Science.gov

Sample records for aircraft collision avoidance

  1. 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.

  2. 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.

  3. Insect vision based collision avoidance system for Remotely Piloted Aircraft

    NASA Astrophysics Data System (ADS)

    Jaenisch, Holger; Handley, James; Bevilacqua, Andrew

    2012-06-01

    Remotely Piloted Aircraft (RPA) are designed to operate in many of the same areas as manned aircraft; however, the limited instantaneous field of regard (FOR) that RPA pilots have limits their ability to react quickly to nearby objects. This increases the danger of mid-air collisions and limits the ability of RPA's to operate in environments such as terminals or other high-traffic environments. We present an approach based on insect vision that increases awareness while keeping size, weight, and power consumption at a minimum. Insect eyes are not designed to gather the same level of information that human eyes do. We present a novel Data Model and dynamically updated look-up-table approach to interpret non-imaging direction sensing only detectors observing a higher resolution video image of the aerial field of regard. Our technique is a composite hybrid method combining a small cluster of low resolution cameras multiplexed into a single composite air picture which is re-imaged by an insect eye to provide real-time scene understanding and collision avoidance cues. We provide smart camera application examples from parachute deployment testing and micro unmanned aerial vehicle (UAV) full motion video (FMV).

  4. Apparatus for aiding a pilot in avoiding a midair collision between aircraft

    NASA Technical Reports Server (NTRS)

    Schrader, J. H.; Couch, R. H. (Inventor)

    1973-01-01

    An apparatus for aiding a pilot in avoiding a midair collision between aircraft is described. A protected aircraft carries a transmitter, a transponder, a receiver, and a data processor; and an intruding cooperating aircraft carries a transponder. The transmitter of the protected aircraft continuously transmits a signal to the transponders of all intruding aircraft. The transponder of each of the intruding aircraft adds the altitude of the intruding aircraft to the signal and transmits it back to the receiver of the protected aircraft. The receiver selects only the signal from the most hazardous intruding aircraft and applies it to the data processor. From this selected signal the data processor determines the closing velocity between the protected and intruding aircraft, the range between the two aircraft, their altitude difference and the time to a possible collision.

  5. 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.

  6. Collision Avoidance System

    NASA Technical Reports Server (NTRS)

    1991-01-01

    Ames Research Center teamed with the Federal Aviation Administration (FAA) to study human performance factors associated with the use of the Traffic Alert and Collision Avoidance system (TCAS II) in an operational environment. TCAS is designed to alert pilots of the presence of other aircraft in their vicinity, to identify and track those who could be a threat, and to recommend action to avoid a collision. Ames conducted three laboratory experiments. The first showed that pilots were able to use the TCAS II correctly in the allowable time. The second tested pilots' response to changes in the avoidance advisories, and the third examined pilots' reactions to alternative displays. After a 1989 congressional mandate, the FAA ruled that TCAS would be required on all passenger carrying aircraft (to be phased in completely by 1995).

  7. 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.

  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. 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.

  10. Vision-based on-board collision avoidance system for aircraft navigation

    NASA Astrophysics Data System (ADS)

    Candamo, Joshua; Kasturi, Rangachar; Goldgof, Dmitry; Sarkar, Sudeep

    2006-05-01

    This paper presents an automated classification system for images based on their visual complexity. The image complexity is approximated using a clutter measure, and parameters for processing it are dynamically chosen. The classification method is part of a vision-based collision avoidance system for low altitude aerial vehicles, intended to be used during search and rescue operations in urban settings. The collision avoidance system focuses on detecting thin obstacles such as wires and power lines. Automatic parameter selection for edge detection shows a 5% and 12% performance improvement for medium and heavily cluttered images respectively. The automatic classification enabled the algorithm to identify near invisible power lines in a 60 frame video footage from a SUAV helicopter crashing during a search and rescue mission at hurricane Katrina, without any manual intervention.

  11. 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.

  12. 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

  13. 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

  14. 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.

  15. 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.

  16. 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.

  17. Geosynchronous satellite collision avoidance

    NASA Technical Reports Server (NTRS)

    Fraser, W.

    1985-01-01

    The increases in the number of satellite systems, the growing dependency on these systems, and the potentially hazardous conjunctions in space, dictates careful management of satellite positions. The potential for satellite collision increases as more objects are placed in orbit. At geosynchronous altitudes active satellites maintain fixed longitudinal station-keeping control while inactive satellites and debris generally drift around the globe or oscillate about two geopotential stable points. Portions of the total objects in geosynchronous orbit are tracked by ground stations while a significant number of additional pieces of space debris regularly pass through geosynchronous orbit altitudes. The probability of an operational satellite colliding with another satellite or a piece of space debris will increase in the number of space objects, their sizes, and on-orbit lifetimes.

  18. 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.

  19. 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...

  20. Conspicuity of target lights: The influence of flash rate and brightness. [collision avoidance - visual discrimination/pilot performance, aircraft lights

    NASA Technical Reports Server (NTRS)

    Connors, M. M.

    1975-01-01

    The stimulus characteristics of lights that might aid a pilot to see and avoid, by alerting him to a potential threat were studied. The relative conspicuity of foveally equated, point-source, steady and flashing lights of several brightnesses, seen against a star background was examined. From the subject's viewpoint, these target lights could appear anywhere within a large (40 deg horizontal by 35 deg vertical) field of view. The lights appeared at random time intervals while the subject was periodically distracted by a simulated cockpit task. The results indicate that correct target detection increases and reaction time decreases with increased target intensity. Steady lights are missed more frequently and acquired more slowly than flashing lights, but no significant differences are found among the wide range of flash rates employed. The intensity of the light has a greater effect on both detection and reaction time to steady lights than to flashing lights. These results are compared with results of other researchers who used targets which appeared at fixed locations. The longest reaction times were recorded to lights which appeared either at the extremes or at the very center of the visual field.

  1. 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.

  2. Visually guided collision avoidance and collision achievement.

    PubMed

    Regan; Gray

    2000-03-01

    To survive on today's highways, a driver must have highly developed skills in visually guided collision avoidance. To play such games as cricket, tennis or baseball demands accurate, precise and reliable collision achievement. This review discusses evidence that some of these tasks are performed by predicting where an object will be at some sharply defined instant, several hundred milliseconds in the future, while other tasks are performed by utilizing the fact that some of our motor actions change what we see in ways that obey lawful relationships, and can therefore be learned. Several monocular and binocular visual correlates of the direction of an object's motion relative to the observer's head have been derived theoretically, along with visual correlates of the time to collision with an approaching object. Although laboratory psychophysics can identify putative neural mechanisms by showing which of the known correlates are processed by the human visual system independently of other visual information, it is only field research on, for example, driving, aviation and sport that can show which visual cues are actually used in these activities. This article reviews this research and describes a general psychophysically based rational approach to the design of such field studies.

  3. 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...

  4. 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... collision avoidance system installed in a U.S.-registered civil aircraft must be approved by...

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

    NASA Astrophysics Data System (ADS)

    Sahawneh, Laith Rasmi

    The increasing demand to integrate unmanned aircraft systems (UAS) into the national airspace is motivated by the rapid growth of the UAS industry, especially small UAS weighing less than 55 pounds. Their use however has been limited by the Federal Aviation Administration regulations due to collision risk they pose, safety and regulatory concerns. Therefore, before civil aviation authorities can approve routine UAS flight operations, UAS must be equipped with sense-and-avoid technology comparable to the see-and-avoid requirements for manned aircraft. The sense-and-avoid problem includes several important aspects including regulatory and system-level requirements, design specifications and performance standards, intruder detecting and tracking, collision risk assessment, and finally path planning and collision avoidance. In this dissertation, our primary focus is on developing an collision detection, risk assessment and avoidance framework that is computationally affordable and suitable to run on-board small UAS. To begin with, we address the minimum sensing range for the sense-and-avoid (SAA) system. We present an approximate close form analytical solution to compute the minimum sensing range to safely avoid an imminent collision. The approach is then demonstrated using a radar sensor prototype that achieves the required minimum sensing range. In the area of collision risk assessment and collision prediction, we present two approaches to estimate the collision risk of an encounter scenario. The first is a deterministic approach similar to those been developed for Traffic Alert and Collision Avoidance (TCAS) in manned aviation. We extend the approach to account for uncertainties of state estimates by deriving an analytic expression to propagate the error variance using Taylor series approximation. To address unanticipated intruders maneuvers, we propose an innovative probabilistic approach to quantify likely intruder trajectories and estimate the probability of

  7. 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.

  8. 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 ...

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

    NASA Astrophysics Data System (ADS)

    Sahawneh, Laith Rasmi

    The increasing demand to integrate unmanned aircraft systems (UAS) into the national airspace is motivated by the rapid growth of the UAS industry, especially small UAS weighing less than 55 pounds. Their use however has been limited by the Federal Aviation Administration regulations due to collision risk they pose, safety and regulatory concerns. Therefore, before civil aviation authorities can approve routine UAS flight operations, UAS must be equipped with sense-and-avoid technology comparable to the see-and-avoid requirements for manned aircraft. The sense-and-avoid problem includes several important aspects including regulatory and system-level requirements, design specifications and performance standards, intruder detecting and tracking, collision risk assessment, and finally path planning and collision avoidance. In this dissertation, our primary focus is on developing an collision detection, risk assessment and avoidance framework that is computationally affordable and suitable to run on-board small UAS. To begin with, we address the minimum sensing range for the sense-and-avoid (SAA) system. We present an approximate close form analytical solution to compute the minimum sensing range to safely avoid an imminent collision. The approach is then demonstrated using a radar sensor prototype that achieves the required minimum sensing range. In the area of collision risk assessment and collision prediction, we present two approaches to estimate the collision risk of an encounter scenario. The first is a deterministic approach similar to those been developed for Traffic Alert and Collision Avoidance (TCAS) in manned aviation. We extend the approach to account for uncertainties of state estimates by deriving an analytic expression to propagate the error variance using Taylor series approximation. To address unanticipated intruders maneuvers, we propose an innovative probabilistic approach to quantify likely intruder trajectories and estimate the probability of

  10. 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.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. Strategies for Pre-Emptive Mid-Air Collision Avoidance in Budgerigars

    PubMed Central

    Schiffner, Ingo; Srinivasan, Mandyam V.

    2016-01-01

    We have investigated how birds avoid mid-air collisions during head-on encounters. Trajectories of birds flying towards each other in a tunnel were recorded using high speed video cameras. Analysis and modelling of the data suggest two simple strategies for collision avoidance: (a) each bird veers to its right and (b) each bird changes its altitude relative to the other bird according to a preset preference. Both strategies suggest simple rules by which collisions can be avoided in head-on encounters by two agents, be they animals or machines. The findings are potentially applicable to the design of guidance algorithms for automated collision avoidance on aircraft. PMID:27680488

  17. 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.

  18. 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.

  19. 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.

  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. 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.

  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. 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.

  5. 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...

  6. 14 CFR 121.356 - Collision avoidance system.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Collision avoidance system. 121.356 Section... Collision avoidance system. Effective January 1, 2005, any airplane you operate under this part must be equipped and operated according to the following table: Collision Avoidance Systems If you operate...

  7. 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

  8. How Usability Testing Resulted in Improvements to Ground Collision Software for General Aviation: Improved Ground Collision Avoidance System (IGCAS)

    NASA Technical Reports Server (NTRS)

    Lamarr, Michael; Chinske, Chris; Williams, Ethan; Law, Cameron; Skoog, Mark; Sorokowski, Paul

    2016-01-01

    The NASA improved Ground Collision Avoidance System (iGCAS) team conducted an onsite usability study at Experimental Aircraft Association (EAA) Air Venture in Oshkosh, Wisconsin from July 19 through July 26, 2015. EAA Air Venture had approximately 550,000 attendees from which the sample pool of pilots were selected. The objectives of this study were to assess the overall appropriateness and acceptability of iGCAS as a warning system for General Aviation aircraft, usability of the iGCAS displays and audio cues, test terrain avoidance characteristics, performance, functionality, pilot response time, and correlate terrain avoidance performance and pilot response time data.

  9. 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

  10. 14 CFR 125.224 - Collision avoidance system.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Collision avoidance system. 125.224 Section... Requirements § 125.224 Collision avoidance system. Effective January 1, 2005, any airplane you operate under this part 125 must be equipped and operated according to the following table: Collision...

  11. 14 CFR 129.18 - Collision avoidance system.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Collision avoidance system. 129.18 Section... § 129.18 Collision avoidance system. Effective January 1, 2005, any airplane you, as a foreign air... Avoidance Systems If you operate in the United States any . . . Then you must operate that airplane with:...

  12. 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.

  13. 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.

  14. 14 CFR 129.18 - Collision avoidance system.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... meets TSO C-118, or a later version, or(2) A collision avoidance system equivalent to excluding any TSO C-118, or a later version, or (3) A collision avoidance system and Mode S transponder that meet...) Turbine-powered airplane of more than 33,000 pounds maximum certificated takeoff weight (1) An...

  15. 14 CFR 121.356 - Collision avoidance system.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... version, or(2) A collision avoidance system equivalent to has a TSO C-118, or a later version, or (3) A... C-118, or a later version, or(2) A collision avoidance system equivalent to maximum TSO C-118, or a...— Then you must operate that airplane with— (a) Turbine-powered airplane of more than 33,000...

  16. 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..., DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.65 Collision avoidance analysis. (a) For a permitted flight with a planned maximum altitude greater than 150 kilometers,...

  17. 14 CFR 437.65 - 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. 437.65 Section 437.65 Aeronautics and Space COMMERCIAL SPACE TRANSPORTATION, FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.65 Collision avoidance analysis. (a) For a permitted flight with...

  18. 14 CFR 437.65 - 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. 437.65 Section 437.65 Aeronautics and Space COMMERCIAL SPACE TRANSPORTATION, FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.65 Collision avoidance analysis. (a) For a permitted flight with...

  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, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.65 Collision avoidance analysis. (a) For a permitted flight with...

  20. 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.

  1. 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

  2. 14 CFR 437.65 - 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. 437.65 Section 437.65 Aeronautics and Space COMMERCIAL SPACE TRANSPORTATION, FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF TRANSPORTATION LICENSING EXPERIMENTAL PERMITS Safety Requirements § 437.65 Collision...

  3. Real-time collision avoidance in space: the GETEX experiment

    NASA Astrophysics Data System (ADS)

    Freund, Eckhard; Rossmann, Juergen; Schluse, Michael

    2000-10-01

    Intelligent autonomous robotic systems require efficient safety components to assure system reliability during the entire operation. Especially if commanded over long distances, the robotic system must be able to guarantee the planning of safe and collision free movements independently. Therefore the IRF developed a new collision avoidance methodology satisfying the needs of autonomous safety systems considering the dynamics of the robots to protect. To do this, the collision avoidance system cyclically calculates the actual collision danger of the robots with respect to all static and dynamic obstacles in the environment. If a robot gets in collision danger the methodology immediately starts an evasive action to avoid the collision and guides the robot around the obstacle to its target position. This evasive action is calculated in real-time in a mathematically exact way by solving a quadratic convex optimization problem. The secondary conditions of this optimization problem include the potential collision danger of the robots kinematic chain including all temporarily attached grippers and objects and the dynamic constraints of the robots. The result of the optimization procedure are joint accelerations to apply to prevent the robot from colliding and to guide it to its target position. This methodology has been tested very successfully during the Japanese/German space robot project GETEX in April 1999. During the mission, the collision avoidance system successfully protected the free flying Japanese robot ERA on board the satellite ETS-VII at all times. The experiments showed, that the developed system is fully capable of ensuring the safety of such autonomous robotic systems by actively preventing collisions and generating evasive actions in cases of collision danger.

  4. A survey of autonomous vision-based See and Avoid for Unmanned Aircraft Systems

    NASA Astrophysics Data System (ADS)

    Mcfadyen, Aaron; Mejias, Luis

    2016-01-01

    This paper provides a comprehensive review of the vision-based See and Avoid problem for unmanned aircraft. The unique problem environment and associated constraints are detailed, followed by an in-depth analysis of visual sensing limitations. In light of such detection and estimation constraints, relevant human, aircraft and robot collision avoidance concepts are then compared from a decision and control perspective. Remarks on system evaluation and certification are also included to provide a holistic review approach. The intention of this work is to clarify common misconceptions, realistically bound feasible design expectations and offer new research directions. It is hoped that this paper will help us to unify design efforts across the aerospace and robotics communities.

  5. 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.

  6. 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.

  7. 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.

  8. 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

  9. 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.

  10. 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.

  11. 14 CFR 125.224 - Collision avoidance system.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... than 33,000 pounds maximum certificated takeoff weight (1) TCAS I that meets TSO C-118, or a later version, or(2) A collision avoidance system equivalent to TSO C-118, or a later version, or (1)(3) A... more than 33,000 pounds maximum certificated takeoff weight (1) An appropriate class of Mode...

  12. Laser beacon system for aircraft collision hazard determination.

    PubMed

    Miles, R B

    1980-07-01

    A laser beacon collision hazard determination system is capable of simultaneously determining range, bearing, and heading of threat aircraft. Calculations demonstrate that threat aircraft may be observed at > 10 km under good visibility conditions. When the visibility is limited to 5.6 km (3 nautical miles), the shortest possible warning time for aircraft below 3000 m (10,000 ft) can be > 15 sec. A wide variety of detection systems may be chosen based on cost, detection range, and sophistication. Traffic saturation is not a problem since closer aircraft produce easily distinguishable signals so traffic may be prioritized. Preliminary tests demonstrate that accurate range measurements are possible under daylight conditions.

  13. Mars Reconnaissance Orbiter Aerobraking Daily Operations and Collision Avoidance

    NASA Technical Reports Server (NTRS)

    Long, Stacia M.; You, Tung-Han; Halsell, C. Allen; Bhat, Ramachand S.; Demcak, Stuart W.; Graat, Eric J.; Higa, Earl S.; Highsmith, Dolan E.; Mottinger, Neil A.; Jah, Moriba K.

    2007-01-01

    The Mars Reconnaissance Orbiter reached Mars on March 10, 2006 and performed a Mars orbit insertion maneuver of 1 km/s to enter into a large elliptical orbit. Three weeks later, aerobraking operations began and lasted about five months. Aerobraking utilized the atmospheric drag to reduce the large elliptical orbit into a smaller, near circular orbit. At the time of MRO aerobraking, there were three other operational spacecraft orbiting Mars and the navigation team had to minimize the possibility of a collision. This paper describes the daily operations of the MRO navigation team during this time as well as the collision avoidance strategy development and implementation.

  14. Radar sensors for automotive collision warning and avoidance

    NASA Astrophysics Data System (ADS)

    Grosch, Theodore O.

    1995-06-01

    Many different sensors and systems, from sonar to machine vision, have been installed on ground vehicles and automobiles. This paper describes the use of radar to improve driving safety and convenience. Radars are valuable sensors for all weather operation and experiments with automotive radar sensors have been conducted for over 40 years. This paper shows the advantages and disadvantages of applying microwave and millimeter wave radar to obstacle detection and collision avoidance in a roadway environment. The performance differences between avoidance and warning sensors are discussed and a problem set is devised for a typical forward-looking collision warning application. Various radar systems have been applied to this problem that include pulse and continuous wave transceivers. These system types are evaluated as to their suitability as a collision warning sensor. The various possible solutions are reduced to a small number of candidate radar types, and one such radar was chosen for full scale development. A low cost frequency modulated/continuous wave radar system was developed for automotive collision warning. The radar is attached to the sun visor inside the vehicle, and has been in operation for over four years. The radar monitors the range and range-rate of other vehicles and obstacles, and warns the driver when it perceives that a dangerous situation is developing. A system description and measured data is presented that shows how the 24.075 to 24.175 GHz band can be used for an adequate early warning system.

  15. 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

  16. 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.

  17. 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

  18. 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.

  19. 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.

  20. 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.

  1. 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

  2. Collision avoidance of two general robot manipulators by minimum delay time

    SciTech Connect

    Chang, C,; Chung, M.J.; Lee, B.H.

    1994-03-01

    A simple time delay method for avoiding collisions between two general robot arms is proposed. Links of the robots are approximated by polyhedra and the danger of collision between two robots is expressed by distance functions defined between the robots. The collision map scheme, which can describe collisions between two robots effectively, is adopted. The minimum delay time value needed for collision avoidance is obtained by a simple procedure of following the boundary contour of collision region on a collision map. To demonstrate the effectiveness of the proposed time delay method, a computer simulation study is shown where a collision is likely to occur realistically. 11 refs.

  3. Ellipsoidal Guaranteed Estimation Method for Satellite Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Kim, Y.; Lee, J.; Ovseevich, A.

    2012-01-01

    The article represents a new guaranteed approach to determine a small area of deviations around Earth orbiting satellite nominal Keplerian orbit position, caused by a set of acting external disturbing forces and initial conditions. Only very restricted information is assumed about the disturbances: maximum values with no assumptions about the law of their distribution of probability density. The area of satellite deviations achievability is approximated by a state vector ellipsoid that can include satellite position and the velocity as the vector components. Mathematical equations that allow one to find the ellipsoid are developed on the base of linear Euler-Hill equations of satellite orbital motion. The approach can be considered and applied to various problems of satellite collision avoidance with other satellite or space debris, as well as for establishing potentially safe space traffic control norms. In particular, in CSA it is considering for planning collision avoidance manoeuvres of Earth observation satellite family RADARSAT, SCISAT and newly developing satellites. Originally general approach of ellipsoidal estimation was developed by Russian scientist academician .F. Chernousko. Considered in the article problem was studied by his followers and some of them participated in the method development together with the founder.

  4. Farm equipment collision avoidance using only homodyne radar

    NASA Astrophysics Data System (ADS)

    Greneker, Eugene F., III; Geisheimer, Jonathan L.; Rausch, Ekkehart O.

    2000-07-01

    GTRI is conducting research on the Safety Warning System (SWS), an off-the-shelf highway safety system that contains a 24 GHz motorist communications system and 24 GHz homodyne radar. This system is being evaluated to determine if it can reduce these types of farm equipment accidents. These research being conducted by GTRI on farm equipment accidents is part of a more comprehensive Federal Highway Administration research project being conducted on vehicular safety technology. The goal of this research, as it relates to farm equipment safety, is to determine if the SWS system can be used to warn both the approaching driver and farm equipment operator. Specifically, can the homodyne radar be used to warn the farm equipment driver of a motorist's approach and can the approaching driver equipped with an SWS receiver be warned of the farm equipment's presence in time to avoid a collision.

  5. ISAWARE "Increasing Safety through collision Avoidance WARning intEgration"

    NASA Astrophysics Data System (ADS)

    Salvado Neves, José Antó L.; Körtge, N.; Machel, G.

    2002-07-01

    This paper describes the work carried out by a composition of several European aerospace companies (airframers, a helicopter manufacturer, avionics suppliers, airlines), one research laboratory and one university within the ISAWARE project. It includes a presentation of the project's objectives, its strategic aspects, high-level technical description, and the detail of the results and conclusions achieved. ISAWARE (Increasing Safety through collision Avoidance WARning intEgration) is a project partly funded by the European Community, with the objective of conducting research into the potential improvements to flight safety that can be achieved by providing the pilot with complete predictive situation awareness during all phases of the flight. For this purpose an ISAS (Integrated Situational Awareness System) concept was developed. As it would not be possible to demonstrate all specified ISAS functionality in a simulation environment, selected ones were incorporated into a demonstrator and tested with pilots-in-the-loop on a moving base simulator.

  6. Unifying Time to Contact Estimation and Collision Avoidance across Species

    PubMed Central

    Keil, Matthias S.; López-Moliner, Joan

    2012-01-01

    The -function and the -function are phenomenological models that are widely used in the context of timing interceptive actions and collision avoidance, respectively. Both models were previously considered to be unrelated to each other: is a decreasing function that provides an estimation of time-to-contact (ttc) in the early phase of an object approach; in contrast, has a maximum before ttc. Furthermore, it is not clear how both functions could be implemented at the neuronal level in a biophysically plausible fashion. Here we propose a new framework – the corrected modified Tau function – capable of predicting both -type (“”) and -type (“”) responses. The outstanding property of our new framework is its resilience to noise. We show that can be derived from a firing rate equation, and, as , serves to describe the response curves of collision sensitive neurons. Furthermore, we show that predicts the psychophysical performance of subjects determining ttc. Our new framework is thus validated successfully against published and novel experimental data. Within the framework, links between -type and -type neurons are established. Therefore, it could possibly serve as a model for explaining the co-occurrence of such neurons in the brain. PMID:22915999

  7. 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.

  8. 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.

  9. Analysis of Automated Aircraft Conflict Resolution and Weather Avoidance

    NASA Technical Reports Server (NTRS)

    Love, John F.; Chan, William N.; Lee, Chu Han

    2009-01-01

    This paper describes an analysis of using trajectory-based automation to resolve both aircraft and weather constraints for near-term air traffic management decision making. The auto resolution algorithm developed and tested at NASA-Ames to resolve aircraft to aircraft conflicts has been modified to mitigate convective weather constraints. Modifications include adding information about the size of a gap between weather constraints to the routing solution. Routes that traverse gaps that are smaller than a specific size are not used. An evaluation of the performance of the modified autoresolver to resolve both conflicts with aircraft and weather was performed. Integration with the Center-TRACON Traffic Management System was completed to evaluate the effect of weather routing on schedule delays.

  10. Detecting and avoiding collisions between two robot arms in a common workspace

    NASA Technical Reports Server (NTRS)

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

    1988-01-01

    A novel approach to collision detection is presented and methods of avoiding collisions are discussed. Collisions are assumed to be between the wrists of two robots (which correspond to the upper three links of PUMA manipulators). A sphere model for the wrist is employed because it is rotationally invariant and computationally efficient. The collision detection algorithm involves obtaining the potential collision path segments along the straight line trajectories without considering the motion characteristics, and mapping the potential collision segment information into the time domain to obtain the space-time collisions.

  11. 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.

  12. 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.

  13. 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.

  14. 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.

  15. 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.

  16. Intelligent Local Avoided Collision (iLAC) MAC Protocol for Very High Speed Wireless Network

    NASA Astrophysics Data System (ADS)

    Hieu, Dinh Chi; Masuda, Akeo; Rabarijaona, Verotiana Hanitriniala; Shimamoto, Shigeru

    Future wireless communication systems aim at very high data rates. As the medium access control (MAC) protocol plays the central role in determining the overall performance of the wireless system, designing a suitable MAC protocol is critical to fully exploit the benefit of high speed transmission that the physical layer (PHY) offers. In the latest 802.11n standard [2], the problem of long overhead has been addressed adequately but the issue of excessive colliding transmissions, especially in congested situation, remains untouched. The procedure of setting the backoff value is the heart of the 802.11 distributed coordination function (DCF) to avoid collision in which each station makes its own decision on how to avoid collision in the next transmission. However, collision avoidance is a problem that can not be solved by a single station. In this paper, we introduce a new MAC protocol called Intelligent Local Avoided Collision (iLAC) that redefines individual rationality in choosing the backoff counter value to avoid a colliding transmission. The distinguishing feature of iLAC is that it fundamentally changes this decision making process from collision avoidance to collaborative collision prevention. As a result, stations can avoid colliding transmissions with much greater precision. Analytical solution confirms the validity of this proposal and simulation results show that the proposed algorithm outperforms the conventional algorithms by a large margin.

  17. 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

  18. 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

  19. 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.

  20. 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

  1. Experimental characterization of collision avoidance in pedestrian dynamics

    NASA Astrophysics Data System (ADS)

    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.

  2. 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

  3. 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.

  4. Surrounding sensing and obstacle predicting for vehicle collision avoidance

    NASA Astrophysics Data System (ADS)

    Tu, Dawei; Chen, Jing; Tao, Jing

    1998-08-01

    A basic concept of an advanced safety vehicle, which will emerge in the next century, is introduced in this paper, with the emphasis on the active obstacle avoidance system. A prototype system is put forward, in which a scanning laser radar is used for detecting ahead objects, the surrounding information can be understood from the radar data, and therefore once the serious situation emerges, the drive will be warned, or the auto-control system will operate according to the analysis of the surrounding condition.

  5. 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

  6. 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

  7. 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.

  8. 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.

  9. 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.

  10. 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.

  11. Collision warning and avoidance considerations for the Space Shuttle and Space Station Freedom

    NASA Technical Reports Server (NTRS)

    Vilas, Faith; Collins, Michael F.; Kramer, Paul C.; Arndt, G. Dickey; Suddath, Jerry H.

    1990-01-01

    The increasing hazard of manmade debris in low earth orbit (LEO) has focused attention on the requirement for collision detection, warning and avoidance systems to be developed in order to protect manned (and unmanned) spacecraft. With the number of debris objects expected to be increasing with time, the impact hazard will also be increasing. The safety of the Space Shuttle and the Space Station Freedom from destructive or catastrophic collision resulting from the hypervelocity impact of a LEO object is of increasing concern to NASA. A number of approaches to this problem are in effect or under development. The collision avoidance procedures now in effect for the Shuttle are described, and detection and avoidance procedures presently being developed at the Johnson Space Center for the Space Station Freedom are discussed.

  12. 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

  13. 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

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

    PubMed

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

    2012-11-29

    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.

  15. 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.

  16. 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

  17. Helicopter collision avoidance and brown-out recovery with HELLAS

    NASA Astrophysics Data System (ADS)

    Seidel, Christian; Schwartz, Ingo; Kielhorn, Peter

    2008-10-01

    EADS Germany is the world market leader in commercial and military Helicopter Laser Radar (HELLAS) Obstacle Warning Systems. The HELLAS-Warning System has been introduced into the market in 2000, is in service at German Federal Police and Royal Thai Air Force. HELLAS was also successfully evaluated by the Foreign Comparative Test Program (FCT) of the U.S. Army and other governmental agencies. Currently the successor system for military applications, HELLAS-Awareness, is in qualification phase. It will have extended sensor performance, enhanced real-time data processing capabilities and advanced human machine interface (HMI) features. Flight tests on NH90 helicopter have been successfully performed. Helicopter series integration is scheduled to begin from 2009. We will give an outline of the new sensor unit concerning detection technology and helicopter integration aspects. The system provides a widespread field of view with additional dynamic line of sight steering and a large detection range in combination with a high frame rate. We will show the HMI representations. This HELLAS system is the basis for a 3 dimensional see-and-remember-system for brown-out recovery. When landing in sandy or dusty areas the downwash of the helicopter rotor causes clouds of visually-restrictive material that can completely obstruct the pilot's outside reference, resulting in a complete loss of situational awareness and spatial orientation of the pilot which can end up in total loss of aircraft control and dangerous accidents. The brown-out recovery system presented here creates an augmented enhanced synthetic vision of the landing area with the surrounding which is based on HELLAS range image data as well as altimeter and inertial reference information.

  18. Modeling Aircraft Position and Conservatively Calculating Airspace Violations for an Autonomous Collision Awareness System for Unmanned Aerial Systems

    NASA Astrophysics Data System (ADS)

    Ueunten, Kevin K.

    With the scheduled 30 September 2015 integration of Unmanned Aerial System (UAS) into the national airspace, the Federal Aviation Administration (FAA) is concerned with UAS capabilities to sense and avoid conflicts. Since the operator is outside the cockpit, the proposed collision awareness plugin (CAPlugin), based on probability and error propagation, conservatively predicts potential conflicts with other aircraft and airspaces, thus increasing the operator's situational awareness. The conflict predictions are calculated using a forward state estimator (FSE) and a conflict calculator. Predicting an aircraft's position, modeled as a mixed Gaussian distribution, is the FSE's responsibility. Furthermore, the FSE supports aircraft engaged in the following three flight modes: free flight, flight path following and orbits. The conflict calculator uses the FSE result to calculate the conflict probability between an aircraft and airspace or another aircraft. Finally, the CAPlugin determines the highest conflict probability and warns the operator. In addition to discussing the FSE free flight, FSE orbit and the airspace conflict calculator, this thesis describes how each algorithm is implemented and tested. Lastly two simulations demonstrates the CAPlugin's capabilities.

  19. A Radio System for Avoiding Illuminating Aircraft with a Laser Beam

    NASA Astrophysics Data System (ADS)

    Coles, W. A.; Murphy, T. W.; Melser, J. F.; Tu, J. K.; White, G. A.; Kassabian, K. H.; Bales, K.; Baumgartner, B. B.

    2012-01-01

    When scientific experiments require transmission of powerful laser or radio beams through the atmosphere, the Federal Aviation Administration (FAA) requires that precautions be taken to avoid inadvertent illumination of aircraft. At present, the FAA requires that laser operators use human spotters to protect against accidental illumination. Here, we describe a simple, inexpensive, and highly reliable electronic system for detecting aircraft entering the vicinity of a laser beam that makes use of the air traffic control (ATC) radio transponders required on most aircraft. The radio system uses two antennas, both aligned with the laser beam. One antenna has a broad beam and the other has a narrow beam. The ratio of the transponder power received in the narrow beam to that received in the broad beam gives a measure of the angular distance of the aircraft from the axis that is independent of the range or the transmitter power. This ratio is easily measured and can be used to shutter the laser when the aircraft is too close to the beam. Comparisons of prototype systems operating at both the Apache Point and W. M. Keck Observatory with an FAA database indicate successful identification of commercial airplanes passing near the telescope boresight.

  20. Gaze movements and spatial working memory in collision avoidance: a traffic intersection task

    PubMed Central

    Hardiess, Gregor; Hansmann-Roth, Sabrina; Mallot, Hanspeter A.

    2013-01-01

    Street crossing under traffic is an everyday activity including collision detection as well as avoidance of objects in the path of motion. Such tasks demand extraction and representation of spatio-temporal information about relevant obstacles in an optimized format. Relevant task information is extracted visually by the use of gaze movements and represented in spatial working memory. In a virtual reality traffic intersection task, subjects are confronted with a two-lane intersection where cars are appearing with different frequencies, corresponding to high and low traffic densities. Under free observation and exploration of the scenery (using unrestricted eye and head movements) the overall task for the subjects was to predict the potential-of-collision (POC) of the cars or to adjust an adequate driving speed in order to cross the intersection without collision (i.e., to find the free space for crossing). In a series of experiments, gaze movement parameters, task performance, and the representation of car positions within working memory at distinct time points were assessed in normal subjects as well as in neurological patients suffering from homonymous hemianopia. In the following, we review the findings of these experiments together with other studies and provide a new perspective of the role of gaze behavior and spatial memory in collision detection and avoidance, focusing on the following questions: (1) which sensory variables can be identified supporting adequate collision detection? (2) How do gaze movements and working memory contribute to collision avoidance when multiple moving objects are present and (3) how do they correlate with task performance? (4) How do patients with homonymous visual field defects (HVFDs) use gaze movements and working memory to compensate for visual field loss? In conclusion, we extend the theory of collision detection and avoidance in the case of multiple moving objects and provide a new perspective on the combined operation of

  1. Gaze movements and spatial working memory in collision avoidance: a traffic intersection task.

    PubMed

    Hardiess, Gregor; Hansmann-Roth, Sabrina; Mallot, Hanspeter A

    2013-01-01

    Street crossing under traffic is an everyday activity including collision detection as well as avoidance of objects in the path of motion. Such tasks demand extraction and representation of spatio-temporal information about relevant obstacles in an optimized format. Relevant task information is extracted visually by the use of gaze movements and represented in spatial working memory. In a virtual reality traffic intersection task, subjects are confronted with a two-lane intersection where cars are appearing with different frequencies, corresponding to high and low traffic densities. Under free observation and exploration of the scenery (using unrestricted eye and head movements) the overall task for the subjects was to predict the potential-of-collision (POC) of the cars or to adjust an adequate driving speed in order to cross the intersection without collision (i.e., to find the free space for crossing). In a series of experiments, gaze movement parameters, task performance, and the representation of car positions within working memory at distinct time points were assessed in normal subjects as well as in neurological patients suffering from homonymous hemianopia. In the following, we review the findings of these experiments together with other studies and provide a new perspective of the role of gaze behavior and spatial memory in collision detection and avoidance, focusing on the following questions: (1) which sensory variables can be identified supporting adequate collision detection? (2) How do gaze movements and working memory contribute to collision avoidance when multiple moving objects are present and (3) how do they correlate with task performance? (4) How do patients with homonymous visual field defects (HVFDs) use gaze movements and working memory to compensate for visual field loss? In conclusion, we extend the theory of collision detection and avoidance in the case of multiple moving objects and provide a new perspective on the combined operation of

  2. 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.

  3. 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.

  4. Five- to Twelve-Year-Olds' Control of Movement Velocity in a Dynamic Collision Avoidance Task

    ERIC Educational Resources Information Center

    te Velde, Arenda F.; van der Kamp, John; Savelsbergh, Geert J. P.

    2008-01-01

    We investigated age-related differences in a dynamic collision avoidance task that bears a resemblance to pedestrian road crossing. Five- to seven-year-old children, ten- to twelve-year-old children and adults were instructed to push a doll across a small-scale road between two toy vehicles, which approached one after the other. We analysed the…

  5. 33 CFR 83.08 - Action to avoid collision (Rule 8).

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... passing at safe distance. Action taken to avoid collision with another vessel shall be such as to result in passing at a safe distance. The effectiveness of the action shall be carefully checked until the other vessel is finally past and clear. (e) Slackening of vessel speed; stopping or reversing means...

  6. 33 CFR 83.08 - Action to avoid collision (Rule 8).

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... passing at safe distance. Action taken to avoid collision with another vessel shall be such as to result in passing at a safe distance. The effectiveness of the action shall be carefully checked until the other vessel is finally past and clear. (e) Slackening of vessel speed; stopping or reversing means...

  7. 33 CFR 83.08 - Action to avoid collision (Rule 8).

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... passing at safe distance. Action taken to avoid collision with another vessel shall be such as to result in passing at a safe distance. The effectiveness of the action shall be carefully checked until the other vessel is finally past and clear. (e) Slackening of vessel speed; stopping or reversing means...

  8. Aircraft Trajectory Optimization and Contrails Avoidance in the Presence of Winds

    NASA Technical Reports Server (NTRS)

    Ng, Hok K.; Chen, Neil Y.

    2010-01-01

    There are indications that persistent contrails can lead to adverse climate change, although the complete effect on climate forcing is still uncertain. A flight trajectory optimization algorithm with fuel and contrails models, which develops alternative flight paths, provides policy makers the necessary data to make tradeoffs between persistent contrails mitigation and aircraft fuel consumption. This study develops an algorithm that calculates wind-optimal trajectories for cruising aircraft while avoiding the regions of airspace prone to persistent contrails formation. The optimal trajectories are developed by solving a non-linear optimal control problem with path constraints. The regions of airspace favorable to persistent contrails formation are modeled as penalty areas that aircraft should avoid and are adjustable. The tradeoff between persistent contrails formation and additional fuel consumption is investigated, with and without altitude optimization, for 12 city-pairs in the continental United States. Without altitude optimization, the reduction in contrail travel times is gradual with increase in total fuel consumption. When altitude is optimized, a two percent increase in total fuel consumption can reduce the total travel times through contrail regions by more than six times. Allowing further increase in fuel consumption does not seem to result in proportionate decrease in contrail travel times.

  9. 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.

  10. 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.

  11. A method for evaluating collision avoidance systems using naturalistic driving data.

    PubMed

    McLaughlin, Shane B; Hankey, Jonathan M; Dingus, Thomas A

    2008-01-01

    This paper describes a method for use in evaluating the performance of collision avoidance systems (CASs) using naturalistic driving data collected during real crashes and near-crashes. The method avoids evaluation of algorithms against specific assumptions of reaction times or response inputs. It minimizes interpretation of the involved driver's perception and response levels which permits generalizing findings beyond the performance of the involved driver. The method involves four parts: input of naturalistic crash data into alert models to determine when alerts would occur, kinematic analysis to determine when different responses would be required to avoid collision, translation of the time available into an estimate of the percentage of the population able to avoid the specific event, and an evaluation of the frequency of alerts that would be generated by the CASs. The method permits comparison of CAS performance and provides guidance for CAS development. The method is described primarily in the context of Forward Collision Warning CASs, but is applicable to other CAS types.

  12. CAESAR, French Probative Public Service for In-Orbit Collision Avoidance

    NASA Astrophysics Data System (ADS)

    Laporte, Francois; Moury, Monique

    2013-08-01

    This paper starts by describing the conjunction analysis which has to be performed using CSM data provided by JSpOC. This description not only demonstrates that Collision Avoidance is a 2-step process (close approach detection followed by risk evaluation for collision avoidance decision) but also leads to the conclusion that there is a need for Middle Man role. After describing the Middle Man concept, it introduces the French response CAESAR and the need for collaborative work environment which is implied by Middle Man concept. It includes a description of the environment put in place for CAESAR (secure website and dedicated tools), the content of the service, the condition for the distribution of the CNES software JAC and the advantages for subscribers.

  13. Preliminary design of the collision avoidance device on the fiber positioning units of LAMOST

    NASA Astrophysics Data System (ADS)

    Zhai, Chao; Zhou, Zhikun; Jin, Yi; Hu, Hongzhuan

    2006-06-01

    This paper constructed two protecting methods of diminishing the collision during the opposite movement of the adjoining fiber unit in the LAMOST Positioning System. Auto-positioning mode is applied to every fiber positioning unit of LAMOST Positioning System. The observing region is a circular region with the diameter of 33 mm. To ensure the whole focal plane is covered by the observing region of 4000 fiber units, there must be superposition of observing region of each adjoining fiber units, which induced the collision of adjoining fiber holder in the movement process and resulted in the failing of orientation and mangling of structure. The mode of avoiding the collision comprises two methods. One is hard protected mode, according to this method sensors are installed at each fiber positioning unit, then the motion of the fiber units will be stopped immediately when the adjoining fiber units close to a dangerous distance. The other is soft protected mode, which deliberates every situation of software from the observation programming to the motion path designing for avoiding the collision. This paper expounds the designing and achievement of these two methods mentioned formally.

  14. Aircraft

    DOEpatents

    Hibbs, B.D.; Lissaman, P.B.S.; Morgan, W.R.; Radkey, R.L.

    1998-09-22

    This disclosure provides a solar rechargeable aircraft that is inexpensive to produce, is steerable, and can remain airborne almost indefinitely. The preferred aircraft is a span-loaded flying wing, having no fuselage or rudder. Travelling at relatively slow speeds, and having a two-hundred foot wingspan that mounts photovoltaic cells on most all of the wing`s top surface, the aircraft uses only differential thrust of its eight propellers to turn. Each of five sections of the wing has one or more engines and photovoltaic arrays, and produces its own lift independent of the other sections, to avoid loading them. Five two-sided photovoltaic arrays, in all, are mounted on the wing, and receive photovoltaic energy both incident on top of the wing, and which is incident also from below, through a bottom, transparent surface. The aircraft is capable of a top speed of about ninety miles per hour, which enables the aircraft to attain and can continuously maintain altitudes of up to sixty-five thousand feet. Regenerative fuel cells in the wing store excess electricity for use at night, such that the aircraft can sustain its elevation indefinitely. A main spar of the wing doubles as a pressure vessel that houses hydrogen and oxygen gases for use in the regenerative fuel cell. The aircraft has a wide variety of applications, which include weather monitoring and atmospheric testing, communications, surveillance, and other applications as well. 31 figs.

  15. Aircraft

    DOEpatents

    Hibbs, Bart D.; Lissaman, Peter B. S.; Morgan, Walter R.; Radkey, Robert L.

    1998-01-01

    This disclosure provides a solar rechargeable aircraft that is inexpensive to produce, is steerable, and can remain airborne almost indefinitely. The preferred aircraft is a span-loaded flying wing, having no fuselage or rudder. Travelling at relatively slow speeds, and having a two-hundred foot wingspan that mounts photovoltaic cells on most all of the wing's top surface, the aircraft uses only differential thrust of its eight propellers to turn. Each of five sections of the wing has one or more engines and photovoltaic arrays, and produces its own lift independent of the other sections, to avoid loading them. Five two-sided photovoltaic arrays, in all, are mounted on the wing, and receive photovoltaic energy both incident on top of the wing, and which is incident also from below, through a bottom, transparent surface. The aircraft is capable of a top speed of about ninety miles per hour, which enables the aircraft to attain and can continuously maintain altitudes of up to sixty-five thousand feet. Regenerative fuel cells in the wing store excess electricity for use at night, such that the aircraft can sustain its elevation indefinitely. A main spar of the wing doubles as a pressure vessel that houses hydrogen and oxygen gasses for use in the regenerative fuel cell. The aircraft has a wide variety of applications, which include weather monitoring and atmospheric testing, communications, surveillance, and other applications as well.

  16. 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

  17. Travel path conditions dictate the manner in which individuals avoid collisions.

    PubMed

    Cinelli, Michael E; Patla, Aftab E

    2007-07-01

    The ability to perceive the motion of approaching objects and to make appropriate adjustments to avoid collisions is an essential component of safe locomotion through the environment. No previous study has looked at actual behavioural responses in a realistic collision avoidance task. We investigated individuals' collision avoidance behaviour with an approaching object in order to understand the visual information used to accomplish the task. We found that when individuals were walking towards a goal without any restrictions, a change in travel path occurred at the same time, independent of the object's approach velocity. However, the lateral rate of change in the travel path was significantly slower for the slower approach velocity. We found that when a restriction was present along the travel path, individuals were exposed to the object's properties for longer and a change in travel path occurred later for slowest approaching velocities than for the fastest approaching velocities. The results suggest that individuals are capable of determining TTC from an approaching object during actual self-motion, but the motor parameter it modulates is different for different circumstances.

  18. 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.

  19. 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.

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

    PubMed

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

    2015-11-01

    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

  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. 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.

  3. 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.

  4. 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.

  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. 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

  7. Drivers' eye movements as a function of collision avoidance warning conditions in red light running scenarios.

    PubMed

    Zhang, Yuting; Yan, Xuedong; Li, Xiaomeng; Xue, Qingwan

    2016-11-01

    The intersection collision avoidance warning systems (ICAWSs) have substantial potentials in improving driving performance and reducing the number and severity of intersection collisions, through helping drivers timely detect hazardous conflicting vehicles in precrash scenarios. However, the influences of ICAWS on drivers' visual performance have barely been discussed. This study focuses on exploring the patterns in drivers' eye movements as a function of ICAWS's warning conditions in red light running scenarios based on a driving simulation experiment. Two types of speech warning conditions including warning timings (varied form 2.5s to 5.5s) and directional information (with or without) are examined, and the no-warning condition is the baseline. The results revealed that more subjects would be likely to benefit from the ICWAS under the earlier warning timings. The warning condition of 4.5s ahead of a collision had the best effectiveness in terms of visual performances. Under such a warning timing, drivers had shorter fixation duration and higher frequency of searching for the red light running (RLR) vehicles. Compared to the warning condition without directional information, the directional warning information could capture drivers' attention more efficiently, help driver direct fixations toward the RLR vehicles more quickly and lead to more scanning activities. Compared to female drivers, male drivers had more scanning activities when approaching intersections, detected the RLR vehicles more quickly and were more likely to avoid the RLR collisions. Besides, the experiment results indicated that the female drivers were more inclined to trust the warning information and got more benefits from the RLR-ICAWS in terms of the crash risk reduction rate than male drivers. Finally, the conclusions lead the way toward warning condition design recommendations for improving the effectiveness of the RLR-ICAWSs.

  8. 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.

  9. 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.

  10. 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.

  11. Digital detection and processing of laser beacon signals for aircraft collision hazard warning

    NASA Technical Reports Server (NTRS)

    Sweet, L. M.; Miles, R. B.; Russell, G. F.; Tomeh, M. G.; Webb, S. G.; Wong, E. Y.

    1981-01-01

    A low-cost collision hazard warning system suitable for implementation in both general and commercial aviation is presented. Laser beacon systems are used as sources of accurate relative position information that are not dependent on communication between aircraft or with the ground. The beacon system consists of a rotating low-power laser beacon, detector arrays with special optics for wide angle acceptance and filtering of solar background light, microprocessors for proximity and relative trajectory computation, and pilot displays of potential hazards. The laser beacon system provides direct measurements of relative aircraft positions; using optimal nonlinear estimation theory, the measurements resulting from the current beacon sweep are combined with previous data to provide the best estimate of aircraft proximity, heading, minimium passing distance, and time to closest approach.

  12. 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.

  13. 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.

  14. Weather Avoidance Guidelines for NASA Global Hawk High-Altitude Unmanned Aircraft Systems (UAS)

    NASA Technical Reports Server (NTRS)

    Cecil, Daniel J.; Zipser, Edward J.; Velden, Chris S.; Monette, Sarah A.; Heymsfield, Gerald M.; Braun, Scott A.; Newman, Paul A.; Black, Peter G.; Black, Michael L.; Dunion, Jason P.

    2014-01-01

    The current Global Hawk flight rules would probably not have been effective in the single event of greatest concern (the Emily encounter). The cloud top had not reached 50,000 ft until minutes before the encounter. The TOT and lightning data would not have been available until near the overflight time since this was a rapidly growing cell. This case would have required a last-minute diversion when lightning became frequent. Avoiding such a cell probably requires continual monitoring of the forward camera and storm scope, whether or not cloud tops have been exceeding specific limits. However, the current overflight rules as strictly interpreted would have prohibited significant fractions of the successful Global Hawk overpasses of Karl and Matthew that proved not to be hazardous. Many other high altitude aircraft (ER-2 and Global Hawk) flights in NASA tropical cyclone field programs have successfully overflown deep convective clouds without incident.The convective cell that caused serious concern about the safety of the ER-2 in Emily was especially strong for a tropical cyclone environment, probably as strong or stronger than any that was overflown by the ER-2 in 20 previous flights over tropical cyclones. Specifically, what made that cell a safety concern was the magnitude of the vertical velocity of the updraft, at least 20 m/s (4000 ft/minute) at the time the ER-2 overflew it. Such a strong updraft can generate strong gravity waves at and above the tropopause, posing a potential danger to aircraft far above the maximum altitude of the updraft itself or its associated cloud top. Indeed, the ER-2 was probably at least 9000 ft above that cloud top. Cloud-top height, by itself, is not an especially good indicator of the intensity of convection and the likelihood of turbulence. Nor is overflying high cloud tops (i.e. > 50,000 ft) of particular concern unless there is other evidence of very strong convective updrafts beneath those tops in the path of the aircraft

  15. An Evaluation of Detect and Avoid (DAA) Displays for Unmanned Aircraft Systems: The Effect of Information Level and Display Location on Pilot Performance

    NASA Technical Reports Server (NTRS)

    Fern, Lisa; Rorie, R. Conrad; Pack, Jessica S.; Shively, R. Jay; Draper, Mark H.

    2015-01-01

    A consortium of government, industry and academia is currently working to establish minimum operational performance standards for Detect and Avoid (DAA) and Control and Communications (C2) systems in order to enable broader integration of Unmanned Aircraft Systems (UAS) into the National Airspace System (NAS). One subset of these performance standards will need to address the DAA display requirements that support an acceptable level of pilot performance. From a pilot's perspective, the DAA task is the maintenance of self separation and collision avoidance from other aircraft, utilizing the available information and controls within the Ground Control Station (GCS), including the DAA display. The pilot-in-the-loop DAA task requires the pilot to carry out three major functions: 1) detect a potential threat, 2) determine an appropriate resolution maneuver, and 3) execute that resolution maneuver via the GCS control and navigation interface(s). The purpose of the present study was to examine two main questions with respect to DAA display considerations that could impact pilots' ability to maintain well clear from other aircraft. First, what is the effect of a minimum (or basic) information display compared to an advanced information display on pilot performance? Second, what is the effect of display location on UAS pilot performance? Two levels of information level (basic, advanced) were compared across two levels of display location (standalone, integrated), for a total of four displays. The authors propose an eight-stage pilot-DAA interaction timeline from which several pilot response time metrics can be extracted. These metrics were compared across the four display conditions. The results indicate that the advanced displays had faster overall response times compared to the basic displays, however, there were no significant differences between the standalone and integrated displays. Implications of the findings on understanding pilot performance on the DAA task, the

  16. 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.

  17. Formation control and collision avoidance for multi-agent systems based on position estimation.

    PubMed

    Xia, Yuanqing; Na, Xitai; Sun, Zhongqi; Chen, Jing

    2016-03-01

    In this paper, formation control strategies based on position estimation for double-integrator systems are investigated. Firstly, an optimal control formation control strategy is derived based on the estimator. It is proven that the control inputs are able to drive the agents to the predefined formation and the controller is optimal even based on the estimation law if the estimator has converged to stable. Secondly, a consensus law based on the estimator is presented, which enables the agents converge to the formation in a cooperative manner. The stability can be guaranteed by proper parameters. Thirdly, extra control input for inter collision avoidance is added into the derived consensus control strategy, and efficacy analysis are provided in detail. Finally, the effectiveness of the strategies proposed are shown by simulation and experiment results. PMID:26786907

  18. 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.

  19. Hybrid neural-based decision level fusion architecture: application to road traffic collision avoidance

    NASA Astrophysics Data System (ADS)

    Madani, Kurosh; Chebira, Abdennasser; Bouchefra, Kamel; Maurin, Thierry; Reynaud, Roger

    1998-02-01

    A hybrid decision level architecture for a road collision risks avoidance system is presented. The goal of the decision level is to classify the behavior of the vehicles observed by a smart system or vehicle. The knowledge of vehicle behavior enables the best management of the smart system resources. The association of a model to each observed vehicle mainly enables the limitation of inference and of the set of actions to be activated; thus the interactions between system levels can be more intelligent. The decision level of this architecture is composed of a neural classifier, which is associated to a numerical classifier. Each of these classifiers provides decisions that are expressed within the framework of fuzzy theory. An optimal fusion policy is reached using the functional neural network tool.

  20. 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.

  1. 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; Carpenter, 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.

  2. 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.

  3. 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).

  4. 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.

  5. 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.

  6. 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

  7. 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

  8. 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

  9. 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.

  10. 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.

  11. 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

  12. 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.

  13. 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.

  14. 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

  15. 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.

  16. 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

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

    PubMed

    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.

  18. 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

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

    NASA Astrophysics Data System (ADS)

    Stupl, J.; Faber, N.; Foster, C.; Yang, F.; Nelson, B.; Aziz, J.; Nuttall, A.; Henze, C.; Levit, C.

    2014-09-01

    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 proven that a few ground-based systems consisting of 10 kW class lasers directed by 1.5 m 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. 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 both our simulation approach to parallelize the efficiency analysis, its computational performance and the resulting expected efficiency of the LightForce collision avoidance system.

  20. Exploration of the Trade Space Between Unmanned Aircraft Systems Descent Maneuver Performance and Sense-and-Avoid System Performance Requirements

    NASA Technical Reports Server (NTRS)

    Jack, Devin P.; Hoffler, Keith D.; Johnson, Sally C.

    2014-01-01

    A need exists to safely integrate Unmanned Aircraft Systems (UAS) into the United States' National Airspace System. Replacing manned aircraft's see-and-avoid capability in the absence of an onboard pilot is one of the key challenges associated with safe integration. Sense-and-avoid (SAA) systems will have to achieve yet-to-be-determined required separation distances for a wide range of encounters. They will also need to account for the maneuver performance of the UAS they are paired with. The work described in this paper is aimed at developing an understanding of the trade space between UAS maneuver performance and SAA system performance requirements, focusing on a descent avoidance maneuver. An assessment of current manned and unmanned aircraft performance was used to establish potential UAS performance test matrix bounds. Then, near-term UAS integration work was used to narrow down the scope. A simulator was developed with sufficient fidelity to assess SAA system performance requirements. The simulator generates closest-point-of-approach (CPA) data from the wide range of UAS performance models maneuvering against a single intruder with various encounter geometries. Initial attempts to model the results made it clear that developing maneuver performance groups is required. Discussion of the performance groups developed and how to know in which group an aircraft belongs for a given flight condition and encounter is included. The groups are airplane, flight condition, and encounter specific, rather than airplane-only specific. Results and methodology for developing UAS maneuver performance requirements are presented for a descent avoidance maneuver. Results for the descent maneuver indicate that a minimum specific excess power magnitude can assure a minimum CPA for a given time-to-go prediction. However, smaller amounts of specific excess power may achieve or exceed the same CPA if the UAS has sufficient speed to trade for altitude. The results of this study will

  1. 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

  2. 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).

  3. Changes in Drivers’ Visual Performance during the Collision Avoidance Process as a Function of Different Field of Views at Intersections

    PubMed Central

    Yan, Xuedong; Zhang, Xinran; Zhang, Yuting; Li, Xiaomeng; Yang, Zhuo

    2016-01-01

    The intersection field of view (IFOV) indicates an extent that the visual information can be observed by drivers. It has been found that further enhancing IFOV can significantly improve emergent collision avoidance performance at intersections, such as faster brake reaction time, smaller deceleration rate, and lower traffic crash involvement risk. However, it is not known how IFOV affects drivers’ eye movements, visual attention and the relationship between visual searching and traffic safety. In this study, a driving simulation experiment was conducted to uncover the changes in drivers’ visual performance during the collision avoidance process as a function of different field of views at an intersection by using an eye tracking system. The experimental results showed that drivers’ ability in identifying the potential hazard in terms of visual searching was significantly affected by different IFOV conditions. As the IFOVs increased, drivers had longer gaze duration (GD) and more number of gazes (NG) in the intersection surrounding areas and paid more visual attention to capture critical visual information on the emerging conflict vehicle, thus leading to a better collision avoidance performance and a lower crash risk. It was also found that female drivers had a better visual performance and a lower crash rate than male drivers. From the perspective of drivers’ visual performance, the results strengthened the evidence that further increasing intersection sight distance standards should be encouraged for enhancing traffic safety. PMID:27716824

  4. 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

  5. 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

  6. 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

  7. Using artificial intelligence for automating testing of a resident space object collision avoidance system on an orbital spacecraft

    NASA Astrophysics Data System (ADS)

    Straub, Jeremy

    2014-06-01

    Resident space objects (RSOs) pose a significant threat to orbital assets. Due to high relative velocities, even a small RSO can cause significant damage to an object that it strikes. Worse, in many cases a collision may create numerous additional RSOs, if the impacted object shatters apart. These new RSOs will have heterogeneous mass, size and orbital characteristics. Collision avoidance systems (CASs) are used to maneuver spacecraft out of the path of RSOs to prevent these impacts. A RSO CAS must be validated to ensure that it is able to perform effectively given a virtually unlimited number of strike scenarios. This paper presents work on the creation of a testing environment and AI testing routine that can be utilized to perform verification and validation activities for cyber-physical systems. It reviews prior work on automated and autonomous testing. Comparative performance (relative to the performance of a human tester) is discussed.

  8. Experimental Validation of Switching Strategy for Tracking Control with Collision Avoidance in Non-Cooperative Situation Using Toy Model Cars

    NASA Astrophysics Data System (ADS)

    Kogiso, Kiminao; Noguchi, Makoto; Hatada, Kazuyoshi; Kida, Naoki; Hirade, Naofumi; Sugimoto, Kenji

    This paper presents some experimental validation results of an already-proposed switching control method for simultaneous achievement of collision avoidance and tracking control for a vehicle in a non-cooperative situation. To validate the method, an experimental control system is made, in which the vehicle is a toy model car possible to remotely control via infrared ray and a camera is used to measure the vehicle's state. After presenting the constructed control system, the effectiveness of the method is investigated with the results obtained from the several control experiments.

  9. 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.

  10. Autonomous collision avoidance system by combined control of steering and braking using geometrically optimised vehicular trajectory

    NASA Astrophysics Data System (ADS)

    Hayashi, Ryuzo; Isogai, Juzo; Raksincharoensak, Pongsathorn; Nagai, Masao

    2012-01-01

    This study proposes an autonomous obstacle avoidance system not only by braking but also by steering, as one of the active safety technologies to prevent traffic accidents. The proposed system prevents the vehicle from colliding with a moving obstacle like a pedestrian jumping out from the roadside. In the proposed system, to avoid the predicted colliding position based on constant-velocity obstacle motion assumption, the avoidance trajectory is derived as connected two identical arcs. The system then controls the vehicle autonomously by the combined control of the braking and steering systems. In this paper, the proposed system is examined by real car experiments and its effectiveness is shown from the results of the experiments.

  11. Integrating small mammal community variables into aircraft-wildlife collision management plans at Namibian airports.

    PubMed

    Hauptfleisch, Morgan L; Avenant, Nico L

    2015-11-01

    Understanding ecosystems within and around airports can help to determine the causes and possible mitigation measures for collisions between aircraft and wildlife. Small mammal communities are an important component of the semi-arid savanna ecosystems of Namibia, its productivity and its ecosystem integrity. They are also a major direct attractant for raptors at airports. The present study compared the abundance and diversity of small mammals between Namibia's 2 main airport properties (Hosea Kutako International Airport and Eros Airport), and among areas of land used for various purposes surrounding the airports. A total of 2150 small mammals (3 orders, 11 species) were captured over 4 trapping seasons. Small mammal abundance was significantly higher at the end of the growing season than during the non-growing season. The grass mowing regimen in current management plans at the airports resulted in a significant reduction of small mammal abundance at Hosea Kutako during the non-growing season only, thus indicating that annual mowing is effective but insufficient to reduce the overall abundance of mammal prey species for raptors. Small mammal numbers were significantly higher at Hosea Kutako Airport compared to the cattle and game farming land surrounding the airport, while no differences in small mammal densities or diversity were found for areas with different land uses at and surrounding Eros. The study suggests that the fence around Hosea Kutako provides a refuge for small mammals, resulting in higher densities. It also indicates that different surrounding land use practices result in altered ecosystem function and productivity, an important consideration when identifying wildlife attractants at airports.

  12. Integrating small mammal community variables into aircraft-wildlife collision management plans at Namibian airports.

    PubMed

    Hauptfleisch, Morgan L; Avenant, Nico L

    2015-11-01

    Understanding ecosystems within and around airports can help to determine the causes and possible mitigation measures for collisions between aircraft and wildlife. Small mammal communities are an important component of the semi-arid savanna ecosystems of Namibia, its productivity and its ecosystem integrity. They are also a major direct attractant for raptors at airports. The present study compared the abundance and diversity of small mammals between Namibia's 2 main airport properties (Hosea Kutako International Airport and Eros Airport), and among areas of land used for various purposes surrounding the airports. A total of 2150 small mammals (3 orders, 11 species) were captured over 4 trapping seasons. Small mammal abundance was significantly higher at the end of the growing season than during the non-growing season. The grass mowing regimen in current management plans at the airports resulted in a significant reduction of small mammal abundance at Hosea Kutako during the non-growing season only, thus indicating that annual mowing is effective but insufficient to reduce the overall abundance of mammal prey species for raptors. Small mammal numbers were significantly higher at Hosea Kutako Airport compared to the cattle and game farming land surrounding the airport, while no differences in small mammal densities or diversity were found for areas with different land uses at and surrounding Eros. The study suggests that the fence around Hosea Kutako provides a refuge for small mammals, resulting in higher densities. It also indicates that different surrounding land use practices result in altered ecosystem function and productivity, an important consideration when identifying wildlife attractants at airports. PMID:26331534

  13. 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."

  14. Collision avoidance and a looming sensitive neuron: size matters but biggest is not necessarily best.

    PubMed

    Rind, F Claire; Santer, Roger D

    2004-02-01

    Locusts possess visual neurons that can be uniquely identified in each locust and that respond selectively to looming stimuli, giving the animal a warning of impending collision. It has been suggested that one such neuron, the lobula giant movement detector (LGMD), issues this warning by generating a peak in its response that occurs ca. 25 ms after a looming object reaches a subtense of 17 degrees on the eye. This peak is proposed to be a trigger for escape behaviour. We use both modelling and electrophysiological techniques to show that this early peak in LGMD response is not the 'essential functional variable' used naturally by the locust to trigger escape, but rather results from the unnaturally large stimulus used in the previous experimental work. The natural predators of Locusta in Africa, where the locust evolved, are small birds such as the fiscal shrike Lanius collaris humeralis and the carmine bee-eater Merops nubicus, with pectoral diameters of 40-45 mm (measurements from museum specimens). Locusta in flight are less than 100 mm wing tip to wing tip. When a locust views small approaching objects, the response of the LGMD continues to increase throughout the object's approach and the locust is able to trigger escape behaviours without the LGMD response peaking prior to collision.

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

    NASA Astrophysics Data System (ADS)

    Prinz, F. B.

    1991-11-01

    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.

  17. Proteus aircraft over Las Cruces International Airport in New Mexico.

    NASA Technical Reports Server (NTRS)

    2002-01-01

    The unique Proteus aircraft served as a test bed for NASA-sponsored flight tests designed to validate collision-avoidance technologies proposed for uninhabited aircraft. The tests, flown over southern New Mexico in March, 2002, used the Proteus as a surrogate uninhabited aerial vehicle (UAV) while three other aircraft flew toward the Proteus from various angles on simulated collision courses. Radio-based 'detect, see and avoid' equipment on the Proteus successfully detected the other aircraft and relayed that information to a remote pilot on the ground at Las Cruces Airport. The pilot then transmitted commands to the Proteus to maneuver it away from the potential collisions. The flight demonstration, sponsored by NASA Dryden Flight Research Center, New Mexico State University, Scaled Composites, the U.S. Navy and Modern Technology Solutions, Inc., were intended to demonstrate that UAVs can be flown safely and compatibly in the same skies as piloted aircraft.

  18. Application of a real neural collision avoidance system based on the locust to AGV navigation

    NASA Astrophysics Data System (ADS)

    Rind, F. C.; Allen, Charles R.

    1992-11-01

    The superb aereal performance of flying insects is achieved with comparatively simple neural machinery. Insects react rapidly to changing visual images. The abilities of insects to perform these computations in real time has already led to a successful prototype autonomous guided vehicle with a sensor and control structure modelled on the fly eye. Increasingly in visual neuroscience it is possible to isolate the critical image cues used by identified neurones to achieve a selective response to a feature or group of features within the changing visual image. In this paper we describe a biological neural network based on the input organization of such an identified motion detecting neurone, which responds selectively to the images of an object approaching on a collision course with the animal. We compare the response of the artificial neural network with the biological neural network in the same colliding stimulus. This approach led to a series of testable predictions about the organization of the biological neural network.

  19. 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

  20. Analysis and design of antennas for air traffic collision avoidance systems.

    NASA Technical Reports Server (NTRS)

    Balanis, C. A.; Cockrell, C. R.

    1971-01-01

    The analysis and design procedure of an antenna for a CW Doppler radar system being developed for pilot warning of midair collision hazards is presented. The antenna consists of two vertical arrays of half-wavelength dipoles mounted near a circular conducting cylinder. Each vertical array is composed of three vertical dipoles. Each array provides relatively uniform illumination (2.3 dB) in the forward 180-deg angular segment of the horizontal plane and approximately plus or minus 10 to 15 deg coverage in the vertical plane. The antenna could be used in a two-mode operation, either in a standard monopulse radar system (sum and difference amplitude patterns) or in a system where amplitude and phase are the measurable quantities.

  1. 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

  2. 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.

  3. 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

  4. 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.

  5. 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.

  6. Method and System for Dynamic Automated Corrections to Weather Avoidance Routes for Aircraft in En Route Airspace

    NASA Technical Reports Server (NTRS)

    McNally, B. David (Inventor); Erzberger, Heinz (Inventor); Sheth, Kapil (Inventor)

    2015-01-01

    A dynamic weather route system automatically analyzes routes for in-flight aircraft flying in convective weather regions and attempts to find more time and fuel efficient reroutes around current and predicted weather cells. The dynamic weather route system continuously analyzes all flights and provides reroute advisories that are dynamically updated in real time while the aircraft are in flight. The dynamic weather route system includes a graphical user interface that allows users to visualize, evaluate, modify if necessary, and implement proposed reroutes.

  7. 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

  8. 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.

  9. Wide field of view laser beacon system for three dimensional aircraft range measurements

    NASA Technical Reports Server (NTRS)

    Wong, E. Y.

    1982-01-01

    A system that measures accurately the distance from an aircraft to a helicoper for rotor noise flight testing was developed. The system measures the range and angles between two aircraft using laser optics. This system can be applied in collision avoidance, robotics and other measurement critical tasks.

  10. The Proteus aircraft and NASA Dryden's T-34 in flight over Las Cruces, New Mexico.

    NASA Technical Reports Server (NTRS)

    2002-01-01

    The unique Proteus aircraft served as a test bed for NASA-sponsored flight tests designed to validate collision-avoidance technologies proposed for uninhabited aircraft. The tests, flown over southern New Mexico in March, 2002, used the Proteus as a surrogate uninhabited aerial vehicle (UAV) while three other aircraft flew toward the Proteus from various angles on simulated collision courses. Radio-based 'detect, see and avoid' equipment on the Proteus successfully detected the other aircraft and relayed that information to a remote pilot on the ground at Las Cruces Airport. The pilot then transmitted commands to the Proteus to maneuver it away from the potential collisions. The flight demonstration, sponsored by NASA Dryden Flight Research Center, New Mexico State University, Scaled Composites, the U.S. Navy and Modern Technology Solutions, Inc., were intended to demonstrate that UAVs can be flown safely and compatibly in the same skies as piloted aircraft.

  11. 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.

  12. 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.

  13. Improved computer simulation of the TCAS 3 circular array mounted on an aircraft

    NASA Technical Reports Server (NTRS)

    Rojas, R. G.; Chen, Y. C.; Burnside, Walter D.

    1989-01-01

    The Traffic advisory and Collision Avoidance System (TCAS) is being developed by the Federal Aviation Administration (FAA) to assist aircraft pilots in mid-air collision avoidance. This report concentrates on the computer simulation of the enchanced TCAS 2 systems mounted on a Boeing 727. First, the moment method is used to obtain an accurate model for the enhanced TCAS 2 antenna array. Then, the OSU Aircraft Code is used to generate theoretical radiation patterns of this model mounted on a simulated Boeing 727 model. Scattering error curves obtained from these patterns can be used to evaluate the performance of this system in determining the angular position of another aircraft with respect to the TCAS-equipped aircraft. Finally, the tracking of another aircraft is simulated when the TCAS-equipped aircraft follows a prescribed escape curve. In short, the computer models developed in this report have generality, completeness and yield reasonable results.

  14. 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.

  15. Coordination control of quadrotor VTOL aircraft in three-dimensional space

    NASA Astrophysics Data System (ADS)

    Do, K. D.

    2015-03-01

    This paper presents a constructive design of distributed coordination controllers for a group of N quadrotor vertical take-off and landing (VTOL) aircraft in three-dimensional space. A combination of Euler angles and unit-quaternion for the attitude representation of the aircraft is used to result in an effective control design, and to reduce singularities in the aircraft's dynamics. The coordination control design is based on a new bounded control design technique for second-order systems and new pairwise collision avoidance functions. The pairwise collision functions are functions of both relative positions and relative velocities between the aircraft instead of only their relative positions as in the literature. To overcome the inherent underactuation of the aircraft, the roll and pitch angles of the aircraft are considered as immediate controls. Simulations illustrate the results.

  16. 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.

  17. 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

  18. World commercial aircraft accidents

    SciTech Connect

    Kimura, C.Y.

    1993-01-01

    This report is a compilation of all accidents world-wide involving aircraft in commercial service which resulted in the loss of the airframe or one or more fatality, or both. This information has been gathered in order to present a complete inventory of commercial aircraft accidents. Events involving military action, sabotage, terrorist bombings, hijackings, suicides, and industrial ground accidents are included within this list. Included are: accidents involving world commercial jet aircraft, world commercial turboprop aircraft, world commercial pistonprop aircraft with four or more engines and world commercial pistonprop aircraft with two or three engines from 1946 to 1992. Each accident is presented with information in the following categories: date of the accident, airline and its flight numbers, type of flight, type of aircraft, aircraft registration number, construction number/manufacturers serial number, aircraft damage, accident flight phase, accident location, number of fatalities, number of occupants, cause, remarks, or description (brief) of the accident, and finally references used. The sixth chapter presents a summary of the world commercial aircraft accidents by major aircraft class (e.g. jet, turboprop, and pistonprop) and by flight phase. The seventh chapter presents several special studies including a list of world commercial aircraft accidents for all aircraft types with 100 or more fatalities in order of decreasing number of fatalities, a list of collision accidents involving commercial aircrafts, and a list of world commercial aircraft accidents for all aircraft types involving military action, sabotage, terrorist bombings, and hijackings.

  19. 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.

  20. Meeting of Experts on NASA's Unmanned Aircraft System (UAS) Integration in the National Airspace Systems (NAS) Project

    NASA Technical Reports Server (NTRS)

    Wolfe, Jean; Bauer, Jeff; Bixby, C.J.; Lauderdale, Todd; Shively, Jay; Griner, James; Hayhurst, Kelly

    2010-01-01

    Topics discussed include: Aeronautics Research Mission Directorate Integrated Systems Research Program (ISRP) and UAS Integration in the NAS Project; UAS Integration into the NAS Project; Separation Assurance and Collision Avoidance; Pilot Aircraft Interface Objectives/Rationale; Communication; Certification; and Integrated Tests and Evaluations.

  1. Missile airframe simulation testbed: MANPADS (MAST-M) for test and evaluation of aircraft survivability equipment

    NASA Astrophysics Data System (ADS)

    Clements, Jim; Robinson, Richard; Bunt, Leslie; Robinson, Joe

    2011-06-01

    A number of techniques have been utilized to evaluate the performance of Aircraft Survivability Equipment (ASE) against threat Man-Portable Air Defense Systems (MANPADS). These techniques include flying actual threat MANPADS against stationary ASE with simulated aircraft signatures, testing installed ASE systems against simulated threat signatures, and laboratory hardware-in-the-loop (HWIL) testing with simulated aircraft and simulated missile signatures. All of these tests lack the realism of evaluating installed ASE against in-flight MANPADS on a terminal homing intercept path toward the actual ASE equipped aircraft. This limitation is due primarily to the current inability to perform non-destructive MANPADS/Aircraft flight testing. The U.S. Army Aviation and Missile Research and Development and Engineering Center (AMRDEC) is working to overcome this limitation with the development of a recoverable surrogate MANPADS missile system capable of engaging aircraft equipped with ASE while guaranteeing collision avoidance with the test aircraft. Under its Missile Airframe Simulation Testbed - MANPADS (MAST-M) program, the AMRDEC is developing a surrogate missile system which will utilize actual threat MANPADS seeker/guidance sections to control the flight of a surrogate missile which will perform a collision avoidance and recovery maneuver prior to intercept to insure non-destructive test and evaluation of the ASE and reuse of the MANPADS seeker/guidance section. The remainder of this paper provides an overview of this development program and intended use.

  2. 14 CFR 91.111 - Operating near other aircraft.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... 14 Aeronautics and Space 2 2012-01-01 2012-01-01 false Operating near other aircraft. 91.111... § 91.111 Operating near other aircraft. (a) No person may operate an aircraft so close to another aircraft as to create a collision hazard. (b) No person may operate an aircraft in formation flight...

  3. 14 CFR 91.111 - Operating near other aircraft.

    Code of Federal Regulations, 2010 CFR

    2010-01-01

    ... 14 Aeronautics and Space 2 2010-01-01 2010-01-01 false Operating near other aircraft. 91.111... § 91.111 Operating near other aircraft. (a) No person may operate an aircraft so close to another aircraft as to create a collision hazard. (b) No person may operate an aircraft in formation flight...

  4. 14 CFR 91.111 - Operating near other aircraft.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... 14 Aeronautics and Space 2 2013-01-01 2013-01-01 false Operating near other aircraft. 91.111... § 91.111 Operating near other aircraft. (a) No person may operate an aircraft so close to another aircraft as to create a collision hazard. (b) No person may operate an aircraft in formation flight...

  5. 14 CFR 91.111 - Operating near other aircraft.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... 14 Aeronautics and Space 2 2011-01-01 2011-01-01 false Operating near other aircraft. 91.111... § 91.111 Operating near other aircraft. (a) No person may operate an aircraft so close to another aircraft as to create a collision hazard. (b) No person may operate an aircraft in formation flight...

  6. 14 CFR 91.111 - Operating near other aircraft.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... 14 Aeronautics and Space 2 2014-01-01 2014-01-01 false Operating near other aircraft. 91.111... § 91.111 Operating near other aircraft. (a) No person may operate an aircraft so close to another aircraft as to create a collision hazard. (b) No person may operate an aircraft in formation flight...

  7. Cumulative Interference to Aircraft Radios from Multiple Portable Electronic Devices

    NASA Technical Reports Server (NTRS)

    Nguyen, Truong X.

    2005-01-01

    Cumulative interference effects from portable electronic devices (PEDs) located inside a passenger cabin are conservatively estimated for aircraft radio receivers. PEDs' emission powers in an aircraft radio frequency band are first scaled according to their locations' interference path loss (IPL) values, and the results are summed to determine the total interference power. The multiple-equipment-factor (MEF) is determined by normalizing the result against the worst case contribution from a single device. Conservative assumptions were made and MEF calculations were performed for Boeing 737's Localizer, Glide-slope, Traffic Collision Avoidance System, and Very High Frequency Communication radio systems where full-aircraft IPL data were available. The results show MEF for the systems to vary between 10 and 14 dB. The same process was also used on the more popular window/door IPL data, and the comparison show the multiple-equipment-factor results came within one decibel (dB) of each other.

  8. Collision detection for planning collision-free motion of two robot arms

    NASA Technical Reports Server (NTRS)

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

    1988-01-01

    The authors focus on collision detection for planning collision-free motion of two robot arms in a common workspace. A collision-free motion is obtained by detecting collisions along the straight-line trajectories of the robots using a sphere model for the wrists and then replanning the paths and/or trajectories of one or both of the robots to avoid collisions. A novel approach to collision detection is presented and a discussion on collision avoidance is given.

  9. Ultrawideband Electromagnetic Interference to Aircraft Radios

    NASA Technical Reports Server (NTRS)

    Ely, Jay J.; Fuller, Gerald L.; Shaver, Timothy W.

    2002-01-01

    A very recent FCC Final Rule now permits marketing and operation of new products that incorporate Ultrawideband (UWB) technology into handheld devices. Wireless product developers are working to rapidly bring this versatile, powerful and expectedly inexpensive technology into numerous consumer wireless devices. Past studies addressing the potential for passenger-carried portable electronic devices (PEDs) to interfere with aircraft electronic systems suggest that UWB transmitters may pose a significant threat to aircraft communication and navigation radio receivers. NASA, United Airlines and Eagles Wings Incorporated have performed preliminary testing that clearly shows the potential for handheld UWB transmitters to cause cockpit failure indications for the air traffic control radio beacon system (ATCRBS), blanking of aircraft on the traffic alert and collision avoidance system (TCAS) displays, and cause erratic motion and failure of instrument landing system (ILS) localizer and glideslope pointers on the pilot horizontal situation and attitude director displays. This paper provides details of the preliminary testing and recommends further assessment of aircraft systems for susceptibility to UWB electromagnetic interference.

  10. 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

  11. 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.

  12. Binocular Camera for cockpit visibility of general aviation aircraft

    NASA Astrophysics Data System (ADS)

    Barile, A. J.

    1981-04-01

    A history of cockpit visibility studies and requirements with regard to aircraft safety, human factors, collision avoidance, and accident investigations is presented. The Federal Aviation Administration's development of the Binocular Camera is reviewed, and the technical details of a new and improved camera are discussed. The Binocular Camera uses two 65 mm wide angle F6.8 lenses and covers an 88 1/2 deg field of vision. The camera produces images, representative of what the human eyes see before the brain integrates them into one, thus making it possible to analyze the effect of obstruction to vision. The improvements, applications, and uses of the camera in the research, development, and operations of general aviation aircraft are discussed.

  13. 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 ...

  14. Image processing algorithm for integrated sense and avoid systems

    NASA Astrophysics Data System (ADS)

    Forlenza, Lidia; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio; Rispoli, Attilio

    2010-10-01

    To allow Unmanned Aircraft Systems (UAS) accessing National Airspace System (NAS) "Equivalent levels of safety" to the ones of human vision must be guaranteed. Therefore, an appropriate "Sense and Avoid" technology must be developed that is capable of detecting, tracking, and avoiding obstacles. The Department of Aerospace Engineering at University of Naples has been involved in a project funded by the Italian Aerospace Research Centre (CIRA) for the realization of a prototypical "Obstacle Detection & Identification" (ODID) System. It is installed onboard a Very Light Aircraft (VLA) and it is characterized by a hierarchical sensor configuration in which the radar is the main sensor while EO cameras are the auxiliary ones in order to increase accuracy and data rate so that anti-collision requirements are fulfilled. This paper focuses on the Image Processing algorithm for the panchromatic camera. Among the several techniques listed in literature the edge detection - labeling one resulted as the best compromise in terms of computational load, detection range, false alarm rate, miss detection rate and adaptability at different background luminosity conditions. Moreover it has been customized in order to allow for reliable operation in a wide range of flight and luminance configurations and it has been tested and run on a sequence of real images taken during flight tests. At the end, a table that summarizes those results is presented. Indeed, the output tracking measurements accuracy increases by an order of magnitude with respect to standalone radar one.

  15. 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.

  16. Collision risk assessment

    NASA Astrophysics Data System (ADS)

    Sánchez Ortiz, N.; Belló Mora, M.; Graziano, M.; Pina Caballero, F.; Sánchez Pérez, J. M.; Klinkrad, H.

    2001-10-01

    Avoidance of near misses or collisions is required for almost all satellites on orbit, but it is of particular interest for manned missions and spacecraft at densely populated regions. In order to avoid these possible collisions, it is needed to determine a possible conjunction and its associated uncertainty. Two main constraints must be taken into account when a tool to forecast the collision risk of an object is being developed: the high number of objects in space and the accuracy of the catalogued object data. The number of objects on Earth orbit makes impossible to propagate all the catalogued objects, thus filtering and parallel processing techniques are presented. The accuracy of the catalogued object data and the propagation of the error over the time identify a position ellipsoid of error, whose behaviour has an important influence on some parameters on the filtering techniques and the way the collision probability is computed. Some collision probability methods are presented.

  17. Shade Avoidance

    PubMed Central

    Casal, Jorge J.

    2012-01-01

    The presence of neighboring vegetation modifies the light environment experienced by plants, generating signals that are perceived by phytochromes and cryptochromes. These signals cause large changes in plant body form and function, including enhanced growth of the hypocotyl and petioles, a more erect position of the leaves and early flowering in Arabidopsis thaliana. Collectively, these so-called shade-avoidance responses tend to reduce the degree of current or future shade by neighbors. Shade light signals increase the abundance of PHYTOCHROME INTERACTING FACTOR 4 (PIF4) and PIF5 proteins, promote the synthesis and redirection of auxin, favor the degradation of DELLA proteins and increase the expression of auxin, gibberellins and brassinosteroid-promoted genes, among other events downstream the photoreceptors. Selectively disrupting these events by genetic or pharmacological approaches affects shade-avoidance responses with an intensity that depends on the developmental context and the environment. Shade-avoidance responses provide a model to investigate the signaling networks used by plants to take advantage of the cues provided by the environment to adjust to the challenges imposed by the environment itself. PMID:22582029

  18. Laser radar system for obstacle avoidance

    NASA Astrophysics Data System (ADS)

    Bers, Karlheinz; Schulz, Karl R.; Armbruster, Walter

    2005-09-01

    The threat of hostile surveillance and weapon systems require military aircraft to fly under extreme conditions such as low altitude, high speed, poor visibility and incomplete terrain information. The probability of collision with natural and man-made obstacles during such contour missions is high if detection capability is restricted to conventional vision aids. Forward-looking scanning laser radars which are build by the EADS company and presently being flight tested and evaluated at German proving grounds, provide a possible solution, having a large field of view, high angular and range resolution, a high pulse repetition rate, and sufficient pulse energy to register returns from objects at distances of military relevance with a high hit-and-detect probability. The development of advanced 3d-scene analysis algorithms had increased the recognition probability and reduced the false alarm rate by using more readily recognizable objects such as terrain, poles, pylons, trees, etc. to generate a parametric description of the terrain surface as well as the class, position, orientation, size and shape of all objects in the scene. The sensor system and the implemented algorithms can be used for other applications such as terrain following, autonomous obstacle avoidance, and automatic target recognition. This paper describes different 3D-imaging ladar sensors with unique system architecture but different components matched for different military application. Emphasis is laid on an obstacle warning system with a high probability of detection of thin wires, the real time processing of the measured range image data, obstacle classification und visualization.

  19. Aircraft Contrails

    NASA Technical Reports Server (NTRS)

    1992-01-01

    Captured in this scene is a series of aircraft contrails in a high traffic region over the northern Gulf of Mexico (27.0N, 85.5W). Contrails are caused by the hot engine exhaust of high flying aircraft interacting with moisture in the cold upper atmosphere and are common occurrances of high flying aircraft.

  20. Aircraft Laminar Flow Control

    NASA Technical Reports Server (NTRS)

    Joslin, Ronald D.

    1998-01-01

    Aircraft laminar flow control (LFC) from the 1930's through the 1990's is reviewed and the current status of the technology is assessed. Examples are provided to demonstrate the benefits of LFC for subsonic and supersonic aircraft. Early studies related to the laminar boundary-layer flow physics, manufacturing tolerances for laminar flow, and insect-contamination avoidance are discussed. LFC concept studies in wind-tunnel and flight experiments are the major focus of the paper. LFC design tools are briefly outlined for completeness.

  1. Human Factors of Remotely Piloted Aircraft

    NASA Technical Reports Server (NTRS)

    Hobbs, Alan Neville

    2014-01-01

    The civilian use of remotely piloted, or unmanned aircraft is expected to increase rapidly in the years ahead. Despite being referred to as unmanned some of the major challenges confronting this emerging sector relate to human factors. As unmanned aircraft systems (UAS) are introduced into civil airspace, a failure to adequately consider human factors could result in preventable accidents that may not only result in loss of life, but may also undermine public confidence in remotely piloted operations. Key issues include pilot situational awareness, collision avoidance in the absence of an out-the-window view, the effects of time delays in communication and control systems, control handovers, the challenges of very long duration flights, and the design of the control station. Problems have included poor physical layout of controls, non-intuitive automation interfaces, an over-reliance on text displays, and complicated sequences of menu selection to perform routine tasks. Some of the interface problems may have been prevented had an existing regulation or cockpit design principle been applied. In other cases, the design problems may indicate a lack of suitable guidance material.

  2. Methodology for Collision Risk Assessment of an Airspace Flow Corridor Concept

    NASA Astrophysics Data System (ADS)

    Zhang, Yimin

    This dissertation presents a methodology to estimate the collision risk associated with a future air-transportation concept called the flow corridor. The flow corridor is a Next Generation Air Transportation System (NextGen) concept to reduce congestion and increase throughput in en-route airspace. The flow corridor has the potential to increase throughput by reducing the controller workload required to manage aircraft outside the corridor and by reducing separation of aircraft within corridor. The analysis in this dissertation is a starting point for the safety analysis required by the Federal Aviation Administration (FAA) to eventually approve and implement the corridor concept. This dissertation develops a hybrid risk analysis methodology that combines Monte Carlo simulation with dynamic event tree analysis. The analysis captures the unique characteristics of the flow corridor concept, including self-separation within the corridor, lane change maneuvers, speed adjustments, and the automated separation assurance system. Monte Carlo simulation is used to model the movement of aircraft in the flow corridor and to identify precursor events that might lead to a collision. Since these precursor events are not rare, standard Monte Carlo simulation can be used to estimate these occurrence rates. Dynamic event trees are then used to model the subsequent series of events that may lead to collision. When two aircraft are on course for a near-mid-air collision (NMAC), the on-board automated separation assurance system provides a series of safety layers to prevent the impending NNAC or collision. Dynamic event trees are used to evaluate the potential failures of these layers in order to estimate the rare-event collision probabilities. The results show that the throughput can be increased by reducing separation to 2 nautical miles while maintaining the current level of safety. A sensitivity analysis shows that the most critical parameters in the model related to the overall

  3. Effects of vehicle speed on flight initiation by Turkey vultures: implications for bird-vehicle collisions.

    PubMed

    DeVault, Travis L; Blackwell, Bradley F; Seamans, Thomas W; Lima, Steven L; Fernández-Juricic, Esteban

    2014-01-01

    The avoidance of motorized vehicles is a common challenge for birds in the modern world. Birds appear to rely on antipredator behaviors to avoid vehicles, but modern vehicles (automobiles and aircraft) are faster than natural predators. Thus, birds may be relatively ill-equipped, in terms of sensory capabilities and behaviors, to avoid vehicles. We examined the idea that birds may be unable to accurately assess particularly high speeds of approaching vehicles, which could contribute to miscalculations in avoidance behaviors and ultimately cause collisions. We baited turkey vultures (Cathartes aura) to roads with animal carcasses and measured flight initiation distance and effective time-to-collision in response to a truck driving directly towards vultures from a starting distance of 1.13 km and at one of three speeds: 30, 60, or 90 kph (no vultures were struck). Flight initiation distance of vultures increased by a factor of 1.85 as speed increased from 30 to 90 kph. However, for 90-kph approaches there was no clear trend in flight initiation distance across replicates: birds appeared equally likely to initiate escape behavior at 40 m as at 220 m. Time-to-collision decreased by a factor of 0.62 with approach speeds from 30 to 90 kph. Also, at 90 kph, four vehicle approaches (17%) resulted in near collisions with vultures (time-to-collision ≤ 1.7 s), compared to none during 60 kph approaches and one during 30 kph approaches (4%). Our findings suggest that antipredator behaviors in turkey vultures, particularly stimulus processing and response, might not be well tuned to vehicles approaching at speeds ≥ 90 kph. The possible inability of turkey vultures to react appropriately to high-speed vehicles could be common among birds, and might represent an important determinant of bird-vehicle collisions. PMID:24503622

  4. Effects of Vehicle Speed on Flight Initiation by Turkey Vultures: Implications for Bird-Vehicle Collisions

    PubMed Central

    DeVault, Travis L.; Blackwell, Bradley F.; Seamans, Thomas W.; Lima, Steven L.; Fernández-Juricic, Esteban

    2014-01-01

    The avoidance of motorized vehicles is a common challenge for birds in the modern world. Birds appear to rely on antipredator behaviors to avoid vehicles, but modern vehicles (automobiles and aircraft) are faster than natural predators. Thus, birds may be relatively ill-equipped, in terms of sensory capabilities and behaviors, to avoid vehicles. We examined the idea that birds may be unable to accurately assess particularly high speeds of approaching vehicles, which could contribute to miscalculations in avoidance behaviors and ultimately cause collisions. We baited turkey vultures (Cathartes aura) to roads with animal carcasses and measured flight initiation distance and effective time-to-collision in response to a truck driving directly towards vultures from a starting distance of 1.13 km and at one of three speeds: 30, 60, or 90 kph (no vultures were struck). Flight initiation distance of vultures increased by a factor of 1.85 as speed increased from 30 to 90 kph. However, for 90-kph approaches there was no clear trend in flight initiation distance across replicates: birds appeared equally likely to initiate escape behavior at 40 m as at 220 m. Time-to-collision decreased by a factor of 0.62 with approach speeds from 30 to 90 kph. Also, at 90 kph, four vehicle approaches (17%) resulted in near collisions with vultures (time-to-collision ≤1.7 s), compared to none during 60 kph approaches and one during 30 kph approaches (4%). Our findings suggest that antipredator behaviors in turkey vultures, particularly stimulus processing and response, might not be well tuned to vehicles approaching at speeds ≥90 kph. The possible inability of turkey vultures to react appropriately to high-speed vehicles could be common among birds, and might represent an important determinant of bird-vehicle collisions. PMID:24503622

  5. Effects of vehicle speed on flight initiation by Turkey vultures: implications for bird-vehicle collisions.

    PubMed

    DeVault, Travis L; Blackwell, Bradley F; Seamans, Thomas W; Lima, Steven L; Fernández-Juricic, Esteban

    2014-01-01

    The avoidance of motorized vehicles is a common challenge for birds in the modern world. Birds appear to rely on antipredator behaviors to avoid vehicles, but modern vehicles (automobiles and aircraft) are faster than natural predators. Thus, birds may be relatively ill-equipped, in terms of sensory capabilities and behaviors, to avoid vehicles. We examined the idea that birds may be unable to accurately assess particularly high speeds of approaching vehicles, which could contribute to miscalculations in avoidance behaviors and ultimately cause collisions. We baited turkey vultures (Cathartes aura) to roads with animal carcasses and measured flight initiation distance and effective time-to-collision in response to a truck driving directly towards vultures from a starting distance of 1.13 km and at one of three speeds: 30, 60, or 90 kph (no vultures were struck). Flight initiation distance of vultures increased by a factor of 1.85 as speed increased from 30 to 90 kph. However, for 90-kph approaches there was no clear trend in flight initiation distance across replicates: birds appeared equally likely to initiate escape behavior at 40 m as at 220 m. Time-to-collision decreased by a factor of 0.62 with approach speeds from 30 to 90 kph. Also, at 90 kph, four vehicle approaches (17%) resulted in near collisions with vultures (time-to-collision ≤ 1.7 s), compared to none during 60 kph approaches and one during 30 kph approaches (4%). Our findings suggest that antipredator behaviors in turkey vultures, particularly stimulus processing and response, might not be well tuned to vehicles approaching at speeds ≥ 90 kph. The possible inability of turkey vultures to react appropriately to high-speed vehicles could be common among birds, and might represent an important determinant of bird-vehicle collisions.

  6. Commercial aircraft wake vortices

    NASA Astrophysics Data System (ADS)

    Gerz, Thomas; Holzäpfel, Frank; Darracq, Denis

    2002-04-01

    This paper discusses the problem of wake vortices shed by commercial aircraft. It presents a consolidated European view on the current status of knowledge of the nature and characteristics of aircraft wakes and of technical and operational procedures of minimizing and predicting the vortex strength and avoiding wake encounters. Methodological aspects of data evaluation and interpretation, like the description of wake ages, the characterization of wake vortices, and the proper evaluation of wake data from measurement and simulation, are addressed in the first part. In the second part an inventory of our knowledge is given on vortex characterization and control, prediction and monitoring of vortex decay, vortex detection and warning, vortex encounter models, and wake-vortex safety assessment. Each section is concluded by a list of questions and required actions which may help to guide further research activities. The primary objective of the joint international efforts in wake-vortex research is to avoid potentially hazardous wake encounters for aircraft. Shortened aircraft separations under appropriate meteorological conditions, whilst keeping or even increasing the safety level, is the ultimate goal. Reduced time delays on the tactical side and increased airport capacities on the strategic side will be the benefits of these ambitious ventures for the air transportation industry and services.

  7. Aircraft Design

    NASA Technical Reports Server (NTRS)

    Bowers, Albion H. (Inventor); Uden, Edward (Inventor)

    2016-01-01

    The present invention is an aircraft wing design that creates a bell shaped span load, which results in a negative induced drag (induced thrust) on the outer portion of the wing; such a design obviates the need for rudder control of an aircraft.

  8. World commercial aircraft accidents. Second edition, 1946--1992

    SciTech Connect

    Kimura, C.Y.

    1993-01-01

    This report is a compilation of all accidents world-wide involving aircraft in commercial service which resulted in the loss of the airframe or one or more fatality, or both. This information has been gathered in order to present a complete inventory of commercial aircraft accidents. Events involving military action, sabotage, terrorist bombings, hijackings, suicides, and industrial ground accidents are included within this list. Included are: accidents involving world commercial jet aircraft, world commercial turboprop aircraft, world commercial pistonprop aircraft with four or more engines and world commercial pistonprop aircraft with two or three engines from 1946 to 1992. Each accident is presented with information in the following categories: date of the accident, airline and its flight numbers, type of flight, type of aircraft, aircraft registration number, construction number/manufacturers serial number, aircraft damage, accident flight phase, accident location, number of fatalities, number of occupants, cause, remarks, or description (brief) of the accident, and finally references used. The sixth chapter presents a summary of the world commercial aircraft accidents by major aircraft class (e.g. jet, turboprop, and pistonprop) and by flight phase. The seventh chapter presents several special studies including a list of world commercial aircraft accidents for all aircraft types with 100 or more fatalities in order of decreasing number of fatalities, a list of collision accidents involving commercial aircrafts, and a list of world commercial aircraft accidents for all aircraft types involving military action, sabotage, terrorist bombings, and hijackings.

  9. The immediate problems of aircraft fires.

    PubMed

    Hill, I R

    1986-12-01

    Fires that occur either while aircraft are in flight or as a consequence of a crash remain life-threatening possibilities despite progress in technology and adoption of safety precautions. This article details some of the likely causes of aircraft fires, the resulting dangers in the immediate environment, prospects for survival, and recommends additional measures that may help avoid future accidents.

  10. Recognition of movement object collision

    NASA Astrophysics Data System (ADS)

    Chang, Hsiao Tsu; Sun, Geng-tian; Zhang, Yan

    1991-03-01

    The paper explores the collision recognition of two objects in both crisscross and revolution motions A mathematical model has been established based on the continuation theory. The objects of any shape may be regarded as being built of many 3siniplexes or their convex hulls. Therefore the collision problem of two object in motion can be reduced to the collision of two corresponding 3siinplexes on two respective objects accordingly. Thus an optimized algorithm is developed for collision avoidance which is suitable for computer control and eliminating the need for vision aid. With this algorithm computation time has been reduced significantly. This algorithm is applicable to the path planning of mobile robots And also is applicable to collision avoidance of the anthropomorphic arms grasping two complicated shaped objects. The algorithm is realized using LISP language on a VAX8350 minicomputer.

  11. Multi-aircraft dynamics, navigation and operation

    NASA Astrophysics Data System (ADS)

    Houck, Sharon Wester

    Air traffic control stands on the brink of a revolution. Fifty years from now, we will look back and marvel that we ever flew by radio beacons and radar alone, much as we now marvel that early aviation pioneers flew by chronometer and compass alone. The microprocessor, satellite navigation systems, and air-to-air data links are the technical keys to this revolution. Many airports are near or at capacity now for at least portions of the day, making it clear that major increases in airport capacity will be required in order to support the projected growth in air traffic. This can be accomplished by adding airports, adding runways at existing airports, or increasing the capacity of the existing runways. Technology that allows use of ultra closely spaced (750 ft to 2500 ft) parallel approaches would greatly reduce the environmental impact of airport capacity increases. This research tackles the problem of multi aircraft dynamics, navigation, and operation, specifically in the terminal area, and presents new findings on how ultra closely spaced parallel approaches may be accomplished. The underlying approach considers how multiple aircraft are flown in visual conditions, where spacing criteria is much less stringent, and then uses this data to study the critical parameters for collision avoidance during an ultra closely spaced parallel approach. Also included is experimental and analytical investigations on advanced guidance systems that are critical components of precision approaches. Together, these investigations form a novel approach to the design and analysis of parallel approaches for runways spaced less than 2500 ft apart. This research has concluded that it is technically feasible to reduce the required runway spacing during simultaneous instrument approaches to less than the current minimum of 3400 ft with the use of advanced navigation systems while maintaining the currently accepted levels of safety. On a smooth day with both pilots flying a tunnel

  12. 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.

  13. 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…

  14. 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.

  15. Aircraft cybernetics

    NASA Technical Reports Server (NTRS)

    1977-01-01

    The use of computers for aircraft control, flight simulation, and inertial navigation is explored. The man-machine relation problem in aviation is addressed. Simple and self-adapting autopilots are described and the assets and liabilities of digital navigation techniques are assessed.

  16. Portable Integrated Wireless Device Threat Assessment to Aircraft Radio Systems

    NASA Technical Reports Server (NTRS)

    Salud, Maria Theresa P.; Williams, Reuben A. (Technical Monitor)

    2004-01-01

    An assessment was conducted on multiple wireless local area network (WLAN) devices using the three wireless standards for spurious radiated emissions to determine their threat to aircraft radio navigation systems. The measurement process, data and analysis are provided for devices tested using IEEE 802.11a, IEEE 802.11b, and Bluetooth as well as data from portable laptops/tablet PCs and PDAs (grouping known as PEDs). A comparison was made between wireless LAN devices and portable electronic devices. Spurious radiated emissions were investigated in the radio frequency bands for the following aircraft systems: Instrument Landing System Localizer and Glideslope, Very High Frequency (VHF) Communication, VHF Omnidirectional Range, Traffic Collision Avoidance System, Air Traffic Control Radar Beacon System, Microwave Landing System and Global Positioning System. Since several of the contiguous navigation systems were grouped under one encompassing measurement frequency band, there were five measurement frequency bands where spurious radiated emissions data were collected for the PEDs and WLAN devices. The report also provides a comparison between emissions data and regulatory emission limit.

  17. A method of inferring collision ratio based on maneuverability of own ship under critical collision conditions

    NASA Astrophysics Data System (ADS)

    You, Youngjun; Rhee, Key-Pyo; Ahn, Kyoungsoo

    2013-06-01

    In constructing a collision avoidance system, it is important to determine the time for starting collision avoidance maneuver. Many researchers have attempted to formulate various indices by applying a range of techniques. Among these indices, collision risk obtained by combining Distance to the Closest Point of Approach (DCPA) and Time to the Closest Point of Approach (TCPA) information with fuzzy theory is mostly used. However, the collision risk has a limit, in that membership functions of DCPA and TCPA are empirically determined. In addition, the collision risk is not able to consider several critical collision conditions where the target ship fails to take appropriate actions. It is therefore necessary to design a new concept based on logical approaches. In this paper, a collision ratio is proposed, which is the expected ratio of unavoidable paths to total paths under suitably characterized operation conditions. Total paths are determined by considering categories such as action space and methodology of avoidance. The International Regulations for Preventing Collisions at Sea (1972) and collision avoidance rules (2001) are considered to solve the slower ship's dilemma. Different methods which are based on a constant speed model and simulated speed model are used to calculate the relative positions between own ship and target ship. In the simulated speed model, fuzzy control is applied to determination of command rudder angle. At various encounter situations, the time histories of the collision ratio based on the simulated speed model are compared with those based on the constant speed model.

  18. Temperature of aircraft cargo flame exposure during accidents involving fuel spills

    SciTech Connect

    Mansfield, J.A.

    1993-01-01

    This report describes an evaluation of flame exposure temperatures of weapons contained in alert (parked) bombers due to accidents that involve aircraft fuel fires. The evaluation includes two types of accident, collisions into an alert aircraft by an aircraft that is on landing or take-off, and engine start accidents. Both the B-1B and B-52 alert aircraft are included in the evaluation.

  19. 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.

  20. 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 ...

  1. Educating with Aircraft Models

    ERIC Educational Resources Information Center

    Steele, Hobie

    1976-01-01

    Described is utilization of aircraft models, model aircraft clubs, and model aircraft magazines to promote student interest in aerospace education. The addresses for clubs and magazines are included. (SL)

  2. 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)

  3. 32 CFR 700.1139 - Rules for preventing collisions, afloat and in the air.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... 32 National Defense 5 2010-07-01 2010-07-01 false Rules for preventing collisions, afloat and in... OFFICIAL RECORDS General Regulations Duties of Individuals § 700.1139 Rules for preventing collisions..., craft and aircraft shall diligently observe the International Rules for Preventing Collisions at...

  4. 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

  5. Aircraft control system

    NASA Technical Reports Server (NTRS)

    Lisoski, Derek L. (Inventor); Kendall, Greg T. (Inventor)

    2007-01-01

    A solar rechargeable, long-duration, span-loaded flying wing, having no fuselage or rudder. Having a two-hundred foot wingspan that mounts photovoltaic cells on most all of the wing's top surface, the aircraft uses only differential thrust of its eight propellers to turn, pitch and yaw. The wing is configured to deform under flight loads to position the propellers such that the control can be achieved. Each of five segments of the wing has one or more motors and photovoltaic arrays, and produces its own lift independent of the other segments, to avoid loading them. Five two-sided photovoltaic arrays, in all, are mounted on the wing, and receive photovoltaic energy both incident on top of the wing, and which is incident also from below, through a bottom, transparent surface.

  6. Regaining Lost Separation in a Piloted Simulation of Autonomous Aircraft Operations

    NASA Technical Reports Server (NTRS)

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

    2002-01-01

    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 (DAG-TM), 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. While Airborne Separation Assurance System (ASAS) tools 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. If an acceptable safety level can be demonstrated in these situations, then operations may be conducted with lower separation minimums. An experiment was conducted in NASA Langley s Air Traffic Operations Lab to address issues associated with resolving near-term conflicts and the potential 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. As air-air separation concepts are evolved, further studies will consider integration issues between ASAS and existing Airborne Collision Avoidance Systems (ACAS).These types of non-normal events will require the ASAS to provide effective alerts and resolutions prior to the time that an Airborne Collision Avoidance System (ACAS) would give a Resolution Advisory (RA). When an RA is issued, a

  7. Aircraft Electric Secondary Power

    NASA Technical Reports Server (NTRS)

    1983-01-01

    Technologies resulted to aircraft power systems and aircraft in which all secondary power is supplied electrically are discussed. A high-voltage dc power generating system for fighter aircraft, permanent magnet motors and generators for aircraft, lightweight transformers, and the installation of electric generators on turbine engines are among the topics discussed.

  8. 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…

  9. Method and device for landing aircraft dependent on runway occupancy time

    NASA Technical Reports Server (NTRS)

    Ghalebsaz Jeddi, Babak (Inventor)

    2012-01-01

    A technique for landing aircraft using an aircraft landing accident avoidance device is disclosed. The technique includes determining at least two probability distribution functions; determining a safe lower limit on a separation between a lead aircraft and a trail aircraft on a glide slope to the runway; determining a maximum sustainable safe attempt-to-land rate on the runway based on the safe lower limit and the probability distribution functions; directing the trail aircraft to enter the glide slope with a target separation from the lead aircraft corresponding to the maximum sustainable safe attempt-to-land rate; while the trail aircraft is in the glide slope, determining an actual separation between the lead aircraft and the trail aircraft; and directing the trail aircraft to execute a go-around maneuver if the actual separation approaches the safe lower limit. Probability distribution functions include runway occupancy time, and landing time interval and/or inter-arrival distance.

  10. Knowledge-based scheduling of arrival aircraft

    NASA Technical Reports Server (NTRS)

    Krzeczowski, K.; Davis, T.; Erzberger, H.; Lev-Ram, I.; Bergh, C.

    1995-01-01

    A knowledge-based method for scheduling arrival aircraft in the terminal area has been implemented and tested in real-time simulation. The scheduling system automatically sequences, assigns landing times, and assigns runways to arrival aircraft by utilizing continuous updates of aircraft radar data and controller inputs. The scheduling algorithms is driven by a knowledge base which was obtained in over two thousand hours of controller-in-the-loop real-time simulation. The knowledge base contains a series of hierarchical 'rules' and decision logic that examines both performance criteria, such as delay reduction, as well as workload reduction criteria, such as conflict avoidance. The objective of the algorithms is to devise an efficient plan to land the aircraft in a manner acceptable to the air traffic controllers. This paper will describe the scheduling algorithms, give examples of their use, and present data regarding their potential benefits to the air traffic system.

  11. 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.

  12. Propulsion controlled aircraft computer

    NASA Technical Reports Server (NTRS)

    Cogan, Bruce R. (Inventor)

    2010-01-01

    A low-cost, easily retrofit Propulsion Controlled Aircraft (PCA) system for use on a wide range of commercial and military aircraft consists of an propulsion controlled aircraft computer that reads in aircraft data including aircraft state, pilot commands and other related data, calculates aircraft throttle position for a given maneuver commanded by the pilot, and then displays both current and calculated throttle position on a cockpit display to show the pilot where to move throttles to achieve the commanded maneuver, or is automatically sent digitally to command the engines directly.

  13. 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)

  14. Avoiding Construction Snafus.

    ERIC Educational Resources Information Center

    Rochefort, Mark; Gosch, Jerry

    2001-01-01

    Discusses risk management planning tips that help schools avoid project-delaying construction problems. Preconstruction planning topics explored include the type of construction method to use, contract selection, and the need for efficient project management. (GR)

  15. Ultrawideband Electromagnetic Interference to Aircraft Radios: Results of Limited Functional Testing With United Airlines and Eagles Wings Incorporated, in Victorville, California

    NASA Technical Reports Server (NTRS)

    Ely, Jay J.; Shaver, Timothy W.; Fuller, Gerald L.

    2002-01-01

    On February 14, 2002, the FCC adopted a FIRST REPORT AND ORDER, released it on April 22, 2002, and on May 16, 2002 published in the Federal Register a Final Rule, permitting marketing and operation of new products incorporating UWB technology. Wireless product developers are working to rapidly bring this versatile, powerful and expectedly inexpensive technology into numerous consumer wireless devices. Past studies addressing the potential for passenger-carried portable electronic devices (PEDs) to interfere with aircraft electronic systems suggest that UWB transmitters may pose a significant threat to aircraft communication and navigation radio receivers. NASA, United Airlines and Eagles Wings Incorporated have performed preliminary testing that clearly shows the potential for handheld UWB transmitters to cause cockpit failure indications for the air traffic control radio beacon system (ATCRBS), blanking of aircraft on the traffic alert and collision avoidance system (TCAS) displays, and cause erratic motion and failure of instrument landing system (ILS) localizer and glideslope pointers on the pilot horizontal situation and attitude director displays. This report provides details of the preliminary testing and recommends further assessment of aircraft systems for susceptibility to UWB electromagnetic interference.

  16. Avoiding the SCAMs.

    PubMed

    Kidd, Thomas; Condron, Barry

    2007-05-01

    Dendrites from the same neuron usually avoid contact with one another, a behavior known as self-avoidance. In this issue of Neuron and in the upcoming May 4, 2007 issue of Cell, a pair of studies by Soba et al. and Hughes et al. and a study by Matthews et al., respectively, identify products from the highly alternatively spliced Dscam gene as central to this behavior in Drosophila. Signaling induced by adhesion between identical isoforms triggers repulsion between sister dendrites.

  17. 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.

  18. 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.

  19. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2012 CFR

    2012-01-01

    ... uncertainties associated with launch vehicle performance and timing and ensure that any calculated launch waits incorporate all additional time periods associated with such uncertainties. A launch operator must...

  20. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2014 CFR

    2014-01-01

    ... uncertainties associated with launch vehicle performance and timing and ensure that any calculated launch waits incorporate all additional time periods associated with such uncertainties. A launch operator must...

  1. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2013 CFR

    2013-01-01

    ... uncertainties associated with launch vehicle performance and timing and ensure that any calculated launch waits incorporate all additional time periods associated with such uncertainties. A launch operator must...

  2. 14 CFR 417.231 - Collision avoidance analysis.

    Code of Federal Regulations, 2011 CFR

    2011-01-01

    ... uncertainties associated with launch vehicle performance and timing and ensure that any calculated launch waits incorporate all additional time periods associated with such uncertainties. A launch operator must...

  3. Systems and Techniques for Identifying and Avoiding Ice

    NASA Technical Reports Server (NTRS)

    Hansman, R. John

    1995-01-01

    In-flight icing is one of the most difficult aviation weather hazards facing general aviation. Because most aircraft in the general aviation category are not certified for flight into known icing conditions, techniques for identifying and avoiding in-flight ice are important to maintain safety while increasing the utility and dispatch capability which is part of the AGATE vision. This report summarizes a brief study effort which: (1) Reviewed current ice identification, forecasting, and avoidance techniques; (2) Assessed feasibility of improved forecasting and ice avoidance procedures; and (3) Identified key issues for the development of improved capability with regard to in-flight icing.

  4. Unmanned aircraft systems

    Technology Transfer Automated Retrieval System (TEKTRAN)

    Unmanned platforms have become increasingly more common in recent years for acquiring remotely sensed data. These aircraft are referred to as Unmanned Airborne Vehicles (UAV), Remotely Piloted Aircraft (RPA), Remotely Piloted Vehicles (RPV), or Unmanned Aircraft Systems (UAS), the official term used...

  5. Sense and avoid technology for Global Hawk and Predator UAVs

    NASA Astrophysics Data System (ADS)

    McCalmont, John F.; Utt, James; Deschenes, Michael; Taylor, Michael J.

    2005-05-01

    The Sensors Directorate at the Air Force Research Laboratory (AFRL) along with Defense Research Associates, Inc. (DRA) conducted a flight demonstration of technology that could potentially satisfy the Federal Aviation Administration's (FAA) requirement for Unmanned Aerial Vehicles (UAVs) to sense and avoid local air traffic sufficient to provide an "...equivalent level of safety, comparable to see-and-avoid requirements for manned aircraft". This FAA requirement must be satisfied for autonomous UAV operation within the national airspace. The real-time on-board system passively detects approaching aircraft, both cooperative and non-cooperative, using imaging sensors operating in the visible/near infrared band and a passive moving target indicator algorithm. Detection range requirements for RQ-4 and MQ-9 UAVs were determined based on analysis of flight geometries, avoidance maneuver timelines, system latencies and human pilot performance. Flight data and UAV operating parameters were provided by the system program offices, prime contractors, and flight-test personnel. Flight demonstrations were conducted using a surrogate UAV (Aero Commander) and an intruder aircraft (Beech Bonanza). The system demonstrated target detection ranges out to 3 nautical miles in nose-to-nose scenarios and marginal visual meteorological conditions. (VMC) This paper will describe the sense and avoid requirements definition process and the system concept (sensors, algorithms, processor, and flight rest results) that has demonstrated the potential to satisfy the FAA sense and avoid requirements.

  6. Aircraft landing gear systems

    NASA Technical Reports Server (NTRS)

    Tanner, John A. (Editor)

    1990-01-01

    Topics presented include the laboratory simulation of landing gear pitch-plane dynamics, a summary of recent aircraft/ground vehicle friction measurement tests, some recent aircraft tire thermal studies, and an evaluation of critical speeds in high-speed aircraft. Also presented are a review of NASA antiskid braking research, titanium matrix composite landing gear development, the current methods and perspective of aircraft flotation analysis, the flow rate and trajectory of water spray produced by an aircraft tire, and spin-up studies of the Space Shuttle Orbiter main gear tire.

  7. A spatial disorientation predictor device to enhance pilot situational awareness regarding aircraft attitude

    NASA Technical Reports Server (NTRS)

    Chelette, T. L.; Repperger, Daniel W.; Albery, W. B.

    1991-01-01

    An effort was initiated at the Armstrong Aerospace Medical Research Laboratory (AAMRL) to investigate the improvement of the situational awareness of a pilot with respect to his aircraft's spatial orientation. The end product of this study is a device to alert a pilot to potentially disorienting situations. Much like a ground collision avoidance system (GCAS) is used in fighter aircraft to alert the pilot to 'pull up' when dangerous flight paths are predicted, this device warns the pilot to put a higher priority on attention to the orientation instrument. A Kalman filter was developed which estimates the pilot's perceived position and orientation. The input to the Kalman filter consists of two classes of data. The first class of data consists of noise parameters (indicating parameter uncertainty), conflict signals (e.g. vestibular and kinesthetic signal disagreement), and some nonlinear effects. The Kalman filter's perceived estimates are now the sum of both Class 1 data (good information) and Class 2 data (distorted information). When the estimated perceived position or orientation is significantly different from the actual position or orientation, the pilot is alerted.

  8. 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)

  9. 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…

  10. 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

  11. 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...

  12. Small transport aircraft technology

    NASA Technical Reports Server (NTRS)

    Williams, L. J.

    1983-01-01

    Information on commuter airline trends and aircraft developments is provided to upgrade the preliminary findings of a NASA-formed small transport aircraft technology (STAT) team, established to determine whether the agency's research and development programs could help commuter aircraft manufacturers solve technical problems related to passenger acceptance and use of 19- to 50-passenger aircraft. The results and conclusions of the full set of completed STAT studies are presented. These studies were performed by five airplane manufacturers, five engine manufacturers, and two propeller manufacturers. Those portions of NASA's overall aeronautics research and development programs which are applicable to commuter aircraft design are summarized. Areas of technology that might beneficially be expanded or initiated to aid the US commuter aircraft manufacturers in the evolution of improved aircraft for the market are suggested.

  13. Boundary Avoidance Tracking for Instigating Pilot Induced Oscillations

    NASA Technical Reports Server (NTRS)

    Craun, Robert W.; Acosta, Diana M.; Beard, Steven D.; Hardy, Gordon H.; Leonard, Michael W.; Weinstein, Michael

    2013-01-01

    In order to advance research in the area of pilot induced oscillations, a reliable method to create PIOs in a simulated environment is necessary. Using a boundary avoidance tracking task, researchers performing an evaluation of control systems were able to create PIO events in 42% of cases using a nominal aircraft, and 91% of cases using an aircraft with reduced actuator rate limits. The simulator evaluation took place in the NASA Ames Vertical Motion Simulator, a high-fidelity motion-based simulation facility.

  14. Aircraft body-axis rotation measurement system

    NASA Technical Reports Server (NTRS)

    Cowdin, K. T. (Inventor)

    1983-01-01

    A two gyro four gimbal attitude sensing system having gimbal lock avoidance is provided with continuous azimuth information, rather than roll information, relative to the magnetic cardinal headings while in near vertical attitudes to allow recovery from vertical on a desired heading. The system is comprised of a means for stabilizing an outer roll gimbal that is common to a vertical gyro and a directional gyro with respect to the aircraft platform which is being angularly displaced about an axis substantially parallel to the outer roll gyro axis. A means is also provided for producing a signal indicative of the magnitude of such displacement as an indication of aircraft heading. Additional means are provided to cause stabilization of the outer roll gimbal whenever the pitch angle of the aircraft passes through a threshold prior to entering vertical flight and destabilization of the outer roll gimbal upon passing through the threshold when departing vertical flight.

  15. 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.

  16. Raptors and aircraft

    USGS Publications Warehouse

    Smith, D.G.; Ellis, D.H.; Johnson, T.H.; Glinski, Richard L.; Pendleton, Beth Giron; Moss, Mary Beth; LeFranc, Maurice N.=; Millsap, Brian A.; Hoffman, Stephen W.

    1988-01-01

    Less than 5% of all bird strikes of aircraft are by raptor species, but damage to airframe structure or jet engine dysfunction are likely consequences. Beneficial aircraft-raptor interactions include the use of raptor species to frighten unwanted birds from airport areas and the use of aircraft to census raptor species. Many interactions, however, modify the raptor?s immediate behavior and some may decrease reproduction of sensitive species. Raptors may respond to aircraft stimuli by exhibiting alarm, increased heart rate, flushing or fleeing and occasionally by directly attacking intruding aircraft. To date, most studies reveal that raptor responses to aircraft are brief and do not limit reproduction; however, additional study is needed.

  17. Lightning Discharges to Aircraft and Associated Meteorological Conditions

    NASA Technical Reports Server (NTRS)

    Harrison, L P

    1946-01-01

    A summary is given of information on atmospheric electrical discharges to aircraft and associated meteorological conditions. Information is given that is designed to give a fairly comprehensive view of the underlying principles of meteorology and atmospheric electricity. Of special interest to pilots are lists of procedures of flight conduct and aircraft maintenance recommended foe avoiding or minimizing the hazards of disruptive electrical discharges and other severe conditions near thunderstorms.

  18. Lightning effects on aircraft

    NASA Technical Reports Server (NTRS)

    1977-01-01

    Direct and indirect effects of lightning on aircraft were examined in relation to aircraft design. Specific trends in design leading to more frequent lightning strikes were individually investigated. These trends included the increasing use of miniaturized, solid state components in aircraft electronics and electric power systems. A second trend studied was the increasing use of reinforced plastics and other nonconducting materials in place of aluminum skins, a practice that reduces the electromagnetic shielding furnished by a conductive skin.

  19. Identifying tacit strategies in aircraft maneuvers

    NASA Technical Reports Server (NTRS)

    Lewis, Charles M.; Heidorn, P. B.

    1991-01-01

    Two machine-learning methods are presently used to characterize the avoidance strategies used by skilled pilots in simulated aircraft encounters, and a general framework for the characterization of the strategic components of skilled behavior via qualitative representation of situations and responses is presented. Descriptions of pilot maneuvers that were 'conceptually equivalent' were ascertained by a concept-learning algorithm in conjunction with a classifier system that employed a generic algorithm; satisficing and 'buggy' strategies were thereby revealed.

  20. The influence of object identity on obstacle avoidance reaching behaviour.

    PubMed

    de Haan, A M; Van der Stigchel, S; Nijnens, C M; Dijkerman, H C

    2014-07-01

    When reaching for target objects, we hardly ever collide with other objects located in our working environment. Behavioural studies have demonstrated that the introduction of non-target objects into the workspace alters both spatial and temporal parameters of reaching trajectories. Previous studies have shown the influence of spatial object features (e.g. size and position) on obstacle avoidance movements. However, obstacle identity may also play a role in the preparation of avoidance responses as this allows prediction of possible negative consequences of collision based on recognition of the obstacle. In this study we test this hypothesis by asking participants to reach towards a target as quickly as possible, in the presence of an empty or full glass of water placed about half way between the target and the starting position, at 8 cm either left or right of the virtual midline. While the spatial features of full and empty glasses of water are the same, the consequences of collision are clearly different. Indeed, when there was a high chance of collision, reaching trajectories veered away more from filled than from empty glasses. This shows that the identity of potential obstacles, which allows for estimating the predicted consequences of collision, is taken into account during obstacle avoidance.

  1. 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.

  2. 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

  3. 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

  4. Aircraft fire safety research

    NASA Technical Reports Server (NTRS)

    Botteri, Benito P.

    1987-01-01

    During the past 15 years, very significant progress has been made toward enhancing aircraft fire safety in both normal and hostile (combat) operational environments. Most of the major aspects of the aircraft fire safety problem are touched upon here. The technology of aircraft fire protection, although not directly applicable in all cases to spacecraft fire scenarios, nevertheless does provide a solid foundation to build upon. This is particularly true of the extensive research and testing pertaining to aircraft interior fire safety and to onboard inert gas generation systems, both of which are still active areas of investigation.

  5. Hypersonic aircraft design

    NASA Technical Reports Server (NTRS)

    Alkamhawi, Hani; Greiner, Tom; Fuerst, Gerry; Luich, Shawn; Stonebraker, Bob; Wray, Todd

    1990-01-01

    A hypersonic aircraft is designed which uses scramjets to accelerate from Mach 6 to Mach 10 and sustain that speed for two minutes. Different propulsion systems were considered and it was decided that the aircraft would use one full scale turbofan-ramjet. Two solid rocket boosters were added to save fuel and help the aircraft pass through the transonic region. After considering aerodynamics, aircraft design, stability and control, cooling systems, mission profile, and landing systems, a conventional aircraft configuration was chosen over that of a waverider. The conventional design was chosen due to its landing characteristics and the relative expense compared to the waverider. Fuel requirements and the integration of the engine systems and their inlets are also taken into consideration in the final design. A hypersonic aircraft was designed which uses scramjets to accelerate from Mach 6 to Mach 10 and sustain that speed for two minutes. Different propulsion systems were considered and a full scale turbofan-ramjet was chosen. Two solid rocket boosters were added to save fuel and help the aircraft pass through the transonic reqion. After the aerodynamics, aircraft design, stability and control, cooling systems, mission profile, landing systems, and their physical interactions were considered, a conventional aircraft configuration was chosen over that of a waverider. The conventional design was chosen due to its landing characteristics and the relative expense compared to the waverider. Fuel requirements and the integration of the engine systems and their inlets were also considered in the designing process.

  6. Landing Hazard Avoidance Display

    NASA Technical Reports Server (NTRS)

    Abernathy, Michael Franklin (Inventor); Hirsh, Robert L. (Inventor)

    2016-01-01

    Landing hazard avoidance displays can provide rapidly understood visual indications of where it is safe to land a vehicle and where it is unsafe to land a vehicle. Color coded maps can indicate zones in two dimensions relative to the vehicles position where it is safe to land. The map can be simply green (safe) and red (unsafe) areas with an indication of scale or can be a color coding of another map such as a surface map. The color coding can be determined in real time based on topological measurements and safety criteria to thereby adapt to dynamic, unknown, or partially known environments.

  7. Small Autonomous Aircraft Servo Health Monitoring

    NASA Technical Reports Server (NTRS)

    Quintero, Steven

    2008-01-01

    Small air vehicles offer challenging power, weight, and volume constraints when considering implementation of system health monitoring technologies. In order to develop a testbed for monitoring the health and integrity of control surface servos and linkages, the Autonomous Aircraft Servo Health Monitoring system has been designed for small Uninhabited Aerial Vehicle (UAV) platforms to detect problematic behavior from servos and the air craft structures they control, This system will serve to verify the structural integrity of an aircraft's servos and linkages and thereby, through early detection of a problematic situation, minimize the chances of an aircraft accident. Embry-Riddle Aeronautical University's rotary-winged UAV has an Airborne Power management unit that is responsible for regulating, distributing, and monitoring the power supplied to the UAV's avionics. The current sensing technology utilized by the Airborne Power Management system is also the basis for the Servo Health system. The Servo Health system measures the current draw of the servos while the servos are in Motion in order to quantify the servo health. During a preflight check, deviations from a known baseline behavior can be logged and their causes found upon closer inspection of the aircraft. The erratic behavior nay include binding as a result of dirt buildup or backlash caused by looseness in the mechanical linkages. Moreover, the Servo Health system will allow elusive problems to be identified and preventative measures taken to avoid unnecessary hazardous conditions in small autonomous aircraft.

  8. 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.

  9. Human Factors In Aircraft Automation

    NASA Technical Reports Server (NTRS)

    Billings, Charles

    1995-01-01

    Report presents survey of state of art in human factors in automation of aircraft operation. Presents examination of aircraft automation and effects on flight crews in relation to human error and aircraft accidents.

  10. DAIDALUS: Detect and Avoid Alerting Logic for Unmanned Systems

    NASA Technical Reports Server (NTRS)

    Munoz, Cesar; Narkawicz, Anthony; Hagen, George; Upchurch, Jason; Dutle, Aaron; Consiglio, Maria; Chamberlain, James

    2015-01-01

    This paper presents DAIDALUS (Detect and Avoid Alerting Logic for Unmanned Systems), a reference implementation of a detect and avoid concept intended to support the integration of Unmanned Aircraft Systems into civil airspace. DAIDALUS consists of self-separation and alerting algorithms that provide situational awareness to UAS remote pilots. These algorithms have been formally specified in a mathematical notation and verified for correctness in an interactive theorem prover. The software implementation has been verified against the formal models and validated against multiple stressing cases jointly developed by the US Air Force Research Laboratory, MIT Lincoln Laboratory, and NASA. The DAIDALUS reference implementation is currently under consideration for inclusion in the appendices to the Minimum Operational Performance Standards for Unmanned Aircraft Systems presently being developed by RTCA Special Committee 228.

  11. Development of Tactical Lightning Avoidance Product for Terminal Weather Support

    NASA Astrophysics Data System (ADS)

    Yoshikawa, E.; Yoshida, S.; Adachi, T.; Kusunoki, K.; Ushio, T.

    2015-12-01

    Aircraft initiated or intercepted lightning is one of significant issues for civilian flight operation in Japan. It is much less possible than the past that lightning strikes cause fatal aircraft accidents thanks to both of certifications of aircraft design for lightning strikes and many of weather supports for aircraft operation. However, hundreds of lightning strikes to aircrafts have still been reported in each recent year in Japan, and airlines have been forced to delay or cancel most of those flights and to cost several hundred millions of yen for repair. Especially, lightning discharges during winter in the coastal area of the Sea of Japan frequently cause heavy damages on aircrafts due to their large charge transfer. It is important in actual aircraft operation that observed meteorological parameters are converted to decision-making information. Otherwise, pilots, controllers, or operators need to learn meteorology as much as weather experts, and to owe hard work load to interpret observed meteorological data to their risk. Ideally, it is desired to automatically provide them with predicted operation risk, for example, delay time, possibility of flight cancellation, and repair cost caused by lightning.Our research group has just started development of tactical lightning avoidance product, where a risk index of an aircraft operation due to lightning is calculated mainly from three novel observation devices: The phased array weather radar has potential to detect thunderstorms in their early stage due to the high volume scan rate of 10 - 30 sec. A lightning mapping system, such as Broadband Observation network for Lightning and Thunderstorm, indicates electrical structure inside clouds in concert with a co-located radar data. Aircraft sounding and real-time data downlink, especially high-frequency data provided by Secondary Surveillance Radar mode S, gives in-situ measurements of wind and temperature. Especially the in-situ temperature data can indicate

  12. General Aviation Aircraft Reliability Study

    NASA Technical Reports Server (NTRS)

    Pettit, Duane; Turnbull, Andrew; Roelant, Henk A. (Technical Monitor)

    2001-01-01

    This reliability study was performed in order to provide the aviation community with an estimate of Complex General Aviation (GA) Aircraft System reliability. To successfully improve the safety and reliability for the next generation of GA aircraft, a study of current GA aircraft attributes was prudent. This was accomplished by benchmarking the reliability of operational Complex GA Aircraft Systems. Specifically, Complex GA Aircraft System reliability was estimated using data obtained from the logbooks of a random sample of the Complex GA Aircraft population.

  13. Cable Tensiometer for Aircraft

    NASA Technical Reports Server (NTRS)

    Nunnelee, Mark (Inventor)

    2008-01-01

    The invention is a cable tensiometer that can be used on aircraft for real-time, in-flight cable tension measurements. The invention can be used on any aircraft cables with high precision. The invention is extremely light-weight, hangs on the cable being tested and uses a dual bending beam design with a high mill-volt output to determine tension.

  14. Lightning protection of aircraft

    NASA Technical Reports Server (NTRS)

    Fisher, F. A.; Plumer, J. A.

    1977-01-01

    The current knowledge concerning potential lightning effects on aircraft and the means that are available to designers and operators to protect against these effects are summarized. The increased use of nonmetallic materials in the structure of aircraft and the constant trend toward using electronic equipment to handle flight-critical control and navigation functions have served as impetus for this study.

  15. Civil aircraft accident investigation.

    PubMed

    Haines, Daniel

    2013-01-01

    This talk reviews some historic aircraft accidents and some more recent. It reflects on the division of accident causes, considering mechanical failures and aircrew failures, and on aircrew training. Investigation results may lead to improved aircraft design, and to appropriate crew training. PMID:24057309

  16. 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.

  17. NASA satellite helps airliners avoid ozone concentrations

    NASA Technical Reports Server (NTRS)

    1981-01-01

    Results from a test to determine the effectiveness of satellite data for helping airlines avoid heavy concentrations of ozone are reported. Information from the Total Ozone Mapping Spectrometer, aboard the Nimbus-7 was transmitted, for use in meteorological forecast activities. The results show: (1) Total Ozone Mapping Spectrometer profile of total ozone in the atmosphere accurately represents upper air patterns and can be used to locate meteorological activity; (2) route forecasting of highly concentrated ozone is feasible; (3) five research aircraft flights were flown in jet stream regions located by the Total Ozone Mapping Spectrometer to determine winds, temperatures, and air composition. It is shown that the jet stream is coincides with the area of highest total ozone gradient, and low total ozone amounts are found where tropospheric air has been carried along above the tropopause on the anticyclonic side of the subtropical jet stream.

  18. Why aircraft disinsection?

    PubMed Central

    Gratz, N. G.; Steffen, R.; Cocksedge, W.

    2000-01-01

    A serious problem is posed by the inadvertent transport of live mosquitoes aboard aircraft arriving from tropical countries where vector-borne diseases are endemic. Surveys at international airports have found many instances of live insects, particularly mosquitoes, aboard aircraft arriving from countries where malaria and arboviruses are endemic. In some instances mosquito species have been established in countries in which they have not previously been reported. A serious consequence of the transport of infected mosquitoes aboard aircraft has been the numerous cases of "airport malaria" reported from Europe, North America and elsewhere. There is an important on-going need for the disinsection of aircraft coming from airports in tropical disease endemic areas into nonendemic areas. The methods and materials available for use in aircraft disinsection and the WHO recommendations for their use are described. PMID:10994283

  19. Aircraft operations management manual

    NASA Technical Reports Server (NTRS)

    1992-01-01

    The NASA aircraft operations program is a multifaceted, highly diverse entity that directly supports the agency mission in aeronautical research and development, space science and applications, space flight, astronaut readiness training, and related activities through research and development, program support, and mission management aircraft operations flights. Users of the program are interagency, inter-government, international, and the business community. This manual provides guidelines to establish policy for the management of NASA aircraft resources, aircraft operations, and related matters. This policy is an integral part of and must be followed when establishing field installation policy and procedures covering the management of NASA aircraft operations. Each operating location will develop appropriate local procedures that conform with the requirements of this handbook. This manual should be used in conjunction with other governing instructions, handbooks, and manuals.

  20. Hypersonic reconnaissance aircraft

    NASA Technical Reports Server (NTRS)

    Bulk, Tim; Chiarini, David; Hill, Kevin; Kunszt, Bob; Odgen, Chris; Truong, Bon

    1992-01-01

    A conceptual design of a hypersonic reconnaissance aircraft for the U.S. Navy is discussed. After eighteen weeks of work, a waverider design powered by two augmented turbofans was chosen. The aircraft was designed to be based on an aircraft carrier and to cruise 6,000 nautical miles at Mach 4;80,000 feet and above. As a result the size of the aircraft was only allowed to have a length of eighty feet, fifty-two feet in wingspan, and roughly 2,300 square feet in planform area. Since this is a mainly cruise aircraft, sixty percent of its 100,000 pound take-off weight is JP fuel. At cruise, the highest temperature that it will encounter is roughly 1,100 F, which can be handled through the use of a passive cooling system.

  1. An expert system for wind shear avoidance

    NASA Technical Reports Server (NTRS)

    Stengel, Robert F.; Stratton, D. Alexander

    1990-01-01

    A study of intelligent guidance and control concepts for protecting against the adverse effects of wind shear during aircraft takeoffs and landings is being conducted, with current emphasis on developing an expert system for wind shear avoidance. Principal objectives are to develop methods for assessing the likelihood of wind shear encounter (based on real-time information in the cockpit), for deciding what flight path to pursue (e.g., takeoff abort, landing go-around, or normal climbout or glide slope), and for using the aircraft's full potential for combating wind shear. This study requires the definition of both deterministic and statistical techniques for fusing internal and external information , for making go/no-go decisions, and for generating commands to the manually controlled flight. The program has begun with the development of the WindShear Safety Advisor, an expert system for pilot aiding that is based on the FAA Windshear Training Aid; a two-volume manual that presents an overview , pilot guide, training program, and substantiating data provides guidelines for this initial development. The WindShear Safety Advisor expert system currently contains over 200 rules and is coded in the LISP programming language.

  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. Aircraft Loss of Control Study

    NASA Technical Reports Server (NTRS)

    Jacobson, Steven R.

    2010-01-01

    Loss of control has become the leading cause of jet fatalities worldwide. Aside from their frequency of occurrence, accidents resulting from loss of aircraft control seize the public s attention by yielding large numbers of fatalities in a single event. In response to the rising threat to aviation safety, NASA's Aviation Safety Program has conducted a study of the loss of control problem. This study gathered four types of information pertaining to loss of control accidents: (1) statistical data; (2) individual accident reports that cite loss of control as a contributing factor; (3) previous meta-analyses of loss of control accidents; and (4) inputs solicited from aircraft manufacturers, air carriers, researchers, and other industry stakeholders. Using these information resources, the study team identified causal factors that were cited in the greatest number of loss of control accidents, and which were emphasized most by industry stakeholders. For each causal factor that was linked to loss of control, the team solicited ideas about what solutions are required and future research efforts that could potentially help avoid their occurrence or mitigate their consequences when they occurred in flight.

  4. Differences in Characteristics of Aviation Accidents During 1993-2012 Based on Aircraft Type

    NASA Technical Reports Server (NTRS)

    Evans, Joni K.

    2015-01-01

    Civilian aircraft are available in a variety of sizes, engine types, construction materials and instrumentation complexity. For the analysis reported here, eleven aircraft categories were developed based mostly on aircraft size and engine type, and these categories were applied to twenty consecutive years of civil aviation accidents. Differences in various factors were examined among these aircraft types, including accident severity, pilot characteristics and accident occurrence categories. In general, regional jets and very light sport aircraft had the lowest rates of adverse outcomes (injuries, fatal accidents, aircraft destruction, major accidents), while aircraft with twin (piston) engines or with a single (piston) engine and retractable landing gear carried the highest incidence of adverse outcomes. The accident categories of abnormal runway contact, runway excursions and non-powerplant system/component failures occur frequently within all but two or three aircraft types. In contrast, ground collisions, loss of control - on ground/water and powerplant system/component failure occur frequently within only one or two aircraft types. Although accidents in larger aircraft tend to have less severe outcomes, adverse outcome rates also differ among accident categories. It may be that the type of accident has as much or more influence on the outcome as the type of aircraft.

  5. Predicting visibility of aircraft.

    PubMed

    Watson, Andrew; Ramirez, Cesar V; Salud, Ellen

    2009-05-20

    Visual detection of aircraft by human observers is an important element of aviation safety. To assess and ensure safety, it would be useful to be able to be able to predict the visibility, to a human observer, of an aircraft of specified size, shape, distance, and coloration. Examples include assuring safe separation among aircraft and between aircraft and unmanned vehicles, design of airport control towers, and efforts to enhance or suppress the visibility of military and rescue vehicles. We have recently developed a simple metric of pattern visibility, the Spatial Standard Observer (SSO). In this report we examine whether the SSO can predict visibility of simulated aircraft images. We constructed a set of aircraft images from three-dimensional computer graphic models, and measured the luminance contrast threshold for each image from three human observers. The data were well predicted by the SSO. Finally, we show how to use the SSO to predict visibility range for aircraft of arbitrary size, shape, distance, and coloration.

  6. Predicting Visibility of Aircraft

    PubMed Central

    Watson, Andrew; Ramirez, Cesar V.; Salud, Ellen

    2009-01-01

    Visual detection of aircraft by human observers is an important element of aviation safety. To assess and ensure safety, it would be useful to be able to be able to predict the visibility, to a human observer, of an aircraft of specified size, shape, distance, and coloration. Examples include assuring safe separation among aircraft and between aircraft and unmanned vehicles, design of airport control towers, and efforts to enhance or suppress the visibility of military and rescue vehicles. We have recently developed a simple metric of pattern visibility, the Spatial Standard Observer (SSO). In this report we examine whether the SSO can predict visibility of simulated aircraft images. We constructed a set of aircraft images from three-dimensional computer graphic models, and measured the luminance contrast threshold for each image from three human observers. The data were well predicted by the SSO. Finally, we show how to use the SSO to predict visibility range for aircraft of arbitrary size, shape, distance, and coloration. PMID:19462007

  7. Avoidance of late abortion.

    PubMed

    1979-11-24

    Induced abortion is now a common procedure in the United States and Britain. Methods for performing induced abortion are reviewed. Menstrual regulation, aspiration with a hand-held syringe and a flexible cannula within 6 weeks of the last period, is not often practiced in Britain. Several developing countries are using this simple technique to advantage. Vacuum aspiration in the 1st 12 weeks of pregnancy is the main method being used everywhere for 1st trimester procedures. Mortality rates with this method are low and, in well-organized clinics with experienced personnel, the rates can be reduced even further. It is agreed that 2nd trimester procedures are more complex, both physically and emotionally. In the last several years, dilatation and evacuation (D&E) has increased in popularity for 2nd trimester procedures. Dilation of the cervix is generally accomplished with laminaria, evacuation of the uterus with forceps, and then suction curettage applied. This procedure has replaced intraamniotic infusion, hysterotomy, and hysterectomy as the most commonly - practiced method, despite its need for special surgical skills and good clinical backup. Follow-up of abortions is difficult. Different long-term effects have been noted with different abortion procedures. Early abortion seems to have only a modest effect, if that. Whether late abortion has long-lasting effects remains open to question. Late abortion should be avoided.

  8. OVRhyp, Scramjet Test Aircraft

    NASA Technical Reports Server (NTRS)

    Aslan, J.; Bisard, T.; Dallinga, S.; Draper, K.; Hufford, G.; Peters, W.; Rogers, J.

    1990-01-01

    A preliminary design for an unmanned hypersonic research vehicle to test scramjet engines is presented. The aircraft will be launched from a carrier aircraft at an altitude of 40,000 feet at Mach 0.8. The vehicle will then accelerate to Mach 6 at an altitude of 100,000 feet. At this stage the prototype scramjet will be employed to accelerate the vehicle to Mach 10 and maintain Mach 10 flight for 2 minutes. The aircraft will then decelerate and safely land.

  9. Aircraft compass characteristics

    NASA Technical Reports Server (NTRS)

    Peterson, John B; Smith, Clyde W

    1937-01-01

    A description of the test methods used at the National Bureau of Standards for determining the characteristics of aircraft compasses is given. The methods described are particularly applicable to compasses in which mineral oil is used as the damping liquid. Data on the viscosity and density of certain mineral oils used in United States Navy aircraft compasses are presented. Characteristics of Navy aircraft compasses IV to IX and some other compasses are shown for the range of temperatures experienced in flight. Results of flight tests are presented. These results indicate that the characteristic most desired in a steering compass is a short period and, in a check compass, a low overswing.

  10. Loftin Collection - Boeing Aircraft

    NASA Technical Reports Server (NTRS)

    1933-01-01

    Either a F2B-1 or F3B-1, both aircraft were built by Boeing and both were powered by Pratt and Whitney Wasp engines. These fighters were intended for Navy shipboard use. Boeing F3B-1: While most Boeing F3B-1s served the U. S. Navy aircraft carriers the Lexington and the Saratoga, this example flew in NACA hands at the Langley Memorial Aeronautical Laboratory in the late 1920's. Also known as the Boeing Model 77, the aircraft was the next to last F3B-1 build in November 1928.

  11. Some fighter aircraft trends

    NASA Technical Reports Server (NTRS)

    Spearman, L.

    1985-01-01

    Some basic trends in fighters are traced from the post World II era. Beginning with the first operational jet fighter, the P-80, the characteristics of subsequent fighter aircraft are examined for performance, mission capability, effectiveness, and cost. Characteristics presented include: power loading, wing loading, maximum speed, rate of climb, turn rate, weight and weight distribution, cost and cost distribution. The characteristics of some USSR aircraft are included for comparison. The trends indicate some of the rationale for certain fighter designs and some likely characteristics to be sought in future fighter aircraft designs.

  12. Lightning hazards to aircraft

    NASA Technical Reports Server (NTRS)

    Corn, P. B.

    1978-01-01

    Lightning hazards and, more generally, aircraft static electricity are discussed by a representative for the Air Force Flight Dynamics Laboratory. An overview of these atmospheric electricity hazards to aircraft and their systems is presented with emphasis on electrical and electronic subsystems. The discussion includes reviewing some of the characteristics of lightning and static electrification, trends in weather and lightning-related mishaps, some specific threat mechanisms and susceptible aircraft subsystems and some of the present technology gaps. A roadmap (flow chart) is presented to show the direction needed to address these problems.

  13. Tropospheric sampling with aircraft

    SciTech Connect

    Daum, P.H.; Springston, S.R.

    1991-03-01

    Aircraft constitute a unique environment which places stringent requirements on the instruments used to measure the concentrations of atmospheric trace gases and aerosols. Some of these requirements such as minimization of size, weight, and power consumption are general; others are specific to individual techniques. This review presents the basic principles and considerations governing the deployment of trace gas and aerosol instrumentation on an aircraft. An overview of common instruments illustrates these points and provides guidelines for designing and using instruments on aircraft-based measurement programs.

  14. Antecedents and analogues - Experimental aircraft

    NASA Technical Reports Server (NTRS)

    Smith, R. H.

    1978-01-01

    The paper reviews the development of experimental aircraft from 1953 to the present. Consideration is given to the X-series experimental aircraft, to X-15 (the first aerospace plane), to the transition of experimental aircraft to high-speed flight, to XB-70 research, to lifting body research aircraft, and to current high-speed flight research.

  15. 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.

  16. 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.

  17. Depreciation of aircraft

    NASA Technical Reports Server (NTRS)

    Warner, Edward P

    1922-01-01

    There is a widespread, and quite erroneous, impression to the effect that aircraft are essentially fragile and deteriorate with great rapidity when in service, so that the depreciation charges to be allowed on commercial or private operation are necessarily high.

  18. Advanced hypersonic aircraft design

    NASA Technical Reports Server (NTRS)

    Utzinger, Rob; Blank, Hans-Joachim; Cox, Craig; Harvey, Greg; Mckee, Mike; Molnar, Dave; Nagy, Greg; Petersen, Steve

    1992-01-01

    The objective of this design project is to develop the hypersonic reconnaissance aircraft to replace the SR-71 and to complement existing intelligence gathering devices. The initial design considerations were to create a manned vehicle which could complete its mission with at least two airborne refuelings. The aircraft must travel between Mach 4 and Mach 7 at an altitude of 80,000 feet for a maximum range of 12,000 nautical miles. The vehicle should have an air breathing propulsion system at cruise. With a crew of two, the aircraft should be able to take off and land on a 10,000 foot runway, and the yearly operational costs were not to exceed $300 million. Finally, the aircraft should exhibit stealth characteristics, including a minimized radar cross-section (RCS) and a reduced sonic boom. The technology used in this vehicle should allow for production between the years 1993 and 1995.

  19. Aircraft Engine Emissions. [conference

    NASA Technical Reports Server (NTRS)

    1977-01-01

    A conference on a aircraft engine emissions was held to present the results of recent and current work. Such diverse areas as components, controls, energy efficient engine designs, and noise and pollution reduction are discussed.

  20. The Aircraft Morphing Program

    NASA Technical Reports Server (NTRS)

    Wlezien, R. W.; Horner, G. C.; McGowan, A. R.; Padula, S. L.; Scott, M. A.; Silcox, R. J.; Simpson, J. O.

    1998-01-01

    In the last decade smart technologies have become enablers that cut across traditional boundaries in materials science and engineering. Here we define smart to mean embedded actuation, sensing, and control logic in a tightly coupled feedback loop. While multiple successes have been achieved in the laboratory, we have yet to see the general applicability of smart devices to real aircraft systems. The NASA Aircraft Morphing program is an attempt to couple research across a wide range of disciplines to integrate smart technologies into high payoff aircraft applications. The program bridges research in seven individual disciplines and combines the effort into activities in three primary program thrusts. System studies are used to assess the highest- payoff program objectives, and specific research activities are defined to address the technologies required for development of smart aircraft systems. In this paper we address the overall program goals and programmatic structure, and discuss the challenges associated with bringing the technologies to fruition.

  1. Laminar Flow Aircraft Certification

    NASA Technical Reports Server (NTRS)

    Williams, Louis J. (Compiler)

    1986-01-01

    Various topics telative to laminar flow aircraft certification are discussed. Boundary layer stability, flaps for laminar flow airfoils, computational wing design studies, manufacturing requirements, windtunnel tests, and flow visualization are among the topics covered.

  2. Aircraft electromagnetic compatibility

    NASA Technical Reports Server (NTRS)

    Clarke, Clifton A.; Larsen, William E.

    1987-01-01

    Illustrated are aircraft architecture, electromagnetic interference environments, electromagnetic compatibility protection techniques, program specifications, tasks, and verification and validation procedures. The environment of 400 Hz power, electrical transients, and radio frequency fields are portrayed and related to thresholds of avionics electronics. Five layers of protection for avionics are defined. Recognition is given to some present day electromagnetic compatibility weaknesses and issues which serve to reemphasize the importance of EMC verification of equipment and parts, and their ultimate EMC validation on the aircraft. Proven standards of grounding, bonding, shielding, wiring, and packaging are laid out to help provide a foundation for a comprehensive approach to successful future aircraft design and an understanding of cost effective EMC in an aircraft setting.

  3. Solar thermal aircraft

    DOEpatents

    Bennett, Charles L.

    2007-09-18

    A solar thermal powered aircraft powered by heat energy from the sun. A heat engine, such as a Stirling engine, is carried by the aircraft body for producing power for a propulsion mechanism, such as a propeller. The heat engine has a thermal battery in thermal contact with it so that heat is supplied from the thermal battery. A solar concentrator, such as reflective parabolic trough, is movably connected to an optically transparent section of the aircraft body for receiving and concentrating solar energy from within the aircraft. Concentrated solar energy is collected by a heat collection and transport conduit, and heat transported to the thermal battery. A solar tracker includes a heliostat for determining optimal alignment with the sun, and a drive motor actuating the solar concentrator into optimal alignment with the sun based on a determination by the heliostat.

  4. Aircraft parameter estimation

    NASA Technical Reports Server (NTRS)

    Iliff, Kenneth W.

    1987-01-01

    The aircraft parameter estimation problem is used to illustrate the utility of parameter estimation, which applies to many engineering and scientific fields. Maximum likelihood estimation has been used to extract stability and control derivatives from flight data for many years. This paper presents some of the basic concepts of aircraft parameter estimation and briefly surveys the literature in the field. The maximum likelihood estimator is discussed, and the basic concepts of minimization and estimation are examined for a simple simulated aircraft example. The cost functions that are to be minimized during estimation are defined and discussed. Graphic representations of the cost functions are given to illustrate the minimization process. Finally, the basic concepts are generalized, and estimation from flight data is discussed. Some of the major conclusions for the simulated example are also developed for the analysis of flight data from the F-14, highly maneuverable aircraft technology (HiMAT), and space shuttle vehicles.

  5. Identification of aerodynamic models for maneuvering aircraft

    NASA Technical Reports Server (NTRS)

    Chin, Suei; Lan, C. Edward

    1990-01-01

    Due to the requirement of increased performance and maneuverability, the flight envelope of a modern fighter is frequently extended to the high angle-of-attack regime. Vehicles maneuvering in this regime are subjected to nonlinear aerodynamic loads. The nonlinearities are due mainly to three-dimensional separated flow and concentrated vortex flow that occur at large angles of attack. Accurate prediction of these nonlinear airloads is of great importance in the analysis of a vehicle's flight motion and in the design of its flight control system. A satisfactory evaluation of the performance envelope of the aircraft may require a large number of coupled computations, one for each change in initial conditions. To avoid the disadvantage of solving the coupled flow-field equations and aircraft's motion equations, an alternate approach is to use a mathematical modeling to describe the steady and unsteady aerodynamics for the aircraft equations of motion. Aerodynamic forces and moments acting on a rapidly maneuvering aircraft are, in general, nonlinear functions of motion variables, their time rate of change, and the history of maneuvering. A numerical method was developed to analyze the nonlinear and time-dependent aerodynamic response to establish the generalized indicial function in terms of motion variables and their time rates of change.

  6. Alternative jet aircraft fuels

    NASA Technical Reports Server (NTRS)

    Grobman, J.

    1979-01-01

    Potential changes in jet aircraft fuel specifications due to shifts in supply and quality of refinery feedstocks are discussed with emphasis on the effects these changes would have on the performance and durability of aircraft engines and fuel systems. Combustion characteristics, fuel thermal stability, and fuel pumpability at low temperature are among the factors considered. Combustor and fuel system technology needs for broad specification fuels are reviewed including prevention of fuel system fouling and fuel system technology for fuels with higher freezing points.

  7. Evaluation of the influence of aircraft shielding on the aircrew exposure through an aircraft mathematical model.

    PubMed

    Ferrari, A; Pelliccioni, M; Villari, R

    2004-01-01

    In order to investigate the influence of aircraft shielding on the galactic component of cosmic rays, an aircraft mathematical model has been developed by the combinatorial geometry package of the Monte-Carlo transport code FLUKA. The isotropic irradiation of the aircraft in the cosmic ray environment has been simulated. Effective dose and ambient dose equivalent rates have been determined inside the aircraft at several locations along the fuselage, at a typical civil aviation altitude (10 580 m), for vertical cut-off rigidity of 0.4 GV (poles) and 17.6 GV (equator) and deceleration potential of 465 MV. The values of both quantities were generally lower than those in the free atmosphere. They depend, in an intricate manner, on the location within the aircraft, quantity of fuel, number of passengers, etc. The position onboard of crew members should be taken into account when assessing individual doses. Likewise due consideration must be taken when positioning detectors which are used to measure H*(10). Care would be needed to avoid ambiguity when comparing the results of calculation with the experimental data.

  8. Dynamics of jamming avoidance in echolocating bats.

    PubMed Central

    Ulanovsky, Nachum; Fenton, M. Brock; Tsoar, Asaf; Korine, Carmi

    2004-01-01

    Animals using active sensing systems such as echolocation or electrolocation may experience interference from the signals of neighbouring conspecifics, which can be offset by a jamming avoidance response (JAR). Here, we report JAR in one echolocating bat (Tadarida teniotis: Molossidae) but not in another (Taphozous perforatus: Emballonuridae) when both flew and foraged with conspecifics. In T. teniotis, JAR consisted of shifts in the dominant frequencies of echolocation calls, enhancing differences among individuals. Larger spectral overlap of signals elicited stronger JAR. Tadarida teniotis showed two types of JAR: (i) for distant conspecifics: a symmetric JAR, with lower- and higher-frequency bats shifting their frequencies downwards and upwards, respectively, on average by the same amount; and (ii) for closer conspecifics: an asymmetric JAR, with only the upper-frequency bat shifting its frequency upwards. In comparison, 'wave-type' weakly electric fishes also shift frequencies of discharges in a JAR, but unlike T. teniotis, the shifts are either symmetric in some species or asymmetric in others. We hypothesize that symmetric JAR in T. teniotis serves to avoid jamming and improve echolocation, whereas asymmetric JAR may aid communication by helping to identify and locate conspecifics, thus minimizing chances of mid-air collisions. PMID:15306318

  9. 150 Passenger Commercial Aircraft

    NASA Technical Reports Server (NTRS)

    Bucovsky, Adrian; Romli, Fairuz I.; Rupp, Jessica

    2002-01-01

    It has been projected that the need for a short-range mid-sized, aircraft is increasing. The future strategy to decrease long-haul flights will increase the demand for short-haul flights. Since passengers prefer to meet their destinations quickly, airlines will increase the frequency of flights, which will reduce the passenger load on the aircraft. If a point-to-point flight is not possible, passengers will prefer only a one-stop short connecting flight to their final destination. A 150-passenger aircraft is an ideal vehicle for these situations. It is mid-sized aircraft and has a range of 3000 nautical miles. This type of aircraft would market U.S. domestic flights or inter-European flight routes. The objective of the design of the 150-passenger aircraft is to minimize fuel consumption. The configuration of the aircraft must be optimized. This aircraft must meet CO2 and NOx emissions standards with minimal acquisition price and operating costs. This report contains all the work that has been performed for the completion of the design of a 150 passenger commercial aircraft. The methodology used is the Technology Identification, Evaluation, and Selection (TIES) developed at Georgia Tech Aerospace Systems Design laboratory (ASDL). This is an eight-step conceptual design process to evaluate the probability of meeting the design constraints. This methodology also allows for the evaluation of new technologies to be implemented into the design. The TIES process begins with defining the problem with a need established and a market targeted. With the customer requirements set and the target values established, a baseline concept is created. Next, the design space is explored to determine the feasibility and viability of the baseline aircraft configuration. If the design is neither feasible nor viable, new technologies can be implemented to open up the feasible design space and allow for a plausible solution. After the new technologies are identified, they must be evaluated

  10. Evaluation of laminar flow control systems concepts for subsonic commercial transport aircraft

    NASA Technical Reports Server (NTRS)

    Pearce, W. E.

    1983-01-01

    An evaluation was made of laminar flow control (LFC) system concepts for subsonic commercial transport aircraft. Configuration design studies, performance analyses, fabrication development, structural testing, wind tunnel testing, and contamination-avoidance techniques were included. As a result of trade studies, a configuration with LFC on the upper wing surface only, utilizing an electron beam-perforated suction surface, and employing a retractable high-lift shield for contamination avoidance, was selected as the most practical LFC system. The LFC aircraft was then compared with an advanced turbulent aircraft designed for the same mission. This comparison indicated significant fuel savings and reduced direct operating cost benefits would result from using LFC.

  11. Evaluation of laminar flow control systems for subsonic commercial transport aircraft: Executive summary

    NASA Technical Reports Server (NTRS)

    Pearce, W. E.

    1982-01-01

    An evaluation was made of laminar flow control (LFC) system concepts for subsonic commercial transport aircraft. Configuration design studies, performance analyses, fabrication development, structural testing, wind tunnel testing, and contamination-avoidance techniques were included. As a result of trade studies, a configuration with LFC on the upper wing surface only, utilizing an electron beam-perforated suction surface, and employing a retractable high-lift shield for contamination avoidance, was selected as the most practical LFC system. The LFC aircraft was then compared with an advanced turbulent aircraft designed for the same mission. This comparison indicated significant fuel savings.

  12. 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.

  13. Stimulus conflict triggers behavioral avoidance.

    PubMed

    Dignath, David; Eder, Andreas B

    2015-12-01

    According to a recent extension of the conflict-monitoring theory, conflict between two competing response tendencies is registered as an aversive event and triggers a motivation to avoid the source of conflict. In the present study, we tested this assumption. Over five experiments, we examined whether conflict is associated with an avoidance motivation and whether stimulus conflict or response conflict triggers an avoidance tendency. Participants first performed a color Stroop task. In a subsequent motivation test, participants responded to Stroop stimuli with approach- and avoidance-related lever movements. These results showed that Stroop-conflict stimuli increased the frequency of avoidance responses in a free-choice motivation test, and also increased the speed of avoidance relative to approach responses in a forced-choice test. High and low proportions of response conflict in the Stroop task had no effect on avoidance in the motivation test. Avoidance of conflict was, however, obtained even with new conflict stimuli that had not been presented before in a Stroop task, and when the Stroop task was replaced with an unrelated filler task. Taken together, these results suggest that stimulus conflict is sufficient to trigger avoidance.

  14. 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.

  15. Stimulus conflict triggers behavioral avoidance.

    PubMed

    Dignath, David; Eder, Andreas B

    2015-12-01

    According to a recent extension of the conflict-monitoring theory, conflict between two competing response tendencies is registered as an aversive event and triggers a motivation to avoid the source of conflict. In the present study, we tested this assumption. Over five experiments, we examined whether conflict is associated with an avoidance motivation and whether stimulus conflict or response conflict triggers an avoidance tendency. Participants first performed a color Stroop task. In a subsequent motivation test, participants responded to Stroop stimuli with approach- and avoidance-related lever movements. These results showed that Stroop-conflict stimuli increased the frequency of avoidance responses in a free-choice motivation test, and also increased the speed of avoidance relative to approach responses in a forced-choice test. High and low proportions of response conflict in the Stroop task had no effect on avoidance in the motivation test. Avoidance of conflict was, however, obtained even with new conflict stimuli that had not been presented before in a Stroop task, and when the Stroop task was replaced with an unrelated filler task. Taken together, these results suggest that stimulus conflict is sufficient to trigger avoidance. PMID:25931151

  16. 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

  17. Midair collisions - The accidents, the systems, and the Realpolitik

    NASA Technical Reports Server (NTRS)

    Wiener, E. L.

    1980-01-01

    Two midair collisions occurring in 1978 are described, and the air traffic control system and procedures in use at the time, human factors implications and political consequences of the accidents are examined. The first collision occurred in Memphis and involved a Falcon jet and a Cessna 150 in a situation in which the controllers handling each aircraft were not aware of the presence of the other aircraft until it was too late. The second occurred in San Diego four months later, when a Boeing 727 on a visual approach struck a Cessna 172 from the rear. Following the San Diego collision there arose a great deal of investigative activity, resulting in suggestions for tighter control on visual flight rules aircraft and the expansion of positive control airspace. These issues then led to a political battle involving general aviation, the FAA and the Congress. It is argued, however, that the collisions were in fact system-induced errors resulting from an air traffic control system which emphasizes airspace allocation and politics rather than the various human factors problems facing pilots and controllers.

  18. 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.

  19. 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

  20. IDENTIFICATION OF AIRCRAFT HAZARDS

    SciTech Connect

    K.L. Ashley

    2005-03-23

    Aircraft hazards were determined to be potentially applicable to a repository at Yucca Mountain in the ''Monitored Geological Repository External Events Hazards Screening Analysis'' (BSC 2004, Section 6.4.1). That determination was conservatively based on limited knowledge of flight data in the area of concern and on crash data for aircraft of the type flying near Yucca Mountain. The purpose of this report is to identify specific aircraft hazards that may be applicable to a Monitored Geologic Repository (MGR) at Yucca Mountain using NUREG-0800, ''Standard Review Plan for the Review of Safety Analysis Reports for Nuclear Power Plants'' (NRC 1987, Section 3.5.1.6), as guidance for the inclusion or exclusion of identified aircraft hazards. NUREG-0800 is being used here as a reference because some of the same considerations apply. The intended use of this report is to provide inputs for further screening and analysis of the identified aircraft hazards based on the criteria that apply to Category 1 and 2 event sequence analyses as defined in 10 CFR 63.2 (see Section 4). The scope of this technical report includes the evaluation of military, private, and commercial use of airspace in the 100-mile regional setting of the MGR at Yucca Mountain with the potential for reducing the regional setting to a more manageable size after consideration of applicable screening criteria (see Section 7).

  1. High altitude reconnaissance aircraft

    NASA Technical Reports Server (NTRS)

    Yazdo, Renee Anna; Moller, David

    1990-01-01

    At the equator the ozone layer ranges from 65,000 to 130,000 plus feet, which is beyond the capabilities of the ER-2, NASA's current high altitude reconnaissance aircraft. The Universities Space Research Association, in cooperation with NASA, is sponsoring an undergraduate program which is geared to designing an aircraft that can study the ozone layer at the equator. This aircraft must be able to cruise at 130,000 feet for six hours at Mach 0.7, while carrying 3,000 lbs. of payload. In addition, the aircraft must have a minimum range of 6,000 miles. In consideration of the novel nature of this project, the pilot must be able to take control in the event of unforeseen difficulties. Three aircraft configurations were determined to be the most suitable - a joined-wing, a biplane, and a twin-boom conventional airplane. The performance of each configuration was analyzed to investigate the feasibility of the project.

  2. Aircraft control position indicator

    NASA Technical Reports Server (NTRS)

    Dennis, Dale V. (Inventor)

    1987-01-01

    An aircraft control position indicator was provided that displayed the degree of deflection of the primary flight control surfaces and the manner in which the aircraft responded. The display included a vertical elevator dot/bar graph meter display for indication whether the aircraft will pitch up or down, a horizontal aileron dot/bar graph meter display for indicating whether the aircraft will roll to the left or to the right, and a horizontal dot/bar graph meter display for indicating whether the aircraft will turn left or right. The vertical and horizontal display or displays intersect to form an up/down, left/right type display. Internal electronic display driver means received signals from transducers measuring the control surface deflections and determined the position of the meter indicators on each dot/bar graph meter display. The device allows readability at a glance, easy visual perception in sunlight or shade, near-zero lag in displaying flight control position, and is not affected by gravitational or centrifugal forces.

  3. Aircraft noise synthesis system

    NASA Technical Reports Server (NTRS)

    Mccurdy, David A.; Grandle, Robert E.

    1987-01-01

    A second-generation Aircraft Noise Synthesis System has been developed to provide test stimuli for studies of community annoyance to aircraft flyover noise. The computer-based system generates realistic, time-varying, audio simulations of aircraft flyover noise at a specified observer location on the ground. The synthesis takes into account the time-varying aircraft position relative to the observer; specified reference spectra consisting of broadband, narrowband, and pure-tone components; directivity patterns; Doppler shift; atmospheric effects; and ground effects. These parameters can be specified and controlled in such a way as to generate stimuli in which certain noise characteristics, such as duration or tonal content, are independently varied, while the remaining characteristics, such as broadband content, are held constant. The system can also generate simulations of the predicted noise characteristics of future aircraft. A description of the synthesis system and a discussion of the algorithms and methods used to generate the simulations are provided. An appendix describing the input data and providing user instructions is also included.

  4. Aircraft Operations Classification System

    NASA Technical Reports Server (NTRS)

    Harlow, Charles; Zhu, Weihong

    2001-01-01

    Accurate data is important in the aviation planning process. In this project we consider systems for measuring aircraft activity at airports. This would include determining the type of aircraft such as jet, helicopter, single engine, and multiengine propeller. Some of the issues involved in deploying technologies for monitoring aircraft operations are cost, reliability, and accuracy. In addition, the system must be field portable and acceptable at airports. A comparison of technologies was conducted and it was decided that an aircraft monitoring system should be based upon acoustic technology. A multimedia relational database was established for the study. The information contained in the database consists of airport information, runway information, acoustic records, photographic records, a description of the event (takeoff, landing), aircraft type, and environmental information. We extracted features from the time signal and the frequency content of the signal. A multi-layer feed-forward neural network was chosen as the classifier. Training and testing results were obtained. We were able to obtain classification results of over 90 percent for training and testing for takeoff events.

  5. Identification of Aircraft Hazards

    SciTech Connect

    K. Ashley

    2006-12-08

    Aircraft hazards were determined to be potentially applicable to a repository at Yucca Mountain in ''Monitored Geological Repository External Events Hazards Screening Analysis'' (BSC 2005 [DIRS 174235], Section 6.4.1). That determination was conservatively based upon limited knowledge of flight data in the area of concern and upon crash data for aircraft of the type flying near Yucca Mountain. The purpose of this report is to identify specific aircraft hazards that may be applicable to a monitored geologic repository (MGR) at Yucca Mountain, using NUREG-0800, ''Standard Review Plan for the Review of Safety Analysis Reports for Nuclear Power Plants'' (NRC 1987 [DIRS 103124], Section 3.5.1.6), as guidance for the inclusion or exclusion of identified aircraft hazards. The intended use of this report is to provide inputs for further screening and analysis of identified aircraft hazards based upon the criteria that apply to Category 1 and Category 2 event sequence analyses as defined in 10 CFR 63.2 [DIRS 176544] (Section 4). The scope of this report includes the evaluation of military, private, and commercial use of airspace in the 100-mile regional setting of the repository at Yucca Mountain with the potential for reducing the regional setting to a more manageable size after consideration of applicable screening criteria (Section 7).

  6. Cigarette tax avoidance and evasion.

    PubMed

    Stehr, Mark

    2005-03-01

    Variation in state cigarette taxes provides incentives for tax avoidance through smuggling, legal border crossing to low tax jurisdictions, or Internet purchasing. When taxes rise, tax paid sales of cigarettes will decline both because consumption will decrease and because tax avoidance will increase. The key innovation of this paper is to compare cigarette sales data to cigarette consumption data from the Behavioral Risk Factor Surveillance System (BRFSS). I show that after subtracting percent changes in consumption, residual percent changes in sales are associated with state cigarette tax changes implying the existence of tax avoidance. I estimate that the tax avoidance response to tax changes is at least twice the consumption response and that tax avoidance accounted for up to 9.6% of sales between 1985 and 2001. Because of the increase in tax avoidance, tax paid sales data understate the level of smoking and overstate the drop in smoking. I also find that the level of legal border crossing was very low relative to other forms of tax avoidance. If states have strong preferences for smoking control, they must pair high cigarette taxes with effective policies to curb smuggling and other forms of tax avoidance or employ alternative policies such as counter-advertising and smoking restrictions. PMID:15721046

  7. Aircraft icing instrumentation: Unfilled needs. [rotary wing aircraft

    NASA Technical Reports Server (NTRS)

    Kitchens, P. F.

    1980-01-01

    A list of icing instrumentation requirements are presented. Because of the Army's helicopter orientation, many of the suggestions are specific to rotary wing aircraft; however, some of the instrumentation are also suitable for general aviation aircraft.

  8. Probability of satellite collision

    NASA Technical Reports Server (NTRS)

    Mccarter, J. W.

    1972-01-01

    A method is presented for computing the probability of a collision between a particular artificial earth satellite and any one of the total population of earth satellites. The collision hazard incurred by the proposed modular Space Station is assessed using the technique presented. The results of a parametric study to determine what type of satellite orbits produce the greatest contribution to the total collision probability are presented. Collision probability for the Space Station is given as a function of Space Station altitude and inclination. Collision probability was also parameterized over miss distance and mission duration.

  9. Scaling aircraft noise perception.

    NASA Technical Reports Server (NTRS)

    Ollerhead, J. B.

    1973-01-01

    Following a brief review of the background to the study, an extensive experiment is described which was undertaken to assess the practical differences between numerous alternative methods for calculating the perceived levels of individual aircraft flyover wounds. One hundred and twenty recorded sounds, including jets, turboprops, piston aircraft and helicopters were rated by a panel of subjects in a pair comparison test. The results were analyzed to evaluate a number of noise rating procedures, in terms of their ability to accurately estimate both relative and absolute perceived noise levels over a wider dynamic range (84-115 dB SPL) than had generally been used in previous experiments. Performances of the different scales were examined in detail for different aircraft categories, and the merits of different band level summation procedures, frequency weighting functions, duration and tone corrections were investigated.

  10. Alternative aircraft fuels technology

    NASA Technical Reports Server (NTRS)

    Grobman, J.

    1976-01-01

    NASA is studying the characteristics of future aircraft fuels produced from either petroleum or nonpetroleum sources such as oil shale or coal. These future hydrocarbon based fuels may have chemical and physical properties that are different from present aviation turbine fuels. This research is aimed at determining what those characteristics may be, how present aircraft and engine components and materials would be affected by fuel specification changes, and what changes in both aircraft and engine design would be required to utilize these future fuels without sacrificing performance, reliability, or safety. This fuels technology program was organized to include both in-house and contract research on the synthesis and characterization of fuels, component evaluations of combustors, turbines, and fuel systems, and, eventually, full-scale engine demonstrations. A review of the various elements of the program and significant results obtained so far are presented.

  11. Transport aircraft accident dynamics

    NASA Technical Reports Server (NTRS)

    Cominsky, A.

    1982-01-01

    A study was carried out of 112 impact survivable jet transport aircraft accidents (world wide) of 27,700 kg (60,000 lb.) aircraft and up extending over the last 20 years. This study centered on the effect of impact and the follow-on events on aircraft structures and was confined to the approach, landing and takeoff segments of the flight. The significant characteristics, frequency of occurrence and the effect on the occupants of the above data base were studied and categorized with a view to establishing typical impact scenarios for use as a basis of verifying the effectiveness of potential safety concepts. Studies were also carried out of related subjects such as: (1) assessment of advanced materials; (2) human tolerance to impact; (3) merit functions for safety concepts; and (4) impact analysis and test methods.

  12. Application of an ADS-B Sense and Avoid Algorithm

    NASA Technical Reports Server (NTRS)

    Arteaga, Ricardo; Kotcher, Robert; Cavalin, Moshe; Dandachy, Mohammed

    2016-01-01

    The National Aeronautics and Space Administration Armstrong Flight Research Center in Edwards, California is leading a program aimed towards integrating unmanned aircraft system into the national airspace system (UAS in the NAS). The overarching goal of the program is to reduce technical barriers associated with related safety issues as well as addressing challenges that will allow UAS routine access to the national airspace. This research paper focuses on three novel ideas: (1) A design of an integrated UAS equipped with Automatic Dependent Surveillance-Broadcast that constructs a more accurate state-based airspace model; (2) The use of Stratway Algorithm in a real-time environment; and (3) The verification and validation of sense and avoid performance and usability test results which provide a pilot's perspective on how our system will benefit the UAS in the NAS program for both piloted and unmanned aircraft.

  13. 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.

  14. Pathfinder aircraft in flight

    NASA Technical Reports Server (NTRS)

    1996-01-01

    The Pathfinder research aircraft's solar cell arrays are prominently displayed as it touches down on the bed of Rogers Dry Lake at the Dryden Flight Research Center, Edwards, California, following a test flight. The solar arrays covered more than 75 percent of Pathfinder's upper wing surface, and provided electricity to power its six electric motors, flight controls, communications links and a host of scientific sensors. Pathfinder was a lightweight, solar-powered, remotely piloted flying wing aircraft used to demonstrate the use of solar power for long-duration, high-altitude flight. Its name denotes its mission as the 'Pathfinder' or first in a series of solar-powered aircraft that will be able to remain airborne for weeks or months on scientific sampling and imaging missions. Solar arrays covered most of the upper wing surface of the Pathfinder aircraft. These arrays provided up to 8,000 watts of power at high noon on a clear summer day. That power fed the aircraft's six electric motors as well as its avionics, communications, and other electrical systems. Pathfinder also had a backup battery system that could provide power for two to five hours, allowing for limited-duration flight after dark. Pathfinder flew at airspeeds of only 15 to 20 mph. Pitch control was maintained by using tiny elevators on the trailing edge of the wing while turns and yaw control were accomplished by slowing down or speeding up the motors on the outboard sections of the wing. On September 11, 1995, Pathfinder set a new altitude record for solar-powered aircraft of 50,567 feet above Edwards Air Force Base, California, on a 12-hour flight. On July 7, 1997, it set another, unofficial record of 71,500 feet at the Pacific Missile Range Facility, Kauai, Hawaii. In 1998, Pathfinder was modified into the longer-winged Pathfinder Plus configuration. (See the Pathfinder Plus photos and project description.)

  15. Pathfinder aircraft in flight

    NASA Technical Reports Server (NTRS)

    1996-01-01

    The unique Pathfinder solar-powered flying wing, is shown during a checkout flight from the Dryden Flight Research Center, Edwards, California. This two-hour low-altitude flight over Rogers Dry Lake, Nov. 19, 1996, served to test aircraft systems and functional procedures, according to officials of AeroVironment, Inc., Pathfinder's developer and operator. Pathfinder was a lightweight, solar-powered, remotely piloted flying wing aircraft used to demonstrate the use of solar power for long-duration, high-altitude flight. Its name denotes its mission as the 'Pathfinder' or first in a series of solar-powered aircraft that will be able to remain airborne for weeks or months on scientific sampling and imaging missions. Solar arrays covered most of the upper wing surface of the Pathfinder aircraft. These arrays provided up to 8,000 watts of power at high noon on a clear summer day. That power fed the aircraft's six electric motors as well as its avionics, communications, and other electrical systems. Pathfinder also had a backup battery system that could provide power for two to five hours, allowing for limited-duration flight after dark. Pathfinder flew at airspeeds of only 15 to 20 mph. Pitch control was maintained by using tiny elevators on the trailing edge of the wing while turns and yaw control were accomplished by slowing down or speeding up the motors on the outboard sections of the wing. On September 11, 1995, Pathfinder set a new altitude record for solar-powered aircraft of 50,567 feet above Edwards Air Force Base, California, on a 12-hour flight. On July 7, 1997, it set another, unofficial record of 71,500 feet at the Pacific Missile Range Facility, Kauai, Hawaii. In 1998, Pathfinder was modified into the longer-winged Pathfinder Plus configuration. (See the Pathfinder Plus photos and project description.)

  16. Pathfinder aircraft in flight

    NASA Technical Reports Server (NTRS)

    1996-01-01

    The Pathfinder solar-powered research aircraft heads for landing on the bed of Rogers Dry Lake at the Dryden Flight Research Center, Edwards, California, after a successful test flight Nov. 19, 1996. Pathfinder was a lightweight, solar-powered, remotely piloted flying wing aircraft used to demonstrate the use of solar power for long-duration, high-altitude flight. Its name denotes its mission as the 'Pathfinder' or first in a series of solar-powered aircraft that will be able to remain airborne for weeks or months on scientific sampling and imaging missions. Solar arrays covered most of the upper wing surface of the Pathfinder aircraft. These arrays provided up to 8,000 watts of power at high noon on a clear summer day. That power fed the aircraft's six electric motors as well as its avionics, communications, and other electrical systems. Pathfinder also had a backup battery system that could provide power for two to five hours, allowing for limited-duration flight after dark. Pathfinder flew at airspeeds of only 15 to 20 mph. Pitch control was maintained by using tiny elevators on the trailing edge of the wing while turns and yaw control were accomplished by slowing down or speeding up the motors on the outboard sections of the wing. On September 11, 1995, Pathfinder set a new altitude record for solar-powered aircraft of 50,567 feet above Edwards Air Force Base, California, on a 12-hour flight. On July 7, 1997, it set another, unofficial record of 71,500 feet at the Pacific Missile Range Facility, Kauai, Hawaii. In 1998, Pathfinder was modified into the longer-winged Pathfinder Plus configuration. (See the Pathfinder Plus photos and project description.)

  17. Pathfinder aircraft in flight

    NASA Technical Reports Server (NTRS)

    1996-01-01

    The Pathfinder solar-powered research aircraft is silhouetted against a clear blue sky as it soars aloft during a checkout flight from the Dryden Flight Research Center, Edwards, California, November, 1996. Pathfinder was a lightweight, solar-powered, remotely piloted flying wing aircraft used to demonstrate the use of solar power for long-duration, high-altitude flight. Its name denotes its mission as the 'Pathfinder' or first in a series of solar-powered aircraft that will be able to remain airborne for weeks or months on scientific sampling and imaging missions. Solar arrays covered most of the upper wing surface of the Pathfinder aircraft. These arrays provided up to 8,000 watts of power at high noon on a clear summer day. That power fed the aircraft's six electric motors as well as its avionics, communications, and other electrical systems. Pathfinder also had a backup battery system that could provide power for two to five hours, allowing for limited-duration flight after dark. Pathfinder flew at airspeeds of only 15 to 20 mph. Pitch control was maintained by using tiny elevators on the trailing edge of the wing while turns and yaw control were accomplished by slowing down or speeding up the motors on the outboard sections of the wing. On September 11, 1995, Pathfinder set a new altitude record for solar-powered aircraft of 50,567 feet above Edwards Air Force Base, California, on a 12-hour flight. On July 7, 1997, it set another, unofficial record of 71,500 feet at the Pacific Missile Range Facility, Kauai, Hawaii. In 1998, Pathfinder was modified into the longer-winged Pathfinder Plus configuration. (See the Pathfinder Plus photos and project description.)

  18. Pathfinder aircraft flight

    NASA Technical Reports Server (NTRS)

    1996-01-01

    The Pathfinder research aircraft's wing structure is clearly defined as it soars under a clear blue sky during a test flight from Dryden Flight Research Center, Edwards, California, in November of 1996. Pathfinder was a lightweight, solar-powered, remotely piloted flying wing aircraft used to demonstrate the use of solar power for long-duration, high-altitude flight. Its name denotes its mission as the 'Pathfinder' or first in a series of solar-powered aircraft that will be able to remain airborne for weeks or months on scientific sampling and imaging missions. Solar arrays covered most of the upper wing surface of the Pathfinder aircraft. These arrays provided up to 8,000 watts of power at high noon on a clear summer day. That power fed the aircraft's six electric motors as well as its avionics, communications, and other electrical systems. Pathfinder also had a backup battery system that could provide power for two to five hours, allowing for limited-duration flight after dark. Pathfinder flew at airspeeds of only 15 to 20 mph. Pitch control was maintained by using tiny elevators on the trailing edge of the wing while turns and yaw control were accomplished by slowing down or speeding up the motors on the outboard sections of the wing. On September 11, 1995, Pathfinder set a new altitude record for solar-powered aircraft of 50,567 feet above Edwards Air Force Base, California, on a 12-hour flight. On July 7, 1997, it set another, unofficial record of 71,500 feet at the Pacific Missile Range Facility, Kauai, Hawaii. In 1998, Pathfinder was modified into the longer-winged Pathfinder Plus configuration. (See the Pathfinder Plus photos and project description.)

  19. 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.

  20. Aircraft engines. II

    SciTech Connect

    Smith, M.G. Jr.

    1988-01-01

    An account is given of the design features and prospective performance gains of ultrahigh bypass subsonic propulsion configurations and various candidate supersonic commercial aircraft powerplants. The supersonic types, whose enhanced thermodynamic cycle efficiency is considered critical to the economic viability of a second-generation SST, are the variable-cycle engine, the variable stream control engine, the turbine-bypass engine, and the supersonic-throughflow fan. Also noted is the turboramjet concept, which will be applicable to hypersonic aircraft whose airframe structure materials can withstand the severe aerothermodynamic conditions of this flight regime.

  1. Aircraft surface coatings

    NASA Technical Reports Server (NTRS)

    1982-01-01

    Liquid, spray on elastomeric polyurethanes are selected and investigated as best candidates for aircraft external protective coatings. Flight tests are conducted to measure drag effects of these coatings compared to paints and a bare metal surface. The durability of two elastometric polyurethanes are assessed in airline flight service evaluations. Laboratory tests are performed to determine corrosion protection properties, compatibility with aircraft thermal anti-icing systems, the effect of coating thickness on erosion durability, and the erosion characteristics of composite leading edges-bare and coated. A cost and benefits assessment is made to determine the economic value of various coating configurations to the airlines.

  2. Alternative aircraft fuels

    NASA Technical Reports Server (NTRS)

    Longwell, J. P.; Grobman, J. S.

    1977-01-01

    The efficient utilization of fossil fuels by future jet aircraft may necessitate the broadening of current aviation turbine fuel specifications. The most significant changes in specifications would be an increased aromatics content and a higher final boiling point in order to minimize refinery energy consumption and costs. These changes would increase the freezing point and might lower the thermal stability of the fuel, and could cause increased pollutant emissions, increased combustor liner temperatures, and poorer ignition characteristics. The effects that broadened specification fuels may have on present-day jet aircraft and engine components and the technology required to use fuels with broadened specifications are discussed.

  3. Solar powered aircraft

    SciTech Connect

    Phillips, W.H.

    1983-11-15

    A cruciform wing structure for a solar powered aircraft is disclosed. Solar cells are mounted on horizontal wing surfaces. Wing surfaces with spanwise axis perpendicular to surfaces maintain these surfaces normal to the sun's rays by allowing aircraft to be flown in a controlled pattern at a large bank angle. The solar airplane may be of conventional design with respect to fuselage, propeller and tail, or may be constructed around a core and driven by propeller mechanisms attached near the tips of the airfoils.

  4. Solar powered aircraft

    NASA Technical Reports Server (NTRS)

    Phillips, W. H. (Inventor)

    1983-01-01

    A cruciform wing structure for a solar powered aircraft is disclosed. Solar cells are mounted on horizontal wing surfaces. Wing surfaces with spanwise axis perpendicular to surfaces maintain these surfaces normal to the Sun's rays by allowing aircraft to be flown in a controlled pattern at a large bank angle. The solar airplane may be of conventional design with respect to fuselage, propeller and tail, or may be constructed around a core and driven by propeller mechanisms attached near the tips of the airfoils.

  5. UAS Integration into the NAS: Unmanned Aircraft System (UAS) Delegation of Separation

    NASA Technical Reports Server (NTRS)

    Fern, Lisa Carolynn; Kenny, Caitlin Ailis

    2012-01-01

    FAA Modernization and Reform Act of 2012 mandates UAS integration in the NAS by 2015. Operators must be able to safely maneuver UAS to maintain separation and collision avoidance. Delegated Separation is defined as the transfer of responsibility for maintaining separation between aircraft or vehicles from the air navigation service provider to the relevant flight operator, and will likely begin in sparsely trafficked areas before moving to more heavily populated airspace. As UAS operate primarily in areas with lower traffic density and perform maneuvers routinely that are currently managed through special handling, they have the advantage of becoming an early adopter of delegated separation. This experiment will examine if UAS are capable of performing delegated separation in 5 nm horizontal and 1000 ft vertical distances under two delegation conditions. In Extended Delegation, ATC are in charge of identifying problems and delegating to pilot identification and implementation of the solution and monitoring. In Full Delegation, the pilots are responsible for all tasks related to separation assurance: identification of problems and solutions, implementation and monitoring.

  6. Optical communications for transport aircraft

    NASA Technical Reports Server (NTRS)

    Stengel, Robert

    1994-01-01

    Optical communications for transport aircraft are discussed. The problem involves: increasing demand for radio-frequency bands from an enlarging pool of users (aircraft, ground and sea vehicles, fleet operators, traffic control centers, and commercial radio and television); desirability of providing high-bandwidth dedicated communications to and from every aircraft in the National Airspace System; need to support communications, navigation, and surveillance for a growing number of aircraft; and improved meteorological observations by use of probe aircraft. The solution involves: optical signal transmission support very high data rates; optical transmission of signals between aircraft, orbiting satellites, and ground stations, where unobstructed line-of-sight is available; conventional radio transmissions of signals between aircraft and ground stations, where optical line-of-sight is unavailable; and radio priority given to aircraft in weather.

  7. 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.

  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. Light aircraft sound transmission study

    NASA Technical Reports Server (NTRS)

    Atwal, M.; David, J.; Heitman, K.; Crocker, M. J.

    1983-01-01

    The revived interest in the design of propeller driven aircraft is based on increasing fuel prices as well as on the need for bigger short haul and commuter aircraft. A major problem encountered with propeller driven aircraft is propeller and exhaust noise that is transmitted through the fuselage sidewall structure. Part of the work which was conducted during the period April 1 to August 31, 1983, on the studies of sound transmission through light aircraft walls is presented.

  10. Aircraft community noise impact studies

    NASA Technical Reports Server (NTRS)

    1977-01-01

    The objectives of the study are to: (1) conduct a program to determine the community noise impact of advanced technology engines when installed in a supersonic aircraft, (2) determine the potential reduction of community noise by flight operational techniques for the study aircraft, (3) estimate the community noise impact of the study aircraft powered by suppressed turbojet engines and by advanced duct heating turbofan engines, and (4) compare the impact of the two supersonic designs with that of conventional commercial DC-8 aircraft.

  11. 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

  12. 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.

  13. Bibliography for aircraft parameter estimation

    NASA Technical Reports Server (NTRS)

    Iliff, Kenneth W.; Maine, Richard E.

    1986-01-01

    An extensive bibliography in the field of aircraft parameter estimation has been compiled. This list contains definitive works related to most aircraft parameter estimation approaches. Theoretical studies as well as practical applications are included. Many of these publications are pertinent to subjects peripherally related to parameter estimation, such as aircraft maneuver design or instrumentation considerations.

  14. Robots for Aircraft Maintenance

    NASA Technical Reports Server (NTRS)

    1993-01-01

    Marshall Space Flight Center charged USBI (now Pratt & Whitney) with the task of developing an advanced stripping system based on hydroblasting to strip paint and thermal protection material from Space Shuttle solid rocket boosters. A robot, mounted on a transportable platform, controls the waterjet angle, water pressure and flow rate. This technology, now known as ARMS, has found commercial applications in the removal of coatings from jet engine components. The system is significantly faster than manual procedures and uses only minimal labor. Because the amount of "substrate" lost is minimal, the life of the component is extended. The need for toxic chemicals is reduced, as is waste disposal and human protection equipment. Users of the ARMS work cell include Delta Air Lines and the Air Force, which later contracted with USBI for development of a Large Aircraft Paint Stripping system (LARPS). LARPS' advantages are similar to ARMS, and it has enormous potential in military and civil aircraft maintenance. The technology may also be adapted to aircraft painting, aircraft inspection techniques and paint stripping of large objects like ships and railcars.

  15. Aircraft to Medicine

    NASA Technical Reports Server (NTRS)

    1991-01-01

    This video discusses how the technology of computer modeling can improve the design and durability of artificial joints for human joint replacement surgery. Also, ultrasound, originally used to detect structural flaws in aircraft, can also be used to quickly assess the severity of a burn patient's injuries, thus aiding the healing process.

  16. Aircraft mission analysis

    NASA Technical Reports Server (NTRS)

    Hauge, D. S.; Rosendaal, H. L.

    1979-01-01

    Aircraft missions, from low to hypersonic speeds, are analyzed rapidly using the FORTRAN IV program NSEG. Program employs approximate equations of motion that vary in form with type of flight segment. Takeoffs, accelerations, climbs, cruises, descents, decelerations, and landings are considered.

  17. Aircraft adaptive learning control

    NASA Technical Reports Server (NTRS)

    Lee, P. S. T.; Vanlandingham, H. F.

    1979-01-01

    The optimal control theory of stochastic linear systems is discussed in terms of the advantages of distributed-control systems, and the control of randomly-sampled systems. An optimal solution to longitudinal control is derived and applied to the F-8 DFBW aircraft. A randomly-sampled linear process model with additive process and noise is developed.

  18. 32 CFR 700.857 - Safe navigation and regulations governing operation of ships and aircraft.

    Code of Federal Regulations, 2011 CFR

    2011-07-01

    ... of lights or other safeguards against collision. Except in time of actual armed conflict, such... matters shall be promulgated by the Chief of Naval Operations. (c) Professional standards and regulations governing the operation of naval aircraft and related matters shall be promulgated by the Chief of...

  19. 32 CFR 700.857 - Safe navigation and regulations governing operation of ships and aircraft.

    Code of Federal Regulations, 2012 CFR

    2012-07-01

    ... of lights or other safeguards against collision. Except in time of actual armed conflict, such... matters shall be promulgated by the Chief of Naval Operations. (c) Professional standards and regulations governing the operation of naval aircraft and related matters shall be promulgated by the Chief of...

  20. 32 CFR 700.857 - Safe navigation and regulations governing operation of ships and aircraft.

    Code of Federal Regulations, 2010 CFR

    2010-07-01

    ... of lights or other safeguards against collision. Except in time of actual armed conflict, such... matters shall be promulgated by the Chief of Naval Operations. (c) Professional standards and regulations governing the operation of naval aircraft and related matters shall be promulgated by the Chief of...

  1. 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.

  2. Experimental Study of Collision Detection Schema Used by Pilots During Closely Spaced Parallel Approaches

    NASA Technical Reports Server (NTRS)

    Pritchett, Amy R.; Hansman, R. John

    1996-01-01

    An experimental flight simulator study was conducted to examine the mental alerting logic and thresholds used by subjects to issue an alert and execute an avoidance maneuver. Subjects flew a series of autopilot landing approaches with traffic on a closely-spaced parallel approach; during some runs, the traffic would deviate towards the subject and the subject was to indicate the point when they recognized the potential traffic conflict, and then indicate a direction of flight for an avoidance maneuver. A variety of subjects, including graduate students, general aviation pilots and airline pilots, were tested. Five traffic displays were evaluated, with a moving map TCAS-type traffic display as a baseline. A side-task created both high and low workload situations. Subjects appeared to use the lateral deviation of the intruder aircraft from its approach path as the criteria for an alert regardless of the display available. However, with displays showing heading and/or trend information, their alerting thresholds were significantly lowered. This type of range-only schema still resulted in many near misses, as a high convergence rate was often established by the time of the subject's alert. Therefore, the properties of the intruder's trajectory had the greatest effect on the resultant near miss rate; no display system reliably caused alerts timely enough for certain collision avoidance. Subjects' performance dropped significantly on a side-task while they analyzed the need for an alert, showing alert generation can be a high workload situation at critical times. No variation was found between subjects with and with out piloting experience. These results suggest the design of automatic alerting systems should take into account the range-type alerting schema used by the human, such that the rationale for the automatic alert should be obvious to, and trusted by, the operator. Although careful display design may help generate pilot/automation trust, issues such as user non

  3. Predator Avoidance in Extremophile Fish

    PubMed Central

    Bierbach, David; Schulte, Matthias; Herrmann, Nina; Zimmer, Claudia; Arias-Rodriguez, Lenin; Indy, Jeane Rimber; Riesch, Rüdiger; Plath, Martin

    2013-01-01

    Extreme habitats are often characterized by reduced predation pressures, thus representing refuges for the inhabiting species. The present study was designed to investigate predator avoidance of extremophile populations of Poecilia mexicana and P. sulphuraria that either live in hydrogen sulfide-rich (sulfidic) springs or cave habitats, both of which are known to have impoverished piscine predator regimes. Focal fishes that inhabited sulfidic springs showed slightly weaker avoidance reactions when presented with several naturally occurring predatory cichlids, but strongest differences to populations from non-sulfidic habitats were found in a decreased shoaling tendency with non-predatory swordtail (Xiphophorus hellerii) females. When comparing avoidance reactions between P. mexicana from a sulfidic cave (Cueva del Azufre) and the adjacent sulfidic surface creek (El Azufre), we found only slight differences in predator avoidance, but surface fish reacted much more strongly to the non-predatory cichlid Vieja bifasciata. Our third experiment was designed to disentangle learned from innate effects of predator recognition. We compared laboratory-reared (i.e., predator-naïve) and wild-caught (i.e., predator-experienced) individuals of P. mexicana from a non-sulfidic river and found no differences in their reaction towards the presented predators. Overall, our results indicate (1) that predator avoidance is still functional in extremophile Poecilia spp. and (2) that predator recognition and avoidance reactions have a strong genetic basis. PMID:25371337

  4. Predator avoidance in extremophile fish.

    PubMed

    Bierbach, David; Schulte, Matthias; Herrmann, Nina; Zimmer, Claudia; Arias-Rodriguez, Lenin; Indy, Jeane Rimber; Riesch, Rüdiger; Plath, Martin

    2013-01-01

    Extreme habitats are often characterized by reduced predation pressures, thus representing refuges for the inhabiting species. The present study was designed to investigate predator avoidance of extremophile populations of Poecilia mexicana and P. sulphuraria that either live in hydrogen sulfide-rich (sulfidic) springs or cave habitats, both of which are known to have impoverished piscine predator regimes. Focal fishes that inhabited sulfidic springs showed slightly weaker avoidance reactions when presented with several naturally occurring predatory cichlids, but strongest differences to populations from non-sulfidic habitats were found in a decreased shoaling tendency with non-predatory swordtail (Xiphophorus hellerii) females. When comparing avoidance reactions between P. mexicana from a sulfidic cave (Cueva del Azufre) and the adjacent sulfidic surface creek (El Azufre), we found only slight differences in predator avoidance, but surface fish reacted much more strongly to the non-predatory cichlid Vieja bifasciata. Our third experiment was designed to disentangle learned from innate effects of predator recognition. We compared laboratory-reared (i.e., predator-naïve) and wild-caught (i.e., predator-experienced) individuals of P. mexicana from a non-sulfidic river and found no differences in their reaction towards the presented predators. Overall, our results indicate (1) that predator avoidance is still functional in extremophile Poecilia spp. and (2) that predator recognition and avoidance reactions have a strong genetic basis.

  5. 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.

  6. Turboprop cargo aircraft systems study

    NASA Technical Reports Server (NTRS)

    Muehlbauer, J. C.; Hewell, J. G., Jr.; Lindenbaum, S. P.; Randall, C. C.; Searle, N.; Stone, R. G., Jr.

    1981-01-01

    The effects of using advanced turboprop propulsion systems to reduce the fuel consumption and direct operating costs of cargo aircraft were studied, and the impact of these systems on aircraft noise and noise prints around a terminal area was determined. Parametric variations of aircraft and propeller characteristics were investigated to determine their effects on noiseprint areas, fuel consumption, and direct operating costs. From these results, three aircraft designs were selected and subjected to design refinements and sensitivity analyses. Three competitive turbofan aircraft were also defined from parametric studies to provide a basis for comparing the two types of propulsion.

  7. Braking performance of aircraft tires

    NASA Astrophysics Data System (ADS)

    Agrawal, Satish K.

    This paper brings under one cover the subject of aircraft braking performance and a variety of related phenomena that lead to aircraft hydroplaning, overruns, and loss of directional control. Complex processes involving tire deformation, tire slipping, and fluid pressures in the tire-runway contact area develop the friction forces for retarding the aircraft; this paper describes the physics of these processes. The paper reviews the past and present research efforts and concludes that the most effective way to combat the hazards associated with aircraft landings and takeoffs on contaminated runways is by measuring and displaying in realtime the braking performance parameters in the aircraft cockpit.

  8. Enhanced Airport Capacity Through Safe, Dynamic Reductions in Aircraft Separation: NASA's Aircraft VOrtex Spacing System (AVOSS)

    NASA Technical Reports Server (NTRS)

    OConnor, Cornelius J.; Rutishauser, David K.

    2001-01-01

    An aspect of airport terminal operations that holds potential for efficiency improvements is the separation criteria applied to aircraft for wake vortex avoidance. These criteria evolved to represent safe spacing under weather conditions conducive to the longest wake hazards, and are consequently overly conservative during a significant portion of operations. Under many ambient conditions, such as moderate crosswinds or turbulence, wake hazard durations are substantially reduced. To realize this reduction NASA has developed a proof-of-concept Aircraft Vortex Spacing System (AVOSS). Successfully operated in a real-time field demonstration during July 2000 at the Dallas Ft. Worth International Airport, AVOSS is a novel integration of weather sensors, wake sensors, and analytical wake prediction algorithms. Gains in airport throughput using AVOSS spacing as compared to the current criteria averaged 6%, with peak values approaching the theoretical maximum of 16%. The average throughput gain translates to 15-40% reductions in delay when applied to realistic capacity ratios at major airports.

  9. 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.

  10. 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.

  11. Virtual reality-based navigation task to reveal obstacle avoidance performance in individuals with visuospatial neglect.

    PubMed

    Aravind, Gayatri; Darekar, Anuja; Fung, Joyce; Lamontagne, Anouk

    2015-03-01

    Persons with post-stroke visuospatial neglect (VSN) often collide with moving obstacles while walking. It is not well understood whether the collisions occur as a result of attentional-perceptual deficits caused by VSN or due to post-stroke locomotor deficits. We assessed individuals with VSN on a seated, joystick-driven obstacle avoidance task, thus eliminating the influence of locomotion. Twelve participants with VSN were tested on obstacle detection and obstacle avoidance tasks in a virtual environment that included three obstacles approaching head-on or 30 (°) contralesionally/ipsilesionally. Our results indicate that in the detection task, the contralesional and head-on obstacles were detected at closer proximities compared to the ipsilesional obstacle. For the avoidance task collisions were observed only for the contralesional and head-on obstacle approaches. For the contralesional obstacle approach, participants initiated their avoidance strategies at smaller distances from the obstacle and maintained smaller minimum distances from the obstacles. The distance at detection showed a negative association with the distance at the onset of avoidance strategy for all three obstacle approaches. We conclusion the observation of collisions with contralesional and head-on obstacles, in the absence of locomotor burden, provides evidence that attentional-perceptual deficits due to VSN, independent of post-stroke locomotor deficits, alter obstacle avoidance abilities.

  12. Approach/avoidance in dreams.

    PubMed

    Malcolm-Smith, Susan; Koopowitz, Sheri; Pantelis, Eleni; Solms, Mark

    2012-03-01

    The influential threat simulation theory (TST) asserts that dreaming yields adaptive advantage by providing a virtual environment in which threat-avoidance may be safely rehearsed. We have previously found the incidence of biologically threatening dreams to be around 20%, with successful threat avoidance occurring in approximately one-fifth of such dreams. TST asserts that threat avoidance is over-represented relative to other possible dream contents. To begin assessing this issue, we contrasted the incidence of 'avoidance' dreams with that of their opposite: 'approach' dreams. Because TST states that the threat-avoidance function is only fully activated in ecologically valid (biologically threatening) contexts, we also performed this contrast for populations living in both high- and low-threat environments. We find that 'approach' dreams are significantly more prevalent across both contexts. We suggest these results are more consistent with the view that dreaming is generated by reward-seeking systems than by fear-conditioning systems, although reward-seeking is clearly not the only factor determining the content of dreams.

  13. Wind Characterization for the Assessment of Collision Risk During Flight Level Changes

    NASA Technical Reports Server (NTRS)

    Carreno, Victor; Chartrand, Ryan

    2009-01-01

    A model of vertical wind gradient is presented based on National Oceanic and Atmospheric Administration (NOAA) wind data. The objective is to have an accurate representation of wind to be used in Collision Risk Models (CRM) of aircraft procedures. Depending on how an aircraft procedure is defined, wind and the different characteristics of the wind will have a more severe or less severe impact on distances between aircraft. For the In-Trail Procedure, the non-linearity of the vertical wind gradient has the greatest impact on longitudinal distance. The analysis in this paper extracts standard deviation, mean, maximum, and linearity characteristics from the NOAA data.

  14. Air pollution from aircraft

    NASA Technical Reports Server (NTRS)

    Heywood, J. B.; Fay, J. A.; Chigier, N. A.

    1979-01-01

    Forty-one annotated abstracts of reports generated at MIT and the University of Sheffield are presented along with summaries of the technical projects undertaken. Work completed includes: (1) an analysis of the soot formation and oxidation rates in gas turbine combustors, (2) modelling the nitric oxide formation process in gas turbine combustors, (3) a study of the mechanisms causing high carbon monoxide emissions from gas turbines at low power, (4) an analysis of the dispersion of pollutants from aircraft both around large airports and from the wakes of subsonic and supersonic aircraft, (5) a study of the combustion and flow characteristics of the swirl can modular combustor and the development and verification of NO sub x and CO emissions models, (6) an analysis of the influence of fuel atomizer characteristics on the fuel-air mixing process in liquid fuel spray flames, and (7) the development of models which predict the stability limits of fully and partially premixed fuel-air mixtures.

  15. Aircraft turbofan noise

    NASA Technical Reports Server (NTRS)

    Groeneweg, J. F.; Rice, E. J.

    1983-01-01

    Turbofan noise generation and suppression in aircraft engines are reviewed. The chain of physical processes which connect unsteady flow interactions with fan blades to far field noise is addressed. Mechanism identification and description, duct propagation, radiation and acoustic suppression are discussed. The experimental technique of fan inflow static tests are discussed. Rotor blade surface pressure and wake velocity measurements aid in the determination of the types and strengths of the generation mechanisms. Approaches to predicting or measuring acoustic mode content, optimizing treatment impedance to maximize attenuation, translating impedance into porous wall structure and interpreting far field directivity patterns are illustrated by comparisons of analytical and experimental results. The interdependence of source and acoustic treatment design to minimize far field noise is emphasized. Area requiring further research are discussed and the relevance of aircraft turbofan results to quieting other turbomachinery installations is addressed.

  16. Autonomous aircraft initiative study

    NASA Technical Reports Server (NTRS)

    Hewett, Marle D.

    1991-01-01

    The results of a consulting effort to aid NASA Ames-Dryden in defining a new initiative in aircraft automation are described. The initiative described is a multi-year, multi-center technology development and flight demonstration program. The initiative features the further development of technologies in aircraft automation already being pursued at multiple NASA centers and Department of Defense (DoD) research and Development (R and D) facilities. The proposed initiative involves the development of technologies in intelligent systems, guidance, control, software development, airborne computing, navigation, communications, sensors, unmanned vehicles, and air traffic control. It involves the integration and implementation of these technologies to the extent necessary to conduct selected and incremental flight demonstrations.

  17. Project report: Aircraft

    SciTech Connect

    Wuebbles, D.J.; Baughcum, S.; Metwally, M.; Seals, R.

    1994-04-01

    Analyses of scenarios of past and possible future emissions are an important aspect of assessing the potential environmental effects from aircraft, including the proposed high speed civil transport (HSCT). The development of a detailed three-dimensional database that accurately represents the integration of all aircraft emissions along realistic flight paths for such scenarios requires complex computational modeling capabilities. Such a detailed data set is required for the scenarios evaluated in this interim assessment. Within the NASA High-Speed Research Program, the Emissions Scenarios Committee provides a forum for identifying the required scenarios and evaluating the resulting database being developed with the advanced emissions modeling capabilities at the Boeing Company and McDonnell Douglas Corporation.

  18. Aircraft engine pollution reduction.

    NASA Technical Reports Server (NTRS)

    Rudey, R. A.

    1972-01-01

    The effect of engine operation on the types and levels of the major aircraft engine pollutants is described and the major factors governing the formation of these pollutants during the burning of hydrocarbon fuel are discussed. Methods which are being explored to reduce these pollutants are discussed and their application to several experimental research programs are pointed out. Results showing significant reductions in the levels of carbon monoxide, unburned hydrocarbons, and oxides of nitrogen obtained from experimental combustion research programs are presented and discussed to point out potential application to aircraft engines. An experimental program designed to develop and demonstrate these and other advanced, low pollution combustor design methods is described. Results that have been obtained to date indicate considerable promise for reducing advanced engine exhaust pollutants to levels significantly below current engines.

  19. Energy efficient aircraft engines

    NASA Technical Reports Server (NTRS)

    Chamberlin, R.; Miller, B.

    1979-01-01

    The three engine programs that constitute the propulsion portion of NASA's Aircraft Energy Efficiency Program are described, their status indicated, and anticipated improvements in SFC discussed. The three engine programs are (1) Engine Component Improvement--directed at current engines, (2) Energy Efficiency Engine directed at new turbofan engines, and (3) Advanced Turboprops--directed at technology for advanced turboprop--powered aircraft with cruise speeds to Mach 0.8. Unique propulsion system interactive ties to the airframe resulting from engine design features to reduce fuel consumption are discussed. Emphasis is placed on the advanced turboprop since it offers the largest potential fuel savings of the three propulsion programs and also has the strongest interactive ties to the airframe.

  20. Aircraft turbofan noise

    NASA Astrophysics Data System (ADS)

    Groeneweg, J. F.; Rice, E. J.

    1987-01-01

    Turbofan noise generation and suppression in aircraft engines are reviewed. The chain of physical processes which connect unsteady flow interactions with fan blades to far field noise is addressed. Mechanism identification and description, duct propagation, radiation, and acoustic suppression are discussed. The experimental techniques of fan inflow static tests are discussed. Rotor blade surface pressure and wake velocity measurements aid in the determination of the types and strengths of the generation mechanisms. Approaches to predicting or measuring acoustic mode content, optimizing treatment impedance to maximize attenuation, translating impedance into porous wall structure, and interpreting far field directivity patterns are illustrated by comparisons of analytical and experimental results. The interdependence of source and acoustic treatment design to minimize far field noise is emphasized. Areas requiring further research are discussed, and the relevance of aircraft turbofan results to quieting other turbomachinery installation is addressed.

  1. Aircraft turbofan noise

    NASA Astrophysics Data System (ADS)

    Groeneweg, J. F.; Rice, E. J.

    1983-03-01

    Turbofan noise generation and suppression in aircraft engines are reviewed. The chain of physical processes which connect unsteady flow interactions with fan blades to far field noise is addressed. Mechanism identification and description, duct propagation, radiation and acoustic suppression are discussed. The experimental technique of fan inflow static tests are discussed. Rotor blade surface pressure and wake velocity measurements aid in the determination of the types and strengths of the generation mechanisms. Approaches to predicting or measuring acoustic mode content, optimizing treatment impedance to maximize attenuation, translating impedance into porous wall structure and interpreting far field directivity patterns are illustrated by comparisons of analytical and experimental results. The interdependence of source and acoustic treatment design to minimize far field noise is emphasized. Area requiring further research are discussed and the relevance of aircraft turbofan results to quieting other turbomachinery installations is addressed.

  2. Motive to Avoid Success, Locus of Control, and Reinforcement Avoidance.

    ERIC Educational Resources Information Center

    Katovsky, Walter

    Subjects were four groups of 12 college women, high or low in motive to avoid success (MAS) and locus of control (LC), were reinforced for response A on a fixed partial reinforcement schedule on three concept learning tasks, one task consisting of combined reward and punishment, another of reward only, and one of punishment only. Response B was…

  3. Food Avoidance Diets for Dermatitis.

    PubMed

    Scott, Jeffrey F; Hammond, Margaret I; Nedorost, Susan T

    2015-10-01

    Food allergy is relatively common in both children and adults, and its prevalence is increasing. Early exposure of food allergens onto skin with an impaired epidermal barrier predisposes to sensitization and prevents the development of oral tolerance. While immediate-type food allergies are well described, less is known about delayed-type food allergies manifesting as dermatitis. This is due, in part, to limitations with current diagnostic testing for delayed-type food allergy, including atopy patch testing. We conducted a systematic review of food avoidance diets in delayed-type food allergies manifesting as dermatitis. While beneficial in some clinical circumstances, avoidance diets should be used with caution in infants and children, as growth impairment and developmental delay may result. Ultimately, dermatitis is highly multifactorial and avoidance diets may not improve symptoms of delayed-type food allergy until combined with other targeted therapies, including restoring balance in the skin microbiome and re-establishing proper skin barrier function.

  4. Electrical Thermometers for Aircraft

    NASA Technical Reports Server (NTRS)

    Peterson, John B; Womack, S H J

    1937-01-01

    Electrical thermometers commonly used on aircraft are the thermoelectric type for measuring engine-cylinder temperatures, the resistance type for measuring air temperatures, and the superheat meters of thermoelectric and resistance types for use on airships. These instruments are described and their advantages and disadvantages enumerated. Methods of testing these instruments and the performance to be expected from each are discussed. The field testing of engine-cylinder thermometers is treated in detail.

  5. 19 CFR 10.183 - Duty-free entry of civil aircraft, aircraft engines, ground flight simulators, parts, components...

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... Duty-free entry of civil aircraft, aircraft engines, ground flight simulators, parts, components, and... aircraft, aircraft engines, and ground flight simulators, including their parts, components, and... United States (HTSUS) by meeting the following requirements: (1) The aircraft, aircraft engines,...

  6. 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,…

  7. 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.

  8. 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.

  9. 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…

  10. 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

  11. Aircraft Weather Mitigation for the Next Generation Air Transportation System

    NASA Technical Reports Server (NTRS)

    Stough, H. Paul, III

    2007-01-01

    Atmospheric effects on aviation are described by Mahapatra (1999) as including (1) atmospheric phenomena involving air motion - wind shear and turbulence; (2) hydrometeorological phenomena - rain, snow and hail; (3) aircraft icing; (4) low visibility; and (5) atmospheric electrical phenomena. Aircraft Weather Mitigation includes aircraft systems (e.g. airframe, propulsion, avionics, controls) that can be enacted (by a pilot, automation or hybrid systems) to suppress and/or prepare for the effects of encountered or unavoidable weather or to facilitate a crew operational decision-making process relative to weather. Aircraft weather mitigation can be thought of as a continuum (Figure 1) with the need to avoid all adverse weather at one extreme and the ability to safely operate in all weather conditions at the other extreme. Realistic aircraft capabilities fall somewhere between these two extremes. The capabilities of small general aviation aircraft would be expected to fall closer to the "Avoid All Adverse Weather" point, and the capabilities of large commercial jet transports would fall closer to the "Operate in All Weather Conditions" point. The ability to safely operate in adverse weather conditions is dependent upon the pilot s capabilities (training, total experience and recent experience), the airspace in which the operation is taking place (terrain, navigational aids, traffic separation), the capabilities of the airport (approach guidance, runway and taxiway lighting, availability of air traffic control), as well as the capabilities of the airplane. The level of mitigation may vary depending upon the type of adverse weather. For example, a small general aviation airplane may be equipped to operate "in the clouds" without outside visual references, but not be equipped to prevent airframe ice that could be accreted in those clouds.

  12. Bubble collision with gravitation

    SciTech Connect

    Hwang, Dong-il; Lee, Bum-Hoon; Lee, Wonwoo; Yeom, Dong-han E-mail: bhl@sogang.ac.kr E-mail: innocent.yeom@gmail.com

    2012-07-01

    In this paper, we study vacuum bubble collisions with various potentials including gravitation, assuming spherical, planar, and hyperbolic symmetry. We use numerical calculations from double-null formalism. Spherical symmetry can mimic the formation of a black hole via multiple bubble collisions. Planar and especially hyperbolic symmetry describes two bubble collisions. We study both cases, when two true vacuum regions have the same field value or different field values, by varying tensions. For the latter case, we also test symmetric and asymmetric bubble collisions, and see details of causal structures. If the colliding energy is sufficient, then the vacuum can be destabilized, and it is also demonstrated. This double-null formalism can be a complementary approach in the context of bubble collisions.

  13. 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. ...

  14. Avoided cost pricing: who wins

    SciTech Connect

    Einhorn, M.A.

    1985-05-30

    This article calls for a reevaluation of current Federal Energy Regulatory Commission regulations on the calculation of avoided cost rates for sales of power to utilities by small producers in the light of market conditions not contemplated at the time of the regulations' adoption. 8 references.

  15. 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.

  16. Piloted Well Clear Performance Evaluation of Detect and Avoid Systems with Suggestive Guidance

    NASA Technical Reports Server (NTRS)

    Mueller, Eric; Santiago, Confesor; Watza, Spencer

    2016-01-01

    Regulations to establish operational and performance requirements for unmanned aircraft systems (UAS) are being developed by a consortium of government, industry and academic institutions (RTCA, 2013). Those requirements will apply to the new detect-and-avoid (DAA) systems and other equipment necessary to integrate UAS with the United States (U.S) National Airspace System (NAS) and will be determined according to their contribution to the overall safety case. That safety case requires demonstration that DAA-equipped UAS collectively operating in the NAS meet an airspace safety threshold (AST). Several key gaps must be closed in order to link equipment requirements to an airspace safety case. Foremost among these is calculation of the systems risk ratio, the degree to which a particular system mitigates violation of an aircraft separation standard (FAA, 2013). The risk ratio of a DAA system, in combination with risk ratios of other collision mitigation mechanisms, will determine the overall safety of the airspace measured in terms of the number of collisions per flight hour. It is not known what the effectiveness is of a pilot-in-the-loop DAA system or even what parameters of the DAA system most improve the pilots ability to maintain separation. The relationship between the DAA system design and the overall effectiveness of the DAA system that includes the pilot, expressed as a risk ratio, must be determined before DAA operational and performance requirements can be finalized. Much research has been devoted to integrating UAS into non-segregated airspace (Dalamagkidis, 2009, Ostwald, 2007, Gillian, 2012, Hesselink, 2011, Santiago, 2015, Rorie 2015 and 2016). Several traffic displays intended for use as part of a DAA system have gone through human-in-the-loop simulation and flight-testing. Most of these evaluations were part of development programs to produce a deployable system, so it is unclear how to generalize particular aspects of those designs to general

  17. Mission management aircraft operations manual

    NASA Technical Reports Server (NTRS)

    1992-01-01

    This manual prescribes the NASA mission management aircraft program and provides policies and criteria for the safe and economical operation, maintenance, and inspection of NASA mission management aircraft. The operation of NASA mission management aircraft is based on the concept that safety has the highest priority. Operations involving unwarranted risks will not be tolerated. NASA mission management aircraft will be designated by the Associate Administrator for Management Systems and Facilities. NASA mission management aircraft are public aircraft as defined by the Federal Aviation Act of 1958. Maintenance standards, as a minimum, will meet those required for retention of Federal Aviation Administration (FAA) airworthiness certification. Federal Aviation Regulation Part 91, Subparts A and B, will apply except when requirements of this manual are more restrictive.

  18. Development of a collision risk assessment tool

    NASA Astrophysics Data System (ADS)

    Alarcon Rodriguez, J.; Martinez Fadrique, F.; Klinkrad, H.

    The avoidance of near misses and catastrophic collisions is of particular interest to manned missions and to valuable assets at densely populated altitude regions. GMV has developed a software tool for ESOC, ESA's European Space Operations Centre, which forecasts close conjunctions of selected spacecraft with over 8,000 objects included in the USSPACECOM catalog. The Collision Risk Assessment Tool (CRASS) generates collision risk estimates and collision warnings based on collision probability for a time span on the order of one week. In the framework of this activity, several collision probability algorithms have been implemented and tested. Considerable effort has also been placed in the characterisation of orbit determination errors and covariance propagation. The direct comparison of orbits of several spacecraft against a large catalog is an extremely computation intensive task. As a consequence, pre-filtering and parallel computing techniques have been proposed and used in the past as a means to reduce the computing time. However, the "smart sieve" algorithm devised and implemented by GMV retains the reliability of a "direct" method while drastically reducing the computing time. Therefore, the "smart sieve" is far more reliable than traditional pre-filtering techniques with no need for parallel computing. Besides, the method presents no constraints or singularities for any terrestrial orbit, as it is not based on simplifying assumptions. In summary, the method's main characteristics are general applicability, high reliability, and high computing efficiency. As a result of the increased efficiency, the field of application of the tool can be extended to other challenging problems. For instance, all to all comparisons of objects within a large catalog, or comparisons of a single spacecraft against a complete catalog over long periods of time can be completed in a reasonable time.

  19. 19 CFR 122.64 - Other aircraft.

    Code of Federal Regulations, 2013 CFR

    2013-04-01

    ... 19 Customs Duties 1 2013-04-01 2013-04-01 false Other aircraft. 122.64 Section 122.64 Customs... AIR COMMERCE REGULATIONS Clearance of Aircraft and Permission To Depart § 122.64 Other aircraft. Clearance or permission to depart shall be requested by the aircraft commander or agent for aircraft...

  20. 40 CFR 87.6 - Aircraft safety.

    Code of Federal Regulations, 2014 CFR

    2014-07-01

    ... 40 Protection of Environment 20 2014-07-01 2013-07-01 true Aircraft safety. 87.6 Section 87.6... POLLUTION FROM AIRCRAFT AND AIRCRAFT ENGINES General Provisions § 87.6 Aircraft safety. The provisions of... be met within the specified time without creating a hazard to aircraft safety....

  1. 19 CFR 122.64 - Other aircraft.

    Code of Federal Regulations, 2010 CFR

    2010-04-01

    ... 19 Customs Duties 1 2010-04-01 2010-04-01 false Other aircraft. 122.64 Section 122.64 Customs... AIR COMMERCE REGULATIONS Clearance of Aircraft and Permission To Depart § 122.64 Other aircraft. Clearance or permission to depart shall be requested by the aircraft commander or agent for aircraft...

  2. 19 CFR 122.64 - Other aircraft.

    Code of Federal Regulations, 2014 CFR

    2014-04-01

    ... 19 Customs Duties 1 2014-04-01 2014-04-01 false Other aircraft. 122.64 Section 122.64 Customs... AIR COMMERCE REGULATIONS Clearance of Aircraft and Permission To Depart § 122.64 Other aircraft. Clearance or permission to depart shall be requested by the aircraft commander or agent for aircraft...

  3. 40 CFR 87.6 - Aircraft safety.

    Code of Federal Regulations, 2013 CFR

    2013-07-01

    ... 40 Protection of Environment 21 2013-07-01 2013-07-01 false Aircraft safety. 87.6 Section 87.6... POLLUTION FROM AIRCRAFT AND AIRCRAFT ENGINES General Provisions § 87.6 Aircraft safety. The provisions of... be met within the specified time without creating a hazard to aircraft safety....

  4. 19 CFR 122.64 - Other aircraft.

    Code of Federal Regulations, 2012 CFR

    2012-04-01

    ... 19 Customs Duties 1 2012-04-01 2012-04-01 false Other aircraft. 122.64 Section 122.64 Customs... AIR COMMERCE REGULATIONS Clearance of Aircraft and Permission To Depart § 122.64 Other aircraft. Clearance or permission to depart shall be requested by the aircraft commander or agent for aircraft...

  5. 19 CFR 122.64 - Other aircraft.

    Code of Federal Regulations, 2011 CFR

    2011-04-01

    ... 19 Customs Duties 1 2011-04-01 2011-04-01 false Other aircraft. 122.64 Section 122.64 Customs... AIR COMMERCE REGULATIONS Clearance of Aircraft and Permission To Depart § 122.64 Other aircraft. Clearance or permission to depart shall be requested by the aircraft commander or agent for aircraft...

  6. Aircraft cockpit vision: Math model

    NASA Technical Reports Server (NTRS)

    Bashir, J.; Singh, R. P.

    1975-01-01

    A mathematical model was developed to describe the field of vision of a pilot seated in an aircraft. Given the position and orientation of the aircraft, along with the geometrical configuration of its windows, and the location of an object, the model determines whether the object would be within the pilot's external vision envelope provided by the aircraft's windows. The computer program using this model was implemented and is described.

  7. Ozone contamination in aircraft cabins: Objectives and approach

    NASA Technical Reports Server (NTRS)

    Perkins, P. J.

    1979-01-01

    Three panels were developed to solve the problem of ozone contamination in aircraft cabins. The problem is defined from direct in-flight measurements of ozone concentrations inside and outside airliners in their normal operations. Solutions to the cabin ozone problem are discussed under two areas: (1) flight planning to avoid high ozone concentrations, and (2) ozone destruction techniques installed in the cabin air systems.

  8. Intelligent aircraft/airspace systems

    NASA Technical Reports Server (NTRS)

    Wangermann, John P.

    1995-01-01

    Projections of future air traffic predict at least a doubling of the number of revenue passenger miles flown by the year 2025. To meet this demand, an Intelligent Aircraft/Airspace System (IAAS) has been proposed. The IAAS operates on the basis of principled negotiation between intelligent agents. The aircraft/airspace system today consists of many agents, such as airlines, control facilities, and aircraft. All the agents are becoming increasingly capable as technology develops. These capabilities should be exploited to create an Intelligent Aircraft/Airspace System (IAAS) that would meet the predicted traffic levels of 2005.

  9. NASA research in aircraft propulsion

    NASA Technical Reports Server (NTRS)

    Beheim, M. A.

    1982-01-01

    A broad overview of the scope of research presently being supported by NASA in aircraft propulsion is presented with emphasis on Lewis Research Center activities related to civil air transports, CTOL and V/STOL systems. Aircraft systems work is performed to identify the requirements for the propulsion system that enhance the mission capabilities of the aircraft. This important source of innovation and creativity drives the direction of propulsion research. In a companion effort, component research of a generic nature is performed to provide a better basis for design and provides an evolutionary process for technological growth that increases the capabilities of all types of aircraft. Both are important.

  10. The Typical General Aviation Aircraft

    NASA Technical Reports Server (NTRS)

    Turnbull, Andrew

    1999-01-01

    The reliability of General Aviation aircraft is unknown. In order to "assist the development of future GA reliability and safety requirements", a reliability study needs to be performed. Before any studies on General Aviation aircraft reliability begins, a definition of a typical aircraft that encompasses most of the general aviation characteristics needs to be defined. In this report, not only is the typical general aviation aircraft defined for the purpose of the follow-on reliability study, but it is also separated, or "sifted" into several different categories where individual analysis can be performed on the reasonably independent systems. In this study, the typical General Aviation aircraft is a four-place, single engine piston, all aluminum fixed-wing certified aircraft with a fixed tricycle landing gear and a cable operated flight control system. The system breakdown of a GA aircraft "sifts" the aircraft systems and components into five categories: Powerplant, Airframe, Aircraft Control Systems, Cockpit Instrumentation Systems, and the Electrical Systems. This breakdown was performed along the lines of a failure of the system. Any component that caused a system to fail was considered a part of that system.

  11. Scheduling of an aircraft fleet

    NASA Technical Reports Server (NTRS)

    Paltrinieri, Massimo; Momigliano, Alberto; Torquati, Franco

    1992-01-01

    Scheduling is the task of assigning resources to operations. When the resources are mobile vehicles, they describe routes through the served stations. To emphasize such aspect, this problem is usually referred to as the routing problem. In particular, if vehicles are aircraft and stations are airports, the problem is known as aircraft routing. This paper describes the solution to such a problem developed in OMAR (Operative Management of Aircraft Routing), a system implemented by Bull HN for Alitalia. In our approach, aircraft routing is viewed as a Constraint Satisfaction Problem. The solving strategy combines network consistency and tree search techniques.

  12. Collision management utilizing CCD and remote sensing technology

    NASA Technical Reports Server (NTRS)

    Mcdaniel, Harvey E., Jr.

    1995-01-01

    With the threat of damage to aerospace systems (space station, shuttle, hypersonic a/c, solar power satellites, loss of life, etc.) from collision with debris (manmade/artificial), there exists an opportunity for the design of a novel system (collision avoidance) to be incorporated into the overall design. While incorporating techniques from ccd and remote sensing technologies, an integrated system utilized in the infrared/visible spectrum for detection, tracking, localization, and maneuvering from doppler shift measurements is achievable. Other analysis such as impact assessment, station keeping, chemical, and optical tracking/fire control solutions are possible through this system. Utilizing modified field programmable gated arrays (software reconfiguring the hardware) the mission and mission effectiveness can be varied. This paper outlines the theoretical operation of a prototype system as it applies to collision avoidance (to be followed up by research).

  13. Using collision cones to assess biological deconfliction methods

    PubMed Central

    Hedrick, Tyson L.; Theriault, Diane H.; Fuller, Nathan W.; Wu, Zheng; Betke, Margrit; Parrish, Julia K.; Grünbaum, Daniel; Morgansen, Kristi A.

    2016-01-01

    Biological systems consistently outperform autonomous systems governed by engineered algorithms in their ability to reactively avoid collisions. To better understand this discrepancy, a collision avoidance algorithm was applied to frames of digitized video trajectory data from bats, swallows and fish (Myotis velifer, Petrochelidon pyrrhonota and Danio aequipinnatus). Information available from visual cues, specifically relative position and velocity, was provided to the algorithm which used this information to define collision cones that allowed the algorithm to find a safe velocity requiring minimal deviation from the original velocity. The subset of obstacles provided to the algorithm was determined by the animal's sensing range in terms of metric and topological distance. The algorithmic calculated velocities showed good agreement with observed biological velocities, indicating that the algorithm was an informative basis for comparison with the three species and could potentially be improved for engineered applications with further study. PMID:27655669

  14. Experimental determination of visibility modeling parameters for aircraft

    NASA Astrophysics Data System (ADS)

    Boettcher, Evelyn J.; Maurer, Tana; Murrill, Steven R.; Miller, Brian

    2010-04-01

    The Federal Aviation Administration (FAA) is presently engaged in research to quantify the visibility of aircraft under two important scenarios: aircraft observed directly by human operators in air traffic control towers (ATCT's), and aircraft observed by human operators through unmanned aerial vehicle (UAV) sensors viewed through ground-based display systems. Previously, an ATCT visibility analysis software tool (FAA Vis) was developed by the U.S. Army Research Laboratory (ARL) in collaboration with the U.S. Army's Night Vision and Electronic Sensors Directorate (NVESD) and the FAA. This tool predicts the probability of detection, recognition, and identification of various aircraft by human observers as a function of range and ATCT height. More recently, a baseline version of a UAV See-And- Avoid visibility analysis software tool was also developed by ARL, again in collaboration with NVESD and the FAA. Important to the calibration of these tools is the empirical determination of target discrimination difficulty criteria. Consequently, a set of human perception experiments were designed and conducted to empirically determine the target recognition and identification discrimination difficulty criteria for a representative set of aircraft. This paper will report on the results and analyses of those experiments.

  15. Thermal avoidance during flight in the locust Locusta migratoria

    PubMed

    Robertson; Kuhnert; Dawson

    1996-01-01

    In this paper, thermal avoidance in tethered flying locusts is described for the first time. Changes in body posture examined using high-speed cinematography revealed that the animals responded to a laterally positioned heat source with contralaterally directed abdomen and hindleg ruddering, behavioural patterns resembling manoeuvres observed in collision avoidance and in response to auditory signals. The analysis also showed that, during stimulation, left and right forewing depression became asymmetrical during the downstroke but remained symmetrical during the upstroke. Hindwing depression and elevation remained symmetrical during stimulus presentations. Electromyographic recordings from the left and right first basalar muscles (M97; forewing depressors) showed that contralateral depressor muscle activity was advanced by 10­12 ms relative to that on the stimulated side. There was also an increase in burst duration on the contralaterally stimulated side and an increase in wingbeat frequency of approximately 3 Hz. Ablation experiments showed that removal of the antennal flagella, which are the site of previously described thermoreceptors, did not abolish thermal avoidance manoeuvres. We conclude that thermal avoidance is triggered by an infrared sensitivity that is not mediated by the compound eyes, the ocelli or the antennal flagella. PMID:9319276

  16. Progress Towards the Remote Sensing of Aircraft Icing Hazards

    NASA Technical Reports Server (NTRS)

    Reehorst, Andrew; Brinker, David; Politovich, Marcia; Serke, David; Ryerson, Charles; Pazmany, Andrew; Solheim, Fredrick

    2009-01-01

    NASA has teamed with the FAA, DoD, industry, and academia for research into the remote detection and measurement of atmospheric conditions leading to aircraft icing hazards. The ultimate goal of this effort is to provide pilots, controllers, and dispatchers sufficient information to allow aircraft to avoid or minimize their exposure to the hazards of in-flight icing. Since the hazard of in-flight icing is the outcome of aircraft flight through clouds containing supercooled liquid water and strongly influenced by the aircraft s speed and configuration and by the length of exposure, the hazard cannot be directly detected, but must be inferred based upon the measurement of conducive atmospheric conditions. Therefore, icing hazard detection is accomplished through the detection and measurement of liquid water in regions of measured sub-freezing air temperatures. The icing environment is currently remotely measured from the ground with a system fusing radar, lidar, and multifrequency microwave radiometer sensors. Based upon expected ice accretion severity for the measured environment, a resultant aircraft hazard is then calculated. Because of the power, size, weight, and view angle constraints of airborne platforms, the current ground-based solution is not applicable for flight. Two current airborne concepts are based upon the use of either multifrequency radiometers or multifrequency radar. Both ground-based and airborne solutions are required for the future since groundbased systems can provide hazard detection for all aircraft in airport terminal regions while airborne systems will be needed to provide equipped aircraft with flight path coverage between terminal regions.

  17. A historical overview of stall/spin characteristics of general aviation aircraft

    NASA Technical Reports Server (NTRS)

    Anderson, S. B.

    1978-01-01

    Even today, stall/spin accidents involving general aviation aircraft account for more fatal and serious injuries than any other kind of accident. The classic stall/spin accident is one in which the pilot stalls the aircraft at too low an altitude to affect recovery. The primary attention in the investigation is given to aerodynamic considerations, although it is recognized that human factors and pilot training are also very important aspects of the total problem. A review of some 70 years of flight indicates that incorporation of the proper combination of aerodynamic parameters to provide good stall/spin avoidance has persistently remained an elusive goal for designers of general aviation aircraft.

  18. Slotted Aircraft Wing

    NASA Technical Reports Server (NTRS)

    Vassberg, John C. (Inventor); Gea, Lie-Mine (Inventor); McLean, James D. (Inventor); Witowski, David P. (Inventor); Krist, Steven E. (Inventor); Campbell, Richard L. (Inventor)

    2006-01-01

    An aircraft wing includes a leading airfoil element and a trailing airfoil element. At least one slot is defined by the wing during at least one transonic condition of the wing. The slot may either extend spanwise along only a portion of the wingspan, or it may extend spanwise along the entire wingspan. In either case, the slot allows a portion of the air flowing along the lower surface of the leading airfoil element to split and flow over the upper surface of the trailing airfoil element so as to achieve a performance improvement in the transonic condition.

  19. Aircraft surface coatings

    NASA Technical Reports Server (NTRS)

    1983-01-01

    A series of studies in which films and liquid spray-on materials were evaluated in the laboratory for transport aircraft external surface coatings are summarized. Elastomeric polyurethanes were found to best meet requirements. Two commercially available products, CAAPCO B-274 and Chemglaze M313, were subjected to further laboratory testing, airline service evaluations, and drag-measurement flight tests. It was found that these coatings were compatible with the severe operating environment of airlines and that coatings reduced airplane drag. An economic analysis indicated significant dollar benefits to airlines from application of the coatings.

  20. Aircraft identification experience

    NASA Technical Reports Server (NTRS)

    Iliff, K. W.

    1979-01-01

    Important aspects of estimating the unknown coefficients of the aircraft equations of motion from dynamic flight data are presented. The primary topic is the application of the maximum likelihood estimation technique. Basic considerations that must be addressed in the estimation of stability and control derivatives from conventional flight maneuvers are discussed. Some complex areas of estimation (such as estimation in the presence of atmospheric turbulence, estimation of acceleration derivatives, and analysis of maneuvers where both kinematic and aerodynamic coupling are present) are also discussed.

  1. Hydrogen aircraft technology

    NASA Technical Reports Server (NTRS)

    Brewer, G. D.

    1991-01-01

    A comprehensive evaluation is conducted of the technology development status, economics, commercial feasibility, and infrastructural requirements of LH2-fueled aircraft, with additional consideration of hydrogen production, liquefaction, and cryostorage methods. Attention is given to the effects of LH2 fuel cryotank accommodation on the configurations of prospective commercial transports and military airlifters, SSTs, and HSTs, as well as to the use of the plentiful heatsink capacity of LH2 for innovative propulsion cycles' performance maximization. State-of-the-art materials and structural design principles for integral cryotank implementation are noted, as are airport requirements and safety and environmental considerations.

  2. Aircraft Speed Instruments

    NASA Technical Reports Server (NTRS)

    Beij, K Hilding

    1933-01-01

    This report presents a concise survey of the measurement of air speed and ground speed on board aircraft. Special attention is paid to the pitot-static air-speed meter which is the standard in the United States for airplanes. Air-speed meters of the rotating vane type are also discussed in considerable detail on account of their value as flight test instruments and as service instruments for airships. Methods of ground-speed measurement are treated briefly, with reference to the more important instruments. A bibliography on air-speed measurement concludes the report.

  3. 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.

  4. 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).

  5. Aircraft Inspection for the General Aviation Aircraft Owner.

    ERIC Educational Resources Information Center

    Federal Aviation Administration (DOT), Washington, DC. Flight Standards Service.

    Presented is useful information for owners, pilots, student mechanics, and others with aviation interests. Part I of this booklet outlines aircraft inspection requirements, owner responsibilities, inspection time intervals, and sources of basic information. Part II is concerned with the general techniques used to inspect an aircraft. (Author/JN)

  6. 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

  7. Cosmic bubble collisions

    NASA Astrophysics Data System (ADS)

    Kleban, Matthew

    2011-10-01

    I briefly review the physics of cosmic bubble collisions in false-vacuum eternal inflation. My purpose is to provide an introduction to the subject for readers unfamiliar with it, focussing on recent work related to the prospects for observing the effects of bubble collisions in cosmology. I will attempt to explain the essential physical points as simply and concisely as possible, leaving most technical details to the references. I make no attempt to be comprehensive or complete. I also present a new solution to Einstein's equations that represents a bubble universe after a collision, containing vacuum energy and ingoing null radiation with an arbitrary density profile.

  8. Avoiding congestion in recommender systems

    NASA Astrophysics Data System (ADS)

    Ren, Xiaolong; Lü, Linyuan; Liu, Runran; Zhang, Jianlin

    2014-06-01

    Recommender systems use the historical activities and personal profiles of users to uncover their preferences and recommend objects. Most of the previous methods are based on objects’ (and/or users’) similarity rather than on their difference. Such approaches are subject to a high risk of increasingly exposing users to a narrowing band of popular objects. As a result, a few objects may be recommended to an enormous number of users, resulting in the problem of recommendation congestion, which is to be avoided, especially when the recommended objects are limited resources. In order to quantitatively measure a recommendation algorithm's ability to avoid congestion, we proposed a new metric inspired by the Gini index, which is used to measure the inequality of the individual wealth distribution in an economy. Besides this, a new recommendation method called directed weighted conduction (DWC) was developed by considering the heat conduction process on a user-object bipartite network with different thermal conductivities. Experimental results obtained for three benchmark data sets showed that the DWC algorithm can effectively avoid system congestion, and greatly improve the novelty and diversity, while retaining relatively high accuracy, in comparison with the state-of-the-art methods.

  9. Rapid jamming avoidance in biosonar.

    PubMed

    Gillam, Erin H; Ulanovsky, Nachum; McCracken, Gary F

    2007-03-01

    The sonar systems of bats and dolphins are in many ways superior to man-made sonar and radar systems, and considerable effort has been devoted to understanding the signal-processing strategies underlying these capabilities. A major feature determining the efficiency of sonar systems is the sensitivity to noise and jamming signals. Previous studies indicated that echolocating bats may adjust their signal structure to avoid jamming ('jamming avoidance response'; JAR). However, these studies relied on behavioural correlations and not controlled experiments. Here, we provide the first experimental evidence for JAR in bats. We presented bats (Tadarida brasiliensis) with 'playback stimuli' consisting of recorded echolocation calls at one of six frequencies. The bats exhibited a JAR by shifting their call frequency away from the presented playback frequency. When the approaching bats were challenged by an abrupt change in the playback stimulus, they responded by shifting their call frequencies upwards, away from the playback. Interestingly, even bats initially calling below the playback's frequency shifted their frequencies upwards, 'jumping' over the playback frequency. These spectral shifts in the bats' calls occurred often within less than 200 ms, in the first echolocation call emitted after the stimulus switch-suggesting that rapid jamming avoidance is important for the bat.

  10. Altus aircraft on runway

    NASA Technical Reports Server (NTRS)

    1996-01-01

    The remotely piloted Altus aircraft flew several developmental test flights from Rogers Dry Lake adjacent to NASA's Dryden Flight Research Center, Edwards, Calif., in 1996. The Altus--the word is Latin for 'high'--is a variant of the Predator surveillance drone built by General Atomics/Aeronautical Systems, Inc. It is designed for high-altitude, long-duration scientific sampling missions, and is powered by a turbocharged four-cylinder piston engine. The first Altus was developed under NASA's Environmental Research Aircraft and Sensor Technology program, while a second Altus was built for a Naval Postgraduate School/Department of Energy program. A pilot in a control station on the ground flew the craft by radio signals, using visual cues from a video camera in the nose of the Altus and information from the craft's air data system. Equipped with a single-stage turbocharger during the 1996 test flights, the first Altus reached altitudes in the 37,000-foot range, while the similarly-equipped second Altus reached 43,500 feet during developmental flights at Dryden in the summer of 1997. The NASA Altus also set an endurance record of more than 26 hours while flying a science mission in late 1996 and still had an estimated 10 hours of fuel remaining when it landed. Now equipped with a two-stage turbocharger, the NASA Altus maintained an altitude of 55,000 feet for four hours during flight tests in 1999.

  11. Hypersonic transport aircraft

    NASA Technical Reports Server (NTRS)

    1987-01-01

    A hypersonic transport aircraft design project was selected as a result of interactions with NASA Lewis Research Center personnel and fits the Presidential concept of the Orient Express. The Graduate Teaching Assistant (GTA) and an undergraduate student worked at the NASA Lewis Research Center during the 1986 summer conducting a literature survey, and relevant literature and useful software were collected. The computer software was implemented in the Computer Aided Design Laboratory of the Mechanical and Aerospace Engineering Department. In addition to the lectures by the three instructors, a series of guest lectures was conducted. The first of these lectures 'Anywhere in the World in Two Hours' was delivered by R. Luidens of NASA Lewis Center. In addition, videotaped copies of relevant seminars obtained from NASA Lewis were also featured. The first assignment was to individually research and develop the mission requirements and to discuss the findings with the class. The class in consultation with the instructors then developed a set of unified mission requirements. Then the class was divided into three design groups (1) Aerodynamics Group, (2) Propulsion Group, and (3) Structures and Thermal Analyses Group. The groups worked on their respective design areas and interacted with each other to finally come up with an integrated conceptual design. The three faculty members and the GTA acted as the resource persons for the three groups and aided in the integration of the individual group designs into the final design of a hypersonic aircraft.

  12. Dumbo heavy lifter aircraft

    NASA Technical Reports Server (NTRS)

    Riester, Peter; Ellis, Colleen; Wagner, Michael; Orren, Scott; Smith, Byron; Skelly, Michael; Zgraggen, Craig; Webber, Matt

    1992-01-01

    The world is rapidly changing from one with two military superpowers, with which most countries were aligned, to one with many smaller military powers. In this environment, the United States cannot depend on the availability of operating bases from which to respond to crises requiring military intervention. Several studies (e.g. the SAB Global Reach, Global Power Study) have indicated an increased need to be able to rapidly transport large numbers of troops and equipment from the continental United States to potential trouble spots throughout the world. To this end, a request for proposals (RFP) for the concept design of a large aircraft capable of 'projecting' a significant military force without reliance on surface transportation was developed. These design requirements are: minimum payload of 400,000 pounds at 2.5 g maneuver load factor; minimum unfueled range of 6,000 nautical miles; and aircraft must operate from existing domestic air bases and use existing airbases or sites of opportunity at the destination.

  13. Aircraft landing using GPS

    NASA Astrophysics Data System (ADS)

    Lawrence, David Gary

    The advent of the Global Positioning System (GPS) is revolutionizing the field of navigation. Commercial aviation has been particularly influenced by this worldwide navigation system. From ground vehicle guidance to aircraft landing applications, GPS has the potential to impact many areas of aviation. GPS is already being used for non-precision approach guidance; current research focuses on its application to more critical regimes of flight. To this end, the following contributions were made: (1) Development of algorithms and a flexible software architecture capable of providing real-time position solutions accurate to the centimeter level with high integrity. This architecture was used to demonstrate 110 automatic landings of a Boeing 737. (2) Assessment of the navigation performance provided by two GPS-based landing systems developed at Stanford, the Integrity Beacon Landing System, and the Wide Area Augmentation System. (3) Preliminary evaluation of proposed enhancements to traditional techniques for GPS positioning, specifically, dual antenna positioning and pseudolite augmentation. (4) Introduction of a new concept for positioning using airport pseudolites. The results of this research are promising, showing that GPS-based systems can potentially meet even the stringent requirements of a Category III (zero visibility) landing system. Although technical and logistical hurdles still exist, it is likely that GPS will soon provide aircraft guidance in all phases of flight, including automatic landing, roll-out, and taxi.

  14. Formal Analysis of Extended Well-Clear Boundaries for Unmanned Aircraft

    NASA Technical Reports Server (NTRS)

    Munoz, Cesar; Narkawicz, Anthony

    2016-01-01

    This paper concerns the application of formal methods to the definition of a detect and avoid concept for unmanned aircraft systems (UAS). In particular, it illustrates how formal analysis was used to explain and correct unexpected behaviors of the logic that issues alerts when two aircraft are predicted not to be well clear from one another. As a result of this analysis, a recommendation was proposed to, and subsequently adopted by, the US standards organization that defines the minimum operational requirements for the UAS detect and avoid concept.

  15. The Ultra Light Aircraft Testing

    NASA Technical Reports Server (NTRS)

    Smith, Howard W.

    1993-01-01

    The final report for grant NAG1-345 is presented. Recently, the bulk of the work that the grant has supported has been in the areas of ride quality and the structural analysis and testing of ultralight aircraft. The ride quality work ended in May 1989. Hence, the papers presented in this final report are concerned with ultralight aircraft.

  16. Aircraft wiring program status report

    NASA Technical Reports Server (NTRS)

    Beach, Rex

    1995-01-01

    In this Naval Air Warfare Center (NAWC) Aircraft Division status report, the general and wire and cable component activities, the systems engineering activities, the aircraft wiring lead maintenance activities, the NAVAIR/NASA interface activities, and the Base Realignment and Closure (BRAC) Commission recommendations are presented.

  17. Steam Power Plants in Aircraft

    NASA Technical Reports Server (NTRS)

    Wilson, E E

    1926-01-01

    The employment of steam power plants in aircraft has been frequently proposed. Arguments pro and con have appeared in many journals. It is the purpose of this paper to make a brief analysis of the proposal from the broad general viewpoint of aircraft power plants. Any such analysis may be general or detailed.

  18. Fuel conservative aircraft engine technology

    NASA Technical Reports Server (NTRS)

    Nored, D. L.

    1978-01-01

    Technology developments for more fuel-efficiency subsonic transport aircraft are reported. Three major propulsion projects were considered: (1) engine component improvement - directed at current engines; (2) energy efficient engine - directed at new turbofan engines; and (3) advanced turboprops - directed at technology for advanced turboprop-powered aircraft. Each project is reviewed and some of the technologies and recent accomplishments are described.

  19. 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)

  20. The Sandbag Collision

    NASA Astrophysics Data System (ADS)

    Zou, Xueli

    2006-10-01

    As physics teachers, we all know that many introductory physics students have difficulties in understanding conservation of energy during inelastic collisions where the difficult-to-visualize concept of internal energy is involved. An interesting approach using a pair of model carts1,2 has been developed to help students visualize and understand the concept of internal thermal energy involved during an inelastic collision. This paper will illustrate a sandbag collision experiment that uses visible deformation of the sandbag to help students visualize where the kinetic energy goes during an inelastic collision. This experiment problem (as shown in Fig. 1) can be broken into three small subparts: 1) The pendulum bob swings down until right before hitting the box—a conservation of energy problem; 2) The bob collides with the box—a conservation of momentum problem; 3) The box slides on the table until it comes to a stop—a conservation of energy problem or a dynamics problem.

  1. Flight-deck display of neighboring aircraft wake vortices

    NASA Astrophysics Data System (ADS)

    Holforty, Wendy L.

    Over the coming decades, aviation operations are predicted to rise steadily, increasing the burden on already congested and constrained airspace. A major factor governing the safe minimum separation distance between aircraft is the hazard generated by the wake of neighboring aircraft. Unaware of their proximity to other traffic, aircraft have encountered the wake turbulence of neighboring aircraft tens of miles ahead of them with serious or fatal consequences. The wake display described herein is a perspective view, synthetic vision, flight deck display that enables flight crews to "see" neighboring aircraft, as well as their wakes via a predictive algorithm. Capable of enhancing the situational awareness with respect to the wake-vortex encounter hazard by enabling the flight crew to see the relative position of their aircraft with respect to the wake hazard, the display may allow for a decrease in the standard aircraft spacing to those now used in VFR conditions and an increase in airport and airspace capacity. At present, there is no mechanism in place in the National Airspace System that warns pilots of potential wake vortex encounters. The concept of a wake vortex display addresses the need for a real-time wake vortex avoidance scheme available directly to the pilot. The wake display has been evaluated under both simulated and actual flight conditions. Thirteen pilots with flight experience ranging from a student pilot to commercial airline and military pilots served as pilot test subjects evaluating the display under simulated conditions. The pilot test subjects completed a survey concerning their knowledge and understanding of wake vortices prior to the simulation data trials and, after the trials, they completed a pilot evaluation and postflight survey rating their experience and providing feedback for the display design. One test pilot and four guest pilots flew the display during the in-flight evaluations incorporating three wake encounter scenarios. They

  2. 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.

  3. 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.

  4. 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.

  5. Structural modeling of aircraft tires

    NASA Technical Reports Server (NTRS)

    Clark, S. K.; Dodge, R. N.; Lackey, J. I.; Nybakken, G. H.

    1973-01-01

    A theoretical and experimental investigation of the feasibility of determining the mechanical properties of aircraft tires from small-scale model tires was accomplished. The theoretical results indicate that the macroscopic static and dynamic mechanical properties of aircraft tires can be accurately determined from the scale model tires although the microscopic and thermal properties of aircraft tires can not. The experimental investigation was conducted on a scale model of a 40 x 12, 14 ply rated, type 7 aircraft tire with a scaling factor of 8.65. The experimental results indicate that the scale model tire exhibited the same static mechanical properties as the prototype tire when compared on a dimensionless basis. The structural modeling concept discussed in this report is believed to be exact for mechanical properties of aircraft tires under static, rolling, and transient conditions.

  6. 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

  7. Structural analysis of Aircraft fuselage splice joint

    NASA Astrophysics Data System (ADS)

    Udaya Prakash, R.; Kumar, G. Raj; Vijayanandh, R.; Senthil Kumar, M.; Ramganesh, T.

    2016-09-01

    In Aviation sector, composite materials and its application to each component are one of the prime factors of consideration due to the high strength to weight ratio, design flexibility and non-corrosive so that the composite materials are widely used in the low weight constructions and also it can be treated as a suitable alternative to metals. The objective of this paper is to estimate and compare the suitability of a composite skin joint in an aircraft fuselage with different joints by simulating the displacement, normal stress, vonmises stress and shear stress with the help of numerical solution methods. The reference Z-stringer component of this paper is modeled by CATIA and numerical simulation is carried out by ANSYS has been used for splice joint presents in the aircraft fuselage with three combinations of joints such as riveted joint, bonded joint and hybrid joint. Nowadays the stringers are using to avoid buckling of fuselage skin, it has joined together by rivets and they are connected end to end by splice joint. Design and static analysis of three-dimensional models of joints such as bonded, riveted and hybrid are carried out and results are compared.

  8. Cross-Polar Aircraft Trajectory Optimization and Potential Climate Impact

    NASA Technical Reports Server (NTRS)

    Sridhar, Banavar; Chen, Neil; Ng, Hok

    2011-01-01

    Cross-Polar routes offer new opportunities for air travel markets. Transpolar flights reduce travel times, fuel burns, and associated environmental emissions by flying direct paths between many North American and Asian cities. This study evaluates the potential benefits of flying wind-optimal polar routes and assessed their potential impact on climate change. An optimization algorithm is developed for transpolar flights to generate wind-optimal trajectories that minimize climate impact of aircraft, in terms of global warming potentials (relative to warming by one kg of CO2) of several types of emissions, while avoiding regions of airspace that facilitate persistent contrail formation. Estimations of global warming potential are incorporated into the objective function of the optimization algorithm to assess the climate impact of aircraft emissions discharged at a given location and altitude. The regions of airspace with very low ambient temperature and areas favorable to persistent contrail formation are modeled as undesirable regions that aircraft should avoid and are formulated as soft state constraints. The fuel burn and climate impact of cross-polar air traffic flying various types of trajectory including flightplan, great circle, wind-optimal, and contrail-avoidance are computed for 15 origin-destination pairs between major international airports in the U.S. and Asia. Wind-optimal routes reduce average fuel burn of flight plan routes by 4.4% on December 4, 2010 and 8.0% on August 7, 2010, respectively. The tradeoff between persistent contrail formation and additional global warming potential of aircraft emissions is investigated with and without altitude optimization. Without altitude optimization, the reduction in contrail travel times is gradual with increase in total fuel consumption. When altitude is optimized, a one percent increase in additional global warming potential, a climate impact equivalent to that of 4070kg and 4220kg CO2 emission, reduces 135

  9. Aircraft radar antennas

    NASA Astrophysics Data System (ADS)

    Schrank, Helmut E.

    1987-04-01

    Many changes have taken place in airborne radar antennas since their beginnings over forty years ago. A brief historical review of the advances in technology is presented, from mechanically scanned reflectors to modern multiple function phased arrays. However, emphasis is not on history but on the state-of-the-art technology and trends for future airborne radar systems. The status of rotating surveillance antennas is illustrated by the AN/APY-1 Airborne Warning and Control System (AWACS) slotted waveguide array, which achieved a significant breakthrough in sidelobe suppression. Gimballed flat plate arrays in nose radomes are typified by the AN/APG-66 (F-16) antenna. Multifunction phased arrays are presented by the Electronically Agile Radar (EAR) antenna, which has achieved significant advances in performance versatility and reliability. Trends toward active aperture, adaptive, and digital beamforming arrays are briefly discussed. Antennas for future aircraft radar systems must provide multiple functions in less aperture space, and must perform more reliably.

  10. Aircraft Engine Systems

    NASA Technical Reports Server (NTRS)

    Veres, Joseph

    2001-01-01

    This report outlines the detailed simulation of Aircraft Turbofan Engine. The objectives were to develop a detailed flow model of a full turbofan engine that runs on parallel workstation clusters overnight and to develop an integrated system of codes for combustor design and analysis to enable significant reduction in design time and cost. The model will initially simulate the 3-D flow in the primary flow path including the flow and chemistry in the combustor, and ultimately result in a multidisciplinary model of the engine. The overnight 3-D simulation capability of the primary flow path in a complete engine will enable significant reduction in the design and development time of gas turbine engines. In addition, the NPSS (Numerical Propulsion System Simulation) multidisciplinary integration and analysis are discussed.

  11. Aircraft vortex marking program

    NASA Technical Reports Server (NTRS)

    Pompa, M. F.

    1979-01-01

    A simple, reliable device for identifying atmospheric vortices, principally as generated by in-flight aircraft and with emphasis on the use of nonpolluting aerosols for marking by injection into such vortex (-ices) is presented. The refractive index and droplet size were determined from an analysis of aerosol optical and transport properties as the most significant parameters in effecting vortex optimum light scattering (for visual sighting) and visual persistency of at least 300 sec. The analysis also showed that a steam-ejected tetraethylene glycol aerosol with droplet size near 1 micron and refractive index of approximately 1.45 could be a promising candidate for vortex marking. A marking aerosol was successfully generated with the steam-tetraethylene glycol mixture from breadboard system hardware. A compact 25 lb/f thrust (nominal) H2O2 rocket chamber was the key component of the system which produced the required steam by catalytic decomposition of the supplied H2O2.

  12. Alternative aircraft fuels

    NASA Technical Reports Server (NTRS)

    Longwell, J. P.; Grobman, J.

    1978-01-01

    In connection with the anticipated impossibility to provide on a long-term basis liquid fuels derived from petroleum, an investigation has been conducted with the objective to assess the suitability of jet fuels made from oil shale and coal and to develop a data base which will allow optimization of future fuel characteristics, taking energy efficiency of manufacture and the tradeoffs in aircraft and engine design into account. The properties of future aviation fuels are examined and proposed solutions to problems of alternative fuels are discussed. Attention is given to the refining of jet fuel to current specifications, the control of fuel thermal stability, and combustor technology for use of broad specification fuels. The first solution is to continue to develop the necessary technology at the refinery to produce specification jet fuels regardless of the crude source.

  13. Aircraft agility maneuvers

    NASA Technical Reports Server (NTRS)

    Cliff, Eugene M.; Thompson, Brian G.

    1992-01-01

    A new dynamic model for aircraft motions is presented. This model can be viewed as intermediate between a point-mass model, in which the body attitude angles are control-like, and a rigid-body model, in which the body-attitude angles evolve according to Newton's Laws. Specifically, consideration is given to the case of symmetric flight, and a model is constructed in which the body roll-rate and the body pitch-rate are the controls. In terms of this body-rate model a minimum-time heading change maneuver is formulated. When the bounds on the body-rates are large the results are similar to the point-mass model in that the model can very quickly change the applied forces and produce an acceleration to turn the vehicle. With finite bounds on these rates, the forces change in a smooth way. This leads to a measurable effect of agility.

  14. Blue light regulated shade avoidance.

    PubMed

    Keuskamp, Diederik H; Keller, Mercedes M; Ballaré, Carlos L; Pierik, Ronald

    2012-04-01

    Most plants grow in dense vegetation with the risk of being out-competed by neighboring plants. These neighbors can be detected not only through the depletion in light quantity that they cause, but also through the change in light quality, which plants perceive using specific photoreceptors. Both the reduction of the red:far-red ratio and the depletion of blue light are signals that induce a set of phenotypic traits, such as shoot elongation and leaf hyponasty, which increase the likelihood of light capture in dense plant stands. This set of phenotypic responses are part of the so called shade avoidance syndrome (SAS). This addendum discusses recent findings on the regulation of the SAS of Arabidopsis thaliana upon blue light depletion. Keller et al. and Keuskamp et al. show that the low blue light attenuation induced shade avoidance response of seedling and rosette-stage A. thaliana plants differ in their hormonal regulation. These studies also show there is a regulatory overlap with the R:FR-regulated SAS.

  15. 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.

  16. The Development of an Electronic Aircraft Taxi Navigation Display

    NASA Technical Reports Server (NTRS)

    Andre, Anthony D.; Sridhar, Banavar (Technical Monitor)

    1997-01-01

    This paper describes the development of an electronic aircraft taxi navigation display as part of NASA's Terminal Area Productivity (TAP) Program. The impetus for the development of this specific display, and the TAP program as a whole, is the current bottleneck in surface operations experienced during low-visibility operations. Simply stated, while modern aircraft are equipped to fly and land in low-visibility conditions, they lack the related technology required to allow them to efficiently and safely navigation from the runway to the gate. Pilots under such conditions consequently taxi slower, sometimes get lost and have to stop, and occasionally collide with other aircraft. Based on a review of available display and navigation sensor technologies, and a one-year information requirements study conducted aboard several commercial aircraft flights, it was determined that an electronic aircraft taxi navigation display was the most viable option for improving the efficiency of low-visibility taxi operations. Based on flight deck observations and pilot interviews, previous map display research, other taxi map display efforts, and part-task taxi map research, an advanced taxi navigation display has been developed and is currently being tested. The taxi navigation display is presented as a head-down cockpit display and includes a track-up perspective airport surface view, taxiway, gate and runway labels, ownship position, traffic icons and collision annunciation, graphical route guidance, heading indicator, rotating compass, RVR wedge, stop bars, zoom control, and datalink message window. The development and support for each of the features will be discussed in detail. Additional information is contained in the original extended abstract.

  17. Aircraft Cabin Environmental Quality Sensors

    SciTech Connect

    Gundel, Lara; Kirchstetter, Thomas; Spears, Michael; Sullivan, Douglas

    2010-05-06

    The Indoor Environment Department at Lawrence Berkeley National Laboratory (LBNL) teamed with seven universities to participate in a Federal Aviation Administration (FAA) Center of Excellence (COE) for research on environmental quality in aircraft. This report describes research performed at LBNL on selecting and evaluating sensors for monitoring environmental quality in aircraft cabins, as part of Project 7 of the FAA's COE for Airliner Cabin Environmental Research (ACER)1 effort. This part of Project 7 links to the ozone, pesticide, and incident projects for data collection and monitoring and is a component of a broader research effort on sensors by ACER. Results from UCB and LBNL's concurrent research on ozone (ACER Project 1) are found in Weschler et al., 2007; Bhangar et al. 2008; Coleman et al., 2008 and Strom-Tejsen et al., 2008. LBNL's research on pesticides (ACER Project 2) in airliner cabins is described in Maddalena and McKone (2008). This report focused on the sensors needed for normal contaminants and conditions in aircraft. The results are intended to complement and coordinate with results from other ACER members who concentrated primarily on (a) sensors for chemical and biological pollutants that might be released intentionally in aircraft; (b) integration of sensor systems; and (c) optimal location of sensors within aircraft. The parameters and sensors were selected primarily to satisfy routine monitoring needs for contaminants and conditions that commonly occur in aircraft. However, such sensor systems can also be incorporated into research programs on environmental quality in aircraft cabins.

  18. Multibody aircraft study, volume 1

    NASA Technical Reports Server (NTRS)

    Moore, J. W.; Craven, E. P.; Farmer, B. T.; Honrath, J. F.; Stephens, R. E.; Bronson, C. E., Jr.; Meyer, R. T.; Hogue, J. H.

    1982-01-01

    The potential benefits of a multibody aircraft when compared to a single body aircraft are presented. The analyses consist principally of a detailed point design analysis of three multibody and one single body aircraft, based on a selected payload of 350,000 kg (771,618 lb), for final aircraft definitions; sensitivity studies to evaluate the effects of variations in payload, wing semispan body locations, and fuel price; recommendations as to the research and technology requirements needed to validate the multibody concept. Two, two body, one, three body, and one single body aircraft were finalized for the selected payload, with DOC being the prime figure of merit. When compared to the single body, the multibody aircraft showed a reduction in DOC by as much as 11.3 percent. Operating weight was reduced up to 14 percent, and fly away cost reductions ranged from 8.6 to 13.4 percent. Weight reduction, hence cost, of the multibody aircraft resulted primarily from the wing bending relief afforded by the bodies being located outboard on the wing.

  19. The Impact of Suggestive Maneuver Guidance on UAS Pilots Performing the Detect and Avoid Function

    NASA Technical Reports Server (NTRS)

    Rorie, Conrad; Fern, Lisa; Shively, Jay

    2016-01-01

    This presentation discusses the results of a recent UAS Integration into the NAS human-in-the-loop simulation. In the study, 16 active UAS pilots flew a UAS through civil airspace and were tasked with maintaining well clear from other aircraft in the area. Pilots performed the task with four different detect and avoid (DAA) traffic displays, each of which varied in the form of guidance it provided to pilots The present findings focus on how the different displays impacted pilots' measured response to scripted conflicts with their aircraft. Measured response is made up of several components, each of which help inform our understanding of the pilots' role in the overall detect and avoid task.

  20. NASA Aircraft Controls Research, 1983

    NASA Technical Reports Server (NTRS)

    Beasley, G. P. (Compiler)

    1984-01-01

    The workshop consisted of 24 technical presentations on various aspects of aircraft controls, ranging from the theoretical development of control laws to the evaluation of new controls technology in flight test vehicles. A special report on the status of foreign aircraft technology and a panel session with seven representatives from organizations which use aircraft controls technology were also included. The controls research needs and opportunities for the future as well as the role envisioned for NASA in that research were addressed. Input from the panel and response to the workshop presentations will be used by NASA in developing future programs.