possible to completely eliminate diverse plant and human pathogenic bacteria of the air within confined space. PMID:17913417

  9. Visualizing Airborne and Satellite Imagery

    NASA Technical Reports Server (NTRS)

    Bierwirth, Victoria A.

    2011-01-01

    Remote sensing is a process able to provide information about Earth to better understand Earth's processes and assist in monitoring Earth's resources. The Cloud Absorption Radiometer (CAR) is one remote sensing instrument dedicated to the cause of collecting data on anthropogenic influences on Earth as well as assisting scientists in understanding land-surface and atmospheric interactions. Landsat is a satellite program dedicated to collecting repetitive coverage of the continental Earth surfaces in seven regions of the electromagnetic spectrum. Combining these two aircraft and satellite remote sensing instruments will provide a detailed and comprehensive data collection able to provide influential information and improve predictions of changes in the future. This project acquired, interpreted, and created composite images from satellite data acquired from Landsat 4-5 Thematic Mapper (TM) and Landsat 7 Enhanced Thematic Mapper plus (ETM+). Landsat images were processed for areas covered by CAR during the Arctic Research of the Composition of the Troposphere from Aircraft and Satellites (ARCT AS), Cloud and Land Surface Interaction Campaign (CLASIC), Intercontinental Chemical Transport Experiment-Phase B (INTEXB), and Southern African Regional Science Initiative (SAFARI) 2000 missions. The acquisition of Landsat data will provide supplemental information to assist in visualizing and interpreting airborne and satellite imagery.

  10. Microwave Temperature Profiler Mounted in a Standard Airborne Research Canister

    NASA Technical Reports Server (NTRS)

    Mahoney, Michael J.; Denning, Richard F.; Fox, Jack

    2009-01-01

    Many atmospheric research aircraft use a standard canister design to mount instruments, as this significantly facilitates their electrical and mechanical integration and thereby reduces cost. Based on more than 30 years of airborne science experience with the Microwave Temperature Profiler (MTP), the MTP has been repackaged with state-of-the-art electronics and other design improvements to fly in one of these standard canisters. All of the controlling electronics are integrated on a single 4 5-in. (.10 13- cm) multi-layer PCB (printed circuit board) with surface-mount hardware. Improved circuit design, including a self-calibrating RTD (resistive temperature detector) multiplexer, was implemented in order to reduce the size and mass of the electronics while providing increased capability. A new microcontroller-based temperature controller board was designed, providing better control with fewer components. Five such boards are used to provide local control of the temperature in various areas of the instrument, improving radiometric performance. The new stepper motor has an embedded controller eliminating the need for a separate controller board. The reference target is heated to avoid possible emissivity (and hence calibration) changes due to moisture contamination in humid environments, as well as avoiding issues with ambient targets during ascent and descent. The radiometer is a double-sideband heterodyne receiver tuned sequentially to individual oxygen emission lines near 60 GHz, with the line selection and intermediate frequency bandwidths chosen to accommodate the altitude range of the aircraft and mission.

  11. Risk-Based Causal Modeling of Airborne Loss of Separation

    NASA Technical Reports Server (NTRS)

    Geuther, Steven C.; Shih, Ann T.

    2015-01-01

    Maintaining safe separation between aircraft remains one of the key aviation challenges as the Next Generation Air Transportation System (NextGen) emerges. The goals of the NextGen are to increase capacity and reduce flight delays to meet the aviation demand growth through the 2025 time frame while maintaining safety and efficiency. The envisioned NextGen is expected to enable high air traffic density, diverse fleet operations in the airspace, and a decrease in separation distance. All of these factors contribute to the potential for Loss of Separation (LOS) between aircraft. LOS is a precursor to a potential mid-air collision (MAC). The NASA Airspace Operations and Safety Program (AOSP) is committed to developing aircraft separation assurance concepts and technologies to mitigate LOS instances, therefore, preventing MAC. This paper focuses on the analysis of causal and contributing factors of LOS accidents and incidents leading to MAC occurrences. Mid-air collisions among large commercial aircraft are rare in the past decade, therefore, the LOS instances in this study are for general aviation using visual flight rules in the years 2000-2010. The study includes the investigation of causal paths leading to LOS, and the development of the Airborne Loss of Separation Analysis Model (ALOSAM) using Bayesian Belief Networks (BBN) to capture the multi-dependent relations of causal factors. The ALOSAM is currently a qualitative model, although further development could lead to a quantitative model. ALOSAM could then be used to perform impact analysis of concepts and technologies in the AOSP portfolio on the reduction of LOS risk.

  12. Atomic collisions, inelastic indeed

    NASA Astrophysics Data System (ADS)

    Bercegol, Herve; Ferrando, Gwenael; Lehoucq, Roland

    At the turn of the twentieth century, a hot controversy raged about the ability of Boltzmann's framework to take care of irreversibility. The so-called Loschmidt's paradox progressively faded with time during the last hundred years, due to the predictive efficiency of statistical mechanics. However, one detail at the origin of the controversy - the elasticity of atomic collisions - was not completely challenged. A semi-classical treatment of two atoms interacting with the vacuum zero-point field permits to predict a friction force acting against the rotation of the pair of atoms. By its form and its level, the calculated torque is a candidate as a physical cause for diffusion of energy and angular momentum, and consequently for entropy growth. It opens the way to a revision of the standard vision of irreversibility. This presentation will focus on two points. First we will discuss the recent result in a broader context of electromagnetic interactions during microscopic collisions. The predicted friction phenomenon can be compared to and distinguished from Collision-Induced Emission and other types of inelastic collisions. Second we will investigate the consequences of the friction torque on calculated trajectories of colliding atoms, quantifying the generation of dimers linked by dispersion forces.

  13. Photon-photon collisions

    SciTech Connect

    Brodsky, S.J.

    1988-07-01

    Highlights of the VIIIth International Workshop on Photon-Photon Collisions are reviewed. New experimental and theoretical results were reported in virtually every area of ..gamma gamma.. physics, particularly in exotic resonance production and tests of quantum chromodynamics where asymptotic freedom and factorization theorems provide predictions for both inclusive and exclusive ..gamma gamma.. reactions at high momentum transfer. 73 refs., 12 figs.

  14. Neutrino-atom collisions

    NASA Astrophysics Data System (ADS)

    Kouzakov, Konstantin A.; Studenikin, Alexander I.

    2016-05-01

    Neutrino-atom scattering provides a sensitive tool for probing nonstandard interactions of massive neutrinos in laboratory measurements. The ionization channel of this collision process plays an important role in experiments searching for neutrino magnetic moments. We discuss some theoretical aspects of atomic ionization by massive neutrinos. We also outline possible manifestations of neutrino electromagnetic properties in coherent elastic neutrino-nucleus scattering.

  15. A Method of Avoiding Conflicts of Equipment Remote Services by Rights to Use and its Implementation

    NASA Astrophysics Data System (ADS)

    Kitagami, Shinji; Kamasaka, Hitoshi; Kaneko, Yosuke; Koizumi, Hisao

    Remote monitoring and control services, in which industrial equipments are connected directly to the internet, have come into widespread use in recent years. The increase of remote services causes the service conflict problem: concurrent operation of multiple services on equipment causes interference and collision among these services. We propose a method of avoiding conflicts on remote services. In this method, service conflicts are avoided using rights of use which is delivered by owner of equipments to each service providers. The rights of use include acceptable commands and exclusive conditions. Comparing the conventional method which needs to distribute access control lists to equipments and needs to update them, the proposed method is easy to introduce into remote monitoring and control services. In this paper, we evaluate the proposed method using the simulation system where three remote services access an air conditioner. The results show that proposed method can avoid service conflicts without any complicated operations and with low cost of device implementation.

  16. Design criteria and comparison between conventional and subaperture SAR processing in airborne systems

    NASA Astrophysics Data System (ADS)

    Prats, Pau; Bara, Marc; Broquetas, Antoni

    2002-02-01

    This paper compares two different approaches for designing airborne SAR systems. The first one is the most common where conventional processing is employed, and therefore wide antenna beams are to be used in order to avoid ambiguities in the final image due to attitude variations. A second approach is proposed to lower the requirements such system imposes based on subaperture processing. The idea is to follow the azimuth variations of the Doppler centroid, without increasing the hardware requirements of the system. As it is shown in this paper, this processing procedure must be complemented with precise radiometric corrections, because the platform may experience small attitude variations, which could increase/decrease the target observation time, inducing a significant azimuth modulation in the final image. This leads to the definition of a new criterion concerning maximum attitude deviations for an airborne platform.

  17. Users guide for an Airborne Windshear Doppler Radar Simulation (AWDRS) program

    NASA Technical Reports Server (NTRS)

    Britt, Charles L.

    1990-01-01

    A description is provided of the Airborne Windshear Doppler Radar Simulation (AWDRS) program developed for NASA-Langley by the Research Triangle Institute. The radar simulation program is a comprehensive calculation of the signal characteristics and expected outputs of an airborne coherent pulsed Doppler radar system viewing a low level microburst along or near the approach path of the aircraft. The detailed nature of the simulation permits the quick evaluation of proposed trade-offs in radar system parameters and the evaluation of the performance of proposed configurations in various microburst/clutter environments. The simulation also provides a test bed for various proposed signal processing techniques for minimizing the effects of noise, phase jitter, and ground clutter and maximizing the useful information derived for avoidance of microburst windshear by aircraft.

  18. NASA's Coastal and Ocean Airborne Science Testbed

    NASA Astrophysics Data System (ADS)

    Guild, L. S.; Dungan, J. L.; Edwards, M.; Russell, P. B.; Morrow, J. H.; Hooker, S.; Myers, J.; Kudela, R. M.; Dunagan, S.; Soulage, M.; Ellis, T.; Clinton, N. E.; Lobitz, B.; Martin, K.; Zell, P.; Berthold, R. W.; Smith, C.; Andrew, D.; Gore, W.; Torres, J.

    2011-12-01

    The Coastal and Ocean Airborne Science Testbed (COAST) Project is a NASA Earth-science flight mission that will advance coastal ecosystems research by providing a unique airborne payload optimized for remote sensing in the optically complex coastal zone. Teaming NASA Ames scientists and engineers with Biospherical Instruments, Inc. (San Diego) and UC Santa Cruz, the airborne COAST instrument suite combines a customized imaging spectrometer, sunphotometer system, and a new bio-optical radiometer package to obtain ocean/coastal/atmosphere data simultaneously in flight for the first time. The imaging spectrometer (Headwall) is optimized in the blue region of the spectrum to emphasize remote sensing of marine and freshwater ecosystems. Simultaneous measurements supporting empirical atmospheric correction of image data will be accomplished using the Ames Airborne Tracking Sunphotometer (AATS-14). Based on optical detectors called microradiometers, the NASA Ocean Biology and Biogeochemistry Calibration and Validation (cal/val) Office team has deployed advanced commercial off-the-shelf instrumentation that provides in situ measurements of the apparent optical properties at the land/ocean boundary including optically shallow aquatic ecosystems (e.g., lakes, estuaries, coral reefs). A complimentary microradiometer instrument package (Biospherical Instruments, Inc.), optimized for use above water, will be flown for the first time with the airborne instrument suite. Details of the October 2011 COAST airborne mission over Monterey Bay demonstrating this new airborne instrument suite capability will be presented, with associated preliminary data on coastal ocean color products, coincident spatial and temporal data on aerosol optical depth and water vapor column content, as well as derived exact water-leaving radiances.

  19. Using Collision Cones to Asses Biological Deconiction Methods

    NASA Astrophysics Data System (ADS)

    Brace, Natalie

    For autonomous vehicles to navigate the world as efficiently and effectively as biological species, improvements are needed in terms of control strategies and estimation algorithms. Reactive collision avoidance is one specific area where biological systems outperform engineered algorithms. To better understand the discrepancy between engineered and biological systems, a collision avoidance algorithm was applied to frames of trajectory data from three biological species (Myotis velifer, Hirundo rustica, and Danio aequipinnatus). The algorithm uses information that can be sensed through visual cues (relative position and velocity) to define collision cones which are used to determine if agents are on a collision course and if so, to find a safe velocity that requires minimal deviation from the original velocity for each individual agent. Two- and three-dimensional versions of the algorithm with constant speed and maximum speed velocity requirements were considered. The obstacles provided to the algorithm were determined by the sensing range in terms of either metric or topological distance. The calculated velocities showed good correlation with observed velocities over the range of sensing parameters, indicating that the algorithm is a good basis for comparison and could potentially be improved with further study.

  20. Algorithm Plans Collision-Free Path for Robotic Manipulator

    NASA Technical Reports Server (NTRS)

    Backes, Paul; Diaz-Calderon, Antonio

    2007-01-01

    An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot. This path-planning algorithm utilizes a modified version of the collision-detection method described in "Improved Collision-Detection Method for Robotic Manipulator" (NPO-30356), NASA Tech Briefs, Vol. 27, No. 3 (June 2003), page 72. The method involves utilization of mathematical models of the robot constructed prior to operation and similar models of external objects constructed automatically from sensory data acquired during operation. This method incorporates a previously developed method, known in the art as the method of oriented bounding boxes (OBBs), in which an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs). A multiresolution OBB/OBP representation of the robot and its manipulator arm and a multiresolution OBB representation of external objects (including terrain) are constructed and used in a process in which collisions at successively finer resolutions are detected through computational detection of overlaps

  1. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation.

    PubMed

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    2015-01-01

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and 24 fuzzy rules for the robot's movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes. PMID:26712766

  2. Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

    PubMed Central

    Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

    2015-01-01

    Autonomous mobile robots have become a very popular and interesting topic in the last decade. Each of them are equipped with various types of sensors such as GPS, camera, infrared and ultrasonic sensors. These sensors are used to observe the surrounding environment. However, these sensors sometimes fail and have inaccurate readings. Therefore, the integration of sensor fusion will help to solve this dilemma and enhance the overall performance. This paper presents a collision free mobile robot navigation based on the fuzzy logic fusion model. Eight distance sensors and a range finder camera are used for the collision avoidance approach where three ground sensors are used for the line or path following approach. The fuzzy system is composed of nine inputs which are the eight distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot’s wheels, and 24 fuzzy rules for the robot’s movement. Webots Pro simulator is used for modeling the environment and the robot. The proposed methodology, which includes the collision avoidance based on fuzzy logic fusion model and line following robot, has been implemented and tested through simulation and real time experiments. Various scenarios have been presented with static and dynamic obstacles using one robot and two robots while avoiding obstacles in different shapes and sizes. PMID:26712766

  3. Mapping permafrost with airborne electromagnetics

    NASA Astrophysics Data System (ADS)

    Minsley, B. J.; Ball, L. B.; Bloss, B. R.; Kass, A.; Pastick, N.; Smith, B. D.; Voss, C. I.; Walsh, D. O.; Walvoord, M. A.; Wylie, B. K.

    2014-12-01

    Permafrost is a key characteristic of cold region landscapes, yet detailed assessments of how the subsurface distribution of permafrost impacts the environment, hydrologic systems, and infrastructure are lacking. Data acquired from several airborne electromagnetic (AEM) surveys in Alaska provide significant new insight into the spatial extent of permafrost over larger areas (hundreds to thousands of square kilometers) than can be mapped using ground-based geophysical methods or through drilling. We compare several AEM datasets from different areas of interior Alaska, and explore the capacity of these data to infer geologic structure, permafrost extent, and related hydrologic processes. We also assess the impact of fires on permafrost by comparing data from different burn years within similar geological environments. Ultimately, interpretations rely on understanding the relationship between electrical resistivity measured by AEM surveys and the physical properties of interest such as geology, permafrost, and unfrozen water content in the subsurface. These relationships are often ambiguous and non-unique, so additional information is useful for reducing uncertainty. Shallow (upper ~1m) permafrost and soil characteristics identified from remotely sensed imagery and field observations help to constrain and aerially extend near-surface AEM interpretations, where correlations between the AEM and remote sensing data are identified using empirical multivariate analyses. Surface nuclear magnetic resonance (sNMR) measurements quantify the contribution of unfrozen water at depth to the AEM-derived electrical resistivity models at several locations within one survey area. AEM surveys fill a critical data gap in the subsurface characterization of permafrost environments and will be valuable in future mapping and monitoring programs in cold regions.

  4. Passive avoidence learning in the young rat.

    PubMed

    Blozovski, D; Cudennec, A

    1980-09-01

    A step-through locomotor passive avoidance task is described requiring the suppression of a spontaneous escape reaction from a cool toward a warm compartment in order to avoid an electric shock delivered in the warm side. We observed no lerning of this task at 9 days of age, a very low but significant level of acquisition at 11 days, a slow but progressive improvement of avoidance from the 13th until the 17th day when the adult capacity was achieved, and a marked increase in the rate between 17-20 days. PMID:7409331

  5. Active airborne contamination control using electrophoresis

    SciTech Connect

    Veatch, B.D.

    1994-06-01

    In spite of our best efforts, radioactive airborne contamination continues to be a formidable problem at many of the Department of Energy (DOE) weapons complex sites. For workers that must enter areas with high levels of airborne contamination, personnel protective equipment (PPE) can become highly restrictive, greatly diminishing productivity. Rather than require even more restrictive PPE for personnel in some situations, the Rocky Flats Plant (RFP) is actively researching and developing methods to aggressively combat airborne contamination hazards using electrophoretic technology. With appropriate equipment, airborne particulates can be effectively removed and collected for disposal in one simple process. The equipment needed to implement electrophoresis is relatively inexpensive, highly reliable, and very compact. Once airborne contamination levels are reduced, less PPE is required and a significant cost savings may be realized through decreased waste and maximized productivity. Preliminary ``cold,`` or non-radioactive, testing results at the RFP have shown the technology to be effective on a reasonable scale, with several potential benefits and an abundance of applications.

  6. Airborne laser communication technology and flight test

    NASA Astrophysics Data System (ADS)

    Meng, Li-xin; Zhang, Li-zhong; Li, Xiao-ming; Li, Ying-chao; Jiang, Hui-lin

    2015-11-01

    Reconnaissance aircraft is an important node of the space-air-ground integrated information network, on which equipped with a large number of high-resolution surveillance equipment, and need high speed communications equipment to transmit detected information in real time. Currently RF communication methods cannot meet the needs of communication bandwidth. Wireless laser communication has outstanding advantages high speed, high capacity, security, etc., is an important means to solve the high-speed information transmission of airborne platforms. In this paper, detailed analysis of how the system works, the system components, work processes, link power and the key technologies of airborne laser communication were discussed. On this basis, a prototype airborne laser communications was developed, and high-speed, long-distance communications tests were carried out between the two fixed-wing aircraft, and the airborne precision aiming, atmospheric laser communication impacts on laser communication were tested. The experiments ultimately realize that, the communication distance is 144km, the communication rate is 2.5Gbps. The Airborne laser communication experiments provide technical basis for the application of the conversion equipment.

  7. Airborne Gravimetry and Downward Continuation (Invited)

    NASA Astrophysics Data System (ADS)

    Jekeli, C.; Yang, H.; Kwon, J.

    2009-12-01

    Measuring the Earth’s gravity field using airborne instrumentation is fully operational and has been widely practiced for nearly three decades since its official debut in the early 1980s (S. Hammer: “Airborne Gravity is Here!”) coinciding with the precision kinematic positioning capability of GPS. Airborne gravimetry is undertaken for both efficient geophysical exploration purposes, as well as the determination of the regional geoid to aid in the modernization of height systems. Especially for the latter application, downward continuation of the data and combination with existing terrestrial gravimetry pose theoretical as well as practical challenges, which, on the other hand, create multiple processing possibilities. Downward continuation may be approached in various ways from the viewpoint of potential theory and the boundary-value problem to using gradients either estimated locally or computed from existing models. Logistical constraints imposed by the airborne survey, instrumental noise, and the intrinsic numerical instability of downward continuation all conspire to impact the final product in terms of achievable resolution and accuracy. In this paper, we review the theory of airborne gravimetry and the methodology of downward continuation, and provide a numerical comparison of possible schemes and their impact on geoid determination.

  8. Assessment of pilot workload with the introduction of an airborne threat-alert system

    NASA Technical Reports Server (NTRS)

    Battiste, Vernol; Bortolussi, Michael R.

    1989-01-01

    Simulated line operations were used to assess the value of the TCAS on the pilot's ability to avoid a collision and to determine the effects of various display configurations and information contents on the flight-crew performance and workload. The crew flew a Phase II Link/Boeing 727 simulator in a simulated ATC environment. Four levels of collision avoidance information were evaluated using the following TCAS display formats: no TCAS information, TCAS information with no traffic display information, TCAS information with threat-activated traffic display information, and TCAS information with a full-time traffic display of threat information. It was found that the use of a threat-activated TCAS display significantly reduced the first officers' workload was significantly reduced by the threat-activated TCAS display, as were the workloads of the captain and the second officer.

  9. Simulator Evaluation of Airborne Information for Lateral Spacing (AILS) Concept

    NASA Technical Reports Server (NTRS)

    Abbott, Terence S.; Elliott, Dawn M.

    2001-01-01

    The Airborne Information for Lateral Spacing (AILS) concept is designed to support independent parallel approach operations to runways spaced as close as 2500 ft. This report describes the AILS operational concept and the results of a ground-based flight simulation experiment of one implementation of this concept. The focus of this simulation experiment was to evaluate pilot performance, pilot acceptability, and minimum miss-distances for the rare situation in which all aircraft oil one approach intrudes into the path of an aircraft oil the other approach. Results from this study showed that the design-goal mean miss-distance of 1200 ft to potential collision situations was surpassed with an actual mean miss-distance of 2236 ft. Pilot reaction times to the alerting system, which was an operational concern, averaged 1.11 sec, well below the design-goal reaction time 2.0 sec.These quantitative results and pilot subjective data showed that the AILS concept is reasonable from an operational standpoint.

  10. A Research on the Adaptability of Collision Criterion1,2

    NASA Astrophysics Data System (ADS)

    Li, Jia-Long; Xiong, Jian-Ning; Xu, Xiao-Li; Zhao, Chang-Yin

    2015-07-01

    With the rising number of space debris, people pay more and more attention to the space debris collision avoidance system (SDCAS). In the early 1990s, the BOX method is commonly used as a collision criterion to decide whether the avoiding maneuver is necessary for a spacecraft. But this method has low practicability, so the method of collision probability is developed. This method takes the relative distance and other geometrical parameters at the en time of two space objects into consideration. However, the mathematical model of this collision criterion depends highly on the orbit errors, so it may lead to some inaccurate results. In this paper, the rendezvous of two orbits are sim, and the errors are considered, then the relative distance at the moment of their closest approach and the collision probability are calculated. The re indicate that the covariance of position errors plays an indispensable role in measuring the risk of collision. When the precision of orbit prediction is not very good, it is better to combine the BOX method and the collision probability method in the SDCAS.

  11. 6 Tips to Avoid Medication Mistakes

    MedlinePlus

    ... consumer www.fda.gov/consumer/updates/medtips062107.html 6 Tips to Avoid Medication Mistakes 1. Know the ... labels & follow directions 5. Keep your doctors informed 6. K eep a list of all your medications ...

  12. When Should a Mother Avoid Breastfeeding?

    MedlinePlus

    ... Address What's this? Submit What's this? Submit Button Breastfeeding Information for Families Breastfeeding Hotline The HHS Office ... Tweet Share Compartir When should a mother avoid breastfeeding? Health professionals agree that human milk provides the ...

  13. Many Manly Men Avoid Needed Health Care

    MedlinePlus

    ... fullstory_158551.html Many Manly Men Avoid Needed Health Care Gender stereotypes can have dangerous consequences, research suggests ... traditional masculine ideals were less likely to seek health care, more likely to downplay symptoms, and had worse ...

  14. Avoiding Anemia: Boost Your Red Blood Cells

    MedlinePlus

    ... link, please review our exit disclaimer . Subscribe Avoiding Anemia Boost Your Red Blood Cells If you’re ... and sluggish, you might have a condition called anemia. Anemia is a common blood disorder that many ...

  15. Family Key to Helping Teens Avoid Obesity

    MedlinePlus

    ... 159681.html Family Key to Helping Teens Avoid Obesity Good relationship with parents, especially between fathers and ... develop healthy habits that may protect them against obesity, a new study suggests. The researchers also found ...

  16. Avoid the Consequences of High Blood Pressure

    MedlinePlus

    ... Tools & Resources Stroke More Avoid the Consequences of High Blood Pressure Infographic Updated:Jun 19,2014 View a downloadable version of this infographic High Blood Pressure • Home • About High Blood Pressure (HBP) • Why HBP ...

  17. Men, Avoid Impotence Drugs Before Surgery

    MedlinePlus

    ... nlm.nih.gov/medlineplus/news/fullstory_157884.html Men, Avoid Impotence Drugs Before Surgery Let an anesthesia ... 21, 2016 MONDAY, March 21, 2016 (HealthDay News) -- Men should not take erectile dysfunction drugs such as ...

  18. The challenges for scientists in avoiding plagiarism.

    PubMed

    Fisher, E R; Partin, K M

    2014-01-01

    Although it might seem to be a simple task for scientists to avoid plagiarism and thereby an allegation of research misconduct, assessment of trainees in the Responsible Conduct of Research and recent findings from the National Science Foundation Office of Inspector General regarding plagiarism suggests otherwise. Our experiences at a land-grant academic institution in assisting researchers in avoiding plagiarism are described. We provide evidence from a university-wide multi-disciplinary course that understanding how to avoid plagiarism in scientific writing is more difficult than it might appear, and that a failure to learn the rules of appropriate citation may cause dire consequences. We suggest that new strategies to provide training in avoiding plagiarism are required. PMID:24785995

  19. Simulation of the enhanced traffic alert and collision avoidance system (TCAS 2)

    NASA Technical Reports Server (NTRS)

    Rojas, R. G.; Burnside, W. D.; Law, P.; Grandchamp, B.

    1985-01-01

    The OSU aircraft code is used to analyze and simulate the TCAS 2 circular array which is mounted on the fuselage of a Boeing 737 aircraft. It is shown that the sum and difference patterns radiated by the circular array are distorted by the various structures of the aircraft, i.e., wings, tail, etc. Furthermore, monopulse curves are calculated and plotted for several beam positions and THETA angles. As expected, the worst cases of distortion occur when the beams are pointed toward the tail of the aircraft.

  20. Prometheus-Prochip: status of sensor technology applied to automotive collision avoidance

    NASA Astrophysics Data System (ADS)

    Esteve, Daniel; Rolland, Paul-Alain; Simonne, Jean-Jacques; Vialaret, G.

    1995-05-01

    The implementation of an anticollision system on a car is presented. The vehicle is provided with two LIDAR systems integrated near the headlights, and a RADAR included in the calender, both used for active detection. Twelve infrared beacons have also been set up on the front part for telecommunication exchanges with surrounding vehicles or with infrastructure. An uncooled copolymer 32 X 32 FPA for passive detection has in addition been investigated for a further integration and is presented in this paper. This project is a part of the European PROMETHEUS-PROCHIP program which intends to make safer road traffic.

  1. Rendezvous strategy impacts on CTV avionics design, system reliability requirements, and available collision avoidance maneuvers

    NASA Technical Reports Server (NTRS)

    Donovan, William J.; Davis, John E.

    1991-01-01

    Rockwell International is conducting an ongoing program to develop avionics architectures that provide high intrinsic value while meeting all mission objectives. Studies are being conducted to determine alternative configurations that have low life-cycle cost and minimum development risk, and that minimize launch delays while providing the reliability level to assure a successful mission. This effort is based on four decades of providing ballistic missile avionics to the United States Air Force and has focused on the requirements of the NASA Cargo Transfer Vehicle (CTV) program in 1991. During the development of architectural concepts it became apparent that rendezvous strategy issues have an impact on the architecture of the avionics system. This is in addition to the expected impact on propulsion and electrical power duration, flight profiles, and trajectory during approach.

  2. Rendezvous strategy impacts on CTV avionics design, system reliability requirements, and available collision avoidance maneuvers

    NASA Astrophysics Data System (ADS)

    Donovan, William J.; Davis, John E.

    Rockwell International is conducting an ongoing program to develop avionics architectures that provide high intrinsic value while meeting all mission objectives. Studies are being conducted to determine alternative configurations that have low life-cycle cost and minimum development risk, and that minimize launch delays while providing the reliability level to assure a successful mission. This effort is based on four decades of providing ballistic missile avionics to the United States Air Force and has focused on the requirements of the NASA Cargo Transfer Vehicle (CTV) program in 1991. During the development of architectural concepts it became apparent that rendezvous strategy issues have an impact on the architecture of the avionics system. This is in addition to the expected impact on propulsion and electrical power duration, flight profiles, and trajectory during approach.

  3. Performance of traffic-alert collision avoidance (TCAS) antennas in the presence of scatterers

    NASA Technical Reports Server (NTRS)

    Sampath, K. S.; Rojas, R. G.; Burnside, W. D.

    1993-01-01

    The performance of two TCAS systems is studied in the presence of electromagnetic scatterers. TCAS is an aircraft mounted angle of arrival (AOA) system, which estimates the bearing of a signal transmitted from a mode-S transponder on another nearby aircraft (intruder). Two systems are studied: (1) Comparison of Relative Amplitude system (CRA), and (2) Spiral Phase Antenna (SPA). The CRA antenna receives the reply via four switched beams. The bearing is estimated by comparing the amplitudes of the received signal. The SPA is based on the phase interferometer, which utilizes the received phase via sum and difference beams. The AOA is computed by comparing the reply with similar values on a calibration table, which is generated by modeling the TCAS antenna on the bare fuselage of a Boeing 727-200. The antenna patterns for the TCAS are found via high frequency methods based on the Uniform Geometric theory of Diffraction (UTD). By minimizing the standard deviation of the bearing error in a specified angular sector, optimal locations for top and bottom mounted TCAS antennas are found on the Boeing 727-200, 737-300 and 747-200 airframes. It will be shown that the overall bearing errors of the amplitude system are consistently smaller than the spiral phase TCAS. The effect of two types of nearby scatterers--antennas, and engine inlets--is studied. The AT741 L-band blade, DMC60-1 VHF Communication antenna were chosen as being representative antenna interference examples. Models are derived for the blades via a moment method analysis followed by a least squares procedure to synthesize the scattering patterns. Studies were conducted to estimate the minimum separation between the two antennas for acceptable operation. It will be shown that the spiral phase TCAS is adversely affected by the presence of a blade antenna. The amplitude system does not suffer from this limitation, especially for the forward look angles which are of most interest here. A model to represent the inlet scattering is based on the multiple scattering method and UTD. The engine on top of the B727-200 fuselage is modeled by a terminated circular waveguide. Then, the effect of moving the antenna forward on the fuselage is studied. It is again shown that the performance of the amplitude system is superior.

  4. AIS and Collision Avoidance a Sense of Déjà Vu

    NASA Astrophysics Data System (ADS)

    Stitt, I. P. A.

    2004-05-01

    Although AIS is already in use in a range of vessels, there has been little public discussion on how AIS should interact with the COLREGS in practice. The objective of this paper is to make a contribution to that debate, while recognising that “best practice” will evolve as more practical experience is obtained. The paper suggests the approach that should be adopted in several areas, but concludes that, overall, AIS is nothing more than one of several tools that should enable mariners to fulfil their existing obligations under the COLREGS.

  5. Progress in Development of an Airborne Turbulence Detection System

    NASA Technical Reports Server (NTRS)

    Hamilton, David W.; Proctor, Fred H.

    2006-01-01

    Aircraft encounters with turbulence are the leading cause of in-flight injuries (Tyrvanas 2003) and have occasionally resulted in passenger and crew fatalities. Most of these injuries are caused by sudden and unexpected encounters with severe turbulence in and around convective activity (Kaplan et al 2005). To alleviate this problem, the Turbulence Prediction and Warning Systems (TPAWS) element of NASA s Aviation Safety program has investigated technologies to detect and warn of hazardous in-flight turbulence. This effort has required the numerical modeling of atmospheric convection: 1) for characterizing convectively induced turbulence (CIT) environments, 2) for defining turbulence hazard metrics, and 3) as a means of providing realistic three-dimensional data sets that can be used to test and evaluate turbulence detection sensors. The data sets are being made available to industry and the FAA for certification of future airborne turbulence-detection systems (ATDS) with warning capability. Early in the TPAWS project, a radar-based ATDS was installed and flight tested on NASA s research aircraft, a B-757. This ATDS utilized new algorithms and hazard metrics that were developed for use with existing airborne predictive windshear radars, thus avoiding the installation of new hardware. This system was designed to detect and warn of hazardous CIT even in regions with weak radar reflectivity (i.e. 5-15 dBz). Results from an initial flight test of the ATDS were discussed in Hamilton and Proctor (2002a; 2002b). In companion papers (Proctor et al 2002a; 2002b), a numerical simulation of the most significant encounter from that flight test was presented. Since the presentation of these papers a second flight test has been conducted providing additional cases for examination. In this paper, we will present results from NASA s flight test and a numerical model simulation of a turbulence environment encountered on 30 April 2002. Progress leading towards FAA certification of

  6. Singularity avoidance and time in quantum gravity

    SciTech Connect

    Kreienbuehl, Andreas

    2009-06-15

    We consider the quantization of a Friedmann-Robertson-Walker universe. We derive a reduced square root Hamiltonian by choosing the scale factor as time variable and quantize the theory using Pauli matrices a la Dirac. From the resulting spinor equation we show that there is no semiclassical wave packet that avoids the big bang singularity. Our work raises the question concerning the relationship between the choice of time and singularity avoidance.

  7. Airborne Microalgae: Insights, Opportunities, and Challenges.

    PubMed

    Tesson, Sylvie V M; Skjøth, Carsten Ambelas; Šantl-Temkiv, Tina; Löndahl, Jakob

    2016-04-01

    Airborne dispersal of microalgae has largely been a blind spot in environmental biological studies because of their low concentration in the atmosphere and the technical limitations in investigating microalgae from air samples. Recent studies show that airborne microalgae can survive air transportation and interact with the environment, possibly influencing their deposition rates. This minireview presents a summary of these studies and traces the possible route, step by step, from established ecosystems to new habitats through air transportation over a variety of geographic scales. Emission, transportation, deposition, and adaptation to atmospheric stress are discussed, as well as the consequences of their dispersal on health and the environment and state-of-the-art techniques to detect and model airborne microalga dispersal. More-detailed studies on the microalga atmospheric cycle, including, for instance, ice nucleation activity and transport simulations, are crucial for improving our understanding of microalga ecology, identifying microalga interactions with the environment, and preventing unwanted contamination events or invasions. PMID:26801574

  8. Airborne pollen trends in the Iberian Peninsula.

    PubMed

    Galán, C; Alcázar, P; Oteros, J; García-Mozo, H; Aira, M J; Belmonte, J; Diaz de la Guardia, C; Fernández-González, D; Gutierrez-Bustillo, M; Moreno-Grau, S; Pérez-Badía, R; Rodríguez-Rajo, J; Ruiz-Valenzuela, L; Tormo, R; Trigo, M M; Domínguez-Vilches, E

    2016-04-15

    Airborne pollen monitoring is an effective tool for studying the reproductive phenology of anemophilous plants, an important bioindicator of plant behavior. Recent decades have revealed a trend towards rising airborne pollen concentrations in Europe, attributing these trends to an increase in anthropogenic CO2 emissions and temperature. However, the lack of water availability in southern Europe may prompt a trend towards lower flowering intensity, especially in herbaceous plants. Here we show variations in flowering intensity by analyzing the Annual Pollen Index (API) of 12 anemophilous taxa across 12 locations in the Iberian Peninsula, over the last two decades, and detecting the influence of the North Atlantic Oscillation (NAO). Results revealed differences in the distribution and flowering intensity of anemophilous species. A negative correlation was observed between airborne pollen concentrations and winter averages of the NAO index. This study confirms that changes in rainfall in the Mediterranean region, attributed to climate change, have an important impact on the phenology of plants. PMID:26803684

  9. Airborne Microalgae: Insights, Opportunities, and Challenges

    PubMed Central

    Skjøth, Carsten Ambelas; Šantl-Temkiv, Tina; Löndahl, Jakob

    2016-01-01

    Airborne dispersal of microalgae has largely been a blind spot in environmental biological studies because of their low concentration in the atmosphere and the technical limitations in investigating microalgae from air samples. Recent studies show that airborne microalgae can survive air transportation and interact with the environment, possibly influencing their deposition rates. This minireview presents a summary of these studies and traces the possible route, step by step, from established ecosystems to new habitats through air transportation over a variety of geographic scales. Emission, transportation, deposition, and adaptation to atmospheric stress are discussed, as well as the consequences of their dispersal on health and the environment and state-of-the-art techniques to detect and model airborne microalga dispersal. More-detailed studies on the microalga atmospheric cycle, including, for instance, ice nucleation activity and transport simulations, are crucial for improving our understanding of microalga ecology, identifying microalga interactions with the environment, and preventing unwanted contamination events or invasions. PMID:26801574

  10. Airborne space laser communication system and experiments

    NASA Astrophysics Data System (ADS)

    Li, Xiao-Ming; Zhang, Li-zhong; Meng, Li-Xin

    2015-11-01

    Airborne space laser communication is characterized by its high speed, anti-electromagnetic interference, security, easy to assign. It has broad application in the areas of integrated space-ground communication networking, military communication, anti-electromagnetic communication. This paper introduce the component and APT system of the airborne laser communication system design by Changchun university of science and technology base on characteristic of airborne laser communication and Y12 plan, especially introduce the high communication speed and long distance communication experiment of the system that among two Y12 plans. In the experiment got the aim that the max communication distance 144Km, error 10-6 2.5Gbps - 10-7 1.5Gbps capture probability 97%, average capture time 20s. The experiment proving the adaptability of the APT and the high speed long distance communication.

  11. Interactions among Drosophila larvae before and during collision.

    PubMed

    Otto, Nils; Risse, Benjamin; Berh, Dimitri; Bittern, Jonas; Jiang, Xiaoyi; Klämbt, Christian

    2016-01-01

    In populations of Drosophila larvae, both, an aggregation and a dispersal behavior can be observed. However, the mechanisms coordinating larval locomotion in respect to other animals, especially in close proximity and during/after physical contacts are currently only little understood. Here we test whether relevant information is perceived before or during larva-larva contacts, analyze its influence on behavior and ask whether larvae avoid or pursue collisions. Employing frustrated total internal reflection-based imaging (FIM) we first found that larvae visually detect other moving larvae in a narrow perceptive field and respond with characteristic escape reactions. To decipher larval locomotion not only before but also during the collision we utilized a two color FIM approach (FIM(2c)), which allowed to faithfully extract the posture and motion of colliding animals. We show that during collision, larval locomotion freezes and sensory information is sampled during a KISS phase (german: Kollisions Induziertes Stopp Syndrom or english: collision induced stop syndrome). Interestingly, larvae react differently to living, dead or artificial larvae, discriminate other Drosophila species and have an increased bending probability for a short period after the collision terminates. Thus, Drosophila larvae evolved means to specify behaviors in response to other larvae. PMID:27511760

  12. Interactions among Drosophila larvae before and during collision

    PubMed Central

    Otto, Nils; Risse, Benjamin; Berh, Dimitri; Bittern, Jonas; Jiang, Xiaoyi; Klämbt, Christian

    2016-01-01

    In populations of Drosophila larvae, both, an aggregation and a dispersal behavior can be observed. However, the mechanisms coordinating larval locomotion in respect to other animals, especially in close proximity and during/after physical contacts are currently only little understood. Here we test whether relevant information is perceived before or during larva-larva contacts, analyze its influence on behavior and ask whether larvae avoid or pursue collisions. Employing frustrated total internal reflection-based imaging (FIM) we first found that larvae visually detect other moving larvae in a narrow perceptive field and respond with characteristic escape reactions. To decipher larval locomotion not only before but also during the collision we utilized a two color FIM approach (FIM2c), which allowed to faithfully extract the posture and motion of colliding animals. We show that during collision, larval locomotion freezes and sensory information is sampled during a KISS phase (german: Kollisions Induziertes Stopp Syndrom or english: collision induced stop syndrome). Interestingly, larvae react differently to living, dead or artificial larvae, discriminate other Drosophila species and have an increased bending probability for a short period after the collision terminates. Thus, Drosophila larvae evolved means to specify behaviors in response to other larvae. PMID:27511760

  13. The Role of Aircraft Motion in Airborne Gravity Data Quality

    NASA Astrophysics Data System (ADS)

    Childers, V. A.; Damiani, T.; Weil, C.; Preaux, S. A.

    2015-12-01

    Many factors contribute to the quality of airborne gravity data measured with LaCoste and Romberg-type sensors, such as the Micro-g LaCoste Turnkey Airborne Gravity System used by the National Geodetic Survey's GRAV-D (Gravity for the Redefinition of the American Vertical Datum) Project. For example, it is well documented that turbulence is a big factor in the overall noise level of the measurement. Turbulence is best controlled by avoidance; thus flights in the GRAV-D Project are only undertaken when the predicted wind speeds at flight level are ≤ 40 kts. Tail winds are known to be particularly problematic. The GRAV-D survey operates on a number of aircraft in a variety of wind conditions and geographic locations, and an obvious conclusion from our work to date is that the aircraft itself plays an enormous role in the quality of the airborne gravity measurement. We have identified a number of features of the various aircraft which can be determined to play a role: the autopilot, the size and speed of the aircraft, inherent motion characteristics of the airframe, tip tanks and other modifications to the airframe to reduce motion, to name the most important. This study evaluates the motion of a number of the GRAV-D aircraft and looks at the correlation between this motion and the noise characteristics of the gravity data. The GRAV-D Project spans 7 years and 42 surveys, so we have a significant body of data for this evaluation. Throughout the project, the sensor suite has included an inertial measurement unit (IMU), first the Applanix POSAv, and then later the Honeywell MicroIRS IMU as a part of a NovAtel SPAN GPS/IMU system. We compare the noise characteristics of the data with measures of aircraft motion (via pitch, roll, and yaw captured by the IMU) using a variety of statistical tools. It is expected that this comparison will support the conclusion that certain aircraft tend to work well with this type of gravity sensor while others tend to be problematic in

  14. High energy nuclear collisions

    SciTech Connect

    Plasil, F.

    1998-01-01

    This presentation covers three broad topics: a brief introduction to the field of nucleus-nucleus collisions at relativistic energies; a discussion of several topics illustrating what`s been learned after more than a decade of fixed target experiments; and an indication of what the future may bring at the Relativistic Heavy Ion Collider (RHIC) under construction at the Brookhaven National Laboratory (BNL) and at the Large Hadron Collider (LHC) planned at CERN.

  15. Time-based collision risk modeling for air traffic management

    NASA Astrophysics Data System (ADS)

    Bell, Alan E.

    Since the emergence of commercial aviation in the early part of last century, economic forces have driven a steadily increasing demand for air transportation. Increasing density of aircraft operating in a finite volume of airspace is accompanied by a corresponding increase in the risk of collision, and in response to a growing number of incidents and accidents involving collisions between aircraft, governments worldwide have developed air traffic control systems and procedures to mitigate this risk. The objective of any collision risk management system is to project conflicts and provide operators with sufficient opportunity to recognize potential collisions and take necessary actions to avoid them. It is therefore the assertion of this research that the currency of collision risk management is time. Future Air Traffic Management Systems are being designed around the foundational principle of four dimensional trajectory based operations, a method that replaces legacy first-come, first-served sequencing priorities with time-based reservations throughout the airspace system. This research will demonstrate that if aircraft are to be sequenced in four dimensions, they must also be separated in four dimensions. In order to separate aircraft in four dimensions, time must emerge as the primary tool by which air traffic is managed. A functional relationship exists between the time-based performance of aircraft, the interval between aircraft scheduled to cross some three dimensional point in space, and the risk of collision. This research models that relationship and presents two key findings. First, a method is developed by which the ability of an aircraft to meet a required time of arrival may be expressed as a robust standard for both industry and operations. Second, a method by which airspace system capacity may be increased while maintaining an acceptable level of collision risk is presented and demonstrated for the purpose of formulating recommendations for procedures

  16. Approaches to detection of airborne biological agents

    NASA Astrophysics Data System (ADS)

    Chang, An-Cheng; Tabacco, Mary Beth

    2009-05-01

    Three approaches to detection of biological agents based on biological processes will be presented. The first example demonstrates the use of dendrimers to deliver a membrane-impermeable fluorescent dye into live bacteria, similar to viral infection and delivery of DNA/RNA into a bacterial cell. The second example mimics collection and capture of airborne biological particles by the respiratory mucosa through the use of a hygroscopic sensing membrane. The third example is based on the use of multiple fluorescent probes with diverse functionalities to detect airborne biological agents in a manner similar to the olfactory receptors in the nasal tract.

  17. Sandia Multispectral Airborne Lidar for UAV Deployment

    SciTech Connect

    Daniels, J.W.; Hargis,Jr. P.J.; Henson, T.D.; Jordan, J.D.; Lang, A.R.; Schmitt, R.L.

    1998-10-23

    Sandia National Laboratories has initiated the development of an airborne system for W laser remote sensing measurements. System applications include the detection of effluents associated with the proliferation of weapons of mass destruction and the detection of biological weapon aerosols. This paper discusses the status of the conceptual design development and plans for both the airborne payload (pointing and tracking, laser transmitter, and telescope receiver) and the Altus unmanned aerospace vehicle platform. Hardware design constraints necessary to maintain system weight, power, and volume limitations of the flight platform are identified.

  18. Interstellar Cloud Collisions

    NASA Astrophysics Data System (ADS)

    Lattanzio, J. C.; Monaghan, J. J.; Pongracic, H.; Schwarz, M. P.

    1985-07-01

    We describe the results of a three-dimensional numerical simulation of isothermal interstellar clouds in the absence of magnetic fields. A wide variety of high and low Mach number, head-on and off-centre collisions of clouds with mass ratios 1, 2.5, 5.0 and 10.1 have been studied. The results show that a necessary, but not sufficient, condition for the gravitational instability of a substantial fraction of the matter is that the initial clouds should be either marginally stable or unstable according to the usual Jeans criterion. The collisions, in general, do not result in one or more clouds. Instead we find, in most cases, that the matter disperses in an irregular way. The calculations therefore suggest that if the initial state of the interstellar medium is one of cool dense clouds in a hotter more tenuous background, collisions will rapidly mix the medium rather than produce a steady-state spectrum of cool clouds.

  19. Collision and mountain building

    NASA Astrophysics Data System (ADS)

    Trifonov, V. G.

    2016-01-01

    The spatial, chronological, and genetic relationships of recent (Late Alpine) collisions to mountain building are considered at three levels of scale: (i) in separate zones of the Arabian-Caucasus segment of the Alpine-Himalayan Orogenic Belt, (ii) throughout the central segment of this belt from the Alps to the Himalalayas, and (iii) in Central Asia and other mountain belts of continents. Three stages of mountain building are distinguished at all three levels. The first stage starts with widespread collision and similar plate interactions from the end of the Eocene to the middle Miocene and is expressed in the formation of uplifts, commonly no higher than the moderately elevated level in regions that concentrate deformations of transverse shortening induced by compression. The second short stage, which embraces the Pliocene-Quaternary and occasionally the end of the Miocene, differs in general, though differentiated in the value and intensification of vertical movements, when the height of mountains increases by 2-3 times. Elevations are spread over certain platform territories and even frameworks of rift zones. This is related not so much to the intensity of compression and shortening as to the compositional transformation of the upper mantle and the lower crust, leading to their decompaction. Comparison with the Hercynian and Caledonian orogenic stages shows that the second phase, predetermined by widespread collision, reflects a more important geodynamic event expressed in a change of the global plate interaction system and its deep-seated sources.

  20. Florida manatee avoidance technology: A pilot program by the Florida Fish and Wildlife Conservation Commission

    NASA Astrophysics Data System (ADS)

    Frisch, Katherine; Haubold, Elsa

    2003-10-01

    Since 1976, approximately 25% of the annual Florida manatee (Trichechus manatus latirostris) mortality has been attributed to collisions with watercraft. In 2001, the Florida Legislature appropriated $200,000 in funds for research projects using technological solutions to directly address the problem of collisions between manatees and watercraft. The Florida Fish & Wildlife Conservation Commission initially funded seven projects for the first two fiscal years. The selected proposals were designed to explore technology that had not previously been applied to the manatee/boat collision problem and included many acoustic concepts related to voice recognition, sonar, and an alerting device to be put on boats to warn manatees. The most promising results to date are from projects employing voice-recognition techniques to identify manatee vocalizations and warn boaters of the manatees' presence. Sonar technology, much like that used in fish finders, is promising but has met with regulatory problems regarding permitting and remains to be tested, as has the manatee-alerting device. The state of Florida found results of the initial years of funding compelling and plans to fund further manatee avoidance technology research in a continued effort to mitigate the problem of manatee/boat collisions.

  1. NASA Airborne Lidar 1982-1984 Flights Data and Information

    Atmospheric Science Data Center

    2014-08-06

    NASA Airborne Lidar 1982-1984 Flights Data from the 1982 NASA Langley Airborne Lidar flights following the eruption of El Chichon ... continuing to January 1984. Transcribed from the following NASA Tech Reports: McCormick, M. P., and M. T. Osborn, Airborne lidar ...

  2. 14 CFR 135.175 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Airborne weather radar equipment... Aircraft and Equipment § 135.175 Airborne weather radar equipment requirements. (a) No person may operate a large, transport category aircraft in passenger-carrying operations unless approved airborne...

  3. 14 CFR 121.357 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Airborne weather radar equipment... § 121.357 Airborne weather radar equipment requirements. (a) No person may operate any transport... December 31, 1964, unless approved airborne weather radar equipment has been installed in the airplane....

  4. 14 CFR 135.175 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Airborne weather radar equipment... Aircraft and Equipment § 135.175 Airborne weather radar equipment requirements. (a) No person may operate a large, transport category aircraft in passenger-carrying operations unless approved airborne...

  5. 14 CFR 125.223 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Airborne weather radar equipment... Equipment Requirements § 125.223 Airborne weather radar equipment requirements. (a) No person may operate an airplane governed by this part in passenger-carrying operations unless approved airborne weather...

  6. 14 CFR 121.357 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 3 2012-01-01 2012-01-01 false Airborne weather radar equipment... § 121.357 Airborne weather radar equipment requirements. (a) No person may operate any transport... December 31, 1964, unless approved airborne weather radar equipment has been installed in the airplane....

  7. 14 CFR 125.223 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Airborne weather radar equipment... Equipment Requirements § 125.223 Airborne weather radar equipment requirements. (a) No person may operate an airplane governed by this part in passenger-carrying operations unless approved airborne weather...

  8. 14 CFR 135.175 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 3 2014-01-01 2014-01-01 false Airborne weather radar equipment... Aircraft and Equipment § 135.175 Airborne weather radar equipment requirements. (a) No person may operate a large, transport category aircraft in passenger-carrying operations unless approved airborne...

  9. 14 CFR 125.223 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Airborne weather radar equipment... Equipment Requirements § 125.223 Airborne weather radar equipment requirements. (a) No person may operate an airplane governed by this part in passenger-carrying operations unless approved airborne weather...

  10. 14 CFR 121.357 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 3 2013-01-01 2013-01-01 false Airborne weather radar equipment... § 121.357 Airborne weather radar equipment requirements. (a) No person may operate any transport... December 31, 1964, unless approved airborne weather radar equipment has been installed in the airplane....

  11. 14 CFR 125.223 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Airborne weather radar equipment... Equipment Requirements § 125.223 Airborne weather radar equipment requirements. (a) No person may operate an airplane governed by this part in passenger-carrying operations unless approved airborne weather...

  12. 14 CFR 135.175 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Airborne weather radar equipment... Aircraft and Equipment § 135.175 Airborne weather radar equipment requirements. (a) No person may operate a large, transport category aircraft in passenger-carrying operations unless approved airborne...

  13. 14 CFR 121.357 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Airborne weather radar equipment... § 121.357 Airborne weather radar equipment requirements. (a) No person may operate any transport... December 31, 1964, unless approved airborne weather radar equipment has been installed in the airplane....

  14. 14 CFR 125.223 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Airborne weather radar equipment... Equipment Requirements § 125.223 Airborne weather radar equipment requirements. (a) No person may operate an airplane governed by this part in passenger-carrying operations unless approved airborne weather...

  15. 14 CFR 121.357 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 3 2011-01-01 2011-01-01 false Airborne weather radar equipment... § 121.357 Airborne weather radar equipment requirements. (a) No person may operate any transport... December 31, 1964, unless approved airborne weather radar equipment has been installed in the airplane....

  16. 14 CFR 135.175 - Airborne weather radar equipment requirements.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Airborne weather radar equipment... Aircraft and Equipment § 135.175 Airborne weather radar equipment requirements. (a) No person may operate a large, transport category aircraft in passenger-carrying operations unless approved airborne...

  17. A knowledge-based expert system for scheduling of airborne astronomical observations

    NASA Technical Reports Server (NTRS)

    Nachtsheim, P. R.; Gevarter, W. B.; Stutz, J. C.; Banda, C. P.

    1985-01-01

    The Kuiper Airborne Observatory Scheduler (KAOS) is a knowledge-based expert system developed at NASA Ames Research Center to assist in route planning of a C-141 flying astronomical observatory. This program determines a sequence of flight legs that enables sequential observations of a set of heavenly bodies derived from a list of desirable objects. The possible flight legs are constrained by problems of observability, avoiding flyovers of warning and restricted military zones, and running out of fuel. A significant contribution of the KAOS program is that it couples computational capability with a reasoning system.

  18. A knowledge-based expert system for scheduling of airborne astronomical observations

    NASA Technical Reports Server (NTRS)

    Nachtsheim, P. R.; Gevarter, W. B.; Stutz, J. C.; Banda, C. P.

    1986-01-01

    KAOS (Kuiper Airborne Observatory Scheduler) is a knowledge-based expert system developed at NASA Ames Research Center to assist in route planning of a C-141 flying astronomical observatory. This program determines a sequence of flight legs that enables sequential observations of a set of heavenly bodies derived from a list of desirable objects. The possible flight legs are constrained by problems of observability, avoiding flyovers of warning and restricted military zones, and running out of fuel. A significant contribution of the KAOS program is that it couples computational capability with a reasoning system.

  19. Beyond negligence: avoidability and medical injury compensation.

    PubMed

    Kachalia, Allen B; Mello, Michelle M; Brennan, Troyen A; Studdert, David M

    2008-01-01

    Disenchantment with the tort system and negligence standard in the United States is fueling interest in alternate compensation systems for medical injury. One possibility is experimentation with administrative "health courts," through which specialized adjudicators would utilize neutral experts to render compensability determinations. Compensation would be based not on negligence, but rather on a broader avoidable medical injury (avoidability) standard. Although considerable interest in health courts exists, stakeholders frequently express uncertainty about the meaning and operation of an avoidability standard. Three nations-Sweden, Denmark, and New Zealand-have long operated administrative schemes. We conducted interviews with administrators and stakeholders in these systems. Our goal was to garner lessons on how to operate a health court, and specifically, how to develop and apply alternate compensation criteria such as avoidability. This article reports our findings on the origins and operations of the systems, the evolution of their compensation criteria, and how these criteria are actually applied. We found that all three systems had their primary genesis in ensuring compensation for the injured, as opposed to sanctioning providers. All have abandoned the negligence standard. The Nordic systems use an avoidability standard, principally defined as injury that would not occur in the hands of the best practitioner. Their experience demonstrates that this definition is feasible to apply. New Zealand's recent move to a no-fault system sheds light on the benefits and drawbacks of a variety of compensation standards. Key lessons for successfully applying an alternate standard, such as avoidability, include a strict adherence to national precedent, the use of neutral and experienced experts, and a block on routine transfer of information from compensation investigations to disciplinary authorities. Importantly, all three nations are harnessing their systems' power to

  20. Obstacle avoidance for autonomous land vehicle navigation in indoor environments by quadratic classifier.

    PubMed

    Ku, C H; Tsai, W H

    1999-01-01

    A vision-based approach to obstacle avoidance for autonomous land vehicle (ALV) navigation in indoor environments is proposed. The approach is based on the use of a pattern recognition scheme, the quadratic classifier, to find collision-free paths in unknown indoor corridor environments. Obstacles treated in this study include the walls of the corridor and the objects that appear in the way of ALV navigation in the corridor. Detected obstacles as well as the two sides of the ALV body are considered as patterns. A systematic method for separating these patterns into two classes is proposed. The two pattern classes are used as the input data to design a quadratic classifier. Finally, the two-dimensional decision boundary of the classifier, which goes through the middle point between the two front vehicle wheels, is taken as a local collision-free path. This approach is implemented on a real ALV and successful navigations confirm the feasibility of the approach. PMID:18252315

  1. Catching Collisions in the LHC

    SciTech Connect

    Fruguiele, Claudia; Hirschauer, Jim

    2015-06-16

    Now that the Large Hadron Collider has officially turned back on for its second run, within every proton collision could emerge the next new discovery in particle physics. Learn how the detectors on the Compact Muon Solenoid, or CMS, experiment capture and track particles as they are expelled from a collision. Talking us through these collisions are Claudia Fruguiele and Jim Hirschauer of Fermi National Accelerator Laboratory, the largest U.S. institution collaborating on the LHC.

  2. Avoidance of hydrolyzed casein by mice

    PubMed Central

    Field, Kristin L.; Kimball, Bruce A.; Mennella, Julie A.; Beauchamp, Gary K.; Bachmanov, Alexander A.

    2008-01-01

    When casein, a milk protein, is hydrolyzed, it renders human foods that contain it (e.g., hypoallergenic infant formula, cheeses) distasteful to many people. This rejection of hydrolyzed casein (HC)-containing foods has recently been found to also occur in a non-human species (deer, Odocoileus spp.). Identifying other animals that avoid HC would facilitate understanding how and why HC-containing food is often rejected. This study determined whether HC-containing food is avoided by Mus musculus and whether consumption patterns were sensitive to testing conditions, specifically food form (powder, pellet or dough) and food access (ad libitum or 1.5 h/day following 6 h of food deprivation). Diets were offered in two-choice tests that paired an HC-containing food with an intact casein-containing alternative at seven protein concentrations (0%–50% w/w). Five experimental groups were tested under different combinations of food form and food access. Three groups (ad lib/powder, ad lib/pellet, and 1.5 h/pellet) avoided the HC diet starting at the 30% protein level. At the 40% and 50% protein levels, all groups showed strong avoidance of HC. Although testing conditions influenced total caloric intake and body weight gain, avoidance of HC at the highest concentrations was robust to the manipulations in experimental conditions. Our study suggests that mice may be a useful model for understanding the mechanisms of HC rejection. PMID:17900635

  3. Rape avoidance behavior among Slovak women.

    PubMed

    Prokop, Pavol

    2013-01-01

    Rape has been a recurrent adaptive problem for many species, including humans. Rape is costly to women in terms of disease transmission, partner abandonment, and unwanted pregnancy (among other costs). Therefore, behavioral strategies which allow women to avoid coercive men may have been favored by selection. In line with this evolutionary reasoning, the current research documented that physically stronger women and those in a committed romantic relationship reported more rape avoidance behavior. In addition, virgin women tended to perform more rape avoidance behavior compared with their non-virgin counterparts. Women with high conception risk perceived themselves as physically stronger, which may protect them against a potential rapist. Fear of unwanted pregnancy from rape decreased as age increased, reflecting higher fertility among younger participants. However, older women reported more rape avoidance behavior, which contradicts evolutionary predictions. The results provide some support for evolutionary hypotheses of rape avoidance behavior which suggest that woman's perception of rape is influenced by parental investment and perceived physical condition. PMID:23715617

  4. Flight test of a low-altitude helicopter guidance system with obstacle avoidance capability

    NASA Technical Reports Server (NTRS)

    Zelenka, Richard E.; Clark, Raymond F.; Branigan, Robert G.

    1995-01-01

    Military aircraft regularly conduct missions that include low-atltitude, near-terrain flight in order to increase covertness and payload effectiveness. Civilian applications include airborne fire fighting, police surveillance, search and rescue, and helicopter emergency medical service. Several fixed-wing aircraft now employ terrain elevation maps and forward-pointed radars to achieve automated terrain following or terrain avoidance flight. Similar systems specialized to helicopters and their flight regime have not received as much attention. A helicopter guidance system relying on digitized terrain elevation maps has been developed that employs airborne navigation, mission requirements, aircraft performance limits, and radar altimeter returns to generate a valley-seeking, low-altitude trajectory between waypoints. The guidance trajectory is symbolically presented to the pilot on a helmet mounted display. This system has been flight tested to 150 ft (45.7 m) above ground level altitude at 80 kts, and is primarily limited by the ability of the pilot to perform manual detection and avoidance of unmapped hazards. In this study, a wide field of view laser radar sensor has been incorporated into this guidance system to assist the pilot in obstacle detection and avoidance, while expanding the system's operational flight envelope. The results from early flight tests of this system are presented. Low-altitude missions to 100 ft (30.5 m) altitude at 80n kts in the presence of unmapped natural and man-made obstacles were demonstrated while the pilot maintained situational awareness and tracking of the guidance trajectory. Further reductions in altitude are expected with continued flight testing.

  5. Bubble collisions and measures of the multiverse

    SciTech Connect

    Salem, Michael P.

    2012-01-01

    To compute the spectrum of bubble collisions seen by an observer in an eternally-inflating multiverse, one must choose a measure over the diverging spacetime volume, including choosing an ''initial'' hypersurface below which there are no bubble nucleations. Previous calculations focused on the case where the initial hypersurface is pushed arbitrarily deep into the past. Interestingly, the observed spectrum depends on the orientation of the initial hypersurface, however one's ability observe the effect rapidly decreases with the ratio of inflationary Hubble rates inside and outside one's bubble. We investigate whether this conclusion might be avoided under more general circumstances, including placing the observer's bubble near the initial hypersurface. We find that it is not. As a point of reference, a substantial appendix reviews relevant aspects of the measure problem of eternal inflation.

  6. Airborne Satcom Terminal Research at NASA Glenn

    NASA Technical Reports Server (NTRS)

    Hoder, Doug; Zakrajsek, Robert

    2002-01-01

    NASA Glenn has constructed an airborne Ku-band satellite terminal, which provides wideband full-duplex ground-aircraft communications. The terminal makes use of novel electronically-steered phased array antennas and provides IP connectivity to and from the ground. The satcom terminal communications equipment may be easily changed whenever a new configuration is required, enhancing the terminal's versatility.

  7. Toolsets for Airborne Data Beta Release

    Atmospheric Science Data Center

    2014-09-17

    ... for Airborne Data (TAD), developed at the Atmospheric Science Data Center (ASDC) at NASA Langley Research Center (LaRC) to promote ... and Houston, and DC3 will be added shortly. Early next year we plan to add DISCOVER-AQ Colorado and SEAC4RS to the TAD database. We ...

  8. Mapping Waterhyacinth Infestations Using Airborne Hyperspectral Imagery

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Waterhyacinth [Eichhornia crassipes (Mart.) Solms] is an exotic aquatic weed that often invades and clogs waterways in many tropical and subtropical regions of the world. The objective of this study was to evaluate airborne hyperspectral imagery and different image classification techniques for mapp...

  9. A Technique for Airborne Aerobiological Sampling

    ERIC Educational Resources Information Center

    Mill, R. A.; And Others

    1972-01-01

    Report of a study of airborne micro-organisms collected over the Oklahoma City Metropolitan area and immediate environments, to investigate the possibility that a cloud of such organisms might account for the prevalence of some respiratory diseases in and around urban areas. (LK)

  10. Simulation system of airborne FLIR searcher

    NASA Astrophysics Data System (ADS)

    Sun, Kefeng; Li, Yu; Gao, Jiaobo; Wang, Jun; Wang, Jilong; Xie, Junhu; Ding, Na; Sun, Dandan

    2014-11-01

    Airborne Forward looking infra-red (FLIR) searcher simulation system can provide multi-mode simulated test environment that almost actual field environment, and can simulate integrated performance and external interface of airborne FLIR simulation system. Furthermore, the airborne FLIR searcher simulation system can support the algorithm optimization of image processing, and support the test and evaluation of electro-optical system, and also support the line test of software and evaluate the performance of the avionics system. The detailed design structure and information cross-linking relationship of each component are given in this paper. The simulation system is composed of the simulation center, the FLIR actuator, the FLIR emulator, and the display control terminal. The simulation center can generate the simulated target and aircraft flying data in the operation state of the airborne FLIR Searcher. The FLIR actuator can provide simulation scene. It can generate the infrared target and landform based scanning scene, response to the commands from simulation center and the FLIR actuator and operation control unit. The infrared image generated by the FLIR actuator can be processed by the FLIR emulator using PowerPC hardware framework and processing software based on VxWorks system. It can detect multi-target and output the DVI video and the multi-target detection information which corresponds to the working state of the FLIR searcher. Display control terminal can display the multi-target detection information in two-dimension situation format, and realize human-computer interaction function.

  11. Airborne sensor integration for quick reaction programs

    NASA Astrophysics Data System (ADS)

    Gosian, Gregory; Mason, Kenneth; Servoss, Thomas; Brower, Bernard; Pellechia, Matthew

    2010-04-01

    In this paper we present an approach to integrate sensors to meet the demanding requirements of Quick Reaction Capability (QRC) airborne programs. Traditional airborne sensors are generally highly integrated and incorporate custom sensor technologies and interfaces. Custom solutions and new technologies often require significant engineering to achieve a high technology readiness level (TRL) and to meet the overall mission objective. Our approach differs from traditional approaches in that we strive to achieve an integrated solution through regular review, assessment, and identification of relevant industry "best athlete" technologies. Attention is focused on solution providers that adhere to standard interfaces and formats, incorporate non-proprietary techniques, are deemed highly-reliable/repeatable, and enable assembly production. Processes and engineering tools/methods have traditionally been applied to dozens of longer-acquisition space-based ISR programs over 50 years. We have recently leveraged these techniques to solve airborne Intelligence, Surveillance and Reconnaissance (ISR) mission challenges. This presentation describes and illustrates key aspects and examples of these techniques, solving real-world airborne mission needs.

  12. Airborne hyperspectral detection of small changes.

    PubMed

    Eismann, Michael T; Meola, Joseph; Stocker, Alan D; Beaven, Scott G; Schaum, Alan P

    2008-10-01

    Hyperspectral change detection offers a promising approach to detect objects and features of remotely sensed areas that are too difficult to find in single images, such as slight changes in land cover and the insertion, deletion, or movement of small objects, by exploiting subtle differences in the imagery over time. Methods for performing such change detection, however, must effectively maintain invariance to typically larger image-to-image changes in illumination and environmental conditions, as well as misregistration and viewing differences between image observations, while remaining sensitive to small differences in scene content. Previous research has established predictive algorithms to overcome such natural changes between images, and these approaches have recently been extended to deal with space-varying changes. The challenges to effective change detection, however, are often exacerbated in an airborne imaging geometry because of the limitations in control over flight conditions and geometry, and some of the recent change detection algorithms have not been demonstrated in an airborne setting. We describe the airborne implementation and relative performance of such methods. We specifically attempt to characterize the effects of spatial misregistration on change detection performance, the efficacy of class-conditional predictors in an airborne setting, and extensions to the change detection approach, including physically motivated shadow transition classifiers and matched change filtering based on in-scene atmospheric normalization. PMID:18830283

  13. Tropospheric Emission Spectrometer and Airborne Emission Spectrometer

    NASA Technical Reports Server (NTRS)

    Glavich, T.; Beer, R.

    1996-01-01

    The Tropospheric Emission Spectrometer (TES) is an instrument being developed for the NASA Earth Observing System Chemistry Platform. TES will measure the distribution of ozone and its precursors in the lower atmosphere. The Airborne Emission Spectrometer (AES) is an aircraft precursor to TES. Applicable descriptions are given of instrument design, technology challenges, implementation and operations for both.

  14. Toolsets for Airborne Data Beta Release

    Atmospheric Science Data Center

    2014-09-17

    ... use, is now available. This beta-release is an intuitive user interface for variable selection across different airborne field studies ... we plan to add DISCOVER-AQ Colorado and SEAC4RS to the TAD database. We are currently focused on the in situ measurements and we want to ...

  15. Materiel requirements for airborne minefield detection system

    NASA Astrophysics Data System (ADS)

    Bertsche, Karl A.; Huegle, Helmut

    1997-07-01

    Within the concept study, Material Requirements for an airborne minefield detection systems (AMiDS) the following topics were investigated: (i) concept concerning airborne minefield detection technique sand equipment, (ii) verification analysis of the AMiDS requirements using simulation models and (iii) application concept of AMiDS with regard o tactics and military operations. In a first approach the problems concerning unmanned airborne minefield detection techniques within a well-defined area were considered. The complexity of unmanned airborne minefield detection is a result of the following parameters: mine types, mine deployment methods, tactical requirements, topography, weather conditions, and the size of the area to be searched. In order to perform the analysis, a simulation model was developed to analyze the usability of the proposed remote controlled air carriers. The basic flight patterns for the proposed air carriers, as well as the preparation efforts of military operations and benefits of such a system during combat support missions were investigated. The results of the conceptual study showed that a proposed remote controlled helicopter drone could meet the stated German MOD scanning requirements of mine barriers. Fixed wing air carriers were at a definite disadvantage because of their inherently large turning loops. By implementing a mine detection system like AMiDS minefields can be reconnoitered before an attack. It is therefore possible either to plan, how the minefields can be circumvented or where precisely breaching lanes through the mine barriers are to be cleared for the advancing force.

  16. Airborne UV Lidar for Forest Parameter Retrievals

    NASA Astrophysics Data System (ADS)

    Shang, Xiaoxia; Chazette, Patrick; Totems, Julien

    2016-06-01

    A full-waveform UV lidar performed airborne measurements over several temperate and tropical forests sites. The structural and ecological parameters (canopy height, quadratic mean canopy height and apparent foliage) were extracted from lidar backscattered profiles. The aboveground carbon and leaf area index are also evaluated from lidar measurements.

  17. Implementation of obstacle-avoidance control for an autonomous omni-directional mobile robot based on extension theory.

    PubMed

    Pai, Neng-Sheng; Hsieh, Hung-Hui; Lai, Yi-Chung

    2012-01-01

    The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system. PMID:23202029

  18. Implementation of Obstacle-Avoidance Control for an Autonomous Omni-Directional Mobile Robot Based on Extension Theory

    PubMed Central

    Pai, Neng-Sheng; Hsieh, Hung-Hui; Lai, Yi-Chung

    2012-01-01

    The paper demonstrates a following robot with omni-directional wheels, which is able to take action to avoid obstacles. The robot design is based on both fuzzy and extension theory. Fuzzy theory was applied to tune the PMW signal of the motor revolution, and correct path deviation issues encountered when the robot is moving. Extension theory was used to build a robot obstacle-avoidance model. Various mobile models were developed to handle different types of obstacles. The ultrasonic distance sensors mounted on the robot were used to estimate the distance to obstacles. If an obstacle is encountered, the correlation function is evaluated and the robot avoids the obstacle autonomously using the most appropriate mode. The effectiveness of the proposed approach was verified through several tracking experiments, which demonstrates the feasibility of a fuzzy path tracker as well as the extensible collision avoidance system. PMID:23202029

  19. Infrared airborne spectroradiometer survey results in the western Nevada area

    NASA Technical Reports Server (NTRS)

    Collins, W.; Chang, S. H.; Kuo, J. T.

    1982-01-01

    The Mark II airborne spectroradiometer system was flown over several geologic test sites in western Nevada. The infrared mineral absorption bands were observed and recorded for the first time using an airborne system with high spectral resolution in the 2.0 to 2.5 micron region. The data show that the hydrothermal alteration zone minerals, carbonates, and other minerals are clearly visible in the airborne survey mode. The finer spectral features that distinguish the various minerals with infrared bands are also clearly visible in the airborne survey data. Using specialized computer pattern recognition methods, it is possible to identify mineralogy and map alteration zones and lithologies by airborne spectroradiometer survey techniques.

  20. CALIOPE airborne CO{sub 2} DIAL (CACDI) system design

    SciTech Connect

    Mietz, D.; Archuleta, B.; Archuleta, J.

    1997-09-01

    Los Alamos National Laboratory is currently developing an airborne CO{sub 2} Differential Absorption Lidar (DIAL) system based on second generation technology demonstrated last summer at NTS. The CALIOPE Airborne CO{sub 2} DIAL (CACDI) system requirements have been compiled based on the mission objectives and SONDIAL model trade studies. Subsystem designs have been developed based on flow down from these system requirements, as well as experience gained from second generation ground tests and N-ABLE (Non-proliferation AirBorne Lidar Experiments) airborne experiments. This paper presents the CACDI mission objectives, system requirements, the current subsystem design, and provides an overview of the airborne experimental plan.