Real-time monitoring of rolling-circle amplification using a modified molecular beacon design

PubMed Central

Nilsson, Mats; Gullberg, Mats; Dahl, Fredrik; Szuhai, Karoly; Raap, Anton K.

2002-01-01

We describe a method to monitor rolling-circle replication of circular oligonucleotides in dual-color and in real-time using molecular beacons. The method can be used to study the kinetics of the polymerization reaction and to amplify and quantify circularized oligonucleotide probes in a rolling-circle amplification (RCA) reaction. Modified molecular beacons were made of 2′-O-Me-RNA to prevent 3′ exonucleolytic degradation by the polymerase used. Moreover, the complement of one of the stem sequences of the molecular beacon was included in the RCA products to avoid fluorescence quenching due to inter-molecular hybridization of neighboring molecular beacons hybridizing to the concatemeric polymerization product. The method allows highly accurate quantification of circularized DNA over a broad concentration range by relating the signal from the test DNA circle to an internal reference DNA circle reporting in a distinct fluorescence color. PMID:12136114

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.

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.

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 that...

Application of Decision Tree on Collision Avoidance System Design and Verification for Quadcopter

NASA Astrophysics Data System (ADS)

Chen, C.-W.; Hsieh, P.-H.; Lai, W.-H.

2017-08-01

The purpose of the research is to build a collision avoidance system with decision tree algorithm used for quadcopters. While the ultrasonic range finder judges the distance is in collision avoidance interval, the access will be replaced from operator to the system to control the altitude of the UAV. According to the former experiences on operating quadcopters, we can obtain the appropriate pitch angle. The UAS implement the following three motions to avoid collisions. Case1: initial slow avoidance stage, Case2: slow avoidance stage and Case3: Rapid avoidance stage. Then the training data of collision avoidance test will be transmitted to the ground station via wireless transmission module to further analysis. The entire decision tree algorithm of collision avoidance system, transmission data, and ground station have been verified in some flight tests. In the flight test, the quadcopter can implement avoidance motion in real-time and move away from obstacles steadily. In the avoidance area, the authority of the collision avoidance system is higher than the operator and implements the avoidance process. The quadcopter can successfully fly away from the obstacles in 1.92 meter per second and the minimum distance between the quadcopter and the obstacle is 1.05 meters.

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 collision risk using the uncorrelated encounter model (UEM) developed by MIT Lincoln Laboratory. We evaluate the proposed approach using Monte Carlo simulations and compare the performance with linearly extrapolated collision detection logic. For the path planning and collision avoidance part, we present multiple reactive path planning algorithms. We first propose a collision avoidance algorithm based on a simulated chain that responds to a virtual force field produced by encountering intruders. The key feature of the proposed approach is to model the future motion of both the intruder and the ownship using a chain of waypoints that are equally spaced in time. This timing information is used to continuously re-plan paths that minimize the probability of collision. Second, we present an innovative collision avoidance logic using an ownship centered coordinate system. The technique builds a graph in the local-level frame and uses the Dijkstra's algorithm to find the least cost path. An advantage of this approach is that collision avoidance is inherently a local phenomenon and can be more naturally represented in the local coordinates than the global coordinates. Finally, we propose a two step path planner for ground-based SAA systems. In the first step, an initial suboptimal path is generated using A* search. In the second step, using the A* solution as an initial condition, a chain of unit masses connected by springs and dampers evolves in a simulated force field. The chain is described by a set of ordinary differential equations that is driven by virtual forces to find the steady-state equilibrium. The simulation results show that the proposed approach produces collision-free plans while minimizing the path length. To move towards a deployable system, we apply collision detection and avoidance techniques to a variety of simulation and sensor modalities including camera, radar and ADS-B along with suitable tracking schemes. Keywords: unmanned aircraft system, small UAS, sense and avoid, minimum sensing range, airborne collision detection and avoidance, collision detection, collision risk assessment, collision avoidance, conflict detection, conflict avoidance, path planning.

14 CFR 437.65 - Collision avoidance analysis.

Code of Federal Regulations, 2010 CFR

2010-01-01

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

Development of collision avoidance system for useful UAV applications using image sensors with laser transmitter

NASA Astrophysics Data System (ADS)

Cheong, M. K.; Bahiki, M. R.; Azrad, S.

2016-10-01

The main goal of this study is to demonstrate the approach of achieving collision avoidance on Quadrotor Unmanned Aerial Vehicle (QUAV) using image sensors with colour- based tracking method. A pair of high definition (HD) stereo cameras were chosen as the stereo vision sensor to obtain depth data from flat object surfaces. Laser transmitter was utilized to project high contrast tracking spot for depth calculation using common triangulation. Stereo vision algorithm was developed to acquire the distance from tracked point to QUAV and the control algorithm was designed to manipulate QUAV's response based on depth calculated. Attitude and position controller were designed using the non-linear model with the help of Optitrack motion tracking system. A number of collision avoidance flight tests were carried out to validate the performance of the stereo vision and control algorithm based on image sensors. In the results, the UAV was able to hover with fairly good accuracy in both static and dynamic collision avoidance for short range collision avoidance. Collision avoidance performance of the UAV was better with obstacle of dull surfaces in comparison to shiny surfaces. The minimum collision avoidance distance achievable was 0.4 m. The approach was suitable to be applied in short range collision avoidance.

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

Decision Support from Genetic Algorithms for Ship Collision Avoidance Route Planning and Alerts

NASA Astrophysics Data System (ADS)

Tsou, Ming-Cheng; Kao, Sheng-Long; Su, Chien-Min

When an officer of the watch (OOW) faces complicated marine traffic, a suitable decision support tool could be employed in support of collision avoidance decisions, to reduce the burden and greatly improve the safety of marine traffic. Decisions on routes to avoid collisions could also consider economy as well as safety. Through simulating the biological evolution model, this research adopts the genetic algorithm used in artificial intelligence to find a theoretically safety-critical recommendation for the shortest route of collision avoidance from an economic viewpoint, combining the international regulations for preventing collisions at sea (COLREGS) and the safety domain of a ship. Based on this recommendation, an optimal safe avoidance turning angle, navigation restoration time and navigational restoration angle will also be provided. A Geographic Information System (GIS) will be used as the platform for display and operation. In order to achieve advance notice of alerts and due preparation for collision avoidance, a Vessel Traffic Services (VTS) operator and the OOW can use this system as a reference to assess collision avoidance at present location.

Ensuring Interoperability between UAS Detect-and-Avoid and Manned Aircraft Collision Avoidance

NASA Technical Reports Server (NTRS)

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

2017-01-01

The UAS community in the United States has identified the need for a collision avoidance region in which UAS Detect-and-Avoid (DAA) vertical guidance is restricted to preclude interoperability issues with manned aircraft collision avoidance system vertical resolution advisories (RAs). This paper documents the process by which the collision avoidance region was defined. Three candidate definitions were evaluated on 1.3 million simulated pairwise encounters between UAS and manned aircraft covering a wide range of horizontal and vertical closure rates, angles, and miss distances. They were evaluated with regard to UAS DAA interoperability with manned aircraft collision avoidance systems in terms of: 1) the primary objective of restricting DAA vertical guidance before RAs when the aircraft are close, and 2) the secondary objective of avoiding unnecessary restrictions of DAA vertical guidance at a DAA alert when the aircraft are further apart. The collision avoidance region definition that fully achieves the primary objective and best achieves the secondary objective was recommended to and accepted by the UAS community in the United States. By this definition, UAS and manned aircraft are in the collision avoidance region--during which DAA vertical guidance is restricted--when the time to closest point of approach is less than 50 seconds and either the time to co-altitude is less than 50 seconds or the current vertical separation is less than 800 feet.

Ensuring Interoperability Between Unmanned Aircraft Detect-and-Avoid and Manned Aircraft Collision Avoidance

NASA Technical Reports Server (NTRS)

Thipphavong, David; Cone, Andrew; Lee, Seungman

2017-01-01

The Unmanned Aircraft Systems (UAS) community in the United States has identified the need for a collision avoidance region in which UAS Detect-and-Avoid (DAA) vertical guidance is restricted to preclude interoperability issues with manned aircraft collision avoidance system vertical resolution advisories (RAs). This paper documents the process by which the collision avoidance region was defined. Three candidate definitions were evaluated on 1.3 million simulated pairwise encounters between UAS and manned aircraft covering a wide range of horizontal and vertical closure rates, angles, and miss distances. Each definition was evaluated with regard to UAS DAA interoperability with manned aircraft collision avoidance in terms of how well it achieved: 1) the primary objective of restricting DAA vertical guidance prior to RAs when the aircraft are close, and 2) the secondary objective of avoiding unnecessary restrictions of DAA vertical guidance at DAA alerts when the aircraft are further apart. The collision avoidance region definition that fully achieves the primary objective and best achieves the secondary objective was recommended to and accepted by the UAS community in the United States. By this definition, UAS and manned aircraft are in the collision avoidance region where DAA vertical guidance is restricted when the time to closest point of approach (CPA) is less than 50 seconds and either the time to co-altitude is less than 50 seconds or the current vertical separation is less than 800 feet.

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.

USA Space Debris Environment, Operations, and Research Updates

NASA Technical Reports Server (NTRS)

Liou, J.-C.

2018-01-01

Space Missions in 2017 Earth Satellite Population Collision Avoidance Maneuvers Post mission Disposal of U.S.A. Spacecraft Space Situational Awareness (SSA) and the Space Debris Sensor (SDS) A total of 86 space launches placed more than 400 spacecraft into Earth orbits during 2017, following the trend of increase over the past decade NASA has established conjunction assessment processes for its human spaceflight and uncrewed spacecraft to avoid accidental collisions with objects tracked by the U.S. Space Surveillance Network - NASA also assists other U.S. government spacecraft owners with conjunction assessments and subsequent maneuvers The ISS has conducted 25 debris collision avoidance maneuvers since 1999 - None in 2016-2017, but an ISS visiting vehicle had one collision avoidance maneuver in 2017 During 2017 NASA executed or assisted in the execution of 21 collision avoidance maneuvers by uncrewed spacecraft - Four maneuvers were conducted to avoid debris from Fengyun-1C - Two maneuvers were conducted to avoid debris from the collision of Cosmos 2251 and Iridium 33 - One maneuver was conducted to avoid the ISS NASA has established conjunction assessment processes for its human spaceflight and uncrewed spacecraft to avoid accidental collisions with objects tracked by the U.S. Space Surveillance Network - NASA also assists other U.S. government spacecraft owners with conjunction assessments and subsequent maneuvers The ISS has conducted 25 debris collision avoidance maneuvers since 1999 - None in 2016-2017, but an ISS visiting vehicle had one collision avoidance maneuver in 2017 During 2017 NASA executed or assisted in the execution of 21 collision avoidance maneuvers by uncrewed spacecraft - Four maneuvers were conducted to avoid debris from Fengyun-1C - Two maneuvers were conducted to avoid debris from the collision of Cosmos 2251 and Iridium 33 The 2014-15 NASA Engineering and Safety Center (NESC) study on the micrometeoroid and orbital debris (MMOD) assessment for the Joint Polar Satellite System (JPSS) provided the following findings - Millimeter-sized orbital debris pose the highest penetration risk to most operational spacecraft in LEO - The most effective means to collect direct measurement data on millimetersized debris above 600 km altitude is to conduct in situ measurements - There is currently no in situ data on such small debris above 600 km altitude Since the orbital debris population follows a power-law size distribution, there are many more millimeter-sized debris than the large tracked objects - Current conjunction assessments and collision avoidance maneuvers against the tracked objects (which are typically 10 cm and larger) only address a small fraction (<1%) of the mission-ending risk from orbital debris To address the millimeter-sized debris data gap above 600 km, NASA has recently developed an innovative in situ measurement instrument - the Space Debris Sensor (SDS) - One maneuver was conducted to avoid the ISS

Intersection collision avoidance using ITS countermeasures. Task 9, Intersection collision avoidance system performance guidelines

DOT National Transportation Integrated Search

2000-09-01

Phase III of the Intersection Collision Avoidance Using ITS Countermeasures program developed testbed systems, implemented the systems on a vehicle, and performed testing to determine the potential effectiveness of this system in preventing intersect...

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 behavior of insects. PMID:26583771

IEEE 802.15.4 MAC with GTS transmission for heterogeneous devices with application to wheelchair body-area sensor networks.

PubMed

Shrestha, Bharat; Hossain, Ekram; Camorlinga, Sergio

2011-09-01

In wireless personal area networks, such as wireless body-area sensor networks, stations or devices have different bandwidth requirements and, thus, create heterogeneous traffics. For such networks, the IEEE 802.15.4 medium access control (MAC) can be used in the beacon-enabled mode, which supports guaranteed time slot (GTS) allocation for time-critical data transmissions. This paper presents a general discrete-time Markov chain model for the IEEE 802.15.4-based networks taking into account the slotted carrier sense multiple access with collision avoidance and GTS transmission phenomena together in the heterogeneous traffic scenario and under nonsaturated condition. For this purpose, the standard GTS allocation scheme is modified. For each non-identical device, the Markov model is solved and the average service time and the service utilization factor are analyzed in the non-saturated mode. The analysis is validated by simulations using network simulator version 2.33. Also, the model is enhanced with a wireless propagation model and the performance of the MAC is evaluated in a wheelchair body-area sensor network scenario.

Braking Analysis For Collision Avoidance-- Autonomous Braking System Performance Modeling And Benefits Analysis

DOT National Transportation Integrated Search

1996-05-24

THIS REPORT IS AN ANALYSIS OF THE BENEFITS OF A COLLISION AVOIDANCE SYSTEM IN REDUCING REAR-END CRASHES. THE COLLISION AVOIDANCE SYSTEM CONSIDERED IN THIS STUDY UTILIZES THE SIGNAL FROM A FORWARD LOOKING SENSOR TO ACTIVATE THE TRACTION CONTROL VALVE ...

76 FR 62321 - Airworthiness Directives; Aviation Communication & Surveillance Systems (ACSS) Traffic Alert and...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-10-07

... Communication & Surveillance Systems (ACSS) Traffic Alert and Collision Avoidance System (TCAS) Units AGENCY... certain Aviation Communication & Surveillance Systems (ACSS) traffic alert and collision avoidance system...) traffic alert and collision avoidance system (TCAS) units with part numbers identified in ACSS Technical...

75 FR 81512 - Airworthiness Directives; Various Aviation Communication & Surveillance Systems (ACSS) Traffic...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-12-28

... Communication & Surveillance Systems (ACSS) Traffic Alert and Collision Avoidance System (TCAS) Units AGENCY... & Surveillance Systems (ACSS) Traffic Alert and Collision Avoidance System (TCAS) units during a flight test over... applies to Aviation Communication & Surveillance Systems (ACSS) Traffic Alert and Collision Avoidance...

Safety of high-speed guided ground transportation systems : collision avoidance and accident survivability : volume 2 : collision avoidance

DOT National Transportation Integrated Search

1993-03-01

This report is the second of four volumes concerned with developing safety guidelines and specifications for high-speed guided ground transportation (HSGGT) collision avoidance and accident survivability. The overall approach taken in this study is t...

Formation flight and collision avoidance for multiple UAVs based on modified tentacle algorithm in unstructured environments

PubMed Central

2017-01-01

This paper presents a method for formation flight and collision avoidance of multiple UAVs. Due to the shortcomings such as collision avoidance caused by UAV’s high-speed and unstructured environments, this paper proposes a modified tentacle algorithm to ensure the high performance of collision avoidance. Different from the conventional tentacle algorithm which uses inverse derivation, the modified tentacle algorithm rapidly matches the radius of each tentacle and the steering command, ensuring that the data calculation problem in the conventional tentacle algorithm is solved. Meanwhile, both the speed sets and tentacles in one speed set are reduced and reconstructed so as to be applied to multiple UAVs. Instead of path iterative optimization, the paper selects the best tentacle to obtain the UAV collision avoidance path quickly. The simulation results show that the method presented in the paper effectively enhances the performance of flight formation and collision avoidance for multiple high-speed UAVs in unstructured environments. PMID:28763498

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.

Development Of Performance Specifications For Collision Avoidance Systems For Lane Change, Merging, And Backing, Task 3 - Interim Report: Test Of Existing Hardware

DOT National Transportation Integrated Search

1995-05-01

KEYWORDS : ADVANCED VEHICLE CONTROL & SAFETY SYSTEMS OR AVCSS, COLLISION WARNING/AVOIDANCE SYSTEMS, CRASH REDUCTION, INTELLIGENT VEHICLE INITIATIVE OR IVI : RESULTS FROM THE TESTING OF ELEVEN COLLISION AVOIDANCE SYSTEMS (CAS) FOR LANE CHANGE, ...

Beacon of Hope? Lessons Learned from Efforts to Reduce Civilian Deaths from Police Shootings in an Australian State.

PubMed

Saligari, Jessica; Evans, Richard

2016-04-01

In the 1990s, the police service in Victoria, Australia, faced a crisis of community confidence due to a spate of civilian deaths from police shootings. In that decade, twice as many civilians died at the hands of the police in Victoria than in every other Australian state combined. Most of those killed were mentally ill and affected by drugs and alcohol, and were rarely a serious threat except to themselves. The problem was also almost entirely an urban phenomenon. Shootings in rural communities, where mentally ill people were more likely to be personally known to local police, were (and remain) almost unknown. The large number of fatalities was recognised as a serious threat to public confidence, and Victoria Police introduced a ground-breaking training programme, Operation Beacon. Operating procedures and weapons training were fundamentally changed, to focus on de-escalation of conflict and avoiding or minimising police use of force. In the short term, Operation Beacon was successful. Shooting incidents were dramatically reduced. However, during the first decade of the new century, the number of civilians being killed again increased. This article examines Operation Beacon, both as a successful model for reducing civilian deaths at the hand of police and as a cautionary tale for police reform. We argue that the lessons of Operation Beacon have been gradually forgotten and that old habits and attitudes resurfaced. Fatal shootings of mentally ill civilians can be prevented, but if success is to be other than temporary, the Beacon philosophy must be continually reemphasised by police management.

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.

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

Federal Register 2010, 2011, 2012, 2013, 2014

2013-10-03

... Committee 147, Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... Traffic Alert and Collision Avoidance Systems Airborne Equipment. SUMMARY: The FAA is issuing this notice... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment. DATES: The meeting...

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

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-05

... Committee 147, Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... Traffic Alert and Collision Avoidance Systems Airborne Equipment. SUMMARY: The FAA is issuing this notice... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment. DATES: The meeting...

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

Federal Register 2010, 2011, 2012, 2013, 2014

2012-05-18

... 147, Minimal Operations Performance Standards for Traffic Alert and Collision Avoidance Systems... Traffic Alert and Collision Avoidance Systems Airborne Equipment. SUMMARY: The FAA is issuing this notice... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment. DATES: The meeting...

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

Federal Register 2010, 2011, 2012, 2013, 2014

2013-01-30

... Committee 147, Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... Traffic Alert and Collision Avoidance Systems Airborne Equipment. SUMMARY: The FAA is issuing this notice... Performance Standards for Traffic Alert and Collision Avoidance Systems Airborne Equipment. DATES: The meeting...

Multi-actuators vehicle collision avoidance system - Experimental validation

NASA Astrophysics Data System (ADS)

Hamid, Umar Zakir Abdul; Zakuan, Fakhrul Razi Ahmad; Akmal Zulkepli, Khairul; Zulfaqar Azmi, Muhammad; Zamzuri, Hairi; Rahman, Mohd Azizi Abdul; Aizzat Zakaria, Muhammad

2018-04-01

The Insurance Institute for Highway Safety (IIHS) of the United States of America in their reports has mentioned that a significant amount of the road mishaps would be preventable if more automated active safety applications are adopted into the vehicle. This includes the incorporation of collision avoidance system. The autonomous intervention by the active steering and braking systems in the hazardous scenario can aid the driver in mitigating the collisions. In this work, a real-time platform of a multi-actuators vehicle collision avoidance system is developed. It is a continuous research scheme to develop a fully autonomous vehicle in Malaysia. The vehicle is a modular platform which can be utilized for different research purposes and is denominated as Intelligent Drive Project (iDrive). The vehicle collision avoidance proposed design is validated in a controlled environment, where the coupled longitudinal and lateral motion control system is expected to provide desired braking and steering actuation in the occurrence of a frontal static obstacle. Results indicate the ability of the platform to yield multi-actuators collision avoidance navigation in the hazardous scenario, thus avoiding the obstacle. The findings of this work are beneficial for the development of a more complex and nonlinear real-time collision avoidance work in the future.

Dynamic Obstacle Avoidance for Unmanned Underwater Vehicles Based on an Improved Velocity Obstacle Method

PubMed Central

Zhang, Wei; Wei, Shilin; Teng, Yanbin; Zhang, Jianku; Wang, Xiufang; Yan, Zheping

2017-01-01

In view of a dynamic obstacle environment with motion uncertainty, we present a dynamic collision avoidance method based on the collision risk assessment and improved velocity obstacle method. First, through the fusion optimization of forward-looking sonar data, the redundancy of the data is reduced and the position, size and velocity information of the obstacles are obtained, which can provide an accurate decision-making basis for next-step collision avoidance. Second, according to minimum meeting time and the minimum distance between the obstacle and unmanned underwater vehicle (UUV), this paper establishes the collision risk assessment model, and screens key obstacles to avoid collision. Finally, the optimization objective function is established based on the improved velocity obstacle method, and a UUV motion characteristic is used to calculate the reachable velocity sets. The optimal collision speed of UUV is searched in velocity space. The corresponding heading and speed commands are calculated, and outputted to the motion control module. The above is the complete dynamic obstacle avoidance process. The simulation results show that the proposed method can obtain a better collision avoidance effect in the dynamic environment, and has good adaptability to the unknown dynamic environment. PMID:29186878

GNSS/Electronic Compass/Road Segment Information Fusion for Vehicle-to-Vehicle Collision Avoidance Application

PubMed Central

Cheng, Qi; Xue, Dabin; Wang, Guanyu; Ochieng, Washington Yotto

2017-01-01

The increasing number of vehicles in modern cities brings the problem of increasing crashes. One of the applications or services of Intelligent Transportation Systems (ITS) conceived to improve safety and reduce congestion is collision avoidance. This safety critical application requires sub-meter level vehicle state estimation accuracy with very high integrity, continuity and availability, to detect an impending collision and issue a warning or intervene in the case that the warning is not heeded. Because of the challenging city environment, to date there is no approved method capable of delivering this high level of performance in vehicle state estimation. In particular, the current Global Navigation Satellite System (GNSS) based collision avoidance systems have the major limitation that the real-time accuracy of dynamic state estimation deteriorates during abrupt acceleration and deceleration situations, compromising the integrity of collision avoidance. Therefore, to provide the Required Navigation Performance (RNP) for collision avoidance, this paper proposes a novel Particle Filter (PF) based model for the integration or fusion of real-time kinematic (RTK) GNSS position solutions with electronic compass and road segment data used in conjunction with an Autoregressive (AR) motion model. The real-time vehicle state estimates are used together with distance based collision avoidance algorithms to predict potential collisions. The algorithms are tested by simulation and in the field representing a low density urban environment. The results show that the proposed algorithm meets the horizontal positioning accuracy requirement for collision avoidance and is superior to positioning accuracy of GNSS only, traditional Constant Velocity (CV) and Constant Acceleration (CA) based motion models, with a significant improvement in the prediction accuracy of potential collision. PMID:29186851

GNSS/Electronic Compass/Road Segment Information Fusion for Vehicle-to-Vehicle Collision Avoidance Application.

PubMed

Sun, Rui; Cheng, Qi; Xue, Dabin; Wang, Guanyu; Ochieng, Washington Yotto

2017-11-25

The increasing number of vehicles in modern cities brings the problem of increasing crashes. One of the applications or services of Intelligent Transportation Systems (ITS) conceived to improve safety and reduce congestion is collision avoidance. This safety critical application requires sub-meter level vehicle state estimation accuracy with very high integrity, continuity and availability, to detect an impending collision and issue a warning or intervene in the case that the warning is not heeded. Because of the challenging city environment, to date there is no approved method capable of delivering this high level of performance in vehicle state estimation. In particular, the current Global Navigation Satellite System (GNSS) based collision avoidance systems have the major limitation that the real-time accuracy of dynamic state estimation deteriorates during abrupt acceleration and deceleration situations, compromising the integrity of collision avoidance. Therefore, to provide the Required Navigation Performance (RNP) for collision avoidance, this paper proposes a novel Particle Filter (PF) based model for the integration or fusion of real-time kinematic (RTK) GNSS position solutions with electronic compass and road segment data used in conjunction with an Autoregressive (AR) motion model. The real-time vehicle state estimates are used together with distance based collision avoidance algorithms to predict potential collisions. The algorithms are tested by simulation and in the field representing a low density urban environment. The results show that the proposed algorithm meets the horizontal positioning accuracy requirement for collision avoidance and is superior to positioning accuracy of GNSS only, traditional Constant Velocity (CV) and Constant Acceleration (CA) based motion models, with a significant improvement in the prediction accuracy of potential collision.

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

PubMed

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

2013-01-01

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

Design study of general aviation collision avoidance system

NASA Technical Reports Server (NTRS)

Bates, M. R.; Moore, L. D.; Scott, W. V.

1972-01-01

The selection and design of a time/frequency collision avoidance system for use in general aviation aircraft is discussed. The modifications to airline transport collision avoidance equipment which were made to produce the simpler general aviation system are described. The threat determination capabilities and operating principles of the general aviation system are illustrated.

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 Automatic Dependent Surveillance Broadcast (ADS-B). A single intruder aircraft was used during all the flight testing, a NASA Gulfstream III (G-III). During the course of the testing, six geometrically different near-collision scenarios were evaluated. These six scenarios were each tested using various combinations of sensors and collision avoidance software. Of the 54 planned test points 49 were accomplished successfully. Proteus flew a total of 21.5 hours during the testing and the G-III flew 19.8 hours. The testing fully achieved all flight test objectives. The Flight IPT performed an analysis to determine the accuracy of the simulation model used to predict the location of the host aircraft downstream during an avoidance maneuver. The data collected by this flight program was delivered to the Access 5 Cooperative Collision Avoidance (CCA) Work Package Team who was responsible for reporting on their analysis of this flight data.

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.

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.

UAS Collision Avoidance Algorithm that Minimizes the Impact on Route Surveillance

DTIC Science & Technology

2009-03-01

Appendix A: Collision Avoidance Algorithm/Virtual Cockpit Interface .......................124 Appendix B : Collision Cone Boundary Rates... b ) Split Cone (c) Multiple Intruders, Single and Split Cones [27] ........................................................ 27 3-3: Collision Cone...Approach in the Vertical Plane (a) Single Cone ( b ) Multiple Intruders, Single and Split Cone [27

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.

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.

A rear-end collision risk assessment model based on drivers' collision avoidance process under influences of cell phone use and gender-A driving simulator based study.

PubMed

Li, Xiaomeng; Yan, Xuedong; Wu, Jiawei; Radwan, Essam; Zhang, Yuting

2016-12-01

Driver's collision avoidance performance has a direct link to the collision risk and crash severity. Previous studies demonstrated that the distracted driving, such as using a cell phone while driving, disrupted the driver's performance on road. This study aimed to investigate the manner and extent to which cell phone use and driver's gender affected driving performance and collision risk in a rear-end collision avoidance process. Forty-two licensed drivers completed the driving simulation experiment in three phone use conditions: no phone use, hands-free, and hand-held, in which the drivers drove in a car-following situation with potential rear-end collision risks caused by the leading vehicle's sudden deceleration. Based on the experiment data, a rear-end collision risk assessment model was developed to assess the influence of cell phone use and driver's gender. The cell phone use and driver's gender were found to be significant factors that affected the braking performances in the rear-end collision avoidance process, including the brake reaction time, the deceleration adjusting time and the maximum deceleration rate. The minimum headway distance between the leading vehicle and the simulator during the rear-end collision avoidance process was the final output variable, which could be used to measure the rear-end collision risk and judge whether a collision occurred. The results showed that although cell phone use drivers took some compensatory behaviors in the collision avoidance process to reduce the mental workload, the collision risk in cell phone use conditions was still higher than that without the phone use. More importantly, the results proved that the hands-free condition did not eliminate the safety problem associated with distracted driving because it impaired the driving performance in the same way as much as the use of hand-held phones. In addition, the gender effect indicated that although female drivers had longer reaction time than male drivers in critical situation, they were more quickly in braking with larger maximum deceleration rate, and they tended to keep a larger safety margin with the leading vehicle compared to male drivers. The findings shed some light on the further development of advanced collision avoidance technologies and the targeted intervention strategies about cell phone use while driving. Copyright © 2016 Elsevier Ltd. All rights reserved.

Evaluation of an automotive rear-end collision avoidance system

DOT National Transportation Integrated Search

2006-04-01

This report presents the results of an independent evaluation of the Automotive Collision Avoidance System (ACAS). The ACAS integrates forward collision warning (FCW) and adaptive cruise control (ACC) functions for light-vehicle applications. The FCW...

Investigation Of Alternative Displays For Side Collision Avoidance Systems, Final Report

DOT National Transportation Integrated Search

1996-12-01

DRIVER-VEHICLE INTERFACE OR DVI, HUMAN FACTORS, DRIVER PREFERENCES, INTELLIGENT VEHICLE INITIATIVE OR IVI : SIDE COLLISION AVOIDANCE SYSTEMS (SCAS) ARE DESIGNED TO WARN OF IMPENDING COLLISIONS AND CAN DETECT NOT ONLY ADJACENT VEHICLES BUT VEHICLES...

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.

Characterization Test Procedures for Intersection Collision Avoidance Systems Based on Vehicle-to-Vehicle Communications

DOT National Transportation Integrated Search

2015-12-01

Characterization test procedures have been developed to quantify the performance of intersection collision avoidance (ICA) systems based on vehicle-to-vehicle communications. These systems warn the driver of an imminent crossing-path collision at a r...

Power Mobility with Collision Avoidance for Older Adults: User, Caregiver and Prescriber Perspectives

PubMed Central

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

2017-01-01

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

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.

Safety of High Speed and Ground Guided Transportation Systems: Collision Avoidance and Accident Survivability: Volume 1: Collision Threat

DOT National Transportation Integrated Search

1993-03-01

This report is the first of four volunes concerned with developing safety guidelines and specifications for high-speed : guided ground transportation (HSGGT) collision avoidance and accident survivability. The overall approach taken in this : study i...

Safety of high-speed guided ground transportation : collision avoidance and accident survivability : volume 1 : collision threat

DOT National Transportation Integrated Search

1993-03-01

This report is the first of four volumes concerned with developing safety guidelines and specifications for high-speed guided ground transportation (HSGGT) collision avoidance and accident survivability. The overall approach taken in this study is to...

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

Federal Register 2010, 2011, 2012, 2013, 2014

2010-04-20

... Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... RTCA Special Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision...

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.

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

Federal Register 2010, 2011, 2012, 2013, 2014

2011-03-03

... Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... Committee 147 meeting: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance... RTCA Special Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision...

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

Federal Register 2010, 2011, 2012, 2013, 2014

2010-08-26

... Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... RTCA Special Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision...

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

Federal Register 2010, 2011, 2012, 2013, 2014

2011-09-19

... Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance Systems... Committee 147 meeting: Minimum Operational Performance Standards for Traffic Alert and Collision Avoidance... RTCA Special Committee 147: Minimum Operational Performance Standards for Traffic Alert and Collision...

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

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.

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.

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.

Radar-based collision avoidance for unmanned surface vehicles

NASA Astrophysics Data System (ADS)

Zhuang, Jia-yuan; Zhang, Lei; Zhao, Shi-qi; Cao, Jian; Wang, Bo; Sun, Han-bing

2016-12-01

Unmanned surface vehicles (USVs) have become a focus of research because of their extensive applications. To ensure safety and reliability and to perform complex tasks autonomously, USVs are required to possess accurate perception of the environment and effective collision avoidance capabilities. To achieve these, investigation into realtime marine radar target detection and autonomous collision avoidance technologies is required, aiming at solving the problems of noise jamming, uneven brightness, target loss, and blind areas in marine radar images. These technologies should also satisfy the requirements of real-time and reliability related to high navigation speeds of USVs. Therefore, this study developed an embedded collision avoidance system based on the marine radar, investigated a highly real-time target detection method which contains adaptive smoothing algorithm and robust segmentation algorithm, developed a stable and reliable dynamic local environment model to ensure the safety of USV navigation, and constructed a collision avoidance algorithm based on velocity obstacle (V-obstacle) which adjusts the USV's heading and speed in real-time. Sea trials results in multi-obstacle avoidance firstly demonstrate the effectiveness and efficiency of the proposed avoidance system, and then verify its great adaptability and relative stability when a USV sailing in a real and complex marine environment. The obtained results will improve the intelligent level of USV and guarantee the safety of USV independent sailing.

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.

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.

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.

SU-F-BRB-05: Collision Avoidance Mapping Using Consumer 3D Camera

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cardan, R; Popple, R

2015-06-15

Purpose: To develop a fast and economical method of scanning a patient’s full body contour for use in collision avoidance mapping without the use of ionizing radiation. Methods: Two consumer level 3D cameras used in electronic gaming were placed in a CT simulator room to scan a phantom patient set up in a high collision probability position. A registration pattern and computer vision algorithms were used to transform the scan into the appropriate coordinate systems. The cameras were then used to scan the surface of a gantry in the treatment vault. Each scan was converted into a polygon mesh formore » collision testing in a general purpose polygon interference algorithm. All clinically relevant transforms were applied to the gantry and patient support to create a map of all possible collisions. The map was then tested for accuracy by physically testing the collisions with the phantom in the vault. Results: The scanning fidelity of both the gantry and patient was sufficient to produce a collision prediction accuracy of 97.1% with 64620 geometry states tested in 11.5 s. The total scanning time including computation, transformation, and generation was 22.3 seconds. Conclusion: Our results demonstrate an economical system to generate collision avoidance maps. Future work includes testing the speed of the framework in real-time collision avoidance scenarios. Research partially supported by a grant from Varian Medical Systems.« less

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.

The computer coordination method and research of inland river traffic based on ship database

NASA Astrophysics Data System (ADS)

Liu, Shanshan; Li, Gen

2018-04-01

A computer coordinated management method for inland river ship traffic is proposed in this paper, Get the inland ship's position, speed and other navigation information by VTS, building ship's statics and dynamic data bases, writing a program of computer coordinated management of inland river traffic by VB software, Automatic simulation and calculation of the meeting states of ships, Providing ship's long-distance collision avoidance information. The long-distance collision avoidance of ships will be realized. The results show that, Ships avoid or reduce meetings, this method can effectively control the macro collision avoidance of ships.

ED09-0290-32

NASA Image and Video Library

2009-10-01

The F-16D Automatic Collision Avoidance Technology aircraft tests of the Automatic Ground Collision Avoidance System, or Auto-GCAS, included flights in areas of potentially hazardous terrain, including canyons and mountains.

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.

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.

GPS-Squitter capacity analysis

NASA Astrophysics Data System (ADS)

Orlando, Vincent A.; Harman, William H.

1994-05-01

GPS-Squitter is a system concept that merges the capabilities of Automatic Dependent Surveillance (ADS) and the Mode S beacon radar. The result is an integrated concept for seamless surveillance and data link that permits equipped aircraft to participate in ADS and/or beacon ground environments. This concept offers many possibilities for transition from a beacon to an ADS-based environment. This report provides the details of the techniques used to estimate GPS-Squitter surveillance and data link capacity. Surveillance capacity of airborne aircraft is calculated for the omni and six-sector ground stations. Next, the capacity of GPS-Squitter for surface traffic is estimated. The interaction between airborne and surface operations is addressed to show the independence of these systems. Air ground data link capacity for GPS-Squitter is estimated, together with an estimate of the use of the Mode S link to support other ground surveillance and data link activities as well as TCAS operation. The analysis indicates the low transponder occupancy resulting from the total effect of these activities. Low occupancy is a key requirement in avoiding interference with the operation of the current ATCRBS and future Mode S interrogators.

Dual-channel detection of metallothioneins and mercury based on a mercury-mediated aptamer beacon using thymidine-mercury-thymidine complex as a quencher.

PubMed

Chen, Si-Han; Wang, Yong-Sheng; Chen, Yun-Sheng; Tang, Xian; Cao, Jin-Xiu; Li, Ming-Hui; Wang, Xiao-Feng; Zhu, Yu-Feng; Huang, Yan-Qin

2015-01-01

A novel dual-channel strategy for the detection of metallothioneins (MTs) and Hg(2+) has been developed based on a mercury-mediated aptamer beacon (MAB) using thymidine-mercury-thymidine complex as a quencher for the first time. In the presence of Hg(2+), the T-rich oligonucleotide with a 6-carboxyfluorescein (TRO-FAM) can form an aptamer beacon via the formation of T-Hg(2+)-T base pairs, which results in a fluorescence quenching of the sensing system owing to the fluorescence resonance energy transfer (FRET) from the fluorophore of FAM to the terminated T-Hg(2+)-T base pair. The addition of MTs into this solution leads to the disruption of the T-Hg(2+)-T complex, resulting in an increase of the fluorescent signal of the system. In the optimizing condition, ΔF was directly proportional to the concentrations ranging from 5.63 nM to 0.275 μM for MTs, and 14.2 nM to 0.30 μM for Hg(2+) with the detection limits of 1.69 nM and 4.28 nM, respectively. The proposed dual-channel method avoids the label steps of a quencher in common molecular beacon strategies, without tedious procedure or the requirement of sophisticated equipment, and is rapid, inexpensive and sensitive. Copyright © 2015 Elsevier B.V. All rights reserved.

Earth Observing System (EOS) Aqua and Aura Space Weather Effects on Operational Collision Avoidance

NASA Technical Reports Server (NTRS)

Guit, Bill

2017-01-01

This presentation will describe recent EOS Aqua and Aura operational collision avoidance experience during periods of solar and geomagnetic storm activity. It will highlight challenges faced by the operations team during short-notice, high-risk predicted close approaches. The presentation will highlight the evolution of the operational collision avoidance process for the EOS Aqua and Aura missions. The presentation will highlight operational challenges that have occurred, process improvements that have been implemented and identify potential future challenges.

Horizontal Collision Avoidance Systems Study

DOT National Transportation Integrated Search

1973-12-01

This report presents the results of an analytical study of the merits and mechanization requirements of horizontal collision avoidance systems (CAS). The horizontal and combined horizontal/vertical maneuvers which provide adequate miss distance with ...

Exposure safety standards for nonionizing radiation (NIR) from collision-avoidance radar

NASA Astrophysics Data System (ADS)

Palmer-Fortune, Joyce; Brecher, Aviva; Spencer, Paul; Huguenin, Richard; Woods, Ken

1997-02-01

On-vehicle technology for collision avoidance using millimeter wave radar is currently under development and is expected to be in vehicles in coming years. Recently approved radar bands for collision avoidance applications include 47.5 - 47.8 GHz and 76 - 77 GHz. Widespread use of active radiation sources in the public domain would contribute to raised levels of human exposure to high frequency electromagnetic radiation, with potential for adverse health effects. In order to design collision avoidance systems that will pose an acceptably low radiation hazard, it is necessary to determine what levels of electromagnetic radiation at millimeter wave frequencies will be acceptable in the environment. This paper will summarize recent research on NIR (non-ionizing radiation) exposure safety standards for high frequency electromagnetic radiation. We have investigated both governmental and non- governmental professional organizations worldwide.

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.

SU-F-T-235: Optical Scan Based Collision Avoidance Using Multiple Stereotactic Cameras During Simulation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Cardan, R; Popple, R; Dobelbower, M

Purpose: To demonstrate the ability to quickly generate an accurate collision avoidance map using multiple stereotactic cameras during simulation. Methods: Three Kinect stereotactic cameras were placed in the CT simulation room and optically calibrated to the DICOM isocenter. Immediately before scanning, the patient was optically imaged to generate a 3D polygon mesh, which was used to calculate the collision avoidance area using our previously developed framework. The mesh was visually compared to the CT scan body contour to ensure accurate coordinate alignment. To test the accuracy of the collision calculation, the patient and machine were physically maneuvered in the treatmentmore » room to calculated collision boundaries. Results: The optical scan and collision calculation took 38.0 seconds and 2.5 seconds to complete respectively. The collision prediction accuracy was determined using a receiver operating curve (ROC) analysis, where the true positive, true negative, false positive and false negative values were 837, 821, 43, and 79 points respectively. The ROC accuracy was 93.1% over the sampled collision space. Conclusion: We have demonstrated a framework which is fast and accurate for predicting collision avoidance for treatment which can be determined during the normal simulation process. Because of the speed, the system could be used to add a layer of safety with a negligible impact on the normal patient simulation experience. This information could be used during treatment planning to explore the feasible geometries when optimizing plans. Research supported by Varian Medical Systems.« less

The COLA Collision Avoidance Method

NASA Astrophysics Data System (ADS)

Assmann, K.; Berger, J.; Grothkopp, S.

2009-03-01

In the following we present a collision avoidance method named COLA. The method has been designed to predict collisions for Earth orbiting spacecraft on any orbits, including orbit changes, with other space-born objects. The point in time of a collision and the collision probability are determined. To guarantee effective processing the COLA method uses a modular design and is composed of several components which are either developed within this work or deduced from existing algorithms: A filtering module, the close approach determination, the collision detection and the collision probability calculation. A software tool which implements the COLA method has been verified using various test cases built from sample missions. This software has been implemented in the C++ programming language and serves as a universal collision detection tool at LSE Space Engineering & Operations AG.

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.

Ground Collision Avoidance System (Igcas)

NASA Technical Reports Server (NTRS)

Prosser, Kevin (Inventor); Hook, Loyd (Inventor); Skoog, Mark A (Inventor)

2017-01-01

The present invention is a system and method for aircraft ground collision avoidance (iGCAS) comprising a modular array of software, including a sense own state module configured to gather data to compute trajectory, a sense terrain module including a digital terrain map (DTM) and map manger routine to store and retrieve terrain elevations, a predict collision threat module configured to generate an elevation profile corresponding to the terrain under the trajectory computed by said sense own state module, a predict avoidance trajectory module configured to simulate avoidance maneuvers ahead of the aircraft, a determine need to avoid module configured to determine which avoidance maneuver should be used, when it should be initiated, and when it should be terminated, a notify Module configured to display each maneuver's viability to the pilot by a colored GUI, a pilot controls module configured to turn the system on and off, and an avoid module configured to define how an aircraft will perform avoidance maneuvers through 3-dimensional space.

Experiences of model year 2011 Dodge and Jeep owners with collision avoidance and related technologies.

PubMed

Cicchino, Jessica B; McCartt, Anne T

2015-01-01

Crash avoidance technologies have the potential to prevent or mitigate many crashes, but their effectiveness depends on drivers' acceptance and proper use. Owners of 2011 Dodge Charger, Dodge Durango, and Jeep Grand Cherokee vehicles were interviewed about their experiences with their vehicles' technologies. Interviews were conducted in April 2013 with 215 owners of Dodge and Jeep vehicles with adaptive cruise control and forward collision warning and 215 owners with blind spot monitoring and rear cross-path detection. Most owners said that they always keep each collision avoidance technology turned on, and more than 90% of owners with each system would want the technology again on their next vehicle. The majority believed that the systems had helped prevent a collision; this ranged from 54% of drivers with forward collision warning to more than three-quarters with blind spot monitoring and rear cross-path detection. Some owners reported behavioral changes with the systems, but over-reliance on them is not prevalent. Reported use of the systems varied by the age and gender of the driver and duration of vehicle ownership to a greater degree than in previous surveys of luxury Volvo and Infiniti vehicles with collision avoidance technologies. Notably, drivers aged 40 and younger were most likely to report that forward collision warning had alerted them multiple times and that it had prevented a collision and that they follow the vehicle ahead less closely with adaptive cruise control. Reports of waiting for the alert from forward collision warning before braking were infrequent but increased with duration of ownership. However, these reports could reflect confusion of the system with adaptive cruise control, which alerts drivers when braking is necessary to maintain a preset speed or following distance but a crash is not imminent. Consistent with previous surveys of luxury vehicle owners with collision avoidance technologies, acceptance and use remains high among owners of more mainstream vehicles. Varying experiences with the technologies by driver age and gender suggest that safety benefits are not uniform for all drivers, and differential benefits may become increasingly apparent as collision avoidance technologies become available to a more heterogeneous population of drivers. The potential for over-reliance on the technologies should continue to be monitored, especially as drivers gain more experience with them.

Automotive collision avoidance system field operational test

DOT National Transportation Integrated Search

2005-03-01

The Automotive Collision Avoidance System field operational test (or ACAS FOT) program was led by General Motors (GM) under a cooperative agreement with the U.S. Department of Transportation. This report summarizes the activities of the entire progra...

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.

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. Copyright © 2013 Elsevier Ltd and The Ergonomics Society. All rights reserved.

Coordinated Dynamic Behaviors for Multirobot Systems With Collision Avoidance.

PubMed

Sabattini, Lorenzo; Secchi, Cristian; Fantuzzi, Cesare

2017-12-01

In this paper, we propose a novel methodology for achieving complex dynamic behaviors in multirobot systems. In particular, we consider a multirobot system partitioned into two subgroups: 1) dependent and 2) independent robots. Independent robots are utilized as a control input, and their motion is controlled in such a way that the dependent robots solve a tracking problem, that is following arbitrarily defined setpoint trajectories, in a coordinated manner. The control strategy proposed in this paper explicitly addresses the collision avoidance problem, utilizing a null space-based behavioral approach: this leads to combining, in a non conflicting manner, the tracking control law with a collision avoidance strategy. The combination of these control actions allows the robots to execute their task in a safe way. Avoidance of collisions is formally proven in this paper, and the proposed methodology is validated by means of simulations and experiments on real robots.

Millimeter wave backscatter measurements in support of collision avoidance applications

NASA Astrophysics Data System (ADS)

Narayanan, Ram M.; Snuttjer, Brett R. J.

1997-11-01

Millimeter-wave short range radar systems have unique advantages in surface navigation applications, such as military vehicle mobility, aircraft landing assistance, and automotive collision avoidance. In collision avoidance applications, characterization of clutter due to terrain and roadside objects is necessary in order to maximize the signal-to-clutter ratio (SCR) and to minimize false alarms. The results of two types of radar cross section (RCS) measurements at 95 GHz are reported in this paper. The first set of measurements presents data on the normalized RCS (NRCS) as well as clutter distributions of various terrain types at low grazing angles of 5° and 7.5°. The second set of measurements presents RCS data and statistics on various types of roadside objects, such as metallic and wooden sign posts. These results are expected to be useful for designers of short-range millimeter-wave collision avoidance radar systems.

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.

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-line. The optimal avoidance trajectory is implemented as a receding-horizon model predictive control law. Therefore, at each time step, the optimal avoidance trajectory is found and the first time step of its acceleration is applied. At the next time step of the control computer, the problem is re-solved and the new first time step is again applied. This continual updating allows the RCA algorithm to adapt to a colliding spacecraft that is making erratic course changes.

Active Collision Avoidance for Planetary Landers

NASA Technical Reports Server (NTRS)

Rickman, Doug; Hannan, Mike; Srinivasan, Karthik

2015-01-01

The use of automotive radar systems are being evaluated for collision avoidance in planetary landers. Our focus is to develop a low-cost, light-weight collision avoidance system that overcomes the drawbacks identified with optical-based systems. We also seek to complement the Autonomous Landing and Hazard Avoidance Technology system by providing mission planners an alternative system that can be used on low-cost, small robotic missions and in close approach. Our approach takes advantage of how electromagnetic radiation interacts with solids. As the wavelength increases, the sensitivity of the radiation to isolated solids of a specific particle size decreases. Thus, rocket exhaust-blown dust particles, which have major significance in visible wavelengths, have much less significance at radar wavelengths.

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.

Effect of perceived threat on avoidance maneuvers selected while viewing cockpit traffic displays

NASA Technical Reports Server (NTRS)

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

1982-01-01

Ten airline pilots rated the collision danger of air traffic presented on cockpit displays of traffic information (CDTI) 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 perceived collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threat situations pilots turned toward the intruder only at chance levels. Some of the implications of the pilots' turning-towards tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

All weather collision avoidance for unmanned aircraft systems

NASA Astrophysics Data System (ADS)

Contarino, Mark

2010-04-01

For decades, military and other national security agencies have been denied unfettered access to the National Air Space (NAS) because their unmanned aircraft lack a highly reliable and effective collision avoidance capability. The controlling agency, the Federal Aviation Administration, justifiably demands "no harm" to the safety of the NAS. To overcome the constraints imposed on Unmanned Aircraft Systems (UAS) use of the NAS, a new, complex, conformable collision avoidance system has been developed - one that will be effective in all flyable weather conditions, overcoming the shortfalls of other sensing systems, including radar, lidar, acoustic, EO/IR, etc., while meeting form factor and cost criteria suitable for Tier II UAS operations. The system also targets Tier I as an ultimate goal, understanding the operational limitations of the smallest UASs may require modification of the design that is suitable for Tier II and higher. The All Weather Sense and Avoid System (AWSAS) takes into account the FAA's plan to incorporate ADS-B (out) for all aircraft by 2020, and it is intended to make collision avoidance capability available for UAS entry into the NAS as early as 2013. When approved, UASs can fly mission or training flights in the NAS free of the constraints presently in place. Upon implementation this system will achieve collision avoidance capability for UASs deployed for national security purposes and will allow expansion of UAS usage for commercial or other civil purposes.

Robot body self-modeling algorithm: a collision-free motion planning approach for humanoids.

PubMed

Leylavi Shoushtari, Ali

2016-01-01

Motion planning for humanoid robots is one of the critical issues due to the high redundancy and theoretical and technical considerations e.g. stability, motion feasibility and collision avoidance. The strategies which central nervous system employs to plan, signal and control the human movements are a source of inspiration to deal with the mentioned problems. Self-modeling is a concept inspired by body self-awareness in human. In this research it is integrated in an optimal motion planning framework in order to detect and avoid collision of the manipulated object with the humanoid body during performing a dynamic task. Twelve parametric functions are designed as self-models to determine the boundary of humanoid's body. Later, the boundaries which mathematically defined by the self-models are employed to calculate the safe region for box to avoid the collision with the robot. Four different objective functions are employed in motion simulation to validate the robustness of algorithm under different dynamics. The results also confirm the collision avoidance, reality and stability of the predicted motion.

Collision avoidance system cost-benefit analysis : volume I - technical manual

DOT National Transportation Integrated Search

1981-09-01

Collision-avoidance systems under development in the U.S.A., Japan and Germany were evaluated. The performance evaluation showed that the signal processing and the control law of a system were the key parameters that decided the system's capability, ...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures, Task 1, Volume 2: Support Volume, Final Report

DOT National Transportation Integrated Search

1994-10-01

THE RUN-OFF-ROAD COLLISION AVOIDANCE USING LVHS COUNTERMEASURES PROGRAM IS TO ADDRESS THE SINGLE VEHICLE CRASH PROBLEM THROUGH APPLICATION OF TECHNOLOGY TO PREVENT AND/OR REDUCE THE SEVERITY OF THESE CRASHES.

Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) : Database Structure

DOT National Transportation Integrated Search

2011-07-01

This report documents the process required for data exchange between a conductor of a field operational test (FOT) and an independent evaluator based on the experience of the Cooperative Intersection Collision Avoidance System for Violations (CICAS-V...

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.

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.

Towards social autonomous vehicles: Efficient collision avoidance scheme using Richardson's arms race model.

PubMed

Riaz, Faisal; Niazi, Muaz A

2017-01-01

This paper presents the concept of a social autonomous agent to conceptualize such Autonomous Vehicles (AVs), which interacts with other AVs using social manners similar to human behavior. The presented AVs also have the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. Exploratory Agent Based Modeling (EABM) level of the Cognitive Agent Based Computing (CABC) framework has been utilized to design the proposed social agent. Furthermore, to emulate the functionality of mentalizing and mirroring modules of proposed social agent, a tailored mathematical model of the Richardson's arms race model has also been presented. The performance of the proposed social agent has been validated at two levels-firstly it has been simulated using NetLogo, a standard agent-based modeling tool and also, at a practical level using a prototype AV. The simulation results have confirmed that the proposed social agent-based collision avoidance strategy is 78.52% more efficient than Random walk based collision avoidance strategy in congested flock-like topologies. Whereas practical results have confirmed that the proposed scheme can avoid rear end and lateral collisions with the efficiency of 99.876% as compared with the IEEE 802.11n-based existing state of the art mirroring neuron-based collision avoidance scheme.

Towards social autonomous vehicles: Efficient collision avoidance scheme using Richardson’s arms race model

PubMed Central

Niazi, Muaz A.

2017-01-01

This paper presents the concept of a social autonomous agent to conceptualize such Autonomous Vehicles (AVs), which interacts with other AVs using social manners similar to human behavior. The presented AVs also have the capability of predicting intentions, i.e. mentalizing and copying the actions of each other, i.e. mirroring. Exploratory Agent Based Modeling (EABM) level of the Cognitive Agent Based Computing (CABC) framework has been utilized to design the proposed social agent. Furthermore, to emulate the functionality of mentalizing and mirroring modules of proposed social agent, a tailored mathematical model of the Richardson’s arms race model has also been presented. The performance of the proposed social agent has been validated at two levels–firstly it has been simulated using NetLogo, a standard agent-based modeling tool and also, at a practical level using a prototype AV. The simulation results have confirmed that the proposed social agent-based collision avoidance strategy is 78.52% more efficient than Random walk based collision avoidance strategy in congested flock-like topologies. Whereas practical results have confirmed that the proposed scheme can avoid rear end and lateral collisions with the efficiency of 99.876% as compared with the IEEE 802.11n-based existing state of the art mirroring neuron-based collision avoidance scheme. PMID:29040294

Measurement of the PPN parameter γ by testing the geometry of near-Earth space

NASA Astrophysics Data System (ADS)

Luo, Jie; Tian, Yuan; Wang, Dian-Hong; Qin, Cheng-Gang; Shao, Cheng-Gang

2016-06-01

The Beyond Einstein Advanced Coherent Optical Network (BEACON) mission was designed to achieve an accuracy of 10^{-9} in measuring the Eddington parameter γ , which is perhaps the most fundamental Parameterized Post-Newtonian parameter. However, this ideal accuracy was just estimated as a ratio of the measurement accuracy of the inter-spacecraft distances to the magnitude of the departure from Euclidean geometry. Based on the BEACON concept, we construct a measurement model to estimate the parameter γ with the least squares method. Influences of the measurement noise and the out-of-plane error on the estimation accuracy are evaluated based on the white noise model. Though the BEACON mission does not require expensive drag-free systems and avoids physical dynamical models of spacecraft, the relatively low accuracy of initial inter-spacecraft distances poses a great challenge, which reduces the estimation accuracy in about two orders of magnitude. Thus the noise requirements may need to be more stringent in the design in order to achieve the target accuracy, which is demonstrated in the work. Considering that, we have given the limits on the power spectral density of both noise sources for the accuracy of 10^{-9}.

Modified beacon probe assisted dual signal amplification for visual detection of microRNA.

PubMed

Sun, Xiuwei; Ying, Na; Ju, Chuanjing; Li, Zhongyi; Xu, Na; Qu, Guijuan; Liu, Wensen; Wan, Jiayu

2018-06-01

In a recent study, we reported a novel assay for the detection of microRNA-21 based on duplex-specific nuclease (DSN)-assisted isothermal cleavage and hybridization chain reaction (HCR) dual signal amplification. The Fam modified double-stranded DNA products were generated after the HCR, another biotin modified probe was digested by DSN and released from the magnetic beads after the addition of the target miRNA. The released sequence was then combined with HCR products to form a double-tagging dsDNA, which can be recognized by the lateral flow strips. In this study, we introduced a 2-OMethyl-RNA modified beacon probe (2-OMe-MB) to make some improvements based on the previous study. Firstly, the substitution of modified probe combined on magnetic beads avoids the fussy washing steps for the separation of un-reacted probes. Furthermore, the modification of 2-OMe on the stem of the probe avoided the unnecessary cleavage by DSN, which greatly reduce the background signal. Compared to the previous work, these improvements save us a lot of steps but possess the comparable sensitivity and selectivity. Copyright © 2018 Elsevier Inc. All rights reserved.

Perceived threat and avoidance maneuvers in response to cockpit traffic displays

NASA Technical Reports Server (NTRS)

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

1984-01-01

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

Collision avoidance system cost-benefit analysis : volume III - appendices F-M

DOT National Transportation Integrated Search

1981-09-01

Collision-avoidance systems under development in the U.S.A., Japan and Germany were evaluated. The performance evaluation showed that the signal processing and the control law of a system were the key parameters that decided the system's capability, ...

Collision avoidance system cost-benefit analysis : volume II - appendices A-E

DOT National Transportation Integrated Search

1981-09-01

Collision-avoidance systems under development in the U.S.A., Japan and Germany were evaluated. The performance evaluation showed that the signal processing and the control law of a system were the key parameters that decided the system's capability, ...

Safety of High Speed Guided Ground Transportation Systems: Collision Avoidance and Accident Survivability Volume 4: Proposed Specifications

DOT National Transportation Integrated Search

1993-03-01

This report is the fourth of four volumes concerned with developing safety guidelines and specifications for high-speed : guided ground transportation (HSGGT) collision avoidance and accident survivability. The overall approach taken in this : study ...

Safety of High Speed and Guided Ground Transportation Systems: Collision Avoidance and Accident Survivability: Volume 3

DOT National Transportation Integrated Search

1993-03-01

This report is the third of four volumes concerned with developing safety guidelines and specifications for high-speed : guided ground transportation (HSGGT) collision avoidance and accident survivability. The overall approach taken in : this study i...

System Capability Assessment of Cooperative Intersection Collision Avoidance System for Violations (CICAS-V)

DOT National Transportation Integrated Search

2011-07-01

This report describes the system capability assessment for the Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) based on data collected from objective tests and a pilot test. The CICAS-V is a vehicle-to-infrastructure syst...

Automotive collision avoidance field operational test : warning cue implementation summary report

DOT National Transportation Integrated Search

2002-05-23

This report documents the human factors work conducted from January to June 2001 to design and evaluate the driver-vehicle-interface (DVI) for the Automotive Collision Avoidance System Field Operational Test (ACAS FOT) program. The objective was to d...

Coming back into the loop: Drivers' perceptual-motor performance in critical events after automated driving.

PubMed

Louw, Tyron; Markkula, Gustav; Boer, Erwin; Madigan, Ruth; Carsten, Oliver; Merat, Natasha

2017-11-01

This driving simulator study, conducted as part of the EU AdaptIVe project, investigated drivers' performance in critical traffic events, during the resumption of control from an automated driving system. Prior to the critical events, using a between-participant design, 75 drivers were exposed to various screen manipulations that varied the amount of available visual information from the road environment and automation state, which aimed to take them progressively further 'out-of-the-loop' (OoTL). The current paper presents an analysis of the timing, type, and rate of drivers' collision avoidance response, also investigating how these were influenced by the criticality of the unfolding situation. Results showed that the amount of visual information available to drivers during automation impacted on how quickly they resumed manual control, with less information associated with slower take-over times, however, this did not influence the timing of when drivers began a collision avoidance manoeuvre. Instead, the observed behaviour is in line with recent accounts emphasising the role of scenario kinematics in the timing of driver avoidance response. When considering collision incidents in particular, avoidance manoeuvres were initiated when the situation criticality exceeded an Inverse Time To Collision value of ≈0.3s -1 . Our results suggest that take-over time and timing and quality of avoidance response appear to be largely independent, and while long take-over time did not predict collision outcome, kinematically late initiation of avoidance did. Hence, system design should focus on achieving kinematically early avoidance initiation, rather than short take-over times. Copyright © 2017 Elsevier Ltd. All rights reserved.

Analytical formulation of impulsive collision avoidance dynamics

NASA Astrophysics Data System (ADS)

Bombardelli, Claudio

2014-02-01

The paper deals with the problem of impulsive collision avoidance between two colliding objects in three dimensions and assuming elliptical Keplerian orbits. Closed-form analytical expressions are provided that accurately predict the relative dynamics of the two bodies in the encounter b-plane following an impulsive delta-V manoeuvre performed by one object at a given orbit location prior to the impact and with a generic three-dimensional orientation. After verifying the accuracy of the analytical expressions for different orbital eccentricities and encounter geometries the manoeuvre direction that maximises the miss distance is obtained numerically as a function of the arc length separation between the manoeuvre point and the predicted collision point. The provided formulas can be used for high-accuracy instantaneous estimation of the outcome of a generic impulsive collision avoidance manoeuvre and its optimisation.

Opportunities and limitations for intersection collision intervention-A study of real world 'left turn across path' accidents.

PubMed

Sander, Ulrich

2017-02-01

Turning across the path of oncoming vehicle accidents are frequent and dangerous. To date not many car manufacturers have introduced Automated Emergency Braking (AEB) systems addressing this type of conflict situation, but it is foreseeable that these scenarios will be part of the Euro NCAP 2020 rating. Nine out of ten collisions are caused by the driver of the turning vehicle. An AEB system evaluating the ego and conflict vehicle driver's possibilities to avoid a pending crash by either braking or steering was specified for application in various constellations of vehicle collisions. In virtual simulation, AEB system parameters were varied, covering parameters that are relevant for driver comfort such as longitudinal and lateral acceleration (to define avoidance possibilities), expected steering maneuvers to avoid conflict, and intervention response characteristics (brake delay and ramp up) to assess the safety benefit. The reference simulation showed a potential of the AEB system in the turning vehicle to avoid approximately half of the collisions. An AEB system of the straight going vehicle was less effective. The effectiveness of the turning vehicle's AEB system increases if spatial limitations for the collision-avoidance steering maneuver are known. Such information could be provided by sensors detecting free space in or around the road environment or geographical information shared via vehicle to cloud communication. AEB interventions rarely result in collision avoidance for turning vehicles with speeds above 40km/h or for straight going vehicles with speeds above 60km/h. State of the art field-of-views of forward looking sensing systems designed for AEB rear-end interventions are capable of addressing turning across path situations. Copyright © 2016 Elsevier Ltd. All rights reserved.

Safety of high-speed guided ground transportation systems : collision avoidance and accident survivability : volume 4 : proposed specifications

DOT National Transportation Integrated Search

1993-03-01

This report is the fourth of four volumes concerned with developing safety guidelines and specifications for high-speed guided ground transportation (HSGGT) collision avoidance and accident survivability. The overall approach taken in this study is t...

Safety of high-speed guided ground transportation systems : collision avoidance and accident survivability : volume 3 : accident survivability

DOT National Transportation Integrated Search

1993-03-01

This report is the third of four volumes concerned with developing safety guidelines and specifications for high-speed guided ground transportation (HSGGT) collision avoidance and accident survivability. The overall approach taken in this study is to...

Cooperative intersection collision avoidance system limited to stop sign and traffic signal violations (CICAS-V).

DOT National Transportation Integrated Search

2008-09-30

The objective of the Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) Project is to develop and field-test a comprehensive system to reduce the number of crashes at intersections due to violations of traffic control device...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures - Task 4, Volume 2: RORSIM Manual

DOT National Transportation Integrated Search

1995-09-05

The Run-Off-Road Collision Avoidance Using IVHS Countermeasures program is to address the single vehicle crash problem through application of technology to prevent and/or reduce the severity of these crashes. : This report documents the RORSIM comput...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures, Task 3, Volume 2, Final Report

DOT National Transportation Integrated Search

1995-08-01

INTELLIGENT VEHICLE INITIATIVE OR IVI : THE RUN-OFF-ROAD COLLISION AVOIDANCE USING IVHS COUNTERMEASURES PROGRAM IS TO ADDRESS THE SINGLE VEHICLE CRASH PROBLEM THROUGH APPLICATION OF TECHNOLOGY TO PREVENT AND/OR REDUCE THE SEVERITY OF THESE CRASHES. :...

Evaluation of the Norridgewock intersection collision avoidance warning system on Route 201A, Norridgewock, Maine.

DOT National Transportation Integrated Search

2006-11-01

Review of the Norridgewock Intersection Collision Avoidance Warning System : demonstrates that the system appears to effectively reduce the number of potential : crashes at the intersection of River Road, Sophie May Lane and Route 201A. : Results sho...

Intersection Collision Avoidance Using Its Countermeasures. Task 9: Final Report: Intersection Collision Avoidance System Performance Guidelines

DOT National Transportation Integrated Search

2000-09-01

Roadway intersections are areas of potential conflict that increase risk exposure for vehicles attempting to pass through these locations. Advances in sensor and data processing technology during the past decade have enabled the collection of large a...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures: Task 3, Volume 1

DOT National Transportation Integrated Search

1995-08-23

The Run-Off-Road Collision Avoidance Using IVHS Countermeasures program is to address the single vehicle crash problem through application of technology to prevent and/or reduce the severity oi these crashes. This report describes the findings of the...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures Task 3 - Volume 2

DOT National Transportation Integrated Search

1995-08-23

The Run-Off-Road Collision Avoidance Using IVHS Countermeasures program is to address the single vehicle crash problem through application of technology to prevent and/or reduce the severity of these crashes. : This report describes the findings of t...

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.

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

PubMed Central

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

2010-01-01

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

Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project: Advanced Collision Avoidance System for UAS (ACAS Xu) Interoperability White Paper Presentation

NASA Technical Reports Server (NTRS)

Fern, Lisa

2017-01-01

The Phase 1 DAA Minimum Operational Performance Standards (MOPS) provided requirements for two classes of DAA equipment: equipment Class 1 contains the basic DAA equipment required to assist a pilot in remaining well clear, while equipment Class 2 integrates the Traffic Alert and Collision Avoidance (TCAS) II system. Thus, the Class 1 system provides RWC functionality only, while the Class 2 system is intended to provide both RWC and Collision Avoidance (CA) functionality, in compliance with the Minimum Aviation System Performance (MASPS) for the Interoperability of Airborne Collision Avoidance Systems. The FAAs TCAS Program Office is currently developing Airborne Collision Avoidance System X (ACAS X) to support the objectives of the Federal Aviation Administrations (FAA) Next Generation Air Transportation System Program (NextGen). ACAS X has a suite of variants with a common underlying design that are intended to be optimized for their intended airframes and operations. ACAS Xu being is designed for UAS and allows for new surveillance technologies and tailored logic for platforms with different performance characteristics. In addition to Collision Avoidance (CA) alerting and guidance, ACAS Xu is being tuned to provide RWC alerting and guidance in compliance with the SC 228 DAA MOPS. With a single logic performing both RWC and CA functions, ACAS Xu will provide industry with an integrated DAA solution that addresses many of the interoperability shortcomings of Phase I systems. While the MOPS for ACAS Xu will specify an integrated DAA system, it will need to show compliance with the RWC alerting thresholds and alerting requirements defined in the DAA Phase 2 MOPS. Further, some functional components of the ACAS Xu system such as the remote pilots displayed guidance might be mostly references to the corresponding requirements in the DAA MOPS. To provide a seamless, integrated, RWC-CA system to assist the pilot in remaining well clear and avoiding collisions, several issues need to be addressed within the Phase 2 SC-228 DAA efforts. Interoperability of the RWC and CA alerting and guidance, and ensuring pilot comprehension, compliance and performance, will be a primary research area.

Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the Gauss pseudospectral method

NASA Astrophysics Data System (ADS)

Chu, Xiaoyu; Zhang, Jingrui; Lu, Shan; Zhang, Yao; Sun, Yue

2016-11-01

This paper presents a trajectory planning algorithm to optimise the collision avoidance of a chasing spacecraft operating in an ultra-close proximity to a failed satellite. The complex configuration and the tumbling motion of the failed satellite are considered. The two-spacecraft rendezvous dynamics are formulated based on the target body frame, and the collision avoidance constraints are detailed, particularly concerning the uncertainties. An optimisation solution of the approaching problem is generated using the Gauss pseudospectral method. A closed-loop control is used to track the optimised trajectory. Numerical results are provided to demonstrate the effectiveness of the proposed algorithms.

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 external (bottom-up) and internal (top-down) cues in a traffic intersection task. PMID:23760667

Independent Evaluation of the Driver Acceptance of the Cooperative Intersection Collision Avoidance System for Violations (CICAS-V) Pilot Test

DOT National Transportation Integrated Search

2011-07-01

This report documents the results of the independent evaluations assessment of the driver acceptance of the Cooperative Intersection Collision Avoidance System limited to Stop Sign and Traffic Signal Violations (CICAS-V) system as tested during a ...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures Task 1 Vol. 1 Technical Findings

DOT National Transportation Integrated Search

1994-10-28

The Run-Off-Road Collision Avoidance Using IVHS Countermeasures program is to address the single vehicle crash problem through application of technology to prevent and/or reduce the severity of these crashes. This report describes and documents the a...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures, Task 1, Volume 1: Technical Findings, Final Report

DOT National Transportation Integrated Search

1994-10-01

THE RUN-OFF-ROAD COLLISION AVOIDANCE USING IVHS COUNTERMEASURES PROGRAM IS TO ADDRESS THE SINGLE VEHICLE CRASH PROBLEM THROUGH APPLICATION OF TECHNOLOGY TO PREVENT AND/OR REDUCE THE SEVERITY OF THESE CRASHES. : THIS REPORT DESCRIBES AND DOCUMENTS ...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures, Task 2, Volume 1: Technical Findings, Final Report

DOT National Transportation Integrated Search

1995-06-01

THE RUN-OFF-ROAD COLLISION AVOIDANCE USING IVHS COUNTERMEASURES PROGRAM IS TO ADDRESS THE SINGLE VEHICLE CRASH PROBLEM THROUGH APPLICATION OF TECHNOLOGY TO PREVENT AND/OR REDUCE THE SEVERITY OF THESE CRASHES. : THIS REPORT DESCRIBES AND DOCUMENTS ...

Run-Off-Road Collision Avoidance Countermeasures Using IVHS Countermeasures, Task 4, Volume 2: Rorsim Manual, Final Report

DOT National Transportation Integrated Search

1995-09-01

THE RUN-OFF-ROAD COLLISION AVOIDANCE USING IVHS COUNTERMEASURES PROGRAM IS TO ADDRESS THE SINGLE VEHICLE CRASH PROBLEM THROUGH APPLICATION OF TECHNOLOGY TO PREVENT AND/OR REDUCE THE SEVERITY OF THESE CRASHES. : THIS REPORT DOCUMENTS THE RORSIM COM...

Run-Off Road Collision Avoidance Countermeasures Using IVHS Countermeasures Task 1 Vol. 2 Support Volume

DOT National Transportation Integrated Search

1994-10-28

The Run-Off-Road Collision Avoidance Using IVHS Countermeasures program is to address the single vehicle crash problem through application of technology to prevent and/or reduce the severity of these crashes. This report contains a summary of data us...

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

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 (without collision avoidance) conjunction analysis with an analysis where LightForce is active. Using that approach, we take into account that collision avoidance maneuvers could have effects on third objects. Performing all-on-all conjunction analyses for extended period of time requires significant computer resources; hence we implemented this simulation utilizing a highly parallel approach on the NASA Pleiades supercomputer.

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

PubMed Central

Yang, Fan Yang; Nelson, Bron; Aziz, Jonathan; Carlino, Roberto; Perez, Andres Dono; 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

2017-01-01

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 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 (without collision avoidance) conjunction analysis with an analysis where LightForce is active. Using that approach, we take into account that collision avoidance maneuvers could have effects on third objects. Performing all-on-all conjunction analyses for extended period of time requires significant computer resources; hence we implemented this simulation utilizing a highly parallel approach on the NASA Pleiades supercomputer. PMID:29302129

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

PubMed

Yang, Fan Yang; Nelson, Bron; Aziz, Jonathan; Carlino, Roberto; Perez, Andres Dono; 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 (without collision avoidance) conjunction analysis with an analysis where LightForce is active. Using that approach, we take into account that collision avoidance maneuvers could have effects on third objects. Performing all-on-all conjunction analyses for extended period of time requires significant computer resources; hence we implemented this simulation utilizing a highly parallel approach on the NASA Pleiades supercomputer.

TU-FG-201-07: Development of SRS Conical Collimator Collision Prediction Software for Radiation Treatment Safety

DOE Office of Scientific and Technical Information (OSTI.GOV)

Gutti, V; Morrow, A; Kim, S

Purpose: Stereotactic radiosurgery (SRS) treatments using conical collimators can potentially result in gantry collision with treatment table due to limited collision-clear spaces. An in-house software was developed to help the SRS treatment planner mitigate potential SRS conical collimator (Varian Medical System, Palo Alto, CA) collisions with the treatment table. This software was designed to remove treatment re-planning secondary to unexpected collisions. Methods: A BrainLAB SRS ICT Frameless Extension used for SRS treatments in our clinic was mathematically modelled using surface points registered to the 3D co-ordinate space of the couch extension. The surface points are transformed based on the treatmentmore » isocenter point and potential collisions are determined in 3D space for couch and gantry angle combinations. The distance between the SRS conical collimators and LINAC isocenter is known. The collision detection model was programmed in MATLAB (Mathwork, Natick, MA) to display graphical plots of the calculations, and the plotted data is used to avoid the gantry and couch angle combinations that would likely result in a collision. We have utilized the cone collision tool for 23 SRS cone treatment plans (8 retrospective and 15 prospective for 10 patients). Results: Twenty one plans strongly agreed with the software tool prediction for collision. However, in two plans, a collision was observed with a 0.5 cm margin when the software predicted no collision. Therefore, additional margins were added to the clearance criteria in the program to achieve a lower risk of actual collisions. Conclusion: Our in-house developed collision check software successfully avoided SRS cone re-planning by 91.3% due to a reduction in cone collisions with the treatment table. Future developments to our software will include a CT image data set based collision prediction model as well as a beam angle optimization tool to avoid normal critical tissues as well as previously treated lesions.« less

Development of performance specifications for collision avoidance systems for lane change crashes. Task 6, interim report : testbed systems design and associated facilities

DOT National Transportation Integrated Search

2001-11-01

This report documents the design of an on-road testbed vehicle. The purposes of this testbed are twofold: (1) Establish a foundation for estimating lane change collision avoidance effectiveness, and (2) provide information pertinent to setting perfor...

A Receiver-Initiated Collision-Avoidance Protocol for Multi-Channel Networks

DTIC Science & Technology

2001-01-01

00-00-2001 to 00-00-2001 4. TITLE AND SUBTITLE A Receiver-Initiated Collision-Avoidance Protocol for Multi-Channel Netowrks 5a. CONTRACT NUMBER...images. 14. ABSTRACT 15. SUBJECT TERMS 16. SECURITY CLASSIFICATION OF: 17. LIMITATION OF ABSTRACT 18. NUMBER OF PAGES 10 19a. NAME OF RESPONSIBLE

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

Code of Federal Regulations, 2010 CFR

2010-07-01

... 33 Navigation and Navigable Waters 1 2010-07-01 2010-07-01 false Action to avoid collision (Rule 8). 83.08 Section 83.08 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY INLAND NAVIGATION RULES RULES Steering and Sailing Rules Conduct of Vessels in Any Condition of...

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

Code of Federal Regulations, 2011 CFR

2011-07-01

... 33 Navigation and Navigable Waters 1 2011-07-01 2011-07-01 false Action to avoid collision (Rule 8). 83.08 Section 83.08 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY INLAND NAVIGATION RULES RULES Steering and Sailing Rules Conduct of Vessels in Any Condition of...

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

Code of Federal Regulations, 2014 CFR

2014-07-01

... 33 Navigation and Navigable Waters 1 2014-07-01 2014-07-01 false Action to avoid collision (Rule 8). 83.08 Section 83.08 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY INLAND NAVIGATION RULES RULES Steering and Sailing Rules Conduct of Vessels in Any Condition of...

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

Code of Federal Regulations, 2012 CFR

2012-07-01

... 33 Navigation and Navigable Waters 1 2012-07-01 2012-07-01 false Action to avoid collision (Rule 8). 83.08 Section 83.08 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF HOMELAND SECURITY INLAND NAVIGATION RULES RULES Steering and Sailing Rules Conduct of Vessels in Any Condition of...

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

Code of Federal Regulations, 2013 CFR

2013-07-01

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

A Detailed Study of Advection Sea Fog Formation to Reduce the Operational Impacts Along the Northern Gulf of Mexico

DTIC Science & Technology

2007-03-01

From Mid-Air Collision Avoidance Pilot Education Program, Tyndall Air Force Base. http://www.tyndall.af.mil/ MACA /moamap.pdf Accessed 10 September...Collision Avoidance Pilot Education Program, Tyndall Air Force Base. http://www.tyndall.af.mil/ MACA /moamap.pdf Accessed 10 September 2006). 5...cited 2006: Tyndall Air Force Base. [Available online at http://www.tyndall.af.mil/ MACA /moamap.pdf]. Accessed 25 September 2006. Mid-Air Collision

The design of a minimal sensor configuration for a Cooperative Intersection Collision Avoidance System - Stop Sign Assist : (CICAS-SSA report #2).

DOT National Transportation Integrated Search

2010-08-01

The deployment of a Cooperative Intersection Collision Avoidance System Stop Sign Assist (CICAS-SSA) can save lives by addressing the causal factor of crashes at rural thru-Stop intersection: drivers who stop on the minor leg of the intersection,...

Development of performance specifications for collision avoidance systems for lane change, merging, and backing. Task 6, Interim report : testbed systems design and associated facilities

DOT National Transportation Integrated Search

1997-05-01

This report represents the documentation of the design of the testbed. The purposes of the testbed are twofold 1) Establish a foundation for estimating collision avoidance effectiveness and 2) Provide information pertinent to setting performance spec...

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

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.

Collision avoidance behavior as a function of aging and tennis playing.

PubMed

Lobjois, Régis; Benguigui, Nicolas; Bertsch, Jean; Broderick, Michael P

2008-02-01

Daily living often requires pedestrians and drivers to adapt their behavior to the displacement of other objects in their environment in order to avoid collision. Yet little research has paid attention to the effect of age on the completion of such a challenging task. The purpose of this study was to examine the relationship between age and collision avoidance skill and whether a sporting activity affects this. Three age groups (20-30, 60-70, and 70-80 years) of tennis players and non-players launched a projectile toward a target in order to hit it before it was hit by another "object" (a stimulus represented by apparent motion of lights). If the participant judged that time-to-collision (TTC) of the moving stimulus was not long enough for him/her to launch the projectile in time to arrive before the stimulus, the participant had to inhibit the launching. Results showed that for the non-players the number of errors in the 70-80 year-old group was significantly higher than those of the 20-30 and 60-70 year-old groups, which did not differ from each other. However, this increase was not observed in the 70-80 year-old tennis players, demonstrating a beneficial effect of playing tennis on collision avoidance skill. Results also revealed that the older groups of both tennis players and non-players were subject to the typical age-related increase in response time. Additional analyses indicated that the 70-80 year-old non-players did not adjust their actions to these age-related changes in response time. The older tennis-playing participants, however, were more likely to adjust collision avoidance behavior to their diminished response times.

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.

Collision avoidance in space

NASA Technical Reports Server (NTRS)

Kessler, D. J.; Cour-Palais, B. G.; Taylor, R. E.; Landry, P. M.

1980-01-01

Collisions in earth orbital space between operational payloads and various forms of space debris (nonoperational payloads, nonfunctional mission-related objects and fragments resulting from collisions and explosions) are discussed and possible means of avoiding them are considered. From 10,000 to 15,000 objects are estimated to be in earth orbital space, most of which represent spacecraft fragments and debris too small to be detected and tracked by earth-based sensors, and it is considered likely that some of them will be or have already been involved in direct collisions with the ever increasing number of operational satellites and space stations. Means of protecting proposed large space structures and smaller spacecraft from significant damage by larger space objects, particularly in the 400-4000 km altitude range where most debris occurs, include structural redundancy and the double shielding of sensitive components. Other means of collision avoidance are the collection or relocation of satellites, rocket bodies and other objects by the Space Shuttle, the prevention of explosions and the disposal of spent rocket parts by reentry. Finally, a management structure would be required to administer guidelines for the prevention and elimination of space debris.

Performance Analyses and Improvements for the IEEE 802.15.4 CSMA/CA Scheme with Heterogeneous Buffered Conditions

PubMed Central

Zhu, Jianping; Tao, Zhengsu; Lv, Chunfeng

2012-01-01

Studies of the IEEE 802.15.4 Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) scheme have been received considerable attention recently, with most of these studies focusing on homogeneous or saturated traffic. Two novel transmission schemes—OSTS/BSTS (One Service a Time Scheme/Bulk Service a Time Scheme)—are proposed in this paper to improve the behaviors of time-critical buffered networks with heterogeneous unsaturated traffic. First, we propose a model which contains two modified semi-Markov chains and a macro-Markov chain combined with the theory of M/G/1/K queues to evaluate the characteristics of these two improved CSMA/CA schemes, in which traffic arrivals and accessing packets are bestowed with non-preemptive priority over each other, instead of prioritization. Then, throughput, packet delay and energy consumption of unsaturated, unacknowledged IEEE 802.15.4 beacon-enabled networks are predicted based on the overall point of view which takes the dependent interactions of different types of nodes into account. Moreover, performance comparisons of these two schemes with other non-priority schemes are also proposed. Analysis and simulation results show that delay and fairness of our schemes are superior to those of other schemes, while throughput and energy efficiency are superior to others in more heterogeneous situations. Comprehensive simulations demonstrate that the analysis results of these models match well with the simulation results. PMID:22666076

Performance analyses and improvements for the IEEE 802.15.4 CSMA/CA scheme with heterogeneous buffered conditions.

PubMed

Zhu, Jianping; Tao, Zhengsu; Lv, Chunfeng

2012-01-01

Studies of the IEEE 802.15.4 Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) scheme have been received considerable attention recently, with most of these studies focusing on homogeneous or saturated traffic. Two novel transmission schemes-OSTS/BSTS (One Service a Time Scheme/Bulk Service a Time Scheme)-are proposed in this paper to improve the behaviors of time-critical buffered networks with heterogeneous unsaturated traffic. First, we propose a model which contains two modified semi-Markov chains and a macro-Markov chain combined with the theory of M/G/1/K queues to evaluate the characteristics of these two improved CSMA/CA schemes, in which traffic arrivals and accessing packets are bestowed with non-preemptive priority over each other, instead of prioritization. Then, throughput, packet delay and energy consumption of unsaturated, unacknowledged IEEE 802.15.4 beacon-enabled networks are predicted based on the overall point of view which takes the dependent interactions of different types of nodes into account. Moreover, performance comparisons of these two schemes with other non-priority schemes are also proposed. Analysis and simulation results show that delay and fairness of our schemes are superior to those of other schemes, while throughput and energy efficiency are superior to others in more heterogeneous situations. Comprehensive simulations demonstrate that the analysis results of these models match well with the simulation results.

Passive Collision Avoidance System for UAS

DTIC Science & Technology

2008-09-01

feasibility of using SWAP efficient LWIR microbolometers as outlined in the Priest report circa 1998 as a solution to the collision avoidance problems for UASs...81 7.3 LWIR Multispectral Sensor ..........................................................................................84 7.4 LWIR ... LWIR image of the Ultralight. Muffler runs at approximately 1200 F. ......................32 Figure 36: 3D model of LVDS circuit board with L-3

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

ERIC Educational Resources Information Center

Fajen, Brett R.

2005-01-01

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

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.

The effect of collision avoidance for autonomous robot team formation

NASA Astrophysics Data System (ADS)

Seidman, Mark H.; Yang, Shanchieh J.

2007-04-01

As technology and research advance to the era of cooperative robots, many autonomous robot team algorithms have emerged. Shape formation is a common and critical task in many cooperative robot applications. While theoretical studies of robot team formation have shown success, it is unclear whether such algorithms will perform well in a real-world environment. This work examines the effect of collision avoidance schemes on an ideal circle formation algorithm, but behaves similarly if robot-to-robot communications are in place. Our findings reveal that robots with basic collision avoidance capabilities are still able to form into a circle, under most conditions. Moreover, the robot sizes, sensing ranges, and other critical physical parameters are examined to determine their effects on algorithm's performance.

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.

Evaluation of minimum coverage size and orbital accuracy at different orbital regimes for one order of magnitude reduction of the catastrophic collision risk

NASA Astrophysics Data System (ADS)

Sánchez-Ortiz, Noelia; Domínguez-González, Raúl; Krag, Holger

2015-03-01

One of the main objectives of Space Surveillance and Tracking (SST) systems is to support space collision avoidance activities. This collision avoidance capability aims to significantly reduce the catastrophic collision risk of space objects. In particular, for the case of the future European SST, the objective is translated into a risk reduction of one order of magnitude whilst keeping a low number of false alarm events. In order to translate this aim into system requirements, an evaluation of the current catastrophic collision risk for different orbital regimes is addressed. The reduction of such risk depends on the amount of catalogued objects (coverage) and the knowledge of the associated orbits in the catalogue (accuracy). This paper presents an analysis of the impact of those two aspects in the capability to reduce the catastrophic collision risk at some orbital regimes. A reliable collision avoidance support depends on the accuracy of the predicted miss-events. The assessment of possible conjunctions is normally done by computing the estimated miss-distances between objects (which is compared with a defined distance threshold) or by computing the associated collision risk (which is compared with the corresponding accepted collision probability level). This second method is normally recommended because it takes into account the reliability of the orbits and allows reducing false alarm events. The collision risk depends on the estimated miss-distance, the object sizes and the accuracy of the two orbits at the time of event. This accuracy depends on the error of the orbits at the orbit determination epoch and the error derived from the propagation from that epoch up to the time of event. The modified DRAMA ARES (Domínguez-González et al., 2012, 2013a,b; Gelhaus et al., 2014) provides information on the expected number of encounters for a given mission and year. It also provides information on the capacity to reduce the risk of collision by means of avoidance manoeuvres as a function of the accepted collision probability level and the cataloguing performance of the surveillance system (determined by the limiting coverage size-altitude function and the orbital data accuracy). The assessment of avoidance strategies takes into account statistical models of the space object environment, as provided by ESA's MASTER-2009 model, and a mathematical framework for the collision risk estimation as used in satellite operations. In this papers, results are provided for some orbit types, covering different orbital regimes. The analysis is done for different cataloguing capacity levels (accuracy and coverage), concluding that 5 cm are to be covered at LEO for diminishing the catastrophic collision risk by one order of magnitude. For MEO and GEO regime, coverage down to 40 and 100 cm respectively allow similar reduction of risk.

A new AgNC fluorescence regulation mechanism caused by coiled DNA and its applications in constructing molecular beacons with low background and large signal enhancement.

PubMed

Zhou, Weijun; Dong, Shaojun

2017-11-14

Herein, we report a new fluorescence regulation mechanism of DNA-templated AgNCs caused by coiled DNA. Based on these phenomena, a novel dual fluorescent AgNC-MB with exponential signal enhancement and remarkably low background was developed. The AgNC-MB could effectively facilitate template design and avoid the disturbance caused by undesirable hybridization.

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.

Pilot Non-Conformance to Alerting System Commands During Closely Spaced Parallel Approaches

NASA Technical Reports Server (NTRS)

Pritchett, Amy R.; Hansman, R. John

1997-01-01

Pilot non-conformance to alerting system commands has been noted in general and to a TCAS-like collision avoidance system in a previous experiment. This paper details two experiments studying collision avoidance during closely-spaced parallel approaches in instrument meteorological conditions (IMC), and specifically examining possible causal factors of, and design solutions to, pilot non-conformance.

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.

Radar sensors for intersection collision avoidance

NASA Astrophysics Data System (ADS)

Jocoy, Edward H.; Phoel, Wayne G.

1997-02-01

On-vehicle sensors for collision avoidance and intelligent cruise control are receiving considerably attention as part of Intelligent Transportation Systems. Most of these sensors are radars and `look' in the direction of the vehicle's headway, that is, in the direction ahead of the vehicle. Calspan SRL Corporation is investigating the use of on- vehicle radar for Intersection Collision Avoidance (ICA). Four crash scenarios are considered and the goal is to design, develop and install a collision warning system in a test vehicle, and conduct both test track and in-traffic experiments. Current efforts include simulations to examine ICA geometry-dependent design parameters and the design of an on-vehicle radar and tracker for threat detection. This paper discusses some of the simulation and radar design efforts. In addition, an available headway radar was modified to scan the wide angles (+/- 90 degree(s)) associated with ICA scenarios. Preliminary proof-of-principal tests are underway as a risk reduction effort. Some initial target detection results are presented.

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.

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.

FAA Response to User Concensus Views and Recommendations: New Engineering and Development Initiatives - Policy and Technology Choices.

DTIC Science & Technology

1979-12-01

Increased Automation 52 35. ATC Responsibility for Weather Avoidance 53 36. Additional Simulation Needed - ATARS , BCAS, CDTI 53 37. Safety Impacts of...Address Beacon System (DABS)/Data Link, Automated Traffic Advisory and Resolution Service ( ATARS ) and Cockpit Display of Terminal Information (CDT[), are...should not consider down- linking of air derived data either to enhance ATARS or to be the basis for more closely spaced IFR approaches to parallel

Overshadowing of geometric cues by a beacon in a spatial navigation task.

PubMed

Redhead, Edward S; Hamilton, Derek A; Parker, Matthew O; Chan, Wai; Allison, Craig

2013-06-01

In three experiments, we examined whether overshadowing of geometric cues by a discrete landmark (beacon) is due to the relative saliences of the cues. Using a virtual water maze task, human participants were required to locate a platform marked by a beacon in a distinctively shaped pool. In Experiment 1, the beacon overshadowed geometric cues in a trapezium, but not in an isosceles triangle. The longer escape latencies during acquisition in the trapezium control group with no beacon suggest that the geometric cues in the trapezium were less salient than those in the triangle. In Experiment 2, we evaluated whether generalization decrement, caused by the removal of the beacon at test, could account for overshadowing. An additional beacon was placed in an alternative corner. For the control groups, the beacons were identical; for the overshadow groups, they were visually unique. Overshadowing was again found in the trapezium. In Experiment 3, we tested whether the absence of overshadowing in the triangle was due to the geometric cues being more salient than the beacon. Following training, the beacon was relocated to a different corner. Participants approached the beacon rather than the trained platform corner, suggesting that the beacon was more salient. These results suggest that associative processes do not fully explain cue competition in the spatial domain.

Evaluation of a Portable Collision Warning Device for Patients With Peripheral Vision Loss in an Obstacle Course.

PubMed

Pundlik, Shrinivas; Tomasi, Matteo; Luo, Gang

2015-04-01

A pocket-sized collision warning device equipped with a video camera was developed to predict impending collisions based on time to collision rather than proximity. A study was conducted in a high-density obstacle course to evaluate the effect of the device on collision avoidance in people with peripheral field loss (PFL). The 41-meter-long loop-shaped obstacle course consisted of 46 stationary obstacles from floor to head level and oncoming pedestrians. Twenty-five patients with tunnel vision (n = 13) or hemianopia (n = 12) completed four consecutive loops with and without the device, while not using any other habitual mobility aid. Walking direction and device usage order were counterbalanced. Number of collisions and preferred percentage of walking speed (PPWS) were compared within subjects. Collisions were reduced significantly by approximately 37% (P < 0.001) with the device (floor-level obstacles were excluded because the device was not designed for them). No patient had more collisions when using the device. Although the PPWS were also reduced with the device from 52% to 49% (P = 0.053), this did not account for the lower number of collisions, as the changes in collisions and PPWS were not correlated (P = 0.516). The device may help patients with a wide range of PFL avoid collisions with high-level obstacles while barely affecting their walking speed.

VLC-beacon detection with an under-sampled ambient light sensor

NASA Astrophysics Data System (ADS)

Green, Jacob; Pérez-Olivas, Huetzin; Martínez-Díaz, Saúl; García-Márquez, Jorge; Domínguez-González, Carlos; Santiago-Montero, Raúl; Guan, Hongyu; Rozenblat, Marc; Topsu, Suat

2017-08-01

LEDs will replace in a near future the current worldwide lighting mainly due to their low production-cost and energy-saving assets. Visible light communications (VLC) will turn gradually the existing lighting network into a communication network. Nowadays VLC transceivers can be found in some commercial centres in Europe; some of them broadcast continuously an identification tag that contains its coordinate position. In such a case, the transceiver acts as a geolocation beacon. Nevertheless, mobile transceivers represent a challenge in the VLC communication chain, as smartphones have not integrated yet a VLC customized detection stage. In order to make current smartphones capable to detect VLC broadcasted signals, their Ambient Light Sensor (ALS) is adapted as a VLC detector. For this to be achieved, lighting transceivers need to adapt their modulation scheme. For instance, frequencies representing start bit, 1, and 0 logic values can be set to avoid flicker from illumination and to permit detecting the under-sampled signal. Decoding the signal requires a multiple steps real-time signal processing as shown here.

A molecular beacon microarray based on a quantum dot label for detecting single nucleotide polymorphisms.

PubMed

Guo, Qingsheng; Bai, Zhixiong; Liu, Yuqian; Sun, Qingjiang

2016-03-15

In this work, we report the application of streptavidin-coated quantum dot (strAV-QD) in molecular beacon (MB) microarray assays by using the strAV-QD to label the immobilized MB, avoiding target labeling and meanwhile obviating the use of amplification. The MBs are stem-loop structured oligodeoxynucleotides, modified with a thiol and a biotin at two terminals of the stem. With the strAV-QD labeling an "opened" MB rather than a "closed" MB via streptavidin-biotin reaction, a sensitive and specific detection of label-free target DNA sequence is demonstrated by the MB microarray, with a signal-to-background ratio of 8. The immobilized MBs can be perfectly regenerated, allowing the reuse of the microarray. The MB microarray also is able to detect single nucleotide polymorphisms, exhibiting genotype-dependent fluorescence signals. It is demonstrated that the MB microarray can perform as a 4-to-2 encoder, compressing the genotype information into two outputs. Copyright © 2015 Elsevier B.V. All rights reserved.

Weighting of topologically different interactions in a model of two-dimensional polymer collapse.

PubMed

Bedini, Andrea; Owczarek, Aleksander L; Prellberg, Thomas

2013-01-01

We study by computer simulation a recently introduced generalized model of self-interacting self-avoiding trails on the square lattice that distinguishes two topologically different types of self-interaction: namely, crossings where the trail passes across itself and collisions where the lattice path visits the same site without crossing. This model generalizes the canonical interacting self-avoiding trail model of polymer collapse, which has a strongly divergent specific heat at its transition point. We confirm the recent prediction that the asymmetry does not affect the universality class for a range of asymmetry. Certainly, where the weighting of collisions outweighs that of crossings this is well supported numerically. When crossings are weighted heavily relative to collisions, the collapse transition reverts to the canonical θ-point-like behavior found in interacting self-avoiding walks.

Highly Efficient Transmitter for High Peak to Average Power Ratio (PAPR) Waveforms

DTIC Science & Technology

2011-01-19

on the modulated signal topology. N00039-10-C-0071 Page 1 ACRONYM DESCRIPTION FREQUENCY Lower Upper MHz MHz ACAS Avionics Identification ...450 GSM Global Mobile Communications 380 921 HAVE QUICK Military Aircraft Radio 225 400 IFF Avionics Identification . Collision Avoidance and...Channel Ground Air Radio System 30 88 TCAS Avionics Identification , Collision Avoidance and Traffic Alert 1030 1090 VIII Air Traffic Control (Civilian

Step 1: Human System Integration Simulation and Flight Test Progress Report

NASA Technical Reports Server (NTRS)

2005-01-01

The Access 5 Human Systems Integration Work Package produced simulation and flight demonstration planning products for use throughout the program. These included: Test Objectives for Command, Control, Communications; Pilot Questionnaire for Command, Control, Communications; Air Traffic Controller Questionnaire for Command, Control, Communications; Test Objectives for Collision Avoidance; Pilot Questionnaire for Collision Avoidance; Plans for Unmanned Aircraft Systems Control Station Simulations Flight Requirements for the Airspace Operations Demonstration

Dynamical study of low Earth orbit debris collision avoidance using ground based laser

NASA Astrophysics Data System (ADS)

Khalifa, N. S.

2015-06-01

The objective of this paper was to investigate the orbital velocity changes due to the effect of ground based laser force. The resulting perturbations of semi-major axis, miss distance and collision probability of two approaching objects are studied. The analytical model is applied for low Earth orbit debris of different eccentricities and area to mass ratio and the numerical test shows that laser of medium power ∼5 kW can perform a small change Δ V ‾ of an average magnitude of 0.2 cm/s which can be accumulated over time to be about 3 cm/day. Moreover, it is confirmed that applying laser Δ V ‾ results in decreasing collision probability and increasing miss distance in order to avoid collision.

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

Performance Analysis of Different Backoff Algorithms for WBAN-Based Emerging Sensor Networks

PubMed Central

Khan, Pervez; Ullah, Niamat; Ali, Farman; Ullah, Sana; Hong, Youn-Sik; Lee, Ki-Young; Kim, Hoon

2017-01-01

The Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) procedure of IEEE 802.15.6 Medium Access Control (MAC) protocols for the Wireless Body Area Network (WBAN) use an Alternative Binary Exponential Backoff (ABEB) procedure. The backoff algorithm plays an important role to avoid collision in wireless networks. The Binary Exponential Backoff (BEB) algorithm used in different standards does not obtain the optimum performance due to enormous Contention Window (CW) gaps induced from packet collisions. Therefore, The IEEE 802.15.6 CSMA/CA has developed the ABEB procedure to avoid the large CW gaps upon each collision. However, the ABEB algorithm may lead to a high collision rate (as the CW size is incremented on every alternative collision) and poor utilization of the channel due to the gap between the subsequent CW. To minimize the gap between subsequent CW sizes, we adopted the Prioritized Fibonacci Backoff (PFB) procedure. This procedure leads to a smooth and gradual increase in the CW size, after each collision, which eventually decreases the waiting time, and the contending node can access the channel promptly with little delay; while ABEB leads to irregular and fluctuated CW values, which eventually increase collision and waiting time before a re-transmission attempt. We analytically approach this problem by employing a Markov chain to design the PFB scheme for the CSMA/CA procedure of the IEEE 80.15.6 standard. The performance of the PFB algorithm is compared against the ABEB function of WBAN CSMA/CA. The results show that the PFB procedure adopted for IEEE 802.15.6 CSMA/CA outperforms the ABEB procedure. PMID:28257112

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.

Using Distance Sensors to Perform Collision Avoidance Maneuvres on Uav Applications

NASA Astrophysics Data System (ADS)

Raimundo, A.; Peres, D.; Santos, N.; Sebastião, P.; Souto, N.

2017-08-01

The Unmanned Aerial Vehicles (UAV) and its applications are growing for both civilian and military purposes. The operability of an UAV proved that some tasks and operations can be done easily and at a good cost-efficiency ratio. Nowadays, an UAV can perform autonomous missions. It is very useful to certain UAV applications, such as meteorology, vigilance systems, agriculture, environment mapping and search and rescue operations. One of the biggest problems that an UAV faces is the possibility of collision with other objects in the flight area. To avoid this, an algorithm was developed and implemented in order to prevent UAV collision with other objects. "Sense and Avoid" algorithm was developed as a system for UAVs to avoid objects in collision course. This algorithm uses a Light Detection and Ranging (LiDAR), to detect objects facing the UAV in mid-flights. This light sensor is connected to an on-board hardware, Pixhawk's flight controller, which interfaces its communications with another hardware: Raspberry Pi. Communications between Ground Control Station and UAV are made via Wi-Fi or cellular third or fourth generation (3G/4G). Some tests were made in order to evaluate the "Sense and Avoid" algorithm's overall performance. These tests were done in two different environments: A 3D simulated environment and a real outdoor environment. Both modes worked successfully on a simulated 3D environment, and "Brake" mode on a real outdoor, proving its concepts.

Collision Avoidance Short Course Part I: Theory

NASA Technical Reports Server (NTRS)

Hejduk, Matthew D.

2017-01-01

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 CNES have collaborated to offer an introductory short course on all the major aspects of the conjunction assessment problem. This half-day course will cover satellite conjunction dynamics and theory, 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.

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.

Digital Controller For Emergency Beacon

NASA Technical Reports Server (NTRS)

Ivancic, William D.

1990-01-01

Prototype digital controller intended for use in 406-MHz emergency beacon. Undergoing development according to international specifications, 406-MHz emergency beacon system includes satellites providing worldwide monitoring of beacons, with Doppler tracking to locate each beacon within 5 km. Controller turns beacon on and off and generates binary codes identifying source (e.g., ship, aircraft, person, or vehicle on land). Codes transmitted by phase modulation. Knowing code, monitor attempts to communicate with user, monitor uses code information to dispatch rescue team appropriate to type and locations of carrier.

[Micron]ADS-B Detect and Avoid Flight Tests on Phantom 4 Unmanned Aircraft System

NASA Technical Reports Server (NTRS)

Arteaga, Ricardo; Dandachy, Mike; Truong, Hong; Aruljothi, Arun; Vedantam, Mihir; Epperson, Kraettli; McCartney, Reed

2018-01-01

Researchers at the National Aeronautics and Space Administration Armstrong Flight Research Center in Edwards, California and Vigilant Aerospace Systems collaborated for the flight-test demonstration of an Automatic Dependent Surveillance-Broadcast based collision avoidance technology on a small unmanned aircraft system equipped with the uAvionix Automatic Dependent Surveillance-Broadcast transponder. The purpose of the testing was to demonstrate that National Aeronautics and Space Administration / Vigilant software and algorithms, commercialized as the FlightHorizon UAS"TM", are compatible with uAvionix hardware systems and the DJI Phantom 4 small unmanned aircraft system. The testing and demonstrations were necessary for both parties to further develop and certify the technology in three key areas: flights beyond visual line of sight, collision avoidance, and autonomous operations. The National Aeronautics and Space Administration and Vigilant Aerospace Systems have developed and successfully flight-tested an Automatic Dependent Surveillance-Broadcast Detect and Avoid system on the Phantom 4 small unmanned aircraft system. The Automatic Dependent Surveillance-Broadcast Detect and Avoid system architecture is especially suited for small unmanned aircraft systems because it integrates: 1) miniaturized Automatic Dependent Surveillance-Broadcast hardware; 2) radio data-link communications; 3) software algorithms for real-time Automatic Dependent Surveillance-Broadcast data integration, conflict detection, and alerting; and 4) a synthetic vision display using a fully-integrated National Aeronautics and Space Administration geobrowser for three dimensional graphical representations for ownship and air traffic situational awareness. The flight-test objectives were to evaluate the performance of Automatic Dependent Surveillance-Broadcast Detect and Avoid collision avoidance technology as installed on two small unmanned aircraft systems. In December 2016, four flight tests were conducted at Edwards Air Force Base. Researchers in the ground control station looking at displays were able to verify the Automatic Dependent Surveillance-Broadcast target detection and collision avoidance resolutions.

State estimation for autonomous flight in cluttered environments

NASA Astrophysics Data System (ADS)

Langelaan, Jacob Willem

Safe, autonomous operation in complex, cluttered environments is a critical challenge facing autonomous mobile systems. The research described in this dissertation was motivated by a particularly difficult example of autonomous mobility: flight of a small Unmanned Aerial Vehicle (UAV) through a forest. In cluttered environments (such as forests or natural and urban canyons) signals from navigation beacons such as GPS may frequently be occluded. Direct measurements of vehicle position are therefore unavailable, and information required for flight control, obstacle avoidance, and navigation must be obtained using only on-board sensors. However, payload limitations of small UAVs restrict both the mass and physical dimensions of sensors that can be carried. This dissertation describes the development and proof-of-concept demonstration of a navigation system that uses only a low-cost inertial measurement unit and a monocular camera. Micro electromechanical inertial measurements units are well suited to small UAV applications and provide measurements of acceleration and angular rate. However, they do not provide information about nearby obstacles (needed for collision avoidance) and their noise and bias characteristics lead to unbounded growth in computed position. A monocular camera can provide bearings to nearby obstacles and landmarks. These bearings can be used both to enable obstacle avoidance and to aid navigation. Presented here is a solution to the problem of estimating vehicle state (position, orientation and velocity) as well as positions of obstacles in the environment using only inertial measurements and bearings to obstacles. This is a highly nonlinear estimation problem, and standard estimation techniques such as the Extended Kalman Filter are prone to divergence in this application. In this dissertation a Sigma Point Kalman Filter is implemented, resulting in an estimator which is able to cope with the significant nonlinearities in the system equations and uncertainty in state estimates while remaining tractable for real-time operation. In addition, the issues of data association and landmark initialization are addressed. Estimator performance is examined through Monte Carlo simulations in both two and three dimensions for scenarios involving UAV flight in cluttered environments. Hardware tests and simulations demonstrate navigation through an obstacle-strewn environment by a small Unmanned Ground Vehicle.

Tester for Distress Beacons

NASA Technical Reports Server (NTRS)

Wade, W. R.

1986-01-01

Distress beacons on aircraft and boats checked for proper operation with aid of onboard monitor. Monitor mounted in aircraft cockpit or at wheel of boat. Connected to beacon electronics by cable. Monitor used with interface circuitry in beacon, which acts as buffer so that operation of beacon is not adversely affected if monitor is removed or if connecting cable is accidentally short circuited.

Visual feedback training improves postural adjustments associated with moving obstacle avoidance in elderly women.

PubMed

Hatzitaki, V; Voudouris, D; Nikodelis, T; Amiridis, I G

2009-02-01

The study examined the impact of visually guided weight shifting (WS) practice on the postural adjustments evoked by elderly women when avoiding collision with a moving obstacle while standing. Fifty-six healthy elderly women (70.9+/-5.7 years, 87.5+/-9.6 kg) were randomly assigned into one of three groups: a group that completed 12 sessions (25 min, 3s/week) of WS practice in the Anterior/Posterior direction (A/P group, n=20), a group that performed the same practice in the medio/lateral direction (M/L group, n=20) and a control group (n=16). Pre- and post-training, participants were tested in a moving obstacle avoidance task. As a result of practice, postural response onset shifted closer to the time of collision with the obstacle. Side-to-side WS resulted in a reduction of the M/L sway amplitude and an increase of the trunk's velocity during avoidance. It is concluded that visually guided WS practice enhances elderly's ability for on-line visuo-motor processing when avoiding collision eliminating reliance on anticipatory scaling. Specifying the direction of WS seems to be critical for optimizing the transfer of training adaptations.

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.

77 FR 6000 - Airworthiness Directives; Aviation Communication & Surveillance Systems (ACSS) Traffic Alert and...

Federal Register 2010, 2011, 2012, 2013, 2014

2012-02-07

... Airworthiness Directives; Aviation Communication & Surveillance Systems (ACSS) Traffic Alert and Collision... Communication & Surveillance Systems (ACSS) traffic alert and collision avoidance system (TCAS) units with part...

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

Weak beacon detection for air-to-ground optical wireless link establishment.

PubMed

Han, Yaoqiang; Dang, Anhong; Tang, Junxiong; Guo, Hong

2010-02-01

In an air-to-ground free-space optical communication system, strong background interference seriously affects the beacon detection, which makes it difficult to establish the optical link. In this paper, we propose a correlation beacon detection scheme under strong background interference conditions. As opposed to traditional beacon detection schemes, the beacon is modulated by an m-sequence at the transmitting terminal with a digital differential matched filter (DDMF) array introduced at the receiving end to detect the modulated beacon. This scheme is capable of suppressing both strong interference and noise by correlation reception of the received image sequence. In addition, the DDMF array enables each pixel of the image sensor to have its own DDMF of the same structure to process its received image sequence in parallel, thus it makes fast beacon detection possible. Theoretical analysis and an outdoor experiment have been demonstrated and show that the proposed scheme can realize fast and effective beacon detection under strong background interference conditions. Consequently, the required beacon transmission power can also be reduced dramatically.

A switching formation strategy for obstacle avoidance of a multi-robot system based on robot priority model.

PubMed

Dai, Yanyan; Kim, YoonGu; Wee, SungGil; Lee, DongHa; Lee, SukGyu

2015-05-01

This paper describes a switching formation strategy for multi-robots with velocity constraints to avoid and cross obstacles. In the strategy, a leader robot plans a safe path using the geometric obstacle avoidance control method (GOACM). By calculating new desired distances and bearing angles with the leader robot, the follower robots switch into a safe formation. With considering collision avoidance, a novel robot priority model, based on the desired distance and bearing angle between the leader and follower robots, is designed during the obstacle avoidance process. The adaptive tracking control algorithm guarantees that the trajectory and velocity tracking errors converge to zero. To demonstrate the validity of the proposed methods, simulation and experiment results present that multi-robots effectively form and switch formation avoiding obstacles without collisions. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

How do walkers avoid a mobile robot crossing their way?

PubMed

Vassallo, Christian; Olivier, Anne-Hélène; Souères, Philippe; Crétual, Armel; Stasse, Olivier; Pettré, Julien

2017-01-01

Robots and Humans have to share the same environment more and more often. In the aim of steering robots in a safe and convenient manner among humans it is required to understand how humans interact with them. This work focuses on collision avoidance between a human and a robot during locomotion. Having in mind previous results on human obstacle avoidance, as well as the description of the main principles which guide collision avoidance strategies, we observe how humans adapt a goal-directed locomotion task when they have to interfere with a mobile robot. Our results show differences in the strategy set by humans to avoid a robot in comparison with avoiding another human. Humans prefer to give the way to the robot even when they are likely to pass first at the beginning of the interaction. Copyright © 2016 Elsevier B.V. All rights reserved.

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation

PubMed Central

Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

2017-01-01

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods. PMID:28425946

Robot-Beacon Distributed Range-Only SLAM for Resource-Constrained Operation.

PubMed

Torres-González, Arturo; Martínez-de Dios, Jose Ramiro; Ollero, Anibal

2017-04-20

This work deals with robot-sensor network cooperation where sensor nodes (beacons) are used as landmarks for Range-Only (RO) Simultaneous Localization and Mapping (SLAM). Most existing RO-SLAM techniques consider beacons as passive devices disregarding the sensing, computational and communication capabilities with which they are actually endowed. SLAM is a resource-demanding task. Besides the technological constraints of the robot and beacons, many applications impose further resource consumption limitations. This paper presents a scalable distributed RO-SLAM scheme for resource-constrained operation. It is capable of exploiting robot-beacon cooperation in order to improve SLAM accuracy while meeting a given resource consumption bound expressed as the maximum number of measurements that are integrated in SLAM per iteration. The proposed scheme combines a Sparse Extended Information Filter (SEIF) SLAM method, in which each beacon gathers and integrates robot-beacon and inter-beacon measurements, and a distributed information-driven measurement allocation tool that dynamically selects the measurements that are integrated in SLAM, balancing uncertainty improvement and resource consumption. The scheme adopts a robot-beacon distributed approach in which each beacon participates in the selection, gathering and integration in SLAM of robot-beacon and inter-beacon measurements, resulting in significant estimation accuracies, resource-consumption efficiency and scalability. It has been integrated in an octorotor Unmanned Aerial System (UAS) and evaluated in 3D SLAM outdoor experiments. The experimental results obtained show its performance and robustness and evidence its advantages over existing methods.

Enhancement of Beaconless Location-Based Routing with Signal Strength Assistance for Ad-Hoc Networks

NASA Astrophysics Data System (ADS)

Chen, Guowei; Itoh, Kenichi; Sato, Takuro

Routing in Ad-hoc networks is unreliable due to the mobility of the nodes. Location-based routing protocols, unlike other protocols which rely on flooding, excel in network scalability. Furthermore, new location-based routing protocols, like, e. g. BLR [1], IGF [2], & CBF [3] have been proposed, with the feature of not requiring beacons in MAC-layer, which improve more in terms of scalability. Such beaconless routing protocols can work efficiently in dense network areas. However, these protocols' algorithms have no ability to avoid from routing into sparse areas. In this article, historical signal strength has been added as a factor into the BLR algorithm, which avoids routing into sparse area, and consequently improves the global routing efficiency.

SU-E-J-257: Image Artifacts Caused by Implanted Calypso Beacons in MRI Studies

DOE Office of Scientific and Technical Information (OSTI.GOV)

Amro, H; Chetty, I; Gordon, J

2014-06-01

Purpose: The presence of Calypso Beacon-transponders in patients can cause artifacts during MRI imaging studies. This could be a problem for post-treatment follow up of cancer patients using MRI studies to evaluate metastasis and for functional imaging studies.This work assesses (1) the volume immediately surrounding the transponders that will not be visualized by the MRI due to the beacons, and (2) the dependence of the non-visualized volume on beacon orientation, and scanning techniques. Methods: Two phantoms were used in this study (1) water filled box, (2) and a 2300 cc block of pork meat. Calypso beacons were implanted in themore » phantoms both in parallel and perpendicular orientations with respect to the MR scanner magnetic field. MR image series of the phantom were obtained with on a 1.0T high field open MR-SIM with multiple pulse sequences, for example, T1-weighted fast field echo and T2-weighted turbo spin echo. Results: On average, a no-signal region with 2 cm radius and 3 cm length was measured. Image artifacts are more significant when beacons are placed parallel to scanner magnetic field; the no-signal area around the beacon was about 0.5 cm larger in orthogonal orientation. The no-signal region surrounding the beacons slightly varies in dimension for the different pulse sequences. Conclusion: The use of Calypso beacons can prohibit the use of MRI studies in post-treatment assessments, especially in the immediate region surrounding the implanted beacon. A characterization of the MR scanner by identifying the no-signal regions due to implanted beacons is essential. This may render the use of Calypso beacons useful for some cases and give the treating physician a chance to identify those patients prior to beacon implantation.« less

Privacy Risks from Genomic Data-Sharing Beacons

PubMed Central

Shringarpure, Suyash S.; Bustamante, Carlos D.

2015-01-01

The human genetics community needs robust protocols that enable secure sharing of genomic data from participants in genetic research. Beacons are web servers that answer allele-presence queries—such as “Do you have a genome that has a specific nucleotide (e.g., A) at a specific genomic position (e.g., position 11,272 on chromosome 1)?”—with either “yes” or “no.” Here, we show that individuals in a beacon are susceptible to re-identification even if the only data shared include presence or absence information about alleles in a beacon. Specifically, we propose a likelihood-ratio test of whether a given individual is present in a given genetic beacon. Our test is not dependent on allele frequencies and is the most powerful test for a specified false-positive rate. Through simulations, we showed that in a beacon with 1,000 individuals, re-identification is possible with just 5,000 queries. Relatives can also be identified in the beacon. Re-identification is possible even in the presence of sequencing errors and variant-calling differences. In a beacon constructed with 65 European individuals from the 1000 Genomes Project, we demonstrated that it is possible to detect membership in the beacon with just 250 SNPs. With just 1,000 SNP queries, we were able to detect the presence of an individual genome from the Personal Genome Project in an existing beacon. Our results show that beacons can disclose membership and implied phenotypic information about participants and do not protect privacy a priori. We discuss risk mitigation through policies and standards such as not allowing anonymous pings of genetic beacons and requiring minimum beacon sizes. PMID:26522470

Privacy Risks from Genomic Data-Sharing Beacons.

PubMed

Shringarpure, Suyash S; Bustamante, Carlos D

2015-11-05

The human genetics community needs robust protocols that enable secure sharing of genomic data from participants in genetic research. Beacons are web servers that answer allele-presence queries--such as "Do you have a genome that has a specific nucleotide (e.g., A) at a specific genomic position (e.g., position 11,272 on chromosome 1)?"--with either "yes" or "no." Here, we show that individuals in a beacon are susceptible to re-identification even if the only data shared include presence or absence information about alleles in a beacon. Specifically, we propose a likelihood-ratio test of whether a given individual is present in a given genetic beacon. Our test is not dependent on allele frequencies and is the most powerful test for a specified false-positive rate. Through simulations, we showed that in a beacon with 1,000 individuals, re-identification is possible with just 5,000 queries. Relatives can also be identified in the beacon. Re-identification is possible even in the presence of sequencing errors and variant-calling differences. In a beacon constructed with 65 European individuals from the 1000 Genomes Project, we demonstrated that it is possible to detect membership in the beacon with just 250 SNPs. With just 1,000 SNP queries, we were able to detect the presence of an individual genome from the Personal Genome Project in an existing beacon. Our results show that beacons can disclose membership and implied phenotypic information about participants and do not protect privacy a priori. We discuss risk mitigation through policies and standards such as not allowing anonymous pings of genetic beacons and requiring minimum beacon sizes. Copyright © 2015 The Authors. Published by Elsevier Inc. All rights reserved.

Evaluation of Pedestrian Hybrid Beacons and Rapid Flashing Beacons

DOT National Transportation Integrated Search

2016-07-01

Two pedestrian treatments receiving national attention are the rectangular rapid-flashing beacon (RRFB) and the pedestrian hybrid beacon (PHB). These devices have unique characteristics that produce improved vehicle stopping and yielding to crossing ...

Opportunities for collision countermeasures using intelligent technologies.

DOT National Transportation Integrated Search

1997-01-01

Since 1991, the National Highway Traffic Safety Administration (NHTSA) has had a concentrated program to facilitate the development and deployment of effective safety-related collision avoidance systems as part of the Intelligent Transportation Syste...

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).

Evaluation of Skylab earth laser beacon imagery. [spaceborne photography

NASA Technical Reports Server (NTRS)

Piech, K. R.; Schott, J. R.

1975-01-01

During the Skylab 3 and 4 missions the Skylab spacecraft was illuminated by a low power argon ion and dye laser. The earth laser beacon was studied visually by the astronauts. In addition, they collected 35 mm hand-held color photographs of the beacons. Photographs are shown that were obtained on Skylab 3 and Skylab 4. The imagery collected during the Skylab mission was analyzed to evaluate the utility of beacon lasers as terrestial 'artificial stars' for space navigation. The analyses of the imagery revealed two unusual features of the earth laser beacon: (1) The beacon, even though of a low power (approximately 1 watt), is considerably brighter than any other terrain feature and is readily visible on imagery at a distance in excess of 1500 km (900 miles). (2) Another feature of the beacon is its large size. The typical beacon extends over about 5 resolution areas with a characteristic dimension of about 200 m.

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 probability of collision Pc > 10 (sup -6) can be mitigated.

Beacon Beams for Deep Turbulence High Energy Laser Beam Directors

DTIC Science & Technology

2012-11-02

variance and nC is the atmospheric refractive index structure constant. The effect of turbulence on the focused beacon beam on target, TR...complete phase conjugation of the beacon beam is accomplished by employing Brillouin enhanced optical four wave mixing. A beacon beam formed by...Naval Research Laboratory Washington, DC 20375-5320 NRL/MR/6790--12-9445 Beacon Beams for Deep Turbulence High Energy Laser Beam Directors P

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.

Collision Avoidance "Short Course" Part III: CA Role in Changing Space Flight Environment

NASA Technical Reports Server (NTRS)

Newman, Lauri

2017-01-01

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 CNES have collaborated to offer an introductory short course on all the major aspects of the conjunction assessment problem. This half-day course will cover satellite conjunction dynamics and theory, 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.

Collision avoidance in persons with homonymous visual field defects under virtual reality conditions.

PubMed

Papageorgiou, Eleni; Hardiess, Gregor; Ackermann, Hermann; Wiethoelter, Horst; Dietz, Klaus; Mallot, Hanspeter A; Schiefer, Ulrich

2012-01-01

The aim of the present study was to examine the effect of homonymous visual field defects (HVFDs) on collision avoidance of dynamic obstacles at an intersection under virtual reality (VR) conditions. Overall performance was quantitatively assessed as the number of collisions at a virtual intersection at two difficulty levels. HVFDs were assessed by binocular semi-automated kinetic perimetry within the 90° visual field, stimulus III4e and the area of sparing within the affected hemifield (A-SPAR in deg(2)) was calculated. The effect of A-SPAR, age, gender, side of brain lesion, time since brain lesion and presence of macular sparing on the number of collisions, as well as performance over time were investigated. Thirty patients (10 female, 20 male, age range: 19-71 years) with HVFDs due to unilateral vascular brain lesions and 30 group-age-matched subjects with normal visual fields were examined. The mean number of collisions was higher for patients and in the more difficult level they experienced more collisions with vehicles approaching from the blind side than the seeing side. Lower A-SPAR and increasing age were associated with decreasing performance. However, in agreement with previous studies, wide variability in performance among patients with identical visual field defects was observed and performance of some patients was similar to that of normal subjects. Both patients and healthy subjects displayed equal improvement of performance over time in the more difficult level. In conclusion, our results suggest that visual-field related parameters per se are inadequate in predicting successful collision avoidance. Individualized approaches which also consider compensatory strategies by means of eye and head movements should be introduced. Copyright © 2011 Elsevier Ltd. All rights reserved.

Determining Locations by Use of Networks of Passive Beacons

NASA Technical Reports Server (NTRS)

Okino, Clayton; Gray, Andrew; Jennings, Esther

2009-01-01

Networks of passive radio beacons spanning moderate-sized terrain areas have been proposed to aid navigation of small robotic aircraft that would be used to explore Saturn s moon Titan. Such networks could also be used on Earth to aid navigation of robotic aircraft, land vehicles, or vessels engaged in exploration or reconnaissance in situations or locations (e.g., underwater locations) in which Global Positioning System (GPS) signals are unreliable or unavailable. Prior to use, it would be necessary to pre-position the beacons at known locations that would be determined by use of one or more precise independent global navigation system(s). Thereafter, while navigating over the area spanned by a given network of passive beacons, an exploratory robot would use the beacons to determine its position precisely relative to the known beacon positions (see figure). If it were necessary for the robot to explore multiple, separated terrain areas spanned by different networks of beacons, the robot could use a long-haul, relatively coarse global navigation system for the lower-precision position determination needed during transit between such areas. The proposed method of precise determination of position of an exploratory robot relative to the positions of passive radio beacons is based partly on the principles of radar and partly on the principles of radio-frequency identification (RFID) tags. The robot would transmit radar-like signals that would be modified and reflected by the passive beacons. The distance to each beacon would be determined from the roundtrip propagation time and/or round-trip phase shift of the signal returning from that beacon. Signals returned from different beacons could be distinguished by means of their RFID characteristics. Alternatively or in addition, the antenna of each beacon could be designed to radiate in a unique pattern that could be identified by the navigation system. Also, alternatively or in addition, sets of identical beacons could be deployed in unique configurations such that the navigation system could identify their unique combinations of radio-frequency reflections as an alternative to leveraging the uniqueness of the RFID tags. The degree of dimensional accuracy would depend not only on the locations of the beacons but also on the number of beacon signals received, the number of samples of each signal, the motion of the robot, and the time intervals between samples. At one extreme, a single sample of the return signal from a single beacon could be used to determine the distance from that beacon and hence to determine that the robot is located somewhere on a sphere, the radius of which equals that distance and the center of which lies at the beacon. In a less extreme example, the three-dimensional position of the robot could be determined with fair precision from a single sample of the signal from each of three beacons. In intermediate cases, position estimates could be refined and/or position ambiguities could be resolved by use of supplementary readings of an altimeter and other instruments aboard the robot.

14 CFR 171.269 - Marker beacon performance requirements.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false Marker beacon performance requirements. 171.269 Section 171.269 Aeronautics and Space FEDERAL AVIATION ADMINISTRATION, DEPARTMENT OF... Landing System (ISMLS) § 171.269 Marker beacon performance requirements. ISMLS marker beacon equipment...

Surface target-tracking guidance by self-organizing formation flight of fixed-wing UAV

NASA Astrophysics Data System (ADS)

Regina, N.; Zanzi, M.

This paper presents a new concept of ground target surveillance based on a formation flight of two Unmanned Aerial Vehicles (UAVs) of fixed-wing type. Each UAV considered in this work has its own guidance law specifically designed for two different aims. A self organizing non-symmetric collaborative surveying scheme has been developed based on pursuers with different roles: the close-up-pursuer and the distance-pursuer. The close-up-pursuer behaves according to a guidance law which takes it to continually over-fly the target, also optimizing flight endurance. On the other hand, the distancepursuer behaves so as to circle around the target by flying at a certain distance and altitude from it; moreover, its motion ensures the maximum “ seeability” of the ground based target. In addition, the guidance law designed for the distance-pursuer also implements a collision avoidance feature in order to prevent possible risks of collision with the close-up-pursuer during the tracking maneuvers. The surveying scheme is non-symmetric in the sense that the collision avoidance feature is accomplished by a guidance law implemented only on one of the two pursuers; moreover, it is collaborative because the surveying is performed by different tasks of two UAVs and is self-organizing because, due to the collision avoidance feature, target tracking does not require pre-planned collision-risk-free trajectories but trajectories are generated in real time.

Passenger rail equipment research in the U.S.

DOT National Transportation Integrated Search

2002-03-22

In 1989 the Federal Railroad Administration (FRA) initiated a program of research into the safety aspects of high-speed passenger train systems. Collision safety the balancing of collision avoidance measures of the system with the crashworthiness...

Communications and radar-supported transportation operations and planning : final report.

DOT National Transportation Integrated Search

2017-03-01

This project designs a conceptual framework to harness and mature wireless technology to improve : transportation safety, with a focus on frontal collision warning/collision avoidance (CW/CA) systems. The : framework identifies components of the tech...

Design of an Active Bumper with a Series Elastic Actuator for Pedestrian Protection of Small Unmanned Vehicles

NASA Astrophysics Data System (ADS)

Terumasa, Narukawa; Tomoki, Tsuge; Hiroshi, Yamamoto; Takahiro, Suzuki

2016-09-01

When autonomous unmanned vehicles are operated on sidewalks, the vehicles must have high safety standards such as avoiding injury when they come in contact with pedestrians. In this study, we established a design for preventing serious injury when such collisions occur. We designed an active bumper with a series elastic actuator, with the goal of avoiding serious injury to a pedestrian in a collision with a small unmanned vehicle. The series elastic actuator comprised an elastic element in series with a table driven by a ball screw and servo motor. The active bumper was used to control the contact force between a vehicle and a pedestrian. The optimal force for minimizing the deflection of the object of the collision was derived, and the actuator controlled to apply this optimal force. Numerical simulations showed that the active bumper was successful in improving the collision safety of small unmanned vehicles.

Sampling-Based Motion Planning Algorithms for Replanning and Spatial Load Balancing

DOE Office of Scientific and Technical Information (OSTI.GOV)

Boardman, Beth Leigh

The common theme of this dissertation is sampling-based motion planning with the two key contributions being in the area of replanning and spatial load balancing for robotic systems. Here, we begin by recalling two sampling-based motion planners: the asymptotically optimal rapidly-exploring random tree (RRT*), and the asymptotically optimal probabilistic roadmap (PRM*). We also provide a brief background on collision cones and the Distributed Reactive Collision Avoidance (DRCA) algorithm. The next four chapters detail novel contributions for motion replanning in environments with unexpected static obstacles, for multi-agent collision avoidance, and spatial load balancing. First, we show improved performance of the RRT*more » when using the proposed Grandparent-Connection (GP) or Focused-Refinement (FR) algorithms. Next, the Goal Tree algorithm for replanning with unexpected static obstacles is detailed and proven to be asymptotically optimal. A multi-agent collision avoidance problem in obstacle environments is approached via the RRT*, leading to the novel Sampling-Based Collision Avoidance (SBCA) algorithm. The SBCA algorithm is proven to guarantee collision free trajectories for all of the agents, even when subject to uncertainties in the knowledge of the other agents’ positions and velocities. Given that a solution exists, we prove that livelocks and deadlock will lead to the cost to the goal being decreased. We introduce a new deconfliction maneuver that decreases the cost-to-come at each step. This new maneuver removes the possibility of livelocks and allows a result to be formed that proves convergence to the goal configurations. Finally, we present a limited range Graph-based Spatial Load Balancing (GSLB) algorithm which fairly divides a non-convex space among multiple agents that are subject to differential constraints and have a limited travel distance. The GSLB is proven to converge to a solution when maximizing the area covered by the agents. The analysis for each of the above mentioned algorithms is confirmed in simulations.« less

Automated Spacecraft Conjunction Assessment at Mars and the Moon

NASA Technical Reports Server (NTRS)

Berry, David; Guinn, Joseph; Tarzi, Zahi; Demcak, Stuart

2012-01-01

Conjunction assessment and collision avoidance are areas of current high interest in space operations. Most current conjunction assessment activity focuses on the Earth orbital environment. Several of the world's space agencies have satellites in orbit at Mars and the Moon, and avoiding collisions there is important too. Smaller number of assets than Earth, and smaller number of organizations involved, but consequences similar to Earth scenarios.This presentation will examine conjunction assessment processes implemented at JPL for spacecraft in orbit at Mars and the Moon.

Localization with a mobile beacon in underwater acoustic sensor networks.

PubMed

Lee, Sangho; Kim, Kiseon

2012-01-01

Localization is one of the most important issues associated with underwater acoustic sensor networks, especially when sensor nodes are randomly deployed. Given that it is difficult to deploy beacon nodes at predetermined locations, localization schemes with a mobile beacon on the sea surface or along the planned path are inherently convenient, accurate, and energy-efficient. In this paper, we propose a new range-free Localization with a Mobile Beacon (LoMoB). The mobile beacon periodically broadcasts a beacon message containing its location. Sensor nodes are individually localized by passively receiving the beacon messages without inter-node communications. For location estimation, a set of potential locations are obtained as candidates for a node's location and then the node's location is determined through the weighted mean of all the potential locations with the weights computed based on residuals.

Localization with a Mobile Beacon in Underwater Acoustic Sensor Networks

PubMed Central

Lee, Sangho; Kim, Kiseon

2012-01-01

Localization is one of the most important issues associated with underwater acoustic sensor networks, especially when sensor nodes are randomly deployed. Given that it is difficult to deploy beacon nodes at predetermined locations, localization schemes with a mobile beacon on the sea surface or along the planned path are inherently convenient, accurate, and energy-efficient. In this paper, we propose a new range-free Localization with a Mobile Beacon (LoMoB). The mobile beacon periodically broadcasts a beacon message containing its location. Sensor nodes are individually localized by passively receiving the beacon messages without inter-node communications. For location estimation, a set of potential locations are obtained as candidates for a node's location and then the node's location is determined through the weighted mean of all the potential locations with the weights computed based on residuals. PMID:22778597

Development of an in-vehicle intersection collision countermeasure

NASA Astrophysics Data System (ADS)

Pierowicz, John A.

1997-02-01

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

An Interactive Real-Time Locating System Based on Bluetooth Low-Energy Beacon Network †

PubMed Central

Lin, You-Wei

2018-01-01

The ubiquity of Bluetooth-enabled smartphones and peripherals has brought tremendous convenience to our daily life. In recent years, Bluetooth beacons have also been gaining popularity in implementing a variety of innovative location-based services such as self-guided systems in exhibition centers. However, the broadcast-based beacon technology can only provide unidirectional communication. In case smartphone users would like to respond to the beacon messages, they have to rely on their own mobile Internet connections to send the information back to the backend system. Nevertheless, mobile Internet services may not be always available or too costly. In this work, we develop a real-time locating system based only on the Bluetooth low energy (BLE) technology to support interactive communications by combining the broadcast and mesh topology options to extend the applicability of beacon solutions. Specifically, we turn the smartphone into a beacon device and augment the beacon devices with the capability of forming a mesh network. The implementation result shows that our beacon devices can detect the presence of specific users at specific locations, and then the presence state can be sent to the application server via the relay of beacon devices. Moreover, the application server can send personalized location-based messages to the users, again via the relay of beacon devices. With the capability of relaying messages between the beacon devices, it would be convenient for developers to implement a variety of interactive applications such as tracking VIP customers at the airport, or tracking an elder with Alzheimer’s disease in the neighborhood. PMID:29883386

An Interactive Real-Time Locating System Based on Bluetooth Low-Energy Beacon Network †.

PubMed

Lin, You-Wei; Lin, Chi-Yi

2018-05-21

The ubiquity of Bluetooth-enabled smartphones and peripherals has brought tremendous convenience to our daily life. In recent years, Bluetooth beacons have also been gaining popularity in implementing a variety of innovative location-based services such as self-guided systems in exhibition centers. However, the broadcast-based beacon technology can only provide unidirectional communication. In case smartphone users would like to respond to the beacon messages, they have to rely on their own mobile Internet connections to send the information back to the backend system. Nevertheless, mobile Internet services may not be always available or too costly. In this work, we develop a real-time locating system based only on the Bluetooth low energy (BLE) technology to support interactive communications by combining the broadcast and mesh topology options to extend the applicability of beacon solutions. Specifically, we turn the smartphone into a beacon device and augment the beacon devices with the capability of forming a mesh network. The implementation result shows that our beacon devices can detect the presence of specific users at specific locations, and then the presence state can be sent to the application server via the relay of beacon devices. Moreover, the application server can send personalized location-based messages to the users, again via the relay of beacon devices. With the capability of relaying messages between the beacon devices, it would be convenient for developers to implement a variety of interactive applications such as tracking VIP customers at the airport, or tracking an elder with Alzheimer’s disease in the neighborhood.

14 CFR 171.321 - DME and marker beacon performance requirements.

Code of Federal Regulations, 2010 CFR

2010-01-01

... 14 Aeronautics and Space 3 2010-01-01 2010-01-01 false DME and marker beacon performance... (MLS) § 171.321 DME and marker beacon performance requirements. (a) The DME equipment must meet the..._regulations/ibr_locations.html. (b) MLS marker beacon equipment must meet the performance requirements...

Comparative Analysis of ACAS-Xu and DAIDALUS Detect-and-Avoid Systems

NASA Technical Reports Server (NTRS)

Davies, Jason T.; Wu, Minghong G.

2018-01-01

The Detect and Avoid (DAA) capability of a recent version (Run 3) of the Airborne Collision Avoidance System-Xu (ACAS-Xu) is measured against that of the Detect and AvoID Alerting Logic for Unmanned Systems (DAIDALUS), a reference algorithm for the Phase 1 Minimum Operational Performance Standards (MOPS) for DAA. This comparative analysis of the two systems' alerting and horizontal guidance outcomes is conducted through the lens of the Detect and Avoid mission using flight data of scripted encounters from a recent flight test. Results indicate comparable timelines and outcomes between ACAS-Xu's Remain Well Clear alert and guidance and DAIDALUS's corrective alert and guidance, although ACAS-Xu's guidance appears to be more conservative. ACAS-Xu's Collision Avoidance alert and guidance occurs later than DAIDALUS's warning alert and guidance, and overlaps with DAIDALUS's timeline of maneuver to remain Well Clear. Interesting discrepancies between ACAS-Xu's directive guidance and DAIDALUS's "Regain Well Clear" guidance occur in some scenarios.

CAESAR: An Initiative of Public Service for Collision Risks Mitigation

NASA Astrophysics Data System (ADS)

Laporte, Francois; Moury, Monique; Beaumet, Gregory

2013-09-01

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, and the condition for the distribution of the CNES software JAC and the advantages for subscribers.

Molecular beacon sequence design algorithm.

PubMed

Monroe, W Todd; Haselton, Frederick R

2003-01-01

A method based on Web-based tools is presented to design optimally functioning molecular beacons. Molecular beacons, fluorogenic hybridization probes, are a powerful tool for the rapid and specific detection of a particular nucleic acid sequence. However, their synthesis costs can be considerable. Since molecular beacon performance is based on its sequence, it is imperative to rationally design an optimal sequence before synthesis. The algorithm presented here uses simple Microsoft Excel formulas and macros to rank candidate sequences. This analysis is carried out using mfold structural predictions along with other free Web-based tools. For smaller laboratories where molecular beacons are not the focus of research, the public domain algorithm described here may be usefully employed to aid in molecular beacon design.

Antarctic field tests of SARSAT personal locater beacons

NASA Technical Reports Server (NTRS)

Bindschadler, Robert

1987-01-01

Field tests of SARSAT personal locater beacons were conducted in the Antarctic to assess the viability of using these beacons to increase the safety of Antarctic field parties. Data were collected on the extent to which dry or wet snow, melting conditions, crevasse walls and snow bridges affected the ability of the SARSAT satellite to calculate an accurate position of the beacon. Average response time between beacon turn on and alert reception in McMurdo was between 4 and 5 hours for these tests. It is concluded that the SARSAT system is viable for Antarctic operations and it is recommended that it be implemented for future field operations. Because of obstruction of line-of-sight between beacon and satellite degrades the accuracy of the location calculation (particularly in wet snow), it is further recommended that field parties have sufficient numbers of beacons to insure that in an emergency, one will be able to operate from the surface.

High-visibility infrared beacons for IFF and combat ID

NASA Astrophysics Data System (ADS)

Pralle, Martin; Puscasu, Irina; Johnson, Edward; Loges, Peter; Melnyk, James

2005-05-01

A new kind of Identification Friend or Foe (IFF) infrared beacon has been demonstrated. The omni-directional beacon consists of a pyramidal array of 1W pulsIR thermal light sources. Operating at a total power of 84W, the beacon can be used to track and identify surface vehicles and personnel with a recognition range of up to 6 miles on the battlefield and in urban environments or the marine boundary layer. Advanced photonic technology enables the beacon to be seen only while using a 3-5 μm or 8-12 μm thermal imaging system. There is no visible or near-IR emission to betray the location of the beacon. The beacon is rugged and will operate from -40 to 50°C ambient temperature, 0-100% relative humidity, 0 - 10,000 ft altitude, and meets MIL-STD 810F and MIL-STD 461E.

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.

33 CFR 62.23 - Beacons and buoys.

Code of Federal Regulations, 2010 CFR

2010-07-01

... navigation. The primary components of the U.S. Aids to Navigation System are beacons and buoys. (b) Beacons are aids to navigation structures which are permanently fixed to the earth's surface. They range from... UNITED STATES AIDS TO NAVIGATION SYSTEM The U.S. Aids to Navigation System § 62.23 Beacons and buoys. (a...

33 CFR 62.23 - Beacons and buoys.

Code of Federal Regulations, 2011 CFR

2011-07-01

... navigation. The primary components of the U.S. Aids to Navigation System are beacons and buoys. (b) Beacons are aids to navigation structures which are permanently fixed to the earth's surface. They range from... UNITED STATES AIDS TO NAVIGATION SYSTEM The U.S. Aids to Navigation System § 62.23 Beacons and buoys. (a...

33 CFR 62.23 - Beacons and buoys.

Code of Federal Regulations, 2013 CFR

2013-07-01

... navigation. The primary components of the U.S. Aids to Navigation System are beacons and buoys. (b) Beacons are aids to navigation structures which are permanently fixed to the earth's surface. They range from... UNITED STATES AIDS TO NAVIGATION SYSTEM The U.S. Aids to Navigation System § 62.23 Beacons and buoys. (a...

33 CFR 62.23 - Beacons and buoys.

Code of Federal Regulations, 2014 CFR

2014-07-01

... navigation. The primary components of the U.S. Aids to Navigation System are beacons and buoys. (b) Beacons are aids to navigation structures which are permanently fixed to the earth's surface. They range from... UNITED STATES AIDS TO NAVIGATION SYSTEM The U.S. Aids to Navigation System § 62.23 Beacons and buoys. (a...

33 CFR 62.23 - Beacons and buoys.

Code of Federal Regulations, 2012 CFR

2012-07-01

... navigation. The primary components of the U.S. Aids to Navigation System are beacons and buoys. (b) Beacons are aids to navigation structures which are permanently fixed to the earth's surface. They range from... UNITED STATES AIDS TO NAVIGATION SYSTEM The U.S. Aids to Navigation System § 62.23 Beacons and buoys. (a...

Power-Efficient Beacon Recognition Method Based on Periodic Wake-Up for Industrial Wireless Devices.

PubMed

Song, Soonyong; Lee, Donghun; Jang, Ingook; Choi, Jinchul; Son, Youngsung

2018-04-17

Energy harvester-integrated wireless devices are attractive for generating semi-permanent power from wasted energy in industrial environments. The energy-harvesting wireless devices may have difficulty in their communication with access points due to insufficient power supply for beacon recognition during network initialization. In this manuscript, we propose a novel method of beacon recognition based on wake-up control to reduce instantaneous power consumption in the initialization procedure. The proposed method applies a moving window for the periodic wake-up of the wireless devices. For unsynchronized wireless devices, beacons are always located in the same positions within each beacon interval even though the starting offsets are unknown. Using these characteristics, the moving window checks the existence of the beacon associated withspecified resources in a beacon interval, checks again for neighboring resources at the next beacon interval, and so on. This method can reduce instantaneous power and generates a surplus of charging time. Thus, the proposed method alleviates the problems of power insufficiency in the network initialization. The feasibility of the proposed method is evaluated using computer simulations of power shortage in various energy-harvesting conditions.

Synthesis and Characterization of a Magnetically Active 19F Molecular Beacon.

PubMed

Dempsey, Megan E; Marble, Hetal D; Shen, Tun-Li; Fawzi, Nicolas L; Darling, Eric M

2018-02-21

Gene expression is used extensively to describe cellular characteristics and behaviors; however, most methods of assessing gene expression are unsuitable for living samples, requiring destructive processes such as fixation or lysis. Recently, molecular beacons have become a viable tool for live-cell imaging of mRNA molecules in situ. Historically, beacon-mediated imaging has been limited to fluorescence-based approaches. We propose the design and synthesis of a novel molecular beacon for magnetic resonance detection of any desired target nucleotide sequence. The biologically compatible synthesis incorporates commonly used bioconjugation reactions in aqueous conditions and is accessible for laboratories without extensive synthesis capabilities. The resulting beacon uses fluorine ( 19 F) as a reporter, which is broadened, or turned "off", via paramagnetic relaxation enhancement from a stabilized nitroxide radical spin label when the beacon is not bound to its nucleic acid target. Therefore, the 19 F NMR signal of the beacon is quenched in its hairpin conformation when the spin label and the 19 F substituent are held in proximity, but the signal is recovered upon beacon hybridization to its specific complementary nucleotide sequence by physical separation of the radical from the 19 F reporter. This study establishes a path for magnetic resonance-based assessment of specific mRNA expression, providing new possibilities for applying molecular beacon technology in living systems.

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

Addressing Beacon re-identification attacks: quantification and mitigation of privacy risks.

PubMed

Raisaro, Jean Louis; Tramèr, Florian; Ji, Zhanglong; Bu, Diyue; Zhao, Yongan; Carey, Knox; Lloyd, David; Sofia, Heidi; Baker, Dixie; Flicek, Paul; Shringarpure, Suyash; Bustamante, Carlos; Wang, Shuang; Jiang, Xiaoqian; Ohno-Machado, Lucila; Tang, Haixu; Wang, XiaoFeng; Hubaux, Jean-Pierre

2017-07-01

The Global Alliance for Genomics and Health (GA4GH) created the Beacon Project as a means of testing the willingness of data holders to share genetic data in the simplest technical context-a query for the presence of a specified nucleotide at a given position within a chromosome. Each participating site (or "beacon") is responsible for assuring that genomic data are exposed through the Beacon service only with the permission of the individual to whom the data pertains and in accordance with the GA4GH policy and standards.While recognizing the inference risks associated with large-scale data aggregation, and the fact that some beacons contain sensitive phenotypic associations that increase privacy risk, the GA4GH adjudged the risk of re-identification based on the binary yes/no allele-presence query responses as acceptable. However, recent work demonstrated that, given a beacon with specific characteristics (including relatively small sample size and an adversary who possesses an individual's whole genome sequence), the individual's membership in a beacon can be inferred through repeated queries for variants present in the individual's genome.In this paper, we propose three practical strategies for reducing re-identification risks in beacons. The first two strategies manipulate the beacon such that the presence of rare alleles is obscured; the third strategy budgets the number of accesses per user for each individual genome. Using a beacon containing data from the 1000 Genomes Project, we demonstrate that the proposed strategies can effectively reduce re-identification risk in beacon-like datasets. © The Author 2017. Published by Oxford University Press on behalf of the American Medical Informatics Association.

Theory of Aircraft Collision-Avoidance System Design and Evaluation

DOT National Transportation Integrated Search

1971-05-01

The problem of aircraft anti-collision system design and evaluation is discussed in this work. Two evaluation criteria, conflict ratio and probability of missed critical alarm are formulated and are found to be independent of both traffic density and...

A Place to Grow: Evaluation of the New York City Beacons. Final Report

ERIC Educational Resources Information Center

Warren, Constancia; Feist, Michelle; Nevarez, Nancy

2002-01-01

This study examined six Beacon centers, which are community centers located in public school buildings that offer a range of activities and services to participants of all ages, before and after school, in the evenings, and on weekends. Individual Beacons are managed by community-based organizations. The study examined how the Beacons provided…

A Place To Grow: Evaluation of the New York City Beacons. Summary Report.

ERIC Educational Resources Information Center

Warren, Constancia; Feist, Michelle; Nevarez, Nancy

This study examined six Beacon centers, which are community centers located in public school buildings that offer a range of activities and services to participants of all ages, before and after school, in the evenings, and on weekends. Individual Beacons are managed by community-based organizations. The study examined how the Beacons provided…

33 CFR 149.580 - What are the requirements for a radar beacon?

Code of Federal Regulations, 2011 CFR

2011-07-01

... radar beacon? 149.580 Section 149.580 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF... Navigation Miscellaneous § 149.580 What are the requirements for a radar beacon? (a) A radar beacon (RACON... Morse code character, the length of which does not exceed 25 percent of the radar range expected to be...

33 CFR 149.580 - What are the requirements for a radar beacon?

Code of Federal Regulations, 2010 CFR

2010-07-01

... radar beacon? 149.580 Section 149.580 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF... Navigation Miscellaneous § 149.580 What are the requirements for a radar beacon? (a) A radar beacon (RACON... Morse code character, the length of which does not exceed 25 percent of the radar range expected to be...

Nucleic acid detection using BRET-beacons based on bioluminescent protein-DNA hybrids.

PubMed

Engelen, Wouter; van de Wiel, Kayleigh M; Meijer, Lenny H H; Saha, Bedabrata; Merkx, Maarten

2017-03-02

Bioluminescent molecular beacons have been developed using a modular design approach that relies on BRET between the bright luciferase NanoLuc and a Cy3 acceptor. While classical molecular beacons are hampered by background fluorescence and scattering, these BRET-beacons allow detection of low pM concentrations of nucleic acids directly in complex media.

33 CFR 149.580 - What are the requirements for a radar beacon?

Code of Federal Regulations, 2013 CFR

2013-07-01

... radar beacon? 149.580 Section 149.580 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF... Navigation Miscellaneous § 149.580 What are the requirements for a radar beacon? (a) A radar beacon (RACON... Morse code character, the length of which does not exceed 25 percent of the radar range expected to be...

33 CFR 149.580 - What are the requirements for a radar beacon?

Code of Federal Regulations, 2014 CFR

2014-07-01

... radar beacon? 149.580 Section 149.580 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF... Navigation Miscellaneous § 149.580 What are the requirements for a radar beacon? (a) A radar beacon (RACON... Morse code character, the length of which does not exceed 25 percent of the radar range expected to be...

33 CFR 149.580 - What are the requirements for a radar beacon?

Code of Federal Regulations, 2012 CFR

2012-07-01

... radar beacon? 149.580 Section 149.580 Navigation and Navigable Waters COAST GUARD, DEPARTMENT OF... Navigation Miscellaneous § 149.580 What are the requirements for a radar beacon? (a) A radar beacon (RACON... Morse code character, the length of which does not exceed 25 percent of the radar range expected to be...

Polarization tracking system for free-space optical communication, including quantum communication

DOE Office of Scientific and Technical Information (OSTI.GOV)

Nordholt, Jane Elizabeth; Newell, Raymond Thorson; Peterson, Charles Glen

Quantum communication transmitters include beacon lasers that transmit a beacon optical signal in a predetermined state of polarization such as one of the states of polarization of a quantum communication basis. Changes in the beacon polarization are detected at a receiver, and a retarder is adjusted so that the states of polarization in a received quantum communication optical signal are matched to basis polarizations. The beacon and QC signals can be at different wavelengths so that the beacon does not interfere with detection and decoding of the QC optical signal.

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.

First annual report : automotive collision avoidance system field operational test

DOT National Transportation Integrated Search

2002-05-01

In June of 1999, the National Highway Traffic Safety Administration entered into a cooperative research agreement with General Motors to advance the state-of-the-art of rear-end collision warning technology and conduct a field operational test of a f...

Anticipatory sensors for collision avoidance and crash protection as applied to vehicle safety research.

DOT National Transportation Integrated Search

1973-05-01

Considerable effort has been expended in recent years to develop anticipatory crash sensors-effective means of detecting motor vehicle collisions immediately prior to occurrence. If the potential crash is sensed early enough, evasive action may be in...

Sensor Fusion Based Model for Collision Free Mobile Robot Navigation

PubMed Central

Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

2015-01-01

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

Sensor Fusion Based Model for Collision Free Mobile Robot Navigation.

PubMed

Almasri, Marwah; Elleithy, Khaled; Alajlan, Abrar

2015-12-26

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

Addressing Beacon re-identification attacks: quantification and mitigation of privacy risks

PubMed Central

Zhao, Yongan; Carey, Knox; Lloyd, David; Sofia, Heidi; Baker, Dixie; Flicek, Paul; Shringarpure, Suyash; Bustamante, Carlos; Wang, Shuang; Jiang, Xiaoqian; Ohno-Machado, Lucila; Tang, Haixu; Wang, XiaoFeng; Hubaux, Jean-Pierre

2018-01-01

The Global Alliance for Genomics and Health (GA4GH) created the Beacon Project as a means of testing the willingness of data holders to share genetic data in the simplest technical context—a query for the presence of a specified nucleotide at a given position within a chromosome. Each participating site (or “beacon”) is responsible for assuring that genomic data are exposed through the Beacon service only with the permission of the individual to whom the data pertains and in accordance with the GA4GH policy and standards. While recognizing the inference risks associated with large-scale data aggregation, and the fact that some beacons contain sensitive phenotypic associations that increase privacy risk, the GA4GH adjudged the risk of re-identification based on the binary yes/no allele-presence query responses as acceptable. However, recent work demonstrated that, given a beacon with specific characteristics (including relatively small sample size and an adversary who possesses an individual’s whole genome sequence), the individual’s membership in a beacon can be inferred through repeated queries for variants present in the individual’s genome. In this paper, we propose three practical strategies for reducing re-identification risks in beacons. The first two strategies manipulate the beacon such that the presence of rare alleles is obscured; the third strategy budgets the number of accesses per user for each individual genome. Using a beacon containing data from the 1000 Genomes Project, we demonstrate that the proposed strategies can effectively reduce re-identification risk in beacon-like datasets. PMID:28339683

A search for optical beacons: implications of null results.

PubMed

Blair, David G; Zadnik, Marjan G

2002-01-01

Over the past few years a series of searches for interstellar radio beacons have taken place using the Parkes radio telescope. Here we report hitherto unpublished results from a search for optical beacons from 60 solar-type stars using the Perth-Lowell telescope. We discuss the significance of the null results from these searches, all of which were based on the interstellar contact channel hypothesis. While the null results of all searches to date can be explained simply by the nonexistence of electromagnetically communicating life elsewhere in the Milky Way, four other possible explanations that do not preclude its existence are proposed: (1) Extraterrestrial civilizations desiring to make contact through the use of electromagnetic beacons have a very low density in the Milky Way. (2) The interstellar contact channel hypothesis is incorrect, and beacons exist at frequencies that have not yet been searched. (3) The search has been incomplete in terms of sensitivity and/or target directions: Beacons exist, but more sensitive equipment and/or more searching is needed to achieve success. (4) The search has occurred before beacon signals can be expected to have arrived at the Earth, and beacon signals may be expected in the future. Based on consideration of the technology required for extraterrestrial civilizations to identify target planets, we argue that the fourth possibility is likely to be valid and that powerful, easily detectable beacons could be received in coming centuries.

Automatic Dependent Surveillance Broadcast: [micro]ADS-B Detect-and-Avoid Flight Tests

NASA Technical Reports Server (NTRS)

Arteaga, Ricardo; Dandachy, Mike

2018-01-01

The testing and demonstrations are necessary for both parties to further development and certification of the technology in three key areas; flights beyond line of sight, collision avoidance, and autonomous operations.

Advanced Vehicle Control Systems Potential Tort Liability For Developers

DOT National Transportation Integrated Search

1993-12-01

AUTOMOBILE ACCIDENTS AVOIDED BECAUSE THE AUTOMATIC COLLISION AVOIDANCE SYSTEM APPLIES THE BRAKES, HIGHWAYS WHICH ACCOMMODATE MORE VEHICLES WITH FEWER ACCIDENTS, AND EVEN CARS WHICH ARE PILOTED ENTIRELY BY SOPHISTICATED ELECTRONIC SYSTEMS -- ALL OF TH...

Underwater Acoustic Beacon Location System

DTIC Science & Technology

2016-12-23

300087 1 of 31 UNDERWATER ACOUSTIC BEACON LOCATION SYSTEM [0001] The present application claims the benefit of United States Provisional...Application Serial Number 62/297,179 filed on February 19, 2016 by the inventor, Steven E. Crocker and entitled “ Underwater Acoustic Beacon...search for and can locate an underwater location beacon. Attorney Docket No. 300087 2 of 31 (2) Description of the Prior Art [0005

Power-Efficient Beacon Recognition Method Based on Periodic Wake-Up for Industrial Wireless Devices

PubMed Central

Lee, Donghun; Jang, Ingook; Choi, Jinchul; Son, Youngsung

2018-01-01

Energy harvester-integrated wireless devices are attractive for generating semi-permanent power from wasted energy in industrial environments. The energy-harvesting wireless devices may have difficulty in their communication with access points due to insufficient power supply for beacon recognition during network initialization. In this manuscript, we propose a novel method of beacon recognition based on wake-up control to reduce instantaneous power consumption in the initialization procedure. The proposed method applies a moving window for the periodic wake-up of the wireless devices. For unsynchronized wireless devices, beacons are always located in the same positions within each beacon interval even though the starting offsets are unknown. Using these characteristics, the moving window checks the existence of the beacon associated withspecified resources in a beacon interval, checks again for neighboring resources at the next beacon interval, and so on. This method can reduce instantaneous power and generates a surplus of charging time. Thus, the proposed method alleviates the problems of power insufficiency in the network initialization. The feasibility of the proposed method is evaluated using computer simulations of power shortage in various energy-harvesting conditions. PMID:29673206

Quick acquisition and recognition method for the beacon in deep space optical communications.

PubMed

Wang, Qiang; Liu, Yuefei; Ma, Jing; Tan, Liying; Yu, Siyuan; Li, Changjiang

2016-12-01

In deep space optical communications, it is very difficult to acquire the beacon given the long communication distance. Acquisition efficiency is essential for establishing and holding the optical communication link. Here we proposed a quick acquisition and recognition method for the beacon in deep optical communications based on the characteristics of the deep optical link. To identify the beacon from the background light efficiently, we utilized the maximum similarity between the collecting image and the reference image for accurate recognition and acquisition of the beacon in the area of uncertainty. First, the collecting image and the reference image were processed by Fourier-Mellin. Second, image sampling and image matching were applied for the accurate positioning of the beacon. Finally, the field programmable gate array (FPGA)-based system was used to verify and realize this method. The experimental results showed that the acquisition time for the beacon was as fast as 8.1s. Future application of this method in the system design of deep optical communication will be beneficial.

Phase I interim report : automotive collision avoidance system field operational test

DOT National Transportation Integrated Search

2002-05-30

In June of 1999, the National Highway Traffic Safety Administration entered into a cooperative research agreement with General Motors to advance the state-of-the-art of rear-end collision warning technology and conduct a field operational test of a f...

Surprise braking trials, time-to-collision judgments, and "first look" maneuvers under realistic rear-end crash scenarios

DOT National Transportation Integrated Search

2005-08-01

This project continues to build upon the foundation provided by the human factors experimentation conducted in the previous Crash Avoidance Metrics Partnership (CAMP) Forward Collision Warning (FCW) system efforts. As in the previous CAMP FCW researc...

Scattering of trajectories of hazardous asteroids

NASA Astrophysics Data System (ADS)

Sokolov, Leonid; Petrov, Nikita; Kuteeva, Galina; Vasilyev, Andrey

2018-05-01

Early detection of possible collisions of asteroids with the Earth is necessary to exept the asteroid-comet hazard. Many collisions associate with resonant returns after preceding approaches. The difficulty of collisions prediction is associated with a resonant returns after encounters with the Earth due to loss of precision in these predictions. On the other hand, we can use the fly-by effect to avoid hazardous asteroid from collision. The main research object is the asteroid Apophis (99942), for which we found about 100 orbits of possible impacts with the Earth and more than 10 - with the Moon. It is shown that the early (before 2029) change of the Apophis orbit allows to avoid all main impacts with the Earth in 21st century, associated with resonant returns, and such a change of the orbit, in principle, is feasible. The scattering of possible trajectories of Apophis after 2029 and after 2051, as well as 2015 RN35 and other dangerous objects, is discussed.

Speed Approach for UAV Collision Avoidance

NASA Astrophysics Data System (ADS)

Berdonosov, V. D.; Zivotova, A. A.; Htet Naing, Zaw; Zhuravlev, D. O.

2018-05-01

The article represents a new approach of defining potential collision of two or more UAVs in a common aviation area. UAVs trajectories are approximated by two or three trajectories’ points obtained from the ADS-B system. In the process of defining meeting points of trajectories, two cutoff values of the critical speed range, at which a UAVs collision is possible, are calculated. As calculation expressions for meeting points and cutoff values of the critical speed are represented in the analytical form, even if an on-board computer system has limited computational capacity, the time for calculation will be far less than the time of receiving data from ADS-B. For this reason, calculations can be updated at each cycle of new data receiving, and the trajectory approximation can be bounded by straight lines. Such approach allows developing the compact algorithm of collision avoidance, even for a significant amount of UAVs (more than several dozens). To proof the research adequacy, modeling was performed using a software system developed specifically for this purpose.

MO-FG-BRA-06: Electromagnetic Beacon Insertion in Lung Cancer Patients and Resultant Surrogacy Errors for Dynamic MLC Tumour Tracking

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hardcastle, N; Booth, J; Caillet, V

Purpose: To assess endo-bronchial electromagnetic beacon insertion and to quantify the geometric accuracy of using beacons as a surrogate for tumour motion in real-time multileaf collimator (MLC) tracking of lung tumours. Methods: The LIGHT SABR trial is a world-first clinical trial in which the MLC leaves move with lung tumours in real time on a standard linear accelerator. Tracking is performed based on implanted electromagnetic beacons (CalypsoTM, Varian Medical Systems, USA) as a surrogate for tumour motion. Five patients have been treated and have each had three beacons implanted endo-bronchially under fluoroscopic guidance. The centre of mass (C.O.M) has beenmore » used to adapt the MLC in real-time. The geometric error in using the beacon C.O.M as a surrogate for tumour motion was measured by measuring the tumour and beacon C.O.M in all phases of the respiratory cycle of a 4DCT. The surrogacy error was defined as the difference in beacon and tumour C.O.M relative to the reference phase (maximum exhale). Results: All five patients have had three beacons successfully implanted with no migration between simulation and end of treatment. Beacon placement relative to tumour C.O.M varied from 14 to 74 mm and in one patient spanned two lobes. Surrogacy error was measured in each patient on the simulation 4DCT and ranged from 0 to 3 mm. Surrogacy error as measured on 4DCT was subject to artefacts in mid-ventilation phases. Surrogacy error was a function of breathing phase and was typically larger at maximum inhale. Conclusion: Beacon placement and thus surrogacy error is a major component of geometric uncertainty in MLC tracking of lung tumours. Surrogacy error must be measured on each patient and incorporated into margin calculation. Reduction of surrogacy error is limited by airway anatomy, however should be taken into consideration when performing beacon insertion and planning. This research is funded by Varian Medical Systems via a collaborative research agreement.« less

A trial of retrofitted advisory collision avoidance technology in government fleet vehicles.

PubMed

Thompson, James P; Mackenzie, Jamie R R; Dutschke, Jeffrey K; Baldock, Matthew R J; Raftery, Simon J; Wall, John

2018-06-01

In-vehicle collision avoidance technology (CAT) has the potential to prevent crash involvement. In 2015, Transport for New South Wales undertook a trial of a Mobileye 560 CAT system that was installed in 34 government fleet vehicles for a period of seven months. The system provided headway monitoring, lane departure, forward collision and pedestrian collision warnings, using audio and visual alerts. The purpose of the trial was to determine whether the technology could change the driving behaviour of fleet vehicle drivers and improve their safety. The evaluation consisted of three components: (1) analysis of objective data to examine effects of the technology on driving behaviour, (2) analysis of video footage taken from a sample of the vehicles to examine driving circumstances that trigger headway monitoring and forward collision warnings, and (3) a survey completed by 122 of the 199 individuals who drove the trial vehicles to examine experiences with, and attitudes to, the technology. Analysis of the objective data found that the system resulted in changes in behaviour with increased headway and improved lane keeping, but that these improvements dissipated once the warning alerts were switched off. Therefore, the system is capable of altering behaviour but only when it is actively providing alerts. In-vehicle video footage revealed that over a quarter of forward collision warnings were false alarms, in which a warning event was triggered despite there being no vehicle travelling ahead. The surveyed drivers recognised that the system could improve safety but most did not wish to use it themselves as they found it to be distracting and felt that it would not prevent them from having a crash. The results demonstrate that collision avoidance technology can improve driving behaviour but drivers may need to be educated about the potential benefits for their driving in order to accept the technology. Copyright © 2018 Elsevier Ltd. All rights reserved.

14 CFR Appendix B to Part 141 - Private Pilot Certification Course

Code of Federal Regulations, 2010 CFR

2010-01-01

...) Recognition of critical weather situations from the ground and in flight, windshear avoidance, and the... aircraft, including collision avoidance, and recognition and avoidance of wake turbulence; (8) Effects of... takeoffs and 10 landings to a full stop (with each landing involving a flight in the traffic pattern) at an...

14 CFR Appendix B to Part 141 - Private Pilot Certification Course

Code of Federal Regulations, 2011 CFR

2011-01-01

...) Recognition of critical weather situations from the ground and in flight, windshear avoidance, and the... aircraft, including collision avoidance, and recognition and avoidance of wake turbulence; (8) Effects of... takeoffs and 10 landings to a full stop (with each landing involving a flight in the traffic pattern) at an...

Proteus in flight over Southern California

NASA Image and Video Library

2003-03-27

Scaled Composites' unique tandem-wing Proteus was the testbed for a series of UAV collision-avoidance flight demonstrations. An Amphitech 35GHz radar unit installed below Proteus' nose was the primary sensor for the Detect, See and Avoid tests.

Proteus front view in flight

NASA Image and Video Library

2003-03-27

Scaled Composites' unique tandem-wing Proteus was the testbed for a series of UAV collision-avoidance flight demonstrations. An Amphitech 35GHz radar unit installed below Proteus' nose was the primary sensor for the Detect, See and Avoid tests.

UAS in the NAS Flight Test Series 4 Overview

NASA Technical Reports Server (NTRS)

Murphy, Jim

2016-01-01

Flight Test Series 4 (FT4) provides the researchers with an opportunity to expand on the data collected during the first flight tests. Following Flight Test Series 3, additional scripted encounters with different aircraft performance and sensors will be conducted. FT4 is presently planned for Spring of 2016 to ensure collection of data to support the validation of the final RTCA Phase 1 DAA (Detect and Avoid) Minimum Operational Performance Standards (MOPS). There are three research objectives associated with this goal: Evaluate the performance of the DAA system against cooperative and non-cooperative aircraft encounters Evaluate UAS (Unmanned Aircraft Systems) pilot performance in response to DAA maneuver guidance and alerting with live intruder encounters Evaluate TCAS/DAA (Traffic Alert and Collision Avoidance System/Detect and Avoid) interoperability. This flight test series will focus on only the Scripted Encounters configuration, supporting the collection of data to validate the interoperability of DAA and collision avoidance algorithms.

Design and Practical Evaluation of a Family of Lightweight Protocols for Heterogeneous Sensing through BLE Beacons in IoT Telemetry Applications.

PubMed

Hernández-Rojas, Dixys L; Fernández-Caramés, Tiago M; Fraga-Lamas, Paula; Escudero, Carlos J

2017-12-27

The Internet of Things (IoT) involves a wide variety of heterogeneous technologies and resource-constrained devices that interact with each other. Due to such constraints, IoT devices usually require lightweight protocols that optimize the use of resources and energy consumption. Among the different commercial IoT devices, Bluetooth and Bluetooth Low Energy (BLE)-based beacons, which broadcast periodically certain data packets to notify their presence, have experienced a remarkable growth, specially due to their application in indoor positioning systems. This article proposes a family of protocols named Lightweight Protocol for Sensors (LP4S) that provides fast responses and enables plug-and-play mechanisms that allow IoT telemetry systems to discover new nodes and to describe and auto-register the sensors and actuators connected to a beacon. Thus, three protocols are defined depending on the beacon hardware characteristics: LP4S-6 (for resource-constraint beacons), LP4S-X (for more powerful beacons) and LP4S-J (for beacons able to run complex firmware). In order to demonstrate the capabilities of the designed protocols, the most restrictive (LP4S-6) is tested after implementing it for a telemetry application in a beacon based on Eddystone (Google's open beacon format). Thus, the beacon specification is extended in order to increase its ability to manage unlimited sensors in a telemetry system without interfering in its normal operation with Eddystone frames. The performed experiments show the feasibility of the proposed solution and its superiority, in terms of latency and energy consumption, with respect to approaches based on Generic Attribute Profile (GATT) when multiple users connect to a mote or in scenarios where latency is not a restriction, but where low-energy consumption is essential.

Molecular Beacon-Based MicroRNA Imaging During Neurogenesis.

PubMed

Lee, Jonghwan; Kim, Soonhag

2016-01-01

The fluorescence monitoring system for examining endogenous microRNA (miRNA) activity in cellular level provides crucial information on not only understanding a critical role of miRNA involving a variety of biological processes, but also evaluating miRNA expression patterns in a noninvasive manner. In this protocol, we report the details of a new procedure for a molecular beacon-based miRNA monitoring system, which includes the illustration scheme for miRNA detection strategy, exogenous miRNA detection, and measurement of endogenous miRNA expression level during neurogenesis. The fluorescence signal of miR-124a beacon quenched by BHQ2 was gradually recovered as increasing concentration of the miR-124a in tube. The functional work of miR-124a beacon was examined in intracellular environment, allowing for the internalization of the miR-124a beacon by lipofectamine, which resulted in activated fluorescent signals of the miR-124a beacon in the HeLa cells after the addition of synthetic miR-124a. The endogenous miR-124a expression level was detected by miR-124a beacon system during neurogenesis, showing brighter fluorescence intensity in cytoplasmic area of P19 cells after induction of neuronal differentiation by retinoic acid. The molecular beacon based-miRNA detection technique could be applicable to the simultaneous visualization of a variety of miRNA expression patterns using different fluorescence dyes. For the study of examining endogenous miRNA expression level using miRNA-beacon system, if cellular differentiation step is already prepared, transfection step of miR-124a beacon into P19 cells, and acquisition of activated fluorescence signal measured by confocal microscope can be conducted approximately within 6 h.

Design and Practical Evaluation of a Family of Lightweight Protocols for Heterogeneous Sensing through BLE Beacons in IoT Telemetry Applications

PubMed Central

2017-01-01

The Internet of Things (IoT) involves a wide variety of heterogeneous technologies and resource-constrained devices that interact with each other. Due to such constraints, IoT devices usually require lightweight protocols that optimize the use of resources and energy consumption. Among the different commercial IoT devices, Bluetooth and Bluetooth Low Energy (BLE)-based beacons, which broadcast periodically certain data packets to notify their presence, have experienced a remarkable growth, specially due to their application in indoor positioning systems. This article proposes a family of protocols named Lightweight Protocol for Sensors (LP4S) that provides fast responses and enables plug-and-play mechanisms that allow IoT telemetry systems to discover new nodes and to describe and auto-register the sensors and actuators connected to a beacon. Thus, three protocols are defined depending on the beacon hardware characteristics: LP4S-6 (for resource-constraint beacons), LP4S-X (for more powerful beacons) and LP4S-J (for beacons able to run complex firmware). In order to demonstrate the capabilities of the designed protocols, the most restrictive (LP4S-6) is tested after implementing it for a telemetry application in a beacon based on Eddystone (Google’s open beacon format). Thus, the beacon specification is extended in order to increase its ability to manage unlimited sensors in a telemetry system without interfering in its normal operation with Eddystone frames. The performed experiments show the feasibility of the proposed solution and its superiority, in terms of latency and energy consumption, with respect to approaches based on Generic Attribute Profile (GATT) when multiple users connect to a mote or in scenarios where latency is not a restriction, but where low-energy consumption is essential. PMID:29280975

Path planning for assembly of strut-based structures. Thesis

NASA Technical Reports Server (NTRS)

Muenger, Rolf

1991-01-01

A path planning method with collision avoidance for a general single chain nonredundant or redundant robot is proposed. Joint range boundary overruns are also avoided. The result is a sequence of joint vectors which are passed to a trajectory planner. A potential field algorithm in joint space computes incremental joint vectors delta-q = delta-q(sub a) + delta-q(sub c) + delta-q(sub r). Adding delta-q to the robot's current joint vector leads to the next step in the path. Delta-q(sub a) is obtained by computing the minimum norm solution of the underdetermined linear system J delta-q(sub a) = x(sub a) where x(sub a) is a translational and rotational force vector that attracts the robot to its goal position and orientation. J is the manipulator Jacobian. Delta-q(sub c) is a collision avoidance term encompassing collisions between the robot (links and payload) and obstacles in the environment as well as collisions among links and payload of the robot themselves. It is obtained in joint space directly. Delta-q(sub r) is a function of the current joint vector and avoids joint range overruns. A higher level discrete search over candidate safe positions is used to provide alternatives in case the potential field algorithm encounters a local minimum and thus fails to reach the goal. The best first search algorithm A* is used for graph search. Symmetry properties of the payload and equivalent rotations are exploited to further enlarge the number of alternatives passed to the potential field algorithm.

SPHERES ultrasound beacon tester floats in Node 1 during Expedition 8

NASA Image and Video Library

2004-03-24

ISS008-E-19132 (24 March 2004) --- The Synchronized Position Hold, Engage, Reorient, Experimental Satellites (SPHERES) Beacon / Beacon Tester floats in the Unity node of the International Space Station.

A digital beacon receiver

NASA Technical Reports Server (NTRS)

Ransome, Peter D.

1988-01-01

A digital satellite beacon receiver is described which provides measurement information down to a carrier/noise density ratio approximately 15 dB below that required by a conventional (phase locked loop) design. When the beacon signal fades, accuracy degrades gracefully, and is restored immediately (without hysteresis) on signal recovery, even if the signal has faded into the noise. Benefits of the digital processing approach used include the minimization of operator adjustments, stability of the phase measuring circuits with time, repeatability between units, and compatibility with equipment not specifically designed for propagation measuring. The receiver has been developed for the European Olympus satellite which has continuous wave (CW) beacons at 12.5 and 29.7 GHz, and a switched polarization beacon at 19.8 GHz approximately, but the system can be reconfigured for CW and polarization-switched beacons at other frequencies.

Theoretical analysis and experimental study of constraint boundary conditions for acquiring the beacon in satellite-ground laser communications

NASA Astrophysics Data System (ADS)

Yu, Siyuan; Wu, Feng; Wang, Qiang; Tan, Liying; Ma, Jing

2017-11-01

Acquisition and recognition for the beacon is the core technology of establishing the satellite optical link. In order to acquire the beacon correctly, the beacon image should be recognized firstly, excluding the influence of the background light. In this processing, many factors will influence the recognition precision of the beacon. This paper studies the constraint boundary conditions for acquiring the beacon from the perspective of theory and experiment, and as satellite-ground laser communications, an approach for obtaining the adaptive segmentation method is also proposed. Finally, the long distance laser communication experiment (11.16 km) verifies the validity of this method and the tracking error with the method is the least compared with the traditional approaches. The method helps to greatly improve the tracking precision in the satellite-ground laser communications.

Spacecraft Collision Avoidance

NASA Astrophysics Data System (ADS)

Bussy-Virat, Charles

The rapid increase of the number of objects in orbit around the Earth poses a serious threat to operational spacecraft and astronauts. In order to effectively avoid collisions, mission operators need to assess the risk of collision between the satellite and any other object whose orbit is likely to approach its trajectory. Several algorithms predict the probability of collision but have limitations that impair the accuracy of the prediction. An important limitation is that uncertainties in the atmospheric density are usually not taken into account in the propagation of the covariance matrix from current epoch to closest approach time. The Spacecraft Orbital Characterization Kit (SpOCK) was developed to accurately predict the positions and velocities of spacecraft. The central capability of SpOCK is a high accuracy numerical propagator of spacecraft orbits and computations of ancillary parameters. The numerical integration uses a comprehensive modeling of the dynamics of spacecraft in orbit that includes all the perturbing forces that a spacecraft is subject to in orbit. In particular, the atmospheric density is modeled by thermospheric models to allow for an accurate representation of the atmospheric drag. SpOCK predicts the probability of collision between two orbiting objects taking into account the uncertainties in the atmospheric density. Monte Carlo procedures are used to perturb the initial position and velocity of the primary and secondary spacecraft from their covariance matrices. Developed in C, SpOCK supports parallelism to quickly assess the risk of collision so it can be used operationally in real time. The upper atmosphere of the Earth is strongly driven by the solar activity. In particular, abrupt transitions from slow to fast solar wind cause important disturbances of the atmospheric density, hence of the drag acceleration that spacecraft are subject to. The Probability Distribution Function (PDF) model was developed to predict the solar wind speed five days in advance. In particular, the PDF model is able to predict rapid enhancements in the solar wind speed. It was found that 60% of the positive predictions were correct, while 91% of the negative predictions were correct, and 20% to 33% of the peaks in the speed were found by the model. En-semble forecasts provide the forecasters with an estimation of the uncertainty in the prediction, which can be used to derive uncertainties in the atmospheric density and in the drag acceleration. The dissertation then demonstrates that uncertainties in the atmospheric density result in large uncertainties in the prediction of the probability of collision. As an example, the effects of a geomagnetic storm on the probability of collision are illustrated. The research aims at providing tools and analyses that help understand and predict the effects of uncertainties in the atmospheric density on the probability of collision. The ultimate motivation is to support mission operators in making the correct decision with regard to a potential collision avoidance maneuver by providing an uncertainty on the prediction of the probability of collision instead of a single value. This approach can help avoid performing unnecessary costly maneuvers, while making sure that the risk of collision is fully evaluated.

Pedestrian and motorists' actions at pedestrian hybrid beacon sites: findings from a pilot study.

PubMed

Pulugurtha, Srinivas S; Self, Debbie R

2015-01-01

This paper focuses on an analysis of pedestrian and motorists' actions at sites with pedestrian hybrid beacons and assesses their effectiveness in improving the safety of pedestrians. Descriptive and statistical analyses (one-tail two-sample T-test and two-proportion Z-test) were conducted using field data collected during morning and evening peak hours at three study sites in the city of Charlotte, NC, before and after the installation of pedestrian hybrid beacons. Further, an analysis was conducted to assess the change in pedestrian and motorists' actions over time (before the installation; 1 month, 3 months, 6 months, and 12 months after the installation). Results showed an increase in average traffic speed at one of the pedestrian hybrid beacon sites while no specific trends were observed at the other two pedestrian hybrid beacon sites. A decrease in the number of motorists not yielding to pedestrians, pedestrians trapped in the middle of the street, and pedestrian-vehicle conflicts were observed at all the three pedestrian hybrid beacon sites. The installation of pedestrian hybrid beacons did not have a negative effect on pedestrian actions at two out of the three sites. Improvements seem to be relatively more consistent 3 months after the installation of the pedestrian hybrid beacon.

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.

Probability-based hazard avoidance guidance for planetary landing

NASA Astrophysics Data System (ADS)

Yuan, Xu; Yu, Zhengshi; Cui, Pingyuan; Xu, Rui; Zhu, Shengying; Cao, Menglong; Luan, Enjie

2018-03-01

Future landing and sample return missions on planets and small bodies will seek landing sites with high scientific value, which may be located in hazardous terrains. Autonomous landing in such hazardous terrains and highly uncertain planetary environments is particularly challenging. Onboard hazard avoidance ability is indispensable, and the algorithms must be robust to uncertainties. In this paper, a novel probability-based hazard avoidance guidance method is developed for landing in hazardous terrains on planets or small bodies. By regarding the lander state as probabilistic, the proposed guidance algorithm exploits information on the uncertainty of lander position and calculates the probability of collision with each hazard. The collision probability serves as an accurate safety index, which quantifies the impact of uncertainties on the lander safety. Based on the collision probability evaluation, the state uncertainty of the lander is explicitly taken into account in the derivation of the hazard avoidance guidance law, which contributes to enhancing the robustness to the uncertain dynamics of planetary landing. The proposed probability-based method derives fully analytic expressions and does not require off-line trajectory generation. Therefore, it is appropriate for real-time implementation. The performance of the probability-based guidance law is investigated via a set of simulations, and the effectiveness and robustness under uncertainties are demonstrated.

Speed kills: ineffective avian escape responses to oncoming vehicles

PubMed Central

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

2015-01-01

Animal–vehicle collisions cause high levels of vertebrate mortality worldwide, and what goes wrong when animals fail to escape and ultimately collide with vehicles is not well understood. We investigated alert and escape behaviours of captive brown-headed cowbirds (Molothrus ater) in response to virtual vehicle approaches of different sizes and at speeds ranging from 60 to 360 km h−1. Alert and flight initiation distances remained similar across vehicle speeds, and accordingly, alert and flight initiation times decreased at higher vehicle speeds. Thus, avoidance behaviours in cowbirds appeared to be based on distance rather than time available for escape, particularly at 60–150 km h−1; however, at higher speeds (more than or equal to 180 km h−1) no trend in response behaviour was discernible. As vehicle speed increased, cowbirds did not have enough time to assess the approaching vehicle, and cowbirds generally did not initiate flight with enough time to avoid collision when vehicle speed exceeded 120 km h−1. Although potentially effective for evading predators, the decision-making process used by cowbirds in our study appears maladaptive in the context of avoiding fast-moving vehicles. Our methodological approach and findings provide a framework to assess how novel management strategies could affect escape rules, and the sensory and cognitive abilities animals use to avoid vehicle collisions. PMID:25567648

The Monotonic Lagrangian Grid for Fast Air-Traffic Evaluation

NASA Technical Reports Server (NTRS)

Alexandrov, Natalia; Kaplan, Carolyn; Oran, Elaine; Boris, Jay

2010-01-01

This paper describes the continued development of a dynamic air-traffic model, ATMLG, intended for rapid evaluation of rules and methods to control and optimize transport systems. The underlying data structure is based on the Monotonic Lagrangian Grid (MLG), which is used for sorting and ordering positions and other data needed to describe N moving bodies, and their interactions. In ATMLG, the MLG is combined with algorithms for collision avoidance and updating aircraft trajectories. Aircraft that are close to each other in physical space are always near neighbors in the MLG data arrays, resulting in a fast nearest-neighbor interaction algorithm that scales as N. In this paper, we use ATMLG to examine how the ability to maintain a required separation between aircraft decreases as the number of aircraft in the volume increases. This requires keeping track of the primary and subsequent collision avoidance maneuvers necessary to maintain a five mile separation distance between all aircraft. Simulation results show that the number of collision avoidance moves increases exponentially with the number of aircraft in the volume.

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.

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.

Development of a Universal RNA Beacon for Exogenous Gene Detection

PubMed Central

Guo, Yuanjian; Lu, Zhongju; Cohen, Ira Stephen

2015-01-01

Stem cell therapy requires a nontoxic and high-throughput method to achieve a pure cell population to prevent teratomas that can occur if even one cell in the implant has not been transformed. A promising method to detect and separate cells expressing a particular gene is RNA beacon technology. However, developing a successful, specific beacon to a particular transfected gene can take months to develop and in some cases is impossible. Here, we report on an off-the-shelf universal beacon that decreases the time and cost of applying beacon technology to select any living cell population transfected with an exogenous gene. PMID:25769653

Development of a universal RNA beacon for exogenous gene detection.

PubMed

Guo, Yuanjian; Lu, Zhongju; Cohen, Ira Stephen; Scarlata, Suzanne

2015-05-01

Stem cell therapy requires a nontoxic and high-throughput method to achieve a pure cell population to prevent teratomas that can occur if even one cell in the implant has not been transformed. A promising method to detect and separate cells expressing a particular gene is RNA beacon technology. However, developing a successful, specific beacon to a particular transfected gene can take months to develop and in some cases is impossible. Here, we report on an off-the-shelf universal beacon that decreases the time and cost of applying beacon technology to select any living cell population transfected with an exogenous gene. ©AlphaMed Press.

Rayleigh beacon for measuring the surface profile of a radio telescope.

PubMed

Padin, S

2014-12-01

Millimeter-wavelength Rayleigh scattering from water droplets in a cloud is proposed as a means of generating a bright beacon for measuring the surface profile of a radio telescope. A λ=3  mm transmitter, with an output power of a few watts, illuminating a stratiform cloud, can generate a beacon with the same flux as Mars in 10 GHz bandwidth, but the beacon has a narrow line width, so it is extremely bright. The key advantage of the beacon is that it can be used at any time, and positioned anywhere in the sky, as long as there are clouds.

Medication and Driving-Appropriate Interventions.

PubMed

Hitosugi, Masahito

2017-01-01

Sudden illness while driving has been identified as a major cause of vehicle collisions, accounting for approximately 1 in 10 collisions. Because most drivers who experience sudden illnesses while driving do not perform avoidance maneuvers, the improvement of drivers' health is being promoted as a traffic safety strategy. Although stroke, heart disease, and epilepsy are common causes of sudden illness, common symptoms, such as abdominal cramps, vertigo, and syncope can also cause problems during driving. We found that regular referral to physicians was significantly less common among drivers who experienced health-related vehicle collisions or incidents. Inadequate control of chronic disease might lead to unusual symptoms and the onset of major attacks. Medications are prescribed to patients to relieve their symptoms and/or bring their diseases under control. However, pharmacists and doctors should ensure that patients are treated with appropriate medications to avoid drivers being distracted due to adverse reactions to medications. The author suggests that it is important to keep drivers in good health and administer appropriate medications if necessary. Both pharmacists and doctors should warn drivers that sudden illness or medication-associated distractions can cause vehicle collisions. Such interventions might contribute to reducing the frequency of sudden illness-related vehicle collisions.

Using Collision Cones to Asses Biological Deconiction Methods

NASA Astrophysics Data System (ADS)

Brace, Natalie

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

An Adaptive Scheme for Robot Localization and Mapping with Dynamically Configurable Inter-Beacon Range Measurements

PubMed Central

Torres-González, Arturo; Martinez-de Dios, Jose Ramiro; Ollero, Anibal

2014-01-01

This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the measurement gathering process using mechanisms that dynamically modify the rate and variety of measurements that are integrated in the SLAM filter. It includes a measurement gathering module that can be configured to collect direct robot-beacon and inter-beacon measurements with different inter-beacon depth levels and at different rates. It also includes a supervision module that monitors the SLAM performance and dynamically selects the measurement gathering configuration balancing SLAM accuracy and resource consumption. The proposed scheme has been applied to an extended Kalman filter SLAM with auxiliary particle filters for beacon initialization (PF-EKF SLAM) and validated with experiments performed in the CONET Integrated Testbed. It achieved lower map and robot errors (34% and 14%, respectively) than traditional methods with a lower computational burden (16%) and similar beacon energy consumption. PMID:24776938

An adaptive scheme for robot localization and mapping with dynamically configurable inter-beacon range measurements.

PubMed

Torres-González, Arturo; Martinez-de Dios, Jose Ramiro; Ollero, Anibal

2014-04-25

This work is motivated by robot-sensor network cooperation techniques where sensor nodes (beacons) are used as landmarks for range-only (RO) simultaneous localization and mapping (SLAM). This paper presents a RO-SLAM scheme that actuates over the measurement gathering process using mechanisms that dynamically modify the rate and variety of measurements that are integrated in the SLAM filter. It includes a measurement gathering module that can be configured to collect direct robot-beacon and inter-beacon measurements with different inter-beacon depth levels and at different rates. It also includes a supervision module that monitors the SLAM performance and dynamically selects the measurement gathering configuration balancing SLAM accuracy and resource consumption. The proposed scheme has been applied to an extended Kalman filter SLAM with auxiliary particle filters for beacon initialization (PF-EKF SLAM) and validated with experiments performed in the CONET Integrated Testbed. It achieved lower map and robot errors (34% and 14%, respectively) than traditional methods with a lower computational burden (16%) and similar beacon energy consumption.

Proteus in flight over Rosamond Dry lakebed

NASA Image and Video Library

2003-03-27

Scaled Composites' unique tandem-wing Proteus was the testbed for a series of UAV collision-avoidance flight demonstrations. An Amphitech 35GHz radar unit installed below Proteus' nose was the primary sensor for the Detect, See and Avoid tests.

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

NASA Astrophysics Data System (ADS)

Hwang, Soon Sik

This dissertation addresses three problems: 1) adaptive resampling technique (ART) for Particle Filters, 2) precise relative positioning using Global Positioning System (GPS) Carrier-Phase (CP) measurements applied to nonlinear integer resolution problem for GPS CP navigation using Particle Filters, and 3) collision detection system based on GPS CP broadcasts. First, Monte Carlo filters, called Particle Filters (PF), are widely used where the system is non-linear and non-Gaussian. In real-time applications, their estimation accuracies and efficiencies are significantly affected by the number of particles and the scheduling of relocating weights and samples, the so-called resampling step. In this dissertation, the appropriate number of particles is estimated adaptively such that the error of the sample mean and variance stay in bounds. These bounds are given by the confidence interval of a normal probability distribution for a multi-variate state. Two required number of samples maintaining the mean and variance error within the bounds are derived. The time of resampling is determined when the required sample number for the variance error crosses the required sample number for the mean error. Second, the PF using GPS CP measurements with adaptive resampling is applied to precise relative navigation between two GPS antennas. In order to make use of CP measurements for navigation, the unknown number of cycles between GPS antennas, the so called integer ambiguity, should be resolved. The PF is applied to this integer ambiguity resolution problem where the relative navigation states estimation involves nonlinear observations and nonlinear dynamics equation. Using the PF, the probability density function of the states is estimated by sampling from the position and velocity space and the integer ambiguities are resolved without using the usual hypothesis tests to search for the integer ambiguity. The ART manages the number of position samples and the frequency of the resampling step for real-time kinematics GPS navigation. The experimental results demonstrate the performance of the ART and the insensitivity of the proposed approach to GPS CP cycle-slips. Third, the GPS has great potential for the development of new collision avoidance systems and is being considered for the next generation Traffic alert and Collision Avoidance System (TCAS). The current TCAS equipment, is capable of broadcasting GPS code information to nearby airplanes, and also, the collision avoidance system using the navigation information based on GPS code has been studied by researchers. In this dissertation, the aircraft collision detection system using GPS CP information is addressed. The PF with position samples is employed for the CP based relative position estimation problem and the same algorithm can be used to determine the vehicle attitude if multiple GPS antennas are used. For a reliable and enhanced collision avoidance system, three dimensional trajectories are projected using the estimates of the relative position, velocity, and the attitude. It is shown that the performance of GPS CP based collision detecting algorithm meets the accuracy requirements for a precise approach of flight for auto landing with significantly less unnecessary collision false alarms and no miss alarms.

Development Of Performance Specifications For Collision Avoidance Systems For Lane Change Merging And Backing, Task 2 - Interim Report: Functional Goals Establishment

DOT National Transportation Integrated Search

1995-02-01

">IN ADDITION TO THE MOST BASIC GOAL OF ELIMINATING THE "BLIND SPOT", SIGNIFICANT CRASH AVOIDANCEOPPORTUNITIES CAN BE REALIZED BY GUARDING AGAINST "FAST CLOSING" VEHICLES DURING LANE CHANGE AND MERGING. THESE "FAST APPROACH" COLLISIONS, THOUGH INFREQ...

Two-Dimensional Distributed Velocity Collision Avoidance

DTIC Science & Technology

2014-02-11

place (i.e., in the global problem space) as much as possible in an effort to simplify the process/description. Additionally, to make some of the...guide agents without collision in the vast majority of cases. NAWCWD TP 8786 31 7.0 REFERENCES 1. P. L. Franchi . “Near Misses Between

Q-Band (37-41 GHz) Satellite Beacon Architecture for RF Propagation Experiments

NASA Technical Reports Server (NTRS)

Simmons, Rainee N.; Wintucky, Edwin G.

2012-01-01

In this paper, the design of a beacon transmitter that will be flown as a hosted payload on a geostationary satellite to enable propagation experiments at Q-band (37-41 GHz) frequencies is presented. The beacon uses a phased locked loop stabilized dielectric resonator oscillator and a solid-state power amplifier to achieve the desired output power. The satellite beacon antenna is configured as an offset-fed cut-paraboloidal reflector.

Q-Band (37 to 41 GHz) Satellite Beacon Architecture for RF Propagation Experiments

NASA Technical Reports Server (NTRS)

Simons, Rainee N.; Wintucky, Edwin G.

2014-01-01

In this paper, the design of a beacon transmitter that will be flown as a hosted payload on a geostationary satellite to enable propagation experiments at Q-band (37 to 41 GHz) frequencies is presented. The beacon uses a phased locked loop stabilized dielectric resonator oscillator and a solid-state power amplifier to achieve the desired output power. The satellite beacon antenna is configured as an offset-fed cutparaboloidal reflector.

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

Searching for Cost-Optimized Interstellar Beacons

NASA Astrophysics Data System (ADS)

Benford, Gregory; Benford, James; Benford, Dominic

2010-06-01

What would SETI beacon transmitters be like if built by civilizations that had a variety of motives but cared about cost? In a companion paper, we presented how, for fixed power density in the far field, a cost-optimum interstellar beacon system could be built. Here, we consider how we should search for a beacon if it were produced by a civilization similar to ours. High-power transmitters could be built for a wide variety of motives other than the need for two-way communication; this would include beacons built to be seen over thousands of light-years. Extraterrestrial beacon builders would likely have to contend with economic pressures just as their terrestrial counterparts do. Cost, spectral lines near 1 GHz, and interstellar scintillation favor radiating frequencies substantially above the classic "water hole." Therefore, the transmission strategy for a distant, cost-conscious beacon would be a rapid scan of the galactic plane with the intent to cover the angular space. Such pulses would be infrequent events for the receiver. Such beacons built by distant, advanced, wealthy societies would have very different characteristics from what SETI researchers seek. Future searches should pay special attention to areas along the galactic disk where SETI searches have seen coherent signals that have not recurred on the limited listening time intervals we have used. We will need to wait for recurring events that may arriarrive in intermittent bursts. Several new SETI search strategies have emerged from these ideas. We propose a new test for beacons that is based on the Life Plane hypotheses.

Searching for Cost-Optimized Interstellar Beacons

NASA Technical Reports Server (NTRS)

Benford, Gregory; Benford, James; Benford, Dominic

2010-01-01

What would SETI beacon transmitters be like if built by civilizations that had a variety of motives but cared about cost? In a companion paper, we presented how, for fixed power density in the far field, a cost-optimum interstellar beacon system could be built. Here, we consider how we should search for a beacon if it were produced by a civilization similar to ours. High-power transmitters could be built for a wide variety of motives other than the need for two-way communication, this would include beacons built to be seen over thousands of light-years. Extraterrestrial beacon builders would likely have to contend with economic pressures just as their terrestrial counterparts do. Cost, spectral lines near 1GHz, and interstellar scintillation favor radiating frequencies substantially above the classic "water hole." Therefore, the transmission strategy for a distant, cost-conscious beacon would be a rapid scan of the galactic plane with the intent to cover the angular space. Such pulses would be infrequent events for the receiver. Such beacons built by distant, advanced, wealthy societies would have very different characteristics from what SETI researchers seek. Future searches should pay special attention to areas along the galactic disk where SETI searches have seen coherent signals that have not recurred on the limited listening time intervals we have used. We will need to wait for recurring events that may arrive in intermittent bursts. Several new SETI search strategies have emerged from these ideas. We propose a new test for beacons that is based on the Life Plane hypotheses.

Searching for cost-optimized interstellar beacons.

PubMed

Benford, Gregory; Benford, James; Benford, Dominic

2010-06-01

What would SETI beacon transmitters be like if built by civilizations that had a variety of motives but cared about cost? In a companion paper, we presented how, for fixed power density in the far field, a cost-optimum interstellar beacon system could be built. Here, we consider how we should search for a beacon if it were produced by a civilization similar to ours. High-power transmitters could be built for a wide variety of motives other than the need for two-way communication; this would include beacons built to be seen over thousands of light-years. Extraterrestrial beacon builders would likely have to contend with economic pressures just as their terrestrial counterparts do. Cost, spectral lines near 1 GHz, and interstellar scintillation favor radiating frequencies substantially above the classic "water hole." Therefore, the transmission strategy for a distant, cost-conscious beacon would be a rapid scan of the galactic plane with the intent to cover the angular space. Such pulses would be infrequent events for the receiver. Such beacons built by distant, advanced, wealthy societies would have very different characteristics from what SETI researchers seek. Future searches should pay special attention to areas along the galactic disk where SETI searches have seen coherent signals that have not recurred on the limited listening time intervals we have used. We will need to wait for recurring events that may arrive in intermittent bursts. Several new SETI search strategies have emerged from these ideas. We propose a new test for beacons that is based on the Life Plane hypotheses.

Exploiting Motion Capture to Enhance Avoidance Behaviour in Games

NASA Astrophysics Data System (ADS)

van Basten, Ben J. H.; Jansen, Sander E. M.; Karamouzas, Ioannis

Realistic simulation of interacting virtual characters is essential in computer games, training and simulation applications. The problem is very challenging since people are accustomed to real-world situations and thus, they can easily detect inconsistencies and artifacts in the simulations. Over the past twenty years several models have been proposed for simulating individuals, groups and crowds of characters. However, little effort has been made to actually understand how humans solve interactions and avoid inter-collisions in real-life. In this paper, we exploit motion capture data to gain more insights into human-human interactions. We propose four measures to describe the collision-avoidance behavior. Based on these measures, we extract simple rules that can be applied on top of existing agent and force based approaches, increasing the realism of the resulting simulations.

DNA aptamer beacon assay for C-telopeptide and handheld fluorometer to monitor bone resorption.

PubMed

Bruno, John Gordon; Carrillo, Maria P; Phillips, Taylor; Hanson, Douglas; Bohmann, Jonathan A

2011-09-01

A novel DNA aptamer beacon is described for quantification of a 26-amino acid C-telopeptide (CTx) of human type I bone collagen. One aptamer sequence and its reverse complement dominated the aptamer pool (31.6% of sequenced clones). Secondary structures of these aptamers were examined for potential binding pockets. Three-dimensional computer models which analyzed docking topologies and binding energies were in agreement with empirical fluorescence experiments used to select one candidate loop for beacon assay development. All loop structures from the aptamer finalists were end-labeled with TYE 665 and Iowa Black quencher for comparison of beacon fluorescence levels as a function of CTx concentration. The optimal beacon, designated CTx 2R-2h yielded a low ng/ml limit of detection using a commercially available handheld fluorometer. The CTx aptamer beacon bound full-length 26-amino acid CTx peptide, but not a shorter 8-amino acid segment of CTx peptide which is a common target for commercial CTx ELISA kits. The prototype assay was shown to detect CTx peptide from human urine after creatinine and urea were removed by size-exclusion chromatography to prevent nonspecific denaturing of the aptamer beacon. This work demonstrates the potential of aptamer beacons to be utilized for rapid and sensitive bone health monitoring in a handheld or point-of-care format.

Detection of MDR1 mRNA expression with optimized gold nanoparticle beacon

NASA Astrophysics Data System (ADS)

Zhou, Qiumei; Qian, Zhiyu; Gu, Yueqing

2016-03-01

MDR1 (multidrug resistance gene) mRNA expression is a promising biomarker for the prediction of doxorubicin resistance in clinic. However, the traditional technical process in clinic is complicated and cannot perform the real-time detection mRNA in living single cells. In this study, the expression of MDR1 mRNA was analyzed based on optimized gold nanoparticle beacon in tumor cells. Firstly, gold nanoparticle (AuNP) was modified by thiol-PEG, and the MDR1 beacon sequence was screened and optimized using a BLAST bioinformatics strategy. Then, optimized MDR1 molecular beacons were characterized by transmission electron microscope, UV-vis and fluorescence spectroscopies. The cytotoxicity of MDR1 molecular beacon on L-02, K562 and K562/Adr cells were investigated by MTT assay, suggesting that MDR1 molecular beacon was low inherent cytotoxicity. Dark field microscope was used to investigate the cellular uptake of hDAuNP beacon assisted with ultrasound. Finally, laser scanning confocal microscope images showed that there was a significant difference in MDR1 mRNA expression in K562 and K562/Adr cells, which was consistent with the results of q-PCR measurement. In summary, optimized MDR1 molecular beacon designed in this study is a reliable strategy for detection MDR1 mRNA expression in living tumor cells, and will be a promising strategy for in guiding patient treatment and management in individualized medication.

Real-time positioning technology in horizontal directional drilling based on magnetic gradient tensor measurement

NASA Astrophysics Data System (ADS)

Deng, Guoqing; Yao, Aiguo

2017-04-01

Horizontal directional drilling (HDD) technology has been widely used in Civil Engineering. The dynamic position of the drill bit during construction is one of significant facts determining the accuracy of the trajectory of HDD. A new method now has been proposed to detecting the position of drill bit by measuring the magnetic gradient tensor of the ground solenoid magnetic beacon. Compared with traditional HDD positioning technologies, this new model is much easier to apply with lower request for construction sites and higher positioning efficiency. A direct current (DC) solenoid as a magnetic dipole is placed on ground near the drill bit, and related sensors array which contains four Micro-electromechanical Systems (MEMS ) tri-axial magnetometers, one MEMS tri-axial accelerometer and one MEMS tri-axial gyroscope is set up for measuring the magnetic gradient tensor of the magnetic dipole. The related HDD positioning model has been established and simulation experiments have been carried out to verify the feasibility and reliability of the proposed method. The experiments show that this method has good positioning accuracy in horizontal and vertical direction, and totally avoid the impact of the environmental magnetic field. It can be found that the posture of the magnetic beacon will impact the remote positioning precision within valid positioning range, and the positioning accuracy is higher with longer baseline for limited space in drilling tools. The results prove that the relative error can be limited in 2% by adjusting position of the magnetic beacon, the layers of the enameled coil, the sensitive of magnetometers and the baseline distance. Conclusion can be made that this new method can be applied in HDD positioning with better effect and wider application range than traditional method.

Toyota drivers' experiences with Dynamic Radar Cruise Control, Pre-Collision System, and Lane-Keeping Assist.

PubMed

Eichelberger, Angela H; McCartt, Anne T

2016-02-01

Advanced crash avoidance and driver assistance technologies potentially can prevent or mitigate many crashes. Previous surveys with drivers have found favorable opinions for many advanced technologies; however, these surveys are not necessarily representative of all drivers or all systems. As the technologies spread throughout the vehicle fleet, it is important to continue studying driver acceptance and use of them. This study focused on 2010-2013 Toyota Sienna and Prius models that were equipped with adaptive cruise control, forward collision avoidance, and lane departure warning and prevention (Prius models only). Telephone interviews were conducted in summer 2013 with 183 owners of vehicles with these technologies. About 9 in 10 respondents wanted adaptive cruise control and forward collision avoidance on their next vehicle, and 71% wanted lane departure warning/prevention again. Males and females reported some differences in their experiences with the systems; for example, males were more likely to have turned on lane departure warning/prevention than females, and when using this system, males reported more frequent warnings than did females. Relative to older drivers, drivers age 40 and younger were more likely to have seen or heard a forward collision warning. Consistent with the results in previous surveys of owners of luxury vehicles, the present survey found that driver acceptance of the technologies was high, although less so for lane departure warning/prevention. Experiences with the Toyota systems differed by driver age and gender to a greater degree than in previous surveys, suggesting that the responses of drivers may begin to differ as crash avoidance technology becomes available on a wider variety of vehicles. Crash avoidance technologies potentially can prevent or mitigate many crashes, but their success depends in part on driver acceptance. These systems will be effective only to the extent that drivers use them. Copyright © 2015 Elsevier Ltd and National Safety Council. All rights reserved.

Visual detection of STAT5B gene expression in living cell using the hairpin DNA modified gold nanoparticle beacon.

PubMed

Xue, Jianpeng; Shan, Lingling; Chen, Haiyan; Li, Yang; Zhu, Hongyan; Deng, Dawei; Qian, Zhiyu; Achilefu, Samuel; Gu, Yueqing

2013-03-15

Signal transducer and activator of transcription 5B (STAT5B) is an important protein in JAK-STAT signaling pathway that is responsible for the metastasis and proliferation of tumor cells. Determination of the STAT5B messenger Ribonucleic Acid (mRNA) relating to the STAT5B expression provides insight into the mechanism of tumor progression. In this study, we designed and used a special hairpin deoxyribonucleic acid (DNA) for human STAT5B mRNA to functionalize gold nanoparticles, which served as a beacon for detecting human STAT5B expression. Up to 90% quenching efficiency was achieved. Upon hybridizing with the target mRNA, the hairpin DNA modified gold nanoparticle beacons (hDAuNP beacons) release the fluorophores attached at 5' end of the oligonucleotide sequence. The fluorescence properties of the beacon before and after the hybridization with the complementary DNA were confirmed in vitro. The stability of hDAuNP beacons against degradation by DNase I and GSH indicated that the prepared beacon is stable inside cells. The detected fluorescence in MCF-7 cancer cells correlates with the specific STAT5B mRNA expression, which is consistent with the result from PCR measurement. Fluorescence microscopy showed that the hDAuNP beacons internalized in cells without using transfection agents, with intracellular distribution in the cytoplasm rather than the nucleus. The results demonstrated that this beacon could directly provide quantitative measurement of the intracellular STAT5B mRNA in living cells. Compared to the previous approaches, this beacon has advantages of higher target to background ratio of detection and an increased resistance to nuclease degradation. The strategy reported in this study is a promising approach for the intracellular measurement of RNA or protein expression in living cells, and has great potential in the study of drug screening and discovery. Copyright © 2012 Elsevier B.V. All rights reserved.

Monopulse azimuth measurement in the ATC Radar Beacon System

DOT National Transportation Integrated Search

1971-12-01

A review is made of the application of sum-difference beam : techniques to the ATC Radar Beacon System. A detailed error analysis : is presented for the case of a monopulse azimuth measurement based : on the existing beacon antenna with a modified fe...

Olympus propagation studies in the US: Receiver development and the data acquisition system

NASA Technical Reports Server (NTRS)

Mckeeman, John C.

1990-01-01

Virginia Tech has developed two types of receivers to monitor the Olympus beacons, as well as a custom data acquisition system to store and display propagation data. Each of the receiver designs uses new hybrid analog/digital techniques. The data acquisition system uses a stand alone processor to collect and format the data for display and subsequent processing. The launch of the Olympus satellite with its coherent beacons offers new opportunities to study propagation effects at 12.5, 20, and 30 GHz. At Virginia Tech, the satellite is at 14 degrees in elevation, which allows us to measure low elevation angle effects. However, to make these measurements, a very accurate and stable measurement system is required. Virginia Tech has constructed a complex receiving system which monitors the Olympus beacons and all parameters associated with propagation research. In the current configuration, researchers have developed a receiver which frequency locks to the less fade susceptible 12.5 GHz beacon. Since all beacons on the satellite are driven from a single master oscillator, drift in the 12.5 GHz beacon implies corresponding drifts in the 20, and 30 GHz beacons. The receivers for the 20 and 30 GHz systems derive their frequency locking information from the 12.5 GHz system. This widens the dynamic range of the receivers and allows the receivers to maintain lock in severe fade conditions. In addition to monitoring the beacons, the sky noise is monitored with radiometers at each frequency. The radiometer output is used to set the clear air level for each beacon measurement. Researchers also measure the rain rate with several tipping bucket rain gauges placed along the propagation path.

Forward collision warning requirements project : refining the CAMP crash alert timing approach by examining "last second" braking and lane change maneuvers under various kinematic conditions

DOT National Transportation Integrated Search

2003-01-01

This final report describes a follow-on study to the previous Crash Avoidance Metrics Partnership (CAMP) human factors work addressing Forward Collision Warning (FCW) timing requirements. This research extends this work by gathering not only "last-se...

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.

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

PubMed Central

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

2015-01-01

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

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

PubMed

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

2015-05-01

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

14 CFR 171.21 - Scope.

Code of Federal Regulations, 2010 CFR

2010-01-01

... FACILITIES NON-FEDERAL NAVIGATION FACILITIES Nondirectional Radio Beacon Facilities § 171.21 Scope. (a) This... radio beacon facilities that are to be involved in the approval of instrument flight rules and air traffic control procedures related to those facilities. (b) A nondirectional radio beacon (“H” facilities...

State Regulation of Heliport Design

DTIC Science & Technology

2001-05-01

Arpt Lgt Sked: Dusk-Dawn 81. Schedule for beacon; if lights on different from beacon list as a remark. If no beacon list light schedule. 82. Unicorn ...continued importance of hospital heliports and the rapidly growing use of instrument approach/departure procedures at such sites, is it appropriate

Adaptive optics without altering visual perception.

PubMed

Koenig, D E; Hart, N W; Hofer, H J

2014-04-01

Adaptive optics combined with visual psychophysics creates the potential to study the relationship between visual function and the retina at the cellular scale. This potential is hampered, however, by visual interference from the wavefront-sensing beacon used during correction. For example, we have previously shown that even a dim, visible beacon can alter stimulus perception (Hofer et al., 2012). Here we describe a simple strategy employing a longer wavelength (980nm) beacon that, in conjunction with appropriate restriction on timing and placement, allowed us to perform psychophysics when dark adapted without altering visual perception. The method was verified by comparing detection and color appearance of foveally presented small spot stimuli with and without the wavefront beacon present in 5 subjects. As an important caution, we found that significant perceptual interference can occur even with a subliminal beacon when additional measures are not taken to limit exposure. Consequently, the lack of perceptual interference should be verified for a given system, and not assumed based on invisibility of the beacon. Copyright © 2014 Elsevier B.V. All rights reserved.

Accurate beacon positioning method for satellite-to-ground optical communication.

PubMed

Wang, Qiang; Tong, Ling; Yu, Siyuan; Tan, Liying; Ma, Jing

2017-12-11

In satellite laser communication systems, accurate positioning of the beacon is essential for establishing a steady laser communication link. For satellite-to-ground optical communication, the main influencing factors on the acquisition of the beacon are background noise and atmospheric turbulence. In this paper, we consider the influence of background noise and atmospheric turbulence on the beacon in satellite-to-ground optical communication, and propose a new locating algorithm for the beacon, which takes the correlation coefficient obtained by curve fitting for image data as weights. By performing a long distance laser communication experiment (11.16 km), we verified the feasibility of this method. Both simulation and experiment showed that the new algorithm can accurately obtain the position of the centroid of beacon. Furthermore, for the distortion of the light spot through atmospheric turbulence, the locating accuracy of the new algorithm was 50% higher than that of the conventional gray centroid algorithm. This new approach will be beneficial for the design of satellite-to ground optical communication systems.

Detection of DNA damage by using hairpin molecular beacon probes and graphene oxide.

PubMed

Zhou, Jie; Lu, Qian; Tong, Ying; Wei, Wei; Liu, Songqin

2012-09-15

A hairpin molecular beacon tagged with carboxyfluorescein in combination with graphene oxide as a quencher reagent was used to detect the DNA damage by chemical reagents. The fluorescence of molecular beacon was quenched sharply by graphene oxide; while in the presence of its complementary DNA the quenching efficiency decreased because their hybridization prevented the strong adsorbability of molecular beacon on graphene oxide. If the complementary DNA was damaged by a chemical reagent and could not form intact duplex structure with molecular beacon, more molecular beacon would adsorb on graphene oxide increasing the quenching efficiency. Thus, damaged DNA could be detected based on different quenching efficiencies afforded by damaged and intact complementary DNA. The damage effects of chlorpyrifos-methyl and three metabolites of styrene such as mandelieaeids, phenylglyoxylieaeids and epoxystyrene on DNA were studied as models. The method for detection of DNA damage was reliable, rapid and simple compared to the biological methods. Copyright © 2012 Elsevier B.V. All rights reserved.

Middle Man Concept for In-Orbit Collision Risks Mitigation, CAESAR and CARA Examples

NASA Technical Reports Server (NTRS)

Moury, Monique; Newman, Lauri K.; Laporte, Francois

2014-01-01

This paper describes the conjunction analysis which has to be performed using 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 a Middle Man role. After describing the Middle Man concept, this paper introduces two examples with their similarities and particularities: the American civil space effort delivered by the NASA CARA team (Conjunction Assessment Risk Analysis) and the French response CAESAR (Conjunction Assessment and Evaluation Service: Alerts and Recommendations). For both, statistics are presented and feedbacks discussed. All together, around 80 satellites are served by CARA and/or CAESAR. Both processes regularly evolve in order either to follow JSpOC upgrades or to improve analysis according to experience acquired during the past years.

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.

Sequential Probability Ratio Test for Collision Avoidance Maneuver Decisions Based on a Bank of Norm-Inequality-Constrained Epoch-State Filters

NASA Technical Reports Server (NTRS)

Carpenter, J. R.; Markley, F. L.; Alfriend, K. T.; Wright, C.; Arcido, J.

2011-01-01

Sequential probability ratio tests 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 1he null hypothesis 1ha1 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.

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.

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.

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.

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.

Fusing Range Measurements from Ultrasonic Beacons and a Laser Range Finder for Localization of a Mobile Robot

PubMed Central

Ko, Nak Yong; Kuc, Tae-Yong

2015-01-01

This paper proposes a method for mobile robot localization in a partially unknown indoor environment. The method fuses two types of range measurements: the range from the robot to the beacons measured by ultrasonic sensors and the range from the robot to the walls surrounding the robot measured by a laser range finder (LRF). For the fusion, the unscented Kalman filter (UKF) is utilized. Because finding the Jacobian matrix is not feasible for range measurement using an LRF, UKF has an advantage in this situation over the extended KF. The locations of the beacons and range data from the beacons are available, whereas the correspondence of the range data to the beacon is not given. Therefore, the proposed method also deals with the problem of data association to determine which beacon corresponds to the given range data. The proposed approach is evaluated using different sets of design parameter values and is compared with the method that uses only an LRF or ultrasonic beacons. Comparative analysis shows that even though ultrasonic beacons are sparsely populated, have a large error and have a slow update rate, they improve the localization performance when fused with the LRF measurement. In addition, proper adjustment of the UKF design parameters is crucial for full utilization of the UKF approach for sensor fusion. This study contributes to the derivation of a UKF-based design methodology to fuse two exteroceptive measurements that are complementary to each other in localization. PMID:25970259

Quantum dot-based molecular beacon to monitor intracellular microRNAs.

PubMed

Lee, Jonghwan; Moon, Sung Ung; Lee, Yong Seung; Ali, Bahy A; Al-Khedhairy, Abdulaziz A; Ali, Daoud; Ahmed, Javed; Al Salem, Abdullah M; Kim, Soonhag

2015-06-02

Fluorescence monitoring of endogenous microRNA (miRNA or miR) activity related to neuronal development using nano-sized materials provides crucial information on miRNA expression patterns in a noninvasive manner. In this study, we report a new method to monitor intracellular miRNA124a using quantum dot-based molecular beacon (R9-QD-miR124a beacon). The R9-QD-miR124a beacon was constructed using QDs and two probes, miR124a-targeting oligomer and arginine rich cell-penetrating peptide (R9 peptide). The miR124a-targeting oligomer contains a miR124a binging sequence and a black hole quencher 1 (BHQ1). In the absence of target miR124a, the R9-QD-miR124a beacon forms a partial duplex beacon and remained in quenched state because the BHQ1 quenches the fluorescence signal of the R9-QD-miR124a beacon. The binding of miR124a to the miR124a binding sequence of the miR124a-targeting oligomer triggered the separation of the BHQ1 quencher and subsequent signal-on of a red fluorescence signal. Moreover, enhanced cellular uptake was achieved by conjugation with the R9 peptide, which resulted in increased fluorescent signal of the R9-QD-miR124a beacons in P19 cells during neurogenesis due to the endogenous expression of miR124a.

SU-E-T-754: Three-Dimensional Patient Modeling Using Photogrammetry for Collision Avoidance

DOE Office of Scientific and Technical Information (OSTI.GOV)

Popple, R; Cardan, R

2015-06-15

Purpose: To evaluate photogrammetry for creating a three-dimensional patient model. Methods: A mannequin was configured on the couch of a CT scanner to simulate a patient setup using an indexed positioning device. A CT fiducial was placed on the indexed CT table-overlay at the reference index position. Two dimensional photogrammetry targets were placed on the table in known positions. A digital SLR camera was used to obtain 27 images from different positions around the CT table. The images were imported into a commercial photogrammetry package and a 3D model constructed. Each photogrammetry target was identified on 2 to 5 images.more » The CT DICOM metadata and the position of the CT fiducial were used to calculate the coordinates of the photogrammetry targets in the CT image frame of reference. The coordinates were transferred to the photogrammetry software to orient the 3D model. The mannequin setup was transferred to the treatment couch of a linear accelerator and positioned at isocenter using in-room lasers. The treatment couch coordinates were noted and compared with prediction. The collision free regions were measured over the full range of gantry and table motion and were compared with predictions obtained using a general purpose polygon interference algorithm. Results: The reconstructed 3D model consisted of 180000 triangles. The difference between the predicted and measured couch positions were 5 mm, 1 mm, and 1 mm for longitudinal, lateral, and vertical, respectively. The collision prediction tested 64620 gantry table combinations in 11.1 seconds. The accuracy was 96.5%, with false positive and negative results occurring at the boundaries of the collision space. Conclusion: Photogrammetry can be used as a tool for collision avoidance during treatment planning. The results indicate that a buffer zone is necessary to avoid false negatives at the boundary of the collision-free zone. Testing with human patients is underway. Research partially supported by a grant from Varian Medical Systems.« less

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.

76 FR 65216 - Beacon Medical Services, LLC, Aurora, CO; Notice of Negative Determination Regarding Application...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-10-20

... application received July 25, 2011, a worker requested administrative reconsideration of the negative determination regarding workers' eligibility to apply for Trade Adjustment Assistance (TAA) applicable to workers and former workers of Beacon Medical Services, LLC, Aurora, Colorado (Beacon Medical Services...

46 CFR 169.744 - Emergency position indicating radio beacon (EPIRB).

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Emergency position indicating radio beacon (EPIRB). 169.744 Section 169.744 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS... position indicating radio beacon (EPIRB). Each EPIRB must be marked with the vessel's name. ...

46 CFR 169.555 - Emergency position indicating radio beacon (EPIRB).

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Emergency position indicating radio beacon (EPIRB). 169.555 Section 169.555 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS... Emergency position indicating radio beacon (EPIRB). (a) Each vessel certificated for exposed waters must...

Crescent Evaluation : appendix F : state-line beacon project : user case studies

DOT National Transportation Integrated Search

1994-02-01

The essence of the AVI "Beacon" concept as it applies to the HELP organization would be to provide location, date, and tune information from the roadside to the on-board computer (OBC). A roadside transmit beacon would be located on the state lines a...

A Probabilistic Model for Hydrokinetic Turbine Collision Risks: Exploring Impacts on Fish

PubMed Central

Hammar, Linus; Eggertsen, Linda; Andersson, Sandra; Ehnberg, Jimmy; Arvidsson, Rickard; Gullström, Martin; Molander, Sverker

2015-01-01

A variety of hydrokinetic turbines are currently under development for power generation in rivers, tidal straits and ocean currents. Because some of these turbines are large, with rapidly moving rotor blades, the risk of collision with aquatic animals has been brought to attention. The behavior and fate of animals that approach such large hydrokinetic turbines have not yet been monitored at any detail. In this paper, we conduct a synthesis of the current knowledge and understanding of hydrokinetic turbine collision risks. The outcome is a generic fault tree based probabilistic model suitable for estimating population-level ecological risks. New video-based data on fish behavior in strong currents are provided and models describing fish avoidance behaviors are presented. The findings indicate low risk for small-sized fish. However, at large turbines (≥5 m), bigger fish seem to have high probability of collision, mostly because rotor detection and avoidance is difficult in low visibility. Risks can therefore be substantial for vulnerable populations of large-sized fish, which thrive in strong currents. The suggested collision risk model can be applied to different turbine designs and at a variety of locations as basis for case-specific risk assessments. The structure of the model facilitates successive model validation, refinement and application to other organism groups such as marine mammals. PMID:25730314

A probabilistic model for hydrokinetic turbine collision risks: exploring impacts on fish.

PubMed

Hammar, Linus; Eggertsen, Linda; Andersson, Sandra; Ehnberg, Jimmy; Arvidsson, Rickard; Gullström, Martin; Molander, Sverker

2015-01-01

A variety of hydrokinetic turbines are currently under development for power generation in rivers, tidal straits and ocean currents. Because some of these turbines are large, with rapidly moving rotor blades, the risk of collision with aquatic animals has been brought to attention. The behavior and fate of animals that approach such large hydrokinetic turbines have not yet been monitored at any detail. In this paper, we conduct a synthesis of the current knowledge and understanding of hydrokinetic turbine collision risks. The outcome is a generic fault tree based probabilistic model suitable for estimating population-level ecological risks. New video-based data on fish behavior in strong currents are provided and models describing fish avoidance behaviors are presented. The findings indicate low risk for small-sized fish. However, at large turbines (≥5 m), bigger fish seem to have high probability of collision, mostly because rotor detection and avoidance is difficult in low visibility. Risks can therefore be substantial for vulnerable populations of large-sized fish, which thrive in strong currents. The suggested collision risk model can be applied to different turbine designs and at a variety of locations as basis for case-specific risk assessments. The structure of the model facilitates successive model validation, refinement and application to other organism groups such as marine mammals.

Perseveration effects in detection tasks with correlated decision intervals. [applied to pilot collision avoidance

NASA Technical Reports Server (NTRS)

Gai, E. G.; Curry, R. E.

1978-01-01

An investigation of the behavior of the human decisionmaker is described for a task related to the problem of a pilot using a traffic situation display to avoid collisions. This sequential signal detection task is characterized by highly correlated signals with time varying strength. Experimental results are presented and the behavior of the observers is analyzed using the theory of Markov processes and classical signal detection theory. Mathematical models are developed which describe the main result of the experiment: that correlation in sequential signals induced perseveration in the observer response and a strong tendency to repeat their previous decision, even when they were wrong.

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.

A Summary of the NASA ISS Space Debris Collision Avoidance Program

NASA Technical Reports Server (NTRS)

Frisbee, Joseph

2002-01-01

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

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

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.

Collaborating To Help High-Risk Students Succeed. Beacon Guide.

ERIC Educational Resources Information Center

Chemeketa Community Coll., Salem, OR.

The goal of the American Association of Community and Junior Colleges' Beacon Colleges Initiative is to disseminate information about exemplary collaborative programs and services. In Oregon, Chemeketa Community College is the Beacon College which has been working in association with five other community colleges in the state to build community…

46 CFR 169.831 - Emergency position indicating radio beacon (EPIRB).

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Emergency position indicating radio beacon (EPIRB). 169.831 Section 169.831 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS... radio beacon (EPIRB). The master shall ensure that— (a) The EPIRB required in § 169.555 of this...

Beacon- and Schema-Based Method for Recognizing Algorithms from Students' Source Code

ERIC Educational Resources Information Center

Taherkhani, Ahmad; Malmi, Lauri

2013-01-01

In this paper, we present a method for recognizing algorithms from students programming submissions coded in Java. The method is based on the concept of "programming schemas" and "beacons". Schemas are high-level programming knowledge with detailed knowledge abstracted out, and beacons are statements that imply specific…

Beach Advisory and Closing Online Notification (BEACON) system

EPA Pesticide Factsheets

Beach Advisory and Closing Online Notification system (BEACON) is a colletion of state and local data reported to EPA about beach closings and advisories. BEACON is the public-facing query of the Program tracking, Beach Advisories, Water quality standards, and Nutrients database (PRAWN) which tracks beach closing and advisory information.

Simulation of the air traffic control radar beacon system (soar) with application to a discrete address beacon system volume II: appendixes

DOT National Transportation Integrated Search

1975-04-01

The report describes a computer simulation of the Air Traffic Control Radar Beacon System (ATCRBS). Operating on real air traffic data and actual characteristics of the relevant ground interrogators, the FORTRAN program re-enacts system operation in ...

The First Year of Beacon School Status: Maintaining Excellence and Sharing Success.

ERIC Educational Resources Information Center

Burton, Neil; Brundrett, Mark

2000-01-01

During summer 1998, the British government's Department for Education and Employment recognized 74 schools as model "beacons of excellence." A recent survey reveals that effective communication, coupled with a clear sense of purpose and vision, has enabled Beacon schools to maintain educational excellence while facilitating other…

14 CFR 99.13 - Transponder-on requirements.

Code of Federal Regulations, 2010 CFR

2010-01-01

... equipped with an operable radar beacon transponder, shall operate the transponder, including altitude... designated in subpart B of this part unless that aircraft is equipped with a coded radar beacon transponder..., within, or across the contiguous U.S. ADIZ unless that aircraft is equipped with a coded radar beacon...

14 CFR 99.13 - Transponder-on requirements.

Code of Federal Regulations, 2011 CFR

2011-01-01

... equipped with an operable radar beacon transponder, shall operate the transponder, including altitude... designated in subpart B of this part unless that aircraft is equipped with a coded radar beacon transponder..., within, or across the contiguous U.S. ADIZ unless that aircraft is equipped with a coded radar beacon...

54. DETAIL OF GENERAL ELECTRIC AIRBORNE BEACON EQUIPMENT TEST SET ...

Library of Congress Historic Buildings Survey, Historic Engineering Record, Historic Landscapes Survey

54. DETAIL OF GENERAL ELECTRIC AIRBORNE BEACON EQUIPMENT TEST SET (LEFT) AND ASSOCIATED GOULD BRUSH CHART RECORDERS (RIGHT). ELAPSED TIME COUNTER SITS ATOP AIRBORNE BEACON EQUIPMENT TEST SET. - Vandenberg Air Force Base, Space Launch Complex 3, Launch Operations Building, Napa & Alden Roads, Lompoc, Santa Barbara County, CA

14 CFR 99.13 - Transponder-on requirements.

Code of Federal Regulations, 2012 CFR

2012-01-01

... equipped with an operable radar beacon transponder, shall operate the transponder, including altitude... designated in subpart B of this part unless that aircraft is equipped with a coded radar beacon transponder..., within, or across the contiguous U.S. ADIZ unless that aircraft is equipped with a coded radar beacon...

14 CFR 99.13 - Transponder-on requirements.

Code of Federal Regulations, 2013 CFR

2013-01-01

... equipped with an operable radar beacon transponder, shall operate the transponder, including altitude... designated in subpart B of this part unless that aircraft is equipped with a coded radar beacon transponder..., within, or across the contiguous U.S. ADIZ unless that aircraft is equipped with a coded radar beacon...

14 CFR 99.13 - Transponder-on requirements.

Code of Federal Regulations, 2014 CFR

2014-01-01

... equipped with an operable radar beacon transponder, shall operate the transponder, including altitude... designated in subpart B of this part unless that aircraft is equipped with a coded radar beacon transponder..., within, or across the contiguous U.S. ADIZ unless that aircraft is equipped with a coded radar beacon...

Simulation of the Air Traffic Control Radar Beacon System (SOAR) with application to a Discrete Address Beacon System. Volume 1 : text

DOT National Transportation Integrated Search

1975-04-01

The report describes a computer simulation of the Air Traffic Control Radar Beacon System (ATCRBS). Operating on real air traffic data and actual characteristics of the relevant ground interrogators, the FORTRAN program re-enacts system operation in ...

High efficiency low cost monolithic module for SARSAT distress beacons

NASA Technical Reports Server (NTRS)

Petersen, Wendell C.; Siu, Daniel P.

1992-01-01

The program objectives were to develop a highly efficient, low cost RF module for SARSAT beacons; achieve significantly lower battery current drain, amount of heat generated, and size of battery required; utilize MMIC technology to improve efficiency, reliability, packaging, and cost; and provide a technology database for GaAs based UHF RF circuit architectures. Presented in viewgraph form are functional block diagrams of the SARSAT distress beacon and beacon RF module as well as performance goals, schematic diagrams, predicted performances, and measured performances for the phase modulator and power amplifier.

Supporting Beacon and Event-Driven Messages in Vehicular Platoons through Token-Based Strategies

PubMed Central

Uhlemann, Elisabeth

2018-01-01

Timely and reliable inter-vehicle communications is a critical requirement to support traffic safety applications, such as vehicle platooning. Furthermore, low-delay communications allow the platoon to react quickly to unexpected events. In this scope, having a predictable and highly effective medium access control (MAC) method is of utmost importance. However, the currently available IEEE 802.11p technology is unable to adequately address these challenges. In this paper, we propose a MAC method especially adapted to platoons, able to transmit beacons within the required time constraints, but with a higher reliability level than IEEE 802.11p, while concurrently enabling efficient dissemination of event-driven messages. The protocol circulates the token within the platoon not in a round-robin fashion, but based on beacon data age, i.e., the time that has passed since the previous collection of status information, thereby automatically offering repeated beacon transmission opportunities for increased reliability. In addition, we propose three different methods for supporting event-driven messages co-existing with beacons. Analysis and simulation results in single and multi-hop scenarios showed that, by providing non-competitive channel access and frequent retransmission opportunities, our protocol can offer beacon delivery within one beacon generation interval while fulfilling the requirements on low-delay dissemination of event-driven messages for traffic safety applications. PMID:29570676

Supporting Beacon and Event-Driven Messages in Vehicular Platoons through Token-Based Strategies.

PubMed

Balador, Ali; Uhlemann, Elisabeth; Calafate, Carlos T; Cano, Juan-Carlos

2018-03-23

Timely and reliable inter-vehicle communications is a critical requirement to support traffic safety applications, such as vehicle platooning. Furthermore, low-delay communications allow the platoon to react quickly to unexpected events. In this scope, having a predictable and highly effective medium access control (MAC) method is of utmost importance. However, the currently available IEEE 802.11p technology is unable to adequately address these challenges. In this paper, we propose a MAC method especially adapted to platoons, able to transmit beacons within the required time constraints, but with a higher reliability level than IEEE 802.11p, while concurrently enabling efficient dissemination of event-driven messages. The protocol circulates the token within the platoon not in a round-robin fashion, but based on beacon data age, i.e., the time that has passed since the previous collection of status information, thereby automatically offering repeated beacon transmission opportunities for increased reliability. In addition, we propose three different methods for supporting event-driven messages co-existing with beacons. Analysis and simulation results in single and multi-hop scenarios showed that, by providing non-competitive channel access and frequent retransmission opportunities, our protocol can offer beacon delivery within one beacon generation interval while fulfilling the requirements on low-delay dissemination of event-driven messages for traffic safety applications.

Accelerated Adoption of Advanced Health Information Technology in Beacon Community Health Centers.

PubMed

Jones, Emily; Wittie, Michael

2015-01-01

To complement national and state-level HITECH Act programs, 17 Beacon communities were funded to fuel community-wide use of health information technology to improve quality. Health centers in Beacon communities received supplemental funding. This article explores the association between participation in the Beacon program and the adoption of electronic health records. Using the 2010-2012 Uniform Data System, trends in health information technology adoption among health centers located within and outside of Beacon communities were explored using differences in mean t tests and multivariate logistic regression. Electronic health record adoption was widespread and rapidly growing in all health centers, especially quality improvement functionalities: structured data capture, order and results management, and clinical decision support. Adoption lagged for functionalities supporting patient engagement, performance measurement, care coordination, and public health. The use of advanced functionalities such as care coordination grew faster in Beacon health centers, and Beacon health centers had 1.7 times higher odds of adopting health records with basic safety and quality functionalities in 2010-2012. Three factors likely underlie these findings: technical assistance, community-wide activation supporting health information exchange, and the layering of financial incentives. Additional technical assistance and community-wide activation is needed to support the use of functionalities that are currently lagging. © Copyright 2015 by the American Board of Family Medicine.

Precise locating approach of the beacon based on gray gradient segmentation interpolation in satellite optical communications.

PubMed

Wang, Qiang; Liu, Yuefei; Chen, Yiqiang; Ma, Jing; Tan, Liying; Yu, Siyuan

2017-03-01

Accurate location computation for a beacon is an important factor of the reliability of satellite optical communications. However, location precision is generally limited by the resolution of CCD. How to improve the location precision of a beacon is an important and urgent issue. In this paper, we present two precise centroid computation methods for locating a beacon in satellite optical communications. First, in terms of its characteristics, the beacon is divided into several parts according to the gray gradients. Afterward, different numbers of interpolation points and different interpolation methods are applied in the interpolation area; we calculate the centroid position after interpolation and choose the best strategy according to the algorithm. The method is called a "gradient segmentation interpolation approach," or simply, a GSI (gradient segmentation interpolation) algorithm. To take full advantage of the pixels of the beacon's central portion, we also present an improved segmentation square weighting (SSW) algorithm, whose effectiveness is verified by the simulation experiment. Finally, an experiment is established to verify GSI and SSW algorithms. The results indicate that GSI and SSW algorithms can improve locating accuracy over that calculated by a traditional gray centroid method. These approaches help to greatly improve the location precision for a beacon in satellite optical communications.

Visual detection of multidrug resistance gene in living cell using the molecular beacon imaging

NASA Astrophysics Data System (ADS)

Zhou, Qiumei; Ma, Yi; Gu, Yueqing

2014-09-01

A major problem in cancer treatment is the development of resistance to chemotherapeutic agents in tumor cells. Detection of effective prognostic biomarkers and targets are of crucial importance to the management of individualized therapies. However, quantitative analysis of the drug resistance gene had been difficult because of technical limitations. In this study, we designed and used a special hairpin deoxyribonucleic acid (DNA), which served as a beacon for detecting human drug resistance indicater. Upon hybridizing with the target mRNA, the hairpin DNA modified gold nanoparticle beacons (hDAuNP beacons) release the fluorophores attached at 5'end of the oligonucleotide sequence. The fluorescence properties of the beacon before and after the hybridization with the complementary DNA were confirmed in vitro. The hDAuNP beacons could be taken up by living cells with low inherent cytotoxicity and higher stability. hDAuNP beacon imaged by confocal laser scanning microscopy to detect the resistance gene expression. The detected fluorescence in MCF7and MCF7/ADR cells correlates with the specific drug resistance gene expression, which is consistent with the result from Q-PCR. Thus, this approach overcame many of the challenges of previous techniques by creating highly sensitive and effective intracellular probes for monitoring gene expression.

Marking emergency exits and evacuation routes with sound beacons utilizing the precedence effect

NASA Astrophysics Data System (ADS)

van Wijngaarden, Sander J.; Bronkhorst, Adelbert W.; Boer, Louis C.

2004-05-01

Sound beacons can be extremely useful during emergency evacuations, especially when vision is obscured by smoke. When exits are marked with suitable sound sources, people can find these using only their capacity for directional hearing. Unfortunately, unless very explicit instructions were given, sound beacons currently commercially available (based on modulated noise) led to disappointing results during an evacuation experiment in a traffic tunnel. Only 19% out of 65 subjects were able to find an exit by ear. A signal designed to be more self-explanatory and less hostile-sounding (alternating chime signal and spoken message ``exit here'') increased the success rate to 86%. In a more complex environment-a mock-up of a ship's interior-routes to the exit were marked using multiple beacons. By applying carefully designed time delays between successive beacons, the direction of the route was marked, utilizing the precedence effect. Out of 34 subjects, 71% correctly followed the evacuation route by ear (compared to 24% for a noise signal as used in commercially available beacons). Even when subjects were forced to make a worst-case left-right decision at a T-junction, between two beacons differing only in arrival of the first wave front, 77% made the right decision.

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 hydrophone arrays. We here discuss the possibility of using Ambient Noise Imaging (ANI) systems initially developed for location of non-calling sperm whales along high speed ferry routes in the Canary Islands. A ‘hybrid’ ANI system has also been developed which uses sound from calling whales to ‘illuminate’ non-calling whales. Such systems designed for sperm whales would require modification for Blue and fin whales along California shipping lanes, and Bowhead whales in Alaska. We discuss how ANI whale detection systems could be developed for California and Alaska by combining bottom moorings with autonomous underwater vehicles (AUVs) and autonomous surface vehicles (ASVs) as part of ocean observing systems. The mechanisms, challenges, and potential solutions for use of ANI whale detection systems along critical shipping lanes along the California and Alaska coast to reduce whale-ship collisions are discussed as a means that permit science to assist in development of integrated state and federal ocean management policies. The combination of new scientific technology with ocean policy decisions can improve coastal ocean management, improve the safety and reduce the cost of shipping, while at the same time protecting endangered whale species.

Robot environment expert system

NASA Technical Reports Server (NTRS)

Potter, J. L.

1985-01-01

The Robot Environment Expert System uses a hexidecimal tree data structure to model a complex robot environment where not only the robot arm moves, but also the robot itself and other objects may move. The hextree model allows dynamic updating, collision avoidance and path planning over time, to avoid moving objects.

Evaluation of the crash mitigation effect of low-speed automated emergency braking systems based on insurance claims data.

PubMed

Isaksson-Hellman, Irene; Lindman, Magdalena

2016-09-01

The aim of the present study was to evaluate the crash mitigation performance of low-speed automated emergency braking collision avoidance technologies by examining crash rates, car damage, and personal injuries. Insurance claims data were used to identify rear-end frontal collisions, the specific situations where the low-speed automated emergency braking system intervenes. We compared cars of the same model (Volvo V70) with and without the low-speed automated emergency braking system (AEB and no AEB, respectively). Distributions of spare parts required for car repair were analyzed to identify car damage, and crash severity was estimated by comparing the results with laboratory crash tests. Repair costs and occupant injuries were investigated for both the striking and the struck vehicle. Rear-end frontal collisions were reduced by 27% for cars with low-speed AEB compared to cars without the system. Those of low severity were reduced by 37%, though more severe crashes were not reduced. Accordingly, the number of injured occupants in vehicles struck by low-speed AEB cars was reduced in low-severity crashes. In offset crash configurations, the system was found to be less effective. This study adds important information about the safety performance of collision avoidance technologies, beyond the number of crashes avoided. By combining insurance claims data and information from spare parts used, the study demonstrates a mitigating effect of low-speed AEB in real-world traffic.

A quantum dot-aptamer beacon using a DNA intercalating dye as the FRET reporter: application to label-free thrombin detection.

PubMed

Chi, Chun-Wei; Lao, Yeh-Hsing; Li, Yi-Shan; Chen, Lin-Chi

2011-03-15

A new quantum dot (QD)-aptamer (apt) beacon that acts by folding-induced dissociation of a DNA intercalating dye, BOBO-3(B), is demonstrated with label-free thrombin detection. The beacon, denoted as QD-apt:B, is constructed by (1) coupling of a single-stranded thrombin aptamer to Qdot 565 via EDC/Sulfo-NHS chemistry and (2) staining the duplex regions of the aptamer on QD with excess BOBO-3 before thrombin binding. When mixing a thrombin sample with QD-apt:B, BOBO-3 is competed away from the beacon due to target-induced aptamer folding, which then causes a decrease in QD fluorescence resonance energy transfer (FRET)-mediated BOBO-3 emission and achieves thrombin quantitation. In this work, the effects of Mg(2+), coupling time, and aptamer type on the beacon's performances are investigated and discussed thoroughly with various methods, including transmission electron microscopy (TEM), dynamic light scattering (DLS), and two-color differential gel electrophoresis. Using the best aptamer beacon (HTQ37), we attain highly specific and wide-range detection (from nM to μM) of thrombin in buffer, and the beacon can sense nM-range thrombin in 15% diluted serum. Compared to the reported QD aptamer assays, our method is advantageous from the aspect of using a simple sensory unit design without losing the detection sensitivity. Therefore, we consider the QD-apt:B beacon a potential alternative to immuno-reagents and an effective tool to study nucleic acid folding on QD as well. Copyright © 2011 Elsevier B.V. All rights reserved.

Dual tasking negatively impacts obstacle avoidance abilities in post-stroke individuals with visuospatial neglect: Task complexity matters!

PubMed

Aravind, Gayatri; Lamontagne, Anouk

2017-01-01

Persons with perceptual-attentional deficits due to visuospatial neglect (VSN) after a stroke are at a risk of collisions while walking in the presence of moving obstacles. The attentional burden of performing a dual-task may further compromise their obstacle avoidance performance, putting them at a greater risk of collisions. The objective of this study was to compare the ability of persons with (VSN+) and without VSN (VSN-) to dual task while negotiating moving obstacles. Twenty-six stroke survivors (13 VSN+, 13 VSN-) were assessed on their ability to (a) negotiate moving obstacles while walking (locomotor single task); (b) perform a pitch-discrimination task (cognitive single task) and (c) simultaneously perform the walking and cognitive tasks (dual task). We compared the groups on locomotor (collision rates, minimum distance from obstacle and onset of strategies) and cognitive (error rates) outcomes. For both single and dual task walking, VSN+ individuals showed higher collision rates compared to VSN- individuals. Dual tasking caused deterioration of locomotor (more collisions, delayed onset and smaller minimum distances) and cognitive performances (higher error rate) in VSN+ individuals. Contrastingly, VSN- individuals maintained collision rates, increased minimum distance, but showed more cognitive errors, prioritizing their locomotor performance. Individuals with VSN demonstrate cognitive-locomotor interference under dual task conditions, which could severely compromise safety when ambulating in community environments and may explain the poor recovery of independent community ambulation in these individuals.

Beacons In Brief. P/PV In Brief. Issue 2

ERIC Educational Resources Information Center

Blank, Susan; Farley, Chelsea

2004-01-01

This second issue in P/PV's "In Brief" series focuses on the San Francisco Beacon Initiative and P/PV's recently released evaluation results. The Beacon Initiative established after-school programs in eight public schools in low-income San Francisco neighborhoods. P/PV's 36-month evaluation examined key developmental and academic outcomes.…

47 CFR 95.1401 - Frequency.

Code of Federal Regulations, 2010 CFR

2010-10-01

... SERVICES Personal Locator Beacons (PLB). § 95.1401 Frequency. The frequency band 406.0-406.1 MHz is an emergency and distress frequency band available for use by Personal Locator Beacons (PLBs). Personal Locator Beacons that transmit on the frequency band 406.0-406.1 MHz must use G1D emission. Use of these...

What Happened to the Beacon Schools? Policy Reform and Educational Equity

ERIC Educational Resources Information Center

Smith, Emma

2015-01-01

This paper considers the impact of the Beacon schools initiative on the social and academic characteristics of secondary schools in England. The Beacon schools programme ran from 1998 to 2004 and epitomised the (then) Labour government's focus on school improvement through diversity, collaboration and partnership. This paper looks at variation in…

In vitro quantification of specific microRNA using molecular beacons

PubMed Central

Baker, Meredith B.; Bao, Gang; Searles, Charles D.

2012-01-01

MicroRNAs (miRNAs), a class of non-coding RNAs, have become a major focus of molecular biology research because of their diverse genomic origin and ability to regulate an array of cellular processes. Although the biological functions of miRNA are yet to be fully understood, tissue levels of specific miRNAs have been shown to correlate with pathological development of disease. Here, we demonstrate that molecular beacons can readily distinguish mature- and pre-miRNAs, and reliably quantify miRNA expression. We found that molecular beacons with DNA, RNA and combined locked nucleic acid (LNA)–DNA backbones can all detect miRNAs of low (<1 nM) concentrations in vitro, with RNA beacons having the highest detection sensitivity. Furthermore, we found that molecular beacons have the potential to distinguish miRNAs that have slight variations in their nucleotide sequence. These results suggest that the molecular beacon-based approach to assess miRNA expression and distinguish mature and precursor miRNA species is quite robust, and has the promise for assessing miRNA levels in biological samples. PMID:22110035

Amplitude modulation of alpha-band rhythm caused by mimic collision: MEG study.

PubMed

Yokosawa, Koichi; Watanabe, Tatsuya; Kikuzawa, Daichi; Aoyama, Gakuto; Takahashi, Makoto; Kuriki, Shinya

2013-01-01

Detection of a collision risk and avoiding the collision are important for survival. We have been investigating neural responses when humans anticipate a collision or intend to take evasive action by applying collision-simulating images in a predictable manner. Collision-simulating images and control images were presented in random order to 9 healthy male volunteers. A cue signal was also given visually two seconds before each stimulus to enable each participant to anticipate the upcoming stimulus. Magnetoencephalograms (MEG) were recorded with a 76-ch helmet system. The amplitude of alpha band (8-13 Hz) rhythm when anticipating the upcoming collision-simulating image was significantly smaller than that when anticipating control images even just after the cue signal. This result demonstrates that anticipating a negative (dangerous) event induced event-related desynchronization (ERD) of alpha band activity, probably caused by attention. The results suggest the feasibility of detecting endogenous brain activities by monitoring alpha band rhythm and its possible applications to engineering systems, such as an automatic collision evasion system for automobiles.

Digital beacon receiver for ionospheric TEC measurement developed with GNU Radio

NASA Astrophysics Data System (ADS)

Yamamoto, M.

2008-11-01

A simple digital receiver named GNU Radio Beacon Receiver (GRBR) was developed for the satellite-ground beacon experiment to measure the ionospheric total electron content (TEC). The open-source software toolkit for the software defined radio, GNU Radio, is utilized to realize the basic function of the receiver and perform fast signal processing. The software is written in Python for a LINUX PC. The open-source hardware called Universal Software Radio Peripheral (USRP), which best matches the GNU Radio, is used as a front-end to acquire the satellite beacon signals of 150 and 400 MHz. The first experiment was successful as results from GRBR showed very good agreement to those from the co-located analog beacon receiver. Detailed design information and software codes are open at the URL http://www.rish.kyoto-u.ac.jp/digitalbeacon/.

Highly sensitive and rapid bacteria detection using molecular beacon-Au nanoparticles hybrid nanoprobes.

PubMed

Cao, Jing; Feng, Chao; Liu, Yan; Wang, Shouyu; Liu, Fei

2014-07-15

Since many diseases are caused by pathogenic bacterial infections, accurate and rapid detection of pathogenic bacteria is in urgent need to timely apply appropriate treatments and to reduce economic costs. To end this, we designed molecular beacon-Au nanoparticle hybrid nanoprobes to improve the bacterial detection efficiency and sensitivity. Here, we show that the designed molecular beacon modified Au nanoparticles could specifically recognize synthetic DNAs targets and can readily detect targets in clinical samples. Moreover, the hybrid nanoprobes can recognize Escherichia coli within an hour at a concentration of 10(2) cfu/ml, which is 1000-folds sensitive than using molecular beacon directly. Our results show that the molecular beacon-Au nanoparticle hybrid nanoprobes have great potential in medical and biological applications. Copyright © 2014 Elsevier B.V. All rights reserved.

Conflict resolution maneuvers during near miss encounters with cockpit traffic displays

NASA Technical Reports Server (NTRS)

Palmer, E.

1983-01-01

The benefits and liabilities associated with pilots' use of a cockpit traffic display to assess the threat posed by air traffic and to make small maneuvers to avoid situations which would result in collision avoidance advisories are experimentally studied. The crew's task was to fly a simulated wide-body aircraft along a straight course at constant altitude while intruder aircraft appeared on a variety of converging trajectories. The main experimental variables were the amount and quality of the information displayed on the intruder aircraft's estimated future position. Pilots were to maintain a horizontal separation of at least 1.5 nautical miles or a vertical separation of 500 ft, so that collision avoidance advisories would not be triggered. The results show that pilots could usually maneuver to provide the specified separation but often made course deviations greater than 1.5 nm or 500 ft.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system.

PubMed

Hartbauer, Manfred

2017-02-15

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the 'collision-detector neurons' of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a 'danger zone', in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200  ×  100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly.

Simplified bionic solutions: a simple bio-inspired vehicle collision detection system

PubMed Central

Hartbauer, Manfred

2018-01-01

Modern cars are equipped with both active and passive sensor systems that can detect potential collisions. In contrast, locusts avoid collisions solely by responding to certain visual cues that are associated with object looming. In neurophysiological experiments, I investigated the possibility that the ‘collision-detector neurons’ of locusts respond to impending collisions in films recorded with dashboard cameras of fast driving cars. In a complementary modelling approach, I developed a simple algorithm to reproduce the neuronal response that was recorded during object approach. Instead of applying elaborate algorithms that factored in object recognition and optic flow discrimination, I tested the hypothesis that motion detection restricted to a ‘danger zone’, in which frontal collisions on the motorways are most likely, is sufficient to estimate the risk of a collision. Furthermore, I investigated whether local motion vectors, obtained from the differential excitation of simulated direction-selective networks, could be used to predict evasive steering maneuvers and prevent undesired responses to motion artifacts. The results of the study demonstrate that the risk of impending collisions in real traffic scenes is mirrored in the excitation of the collision-detecting neuron (DCMD) of locusts. The modelling approach was able to reproduce this neuronal response even when the vehicle was driving at high speeds and image resolution was low (about 200 × 100 pixels). Furthermore, evasive maneuvers that involved changing the steering direction and steering force could be planned by comparing the differences in the overall excitation levels of the simulated right and left direction-selective networks. Additionally, it was possible to suppress undesired responses of the algorithm to translatory movements, camera shake and ground shadows by evaluating local motion vectors. These estimated collision risk values and evasive steering vectors could be used as input for a driving assistant, converting the first into braking force and the latter into steering responses to avoid collisions. Since many processing steps were computed on the level of pixels and involved elements of direction-selective networks, this algorithm can be implemented in hardware so that parallel computations enhance the processing speed significantly. PMID:28091394

Serum inverts and improves the fluorescence response of an aptamer beacon to various vitamin D analytes.

PubMed

Bruno, John G; Carrillo, Maria P; Phillips, Taylor; Edge, Allison

2012-01-01

A dominant aptamer loop structure from a library of nearly 100 candidate aptamer sequences developed against immobilized 25-hydroxyvitamin D(3) (calcidiol) was converted into a 5'-TYE 665 and 3'-Iowa black-labelled aptamer beacon. The aptamer beacon exhibited a mild 'lights on' reaction in buffer as a function of increasing concentrations of several vitamin D analogues and metabolites, with a limit of detection of approximately 200 ng/mL, and was not specific for any particular congener. In 10% or 50% human serum, the same aptamer beacon inverted its fluorescence behaviour to become a more intense 'lights off' reaction with an improved limit of detection in the range 4-16 ng/mL. We hypothesized that this drastic change in fluorescence behaviour was due to the presence of creatinine and urea in serum, which might destabilize the quenched beacon, causing an increase in fluorescence followed by decreasing fluorescence as a function of vitamin D concentrations that may bind and quench increasingly greater fractions of the denatured beacons. However, the results of several control experiments in the presence of physiological or greater concentrations of creatinine and urea, alone or combined in buffer, failed to produce the beacon fluorescence inversion. Other possible mechanistic hypotheses are also discussed. Copyright © 2011 John Wiley & Sons, Ltd.

Cleavable DNA-protein hybrid molecular beacon: A novel efficient signal translator for sensitive fluorescence anisotropy bioassay.

PubMed

Hu, Pan; Yang, Bin

2016-01-15

Due to its unique features such as high sensitivity, homogeneous format, and independence on fluorescent intensity, fluorescence anisotropy (FA) assay has become a hotspot of study in oligonucleotide-based bioassays. However, until now most FA probes require carefully customized structure designs, and thus are neither generalizable for different sensing systems nor effective to obtain sufficient signal response. To address this issue, a cleavable DNA-protein hybrid molecular beacon was successfully engineered for signal amplified FA bioassay, via combining the unique stable structure of molecular beacon and the large molecular mass of streptavidin. Compared with single DNA strand probe or conventional molecular beacon, the DNA-protein hybrid molecular beacon exhibited a much higher FA value, which was potential to obtain high signal-background ratio in sensing process. As proof-of-principle, this novel DNA-protein hybrid molecular beacon was further applied for FA bioassay using DNAzyme-Pb(2+) as a model sensing system. This FA assay approach could selectively detect as low as 0.5nM Pb(2+) in buffer solution, and also be successful for real samples analysis with good recovery values. Compatible with most of oligonucleotide probes' designs and enzyme-based signal amplification strategies, the molecular beacon can serve as a novel signal translator to expand the application prospect of FA technology in various bioassays. Copyright © 2015 Elsevier B.V. All rights reserved.

An Oasis in This Desert: Parents Talk about the New York City Beacons.

ERIC Educational Resources Information Center

Nevarez, Nancy

This report presents the findings of focus groups convened to determine what the parents of youth participants in the New York City Beacons think about the program. The Beacons initiative is a comprehensive model of school-community-family partnerships undertaken by New York City in 1991. The initiative originally enabled 10 community-based…

Building Partnerships with Agencies & Employers To Help High Risk Students Succeed. The AACJC/Kellogg Beacon Colleges Initiative.

ERIC Educational Resources Information Center

American Association of Community and Junior Colleges, Washington, DC.

The American Association of Community and Junior Colleges' (AACJC's) Beacon College Project requires a Beacon College to form a consortium with five to ten associate community colleges (CCs) for the purpose of furthering the recommendations of the AACJC Futures Commission report regarding the building of communities. In Oregon, Chemeketa Community…

Bilingual Education and Academic/Career Outreach for Newcomers: Project BEACON, 1988-89. Evaluation Section Report. OREA Report.

ERIC Educational Resources Information Center

Berney, Tomi D.; Gritzer, Glenn

The Bilingual Education Academic/Career Outreach for Newcomers Program (Project BEACON) completed its fourth year. The goals of Project BEACON are to facilitate acquisition of English proficiency, develop native language literacy skills, and provide instruction in bilingual and English content area/vocational classes. The project served 753…

77 FR 41271 - Safety Zone; Newburgh to Beacon Swim, Newburgh, Hudson River, NY

Federal Register 2010, 2011, 2012, 2013, 2014

2012-07-13

... 1625-AA00 Safety Zone; Newburgh to Beacon Swim, Newburgh, Hudson River, NY AGENCY: Coast Guard, DHS... navigable waters of the Hudson River, NY in the vicinity of Newburgh, NY for the annual Newburgh Beacon Swim... hazards associated with swimmers competing in a swim across the Hudson River. Persons and vessels are...

Beacon Editor: Capturing Signal Transduction Pathways Using the Systems Biology Graphical Notation Activity Flow Language.

PubMed

Elmarakeby, Haitham; Arefiyan, Mostafa; Myers, Elijah; Li, Song; Grene, Ruth; Heath, Lenwood S

2017-12-01

The Beacon Editor is a cross-platform desktop application for the creation and modification of signal transduction pathways using the Systems Biology Graphical Notation Activity Flow (SBGN-AF) language. Prompted by biologists' requests for enhancements, the Beacon Editor includes numerous powerful features for the benefit of creation and presentation.

Florida manatee avoidance technology: A pilot program by the Florida Fish and Wildlife Conservation Commission

NASA Astrophysics Data System (ADS)

Frisch, Katherine; Haubold, Elsa

2003-10-01

Since 1976, approximately 25% of the annual Florida manatee (Trichechus manatus latirostris) mortality has been attributed to collisions with watercraft. In 2001, the Florida Legislature appropriated $200,000 in funds for research projects using technological solutions to directly address the problem of collisions between manatees and watercraft. The Florida Fish & Wildlife Conservation Commission initially funded seven projects for the first two fiscal years. The selected proposals were designed to explore technology that had not previously been applied to the manatee/boat collision problem and included many acoustic concepts related to voice recognition, sonar, and an alerting device to be put on boats to warn manatees. The most promising results to date are from projects employing voice-recognition techniques to identify manatee vocalizations and warn boaters of the manatees' presence. Sonar technology, much like that used in fish finders, is promising but has met with regulatory problems regarding permitting and remains to be tested, as has the manatee-alerting device. The state of Florida found results of the initial years of funding compelling and plans to fund further manatee avoidance technology research in a continued effort to mitigate the problem of manatee/boat collisions.

Feasibility of collision warning, precision approach and landing using GPS, volume 1

NASA Technical Reports Server (NTRS)

Ruedger, W. H.

1981-01-01

The use of GPS, with an appropriately configured data link, to enhance general aviation avionic functions encountered in the terminal area and on approach was investigated with emphasis on approach and landing guidance and collision warning. The feasibility of using differential GPS to obtain the precision navigation solutions required for landing was studied. Results show that the concept is sound. An experimental program was developed to demonstrate this concept. The collision avoidance/warning concept was examined through the development of a functional system specification.

Collision analysis of one kind of chaos-based hash function

NASA Astrophysics Data System (ADS)

Xiao, Di; Peng, Wenbing; Liao, Xiaofeng; Xiang, Tao

2010-02-01

In the last decade, various chaos-based hash functions have been proposed. Nevertheless, the corresponding analyses of them lag far behind. In this Letter, we firstly take a chaos-based hash function proposed very recently in Amin, Faragallah and Abd El-Latif (2009) [11] as a sample to analyze its computational collision problem, and then generalize the construction method of one kind of chaos-based hash function and summarize some attentions to avoid the collision problem. It is beneficial to the hash function design based on chaos in the future.

Interaction dynamics of multiple autonomous mobile robots in bounded spatial domains

NASA Technical Reports Server (NTRS)

Wang, P. K. C.

1989-01-01

A general navigation strategy for multiple autonomous robots in a bounded domain is developed analytically. Each robot is modeled as a spherical particle (i.e., an effective spatial domain about the center of mass); its interactions with other robots or with obstacles and domain boundaries are described in terms of the classical many-body problem; and a collision-avoidance strategy is derived and combined with homing, robot-robot, and robot-obstacle collision-avoidance strategies. Results from homing simulations involving (1) a single robot in a circular domain, (2) two robots in a circular domain, and (3) one robot in a domain with an obstacle are presented in graphs and briefly characterized.

Messaging with Cost-Optimized Interstellar Beacons

NASA Technical Reports Server (NTRS)

Benford, James; Benford, Gregory; Benford, Dominic

2010-01-01

On Earth, how would we build galactic-scale beacons to attract the attention of extraterrestrials, as some have suggested we should do? From the point of view of expense to a builder on Earth, experience shows an optimum trade-off. This emerges by minimizing the cost of producing a desired power density at long range, which determines the maximum range of detectability of a transmitted signal. We derive general relations for cost-optimal aperture and power. For linear dependence of capital cost on transmitter power and antenna area, minimum capital cost occurs when the cost is equally divided between antenna gain and radiated power. For nonlinear power-law dependence, a similar simple division occurs. This is validated in cost data for many systems; industry uses this cost optimum as a rule of thumb. Costs of pulsed cost-efficient transmitters are estimated from these relations by using current cost parameters ($/W, $/sq m) as a basis. We show the scaling and give examples of such beacons. Galactic-scale beacons can be built for a few billion dollars with our present technology. Such beacons have narrow "searchlight" beams and short "dwell times" when the beacon would be seen by an alien observer in their sky. More-powerful beacons are more efficient and have economies of scale: cost scales only linearly with range R, not as R(exp 2), so number of stars radiated to increases as the square of cost. On a cost basis, they will likely transmit at higher microwave frequencies, -10 GHz. The natural corridor to broadcast is along the galactic radius or along the local spiral galactic arm we are in. A companion paper asks "If someone like us were to produce a beacon, how should we look for it?"

Electroactive crown ester-Cu2+ complex with in-situ modification at molecular beacon probe serving as a facile electrochemical DNA biosensor for the detection of CaMV 35s.

PubMed

Zhan, Fengping; Liao, Xiaolei; Gao, Feng; Qiu, Weiwei; Wang, Qingxiang

2017-06-15

A novel electrochemical DNA biosensor has been facilely constructed by in-situ assembly of electroactive 4'-aminobenzo-18-crown-6-copper(II) complex (AbC-Cu 2+ ) on the free terminal of the hairpin-structured molecule beacon. The 3'-SH modified molecule beacon probe was first immobilized on the gold electrode (AuE) surface through self-assembly chemistry of Au-S bond. Then the crow ester of AbC was covalently coupled with 5'-COOH on the molecule beacon, and served as a platform to attach the Cu 2+ by coordination with ether bond (-O-) of the crown cycle. Thus, an electroactive molecule beacon-based biosensing interface was constructed. In comparison with conventional methods for preparation of electroactive molecule beacon, the approach presented in this work is much simpler, reagent- and labor-saving. Selectivity study shows that the in-situ fabricated electroactive molecule beacon remains excellent recognition ability of pristine molecule beacon probe to well differentiate various DNA fragments. The target DNA can be quantatively determined over the range from 0.10pM to 0.50nM. The detection limit of 0.060pM was estimated based on signal-to-noise ratio of 3. When the biosensor was applied for the detection cauliflower mosaic virus 35s (CaMV 35s) in soybean extraction samples, satisfactory results are achieved. This work opens a new strategy for facilely fabricating electrochemical sensing interface, which also shows great potential in aptasensor and immurosensor fabrication. Copyright © 2016 Elsevier B.V. All rights reserved.

An Energy-Efficient MAC Protocol for Medical Emergency Monitoring Body Sensor Networks

PubMed Central

Zhang, Chongqing; Wang, Yinglong; Liang, Yongquan; Shu, Minglei; Chen, Changfang

2016-01-01

Medical emergency monitoring body sensor networks (BSNs) monitor the occurrence of medical emergencies and are helpful for the daily care of the elderly and chronically ill people. Such BSNs are characterized by rare traffic when there is no emergency occurring, high real-time and reliable requirements of emergency data and demand for a fast wake-up mechanism for waking up all nodes when an emergency happens. A beacon-enabled MAC protocol is specially designed to meet the demands of medical emergency monitoring BSNs. The rarity of traffic is exploited to improve energy efficiency. By adopting a long superframe structure to avoid unnecessary beacons and allocating most of the superframe to be inactive periods, the duty cycle is reduced to an extremely low level to save energy. Short active time slots are interposed into the superframe and shared by all of the nodes to deliver the emergency data in a low-delay and reliable way to meet the real-time and reliable requirements. The interposition slots can also be used by the coordinator to broadcast network demands to wake-up all nodes in a low-delay and energy-efficient way. Experiments display that the proposed MAC protocol works well in BSNs with low emergency data traffic. PMID:26999145

Chemically directing d-block heterometallics to nanocrystal surfaces as molecular beacons of surface structure

DOE PAGES

Rosen, Evelyn L.; Gilmore, Keith; Sawvel, April M.; ...

2015-07-28

Our understanding of structure and bonding in nanoscale materials is incomplete without knowledge of their surface structure. Needed are better surveying capabilities responsive not only to different atoms at the surface, but also their respective coordination environments. We report here that d-block organometallics, when placed at nanocrystal surfaces through heterometallic bonds, serve as molecular beacons broadcasting local surface structure in atomic detail. This unique ability stems from their elemental specificity and the sensitivity of their d-orbital level alignment to local coordination environment, which can be assessed spectroscopically. Re-surfacing cadmium and lead chalcogenide nanocrystals with iron- or ruthenium-based molecular beacons ismore » readily accomplished with trimethylsilylated cyclopentadienyl metal carbonyls. For PbSe nanocrystals with iron-based beacons, we show how core-level X-ray spectroscopies and DFT calculations enrich our understanding of both charge and atomic reorganization at the surface when beacons are bound.« less

Real-time Collision Avoidance and Path Optimizer for Semi-autonomous UAVs.

NASA Astrophysics Data System (ADS)

Hawary, A. F.; Razak, N. A.

2018-05-01

Whilst UAV offers a potentially cheaper and more localized observation platform than current satellite or land-based approaches, it requires an advance path planner to reveal its true potential, particularly in real-time missions. Manual control by human will have limited line-of-sights and prone to errors due to careless and fatigue. A good alternative solution is to equip the UAV with semi-autonomous capabilities that able to navigate via a pre-planned route in real-time fashion. In this paper, we propose an easy-and-practical path optimizer based on the classical Travelling Salesman Problem and adopts a brute force search method to re-optimize the route in the event of collisions using range finder sensor. The former utilizes a Simple Genetic Algorithm and the latter uses Nearest Neighbour algorithm. Both algorithms are combined to optimize the route and avoid collision at once. Although many researchers proposed various path planning algorithms, we find that it is difficult to integrate on a basic UAV model and often lacks of real-time collision detection optimizer. Therefore, we explore a practical benefit from this approach using on-board Arduino and Ardupilot controllers by manually emulating the motion of an actual UAV model prior to test on the flying site. The result showed that the range finder sensor provides a real-time data to the algorithm to find a collision-free path and eventually optimized the route successfully.

Evaluation of the New York City Beacons. Summary of Phase I Findings.

ERIC Educational Resources Information Center

Warren, Constancia

This report presents findings from Phase 1 of an evaluation of the New York City Beacons initiative, a model of school-community-family partnerships initiated in 1991. Beacons are community centers located in public schools, offering a range of activities and services to participants of all ages, before and after school, in the evenings, and on…

76 FR 18577 - Merritt Island National Wildlife Refuge, Volusia and Brevard Counties, FL; Collection of Entrance...

Federal Register 2010, 2011, 2012, 2013, 2014

2011-04-04

... Cove, Beacon 42, and Bio Lab). Fees are not required to enter any other portion of the refuge. DATES..., Beacon 42, and Bio Lab; Black Point Wildlife Drive; public access roads; parking lots; overlooks; and... the boat ramps at Bairs Cove, Beacon 42, and Bio Lab. If public comments were to provide substantive...

Preliminary performance analysis of an interplanetary navigation system using asteroid based beacons

NASA Technical Reports Server (NTRS)

Jee, J. Rodney; Khatib, Ahmad R.; Muellerschoen, Ronald J.; Williams, Bobby G.; Vincent, Mark A.

1988-01-01

A futuristic interplanetary navigation system using transmitters placed on selected asteroids is introduced. This network of space beacons is seen as a needed alternative to the overly burdened Deep Space Network. Covariance analyses on the potential performance of these space beacons located on a candidate constellation of eight real asteroids are initiated. Simplified analytic calculations are performed to determine limiting accuracies attainable with the network for geometric positioning. More sophisticated computer simulations are also performed to determine potential accuracies using long arcs of range and Doppler data from the beacons. The results from these computations show promise for this navigation system.

Adaptive optics without altering visual perception

PubMed Central

DE, Koenig; NW, Hart; HJ, Hofer

2014-01-01

Adaptive optics combined with visual psychophysics creates the potential to study the relationship between visual function and the retina at the cellular scale. This potential is hampered, however, by visual interference from the wavefront-sensing beacon used during correction. For example, we have previously shown that even a dim, visible beacon can alter stimulus perception (Hofer, H. J., Blaschke, J., Patolia, J., & Koenig, D. E. (2012). Fixation light hue bias revisited: Implications for using adaptive optics to study color vision. Vision Research, 56, 49-56). Here we describe a simple strategy employing a longer wavelength (980nm) beacon that, in conjunction with appropriate restriction on timing and placement, allowed us to perform psychophysics when dark adapted without altering visual perception. The method was verified by comparing detection and color appearance of foveally presented small spot stimuli with and without the wavefront beacon present in 5 subjects. As an important caution, we found that significant perceptual interference can occur even with a subliminal beacon when additional measures are not taken to limit exposure. Consequently, the lack of perceptual interference should be verified for a given system, and not assumed based on invisibility of the beacon. PMID:24607992

DNA Duplex-Based Photodynamic Molecular Beacon for Targeted Killing of Retinoblastoma Cell.

PubMed

Wei, Yanchun; Lu, Cuixia; Chen, Qun; Xing, Da

2016-11-01

Retinoblastoma (RB) is the most common primary intraocular malignancy of infancy. An alternative RB treatment protocol is proposed and tested. It is based on a photodynamic therapy (PDT) with a designed molecular beacon that specifically targets the murine double minute x (MDMX) high-expressed RB cells. A MDMX mRNA triggered photodynamic molecular beacon is designed by binding a photosensitizer molecule (pyropheophorbide-a, or PPa) and a black hole quencher-3 (BHQ3) through a complementary oligonucleotide sequence. Cells with and without MDMX high-expression are incubated with the beacon and then irradiated with a laser. The fluorescence and reactive oxygen species are detected in solution to verify the specific activation of PPa by the perfectly matched DNA targets. The cell viabilities are evaluated with CCK-8 and flow cytometry assay. The fluorescence and photo-cytoxicity of PPa is recovered and significantly higher in the MDMX high-expressed Y79 and WERI-Rb1 cells, compared to that with the MDMX low-expressed cells. The synthesized beacon exhibits high PDT efficiency toward MDMX high-expressed RB cells. The data suggest that the designed beacon may provide a potential alternative for RB therapy and secures the ground for future investigation.

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.

Aerial vehicles collision avoidance using monocular vision

NASA Astrophysics Data System (ADS)

Balashov, Oleg; Muraviev, Vadim; Strotov, Valery

2016-10-01

In this paper image-based collision avoidance algorithm that provides detection of nearby aircraft and distance estimation is presented. The approach requires a vision system with a single moving camera and additional information about carrier's speed and orientation from onboard sensors. The main idea is to create a multi-step approach based on a preliminary detection, regions of interest (ROI) selection, contour segmentation, object matching and localization. The proposed algorithm is able to detect small targets but unlike many other approaches is designed to work with large-scale objects as well. To localize aerial vehicle position the system of equations relating object coordinates in space and observed image is solved. The system solution gives the current position and speed of the detected object in space. Using this information distance and time to collision can be estimated. Experimental research on real video sequences and modeled data is performed. Video database contained different types of aerial vehicles: aircrafts, helicopters, and UAVs. The presented algorithm is able to detect aerial vehicles from several kilometers under regular daylight conditions.

DANTi: Detect and Avoid iN The Cockpit

NASA Technical Reports Server (NTRS)

Chamberlain, James; Consiglio, Maria; Munoz, Cesar

2017-01-01

Mid-air collision risk continues to be a concern for manned aircraft operations, especially near busy non-towered airports. The use of Detect and Avoid (DAA) technologies and draft standards developed for unmanned aircraft systems (UAS), either alone or in combination with other collision avoidance technologies, may be useful in mitigating this collision risk for manned aircraft. This paper describes a NASA research effort known as DANTi (DAA iN The Cockpit), including the initial development of the concept of use, a software prototype, and results from initial flight tests conducted with this prototype. The prototype used a single Automatic Dependent Surveillance - Broadcast (ADS-B) traffic sensor and the own aircraft's position, track, heading and air data information, along with NASA-developed DAA software to display traffic alerts and maneuver guidance to manned aircraft pilots on a portable tablet device. Initial flight tests with the prototype showed a successful DANTi proof-of-concept, but also demonstrated that the traffic separation parameter set specified in the RTCA SC-228 Phase I DAA MOPS may generate excessive false alerts during traffic pattern operations. Several parameter sets with smaller separation values were also tested in flight, one of which yielded more timely alerts for the maneuvers tested. Results from this study may further inform future DANTi efforts as well as Phase II DAA MOPS development.

Design and development of a unit element microstrip antenna for aircraft collision avoidance system

NASA Astrophysics Data System (ADS)

De, Debajit; Sahu, Prasanna Kumar

2017-10-01

Aircraft/traffic alert and collision avoidance system (ACAS/TCAS) is an airborne system which is designed to provide the service as a last defense equipment for avoiding mid-air collisions between the aircraft. In the existing system, four monopole stub-elements are used as ACAS directional antenna and one blade type element is used as ACAS omnidirectional antenna. The existing ACAS antenna has some drawbacks such as low gain, large beamwidth, frequency and beam tuning/scanning issues etc. Antenna issues like unwanted signals reception may create difficulties to identify the possible threats. In this paper, the focus is on the design and development of a unit element microstrip antenna which can be used for ACAS application and to overcome the possible limitations associated with the existing techniques. Two proposed antenna models are presented here, which are single feed and dual feed microstrip dual patch slotted antenna. These are designed and simulated in CST Microwave Studio tool. The performance and other antenna characteristics have been explored from the simulation results followed by the antenna fabrication and measurement. A good reflection coefficient, Voltage Standing Wave Ratio (VSWR), narrow beamwidth, perfect directional radiation pattern, high gain and directivity make this proposed antenna a good candidate for this application.

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

PubMed

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

2005-12-01

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

AIAA Aviation UAS DAA Demonstration-Mini HITL Week 2 Stats

NASA Technical Reports Server (NTRS)

Fern, Lisa Carolynn; Murphy, James R.; Jovic, Srboljub

2016-01-01

The UAS-NAS Project demo will showcase recent research efforts to ensure the interoperability between proposed UAS detect and avoid (DAA) human machine interface requirements (developed within RTCA SC-228) and existing collision avoidance displays. Attendees will be able to view the current state of the art of the DAA pilot traffic, alerting and guidance displays integrated with Traffic advisory and Collision Avoidance (TCAS) II in the UAS-NAS Project's research UAS ground control station (developed in partnership with the Air Force Research Laboratory). In addition, attendees will have the opportunity to interact with the research UAS ground control station and "fly" encounters, using the DAA and TCAS II displays to avoid simulated aircraft. The display of the advisories will be hosted on a laptop with an external 30" monitor, running the Vigilant Spririt system. DAA advisories will be generated by the JADEM software tool, connected to the system via the LVC Gateway. A repeater of the primary flight display will be shown on a 55" tv/monitor mounted on a stand at the back of the booth to show the pilot interaction to the passersby.

UAS-NAS Project Demo - Mini HITL Week 2 Stats

NASA Technical Reports Server (NTRS)

Murphy, James R.; Fern, Lisa C.; Rorie, Robert C.; Shively, Robert; Jovic, Srboljub

2016-01-01

The UAS-NAS Project demo will showcase recent research efforts to ensure the interoperability between proposed UAS detect and avoid (DAA) human machine interface requirements (developed within RTCA SC-228) and existing collision avoidance displays. Attendees will be able to view the current state of the art of the DAA pilot traffic, alerting and guidance displays integrated with Traffic advisory and Collision Avoidance (TCAS) II in the UAS-NAS Project's research UAS ground control station (developed in partnership with the Air Force Research Laboratory). In addition, attendees will have the opportunity to interact with the research UAS ground control station and "fly" encounters, using the DAA and TCAS II displays to avoid simulated aircraft. The display of the advisories will be hosted on a laptop with an external 30" monitor, running the Vigilant Spirit system. DAA advisories will be generated by the JADEM software tool, connected to the system via the LVC Gateway. A repeater of the primary flight display will be shown on a 55" monitor mounted on a stand at the back of the booth to show the pilot interaction to the passersby.

Multiple beacons for supporting lunar landing navigation

NASA Astrophysics Data System (ADS)

Theil, Stephan; Bora, Leonardo

2018-02-01

The exploration and potential future exploitation of solar system bodies requires technologies for precise and safe landings. Current navigation systems for landing probes are relying on a combination of inertial and optical sensor measurements to determine the current flight state with respect to the target body and the desired landing site. With a future transition from single exploration missions to more frequent first exploration and then exploitation missions, the implementation and operation of these missions changes, since it can be expected that a ground infrastructure on the target body is available in the vicinity of the landing site. In a previous paper, the impact of a single ground-based beacon on the navigation performance was investigated depending on the type of radiometric measurements and on the location of the beacon with respect to the landing site. This paper extends this investigation on options for ground-based multiple beacons supporting the on-board navigation system. It analyzes the impact on the achievable navigation accuracy. For that purpose, the paper introduces briefly the existing navigation architecture based on optical navigation and its extension with radiometric measurements. The same scenario of lunar landing as in the previous paper is simulated. The results are analyzed and discussed. They show a single beacon at a large distance along the landing trajectory and multiple beacons close to the landing site can improve the navigation performance. The results show how large the landing area can be increased where a sufficient navigation performance is achieved using the beacons.

Collision avoidance for aircraft in abort landing

NASA Astrophysics Data System (ADS)

Mathwig, Jarret

We study the collision avoidance between two aircraft flying in the same vertical plane: a host aircraft on a glide path and an intruder aircraft on a horizontal trajectory below that of the host aircraft and heading in the opposite direction. Assuming that the intruder aircraft is uncooperative, the host aircraft executes an optimal abort landing maneuver: it applies maximum thrust setting and maximum angle of attack lifting the flight path over the original path, thereby increasing the timewise minimum distance between the two aircraft and, in this way, avoiding the potential collision. In the presence of weak constraints on the aircraft and/or the environment, the angle of attack must be brought to the maximum value and kept there until the maximin point is reached. On the other hand, in the presence of strong constraints on the aircraft and the environment, desaturation of the angle of attack might have to take place before the maximin point is reached. This thesis includes four parts. In the first part, after an introduction and review of the available literature, we reformulate and solve the one-subarc Chebyshev maximin problem as a two-subarc Bolza-Pontryagin problem in which the avoidance and the recovery maneuvers are treated simultaneously. In the second part, we develop a guidance scheme (gamma guidance) capable of approximating the optimal trajectory in real time. In the third part, we present the algorithms employed to solve the one-subarc and two-subarc problems. In the fourth part, we decompose the two-subarc Bolza-Pontryagin problem into two one-subarc problems: the avoidance problem and the recovery problem, to be solved in sequence; remarkably, for problems where the ratio of total maneuver time to avoidance time is sufficiently large (≥5), this simplified procedure predicts accurately the location of the maximin point as well as the maximin distance.

Beacon data acquisition and display system

DOEpatents

Skogmo, D.G.; Black, B.D.

1991-12-17

A system for transmitting aircraft beacon information received by a secondary surveillance radar through telephone lines to a remote display includes a digitizer connected to the radar for preparing a serial file of data records containing position and identification information of the beacons detected by each sweep of the radar. This information is transmitted through the telephone lines to a remote computer where it is displayed. 6 figures.

Beacon data acquisition and display system

DOEpatents

Skogmo, David G.; Black, Billy D.

1991-01-01

A system for transmitting aircraft beacon information received by a secondary surveillance radar through telephone lines to a remote display includes a digitizer connected to the radar for preparing a serial file of data records containing position and identification information of the beacons detected by each sweep of the radar. This information is transmitted through the telephone lines to a remote computer where it is displayed.

33 CFR 149.535 - What are the requirements for rotating beacons on platforms?

Code of Federal Regulations, 2011 CFR

2011-07-01

... beacon must: (a) Have an effective intensity of at least 15,000 candela; (b) Flash at least once every 20 seconds; (c) Provide a white light signal; (d) Operate in wind speeds of up to 100 knots at a rotation rate that is within 6 percent of the operating speed displayed on the beacon; (e) Have one or more...

33 CFR 149.535 - What are the requirements for rotating beacons on platforms?

Code of Federal Regulations, 2013 CFR

2013-07-01

... beacon must: (a) Have an effective intensity of at least 15,000 candela; (b) Flash at least once every 20 seconds; (c) Provide a white light signal; (d) Operate in wind speeds of up to 100 knots at a rotation rate that is within 6 percent of the operating speed displayed on the beacon; (e) Have one or more...

33 CFR 149.535 - What are the requirements for rotating beacons on platforms?

Code of Federal Regulations, 2012 CFR

2012-07-01

... beacon must: (a) Have an effective intensity of at least 15,000 candela; (b) Flash at least once every 20 seconds; (c) Provide a white light signal; (d) Operate in wind speeds of up to 100 knots at a rotation rate that is within 6 percent of the operating speed displayed on the beacon; (e) Have one or more...

33 CFR 149.535 - What are the requirements for rotating beacons on platforms?

Code of Federal Regulations, 2010 CFR

2010-07-01

... beacon must: (a) Have an effective intensity of at least 15,000 candela; (b) Flash at least once every 20 seconds; (c) Provide a white light signal; (d) Operate in wind speeds of up to 100 knots at a rotation rate that is within 6 percent of the operating speed displayed on the beacon; (e) Have one or more...

33 CFR 149.535 - What are the requirements for rotating beacons on platforms?

Code of Federal Regulations, 2014 CFR

2014-07-01

... beacon must: (a) Have an effective intensity of at least 15,000 candela; (b) Flash at least once every 20 seconds; (c) Provide a white light signal; (d) Operate in wind speeds of up to 100 knots at a rotation rate that is within 6 percent of the operating speed displayed on the beacon; (e) Have one or more...

SU-F-J-142: Proposed Method to Broaden Inclusion Potential of Patients Able to Use the Calypso Tracking System in Prostate Radiotherapy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fiedler, D; Kuo, H; Bodner, W

2016-06-15

Purpose: To introduce a non-standard method of patient setup, using BellyBoard immobilization, to better utilize the localization and tracking potential of an RF-beacon system with EBRT for prostate cancer. Methods: An RF-beacon phantom was imaged using a wide bore CT scanner, both in a standard level position and with a known rotation (4° pitch and 7.5° yaw). A commercial treatment planning system (TPS) was used to determine positional coordinates of each beacon, and the centroid of the three beacons for both setups. For each setup at the Linac, kV AP and Rt Lateral images were obtained. A full characterization ofmore » the RF-beacon system in clinical mode was completed for various beacons’ array-to-centroid distances, which includes vertical, lateral, and longitudinal offset data, as well as pitch and yaw offset measurements for the tilted phantom. For the single patient who has been setup using the proposed BellyBoard method, a supine simulation was first obtained. When abdominal protrusion was found to be exceeding the limits of the RF-Beacon system through distance-based analysis in the TPS, the patient is re-simulated prone with the BellyBoard. Array to centroid distance is measured again in the TPS, and if found to be within the localization or tracking region it is applied. Results: Characterization of limitations for the RF-beacon system in clinical mode showed acceptable consistency of offset determination for phantom setup accuracy. The nonstandard patient setup method reduced the beacons’ centroid-to-array distance by 8.32cm, from 25.13cm to 16.81cm; completely out of tracking range (greater than 20cm) to within setup tracking range (less than 20cm). Conclusion: Using the RF-beacon system in combination with this novel patient setup can allow patients who would otherwise not be candidates for beacon enhanced EBRT to now be able to benefit from the reduced PTV margins of this treatment method.« less

Ungulate Vehicle Collisions in a Peri-Urban Environment: Consequences of Transportation Infrastructures Planned Assuming the Absence of Ungulates

PubMed Central

Zuberogoitia, Iñigo; del Real, Javier; Torres, Juan José; Rodríguez, Luis; Alonso, María; Zabala, Jabi

2014-01-01

Ungulate vehicle collisions (UVC) provoke serious damage, including human casualties, and a large number of measures have been developed around the world to avoid collisions. We analyse the main factors involved in UVC in a road network built in the absence of ungulates, where mitigation structures to avoid UVC were not adequately considered. Ungulate population greatly increased during the last two decades and now Roe Deer and Wild Boars are widely distributed over the study area, but even after this increase, the road network was not adapted to avoid UVC. A total of 235 Roe Deer (RDVC) and 153 Wild Boar vehicle collisions (WBVC) were recorded between January 2008 and December 2011. We randomly selected 289 sample points (87 RDVC, 60 WBVC and 142 controls) separated by at least 500 metres from the next closest point and measured 19 variables that could potentially influence the vehicle collisions. We detected variations in the frequency of RDVC on a monthly basis, and WBVC was higher at weekends but no significant differences were detected on a monthly basis. UVC were more likely to occur at locations where sinuosity of the road, velocity, surface of shrub and deciduous forest area were greater, the presence of fences entered with positive relationship and distance to the nearest building was less. RDVC were more likely to occur at locations where timber forest area increased and distance to the nearest building decreased and WBVC was related to open fields cover and also to the presence of fences. Sinuosity and velocity entered in both cases as significant factors. Major roads, in which the traffic volume is greater and faster, caused more accidents with ungulates than secondary roads. Nowadays, the high frequency of ungulate road-kills deserves a new strategy in order to adapt infrastructure and adopt mitigation measures. PMID:25251376

Ungulate vehicle collisions in a peri-urban environment: consequences of transportation infrastructures planned assuming the absence of ungulates.

PubMed

Zuberogoitia, Iñigo; del Real, Javier; Torres, Juan José; Rodríguez, Luis; Alonso, María; Zabala, Jabi

2014-01-01

Ungulate vehicle collisions (UVC) provoke serious damage, including human casualties, and a large number of measures have been developed around the world to avoid collisions. We analyse the main factors involved in UVC in a road network built in the absence of ungulates, where mitigation structures to avoid UVC were not adequately considered. Ungulate population greatly increased during the last two decades and now Roe Deer and Wild Boars are widely distributed over the study area, but even after this increase, the road network was not adapted to avoid UVC. A total of 235 Roe Deer (RDVC) and 153 Wild Boar vehicle collisions (WBVC) were recorded between January 2008 and December 2011. We randomly selected 289 sample points (87 RDVC, 60 WBVC and 142 controls) separated by at least 500 metres from the next closest point and measured 19 variables that could potentially influence the vehicle collisions. We detected variations in the frequency of RDVC on a monthly basis, and WBVC was higher at weekends but no significant differences were detected on a monthly basis. UVC were more likely to occur at locations where sinuosity of the road, velocity, surface of shrub and deciduous forest area were greater, the presence of fences entered with positive relationship and distance to the nearest building was less. RDVC were more likely to occur at locations where timber forest area increased and distance to the nearest building decreased and WBVC was related to open fields cover and also to the presence of fences. Sinuosity and velocity entered in both cases as significant factors. Major roads, in which the traffic volume is greater and faster, caused more accidents with ungulates than secondary roads. Nowadays, the high frequency of ungulate road-kills deserves a new strategy in order to adapt infrastructure and adopt mitigation measures.

Beaconing Signalization Substantially Reduces Blind Pedestrians’ Veer on Snow-Covered Pavement

PubMed Central

Guth, David A.; Long, Richard G.; Kim, Dae Shik; Robertson, Elizabeth A.; Reesor, Abbie L.; Bacik, Catherine J.; Eckert, Jaclyn M.

2017-01-01

Veering outside of crosswalks is a common problem experienced by individuals who are blind. One technology found to be effective for reducing this veer when other guidance cues are absent is audible beaconing. However, veering in general and veering from crosswalks in particular have been studied primarily on smooth, flat walking surfaces such as clear pavement. This experiment compared veering on clear pavement with veering on snow-covered pavement, with and without audible beaconing. Eleven blind participants traveling with long canes attempted to walk a straight path for 72 ft (21.9 m), a typical length of a six-lane crosswalk. Beaconing substantially reduced veering at 36 ft (11.0 m) and 72 ft from the starting point and enabled participants to remain within a simulated crosswalk. Walking on snow was not found to affect veering but did increase the number of steps taken. The findings suggest that in snowy and clear conditions alike, audible beaconing is an effective wayfinding tool for intersections equipped with accessible pedestrian signals. PMID:29307955

Measuring Time-of-Flight in an Ultrasonic LPS System Using Generalized Cross-Correlation

PubMed Central

Villladangos, José Manuel; Ureña, Jesús; García, Juan Jesús; Mazo, Manuel; Hernández, Álvaro; Jiménez, Ana; Ruíz, Daniel; De Marziani, Carlos

2011-01-01

In this article, a time-of-flight detection technique in the frequency domain is described for an ultrasonic Local Positioning System (LPS) based on encoded beacons. Beacon transmissions have been synchronized and become simultaneous by means of the DS-CDMA (Direct-Sequence Code Division Multiple Access) technique. Every beacon has been associated to a 255-bit Kasami code. The detection of signal arrival instant at the receiver, from which the distance to each beacon can be obtained, is based on the application of the Generalized Cross-Correlation (GCC), by using the cross-spectral density between the received signal and the sequence to be detected. Prior filtering to enhance the frequency components around the carrier frequency (40 kHz) has improved estimations when obtaining the correlation function maximum, which implies an improvement in distance measurement precision. Positioning has been achieved by using hyperbolic trilateration, based on the Time Differences of Arrival (TDOA) between a reference beacon and the others. PMID:22346645

Measuring time-of-flight in an ultrasonic LPS system using generalized cross-correlation.

PubMed

Villladangos, José Manuel; Ureña, Jesús; García, Juan Jesús; Mazo, Manuel; Hernández, Alvaro; Jiménez, Ana; Ruíz, Daniel; De Marziani, Carlos

2011-01-01

In this article, a time-of-flight detection technique in the frequency domain is described for an ultrasonic local positioning system (LPS) based on encoded beacons. Beacon transmissions have been synchronized and become simultaneous by means of the DS-CDMA (direct-sequence code Division multiple access) technique. Every beacon has been associated to a 255-bit Kasami code. The detection of signal arrival instant at the receiver, from which the distance to each beacon can be obtained, is based on the application of the generalized cross-correlation (GCC), by using the cross-spectral density between the received signal and the sequence to be detected. Prior filtering to enhance the frequency components around the carrier frequency (40 kHz) has improved estimations when obtaining the correlation function maximum, which implies an improvement in distance measurement precision. Positioning has been achieved by using hyperbolic trilateration, based on the time differences of arrival (TDOA) between a reference beacon and the others.

Improving the detectability of oxygen saturation level targets for preterm neonates: A laboratory test of tremolo and beacon sonifications.

PubMed

Deschamps, Marie-Lys; Sanderson, Penelope; Hinckfuss, Kelly; Browning, Caitlin; Loeb, Robert G; Liley, Helen; Liu, David

2016-09-01

Recent guidelines recommend oxygen saturation (SpO2) levels of 90%-95% for preterm neonates on supplemental oxygen but it is difficult to discern such levels with current pulse oximetry sonifications. We tested (1) whether adding levels of tremolo to a conventional log-linear pulse oximetry sonification would improve identification of SpO2 ranges, and (2) whether adding a beacon reference tone to conventional pulse oximetry confuses listeners about the direction of change. Participants using the Tremolo (94%) or Beacon (81%) sonifications identified SpO2 range significantly more accurately than participants using the LogLinear sonification (52%). The Beacon sonification did not confuse participants about direction of change. The Tremolo sonification may have advantages over the Beacon sonification for monitoring SpO2 of preterm neonates, but both must be further tested with clinicians in clinically representative scenarios, and with different levels of ambient noise and distractions. Crown Copyright © 2016. Published by Elsevier Ltd. All rights reserved.

Beaconing Signalization Substantially Reduces Blind Pedestrians' Veer on Snow-Covered Pavement.

PubMed

Guth, David A; Long, Richard G; Kim, Dae Shik; Robertson, Elizabeth A; Reesor, Abbie L; Bacik, Catherine J; Eckert, Jaclyn M

2017-01-01

Veering outside of crosswalks is a common problem experienced by individuals who are blind. One technology found to be effective for reducing this veer when other guidance cues are absent is audible beaconing. However, veering in general and veering from crosswalks in particular have been studied primarily on smooth, flat walking surfaces such as clear pavement. This experiment compared veering on clear pavement with veering on snow-covered pavement, with and without audible beaconing. Eleven blind participants traveling with long canes attempted to walk a straight path for 72 ft (21.9 m), a typical length of a six-lane crosswalk. Beaconing substantially reduced veering at 36 ft (11.0 m) and 72 ft from the starting point and enabled participants to remain within a simulated crosswalk. Walking on snow was not found to affect veering but did increase the number of steps taken. The findings suggest that in snowy and clear conditions alike, audible beaconing is an effective wayfinding tool for intersections equipped with accessible pedestrian signals.

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.

The 406 MHz ELT/EPIRBs. [Emergency Locator Transmitters/Emergency Position Indicating Radio Beacons (ELT/EPIRB)

NASA Technical Reports Server (NTRS)

Flatow, F. S.; Gal, C.; Hayes, E. J.

1984-01-01

Specifications for the COSPAS/SARSAT beacons are presented and related design considerations are discussed. Critical design aspects having significant impact on cost and performance are highlighted. Among these is the oscillator, whose frequency drift specifications require stabilization by ovens or digital control. Design options are presented and their impact on cost and performance assessed. Beacon designs developed to meet COSPAS/SARSAT specifications are shown.

The Development of Landmark and Beacon Use in Young Children: Evidence from a Touchscreen Search Task

ERIC Educational Resources Information Center

Sutton, Jennifer E.

2006-01-01

Children ages 2, 3 and 4 years participated in a novel hide-and-seek search task presented on a touchscreen monitor. On beacon trials, the target hiding place could be located using a beacon cue, but on landmark trials, searching required the use of a nearby landmark cue. In Experiment 1, 2-year-olds performed less accurately than older children…

Quencher-free molecular beacon tethering 7-hydroxycoumarin detects targets through protonation/deprotonation.

PubMed

Kashida, Hiromu; Yamaguchi, Kyohei; Hara, Yuichi; Asanuma, Hiroyuki

2012-07-15

In this study, we synthesized a simple but efficient quencher-free molecular beacon tethering 7-hydroxycoumarin on D-threoninol based on its pK(a) change. The pK(a) of 7-hydroxycoumarin in a single strand was determined as 8.8, whereas that intercalated in the duplex was over 10. This large pK(a) shift (more than 1.2) upon hybridization could be attributed to the anionic and hydrophobic microenvironment inside the DNA duplex. Because 7-hydroxycoumarin quenches its fluorescence upon protonation, the emission intensity of the duplex at pH 8.5 was 1/15 that of the single strand. We applied this quenching mechanism to the preparation of a quencher-free molecular beacon by introducing the dye into the middle of the stem part. In the absence of the target, the stem region formed a duplex and fluorescence was quenched. However, when the target was added, the molecular beacon opened and the dye was deprotonated. As a result, the emission intensity of the molecular beacon with the target was 10 times higher than that without the target. Accordingly, a quencher-free molecular beacon utilizing the pK(a) change was successfully developed. Copyright © 2012 Elsevier Ltd. All rights reserved.

The dependence of the anisoplanatic Strehl of a compensated beam on the beacon distribution

NASA Astrophysics Data System (ADS)

Stroud, P.

1992-02-01

There are several applications for lasers where the effect of atmospheric turbulence is strong enough to require wavefront compensation, and the compensation can be made by an adaptive optics (AO) system which processes light returned from the target itself. The distribution of the target return light produces limitations to the performance of the AO system. The primary intent of this documentation is to present the new results of an analysis of the anisoplanatic effects arising from target return beacon geometries. It will also lay out the assumptions and steps in the analysis, so that the results can be validated or extended. The intent is to provide a self-consistent notation, simple physical interpretations of the mathematical formulations, and enough detail to reduce the investment of time required to become acquainted or reacquainted with the physics of laser propagation through turbulence, at a level needed to analyze anisoplanatic effects. A general formulation has been developed to calculate the anisoplanatic Strehl of a compensated beam for any beacon distribution and turbulence profile. Numerical calculations are also shown for several beacon geometries and turbulence profiles. The key result is that the spread of the beacon distribution has a much less deleterious effect than does the offset of the beacon centroid from the aimpoint.

MicroRNA Detection Using a Double Molecular Beacon Approach: Distinguishing Between miRNA and Pre-miRNA.

PubMed

James, Amanda Marie; Baker, Meredith B; Bao, Gang; Searles, Charles D

2017-01-01

MicroRNAs (miRNAs) are small, noncoding RNAs that post-transcriptionally regulate gene expression and are recognized for their roles both as modulators of disease progression and as biomarkers of disease activity, including neurological diseases, cancer, and cardiovascular disease (CVD). Commonly, miRNA abundance is assessed using quantitative real-time PCR (qRT-PCR), however, qRT-PCR for miRNA can be labor intensive, time consuming, and may lack specificity for detection of mature versus precursor forms of miRNA. Here, we describe a novel double molecular beacon approach to miRNA assessment that can distinguish and quantify mature versus precursor forms of miRNA in a single assay, an essential feature for use of miRNAs as biomarkers for disease. Using this approach, we found that molecular beacons with DNA or combined locked nucleic acid (LNA)-DNA backbones can detect mature and precursor miRNAs (pre-miRNAs) of low (< 1 nM) abundance in vitro . The double molecular beacon assay was accurate in assessing miRNA abundance in a sample containing a mixed population of mature and precursor miRNAs. In contrast, qRT-PCR and the single molecular beacon assay overestimated miRNA abundance. Additionally, the double molecular beacon assay was less labor intensive than traditional qRT-PCR and had 10-25% increased specificity. Our data suggest that the double molecular beacon-based approach is more precise and specific than previous methods, and has the promise of being the standard for assessing miRNA levels in biological samples.

MicroRNA Detection Using a Double Molecular Beacon Approach: Distinguishing Between miRNA and Pre-miRNA

PubMed Central

James, Amanda Marie; Baker, Meredith B.; Bao, Gang; Searles, Charles D.

2017-01-01

MicroRNAs (miRNAs) are small, noncoding RNAs that post-transcriptionally regulate gene expression and are recognized for their roles both as modulators of disease progression and as biomarkers of disease activity, including neurological diseases, cancer, and cardiovascular disease (CVD). Commonly, miRNA abundance is assessed using quantitative real-time PCR (qRT-PCR), however, qRT-PCR for miRNA can be labor intensive, time consuming, and may lack specificity for detection of mature versus precursor forms of miRNA. Here, we describe a novel double molecular beacon approach to miRNA assessment that can distinguish and quantify mature versus precursor forms of miRNA in a single assay, an essential feature for use of miRNAs as biomarkers for disease. Using this approach, we found that molecular beacons with DNA or combined locked nucleic acid (LNA)-DNA backbones can detect mature and precursor miRNAs (pre-miRNAs) of low (< 1 nM) abundance in vitro. The double molecular beacon assay was accurate in assessing miRNA abundance in a sample containing a mixed population of mature and precursor miRNAs. In contrast, qRT-PCR and the single molecular beacon assay overestimated miRNA abundance. Additionally, the double molecular beacon assay was less labor intensive than traditional qRT-PCR and had 10-25% increased specificity. Our data suggest that the double molecular beacon-based approach is more precise and specific than previous methods, and has the promise of being the standard for assessing miRNA levels in biological samples. PMID:28255356

BEACON: automated tool for Bacterial GEnome Annotation ComparisON.

PubMed

Kalkatawi, Manal; Alam, Intikhab; Bajic, Vladimir B

2015-08-18

Genome annotation is one way of summarizing the existing knowledge about genomic characteristics of an organism. There has been an increased interest during the last several decades in computer-based structural and functional genome annotation. Many methods for this purpose have been developed for eukaryotes and prokaryotes. Our study focuses on comparison of functional annotations of prokaryotic genomes. To the best of our knowledge there is no fully automated system for detailed comparison of functional genome annotations generated by different annotation methods (AMs). The presence of many AMs and development of new ones introduce needs to: a/ compare different annotations for a single genome, and b/ generate annotation by combining individual ones. To address these issues we developed an Automated Tool for Bacterial GEnome Annotation ComparisON (BEACON) that benefits both AM developers and annotation analysers. BEACON provides detailed comparison of gene function annotations of prokaryotic genomes obtained by different AMs and generates extended annotations through combination of individual ones. For the illustration of BEACON's utility, we provide a comparison analysis of multiple different annotations generated for four genomes and show on these examples that the extended annotation can increase the number of genes annotated by putative functions up to 27%, while the number of genes without any function assignment is reduced. We developed BEACON, a fast tool for an automated and a systematic comparison of different annotations of single genomes. The extended annotation assigns putative functions to many genes with unknown functions. BEACON is available under GNU General Public License version 3.0 and is accessible at: http://www.cbrc.kaust.edu.sa/BEACON/ .

Trust-Based Analysis of an Air Force Collision Avoidance System

DTIC Science & Technology

2015-12-01

that test pilots’ trust depended on a number of factors, including the development of a nuisance free algorithm, designing fly-up evasive maneuvers...revealed that test pilots’ trust depended on a number of factors, including the development of a nuisance- free algorithm, designing fly-up evasive ...the terrain collision evasion maneuver. To overcome these limitations, Auto-GCAS was developed with a number of innovative approaches and solutions

Auditory displays as occasion setters.

PubMed

Mckeown, Denis; Isherwood, Sarah; Conway, Gareth

2010-02-01

The aim of this study was to evaluate whether representational sounds that capture the richness of experience of a collision enhance performance in braking to avoid a collision relative to other forms of warnings in a driving simulator. There is increasing interest in auditory warnings that are informative about their referents. But as well as providing information about some intended object, warnings may be designed to set the occasion for a rich body of information about the outcomes of behavior in a particular context. These richly informative warnings may offer performance advantages, as they may be rapidly processed by users. An auditory occasion setter for a collision (a recording of screeching brakes indicating imminent collision) was compared with two other auditory warnings (an abstract and an "environmental" sound), a speech message, a visual display, and no warning in a fixed-base driving simulator as interfaces to a collision avoidance system. The main measure was braking response times at each of two headways (1.5 s and 3 s) to a lead vehicle. The occasion setter demonstrated statistically significantly faster braking responses at each headway in 8 out of 10 comparisons (with braking responses equally fast to the abstract warning at 1.5 s and the environmental warning at 3 s). Auditory displays that set the occasion for an outcome in a particular setting and for particular behaviors may offer small but critical performance enhancements in time-critical applications. The occasion setter could be applied in settings where speed of response by users is of the essence.

Range Sensor-Based Efficient Obstacle Avoidance through Selective Decision-Making.

PubMed

Shim, Youngbo; Kim, Gon-Woo

2018-03-29

In this paper, we address a collision avoidance method for mobile robots. Many conventional obstacle avoidance methods have been focused solely on avoiding obstacles. However, this can cause instability when passing through a narrow passage, and can also generate zig-zag motions. We define two strategies for obstacle avoidance, known as Entry mode and Bypass mode. Entry mode is a pattern for passing through the gap between obstacles, while Bypass mode is a pattern for making a detour around obstacles safely. With these two modes, we propose an efficient obstacle avoidance method based on the Expanded Guide Circle (EGC) method with selective decision-making. The simulation and experiment results show the validity of the proposed method.

Traveling-Wave Tube Amplifier Second Harmonic as Millimeter-Wave Beacon Source for Atmospheric Propagation Studies

NASA Technical Reports Server (NTRS)

Simons, Rainee N.; Wintucky, Edwin G.

2014-01-01

This paper presents the design and test results of a CW millimeter-wave satellite beacon source, based on the second harmonic from a traveling-wave tube amplifier and utilizes a novel waveguide multimode directional coupler. A potential application of the beacon source is for investigating the atmospheric effects on Q-band (37 to 42 GHz) and V/W-band (71 to 76 GHz) satellite-to-ground signals.

Traveling-Wave Tube Amplifier Second Harmonic as Millimeter-Wave Beacon Source for Atmospheric Propagation Studies

NASA Technical Reports Server (NTRS)

Simons, Rainee N.; Wintucky, Edwin G.

2014-01-01

This paper presents the design and test results of a CW millimeter-wave satellite beacon source, based on the second harmonic from a traveling-wave tube amplifier and utilizes a novel waveguide multimode directional coupler. A potential application of the beacon source is for investigating the atmospheric effects on Q-band (37-42 GHz) and V/W-band (71- 76 GHz) satellite-to-ground signals.

Olympus propagation studies in the US: Propagation terminal hardware and experiments

NASA Technical Reports Server (NTRS)

Stutzmzn, Warren L.

1990-01-01

Virginia Tech is performing a comprehensive set of propagation measurements using the Olympus satellite beacons at 12.5, 20, and 30 GHz. These data will be used to characterize propagation conditions on small earth terminal (VSAT)-type networks for next generation small aperture Ka-band systems. The European Space Agency (ESA) satellite Olympus was launched July 12, 1989. The spacecraft contains a sophisticated package of propagation beacons operating at 12.5, 19.77, and 29.66 GHz (referred to as 12.5, 20, and 30 beacons). These beacons cover the east coast of the United States with sufficient power for attenuation measurements. The Virginia Satellite Communications Group is completing the hardware construction phase and will begin formal data collection in June.

Motorcyclists safety system to avoid rear end collisions based on acoustic signatures

NASA Astrophysics Data System (ADS)

Muzammel, M.; Yusoff, M. Zuki; Malik, A. Saeed; Mohamad Saad, M. Naufal; Meriaudeau, F.

2017-03-01

In many Asian countries, motorcyclists have a higher fatality rate as compared to other vehicles. Among many other factors, rear end collisions are also contributing for these fatalities. Collision detection systems can be useful to minimize these accidents. However, the designing of efficient and cost effective collision detection system for motorcyclist is still a major challenge. In this paper, an acoustic information based, cost effective and efficient collision detection system is proposed for motorcycle applications. The proposed technique uses the Short time Fourier Transform (STFT) to extract the features from the audio signal and Principal component analysis (PCA) has been used to reduce the feature vector length. The reduction of feature length, further increases the performance of this technique. The proposed technique has been tested on self recorded dataset and gives accuracy of 97.87%. We believe that this method can help to reduce a significant number of motorcycle accidents.

Distance estimation and collision prediction for on-line robotic motion planning

NASA Technical Reports Server (NTRS)

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

1991-01-01

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time.

Precise Selenodetic Coordinate System on Artificial Light Refers

NASA Astrophysics Data System (ADS)

Bagrov, Alexander; Pichkhadze, Konstantin M.; Sysoev, Valentin

Historically a coordinate system for the Moon was established on the base of telescopic observations from the Earth. As the angular resolution of Earth-to-Space telescopic observations is limited by Earth atmosphere, and is ordinary worse then 1 ang. second, the mean accuracy of selenodetic coordinates is some angular minutes, which corresponds to errors about 900 meters for positions of lunar objects near center of visible lunar disk, and at least twice more when objects are near lunar poles. As there are no Global Positioning System nor any astronomical observation instruments on the Moon, we proposed to use an autonomous light beacon on the Luna-Globe landing module to fix its position on the surface of the moon ant to use it as refer point for fixation of spherical coordinates system for the Moon. The light beacon is designed to be surely visible by orbiting probe TV-camera. As any space probe has its own stars-orientation system, there is not a problem to calculate a set of directions to the beacon and to the referent stars in probe-centered coordinate system during flight over the beacon. Large number of measured angular positions and time of each observation will be enough to calculate both orbital parameters of the probe and selenodetic coordinates of the beacon by methods of geodesy. All this will allow fixing angular coordinates of any feature of lunar surface in one global coordinate system, referred to the beacon. The satellite’s orbit plane contains ever the center mass of main body, so if the beacon will be placed closely to a lunar pole, we shall determine pole point position of the Moon with accuracy tens times better then it is known now. When angular accuracy of self-orientation by stars of the orbital module of Luna-Glob mission will be 6 angular seconds, then being in circular orbit with height of 200 km the on-board TV-camera will allow calculation of the beacon position as well as 6" corresponding to spatial resolution of the camera. It mean that coordinates of the beacon will be determined with accuracy not worse then 6 meters on the lunar surface. Much more accuracy can be achieved if orbital probe will use as precise angular measurer as optical interferometer. The limiting accuracy of proposed method is far above any reasonable level, because it may be sub-millimeter one. Theoretical analysis shows that for achievement of 1-meter accuracy of coordinate measuring over lunar globe it will be enough to disperse over it surface some 60 light beacons. Designed by Lavochkin Association light beacon is autonomous one, and it will work at least 10 years, so coordinate frame of any other lunar mission could use established selenodetic coordinates during this period. The same approach may be used for establishing Martial coordinates system.

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,…

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.

Rapid detection of rifampin resistance in Mycobacterium tuberculosis isolates from India and Mexico by a molecular beacon assay.

PubMed

Varma-Basil, Mandira; El-Hajj, Hiyam; Colangeli, Roberto; Hazbón, Manzour Hernando; Kumar, Sujeet; Bose, Mridula; Bobadilla-del-Valle, Miriam; García, Lourdes García; Hernández, Araceli; Kramer, Fred Russell; Osornio, Jose Sifuentes; Ponce-de-León, Alfredo; Alland, David

2004-12-01

We assessed the performance of a rapid, single-well, real-time PCR assay for the detection of rifampin-resistant Mycobacterium tuberculosis by using clinical isolates from north India and Mexico, regions with a high incidence of tuberculosis. The assay uses five differently colored molecular beacons to determine if a short region of the M. tuberculosis rpoB gene contains mutations that predict rifampin resistance in most isolates. Until now, the assay had not been sufficiently tested on samples from countries with a high incidence of tuberculosis. In the present study, the assay detected mutations in 16 out of 16 rifampin-resistant isolates from north India (100%) and in 55 of 64 rifampin-resistant isolates from Mexico (86%) compared to results with standard susceptibility testing. The assay did not detect mutations (a finding predictive of rifampin susceptibility) in 37 out of 37 rifampin-susceptible isolates from India (100%) and 125 out of 126 rifampin-susceptible isolates from Mexico (99%). DNA sequencing revealed that none of the nine rifampin-resistant isolates from Mexico, which were misidentified as rifampin susceptible by the molecular beacon assay, contained a mutation in the region targeted by the molecular beacons. The one rifampin-susceptible isolate from Mexico that appeared to be rifampin resistant by the molecular beacon assay contained an S531W mutation, which is usually associated with rifampin resistance. Of the rifampin-resistant isolates that were correctly identified in the molecular beacon assay, one contained a novel L530A mutation and another contained a novel deletion between codons 511 and 514. Overall, the molecular beacon assay appears to have sufficient sensitivity (89%) and specificity (99%) for use in countries with a high prevalence of tuberculosis.

Development of an aptamer beacon for detection of interferon-gamma.

PubMed

Tuleuova, Nazgul; Jones, Caroline N; Yan, Jun; Ramanculov, Erlan; Yokobayashi, Yohei; Revzin, Alexander

2010-03-01

Traditional antibody-based affinity sensing strategies employ multiple reagents and washing steps and are unsuitable for real-time detection of analyte binding. Aptamers, on the other hand, may be designed to monitor binding events directly, in real-time, without the need for secondary labels. The goal of the present study was to design an aptamer beacon for fluorescence resonance energy transfer (FRET)-based detection of interferon-gamma (IFN-gamma)--an important inflammatory cytokine. Variants of DNA aptamer modified with biotin moieties and spacers were immobilized on avidin-coated surfaces and characterized by surface plasmon resonance (SPR). The SPR studies showed that immobilization of aptamer via the 3' end resulted in the best binding IFN-gamma (K(d) = 3.44 nM). This optimal aptamer variant was then used to construct a beacon by hybridizing fluorophore-labeled aptamer with an antisense oligonucleotide strand carrying a quencher. SPR studies revealed that IFN-gamma binding with an aptamer beacon occurred within 15 min of analyte introduction--suggesting dynamic replacement of the quencher-complementary strand by IFN-gamma molecules. To further highlight biosensing applications, aptamer beacon molecules were immobilized inside microfluidic channels and challenged with varying concentration of analyte. Fluorescence microscopy revealed low fluorescence in the absence of analyte and high fluorescence after introduction of IFN-gamma. Importantly, unlike traditional antibody-based immunoassays, the signal was observed directly upon binding of analyte without the need for multiple washing steps. The surface immobilized aptamer beacon had a linear range from 5 to 100 nM and a lower limit of detection of 5 nM IFN-gamma. In conclusion, we designed a FRET-based aptamer beacon for monitoring of an inflammatory cytokine-IFN-gamma. In the future, this biosensing strategy will be employed to monitor dynamics of cytokine production by the immune cells.

Beacon communities' public health initiatives: a case study analysis.

PubMed

Massoudi, Barbara L; Marcial, Laura H; Haque, Saira; Bailey, Robert; Chester, Kelley; Cunningham, Shellery; Riley, Amanda; Soper, Paula

2014-01-01

The Beacon Communities for Public Health (BCPH) project was launched in 2011 to gain a better understanding of the range of activities currently being conducted in population- and public health by the Beacon Communities. The project highlighted the successes and challenges of these efforts with the aim of sharing this information broadly among the public health community. The Beacon Community Program, designed to showcase technology-enabled, community-based initiatives to improve outcomes, focused on: building and strengthening health information technology (IT) infrastructure and exchange capabilities; translating investments in health IT to measureable improvements in cost, quality, and population health; and, developing innovative approaches to performance measurement, technology, and care delivery. Four multimethod case studies were conducted based on a modified sociotechnical framework to learn more about public health initiative implementation and use in the Beacon Communities. Our methodological approach included using document review and semistructured key informant interviews. NACCHO Model Practice Program criteria were used to select the public health initiatives included in the case studies. Despite differences among the case studies, common barriers and facilitators were found to be present in all areas of the sociotechnical framework application including structure, people, technology, tasks, overarching considerations, and sustainability. Overall, there were many more facilitators (range = 7-14) present for each Beacon compared to barriers (range = 4-6). Four influential promising practices were identified through the work: forging strong and sustainable partnerships; ensuring a good task-technology fit and a flexible and iterative design; fostering technology acceptance; and, providing education and demonstrating value. A common weakness was the lack of a framework or model for the Beacon Communities evaluation work. Sharing a framework or approach to evaluation at the beginning of implementation made the work more effective. Supporting evaluation to inform future implementations is important.

Traveling-Wave Tube Amplifier Second Harmonic as Millimeter-Wave Beacon Source for Atmospheric Propagation Studies

NASA Technical Reports Server (NTRS)

Simons, Rainee N.; Wintucky, Edwin G.

2014-01-01

The design and test results of a novel waveguide multimode directional coupler for a CW millimeter-wave satellite beacon source are presented. The coupler separates the second harmonic power from the fundamental output power of a traveling-wave tube amplifier. A potential application of the beacon source is for investigating the atmospheric effects on Q-band (37 to 42 GHz) and VW-band (71 to 76 GHz) satellite-to-ground signals.

Laser Transmitter Aims At Laser Beacon

NASA Technical Reports Server (NTRS)

Hemmati, Hamid; Lesh, James R.

1993-01-01

Transmitter part of developmental optical communication system. Compact, lightweight, partially-self-aiming laser transmitter built to verify some capabilities of developmental free-space optical communication system. Design capable of providing 0.5 Mbps data return over range equal to Moon-Earth distance. Breadboard of transmitting terminal constructed and tested in laboratory. Prototype transmitter includes receiving circuitry that keeps it aimed at beacon, once brought into initial alignment within about 1.7 degrees of line of sight to beacon.

A Novel Strategy for Human Papillomavirus Detection and Genotyping with SybrGreen and Molecular Beacon Polymerase Chain Reaction

PubMed Central

Szuhai, Károly; Sandhaus, Emily; Kolkman-Uljee, Sandra M.; Lemaître, Marc; Truffert, Jean-Christophe; Dirks, Roeland W.; Tanke, Hans J.; Fleuren, Gert Jan; Schuuring, Ed; Raap, Anton K.

2001-01-01

Human papillomaviruses (HPVs) play an important role in the pathogenesis of cervical cancer. For identification of the large number of different HPV types found in (pre)malignant lesions, a robust methodology is needed that combines general HPV detection with HPV genotyping. We have developed for formaldehyde-fixed samples a strategy that, in a homogenous, real-time fluorescence polymerase chain reaction (PCR)-based assay, accomplishes general HPV detection by SybrGreen reporting of HPV-DNA amplicons, and genotyping of seven prevalent HPV types (HPV-6, -11, -16, -18, -31, -33, -45) by real-time molecular beacon PCR. The false-positive rate of the HPV SybrGreen-PCR was 4%, making it well suited as a prescreening, general HPV detection technology. The type specificity of the seven selected HPV molecular beacons was 100% and double infections were readily identified. The multiplexing capacity of the HPV molecular beacon PCR was analyzed and up to three differently labeled molecular beacons could be used in one PCR reaction without observing cross talk. The inherent quantitation capacities of real-time fluorescence PCR allowed the determination of average HPV copy number per cell. We conclude that the HPV SybrGreen-PCR in combination with the HPV molecular beacon PCR provides a robust, sensitive, and quantitative general HPV detection and genotyping methodology. PMID:11696426

Scaled Composites' Proteus aircraft and an F/A-18 Hornet from NASA's Dryden Flight Research Center d

NASA Technical Reports Server (NTRS)

2002-01-01

Scaled Composites' Proteus aircraft and an F/A-18 Hornet from NASA's Dryden Flight Research Center during a low-level flyby at Las Cruces Airport in New Mexico. 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.

A Geometric Analysis to Protect Manned Assets from Newly Launched Objects - Cola Gap Analysis

NASA Technical Reports Server (NTRS)

Hametz, Mark E.; Beaver, Brian A.

2013-01-01

A safety risk was identified for the International Space Station (ISS) by The Aerospace Corporation, where the ISS would be unable to react to a conjunction with a newly launched object following the end of the launch Collision Avoidance (COLA) process. Once an object is launched, there is a finite period of time required to track, catalog, and evaluate that new object as part of standard onorbit COLA screening processes. Additionally, should a conjunction be identified, there is an additional period of time required to plan and execute a collision avoidance maneuver. While the computed prelaunch probability of collision with any object is extremely low, NASA/JSC has requested that all US launches take additional steps to protect the ISS during this "COLA gap" period. This paper details a geometric-based COLA gap analysis method developed by the NASA Launch Services Program to determine if launch window cutouts are required to mitigate this risk. Additionally, this paper presents the results of several missions where this process has been used operationally.

Interactive-rate Motion Planning for Concentric Tube Robots.

PubMed

Torres, Luis G; Baykal, Cenk; Alterovitz, Ron

2014-05-01

Concentric tube robots may enable new, safer minimally invasive surgical procedures by moving along curved paths to reach difficult-to-reach sites in a patient's anatomy. Operating these devices is challenging due to their complex, unintuitive kinematics and the need to avoid sensitive structures in the anatomy. In this paper, we present a motion planning method that computes collision-free motion plans for concentric tube robots at interactive rates. Our method's high speed enables a user to continuously and freely move the robot's tip while the motion planner ensures that the robot's shaft does not collide with any anatomical obstacles. Our approach uses a highly accurate mechanical model of tube interactions, which is important since small movements of the tip position may require large changes in the shape of the device's shaft. Our motion planner achieves its high speed and accuracy by combining offline precomputation of a collision-free roadmap with online position control. We demonstrate our interactive planner in a simulated neurosurgical scenario where a user guides the robot's tip through the environment while the robot automatically avoids collisions with the anatomical obstacles.

A nonlinear OPC technique for laser beam control in turbulent atmosphere

NASA Astrophysics Data System (ADS)

Markov, V.; Khizhnyak, A.; Sprangle, P.; Ting, A.; DeSandre, L.; Hafizi, B.

2013-05-01

A viable beam control technique is critical for effective laser beam transmission through turbulent atmosphere. Most of the established approaches require information on the impact of perturbations on wavefront propagated waves. Such information can be acquired by measuring the characteristics of the target-scattered light arriving from a small, preferably diffraction-limited, beacon. This paper discusses an innovative beam control approach that can support formation of a tight laser beacon in deep turbulence conditions. The technique employs Brillouin enhanced fourwave mixing (BEFWM) to generate a localized beacon spot on a remote image-resolved target. Formation of the tight beacon doesn't require a wavefront sensor, AO system, or predictive feedback algorithm. Unlike conventional adaptive optics methods which allow wavefront conjugation, the proposed total field conjugation technique is critical for beam control in the presence of strong turbulence and can be achieved by using this non-linear BEFWM technique. The phase information retrieved from the established beacon beam can then be used in conjunction with an AO system to propagate laser beams in deep turbulence.

Audible Beaconing with Accessible Pedestrian Signals

PubMed Central

Barlow, Janet M.; Scott, Alan C.; Bentzen, Billie Louise

2010-01-01

Purpose Although Accessible Pedestrian Signals (APS) are often assumed to provide wayfinding information, the type of APS that has been typically installed in the U.S has not had positive effects on finding crosswalks, locating pushbuttons, or providing directional guidance. This paper reports the results of research on crossings by blind pedestrians at complex signalized intersections, before and after the installation of APS with innovative audible beaconing features, designed to improve wayfinding. Methods Objective data on measures of street crossing performance by 56 participants was obtained at four intersections, two each in Charlotte, NC, and Portland, OR. Results In the first round of testing, APS with beaconing features resulted in only slightly improved wayfinding. Revisions to the audible beaconing features resulted in improved performance on four measures of wayfinding as compared to the pre-installation condition: beginning crossings within the crosswalk, ending crossings within the crosswalk, independence in finding the starting location, and independence in aligning to cross. Implications for Practice Use of APS that provide beaconing from the far-end of the crosswalk show promise of improving wayfinding at street crossings. PMID:20622978

Impacts of Fog Characteristics, Forward Illumination, and Warning Beacon Intensity Distribution on Roadway Hazard Visibility

PubMed Central

2016-01-01

Warning beacons are critical for the safety of transportation, construction, and utility workers. These devices need to produce sufficient luminous intensity to be visible without creating glare to drivers. Published standards for the photometric performance of warning beacons do not address their performance in conditions of reduced visibility such as fog. Under such conditions light emitted in directions other than toward approaching drivers can create scattered light that makes workers and other hazards less visible. Simulations of visibility of hazards under varying conditions of fog density, forward vehicle lighting, warning beacon luminous intensity, and intensity distribution were performed to assess their impacts on visual performance by drivers. Each of these factors can influence the ability of drivers to detect and identify workers and hazards along the roadway in work zones. Based on the results, it would be reasonable to specify maximum limits on the luminous intensity of warning beacons in directions that are unlikely to be seen by drivers along the roadway, limits which are not included in published performance specifications. PMID:27314058

Intelligent Vehicle Initiative : business plan

DOT National Transportation Integrated Search

1997-11-01

Ongoing and recently completed research and development indicate that collision avoidance systems offer the potential for significantly reducing motor vehicle crashes. Preliminary estimates by the National Highway Traffic Safety Administration (NHTSA...

An Intelligent Robotic Hospital Bed for Safe Transportation of Critical Neurosurgery Patients Along Crowded Hospital Corridors.

PubMed

Wang, Chao; Savkin, Andrey V; Clout, Ray; Nguyen, Hung T

2015-09-01

We present a novel design of an intelligent robotic hospital bed, named Flexbed, with autonomous navigation ability. The robotic bed is developed for fast and safe transportation of critical neurosurgery patients without changing beds. Flexbed is more efficient and safe during the transportation process comparing to the conventional hospital beds. Flexbed is able to avoid en-route obstacles with an efficient easy-to-implement collision avoidance strategy when an obstacle is nearby and to move towards its destination at maximum speed when there is no threat of collision. We present extensive simulation results of navigation of Flexbed in the crowded hospital corridor environments with moving obstacles. Moreover, results of experiments with Flexbed in the real world scenarios are also presented and discussed.

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.

35-GHz radar sensor for automotive collision avoidance

NASA Astrophysics Data System (ADS)

Zhang, Jun

1999-07-01

This paper describes the development of a radar sensor system used for automotive collision avoidance. Because the heavy truck may have great larger radar cross section than a motorcyclist has, the radar receiver may have a large dynamic range. And multi-targets at different speed may confuse the echo spectrum causing the ambiguity between range and speed of target. To get more information about target and background and to adapt to the large dynamic range and multi-targets, a frequency modulated and pseudo- random binary sequences phase modulated continuous wave radar system is described. The analysis of this double- modulation system is given. A high-speed signal processing and data processing component are used to process and combine the data and information from echo at different direction and at every moment.

CCA Test Objectives

NASA Technical Reports Server (NTRS)

2005-01-01

Three sources have been considered to provide information allowing the evaluation of the Collision Conflict Avoidance (CCA) functional requirements: existing data, simulation, and flight test. The existing data sources that have been evaluated have been found to be lacking in two areas: The actual data that was recorded and missing elements to the system architecture. Many previous tests addressing collision avoidance were conducted without a remote operator. As such, they are missing critical elements that are required to assess the CCA functional requirements. Tests such as ERAST were conducted with all of the UAS elements. However, ERAST tests were conducted as a demonstration and the data recorded was of end-to-end performance. Many contributing elements of the system were not individually recorded or were recorded at a data rate insufficient for the purposes of evaluating the CCA functional requirements.

Autonomous assembly with collision avoidance of a fleet of flexible spacecraft based on disturbance observer

NASA Astrophysics Data System (ADS)

Chen, Ti; Wen, Hao

2018-06-01

This paper presents a distributed control law with disturbance observer for the autonomous assembly of a fleet of flexible spacecraft to construct a large flexible space structure. The fleet of flexible spacecraft is driven to the pre-assembly configuration firstly, and then to the desired assembly configuration. A distributed assembly control law with disturbance observer is proposed by treating the flexible dynamics as disturbances acting on the rigid motion of the flexible spacecraft. Theoretical analysis shows that the control law can actuate the fleet to the desired configuration. Moreover, the collision avoidance between the members is also considered in the process from initial configuration to pre-assembly configuration. Finally, a numerical example is presented to verify the feasibility of proposed mission planning and the effectiveness of control law.

Effective dynamical coupling of hydrodynamics and transport for heavy-ion collisions

NASA Astrophysics Data System (ADS)

Oliinychenko, Dmytro; Petersen, Hannah

2017-04-01

Present hydrodynamics-based simulations of heavy-ion collisions neglect the feedback from the frozen-out particles flying back into the hydrodynamical region. This causes an artefact called “negative Cooper-Frye contributions”, which is negligible for high collision energies, but becomes significant for lower RHIC BES energies and for event-by-event simulations. To avoid negative Cooper-Frye contributions, while still preserving hydrodynamical behavior, we propose a pure hadronic transport approach with forced thermalization in the regions of high energy density. It is demonstrated that this approach exhibits enhancement of strangeness and mean transverse momenta compared to conventional transport - an effect typical for hydrodynamical approaches.

Gangliosidoses

MedlinePlus

... Diseases Association 2001 Beacon Street Suite 204 Boston MA Boston, MA 02135 info@ntsad.org http://www.ntsad.org ... Diseases Association 2001 Beacon Street Suite 204 Boston MA Boston, MA 02135 info@ntsad.org http://www. ...

14 CFR 171.205 - Minimum requirements for approval.

Code of Federal Regulations, 2010 CFR

2010-01-01

... (CONTINUED) NAVIGATIONAL FACILITIES NON-FEDERAL NAVIGATION FACILITIES VHF Marker Beacons § 171.205 Minimum... marker beacon facility under this subpart: (1) The facility's performances, as determined by air and...

14 CFR 171.23 - Requests for IFR procedure.

Code of Federal Regulations, 2010 CFR

2010-01-01

...) NAVIGATIONAL FACILITIES NON-FEDERAL NAVIGATION FACILITIES Nondirectional Radio Beacon Facilities § 171.23... beacon facility that he owns must submit the following information with that request: (1) A description...

Aspect Determination Using a Beacon with a Spiral Wave Front: Modeling and Performance Analysis in Operational Environments

DTIC Science & Technology

2014-12-19

used to evaluate the beacon performance at the Navy’s Seneca Lake Sonar Test Facility operated by NUWC-Newport. These tests occurred in the summer...prototype has been designed. Efforts have been underway to implement the spiral beacon into the Navy’s Sonar Simulation Toolset developed by Dr. Robert...mil). Digital Object Identifier 10.1109/JOE.2013.2293962 acoustic depth finding or sonar imaging may be compared with maps to coordinate position and

Safety and Convergence Analysis of Intersecting Aircraft Flows Under Decentralized Collision Avoidance

NASA Astrophysics Data System (ADS)

Dallal, Ahmed H.

Safety is an essential requirement for air traffic management and control systems. Aircraft are not allowed to get closer to each other than a specified safety distance, to avoid any conflicts and collisions between aircraft. Forecast analysis predicts a tremendous increase in the number of flights. Subsequently, automated tools are needed to help air traffic controllers resolve air born conflicts. In this dissertation, we consider the problem of conflict resolution of aircraft flows with the assumption that aircraft are flowing through a fixed specified control volume at a constant speed. In this regard, several centralized and decentralized resolution rules have been proposed for path planning and conflict avoidance. For the case of two intersecting flows, we introduce the concept of conflict touches, and a collaborative decentralized conflict resolution rule is then proposed and analyzed for two intersecting flows. The proposed rule is also able to resolved airborne conflicts that resulted from resolving another conflict via the domino effect. We study the safety conditions under the proposed conflict resolution and collision avoidance rule. Then, we use Lyapunov analysis to analytically prove the convergence of conflict resolution dynamics under the proposed rule. The analysis show that, under the proposed conflict resolution rule, the system of intersecting aircraft flows is guaranteed to converge to safe, conflict free, trajectories within a bounded time. Simulations are provided to verify the analytically derived conclusions and study the convergence of the conflict resolution dynamics at different encounter angles. Simulation results show that lateral deviations taken by aircraft in each flow, to resolve conflicts, are bounded, and aircraft converged to safe and conflict free trajectories, within a finite time.

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.

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.

Evaluation of new collision-pair selection models in DSMC

NASA Astrophysics Data System (ADS)

Akhlaghi, Hassan; Roohi, Ehsan

2017-10-01

The current paper investigates new collision-pair selection procedures in a direct simulation Monte Carlo (DSMC) method. Collision partner selection based on the random procedure from nearest neighbor particles and deterministic selection of nearest neighbor particles have already been introduced as schemes that provide accurate results in a wide range of problems. In the current research, new collision-pair selections based on the time spacing and direction of the relative movement of particles are introduced and evaluated. Comparisons between the new and existing algorithms are made considering appropriate test cases including fluctuations in homogeneous gas, 2D equilibrium flow, and Fourier flow problem. Distribution functions for number of particles and collisions in cell, velocity components, and collisional parameters (collision separation, time spacing, relative velocity, and the angle between relative movements of particles) are investigated and compared with existing analytical relations for each model. The capability of each model in the prediction of the heat flux in the Fourier problem at different cell numbers, numbers of particles, and time steps is examined. For new and existing collision-pair selection schemes, the effect of an alternative formula for the number of collision-pair selections and avoiding repetitive collisions are investigated via the prediction of the Fourier heat flux. The simulation results demonstrate the advantages and weaknesses of each model in different test cases.

Collision sensitive niche profile of the worst affected bird-groups at wind turbine structures in the Federal State of Brandenburg, Germany.

PubMed

Bose, Anushika; Dürr, Tobias; Klenke, Reinhard A; Henle, Klaus

2018-02-28

Biodiversity-related impacts at wind energy facilities have increasingly become a cause of conservation concern, central issue being the collision of birds. Utilizing spatial information of their carcass detections at wind turbines (WTs), we quantified the detections in relation to the metric distances of the respective turbines to different land-use types. We used ecological niche factor analysis (ENFA) to identify combinations of land-use distances with respect to the spatial allocation of WTs that led to higher proportions of collisions among the worst affected bird-groups: Buntings, Crows, Larks, Pigeons and Raptors. We also assessed their respective similarities to the collision phenomenon by checking for overlaps amongst their distance combinations. Crows and Larks showed the narrowest "collision sensitive niche"; a part of ecological niche under higher risk of collisions with turbines, followed by that of Buntings and Pigeons. Raptors had the broadest niche showing significant overlaps with the collision sensitive niches of the other groups. This can probably be attributed to their larger home range combined with their hunting affinities to open landscapes. Identification of collision sensitive niches could be a powerful tool for landscape planning; helping avoid regions with higher risks of collisions for turbine allocations and thus protecting sensitive bird populations.

14 CFR 171.201 - Scope.

Code of Federal Regulations, 2010 CFR

2010-01-01

... FACILITIES NON-FEDERAL NAVIGATION FACILITIES VHF Marker Beacons § 171.201 Scope. (a) This subpart sets forth minimum requirements for the approval and operation of non-Federal VHF marker beacon facilities that are...

Smartphone-Based Indoor Localization with Bluetooth Low Energy Beacons

PubMed Central

Zhuang, Yuan; Yang, Jun; Li, You; Qi, Longning; El-Sheimy, Naser

2016-01-01

Indoor wireless localization using Bluetooth Low Energy (BLE) beacons has attracted considerable attention after the release of the BLE protocol. In this paper, we propose an algorithm that uses the combination of channel-separate polynomial regression model (PRM), channel-separate fingerprinting (FP), outlier detection and extended Kalman filtering (EKF) for smartphone-based indoor localization with BLE beacons. The proposed algorithm uses FP and PRM to estimate the target’s location and the distances between the target and BLE beacons respectively. We compare the performance of distance estimation that uses separate PRM for three advertisement channels (i.e., the separate strategy) with that use an aggregate PRM generated through the combination of information from all channels (i.e., the aggregate strategy). The performance of FP-based location estimation results of the separate strategy and the aggregate strategy are also compared. It was found that the separate strategy can provide higher accuracy; thus, it is preferred to adopt PRM and FP for each BLE advertisement channel separately. Furthermore, to enhance the robustness of the algorithm, a two-level outlier detection mechanism is designed. Distance and location estimates obtained from PRM and FP are passed to the first outlier detection to generate improved distance estimates for the EKF. After the EKF process, the second outlier detection algorithm based on statistical testing is further performed to remove the outliers. The proposed algorithm was evaluated by various field experiments. Results show that the proposed algorithm achieved the accuracy of <2.56 m at 90% of the time with dense deployment of BLE beacons (1 beacon per 9 m), which performs 35.82% better than <3.99 m from the Propagation Model (PM) + EKF algorithm and 15.77% more accurate than <3.04 m from the FP + EKF algorithm. With sparse deployment (1 beacon per 18 m), the proposed algorithm achieves the accuracies of <3.88 m at 90% of the time, which performs 49.58% more accurate than <8.00 m from the PM + EKF algorithm and 21.41% better than <4.94 m from the FP + EKF algorithm. Therefore, the proposed algorithm is especially useful to improve the localization accuracy in environments with sparse beacon deployment. PMID:27128917

Smartphone-Based Indoor Localization with Bluetooth Low Energy Beacons.

PubMed

Zhuang, Yuan; Yang, Jun; Li, You; Qi, Longning; El-Sheimy, Naser

2016-04-26

Indoor wireless localization using Bluetooth Low Energy (BLE) beacons has attracted considerable attention after the release of the BLE protocol. In this paper, we propose an algorithm that uses the combination of channel-separate polynomial regression model (PRM), channel-separate fingerprinting (FP), outlier detection and extended Kalman filtering (EKF) for smartphone-based indoor localization with BLE beacons. The proposed algorithm uses FP and PRM to estimate the target's location and the distances between the target and BLE beacons respectively. We compare the performance of distance estimation that uses separate PRM for three advertisement channels (i.e., the separate strategy) with that use an aggregate PRM generated through the combination of information from all channels (i.e., the aggregate strategy). The performance of FP-based location estimation results of the separate strategy and the aggregate strategy are also compared. It was found that the separate strategy can provide higher accuracy; thus, it is preferred to adopt PRM and FP for each BLE advertisement channel separately. Furthermore, to enhance the robustness of the algorithm, a two-level outlier detection mechanism is designed. Distance and location estimates obtained from PRM and FP are passed to the first outlier detection to generate improved distance estimates for the EKF. After the EKF process, the second outlier detection algorithm based on statistical testing is further performed to remove the outliers. The proposed algorithm was evaluated by various field experiments. Results show that the proposed algorithm achieved the accuracy of <2.56 m at 90% of the time with dense deployment of BLE beacons (1 beacon per 9 m), which performs 35.82% better than <3.99 m from the Propagation Model (PM) + EKF algorithm and 15.77% more accurate than <3.04 m from the FP + EKF algorithm. With sparse deployment (1 beacon per 18 m), the proposed algorithm achieves the accuracies of <3.88 m at 90% of the time, which performs 49.58% more accurate than <8.00 m from the PM + EKF algorithm and 21.41% better than <4.94 m from the FP + EKF algorithm. Therefore, the proposed algorithm is especially useful to improve the localization accuracy in environments with sparse beacon deployment.

Validation of Essential Acoustic Parameters for Highly Urgent In-Vehicle Collision Warnings.

PubMed

Lewis, Bridget A; Eisert, Jesse L; Baldwin, Carryl L

2018-03-01

Objective The aim of this study was to validate the importance of key acoustic criteria for use as in-vehicle forward collision warning (FCW) systems. Background Despite recent advances in vehicle safety, automobile crashes remain one of the leading causes of death. As automation allows for more control of noncritical functions by the vehicle, the potential for disengagement and distraction from the driving task also increases. It is, therefore, as important as ever that in-vehicle safety-critical interfaces are intuitive and unambiguous, promoting effective collision avoidance responses upon first exposure even under divided-attention conditions. Method The current study used a driving simulator to assess the effectiveness of two warnings, one that met all essential acoustic parameters, one that met only some essential parameters, and a no-warning control in the context of a lead vehicle-following task in conjunction with a cognitive distractor task and collision event. Results Participants receiving an FCW comprising five essential acoustic components had improved collision avoidance responses relative to a no-warning condition and an FCW missing essential elements on their first exposure. Responses to a consistently good warning (GMU Prime) improved with subsequent exposures, whereas continued exposure to the less optimal FCW (GMU Sub-Prime) resulted in poorer performance even relative to receiving no warning at all. Conclusions This study provides support for previous warning design studies and for the validity of five key acoustic parameters essential for the design of effective in-vehicle FCWs. Application Results from this study have implications for the design of auditory FCWs and in-vehicle display design.

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.

14 CFR 171.203 - Requests for IFR procedure.

Code of Federal Regulations, 2010 CFR

2010-01-01

...) NAVIGATIONAL FACILITIES NON-FEDERAL NAVIGATION FACILITIES VHF Marker Beacons § 171.203 Requests for IFR... beacon facility that he owns must submit the following information with that request: (1) A description...

VLSI chips for vision-based vehicle guidance

NASA Astrophysics Data System (ADS)

Masaki, Ichiro

1994-02-01

Sensor-based vehicle guidance systems are gathering rapidly increasing interest because of their potential for increasing safety, convenience, environmental friendliness, and traffic efficiency. Examples of applications include intelligent cruise control, lane following, collision warning, and collision avoidance. This paper reviews the research trends in vision-based vehicle guidance with an emphasis on VLSI chip implementations of the vision systems. As an example of VLSI chips for vision-based vehicle guidance, a stereo vision system is described in detail.

Interpretable Categorization of Heterogeneous Time Series Data

NASA Technical Reports Server (NTRS)

Lee, Ritchie; Kochenderfer, Mykel J.; Mengshoel, Ole J.; Silbermann, Joshua

2017-01-01

We analyze data from simulated aircraft encounters to validate and inform the development of a prototype aircraft collision avoidance system. The high-dimensional and heterogeneous time series dataset is analyzed to discover properties of near mid-air collisions (NMACs) and categorize the NMAC encounters. Domain experts use these properties to better organize and understand NMAC occurrences. Existing solutions either are not capable of handling high-dimensional and heterogeneous time series datasets or do not provide explanations that are interpretable by a domain expert. The latter is critical to the acceptance and deployment of safety-critical systems. To address this gap, we propose grammar-based decision trees along with a learning algorithm. Our approach extends decision trees with a grammar framework for classifying heterogeneous time series data. A context-free grammar is used to derive decision expressions that are interpretable, application-specific, and support heterogeneous data types. In addition to classification, we show how grammar-based decision trees can also be used for categorization, which is a combination of clustering and generating interpretable explanations for each cluster. We apply grammar-based decision trees to a simulated aircraft encounter dataset and evaluate the performance of four variants of our learning algorithm. The best algorithm is used to analyze and categorize near mid-air collisions in the aircraft encounter dataset. We describe each discovered category in detail and discuss its relevance to aircraft collision avoidance.

Distributed magnetic field positioning system using code division multiple access

NASA Technical Reports Server (NTRS)

Prigge, Eric A. (Inventor)

2003-01-01

An apparatus and methods for a magnetic field positioning system use a fundamentally different, and advantageous, signal structure and multiple access method, known as Code Division Multiple Access (CDMA). This signal architecture, when combined with processing methods, leads to advantages over the existing technologies, especially when applied to a system with a large number of magnetic field generators (beacons). Beacons at known positions generate coded magnetic fields, and a magnetic sensor measures a sum field and decomposes it into component fields to determine the sensor position and orientation. The apparatus and methods can have a large `building-sized` coverage area. The system allows for numerous beacons to be distributed throughout an area at a number of different locations. A method to estimate position and attitude, with no prior knowledge, uses dipole fields produced by these beacons in different locations.

Visual format for detection of Mycobacterium tuberculosis and M. bovis in clinical samples using molecular beacons.

PubMed

Kumar, Parameet; Nath, Kapili; Rath, Bimba; Sen, Manas K; Vishalakshi, Potharuju; Chauhan, Devender S; Katoch, Vishwa M; Singh, Sarman; Tyagi, Sanjay; Sreenivas, Vishnubhatla; Prasad, Hanumanthappa K

2009-09-01

A real-time polymerase chain reaction (PCR) assay for the direct identification of Mycobacterium tuberculosis and M. bovis using molecular beacons was developed. The assay was modified for use in regular thermal cyclers. Molecular beacons that were specific for M. tuberculosis (Tb-B) and M. bovis (Bo-B) were designed. The fluorescence of the target PCR product-molecular beacon probe complex was detected visually using a transilluminator. The results were then compared with those of conventional multiplex PCR (CM-PCR) assays and biochemical identification. The detection limit of Tb-B and Bo-B beacons was 500 fg and 50 fg by the visual format and real-time PCR assay, respectively, compared with 5 pg by CM-PCR assay. Pulmonary and extrapulmonary samples were examined. The agreement between culture and the two assays was very good in sputum samples and fair in extrapulmonary samples. The agreement between clinical diagnoses with the two assays was moderate in extrapulmonary samples. There was very good agreement between CM-PCR and visual format assays for all samples used in the study. Concordance in the identification of isolates by the visual, CM-PCR assay, and biochemical identification was seen. Hence, the use of molecular beacon detection of M. tuberculosis and M. bovis in clinical samples is feasible by setting up two asymmetric PCRs concurrently. The assay is sensitive, specific, simple to interpret, and takes less than 3 hours to complete.

Gold nanoparticle-based beacon to detect STAT5b mRNA expression in living cells: a case optimized by bioinformatics screen.

PubMed

Deng, Dawei; Li, Yang; Xue, Jianpeng; Wang, Jie; Ai, Guanhua; Li, Xin; Gu, Yueqing

2015-01-01

Messenger RNA (mRNA), a single-strand ribonucleic acid with functional gene information is usually abnormally expressed in cancer cells and has become a promising biomarker for the study of tumor progress. Hairpin DNA-coated gold nanoparticle (hDAuNP) beacon containing a bare gold nanoparticle (AuNP) as fluorescence quencher and thiol-terminated fluorescently labeled stem-loop-stem oligonucleotide sequences attached by Au-S bond is currently a new nanoscale biodiagnostic platform capable of mRNA detection, in which the design of the loop region sequence is crucial for hybridizing with the target mRNA. Hence, in this study, to improve the sensitivity and selectivity of hDAuNP beacon simultaneously, the loop region of hairpin DNA was screened by bioinformatics strategy. Here, signal transducer and activator of transcription 5b (STAT5b) mRNA was selected and used as a practical example. The results from the combined characterizations using optical techniques, flow cytometry assay, and cell microscopic imaging showed that after optimization, the as-prepared hDAuNP beacon had higher selectivity and sensitivity for the detection of STAT5b mRNA in living cells, as compared with our previous beacon. Thus, the bioinformatics method may be a promising new strategy for assisting in the designing of the hDAuNP beacon, extending its application in the detection of mRNA expression and the resultant mRNA-based biological processes and disease pathogenesis.

Dual Functional Roles of Molecular Beacon as a MicroRNA Detector and Inhibitor*

PubMed Central

Li, Wai Ming; Chan, Ching-Man; Miller, Andrew L.; Lee, Chow H.

2017-01-01

MicroRNAs are essential in many cellular processes. The ability to detect microRNAs is important for understanding its function and biogenesis. This study is aimed at using a molecular beacon to detect miR-430 in developing zebrafish embryos as a proof of principle. miR-430 is crucial for the clearance of maternal mRNA during maternal zygotic transition in embryonic development. Despite its known function, the temporal and spatial expression of miR-430 remains unclear. We used various imaging techniques, including laser scanning confocal microscopy, spinning disk, and lightsheet microscopy, to study the localization of miR-430 and any developmental defects possibly caused by the molecular beacon. Our results show that miR-430 is expressed early in development and is localized in distinct cytoplasmic granules where its target mRNA can be detected. We also show that the designed molecular beacon can inhibit the function of miR-430 and cause developmental defect in the brain, notochord, heart, and kidney, depending on the delivery site within the embryo, suggesting that miR-430 plays a diverse role in embryonic morphogenesis. When compared with morpholino, molecular beacon is 2 orders of magnitude more potent in inhibiting miR-430. Thus, our results reveal that in addition to being used as a valuable tool for the detection of microRNAs in vivo, molecular beacons can also be employed to inhibit microRNAs in a specific manner. PMID:28100783