Spacecraft rendezvous operational considerations affecting vehicle systems design and configuration

NASA Astrophysics Data System (ADS)

Prust, Ellen E.

One lesson learned from Orbiting Maneuvering Vehicle (OMV) program experience is that Design Reference Missions must include an appropriate balance of operations and performance inputs to effectively drive vehicle systems design and configuration. Rendezvous trajectory design is based on vehicle characteristics (e.g., mass, propellant tank size, and mission duration capability) and operational requirements, which have evolved through the Gemini, Apollo, and STS programs. Operational constraints affecting the rendezvous final approach are summarized. The two major objectives of operational rendezvous design are vehicle/crew safety and mission success. Operational requirements on the final approach which support these objectives include: tracking/targeting/communications; trajectory dispersion and navigation uncertainty handling; contingency protection; favorable sunlight conditions; acceptable relative state for proximity operations handover; and compliance with target vehicle constraints. A discussion of the ways each of these requirements may constrain the rendezvous trajectory follows. Although the constraints discussed apply to all rendezvous, the trajectory presented in 'Cargo Transfer Vehicle Preliminary Reference Definition' (MSFC, May 1991) was used as the basis for the comments below.

Trajectory-Oriented Approach to Managing Traffic Complexity: Operational Concept and Preliminary Metrics Definition

NASA Technical Reports Server (NTRS)

Idris, Husni; Vivona, Robert; Garcia-Chico, Jose L.

2008-01-01

This document describes preliminary research on a distributed, trajectory-oriented approach for traffic complexity management. The approach is to manage traffic complexity in a distributed control environment, based on preserving trajectory flexibility and minimizing constraints. In particular, the document presents an analytical framework to study trajectory flexibility and the impact of trajectory constraints on it. The document proposes preliminary flexibility metrics that can be interpreted and measured within the framework.

Mapping quantum-classical Liouville equation: projectors and trajectories.

PubMed

Kelly, Aaron; van Zon, Ramses; Schofield, Jeremy; Kapral, Raymond

2012-02-28

The evolution of a mixed quantum-classical system is expressed in the mapping formalism where discrete quantum states are mapped onto oscillator states, resulting in a phase space description of the quantum degrees of freedom. By defining projection operators onto the mapping states corresponding to the physical quantum states, it is shown that the mapping quantum-classical Liouville operator commutes with the projection operator so that the dynamics is confined to the physical space. It is also shown that a trajectory-based solution of this equation can be constructed that requires the simulation of an ensemble of entangled trajectories. An approximation to this evolution equation which retains only the Poisson bracket contribution to the evolution operator does admit a solution in an ensemble of independent trajectories but it is shown that this operator does not commute with the projection operators and the dynamics may take the system outside the physical space. The dynamical instabilities, utility, and domain of validity of this approximate dynamics are discussed. The effects are illustrated by simulations on several quantum systems.

Modeling Off-Nominal Recovery in NextGen Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Callantine, Todd J.

2011-01-01

Robust schedule-based arrival management requires efficient recovery from off-nominal situations. This paper presents research on modeling off-nominal situations and plans for recovering from them using TRAC, a route/airspace design, fast-time simulation, and analysis tool for studying NextGen trajectory-based operations. The paper provides an overview of a schedule-based arrival-management concept and supporting controller tools, then describes TRAC implementations of methods for constructing off-nominal scenarios, generating trajectory options to meet scheduling constraints, and automatically producing recovery plans.

Method and Apparatus for Generating Flight-Optimizing Trajectories

NASA Technical Reports Server (NTRS)

Ballin, Mark G. (Inventor); Wing, David J. (Inventor)

2015-01-01

An apparatus for generating flight-optimizing trajectories for a first aircraft includes a receiver capable of receiving second trajectory information associated with at least one second aircraft. The apparatus also includes a traffic aware planner (TAP) module operably connected to the receiver to receive the second trajectory information. The apparatus also includes at least one internal input device on board the first aircraft to receive first trajectory information associated with the first aircraft and a TAP application capable of calculating an optimal trajectory for the first aircraft based at least on the first trajectory information and the second trajectory information. The optimal trajectory at least avoids conflicts between the first trajectory information and the second trajectory information.

Experimental Evaluation of an Integrated Datalink and Automation-Based Strategic Trajectory Concept

NASA Technical Reports Server (NTRS)

Mueller, Eric

2007-01-01

This paper presents research on the interoperability of trajectory-based automation concepts and technologies with modern Flight Management Systems and datalink communication available on many of today s commercial aircraft. A tight integration of trajectory-based ground automation systems with the aircraft Flight Management System through datalink will enable mid-term and far-term benefits from trajectory-based automation methods. A two-way datalink connection between the trajectory-based automation resident in the Center/TRACON Automation System and the Future Air Navigation System-1 integrated FMS/datalink in NASA Ames B747-400 Level D simulator has been established and extensive simulation of the use of datalink messages to generate strategic trajectories completed. A strategic trajectory is defined as an aircraft deviation needed to solve a conflict or honor a route request and then merge the aircraft back to its nominal preferred trajectory using a single continuous trajectory clearance. Engineers on the ground side of the datalink generated lateral and vertical trajectory clearances and transmitted them to the Flight Management System of the 747; the airborne automation then flew the new trajectory without human intervention, requiring the flight crew only to review and to accept the trajectory. This simulation established the protocols needed for a significant majority of the trajectory change types required to solve a traffic conflict or deviate around weather. This demonstration provides a basis for understanding the requirements for integration of trajectory-based automation with current Flight Management Systems and datalink to support future National Airspace System operations.

The symbolic computation and automatic analysis of trajectories

NASA Technical Reports Server (NTRS)

Grossman, Robert

1991-01-01

Research was generally done on computation of trajectories of dynamical systems, especially control systems. Algorithms were further developed for rewriting expressions involving differential operators. The differential operators involved arise in the local analysis of nonlinear control systems. An initial design was completed of the system architecture for software to analyze nonlinear control systems using data base computing.

Efficient Trajectory Options Allocation for the Collaborative Trajectory Options Program

NASA Technical Reports Server (NTRS)

Rodionova, Olga; Arneson, Heather; Sridhar, Banavar; Evans, Antony

2017-01-01

The Collaborative Trajectory Options Program (CTOP) is a Traffic Management Initiative (TMI) intended to control the air traffic flow rates at multiple specified Flow Constrained Areas (FCAs), where demand exceeds capacity. CTOP allows flight operators to submit the desired Trajectory Options Set (TOS) for each affected flight with associated Relative Trajectory Cost (RTC) for each option. CTOP then creates a feasible schedule that complies with capacity constraints by assigning affected flights with routes and departure delays in such a way as to minimize the total cost while maintaining equity across flight operators. The current version of CTOP implements a Ration-by-Schedule (RBS) scheme, which assigns the best available options to flights based on a First-Scheduled-First-Served heuristic. In the present study, an alternative flight scheduling approach is developed based on linear optimization. Results suggest that such an approach can significantly reduce flight delays, in the deterministic case, while maintaining equity as defined using a Max-Min fairness scheme.

Interactive orbital proximity operations planning system instruction and training guide

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1994-01-01

This guide instructs users in the operation of a Proximity Operations Planning System. This system uses an interactive graphical method for planning fuel-efficient rendezvous trajectories in the multi-spacecraft environment of the space station and allows the operator to compose a multi-burn transfer trajectory between orbit initial chaser and target trajectories. The available task time (window) of the mission is predetermined and the maneuver is subject to various operational constraints, such as departure, arrival, spatial, plume impingement, and en route passage constraints. The maneuvers are described in terms of the relative motion experienced in a space station centered coordinate system. Both in-orbital plane as well as out-of-orbital plane maneuvering is considered. A number of visual optimization aids are used for assisting the operator in reaching fuel-efficient solutions. These optimization aids are based on the Primer Vector theory. The visual feedback of trajectory shapes, operational constraints, and optimization functions, provided by user-transparent and continuously active background computations, allows the operator to make fast, iterative design changes that rapidly converge to fuel-efficient solutions. The planning tool is an example of operator-assisted optimization of nonlinear cost functions.

Parallel Aircraft Trajectory Optimization with Analytic Derivatives

NASA Technical Reports Server (NTRS)

Falck, Robert D.; Gray, Justin S.; Naylor, Bret

2016-01-01

Trajectory optimization is an integral component for the design of aerospace vehicles, but emerging aircraft technologies have introduced new demands on trajectory analysis that current tools are not well suited to address. Designing aircraft with technologies such as hybrid electric propulsion and morphing wings requires consideration of the operational behavior as well as the physical design characteristics of the aircraft. The addition of operational variables can dramatically increase the number of design variables which motivates the use of gradient based optimization with analytic derivatives to solve the larger optimization problems. In this work we develop an aircraft trajectory analysis tool using a Legendre-Gauss-Lobatto based collocation scheme, providing analytic derivatives via the OpenMDAO multidisciplinary optimization framework. This collocation method uses an implicit time integration scheme that provides a high degree of sparsity and thus several potential options for parallelization. The performance of the new implementation was investigated via a series of single and multi-trajectory optimizations using a combination of parallel computing and constraint aggregation. The computational performance results show that in order to take full advantage of the sparsity in the problem it is vital to parallelize both the non-linear analysis evaluations and the derivative computations themselves. The constraint aggregation results showed a significant numerical challenge due to difficulty in achieving tight convergence tolerances. Overall, the results demonstrate the value of applying analytic derivatives to trajectory optimization problems and lay the foundation for future application of this collocation based method to the design of aircraft with where operational scheduling of technologies is key to achieving good performance.

Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

NASA Astrophysics Data System (ADS)

Khusainov, R.; Klimchik, A.; Magid, E.

2017-01-01

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

Analysis of several Boolean operation based trajectory generation strategies for automotive spray applications

NASA Astrophysics Data System (ADS)

Gao, Guoyou; Jiang, Chunsheng; Chen, Tao; Hui, Chun

2018-05-01

Industrial robots are widely used in various processes of surface manufacturing, such as thermal spraying. The established robot programming methods are highly time-consuming and not accurate enough to fulfil the demands of the actual market. There are many off-line programming methods developed to reduce the robot programming effort. This work introduces the principle of several based robot trajectory generation strategy on planar surface and curved surface. Since the off-line programming software is widely used and thus facilitates the robot programming efforts and improves the accuracy of robot trajectory, the analysis of this work is based on the second development of off-line programming software Robot studio™. To meet the requirements of automotive paint industry, this kind of software extension helps provide special functions according to the users defined operation parameters. The presented planning strategy generates the robot trajectory by moving an orthogonal surface according to the information of coating surface, a series of intersection curves are then employed to generate the trajectory points. The simulation results show that the path curve created with this method is successive and smooth, which corresponds to the requirements of automotive spray industrial applications.

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing: Fifth Edition

NASA Technical Reports Server (NTRS)

Abbott, Terence S.

2015-01-01

This paper presents an overview of the fifth revision to an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This algorithm is referred to as the Airborne Spacing for Terminal Arrival Routes version 12 (ASTAR12). This airborne self-spacing concept is trajectory-based, allowing for spacing operations prior to the aircraft being on a common path. Because this algorithm is trajectory-based, it also has the inherent ability to support required-time-of- arrival (RTA) operations. This algorithm was also designed specifically to support a standalone, non-integrated implementation in the spacing aircraft. This current revision to the algorithm includes a ground speed feedback term to compensate for slower than expected traffic aircraft speeds based on the accepted air traffic control tendency to slow aircraft below the nominal arrival speeds when they are farther from the airport.

An Energy-Aware Trajectory Optimization Layer for sUAS

NASA Astrophysics Data System (ADS)

Silva, William A.

The focus of this work is the implementation of an energy-aware trajectory optimization algorithm that enables small unmanned aircraft systems (sUAS) to operate in unknown, dynamic severe weather environments. The software is designed as a component of an Energy-Aware Dynamic Data Driven Application System (EA-DDDAS) for sUAS. This work addresses the challenges of integrating and executing an online trajectory optimization algorithm during mission operations in the field. Using simplified aircraft kinematics, the energy-aware algorithm enables extraction of kinetic energy from measured winds to optimize thrust use and endurance during flight. The optimization layer, based upon a nonlinear program formulation, extracts energy by exploiting strong wind velocity gradients in the wind field, a process known as dynamic soaring. The trajectory optimization layer extends the energy-aware path planner developed by Wenceslao Shaw-Cortez te{Shaw-cortez2013} to include additional mission configurations, simulations with a 6-DOF model, and validation of the system with flight testing in June 2015 in Lubbock, Texas. The trajectory optimization layer interfaces with several components within the EA-DDDAS to provide an sUAS with optimal flight trajectories in real-time during severe weather. As a result, execution timing, data transfer, and scalability are considered in the design of the software. Severe weather also poses a measure of unpredictability to the system with respect to communication between systems and available data resources during mission operations. A heuristic mission tree with different cost functions and constraints is implemented to provide a level of adaptability to the optimization layer. Simulations and flight experiments are performed to assess the efficacy of the trajectory optimization layer. The results are used to assess the feasibility of flying dynamic soaring trajectories with existing controllers as well as to verify the interconnections between EA-DDDAS components. Results also demonstrate the usage of the trajectory optimization layer in conjunction with a lattice-based path planner as a method of guiding the optimization layer and stitching together subsequent trajectories.

High-Speed Printing Process Characterization using the Lissajous Trajectory Method

NASA Astrophysics Data System (ADS)

Lee, Sangwon; Kim, Daekeun

2018-04-01

We present a novel stereolithographic three-dimensional (3D) printing process that uses Lissajous trajectories. By using Lissajous trajectories, this 3D printing process allows two laser-scanning mirrors to operate at similar high-speed frequencies simultaneously, and the printing speed can be faster than that of raster scanning used in conventional stereolithography. In this paper, we first propose the basic theoretical background for this printing process based on Lissajous trajectories. We also characterize its printing conditions, such as printing size, laser spot size, and minimum printing resolution, with respect to the operating frequencies of the scanning mirrors and the capability of the laser modulation. Finally, we demonstrate simulation results for printing basic 2D shapes by using a noble printing process algorithm.

Towards Autonomous Airport Surface Operations: NextGen Flight Deck Implications

NASA Technical Reports Server (NTRS)

Foyle, David C.; Hooey, Becky Lee; Bakowski, Deborah Lee

2017-01-01

Surface Trajectory-based Operations (STBO) is a potential concept candidate for flight deck autonomous operations. Existing research will be reviewed and possible architectures and research issues will be presented.

Operational space trajectory tracking control of robot manipulators endowed with a primary controller of synthetic joint velocity.

PubMed

Moreno-Valenzuela, Javier; González-Hernández, Luis

2011-01-01

In this paper, a new control algorithm for operational space trajectory tracking control of robot arms is introduced. The new algorithm does not require velocity measurement and is based on (1) a primary controller which incorporates an algorithm to obtain synthesized velocity from joint position measurements and (2) a secondary controller which computes the desired joint acceleration and velocity required to achieve operational space motion control. The theory of singularly perturbed systems is crucial for the analysis of the closed-loop system trajectories. In addition, the practical viability of the proposed algorithm is explored through real-time experiments in a two degrees-of-freedom horizontal planar direct-drive arm. Copyright © 2010 ISA. Published by Elsevier Ltd. All rights reserved.

Trajectory Design and Control for the Compton Gamma Ray Observatory Re-Entry

NASA Technical Reports Server (NTRS)

Hoge, Susan; Vaughn, Frank J., Jr.

2001-01-01

The Compton Gamma Ray Observatory (CGRO) controlled re-entry operation was successfully conducted in June of 2000. The surviving parts of the spacecraft landed in the Pacific Ocean within the nominal impact target zone. The design of the maneuvers to control the trajectory to accomplish this re-entry presented several challenges. These challenges included the timing and duration of the maneuvers, propellant management, post-maneuver state determination, collision avoidance with other spacecraft, accounting for the break-up of the spacecraft into several pieces with a wide range of ballistic coefficients, and ensuring that the impact footprint would remain within the desired impact target zone in the event of contingencies. This paper presents the initial re-entry trajectory design and traces the evolution of that design into the maneuver sequence used for the re-entry. The paper also discusses the spacecraft systems and operational constraints imposed on the trajectory design and the required modifications to the initial design based on those constraints. Data from the reentry operation are also presented.

Operational oil spill trajectory modelling using HF radar currents: A northwest European continental shelf case study.

PubMed

Abascal, Ana J; Sanchez, Jorge; Chiri, Helios; Ferrer, María I; Cárdenas, Mar; Gallego, Alejandro; Castanedo, Sonia; Medina, Raúl; Alonso-Martirena, Andrés; Berx, Barbara; Turrell, William R; Hughes, Sarah L

2017-06-15

This paper presents a novel operational oil spill modelling system based on HF radar currents, implemented in a northwest European shelf sea. The system integrates Open Modal Analysis (OMA), Short Term Prediction algorithms (STPS) and an oil spill model to simulate oil spill trajectories. A set of 18 buoys was used to assess the accuracy of the system for trajectory forecast and to evaluate the benefits of HF radar data compared to the use of currents from a hydrodynamic model (HDM). The results showed that simulated trajectories using OMA currents were more accurate than those obtained using a HDM. After 48h the mean error was reduced by 40%. The forecast skill of the STPS method was valid up to 6h ahead. The analysis performed shows the benefits of HF radar data for operational oil spill modelling, which could be easily implemented in other regions with HF radar coverage. Crown Copyright © 2017. Published by Elsevier Ltd. All rights reserved.

Performance Evaluation of the Approaches and Algorithms for Hamburg Airport Operations

NASA Technical Reports Server (NTRS)

Zhu, Zhifan; Jung, Yoon; Lee, Hanbong; Schier, Sebastian; Okuniek, Nikolai; Gerdes, Ingrid

2016-01-01

In this work, fast-time simulations have been conducted using SARDA tools at Hamburg airport by NASA and real-time simulations using CADEO and TRACC with the NLR ATM Research Simulator (NARSIM) by DLR. The outputs are analyzed using a set of common metrics collaborated between DLR and NASA. The proposed metrics are derived from International Civil Aviation Organization (ICAO)s Key Performance Areas (KPAs) in capability, efficiency, predictability and environment, and adapted to simulation studies. The results are examined to explore and compare the merits and shortcomings of the two approaches using the common performance metrics. Particular attention is paid to the concept of the close-loop, trajectory-based taxi as well as the application of US concept to the European airport. Both teams consider the trajectory-based surface operation concept a critical technology advance in not only addressing the current surface traffic management problems, but also having potential application in unmanned vehicle maneuver on airport surface, such as autonomous towing or TaxiBot [6][7] and even Remote Piloted Aircraft (RPA). Based on this work, a future integration of TRACC and SOSS is described aiming at bringing conflict-free trajectory-based operation concept to US airport.

An empirically grounded agent based model for modeling directs, conflict detection and resolution operations in air traffic management.

PubMed

Bongiorno, Christian; Miccichè, Salvatore; Mantegna, Rosario N

2017-01-01

We present an agent based model of the Air Traffic Management socio-technical complex system aiming at modeling the interactions between aircraft and air traffic controllers at a tactical level. The core of the model is given by the conflict detection and resolution module and by the directs module. Directs are flight shortcuts that are given by air controllers to speed up the passage of an aircraft within a certain airspace and therefore to facilitate airline operations. Conflicts between flight trajectories can occur for two main reasons: either the planning of the flight trajectory was not sufficiently detailed to rule out all potential conflicts or unforeseen events during the flight require modifications of the flight plan that can conflict with other flight trajectories. Our model performs a local conflict detection and resolution procedure. Once a flight trajectory has been made conflict-free, the model searches for possible improvements of the system efficiency by issuing directs. We give an example of model calibration based on real data. We then provide an illustration of the capability of our model in generating scenario simulations able to give insights about the air traffic management system. We show that the calibrated model is able to reproduce the existence of a geographical localization of air traffic controllers' operations. Finally, we use the model to investigate the relationship between directs and conflict resolutions (i) in the presence of perfect forecast ability of controllers, and (ii) in the presence of some degree of uncertainty in flight trajectory forecast.

An empirically grounded agent based model for modeling directs, conflict detection and resolution operations in air traffic management

PubMed Central

Bongiorno, Christian; Mantegna, Rosario N.

2017-01-01

We present an agent based model of the Air Traffic Management socio-technical complex system aiming at modeling the interactions between aircraft and air traffic controllers at a tactical level. The core of the model is given by the conflict detection and resolution module and by the directs module. Directs are flight shortcuts that are given by air controllers to speed up the passage of an aircraft within a certain airspace and therefore to facilitate airline operations. Conflicts between flight trajectories can occur for two main reasons: either the planning of the flight trajectory was not sufficiently detailed to rule out all potential conflicts or unforeseen events during the flight require modifications of the flight plan that can conflict with other flight trajectories. Our model performs a local conflict detection and resolution procedure. Once a flight trajectory has been made conflict-free, the model searches for possible improvements of the system efficiency by issuing directs. We give an example of model calibration based on real data. We then provide an illustration of the capability of our model in generating scenario simulations able to give insights about the air traffic management system. We show that the calibrated model is able to reproduce the existence of a geographical localization of air traffic controllers’ operations. Finally, we use the model to investigate the relationship between directs and conflict resolutions (i) in the presence of perfect forecast ability of controllers, and (ii) in the presence of some degree of uncertainty in flight trajectory forecast. PMID:28419160

Towards a Formal Semantics of Flight Plans and Trajectories

NASA Technical Reports Server (NTRS)

Hagen, George E.; Butler, Ricky W.

2014-01-01

In the National Airspace System, ight plans are often used only as a planning tool by air trac controllers and aircraft operators. These plans are implicitly translated into trajectories by the pilot or by the ight management system, and subsequently own by the aircraft. This translation process inevitably introduces di erences between the plan and the trajectory. However, given the current intended usage, exact correspondence between the plan and the trajectory is not needed. To achieve greater capacity and eciency, future air trac management concepts are being designed around the use of trajectories where predictability is extremely important. In this paper, a mathematical relationship between ight plans and trajectories is explored with the goal of making feasible, highly accurate predictions of future positions and velocities of aircraft. The goal here is to describe, in mathematically precise detail, a formal language of trajectories, whereby all receivers of the trajectory information will be able to arrive at precisely the same trajectory predication and to do this without having aircraft broadcast a large amount of data. Although even a four-dimensional ight plan is simple in structure, this paper will show that it is inherently ambiguous and will explore these issues in detail. In e ect, we propose that a rigorous semantics for ight plans can be developed and this will serve as an important stepping stone towards trajectory-based operations in the National Airspace System.

Resonant power processors. II - Methods of control

NASA Technical Reports Server (NTRS)

Oruganti, R.; Lee, F. C.

1984-01-01

The nature of resonant converter control is discussed. Employing the state-portrait, different control methods for series resonant converter are identified and their performance evaluated based on their stability, response to control and load changes and range of operation. A new control method, optimal-trajectory control, is proposed which, by utilizing the state trajectories as control laws, continuously monitors the energy level of the resonant tank. The method is shown to have superior control properties especially under transient operation.

A Final Approach Trajectory Model for Current Operations

NASA Technical Reports Server (NTRS)

Gong, Chester; Sadovsky, Alexander

2010-01-01

Predicting accurate trajectories with limited intent information is a challenge faced by air traffic management decision support tools in operation today. One such tool is the FAA's Terminal Proximity Alert system which is intended to assist controllers in maintaining safe separation of arrival aircraft during final approach. In an effort to improve the performance of such tools, two final approach trajectory models are proposed; one based on polynomial interpolation, the other on the Fourier transform. These models were tested against actual traffic data and used to study effects of the key final approach trajectory modeling parameters of wind, aircraft type, and weight class, on trajectory prediction accuracy. Using only the limited intent data available to today's ATM system, both the polynomial interpolation and Fourier transform models showed improved trajectory prediction accuracy over a baseline dead reckoning model. Analysis of actual arrival traffic showed that this improved trajectory prediction accuracy leads to improved inter-arrival separation prediction accuracy for longer look ahead times. The difference in mean inter-arrival separation prediction error between the Fourier transform and dead reckoning models was 0.2 nmi for a look ahead time of 120 sec, a 33 percent improvement, with a corresponding 32 percent improvement in standard deviation.

Complexity Management Using Metrics for Trajectory Flexibility Preservation and Constraint Minimization

NASA Technical Reports Server (NTRS)

Idris, Husni; Shen, Ni; Wing, David J.

2011-01-01

The growing demand for air travel is increasing the need for mitigating air traffic congestion and complexity problems, which are already at high levels. At the same time new surveillance, navigation, and communication technologies are enabling major transformations in the air traffic management system, including net-based information sharing and collaboration, performance-based access to airspace resources, and trajectory-based rather than clearance-based operations. The new system will feature different schemes for allocating tasks and responsibilities between the ground and airborne agents and between the human and automation, with potential capacity and cost benefits. Therefore, complexity management requires new metrics and methods that can support these new schemes. This paper presents metrics and methods for preserving trajectory flexibility that have been proposed to support a trajectory-based approach for complexity management by airborne or ground-based systems. It presents extensions to these metrics as well as to the initial research conducted to investigate the hypothesis that using these metrics to guide user and service provider actions will naturally mitigate traffic complexity. The analysis showed promising results in that: (1) Trajectory flexibility preservation mitigated traffic complexity as indicated by inducing self-organization in the traffic patterns and lowering traffic complexity indicators such as dynamic density and traffic entropy. (2)Trajectory flexibility preservation reduced the potential for secondary conflicts in separation assurance. (3) Trajectory flexibility metrics showed potential application to support user and service provider negotiations for minimizing the constraints imposed on trajectories without jeopardizing their objectives.

Pair-Wise Trajectory Management-Oceanic (PTM-O) . [Concept of Operations—Version 3.9

NASA Technical Reports Server (NTRS)

Jones, Kenneth M.

2014-01-01

This document describes the Pair-wise Trajectory Management-Oceanic (PTM-O) Concept of Operations (ConOps). Pair-wise Trajectory Management (PTM) is a concept that includes airborne and ground-based capabilities designed to enable and to benefit from, airborne pair-wise distance-monitoring capability. PTM includes the capabilities needed for the controller to issue a PTM clearance that resolves a conflict for a specific pair of aircraft. PTM avionics include the capabilities needed for the flight crew to manage their trajectory relative to specific designated aircraft. Pair-wise Trajectory Management PTM-Oceanic (PTM-O) is a regional specific application of the PTM concept. PTM is sponsored by the National Aeronautics and Space Administration (NASA) Concept and Technology Development Project (part of NASA's Airspace Systems Program). The goal of PTM is to use enhanced and distributed communications and surveillance along with airborne tools to permit reduced separation standards for given aircraft pairs, thereby increasing the capacity and efficiency of aircraft operations at a given altitude or volume of airspace.

Designing train-speed trajectory with energy efficiency and service quality

NASA Astrophysics Data System (ADS)

Jia, Jiannan; Yang, Kai; Yang, Lixing; Gao, Yuan; Li, Shukai

2018-05-01

With the development of automatic train operations, optimal trajectory design is significant to the performance of train operations in railway transportation systems. Considering energy efficiency and service quality, this article formulates a bi-objective train-speed trajectory optimization model to minimize simultaneously the energy consumption and travel time in an inter-station section. This article is distinct from previous studies in that more sophisticated train driving strategies characterized by the acceleration/deceleration gear, the cruising speed, and the speed-shift site are specifically considered. For obtaining an optimal train-speed trajectory which has equal satisfactory degree on both objectives, a fuzzy linear programming approach is applied to reformulate the objectives. In addition, a genetic algorithm is developed to solve the proposed train-speed trajectory optimization problem. Finally, a series of numerical experiments based on a real-world instance of Beijing-Tianjin Intercity Railway are implemented to illustrate the practicability of the proposed model as well as the effectiveness of the solution methodology.

A Vision and Roadmap for Increasing User Autonomy in Flight Operations in the National Airspace

NASA Technical Reports Server (NTRS)

Cotton, William B.; Hilb, Robert; Koczo, Stefan; Wing, David

2016-01-01

The purpose of Air Transportation is to move people and cargo safely, efficiently and swiftly to their destinations. The companies and individuals who use aircraft for this purpose, the airspace users, desire to operate their aircraft according to a dynamically optimized business trajectory for their specific mission and operational business model. In current operations, the dynamic optimization of business trajectories is limited by constraints built into operations in the National Airspace System (NAS) for reasons of safety and operational needs of the air navigation service providers. NASA has been developing and testing means to overcome many of these constraints and permit operations to be conducted closer to the airspace user's changing business trajectory as conditions unfold before and during the flight. A roadmap of logical steps progressing toward increased user autonomy is proposed, beginning with NASA's Traffic Aware Strategic Aircrew Requests (TASAR) concept that enables flight crews to make informed, deconflicted flight-optimization requests to air traffic control. These steps include the use of data communications for route change requests and approvals, integration with time-based arrival flow management processes under development by the Federal Aviation Administration (FAA), increased user authority for defining and modifying downstream, strategic portions of the trajectory, and ultimately application of self-separation. This progression takes advantage of existing FAA NextGen programs and RTCA standards development, and it is designed to minimize the number of hardware upgrades required of airspace users to take advantage of these advanced capabilities to achieve dynamically optimized business trajectories in NAS operations. The roadmap is designed to provide operational benefits to first adopters so that investment decisions do not depend upon a large segment of the user community becoming equipped before benefits can be realized. The issues of equipment certification and operational approval of new procedures are addressed in a way that minimizes their impact on the transition by deferring a change in the assignment of separation responsibility until a large body of operational data is available to support the safety case for this change in the last roadmap step.This paper will relate the roadmap steps to ongoing activities to clarify the economics-based transition to these technologies for operational use.

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-02-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

Autonomous vision-based navigation for proximity operations around binary asteroids

NASA Astrophysics Data System (ADS)

Gil-Fernandez, Jesus; Ortega-Hernando, Guillermo

2018-06-01

Future missions to small bodies demand higher level of autonomy in the Guidance, Navigation and Control system for higher scientific return and lower operational costs. Different navigation strategies have been assessed for ESA's asteroid impact mission (AIM). The main objective of AIM is the detailed characterization of binary asteroid Didymos. The trajectories for the proximity operations shall be intrinsically safe, i.e., no collision in presence of failures (e.g., spacecraft entering safe mode), perturbations (e.g., non-spherical gravity field), and errors (e.g., maneuver execution error). Hyperbolic arcs with sufficient hyperbolic excess velocity are designed to fulfil the safety, scientific, and operational requirements. The trajectory relative to the asteroid is determined using visual camera images. The ground-based trajectory prediction error at some points is comparable to the camera Field Of View (FOV). Therefore, some images do not contain the entire asteroid. Autonomous navigation can update the state of the spacecraft relative to the asteroid at higher frequency. The objective of the autonomous navigation is to improve the on-board knowledge compared to the ground prediction. The algorithms shall fit in off-the-shelf, space-qualified avionics. This note presents suitable image processing and relative-state filter algorithms for autonomous navigation in proximity operations around binary asteroids.

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing: Sixth Revision

NASA Technical Reports Server (NTRS)

Abbott, Terence S.

2015-01-01

This paper presents an overview of the sixth revision to an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This algorithm is referred to as the Airborne Spacing for Terminal Arrival Routes version 13 (ASTAR13). This airborne self-spacing concept contains both trajectory-based and state-based mechanisms for calculating the speeds required to achieve or maintain a precise spacing interval. The trajectory-based capability allows for spacing operations prior to the aircraft being on a common path. This algorithm was also designed specifically to support a standalone, non-integrated implementation in the spacing aircraft. This current revision to the algorithm adds the state-based capability in support of evolving industry standards relating to airborne self-spacing.

Space shuttle engineering and operations support. ALT separation reference trajectories for tailcone on orbiter forward and aft CG configurations. Mission planning, mission analysis and software formulation

NASA Technical Reports Server (NTRS)

Glenn, G. M.

1977-01-01

A preflight analysis of the ALT separation reference trajectories for the tailcone on, forward, and aft cg orbiter configurations is documented. The ALT separation reference trajectories encompass the time from physical separation of the orbiter from the carrier to orbiter attainment of the maximum ALT interface airspeed. The trajectories include post separation roll maneuvers by both vehicles and are generated using the final preflight data base. The trajectories so generated satisfy all known separation design criteria and violate no known constraints. The requirement for this analysis is given along with the specifications, assumptions, and analytical approach used to generate the separation trajectories. The results of the analytical approach are evaluated, and conclusions and recommendations are summarized.

A Potentially Useful for Airborne Separation in 4D-Trajectory ATM Operations

NASA Technical Reports Server (NTRS)

Wing, David J.

2005-01-01

An aircraft equipped with Airborne Separation Assistance System functions and 4- dimensional trajectory management capabilities can have significant, potentially transforming, value to Air Traffic Management at the local and system levels. This paper discusses how certain vital characteristics envisioned in the Next Generation Air Transportation System enable some Air Traffic Management functions to be distributed to properly equipped aircraft, and it defines and illustrates this equipage level in a potential application. The new equipage level, perhaps the most capable of many levels permitted, enables an effective implementation of both near- and long-term 4-dimensional trajectory operations in complex airspace, with the aircraft providing the near-term tactical functions and conforming to the long-term trajectory attributes coordinated with ground-based Traffic Flow Management authorities. NASA s recent research and development of this proposed aircraft equipage for en-route and terminal-arrival operations is summarized. The role the equipage level may play in addressing key implementation challenges of reducing ground infrastructure cost, building in security and safety, and scaling to traffic demand is discussed.

Operator-assisted planning and execution of proximity operations subject to operational constraints

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1991-01-01

Future multi-vehicle operations will involve multiple scenarios that will require a planning tool for the rapid, interactive creation of fuel-efficient trajectories. The planning process must deal with higher-order, non-linear processes involving dynamics that are often counter-intuitive. The optimization of resulting trajectories can be difficult to envision. An interaction proximity operations planning system is being developed to provide the operator with easily interpreted visual feedback of trajectories and constraints. This system is hosted on an IRIS 4D graphics platform and utilizes the Clohessy-Wiltshire equations. An inverse dynamics algorithm is used to remove non-linearities while the trajectory maneuvers are decoupled and separated in a geometric spreadsheet. The operator has direct control of the position and time of trajectory waypoints to achieve the desired end conditions. Graphics provide the operator with visualization of satisfying operational constraints such as structural clearance, plume impingement, approach velocity limits, and arrival or departure corridors. Primer vector theory is combined with graphical presentation to improve operator understanding of suggested automated system solutions and to allow the operator to review, edit, or provide corrective action to the trajectory plan.

Trajectory planning and control of a 6 DOF manipulator with Stewart platform-based mechanism

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Antrazi, Sami

1990-01-01

The trajectory planning and control was studied of a robot manipulator that has 6 degrees of freedom and was designed based on the mechanism of the Stewart Platform. First the main components of the manipulator is described along with its operation. The solutions are briefly prescribed for the forward and inverse kinematics of the manipulator. After that, two trajectory planning schemes are developed using the manipulator inverse kinematics to track straight lines and circular paths. Finally experiments conducted to study the performance of the developed planning schemes in tracking a straight line and a circle are presented and discussed.

Comparison of Ground-Based and Airborne Function Allocation Concepts for NextGen Using Human-In-The-Loop Simulations

NASA Technical Reports Server (NTRS)

Wing, David J.; Prevot, Thomas; Murdoch, Jennifer L.; Cabrall, Christopher D.; Homola, Jeffrey R.; Martin, Lynne H.; Mercer, Joey S.; Hoadley, Sherwood T.; Wilson, Sara R.; Hubbs, Clay E.;

From On-Campus to Online: A Trajectory of Innovation, Internationalization and Inclusion

ERIC Educational Resources Information Center

Moreira, Darlinda

2016-01-01

This paper presents a study focused on a trajectory for developing an online operating mode on a campus-based university in the area of Massachusetts, USA. It addresses the innovation process and the changes and challenges faced by faculty and administrators. Methodologically-speaking, a mainly ethnographic approach was used for a systematic…

Probabilistic Modeling of Aircraft Trajectories for Dynamic Separation Volumes

NASA Technical Reports Server (NTRS)

Lewis, Timothy A.

2016-01-01

With a proliferation of new and unconventional vehicles and operations expected in the future, the ab initio airspace design will require new approaches to trajectory prediction for separation assurance and other air traffic management functions. This paper presents an approach to probabilistic modeling of the trajectory of an aircraft when its intent is unknown. The approach uses a set of feature functions to constrain a maximum entropy probability distribution based on a set of observed aircraft trajectories. This model can be used to sample new aircraft trajectories to form an ensemble reflecting the variability in an aircraft's intent. The model learning process ensures that the variability in this ensemble reflects the behavior observed in the original data set. Computational examples are presented.

Visiting Vehicle Ground Trajectory Tool

NASA Technical Reports Server (NTRS)

Hamm, Dustin

2013-01-01

The International Space Station (ISS) Visiting Vehicle Group needed a targeting tool for vehicles that rendezvous with the ISS. The Visiting Vehicle Ground Trajectory targeting tool provides the ability to perform both realtime and planning operations for the Visiting Vehicle Group. This tool provides a highly reconfigurable base, which allows the Visiting Vehicle Group to perform their work. The application is composed of a telemetry processing function, a relative motion function, a targeting function, a vector view, and 2D/3D world map type graphics. The software tool provides the ability to plan a rendezvous trajectory for vehicles that visit the ISS. It models these relative trajectories using planned and realtime data from the vehicle. The tool monitors ongoing rendezvous trajectory relative motion, and ensures visiting vehicles stay within agreed corridors. The software provides the ability to update or re-plan a rendezvous to support contingency operations. Adding new parameters and incorporating them into the system was previously not available on-the-fly. If an unanticipated capability wasn't discovered until the vehicle was flying, there was no way to update things.

Evaluation of altimetry-derived surface current products using Lagrangian drifter trajectories in the eastern Gulf of Mexico

NASA Astrophysics Data System (ADS)

Liu, Yonggang; Weisberg, Robert H.; Vignudelli, Stefano; Mitchum, Gary T.

2014-05-01

Lagrangian particle trajectory models based on several altimetry-derived surface current products are used to hindcast the drifter trajectories observed in the eastern Gulf of Mexico during May to August 2010 (the Deepwater Horizon oil spill incident). The performances of the trajectory models are gauged in terms of Lagrangian separation distances (d) and a nondimensional skill score (s), respectively. A series of numerical experiments show that these altimetry-based trajectory models have about the same performance, with a certain improvement by adding surface wind Ekman components, especially over the shelf region. However, their hindcast skills are slightly better than those of the data assimilative numerical model output. After 3 days' simulation the altimetry-based trajectory models have mean d values of 75-83 and 34-42 km (s values of 0.49-0.51 and 0.35-0.43) in the Gulf of Mexico deep water area and on the West Florida Continental Shelf, respectively. These satellite altimetry data products are useful for providing essential information on ocean surface currents of use in water property transports, offshore oil and gas operations, hazardous spill mitigation, search and rescue, etc.

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing: Seventh Revision

NASA Technical Reports Server (NTRS)

Abbott, Terence S.

2015-01-01

This paper presents an overview of the seventh revision to an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This paper supersedes the previous documentation and presents a modification to the algorithm referred to as the Airborne Spacing for Terminal Arrival Routes version 13 (ASTAR13). This airborne self-spacing concept contains both trajectory-based and state-based mechanisms for calculating the speeds required to achieve or maintain a precise spacing interval. The trajectory-based capability allows for spacing operations prior to the aircraft being on a common path. This algorithm was also designed specifically to support a standalone, non-integrated implementation in the spacing aircraft. This current revision to the algorithm adds the state-based capability in support of evolving industry standards relating to airborne self-spacing.

A Cockpit-Based Application for Traffic Aware Trajectory Optimization

NASA Technical Reports Server (NTRS)

Woods, Sharon E.; Vivona, Robert A.; Roscoe, David A.; LeFebvre, Brendan C.; Wing, David J.; Ballin, Mark G.

2013-01-01

The Traffic Aware Planner (TAP) is a cockpit-based advisory tool designed to be hosted on a Class 2 Electronic Flight Bag and developed to enable the concept of Traffic Aware Strategic Aircrew Requests (TASAR). This near-term concept provides pilots with optimized route changes that reduce fuel burn or flight time, avoids interactions with known traffic, weather and restricted airspace, and may be used by the pilots to request a trajectory change from air traffic control. TAP's internal architecture and algorithms are derived from the Autonomous Operations Planner, a flight-deck automation system developed by NASA to support research into aircraft self-separation. This paper reviews the architecture, functionality and operation of TAP.

A Distributed Trajectory-Oriented Approach to Managing Traffic Complexity

NASA Technical Reports Server (NTRS)

Idris, Husni; Wing, David J.; Vivona, Robert; Garcia-Chico, Jose-Luis

2007-01-01

In order to handle the expected increase in air traffic volume, the next generation air transportation system is moving towards a distributed control architecture, in which ground-based service providers such as controllers and traffic managers and air-based users such as pilots share responsibility for aircraft trajectory generation and management. While its architecture becomes more distributed, the goal of the Air Traffic Management (ATM) system remains to achieve objectives such as maintaining safety and efficiency. It is, therefore, critical to design appropriate control elements to ensure that aircraft and groundbased actions result in achieving these objectives without unduly restricting user-preferred trajectories. This paper presents a trajectory-oriented approach containing two such elements. One is a trajectory flexibility preservation function, by which aircraft plan their trajectories to preserve flexibility to accommodate unforeseen events. And the other is a trajectory constraint minimization function by which ground-based agents, in collaboration with air-based agents, impose just-enough restrictions on trajectories to achieve ATM objectives, such as separation assurance and flow management. The underlying hypothesis is that preserving trajectory flexibility of each individual aircraft naturally achieves the aggregate objective of avoiding excessive traffic complexity, and that trajectory flexibility is increased by minimizing constraints without jeopardizing the intended ATM objectives. The paper presents conceptually how the two functions operate in a distributed control architecture that includes self separation. The paper illustrates the concept through hypothetical scenarios involving conflict resolution and flow management. It presents a functional analysis of the interaction and information flow between the functions. It also presents an analytical framework for defining metrics and developing methods to preserve trajectory flexibility and minimize its constraints. In this framework flexibility is defined in terms of robustness and adaptability to disturbances and the impact of constraints is illustrated through analysis of a trajectory solution space with limited degrees of freedom and in simple constraint situations involving meeting multiple times of arrival and resolving a conflict.

The SMART-NAS Testbed

NASA Technical Reports Server (NTRS)

Aquilina, Rudolph A.

2015-01-01

The SMART-NAS Testbed for Safe Trajectory Based Operations Project will deliver an evaluation capability, critical to the ATM community, allowing full NextGen and beyond-NextGen concepts to be assessed and developed. To meet this objective a strong focus will be placed on concept integration and validation to enable a gate-to-gate trajectory-based system capability that satisfies a full vision for NextGen. The SMART-NAS for Safe TBO Project consists of six sub-projects. Three of the sub-projects are focused on exploring and developing technologies, concepts and models for evolving and transforming air traffic management operations in the ATM+2 time horizon, while the remaining three sub-projects are focused on developing the tools and capabilities needed for testing these advanced concepts. Function Allocation, Networked Air Traffic Management and Trajectory Based Operations are developing concepts and models. SMART-NAS Test-bed, System Assurance Technologies and Real-time Safety Modeling are developing the tools and capabilities to test these concepts. Simulation and modeling capabilities will include the ability to assess multiple operational scenarios of the national airspace system, accept data feeds, allowing shadowing of actual operations in either real-time, fast-time and/or hybrid modes of operations in distributed environments, and enable integrated examinations of concepts, algorithms, technologies, and NAS architectures. An important focus within this project is to enable the development of a real-time, system-wide safety assurance system. The basis of such a system is a continuum of information acquisition, analysis, and assessment that enables awareness and corrective action to detect and mitigate potential threats to continuous system-wide safety at all levels. This process, which currently can only be done post operations, will be driven towards "real-time" assessments in the 2035 time frame.

Trajectories of women's abortion-related care: A conceptual framework.

PubMed

Coast, Ernestina; Norris, Alison H; Moore, Ann M; Freeman, Emily

2018-03-01

We present a new conceptual framework for studying trajectories to obtaining abortion-related care. It assembles for the first time all of the known factors influencing a trajectory and encourages readers to consider the ways these macro- and micro-level factors operate in multiple and sometimes conflicting ways. Based on presentation to and feedback from abortion experts (researchers, providers, funders, policymakers and advisors, advocates) (n = 325) between 03/06/2014 and 22/08/2015, and a systematic mapping of peer-reviewed literature (n = 424) published between 01/01/2011 and 30/10/2017, our framework synthesises the factors shaping abortion trajectories, grouped into three domains: abortion-specific experiences, individual contexts, and (inter)national and sub-national contexts. Our framework includes time-dependent processes involved in an individual trajectory, starting with timing of pregnancy awareness. This framework can be used to guide testable hypotheses about enabling and inhibiting influences on care-seeking behaviour and consideration about how abortion trajectories might be influenced by policy or practice. Research based on understanding of trajectories has the potential to improve women's experiences and outcomes of abortion-related care. Copyright © 2018 The Author(s). Published by Elsevier Ltd.. All rights reserved.

The potential value of employing a RLV-based ``pop-up'' trajectory approach for space access

NASA Astrophysics Data System (ADS)

Nielsen, Edward; O'Leary, Robert

1997-01-01

This paper presents the potential benefits of employing useful upper stages with planned reusable launch vehicle systems to increase payload performance to various earth orbits. It highlights these benefits through performance analysis on a generic vehicle/upper-stage combination (basing all estimates on realistic technology availability). A nominal 34,019 kg [75,000 lbm] dry mass RLV capable of orbiting 454 kg into a polar orbit by itself (SSTO) would be capable of orbiting 9500-10,000 kg into a polar orbit using a nominal upper stage released from a suborbital trajectory. The paper also emphasizes the technical and operational issues associated with actually executing a ``pop-up'' trajectory launch and deployment.

Visual Uav Trajectory Plan System Based on Network Map

NASA Astrophysics Data System (ADS)

Li, X. L.; Lin, Z. J.; Su, G. Z.; Wu, B. Y.

2012-07-01

The base map of the current software UP-30 using in trajectory plan for Unmanned Aircraft Vehicle is vector diagram. UP-30 draws navigation points manually. But in the field of operation process, the efficiency and the quality of work is influenced because of insufficient information, screen reflection, calculate inconveniently and other factors. If we do this work in indoor, the effect of external factors on the results would be eliminated, the network earth users can browse the free world high definition satellite images through downloading a client software, and can export the high resolution image by standard file format. This brings unprecedented convenient of trajectory plan. But the images must be disposed by coordinate transformation, geometric correction. In addition, according to the requirement of mapping scale ,camera parameters and overlap degree we can calculate exposure hole interval and trajectory distance between the adjacent trajectory automatically . This will improve the degree of automation of data collection. Software will judge the position of next point according to the intersection of the trajectory and the survey area and ensure the position of point according to trajectory distance. We can undertake the points artificially. So the trajectory plan is automatic and flexible. Considering safety, the date can be used in flying after simulating flight. Finally we can export all of the date using a key

An Overview of a Trajectory-Based Solution for En Route and Terminal Area Self-Spacing: Eighth Revision

NASA Technical Reports Server (NTRS)

Abbott, Terence S.; Swieringa, Kurt S.

2017-01-01

This paper presents an overview of the eighth revision to an algorithm specifically designed to support NASA's Airborne Precision Spacing concept. This paper supersedes the previous documentation and presents a modification to the algorithm referred to as the Airborne Spacing for Terminal Arrival Routes version 13 (ASTAR13). This airborne self-spacing concept contains both trajectory-based and state-based mechanisms for calculating the speeds required to achieve or maintain a precise spacing interval with another aircraft. The trajectory-based capability allows for spacing operations prior to the aircraft being on a common path. This algorithm was also designed specifically to support a standalone, non-integrated implementation in the spacing aircraft. This current revision to the algorithm supports the evolving industry standards relating to airborne self-spacing.

Initial Concept of Operations for Full Management by Trajectory

NASA Technical Reports Server (NTRS)

Fernandes, Alicia D.; Atkins, Steve; Leiden, Ken; Kaler, Curt; Evans, Mark; Bell, Alan; Kilbourne, Todd; Jackson, Michael

2017-01-01

This document describes Management by Trajectory (MBT), a concept for future air traffic management (ATM) in which flights are assigned four-dimensional trajectories (4DTs) through a negotiation process between the Federal Aviation Administration (FAA) and flight operators that respects the flight operator's goals while complying with National Airspace System (NAS) constraints.

Program manual for ASTOP, an Arbitrary space trajectory optimization program

NASA Technical Reports Server (NTRS)

Horsewood, J. L.

1974-01-01

The ASTOP program (an Arbitrary Space Trajectory Optimization Program) designed to generate optimum low-thrust trajectories in an N-body field while satisfying selected hardware and operational constraints is presented. The trajectory is divided into a number of segments or arcs over which the control is held constant. This constant control over each arc is optimized using a parameter optimization scheme based on gradient techniques. A modified Encke formulation of the equations of motion is employed. The program provides a wide range of constraint, end conditions, and performance index options. The basic approach is conducive to future expansion of features such as the incorporation of new constraints and the addition of new end conditions.

Pilot and Controller Evaluations of Separation Function Allocation in Air Traffic Management

NASA Technical Reports Server (NTRS)

Wing, David; Prevot, Thomas; Morey, Susan; Lewis, Timothy; Martin, Lynne; Johnson, Sally; Cabrall, Christopher; Como, Sean; Homola, Jeffrey; Sheth-Chandra, Manasi;

Predicting drifter trajectories and particle dispersion in the Caribbean using a high resolution coastal ocean forecasting system

NASA Astrophysics Data System (ADS)

Solano, M.

2016-02-01

The present study discusses the accuracy of a high-resolution ocean forecasting system in predicting floating drifter trajectories and the uncertainty of modeled particle dispersion in coastal areas. Trajectories were calculated using an offline particle-tracking algorithm coupled to the operational model developed for the region of Puerto Rico by CariCOOS. Both, a simple advection algorithm as well as the Larval TRANSport (LTRANS) model, a more sophisticated offline particle-tracking application, were coupled to the ocean model. Numerical results are compared with 12 floating drifters deployed in the near-shore of Puerto Rico during February and March 2015, and tracked for several days using Global Positioning Systems mounted on the drifters. In addition the trajectories have also been calculated with the AmSeas Navy Coastal Ocean Model (NCOM). The operational model is based on the Regional Ocean Modeling System (ROMS) with a uniform horizontal resolution of 1/100 degrees (1.1km). Initial, surface and open boundary conditions are taken from NCOM, except for wind stress, which is computed using winds from the National Digital Forecasting Database. Probabilistic maps were created to quantify the uncertainty of particle trajectories at different locations. Results show that the forecasted trajectories are location dependent, with tidally active regions having the largest error. The predicted trajectories by both the ROMS and NCOM models show good agreement on average, however both perform differently at particular locations. The effect of wind stress on the drifter trajectories is investigated to account for wind slippage. Furthermore, a real case scenario is presented where simulated trajectories show good agreement when compared to the actual drifter trajectories.

Quadrotor Intercept Trajectory Planning and Simulation

DTIC Science & Technology

2017-06-01

Figure 41. Results are grouped by geometry type and colored based on trajectory planner. Figure 41. Summary of Experimental Data Intercept Time...DISTRIBUTION CODE 13. ABSTRACT (maximum 200 words) Quadrotor drones pose a safety hazard when operated in or near controlled airspace. A hazardous...quadrotor could be intercepted and removed by another quadrotor. In this thesis, we seek to determine if optimal control methods outperform missile

Methodology for the specification of communication activities within the framework of a multi-layered architecture: Toward the definition of a knowledge base

NASA Astrophysics Data System (ADS)

Amyay, Omar

A method defined in terms of synthesis and verification steps is presented. The specification of the services and protocols of communication within a multilayered architecture of the Open Systems Interconnection (OSI) type is an essential issue for the design of computer networks. The aim is to obtain an operational specification of the protocol service couple of a given layer. Planning synthesis and verification steps constitute a specification trajectory. The latter is based on the progressive integration of the 'initial data' constraints and verification of the specification originating from each synthesis step, through validity constraints that characterize an admissible solution. Two types of trajectories are proposed according to the style of the initial specification of the service protocol couple: operational type and service supplier viewpoint; knowledge property oriented type and service viewpoint. Synthesis and verification activities were developed and formalized in terms of labeled transition systems, temporal logic and epistemic logic. The originality of the second specification trajectory and the use of the epistemic logic are shown. An 'artificial intelligence' approach enables a conceptual model to be defined for a knowledge base system for implementing the method proposed. It is structured in three levels of representation of the knowledge relating to the domain, the reasoning characterizing synthesis and verification activities and the planning of the steps of a specification trajectory.

Piloted simulation of an air-ground profile negotiation process in a time-based Air Traffic Control environment

NASA Technical Reports Server (NTRS)

Williams, David H.; Green, Steven M.

1993-01-01

Historically, development of airborne flight management systems (FMS) and ground-based air traffic control (ATC) systems has tended to focus on different objectives with little consideration for operational integration. A joint program, between NASA's Ames Research Center (Ames) and Langley Research Center (Langley), is underway to investigate the issues of, and develop systems for, the integration of ATC and airborne automation systems. A simulation study was conducted to evaluate a profile negotiation process (PNP) between the Center/TRACON Automation System (CTAS) and an aircraft equipped with a four-dimensional flight management system (4D FMS). Prototype procedures were developed to support the functional implementation of this process. The PNP was designed to provide an arrival trajectory solution which satisfies the separation requirements of ATC while remaining as close as possible to the aircraft's preferred trajectory. Results from the experiment indicate the potential for successful incorporation of aircraft-preferred arrival trajectories in the CTAS automation environment. Fuel savings on the order of 2 percent to 8 percent, compared to fuel required for the baseline CTAS arrival speed strategy, were achieved in the test scenarios. The data link procedures and clearances developed for this experiment, while providing the necessary functionality, were found to be operationally unacceptable to the pilots. In particular, additional pilot control and understanding of the proposed aircraft-preferred trajectory, and a simplified clearance procedure were cited as necessary for operational implementation of the concept.

Modified Hyperspheres Algorithm to Trace Homotopy Curves of Nonlinear Circuits Composed by Piecewise Linear Modelled Devices

PubMed Central

Vazquez-Leal, H.; Jimenez-Fernandez, V. M.; Benhammouda, B.; Filobello-Nino, U.; Sarmiento-Reyes, A.; Ramirez-Pinero, A.; Marin-Hernandez, A.; Huerta-Chua, J.

2014-01-01

We present a homotopy continuation method (HCM) for finding multiple operating points of nonlinear circuits composed of devices modelled by using piecewise linear (PWL) representations. We propose an adaptation of the modified spheres path tracking algorithm to trace the homotopy trajectories of PWL circuits. In order to assess the benefits of this proposal, four nonlinear circuits composed of piecewise linear modelled devices are analysed to determine their multiple operating points. The results show that HCM can find multiple solutions within a single homotopy trajectory. Furthermore, we take advantage of the fact that homotopy trajectories are PWL curves meant to replace the multidimensional interpolation and fine tuning stages of the path tracking algorithm with a simple and highly accurate procedure based on the parametric straight line equation. PMID:25184157

An approach for generating trajectory-based dynamics which conserves the canonical distribution in the phase space formulation of quantum mechanics. II. Thermal correlation functions.

PubMed

Liu, Jian; Miller, William H

2011-03-14

We show the exact expression of the quantum mechanical time correlation function in the phase space formulation of quantum mechanics. The trajectory-based dynamics that conserves the quantum canonical distribution-equilibrium Liouville dynamics (ELD) proposed in Paper I is then used to approximately evaluate the exact expression. It gives exact thermal correlation functions (of even nonlinear operators, i.e., nonlinear functions of position or momentum operators) in the classical, high temperature, and harmonic limits. Various methods have been presented for the implementation of ELD. Numerical tests of the ELD approach in the Wigner or Husimi phase space have been made for a harmonic oscillator and two strongly anharmonic model problems, for each potential autocorrelation functions of both linear and nonlinear operators have been calculated. It suggests ELD can be a potentially useful approach for describing quantum effects for complex systems in condense phase.

Design of a Multi-mode Flight Deck Decision Support System for Airborne Conflict Management

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Krishnamurthy, Karthik

2004-01-01

NASA Langley has developed a multi-mode decision support system for pilots operating in a Distributed Air-Ground Traffic Management (DAG-TM) environment. An Autonomous Operations Planner (AOP) assists pilots in performing separation assurance functions, including conflict detection, prevention, and resolution. Ongoing AOP design has been based on a comprehensive human factors analysis and evaluation results from previous human-in-the-loop experiments with airline pilot test subjects. AOP considers complex flight mode interactions and provides flight guidance to pilots consistent with the current aircraft control state. Pilots communicate goals to AOP by setting system preferences and actively probing potential trajectories for conflicts. To minimize training requirements and improve operational use, AOP design leverages existing alerting philosophies, displays, and crew interfaces common on commercial aircraft. Future work will consider trajectory prediction uncertainties, integration with the TCAS collision avoidance system, and will incorporate enhancements based on an upcoming air-ground coordination experiment.

Interactive orbital proximity operations planning system

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1989-01-01

An interactive, graphical proximity operations planning system was developed which allows on-site design of efficient, complex, multiburn maneuvers in the dynamic multispacecraft environment about the space station. Maneuvering takes place in, as well as out of, the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of relative orbital motion trajectories and complex operational constraints, which are both time varying and highly dependent on the mission scenario. This difficulty is greatly overcome by visualizing the relative trajectories and the relative constraints in an easily interpretable, graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of the space station and co-orbiting spacecraft on the background of the station's orbital plane. The operator has control over two modes of operation: (1) a viewing system mode, which enables him or her to explore the spatial situation about the space station and thus choose and frame in on areas of interest; and (2) a trajectory design mode, which allows the interactive editing of a series of way-points and maneuvering burns to obtain a trajectory which complies with all operational constraints. Through a graphical interactive process, the operator will continue to modify the trajectory design until all operational constraints are met. The effectiveness of this display format in complex trajectory design is presently being evaluated in an ongoing experimental program.

Optimal helicopter trajectory planning for terrain following flight

NASA Technical Reports Server (NTRS)

Menon, P. K. A.

1990-01-01

Helicopters operating in high threat areas have to fly close to the earth surface to minimize the risk of being detected by the adversaries. Techniques are presented for low altitude helicopter trajectory planning. These methods are based on optimal control theory and appear to be implementable onboard in realtime. Second order necessary conditions are obtained to provide a criterion for finding the optimal trajectory when more than one extremal passes through a given point. A second trajectory planning method incorporating a quadratic performance index is also discussed. Trajectory planning problem is formulated as a differential game. The objective is to synthesize optimal trajectories in the presence of an actively maneuvering adversary. Numerical methods for obtaining solutions to these problems are outlined. As an alternative to numerical method, feedback linearizing transformations are combined with the linear quadratic game results to synthesize explicit nonlinear feedback strategies for helicopter pursuit-evasion. Some of the trajectories generated from this research are evaluated on a six-degree-of-freedom helicopter simulation incorporating an advanced autopilot. The optimal trajectory planning methods presented are also useful for autonomous land vehicle guidance.

Trajectory control of an articulated robot with a parallel drive arm based on splines under tension

NASA Astrophysics Data System (ADS)

Yi, Seung-Jong

Today's industrial robots controlled by mini/micro computers are basically simple positioning devices. The positioning accuracy depends on the mathematical description of the robot configuration to place the end-effector at the desired position and orientation within the workspace and on following the specified path which requires the trajectory planner. In addition, the consideration of joint velocity, acceleration, and jerk trajectories are essential for trajectory planning of industrial robots to obtain smooth operation. The newly designed 6 DOF articulated robot with a parallel drive arm mechanism which permits the joint actuators to be placed in the same horizontal line to reduce the arm inertia and to increase load capacity and stiffness is selected. First, the forward kinematic and inverse kinematic problems are examined. The forward kinematic equations are successfully derived based on Denavit-Hartenberg notation with independent joint angle constraints. The inverse kinematic problems are solved using the arm-wrist partitioned approach with independent joint angle constraints. Three types of curve fitting methods used in trajectory planning, i.e., certain degree polynomial functions, cubic spline functions, and cubic spline functions under tension, are compared to select the best possible method to satisfy both smooth joint trajectories and positioning accuracy for a robot trajectory planner. Cubic spline functions under tension is the method selected for the new trajectory planner. This method is implemented for a 6 DOF articulated robot with a parallel drive arm mechanism to improve the smoothness of the joint trajectories and the positioning accuracy of the manipulator. Also, this approach is compared with existing trajectory planners, 4-3-4 polynomials and cubic spline functions, via circular arc motion simulations. The new trajectory planner using cubic spline functions under tension is implemented into the microprocessor based robot controller and motors to produce combined arc and straight-line motion. The simulation and experiment show interesting results by demonstrating smooth motion in both acceleration and jerk and significant improvements of positioning accuracy in trajectory planning.

Results of prototype software development for automation of shuttle proximity operations

NASA Technical Reports Server (NTRS)

Hiers, Hal; Olszweski, Oscar

1991-01-01

The effort involves demonstration of expert system technology application to Shuttle rendezvous operations in a high-fidelity, real-time simulation environment. The JSC Systems Engineering Simulator (SES) served as the test bed for the demonstration. Rendezvous applications were focused on crew procedures and monitoring of sensor health and trajectory status. Proximity operations applications were focused on monitoring, crew advisory, and control of the approach trajectory. Guidance, Navigation, and Control areas of emphasis included the approach, transition and stationkeeping guidance, and laser docking sensor navigation. Operator interface displays for monitor and control functions were developed. A rule-based expert system was developed to manage the relative navigation system/sensors for nominal operations and simple failure contingencies. Testing resulted in the following findings; (1) the developed guidance is applicable for operations with LVLH stabilized targets; (2) closing rates less than 0.05 feet per second are difficult to maintain due to the Shuttle translational/rotational cross-coupling; (3) automated operations result in reduced propellant consumption and plume impingement effects on the target as compared to manual operations; and (4) braking gates are beneficial for trajectory management. A versatile guidance design was demonstrated. An accurate proximity operations sensor/navigation system to provide relative attitude information within 30 feet is required and redesign of the existing Shuttle digital autopilot should be considered to reduce the cross-coupling effects. This activity has demonstrated the feasibility of automated Shuttle proximity operations with the Space Station Freedom. Indications are that berthing operations as well as docking can be supported.

An Advanced Trajectory-Based Operations Prototype Tool and Focus Group Evaluation

NASA Technical Reports Server (NTRS)

Guerreiro, Nelson M.; Jones, Denise R.; Barmore, Bryan E.; Butler, Ricky W.; Hagen, George E.; Maddalon, Jeffrey M.; Ahmad, Nash'at N.; Rogers, Laura J.; Underwood, Matthew C.; Johnson, Sally C.

2017-01-01

Trajectory-based operations (TBO) is a key concept in the Next Generation Air Transportation System transformation of the National Airspace System (NAS) that will increase the predictability and stability of traffic flows, support a common operational picture through the use of digital data sharing, facilitate more effective collaborative decision making between airspace users and air navigation service providers, and enable increased levels of integrated automation across the NAS. The National Aeronautics and Space Administration (NASA) has been developing trajectory-based systems to improve the efficiency of the NAS during specific phases of flight and is now also exploring Advanced 4-Dimensional Trajectory (4DT) operational concepts that will integrate these technologies and incorporate new technology where needed to create both automation and procedures to support gate-to-gate TBO. A TBO Prototype simulation toolkit has been developed that demonstrates initial functionality that may reside in an Advanced 4DT TBO concept. Pilot and controller subject matter experts (SMEs) were brought to the Air Traffic Operations Laboratory at NASA Langley Research Center for discussions on an Advanced 4DT operational concept and were provided an interactive demonstration of the TBO Prototype using four example scenarios. The SMEs provided feedback on potential operational, technological, and procedural opportunities and concerns. After viewing the interactive demonstration scenarios, the SMEs felt the operational capabilities demonstrated would be useful for performing TBO while maintaining situation awareness and low mental workload. The TBO concept demonstrated produced defined routings around weather which resulted in a more organized, consistent flow of traffic where it was clear to both the controller and pilot what route the aircraft was to follow. In general, the controller SMEs felt that traffic flow management should be responsible for generating and negotiating the operational constraints demonstrated, in cooperation with the Air Traffic Control System Command Center, while air traffic control should be responsible for the implementation of those constraints. The SMEs also indicated that digital data communications would be very beneficial for TBO operations and would result in less workload due to reduced communications, would eliminate issues due to language barriers and frequency problems, and would make receiving, loading, accepting, and executing clearances easier, less ambiguous, and more expeditious. This paper describes an Advanced 4DT operational concept, the TBO Prototype, the demonstration scenarios and methods used, and the feedback obtained from the pilot and controller SMEs in this focus group evaluation.

Real time correlation function in a single phase space integral beyond the linearized semiclassical initial value representation.

PubMed

Liu, Jian; Miller, William H

2007-06-21

It is shown how quantum mechanical time correlation functions [defined, e.g., in Eq. (1.1)] can be expressed, without approximation, in the same form as the linearized approximation of the semiclassical initial value representation (LSC-IVR), or classical Wigner model, for the correlation function [cf. Eq. (2.1)], i.e., as a phase space average (over initial conditions for trajectories) of the Wigner functions corresponding to the two operators. The difference is that the trajectories involved in the LSC-IVR evolve classically, i.e., according to the classical equations of motion, while in the exact theory they evolve according to generalized equations of motion that are derived here. Approximations to the exact equations of motion are then introduced to achieve practical methods that are applicable to complex (i.e., large) molecular systems. Four such methods are proposed in the paper--the full Wigner dynamics (full WD) and the second order WD based on "Wigner trajectories" [H. W. Lee and M. D. Scully, J. Chem. Phys. 77, 4604 (1982)] and the full Donoso-Martens dynamics (full DMD) and the second order DMD based on "Donoso-Martens trajectories" [A. Donoso and C. C. Martens, Phys. Rev. Lett. 8722, 223202 (2001)]--all of which can be viewed as generalizations of the original LSC-IVR method. Numerical tests of the four versions of this new approach are made for two anharmonic model problems, and for each the momentum autocorrelation function (i.e., operators linear in coordinate or momentum operators) and the force autocorrelation function (nonlinear operators) have been calculated. These four new approximate treatments are indeed seen to be significant improvements to the original LSC-IVR approximation.

High Altitude Venus Operations Concept Trajectory Design, Modeling and Simulation

NASA Technical Reports Server (NTRS)

Lugo, Rafael A.; Ozoroski, Thomas A.; Van Norman, John W.; Arney, Dale C.; Dec, John A.; Jones, Christopher A.; Zumwalt, Carlie H.

2015-01-01

A trajectory design and analysis that describes aerocapture, entry, descent, and inflation of manned and unmanned High Altitude Venus Operation Concept (HAVOC) lighter-than-air missions is presented. Mission motivation, concept of operations, and notional entry vehicle designs are presented. The initial trajectory design space is analyzed and discussed before investigating specific trajectories that are deemed representative of a feasible Venus mission. Under the project assumptions, while the high-mass crewed mission will require further research into aerodynamic decelerator technology, it was determined that the unmanned robotic mission is feasible using current technology.

PEM-West trajectory climatology and photochemical model sensitivity study prepared using retrospective meteorological data

NASA Technical Reports Server (NTRS)

Merrill, John T.; Rodriguez, Jose M.

1991-01-01

Trajectory and photochemical model calculations based on retrospective meteorological data for the operations areas of the NASA Pacific Exploratory Mission (PEM)-West mission are summarized. The trajectory climatology discussed here is intended to provide guidance for flight planning and initial data interpretation during the field phase of the expedition by indicating the most probable path air parcels are likely to take to reach various points in the area. The photochemical model calculations which are discussed indicate the sensitivity of the chemical environment to various initial chemical concentrations and to conditions along the trajectory. In the post-expedition analysis these calculations will be used to provide a climatological context for the meteorological conditions which are encountered in the field.

Safe-trajectory optimization and tracking control in ultra-close proximity to a failed satellite

NASA Astrophysics Data System (ADS)

Zhang, Jingrui; Chu, Xiaoyu; Zhang, Yao; Hu, Quan; Zhai, Guang; Li, Yanyan

2018-03-01

This paper presents a trajectory-optimization method for a chaser spacecraft operating in ultra-close proximity to a failed satellite. Based on the combination of active and passive trajectory protection, the constraints in the optimization framework are formulated for collision avoidance and successful docking in the presence of any thruster failure. The constraints are then handled by an adaptive Gauss pseudospectral method, in which the dynamic residuals are used as the metric to determine the distribution of collocation points. A finite-time feedback control is further employed in tracking the optimized trajectory. In particular, the stability and convergence of the controller are proved. Numerical results are given to demonstrate the effectiveness of the proposed methods.

Adaptive Trajectory Prediction Algorithm for Climbing Flights

NASA Technical Reports Server (NTRS)

Schultz, Charles Alexander; Thipphavong, David P.; Erzberger, Heinz

2012-01-01

Aircraft climb trajectories are difficult to predict, and large errors in these predictions reduce the potential operational benefits of some advanced features for NextGen. The algorithm described in this paper improves climb trajectory prediction accuracy by adjusting trajectory predictions based on observed track data. It utilizes rate-of-climb and airspeed measurements derived from position data to dynamically adjust the aircraft weight modeled for trajectory predictions. In simulations with weight uncertainty, the algorithm is able to adapt to within 3 percent of the actual gross weight within two minutes of the initial adaptation. The root-mean-square of altitude errors for five-minute predictions was reduced by 73 percent. Conflict detection performance also improved, with a 15 percent reduction in missed alerts and a 10 percent reduction in false alerts. In a simulation with climb speed capture intent and weight uncertainty, the algorithm improved climb trajectory prediction accuracy by up to 30 percent and conflict detection performance, reducing missed and false alerts by up to 10 percent.

UAV Trajectory Modeling Using Neural Networks

NASA Technical Reports Server (NTRS)

Xue, Min

2017-01-01

Massive small unmanned aerial vehicles are envisioned to operate in the near future. While there are lots of research problems need to be addressed before dense operations can happen, trajectory modeling remains as one of the keys to understand and develop policies, regulations, and requirements for safe and efficient unmanned aerial vehicle operations. The fidelity requirement of a small unmanned vehicle trajectory model is high because these vehicles are sensitive to winds due to their small size and low operational altitude. Both vehicle control systems and dynamic models are needed for trajectory modeling, which makes the modeling a great challenge, especially considering the fact that manufactures are not willing to share their control systems. This work proposed to use a neural network approach for modelling small unmanned vehicle's trajectory without knowing its control system and bypassing exhaustive efforts for aerodynamic parameter identification. As a proof of concept, instead of collecting data from flight tests, this work used the trajectory data generated by a mathematical vehicle model for training and testing the neural network. The results showed great promise because the trained neural network can predict 4D trajectories accurately, and prediction errors were less than 2:0 meters in both temporal and spatial dimensions.

Trajectory-Based Takeoff Time Predictions Applied to Tactical Departure Scheduling: Concept Description, System Design, and Initial Observations

NASA Technical Reports Server (NTRS)

Engelland, Shawn A.; Capps, Alan

2011-01-01

Current aircraft departure release times are based on manual estimates of aircraft takeoff times. Uncertainty in takeoff time estimates may result in missed opportunities to merge into constrained en route streams and lead to lost throughput. However, technology exists to improve takeoff time estimates by using the aircraft surface trajectory predictions that enable air traffic control tower (ATCT) decision support tools. NASA s Precision Departure Release Capability (PDRC) is designed to use automated surface trajectory-based takeoff time estimates to improve en route tactical departure scheduling. This is accomplished by integrating an ATCT decision support tool with an en route tactical departure scheduling decision support tool. The PDRC concept and prototype software have been developed, and an initial test was completed at air traffic control facilities in Dallas/Fort Worth. This paper describes the PDRC operational concept, system design, and initial observations.

Trajectory correction propulsion for TOPS

NASA Technical Reports Server (NTRS)

Long, H. R.; Bjorklund, R. A.

1972-01-01

A blowdown-pressurized hydrazine propulsion system was selected to provide trajectory correction impulse for outer planet flyby spacecraft as the result of cost/mass/reliability tradeoff analyses. Present hydrazine component and system technology and component designs were evaluated for application to the Thermoelectric Outer Planet Spacecraft (TOPS); while general hydrazine technology was adequate, component design changes were deemed necessary for TOPS-type missions. A prototype hydrazine propulsion system was fabricated and fired nine times for a total of 1600 s to demonstrate the operation and performance of the TOPS propulsion configuration. A flight-weight trajectory correction propulsion subsystem (TCPS) was designed for the TOPS based on actual and estimated advanced components.

Optimal Control of Micro Grid Operation Mode Seamless Switching Based on Radau Allocation Method

NASA Astrophysics Data System (ADS)

Chen, Xiaomin; Wang, Gang

2017-05-01

The seamless switching process of micro grid operation mode directly affects the safety and stability of its operation. According to the switching process from island mode to grid-connected mode of micro grid, we establish a dynamic optimization model based on two grid-connected inverters. We use Radau allocation method to discretize the model, and use Newton iteration method to obtain the optimal solution. Finally, we implement the optimization mode in MATLAB and get the optimal control trajectory of the inverters.

Design and Evaluation of the Terminal Area Precision Scheduling and Spacing System

NASA Technical Reports Server (NTRS)

Swenson, Harry N.; Thipphavong, Jane; Sadovsky, Alex; Chen, Liang; Sullivan, Chris; Martin, Lynne

2011-01-01

This paper describes the design, development and results from a high fidelity human-in-the-loop simulation of an integrated set of trajectory-based automation tools providing precision scheduling, sequencing and controller merging and spacing functions. These integrated functions are combined into a system called the Terminal Area Precision Scheduling and Spacing (TAPSS) system. It is a strategic and tactical planning tool that provides Traffic Management Coordinators, En Route and Terminal Radar Approach Control air traffic controllers the ability to efficiently optimize the arrival capacity of a demand-impacted airport while simultaneously enabling fuel-efficient descent procedures. The TAPSS system consists of four-dimensional trajectory prediction, arrival runway balancing, aircraft separation constraint-based scheduling, traffic flow visualization and trajectory-based advisories to assist controllers in efficient metering, sequencing and spacing. The TAPSS system was evaluated and compared to today's ATC operation through extensive series of human-in-the-loop simulations for arrival flows into the Los Angeles International Airport. The test conditions included the variation of aircraft demand from a baseline of today's capacity constrained periods through 5%, 10% and 20% increases. Performance data were collected for engineering and human factor analysis and compared with similar operations both with and without the TAPSS system. The engineering data indicate operations with the TAPSS show up to a 10% increase in airport throughput during capacity constrained periods while maintaining fuel-efficient aircraft descent profiles from cruise to landing.

Interactive orbital proximity operations planning system

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1990-01-01

An interactive graphical planning system for on-site planning of proximity operations in the congested multispacecraft environment about the space station is presented. The system shows the astronaut a bird's eye perspective of the space station, the orbital plane, and the co-orbiting spacecraft. The system operates in two operational modes: (1) a viewpoint mode, in which the astronaut is able to move the viewpoint around in the orbital plane to range in on areas of interest; and (2) a trajectory design mode, in which the trajectory is planned. Trajectory design involves the composition of a set of waypoints which result in a fuel-optimal trajectory which satisfies all operational constraints, such as departure and arrival constraints, plume impingement constraints, and structural constraints. The main purpose of the system is to present the trajectory and the constraints in an easily interpretable graphical format. Through a graphical interactive process, the trajectory waypoints are edited until all operational constraints are satisfied. A series of experiments was conducted to evaluate the system. Eight airline pilots with no prior background in orbital mechanics participated in the experiments. Subject training included a stand-alone training session of about 6 hours duration, in which the subjects became familiar with orbital mechanics concepts and performed a series of exercises to familiarize themselves with the control and display features of the system. They then carried out a series of production runs in which 90 different trajectory design situations were randomly addressed. The purpose of these experiments was to investigate how the planning time, planning efforts, and fuel expenditures were affected by the planning difficulty. Some results of these experiments are presented.

Off-axis beam dynamics in rf-gun-based electron photoinjectors

DOE PAGES

Huang, R.; Mitchell, Chad; Papadopoulos, C.; ...

2016-11-22

The need to operate an rf-gun-based electron photoinjector with a beam emitted away from the cathode center can occur under various circumstances. First, in some cases the cathode can be affected by ion back-bombardment that progressively reduces the quantum efficiency (QE) in its center, making off-axis operation mandatory; second, in some cases the drive laser intensity can be sufficiently high to generate QE depletion in the cathode area illuminated by the laser, forcing off-axis operation; last, in cathodes with nonuniform QE distribution it could be convenient to operate off axis to exploit a better QE. However, operation in this modemore » may lead to growth of the projected transverse beam emittances due to correlations between the transverse and longitudinal degrees of freedom that are introduced within the gun and downstream rf cavities. A strategy is described to mitigate this emittance growth by allowing the beam to propagate along a carefully tuned off-axis trajectory in downstream rf cavities to remove the time-dependent rf kicks introduced in the gun. Along this trajectory, short range wakefields do not degrade the emittance, and long range wakefields degrade the emittance for very high repetition rate only.« less

Off-axis beam dynamics in rf-gun-based electron photoinjectors

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

Huang, R.; Mitchell, Chad; Papadopoulos, C.

The need to operate an rf-gun-based electron photoinjector with a beam emitted away from the cathode center can occur under various circumstances. First, in some cases the cathode can be affected by ion back-bombardment that progressively reduces the quantum efficiency (QE) in its center, making off-axis operation mandatory; second, in some cases the drive laser intensity can be sufficiently high to generate QE depletion in the cathode area illuminated by the laser, forcing off-axis operation; last, in cathodes with nonuniform QE distribution it could be convenient to operate off axis to exploit a better QE. However, operation in this modemore » may lead to growth of the projected transverse beam emittances due to correlations between the transverse and longitudinal degrees of freedom that are introduced within the gun and downstream rf cavities. A strategy is described to mitigate this emittance growth by allowing the beam to propagate along a carefully tuned off-axis trajectory in downstream rf cavities to remove the time-dependent rf kicks introduced in the gun. Along this trajectory, short range wakefields do not degrade the emittance, and long range wakefields degrade the emittance for very high repetition rate only.« less

Comparison of Airborne and Ground-Based Function Allocation Concepts for NextGen Using Human-In-The-Loop Simulations

NASA Technical Reports Server (NTRS)

Wing, David J.; Prevot, Thomas; Murdoch, Jennifer L.; Cabrall, Christopher D.; Homola, Jeffrey R.; Martin, Lynne H.; Mercer, Joey S.; Hoadley, Sherwood T.; Wilson, Sara R.; Hubbs, Clay E.;

Assessment of Matrix Multiplication Learning with a Rule-Based Analytical Model--"A Bayesian Network Representation"

ERIC Educational Resources Information Center

Zhang, Zhidong

2016-01-01

This study explored an alternative assessment procedure to examine learning trajectories of matrix multiplication. It took rule-based analytical and cognitive task analysis methods specifically to break down operation rules for a given matrix multiplication. Based on the analysis results, a hierarchical Bayesian network, an assessment model,…

PTM Along Track Algorithm to Maintain Spacing During Same Direction Pair-Wise Trajectory Management Operations

NASA Technical Reports Server (NTRS)

Carreno, Victor A.

2015-01-01

Pair-wise Trajectory Management (PTM) is a cockpit based delegated responsibility separation standard. When an air traffic service provider gives a PTM clearance to an aircraft and the flight crew accepts the clearance, the flight crew will maintain spacing and separation from a designated aircraft. A PTM along track algorithm will receive state information from the designated aircraft and from the own ship to produce speed guidance for the flight crew to maintain spacing and separation

Mystic: Implementation of the Static Dynamic Optimal Control Algorithm for High-Fidelity, Low-Thrust Trajectory Design

NASA Technical Reports Server (NTRS)

Whiffen, Gregory J.

2006-01-01

Mystic software is designed to compute, analyze, and visualize optimal high-fidelity, low-thrust trajectories, The software can be used to analyze inter-planetary, planetocentric, and combination trajectories, Mystic also provides utilities to assist in the operation and navigation of low-thrust spacecraft. Mystic will be used to design and navigate the NASA's Dawn Discovery mission to orbit the two largest asteroids, The underlying optimization algorithm used in the Mystic software is called Static/Dynamic Optimal Control (SDC). SDC is a nonlinear optimal control method designed to optimize both 'static variables' (parameters) and dynamic variables (functions of time) simultaneously. SDC is a general nonlinear optimal control algorithm based on Bellman's principal.

Complexity and the Fractional Calculus

DTIC Science & Technology

2013-01-01

these trajectories over the entire Lotka - Volterra cycle thereby generating the mistaken impression that the resulting average trajectory reaches...interpreted as a form of phase decor- relation process rather than one with friction. The fractional version of the popular Lotka - Volterra ecological...trajectory is an ordinary Lotka - Volterra cycle in the operational time . Transitioning from the operational time to the chronological time spreads

Profile negotiation: An air/ground automation integration concept for managing arrival traffic

NASA Technical Reports Server (NTRS)

Williams, David H.; Arbuckle, P. Douglas; Green, Steven M.; Denbraven, Wim

1993-01-01

NASA Ames Research Center and NASA Langley Research Center conducted a joint simulation study to evaluate a profile negotiation process (PNP) between a time-based air traffic control ATC system and an airplane equipped with a four dimensional flight management system (4D FMS). Prototype procedures were developed to support the functional implementation of this process. The PNP was designed to provide an arrival trajectory solution that satisfies the separation requirements of ATC while remaining as close as possible to the airplane's preferred trajectory. The Transport Systems Research Vehicle cockpit simulator was linked in real-time to the Center/TRACON Automation System (CTAS) for the experiment. Approximately 30 hours of simulation testing were conducted over a three week period. Active airline pilot crews and active Center controller teams participated as test subjects. Results from the experiment indicate the potential for successful incorporation of airplane preferred arrival trajectories in the CTAS automation environment. Controllers were able to consistently and effectively negotiate nominally conflict-free trajectories with pilots flying a 4D-FMS-equipped airplane. The negotiated trajectories were substantially closer to the airplane's preference than would have otherwise been possible without the PNP. Airplane fuel savings relative to baseline CTAS were achieved in the test scenarios. The datalink procedures and clearances developed for this experiment, while providing the necessary functionality, were found to be operationally unacceptable to the pilots. Additional pilot control and understanding of the proposed airplane-preferred trajectory and a simplified clearance procedure were cited as necessary for operational implementation of the concept. From the controllers' perspective, the main concerns were the ability of the 4D airplane to accurately track the negotiated trajectory and the workload required to support the PNP as implemented in this study.

UAV Trajectory Modeling Using Neural Networks

NASA Technical Reports Server (NTRS)

Xue, Min

2017-01-01

Large amount of small Unmanned Aerial Vehicles (sUAVs) are projected to operate in the near future. Potential sUAV applications include, but not limited to, search and rescue, inspection and surveillance, aerial photography and video, precision agriculture, and parcel delivery. sUAVs are expected to operate in the uncontrolled Class G airspace, which is at or below 500 feet above ground level (AGL), where many static and dynamic constraints exist, such as ground properties and terrains, restricted areas, various winds, manned helicopters, and conflict avoidance among sUAVs. How to enable safe, efficient, and massive sUAV operations at the low altitude airspace remains a great challenge. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative works on establishing infrastructure and developing policies, requirement, and rules to enable safe and efficient sUAVs' operations. To achieve this goal, it is important to gain insights of future UTM traffic operations through simulations, where the accurate trajectory model plays an extremely important role. On the other hand, like what happens in current aviation development, trajectory modeling should also serve as the foundation for any advanced concepts and tools in UTM. Accurate models of sUAV dynamics and control systems are very important considering the requirement of the meter level precision in UTM operations. The vehicle dynamics are relatively easy to derive and model, however, vehicle control systems remain unknown as they are usually kept by manufactures as a part of intellectual properties. That brings challenges to trajectory modeling for sUAVs. How to model the vehicle's trajectories with unknown control system? This work proposes to use a neural network to model a vehicle's trajectory. The neural network is first trained to learn the vehicle's responses at numerous conditions. Once being fully trained, given current vehicle states, winds, and desired future trajectory, the neural network should be able to predict the vehicle's future states at next time step. A complete 4-D trajectory are then generated step by step using the trained neural network. Experiments in this work show that the neural network can approximate the sUAV's model and predict the trajectory accurately.

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.

POST2 End-To-End Descent and Landing Simulation for the Autonomous Landing and Hazard Avoidance Technology Project

NASA Technical Reports Server (NTRS)

Fisher, Jody l.; Striepe, Scott A.

2007-01-01

The Program to Optimize Simulated Trajectories II (POST2) is used as a basis for an end-to-end descent and landing trajectory simulation that is essential in determining the design and performance capability of lunar descent and landing system models and lunar environment models for the Autonomous Landing and Hazard Avoidance Technology (ALHAT) project. This POST2-based ALHAT simulation provides descent and landing simulation capability by integrating lunar environment and lander system models (including terrain, sensor, guidance, navigation, and control models), along with the data necessary to design and operate a landing system for robotic, human, and cargo lunar-landing success. This paper presents the current and planned development and model validation of the POST2-based end-to-end trajectory simulation used for the testing, performance and evaluation of ALHAT project system and models.

Learning-based position control of a closed-kinematic chain robot end-effector

NASA Technical Reports Server (NTRS)

Nguyen, Charles C.; Zhou, Zhen-Lei

1990-01-01

A trajectory control scheme whose design is based on learning theory, for a six-degree-of-freedom (DOF) robot end-effector built to study robotic assembly of NASA hardwares in space is presented. The control scheme consists of two control systems: the feedback control system and the learning control system. The feedback control system is designed using the concept of linearization about a selected operating point, and the method of pole placement so that the closed-loop linearized system is stabilized. The learning control scheme consisting of PD-type learning controllers, provides additional inputs to improve the end-effector performance after each trial. Experimental studies performed on a 2 DOF end-effector built at CUA, for three tracking cases show that actual trajectories approach desired trajectories as the number of trials increases. The tracking errors are substantially reduced after only five trials.

Robust Task Space Trajectory Tracking Control of Robotic Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2016-08-01

This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

Multi-agent autonomous system and method

NASA Technical Reports Server (NTRS)

Fink, Wolfgang (Inventor); Dohm, James (Inventor); Tarbell, Mark A. (Inventor)

2010-01-01

A method of controlling a plurality of crafts in an operational area includes providing a command system, a first craft in the operational area coupled to the command system, and a second craft in the operational area coupled to the command system. The method further includes determining a first desired destination and a first trajectory to the first desired destination, sending a first command from the command system to the first craft to move a first distance along the first trajectory, and moving the first craft according to the first command. A second desired destination and a second trajectory to the second desired destination are determined and a second command is sent from the command system to the second craft to move a second distance along the second trajectory.

An operational search and rescue model for the Norwegian Sea and the North Sea

NASA Astrophysics Data System (ADS)

Breivik, Øyvind; Allen, Arthur A.

A new operational, ensemble-based search and rescue model for the Norwegian Sea and the North Sea is presented. The stochastic trajectory model computes the net motion of a range of search and rescue objects. A new, robust formulation for the relation between the wind and the motion of the drifting object (termed the leeway of the object) is employed. Empirically derived coefficients for 63 categories of search objects compiled by the US Coast Guard are ingested to estimate the leeway of the drifting objects. A Monte Carlo technique is employed to generate an ensemble that accounts for the uncertainties in forcing fields (wind and current), leeway drift properties, and the initial position of the search object. The ensemble yields an estimate of the time-evolving probability density function of the location of the search object, and its envelope defines the search area. Forcing fields from the operational oceanic and atmospheric forecast system of The Norwegian Meteorological Institute are used as input to the trajectory model. This allows for the first time high-resolution wind and current fields to be used to forecast search areas up to 60 h into the future. A limited set of field exercises show good agreement between model trajectories, search areas, and observed trajectories for life rafts and other search objects. Comparison with older methods shows that search areas expand much more slowly using the new ensemble method with high resolution forcing fields and the new leeway formulation. It is found that going to higher-order stochastic trajectory models will not significantly improve the forecast skill and the rate of expansion of search areas.

Real Time Metrics and Analysis of Integrated Arrival, Departure, and Surface Operations

NASA Technical Reports Server (NTRS)

Sharma, Shivanjli; Fergus, John

2017-01-01

To address the Integrated Arrival, Departure, and Surface (IADS) challenge, NASA is developing and demonstrating trajectory-based departure automation under a collaborative effort with the FAA and industry known Airspace Technology Demonstration 2 (ATD-2). ATD-2 builds upon and integrates previous NASA research capabilities that include the Spot and Runway Departure Advisor (SARDA), the Precision Departure Release Capability (PDRC), and the Terminal Sequencing and Spacing (TSAS) capability. As trajectory-based departure scheduling and collaborative decision making tools are introduced in order to reduce delays and uncertainties in taxi and climb operations across the National Airspace System, users of the tools across a number of roles benefit from a real time system that enables common situational awareness. A real time dashboard was developed to inform and present users notifications and integrated information regarding airport surface operations. The dashboard is a supplement to capabilities and tools that incorporate arrival, departure, and surface air-traffic operations concepts in a NextGen environment. In addition to shared situational awareness, the dashboard offers the ability to compute real time metrics and analysis to inform users about capacity, predictability, and efficiency of the system as a whole. This paper describes the architecture of the real time dashboard as well as an initial proposed set of metrics. The potential impact of the real time dashboard is studied at the site identified for initial deployment and demonstration in 2017: Charlotte-Douglas International Airport (CLT). The architecture of implementing such a tool as well as potential uses are presented for operations at CLT. Metrics computed in real time illustrate the opportunity to provide common situational awareness and inform users of system delay, throughput, taxi time, and airport capacity. In addition, common awareness of delays and the impact of takeoff and departure restrictions stemming from traffic flow management initiatives are explored. The potential of the real time tool to inform users of the predictability and efficiency of using a trajectory-based departure scheduling system is also discussed.

Mathematical modeling of the burden distribution in the blast furnace shaft

NASA Astrophysics Data System (ADS)

Park, Jong-In; Jung, Hun-Je; Jo, Min-Kyu; Oh, Han-Sang; Han, Jeong-Whan

2011-06-01

Process efficiency in the blast furnace is influenced by the gas flow pattern, which is dictated by the burden profile. Therefore, it is important to control the burden distribution so as to achieve reasonable gas flow in the blast furnace operation. Additionally, the charging pattern selection is important as it affects the burden trajectory and stock profile. For analysis of the burden distribution, a new analysis model was developed by use of the spreadsheet program, Microsoft® Office Excel, based on visual basic. This model is composed of the falling burden trajectory and a stock model. The burden trajectory is determined by the burden type, batch weight, rotating velocity of the chute, tilting angle, and friction coefficient. After falling, stock lines are formed by the angle of repose, which is affected by the burden trajectory and the falling velocity. The mathematical formulas for developing this model were modified by a scaled model experiment and DEM simulation.

Dynamics and control of robot for capturing objects in space

NASA Astrophysics Data System (ADS)

Huang, Panfeng

Space robots are expected to perform intricate tasks in future space services, such as satellite maintenance, refueling, and replacing the orbital replacement unit (ORU). To realize these missions, the capturing operation may not be avoided. Such operations will encounter some challenges because space robots have some unique characteristics unfound on ground-based robots, such as, dynamic singularities, dynamic coupling between manipulator and space base, limited energy supply and working without a fixed base, and so on. In addition, since contacts and impacts may not be avoided during capturing operation. Therefore, dynamics and control problems of space robot for capturing objects are significant research topics if the robots are to be deployed for the space services. A typical servicing operation mainly includes three phases: capturing the object, berthing and docking the object, then repairing the target. Therefore, this thesis will focus on resolving some challenging problems during capturing the object, berthing and docking, and so on. In this thesis, I study and analyze the dynamics and control problems of space robot for capturing objects. This work has potential impact in space robotic applications. I first study the contact and impact dynamics of space robot and objects. I specifically focus on analyzing the impact dynamics and mapping the relationship of influence and speed. Then, I develop the fundamental theory for planning the minimum-collision based trajectory of space robot and designing the configuration of space robot at the moment of capture. To compensate for the attitude of the space base during the capturing approach operation, a new balance control concept which can effectively balance the attitude of the space base using the dynamic couplings is developed. The developed balance control concept helps to understand of the nature of space dynamic coupling, and can be readily applied to compensate or minimize the disturbance to the space base. After capturing the object, the space robot must complete the following two tasks: one is to berth the object, and the other is to re-orientate the attitude of the whole robot system for communication and power supply. Therefore, I propose a method to accomplish these two tasks simultaneously using manipulator motion only. The ultimate goal of space services is to realize the capture and manipulation autonomously. Therefore, I propose an affective approach based on learning human skill to track and capture the objects automatically in space. With human-teaching demonstration, the space robot is able to learn and abstract human tracking and capturing skill using an efficient neural-network learning architecture that combines flexible Cascade Neural Networks with Node Decoupled Extended Kalman Filtering (CNN-NDEKF). The simulation results attest that this approach is useful and feasible in tracking trajectory planning and capturing of space robot. Finally I propose a novel approach based on Genetic Algorithms (GAs) to optimize the approach trajectory of space robots in order to realize effective and stable operations. I complete the minimum-torque path planning in order to save the limited energy in space, and design the minimum jerk trajectory for the stabilization of the space manipulator and its space base. These optimal algorithms are very important and useful for the application of space robot.

Towards Designing Graceful Degradation into Trajectory Based Operations: A Human-Machine System Integration Approach

NASA Technical Reports Server (NTRS)

Edwards, Tamsyn; Lee, Paul

2017-01-01

One of the most fundamental changes to the air traffic management system in NextGen is the concept of trajectory based operations (TBO). With the introduction of such change, system safety and resilience is a critical concern, in particular, the ability of systems to gracefully degrade. In order to design graceful degradation into a TBO envrionment, knowledge of the potential causes of degradation, and appropriate solutions, is required. In addition, previous research has predominantly explored the technological contribution to graceful degradation, frequently neglecting to consider the role of the human operator, specifically, air traffic controllers (ATCOs). This is out of step with real-world operations, and potentially limits an ecologically valid understanding of achieving graceful degradation in an air traffic control (ATC) environment. The following literature review aims to identify and summarize the literature to date on the potential causes of degradation in ATC and the solutions that may be applied within a TBO context, with a specific focus on the contribution of the air traffic controller. A framework of graceful degradation, developed from the literature, is presented. It is argued that in order to achieve graceful degradation within TBO, a human-system integration approach must be applied.

Towards Designing Graceful Degradation into Trajectory Based Operations: A Human-systems Integration Approach

NASA Technical Reports Server (NTRS)

Edwards, Tamsyn; Lee, Paul

2017-01-01

One of the most fundamental changes to the air traffic management system in NextGen is the concept of trajectory based operations (TBO). With the introduction of such change, system safety and resilience is a critical concern, in particular, the ability of systems to gracefully degrade. In order to design graceful degradation into a TBO envrionment, knowledge of the potential causes of degradation, and appropriate solutions, is required. In addition, previous research has predominantly explored the technological contribution to graceful degradation, frequently neglecting to consider the role of the human operator, specifically, air traffic controllers (ATCOs). This is out of step with real-world operations, and potentially limits an ecologically valid understanding of achieving graceful degradation in an air traffic control (ATC) environment. The following literature review aims to identify and summarize the literature to date on the potential causes of degradation in ATC and the solutions that may be applied within a TBO context, with a specific focus on the contribution of the air traffic controller. A framework of graceful degradation, developed from the literature, is presented. It is argued that in order to achieve graceful degradation within TBO, a human-system integration approach must be applied.

An analysis of fuel conserving operational procedures and design modifications for bomber/transport aircraft. Volume I. Executive summary. Final report, 7 June 1976-7 July 1978

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

Aggarwal, R.

1978-07-01

Various proposed improvements in the design and operational procedures for bomber/transport aircraft are evaluated. The evaluation is performed in terms of the estimated savings in fuel consumption and in Direct Operating Cost (DOC). As an aid in the evaluation of design modifications, graphs of fuel and DOC savings as a function of the design parameters are developed. These graphs are based on actual mission trajectory data rather than some type trajectory profile. The actual mission data is presented in terms of histograms which provide statistical information concerning altitude, air speed, take-off weight, landing weights, and mission time. Separate analyses aremore » performed on the following aircraft: the B-52G, the B-52H, the KC-135, the C-141, the C-130, and the C-5A.« less

An analysis of fuel conserving operational procedures and design modifications for bomber/transport aircraft. volume ii. Final report, 7 June 1976-7 July 1978

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

Aggarwal, R.K.

1978-07-01

Various proposed improvements in the design and operational procedures for bomber/transport aircraft are evaluated. The evaluation is performed in terms of the estimated savings in fuel consumption and in Direct Operating Cost (DOC). As an aid in the evaluation of design modifications, graphs of fuel and DOC savings as a function of the design parameters are developed. These graphs are based on actual mission trajectory data rather than some typical trajectory profile. The actual mission data is presented in terms of histograms which provide statistical information concerning altitude, air speed, take-off weight, landing weight, and mission time. Separate analyses aremore » performed on the following aircraft: the B-52G, the B-52H, the KC-135, the C-141, the C-130, and the C-5A. (Author)« less

Flight Dynamics Operations: Methods and Lessons Learned from Space Shuttle Orbit Operations

NASA Technical Reports Server (NTRS)

Cutri-Kohart, Rebecca M.

2011-01-01

The Flight Dynamics Officer is responsible for trajectory maintenance of the Space Shuttle. This paper will cover high level operational considerations, methodology, procedures, and lessons learned involved in performing the functions of orbit and rendezvous Flight Dynamics Officer and leading the team of flight dynamics specialists during different phases of flight. The primary functions that will be address are: onboard state vector maintenance, ground ephemeris maintenance, calculation of ground and spacecraft acquisitions, collision avoidance, burn targeting for the primary mission, rendezvous, deorbit and contingencies, separation sequences, emergency deorbit preparation, mass properties coordination, payload deployment planning, coordination with the International Space Station, and coordination with worldwide trajectory customers. Each of these tasks require the Flight Dynamics Officer to have cognizance of the current trajectory state as well as the impact of future events on the trajectory plan in order to properly analyze and react to real-time changes. Additionally, considerations are made to prepare flexible alternative trajectory plans in the case timeline changes or a systems failure impact the primary plan. The evolution of the methodology, procedures, and techniques used by the Flight Dynamics Officer to perform these tasks will be discussed. Particular attention will be given to how specific Space Shuttle mission and training simulation experiences, particularly off-nominal or unexpected events such as shortened mission durations, tank failures, contingency deorbit, navigation errors, conjunctions, and unexpected payload deployments, have influenced the operational procedures and training for performing Space Shuttle flight dynamics operations over the history of the program. These lessons learned can then be extended to future vehicle trajectory operations.

Safely Conducting Airport Surface Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Jones, Denise R.; Prinzel, Lawrence J., III; Bailey, Randall E.; Arthur, Jarvis J., III; Barnes, James R.

2014-01-01

A piloted simulation study was conducted at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) to evaluate the ability to safely conduct surface trajectory-based operations (STBO) by assessing the impact of providing traffic intent information, conflict detection and resolution (CD&R) system capability, and the display of STBO guidance to the flight crew on both head-down and head-up displays (HUD). Nominal and off-nominal conflict scenarios were conducted using 12 airline crews operating in a simulated Memphis International Airport terminal environment. The flight crews met their required time-of-arrival at route end within 10 seconds on 98 percent of the trials, well within the acceptable performance bounds of 15 seconds. Traffic intent information was found to be useful in determining the intent of conflict traffic, with graphical presentation preferred. The CD&R system was only minimally effective during STBO because the prevailing visibility was sufficient for visual detection of incurring traffic. Overall, the pilots indicated STBO increased general situation awareness but also negatively impacted workload, reduced the ability to watch for other traffic, and increased head-down time.

The OPALS Plan for Operations: Use of ISS Trajectory and Attitude Models in the OPALS Pointing Strategy

NASA Technical Reports Server (NTRS)

Abrahamson, Matthew J.; Oaida, Bogdan; Erkmen, Baris

2013-01-01

This paper will discuss the OPALS pointing strategy, focusing on incorporation of ISS trajectory and attitude models to build pointing predictions. Methods to extrapolate an ISS prediction based on past data will be discussed and will be compared to periodically published ISS predictions and Two-Line Element (TLE) predictions. The prediction performance will also be measured against GPS states available in telemetry. The performance of the pointing products will be compared to the allocated values in the OPALS pointing budget to assess compliance with requirements.

50 CFR 217.64 - Mitigation.

Code of Federal Regulations, 2014 CFR

2014-10-01

..., DEPARTMENT OF COMMERCE MARINE MAMMALS REGULATIONS GOVERNING THE TAKE OF MARINE MAMMALS INCIDENTAL TO... Operations, and Harbor Activities Related to Launch Vehicles From Vandenberg Air Force Base (VAFB... security, or for space vehicle launch trajectory necessary to meet mission objectives. (3) Vandenberg Air...

Atmospheric Ascent Guidance for Rocket-Powered Launch Vehicles

NASA Technical Reports Server (NTRS)

Dukeman, Greg A.

2002-01-01

An advanced ascent guidance algorithm for rocket- powered launch vehicles is developed. This algorithm cyclically solves the calculus-of-variations two-point boundary-value problem starting at vertical rise completion through main engine cutoff. This is different from traditional ascent guidance algorithms which operate in a simple open-loop mode until high dynamic pressure (including the critical max-Q) portion of the trajectory is over, at which time guidance operates under the assumption of negligible aerodynamic acceleration (i.e., vacuum dynamics). The initial costate guess is corrected based on errors in the terminal state constraints and the transversality conditions. Judicious approximations are made to reduce the order and complexity of the state/costate system. Results comparing guided launch vehicle trajectories with POST open-loop trajectories are given verifying the basic formulation of the algorithm. Multiple shooting is shown to be a very effective numerical technique for this application. In particular, just one intermediate shooting point, in addition to the initial shooting point, is sufficient to significantly reduce sensitivity to the guessed initial costates. Simulation results from a high-fidelity trajectory simulation are given for the case of launch to sub-orbital cutoff conditions as well as launch to orbit conditions. An abort to downrange landing site formulation of the algorithm is presented.

Benefits of Using Pairwise Trajectory Management in the Central East Pacific

NASA Technical Reports Server (NTRS)

Chartrand, Ryan; Ballard, Kathryn

2016-01-01

Pairwise Trajectory Management (PTM) is a concept that utilizes airborne and ground-based capabilities to enable airborne spacing operations in oceanic regions. The goal of PTM is to use enhanced surveillance, along with airborne tools, to manage the spacing between aircraft. Due to the enhanced airborne surveillance of Automatic Dependent Surveillance-Broadcast (ADS-B) information and reduced communication, the PTM minimum spacing distance will be less than distances currently required of an air traffic controller. Reduced minimum distance will increase the capacity of aircraft operations at a given altitude or volume of airspace, thereby increasing time on desired trajectory and overall flight efficiency. PTM is designed to allow a flight crew to resolve a specific traffic conflict (or conflicts), identified by the air traffic controller, while maintaining the flight crew's desired altitude. The air traffic controller issues a PTM clearance to a flight crew authorized to conduct PTM operations in order to resolve a conflict for the pair (or pairs) of aircraft (i.e., the PTM aircraft and a designated target aircraft). This clearance requires the flight crew of the PTM aircraft to use their ADS-B-enabled onboard equipment to manage their spacing relative to the designated target aircraft to ensure spacing distances that are no closer than the PTM minimum distance. When the air traffic controller determines that PTM is no longer required, the controller issues a clearance to cancel the PTM operation.

Embedding Human Expert Cognition Into Autonomous UAS Trajectory Planning.

PubMed

Narayan, Pritesh; Meyer, Patrick; Campbell, Duncan

2013-04-01

This paper presents a new approach for the inclusion of human expert cognition into autonomous trajectory planning for unmanned aerial systems (UASs) operating in low-altitude environments. During typical UAS operations, multiple objectives may exist; therefore, the use of multicriteria decision aid techniques can potentially allow for convergence to trajectory solutions which better reflect overall mission requirements. In that context, additive multiattribute value theory has been applied to optimize trajectories with respect to multiple objectives. A graphical user interface was developed to allow for knowledge capture from a human decision maker (HDM) through simulated decision scenarios. The expert decision data gathered are converted into value functions and corresponding criteria weightings using utility additive theory. The inclusion of preferences elicited from HDM data within an automated decision system allows for the generation of trajectories which more closely represent the candidate HDM decision preferences. This approach has been demonstrated in this paper through simulation using a fixed-wing UAS operating in low-altitude environments.

TrackTable Trajectory Analysis

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

Wilson, Andrew T.

Tracktable is designed for analysis and rendering of the trajectories of moving objects such as planes, trains, automobiles and ships. Its purpose is to operate on large sets of trajectories (millions) to help a user detect, analyze and display patterns. It will also be used to disseminate trajectory research results from Sandia's PANTHER Grand Challenge LDRD.

Understanding Current Safety Issues for Trajectory Based Operations

NASA Technical Reports Server (NTRS)

Feary, Michael; Stewart, Michael

2016-01-01

Increases in procedural complexity were investigated as a possible contributor to flight path deviations in airline operations. Understanding current operational issues and their causes must be embraced to maintain current safety standards while increasing future functionality. ASRS data and expert narratives were used to discover factors relating to pilot deviations. Our investigation pointed to ATC intervention, automation confusion, procedure design, and mixed equipment as primary issues. Future work will need to include objective data and mitigation strategies.

Accuracy of image-guided surgical navigation using near infrared (NIR) optical tracking

NASA Astrophysics Data System (ADS)

Jakubovic, Raphael; Farooq, Hamza; Alarcon, Joseph; Yang, Victor X. D.

2015-03-01

Spinal surgery is particularly challenging for surgeons, requiring a high level of expertise and precision without being able to see beyond the surface of the bone. Accurate insertion of pedicle screws is critical considering perforation of the pedicle can result in profound clinical consequences including spinal cord, nerve root, arterial injury, neurological deficits, chronic pain, and/or failed back syndrome. Various navigation systems have been designed to guide pedicle screw fixation. Computed tomography (CT)-based image guided navigation systems increase the accuracy of screw placement allowing for 3- dimensional visualization of the spinal anatomy. Current localization techniques require extensive preparation and introduce spatial deviations. Use of near infrared (NIR) optical tracking allows for realtime navigation of the surgery by utilizing spectral domain multiplexing of light, greatly enhancing the surgeon's situation awareness in the operating room. While the incidence of pedicle screw perforation and complications have been significantly reduced with the introduction of modern navigational technologies, some error exists. Several parameters have been suggested including fiducial localization and registration error, target registration error, and angular deviation. However, many of these techniques quantify error using the pre-operative CT and an intra-operative screenshot without assessing the true screw trajectory. In this study we quantified in-vivo error by comparing the true screw trajectory to the intra-operative trajectory. Pre- and post- operative CT as well as intra-operative screenshots were obtained for a cohort of patients undergoing spinal surgery. We quantified entry point error and angular deviation in the axial and sagittal planes.

Comparative study of a learning fuzzy PID controller and a self-tuning controller.

PubMed

Kazemian, H B

2001-01-01

The self-organising fuzzy controller is an extension of the rule-based fuzzy controller with an additional learning capability. The self-organising fuzzy (SOF) is used as a master controller to readjust conventional PID gains at the actuator level during the system operation, copying the experience of a human operator. The application of the self-organising fuzzy PID (SOF-PID) controller to a 2-link non-linear revolute-joint robot-arm is studied using path tracking trajectories at the setpoint. For the purpose of comparison, the same experiments are repeated by using the self-tuning controller subject to the same data supplied at the setpoint. For the path tracking experiments, the output trajectories of the SOF-PID controller followed the specified path closer and smoother than the self-tuning controller.

Automatic Generation of Indoor Navigable Space Using a Point Cloud and its Scanner Trajectory

NASA Astrophysics Data System (ADS)

Staats, B. R.; Diakité, A. A.; Voûte, R. L.; Zlatanova, S.

2017-09-01

Automatic generation of indoor navigable models is mostly based on 2D floor plans. However, in many cases the floor plans are out of date. Buildings are not always built according to their blue prints, interiors might change after a few years because of modified walls and doors, and furniture may be repositioned to the user's preferences. Therefore, new approaches for the quick recording of indoor environments should be investigated. This paper concentrates on laser scanning with a Mobile Laser Scanner (MLS) device. The MLS device stores a point cloud and its trajectory. If the MLS device is operated by a human, the trajectory contains information which can be used to distinguish different surfaces. In this paper a method is presented for the identification of walkable surfaces based on the analysis of the point cloud and the trajectory of the MLS scanner. This method consists of several steps. First, the point cloud is voxelized. Second, the trajectory is analysing and projecting to acquire seed voxels. Third, these seed voxels are generated into floor regions by the use of a region growing process. By identifying dynamic objects, doors and furniture, these floor regions can be modified so that each region represents a specific navigable space inside a building as a free navigable voxel space. By combining the point cloud and its corresponding trajectory, the walkable space can be identified for any type of building even if the interior is scanned during business hours.

Trajectory Specification for Terminal Air Traffic: Pairwise Conflict Detection and Resolution

NASA Technical Reports Server (NTRS)

Paielli, Russell A.; Erzberger, Heinz

2017-01-01

Trajectory Specification is the explicit bounding and control of aircraft trajectories such that the position at any point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft navigation capabilities and the current traffic situation. Assuming conformance, Trajectory Specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) system or datalink failure; hence it can help to achieve the high level of safety and reliability needed for ATC automation. It can also reduce the reliance on tactical backup systems during normal operation. This paper applies it to the terminal area around a major airport and presents algorithms and software for detecting and resolving conflicts. A representative set of pairwise conflicts was generated, and a fast-time simulation was run on them. All conflicts were successfully resolved in real time, demonstrating the computational feasibility of the concept.

An Overview of Current Capabilities and Research Activities in the Airspace Operations Laboratory at NASA Ames Research Center

NASA Technical Reports Server (NTRS)

Prevot, Thomas; Smith, Nancy M.; Palmer, Everett; Callantine, Todd; Lee, Paul; Mercer, Joey; Homola, Jeff; Martin, Lynne; Brasil, Connie; Cabrall, Christopher

2014-01-01

The Airspace Operations Laboratory at NASA Ames conducts research to provide a better understanding of roles, responsibilities, and requirements for human operators and automation in future air traffic management (ATM) systems. The research encompasses developing, evaluating, and integrating operational concepts and technologies for near-, mid-, and far-term air traffic operations. Current research threads include efficient arrival operations, function allocation in separation assurance and efficient airspace and trajectory management. The AOL has developed powerful air traffic simulation capabilities, most notably the Multi Aircraft Control System (MACS) that is used for many air traffic control simulations at NASA and its partners in government, academia and industry. Several additional NASA technologies have been integrated with the AOL's primary simulation capabilities where appropriate. Using this environment, large and small-scale system-level evaluations can be conducted to help make near-term improvements and transition NASA technologies to the FAA, such as the technologies developed under NASA's Air Traffic Management Demonstration-1 (ATD-1). The AOL's rapid prototyping and flexible simulation capabilities have proven a highly effective environment to progress the initiation of trajectory-based operations and support the mid-term implementation of NextGen. Fundamental questions about accuracy requirements have been investigated as well as realworld problems on how to improve operations in some of the most complex airspaces in the US. This includes using advanced trajectory-based operations and prototype tools for coordinating arrivals to converging runways at Newark airport and coordinating departures and arrivals in the San Francisco and the New York metro areas. Looking beyond NextGen, the AOL has started exploring hybrid human/automation control strategies as well as highly autonomous operations in the air traffic control domain. Initial results indicate improved capacity, low operator workload, good situation awareness and acceptability for controllers teaming with autonomous air traffic systems. While much research and development needs to be conducted to make such concepts a reality, these approaches have the potential to truly transform the airspace system towards increased mobility, safe and efficient growth in global operations and enabling many of the new vehicles and operations that are expected over the next decades. This paper describes how the AOL currently contributes to the ongoing air transportation transformation.

Automated Design of Noise-Minimal, Safe Rotorcraft Trajectories

NASA Technical Reports Server (NTRS)

Morris, Robert A.; Venable, K. Brent; Lindsay, James

2012-01-01

NASA and the international community are investing in the development of a commercial transportation infrastructure that includes the increased use of rotorcraft, specifically helicopters and aircraft such as a 40-passenger civil tilt rotors. Rotorcraft have a number of advantages over fixed wing aircraft, primarily in not requiring direct access to the primary fixed wing runways. As such they can operate at an airport without directly interfering with major air carrier and commuter aircraft operations. However, there is significant concern over the impact of noise on the communities surrounding the transportation facilities. In this paper we propose to address the rotorcraft noise problem by exploiting powerful search techniques coming from artificial intelligence, coupled with simulation and field tests, to design trajectories that are expected to improve on the amount of ground noise generated. This paper investigates the use of simulation based on predictive physical models to facilitate the search for low-noise trajectories using a class of automated search algorithms called local search. A novel feature of this approach is the ability to incorporate constraints into the problem formulation that addresses passenger safety and comfort.

Optimal Trajectories for the Helicopter in One-Engine-Inoperative Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Zhao, Yiyuan; Chen, Robert T. N.

1996-01-01

This paper presents a summary of a series of recent analytical studies conducted to investigate One-Engine-Inoperative (OEI) optimal control strategies and the associated optimal trajectories for a twin engine helicopter in Category-A terminal-area operations. These studies also examine the associated heliport size requirements and the maximum gross weight capability of the helicopter. Using an eight states, two controls, augmented point-mass model representative of the study helicopter, Continued TakeOff (CTO), Rejected TakeOff (RTO), Balked Landing (BL), and Continued Landing (CL) are investigated for both Vertical-TakeOff-and-Landing (VTOL) and Short-TakeOff-and-Landing (STOL) terminal-area operations. The formulation of the nonlinear optimal control problems with considerations for realistic constraints, solution methods for the two-point boundary-value problem, a new real-time generation method for the optimal OEI trajectories, and the main results of this series of trajectory optimization studies are presented. In particular, a new balanced- weight concept for determining the takeoff decision point for VTOL Category-A operations is proposed, extending the balanced-field length concept used for STOL operations.

Preliminary Investigation of Impact of Technological Impairment on Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Sankararaman, Shankar; Roychoudhury, Indranil; Zhang, Xiaoge; Goebel, Kai

2017-01-01

The Next Generation Air Transportation System (NextGen) incorporates collaborative air traffic management and Trajectory-Based Operations (TBO) in order to significantly increase the capacity, efficiency, and predictability of operations in the National Airspace System (NAS), without decreasing safety. This is enabled by airspace users and service providers sharing knowledge about operations that allows prediction of the complete 4D flight trajectory with as little uncertainty as possible. Additionally, new software and hardware technology is critical to reaching NextGen goals, especially with regard to TBO. What if the technologies that are critical for TBO were to be impaired or fail completely? Should there be a malfunction of a piece of the technology, it must be ensured that the whole system does not break down completely or suffer severe impairment. Instead, operations need to be maintained proportionally to the problem and safety needs to be ensured (graceful degradation). This paper proposes a systematic framework to investigate the vulnerability of TBO to technology disruption, and determine the impact of technological impairment on TBO. Two representative technologies are chosen for detailed investigation and the impact of their impairment on the degradation of TBO is illustrated using a weather-related scenario. XXXX There are several possible directions of future work. We believe it is desirable to develop methods to quantitatively assess the impact of technological disruption on TBO and to have the simulation tools to validate the impact. The availability of prognostics and health management methods could be leveraged to predict technological failure/disruption, thus predicting how TBO will be a ected, and possibly pro-actively mitigating the impact. It is important to develop large-scale scenarios where the e ect of technological impairment is prominent, and identify methods to quantitatively assess the extent of TBO degradation. An important goal of such an investigation is the development of failure-resistant resilient trajectory-based oper- ations. Resilience14, 15 is the property of a system to \\bounce back" and resume at least a signi cant portion of its functionalities after degradation due to technological impairment(s). A systems resilience includes properties such as \\bu ering capacity" (quantifying disruptions the system can absorb or adapt to without a fundamental breakdown in performance or in the systems structure), \\ exibility" (ability to restructure itself in response to external changes or pressures), "margin" (how closely the system is currently operating rela- tive to one or another kind of performance boundary), \\tolerance" (whether the system gracefully degrades as stress/pressure increase, or collapses quickly when pressure exceeds adaptive capacity), etc. Future work needs to focus on quantifying and improving the resilience of TBO, and identifying resilient design solutions for aviation.

Evaluation of balloon trajectory forecast routines for GAINS

NASA Astrophysics Data System (ADS)

Collander, R.; Girz, C.

The Global Air-ocean IN-situ System (GAINS) is a global observing system designed to augment current environmental observing and monitoring networks. GAINS is a network of long-duration, stratospheric platforms that carry onboard sensors and hundreds of dropsondes to acquire meteorological, air chemistry, and climate data over oceans and in remote land regions of the globe. Although GAINS platforms will include balloons and Remotely Operated Aircraft (ROA), the scope of this paper is limited to balloon-based platforms. A primary goal of GAINS balloon test flights is post-flight recovery of the balloon shell and payload, which requires information on the expected flight path and landing site prior to launch. Software has been developed for the prediction of the balloon trajectory and landing site, with separate versions written to generate predictions based upon rawinsonde data and model output. Balloon positions are calculated in 1-min increments based on wind data from the closest rawinsonde site or model grid point, given a known launch point, ascent and descent rate and flight duration. For short flights (< 6h), rawinsonde winds interpolated to 10-mb levels are used for trajectory calculations. Predictions for flight durations of 6 to 48h are based upon the initialization and 3 h forecast wind fields from NOAA's global aviation- (AVN) and Rapid Update Cycle (RUC) models. Given a limited number of actual balloon launches, trajectories computed from a chronological series of hourly RUC initializations are used as the baseline for comparison purposes. These baseline trajectories are compared to trajectory predictions from the rawinsonde and model-based versions on a monthly and seasonal basis over a 1-year period (January 1 - December 31, 2001) for flight durations of 3h, 6h and 48h. Predicted trajectories diverge from the baseline path, with the divergence increasing with increasing time. We examine the zonal, meridional and net magnitudes of these deviations, and attempt to determine directional biases in the predictions. This paper gives an overview of the software, including methods employed, physical considerations and limitations, and discusses results of this evaluation.

Video-tracker trajectory analysis: who meets whom, when and where

NASA Astrophysics Data System (ADS)

Jäger, U.; Willersinn, D.

2010-04-01

Unveiling unusual or hostile events by observing manifold moving persons in a crowd is a challenging task for human operators, especially when sitting in front of monitor walls for hours. Typically, hostile events are rare. Thus, due to tiredness and negligence the operator may miss important events. In such situations, an automatic alarming system is able to support the human operator. The system incorporates a processing chain consisting of (1) people tracking, (2) event detection, (3) data retrieval, and (4) display of relevant video sequence overlaid by highlighted regions of interest. In this paper we focus on the event detection stage of the processing chain mentioned above. In our case, the selected event of interest is the encounter of people. Although being based on a rather simple trajectory analysis, this kind of event embodies great practical importance because it paves the way to answer the question "who meets whom, when and where". This, in turn, forms the basis to detect potential situations where e.g. money, weapons, drugs etc. are handed over from one person to another in crowded environments like railway stations, airports or busy streets and places etc.. The input to the trajectory analysis comes from a multi-object video-based tracking system developed at IOSB which is able to track multiple individuals within a crowd in real-time [1]. From this we calculate the inter-distances between all persons on a frame-to-frame basis. We use a sequence of simple rules based on the individuals' kinematics to detect the event mentioned above to output the frame number, the persons' IDs from the tracker and the pixel coordinates of the meeting position. Using this information, a data retrieval system may extract the corresponding part of the recorded video image sequence and finally allows for replaying the selected video clip with a highlighted region of interest to attract the operator's attention for further visual inspection.

Autonomous proximity operations using machine vision for trajectory control and pose estimation

NASA Technical Reports Server (NTRS)

Cleghorn, Timothy F.; Sternberg, Stanley R.

1991-01-01

A machine vision algorithm was developed which permits guidance control to be maintained during autonomous proximity operations. At present this algorithm exists as a simulation, running upon an 80386 based personal computer, using a ModelMATE CAD package to render the target vehicle. However, the algorithm is sufficiently simple, so that following off-line training on a known target vehicle, it should run in real time with existing vision hardware. The basis of the algorithm is a sequence of single camera images of the target vehicle, upon which radial transforms were performed. Selected points of the resulting radial signatures are fed through a decision tree, to determine whether the signature matches that of the known reference signatures for a particular view of the target. Based upon recognized scenes, the position of the maneuvering vehicle with respect to the target vehicles can be calculated, and adjustments made in the former's trajectory. In addition, the pose and spin rates of the target satellite can be estimated using this method.

Optimal Trajectories and Control Strategies for the Helicopter in One-Engine-Inoperative Terminal-Area Operations

NASA Technical Reports Server (NTRS)

Chen, Robert T. N.; Zhao, Yi-Yuan; Aiken, Edwin W. (Technical Monitor)

1995-01-01

Engine failure represents a major safety concern to helicopter operations, especially in the critical flight phases of takeoff and landing from/to small, confined areas. As a result, the JAA and FAA both certificate a transport helicopter as either Category-A or Category-B according to the ability to continue its operations following engine failures. A Category-B helicopter must be able to land safely in the event of one or all engine failures. There is no requirement, however, for continued flight capability. In contrast, Category-A certification, which applies to multi-engine transport helicopters with independent engine systems, requires that they continue the flight with one engine inoperative (OEI). These stringent requirements, while permitting its operations from rooftops and oil rigs and flight to areas where no emergency landing sites are available, restrict the payload of a Category-A transport helicopter to a value safe for continued flight as well as for landing with one engine inoperative. The current certification process involves extensive flight tests, which are potentially dangerous, costly, and time consuming. These tests require the pilot to simulate engine failures at increasingly critical conditions, Flight manuals based on these tests tend to provide very conservative recommendations with regard to maximum takeoff weight or required runway length. There are very few theoretical studies on this subject to identify the fundamental parameters and tradeoff factors involved. Furthermore, a capability for real-time generation of OEI optimal trajectories is very desirable for providing timely cockpit display guidance to assist the pilot in reducing his workload and to increase safety in a consistent and reliable manner. A joint research program involving NASA Ames Research Center, the FAA, and the University of Minnesota is being conducted to determine OEI optimal control strategies and the associated optimal,trajectories for continued takeoff (CTO), rejected takeoff (RTO), balked landing (BL), and continued landing (CL) for a twin engine helicopter in both VTOL and STOL terminal-area operations. This proposed paper will present the problem formulation, the optimal control solution methods, and the key results of the trajectory optimization studies for both STOL and VTOL OEI operations. In addition, new results concerning the recently developed methodology, which enable a real-time generation of optimal OEI trajectories, will be presented in the paper. This new real-time capability was developed to support the second piloted simulator investigation on cockpit displays for Category-A operations being scheduled for the NASA Ames Vertical Motion Simulator in June-August of 1995. The first VMS simulation was conducted in 1994 and reported.

Preliminary Assessment of Operational Hazards and Safety Requirements for Airborne Trajectory Management (ABTM) Roadmap Applications

NASA Technical Reports Server (NTRS)

Cotton, William B.; Hilb, Robert; Koczo, Stefan, Jr.; Wing, David J.

2016-01-01

A set of five developmental steps building from the NASA TASAR (Traffic Aware Strategic Aircrew Requests) concept are described, each providing incrementally more efficiency and capacity benefits to airspace system users and service providers, culminating in a Full Airborne Trajectory Management capability. For each of these steps, the incremental Operational Hazards and Safety Requirements are identified for later use in future formal safety assessments intended to lead to certification and operational approval of the equipment and the associated procedures. Two established safety assessment methodologies that are compliant with the FAA's Safety Management System were used leading to Failure Effects Classifications (FEC) for each of the steps. The most likely FEC for the first three steps, Basic TASAR, Digital TASAR, and 4D TASAR, is "No effect". For step four, Strategic Airborne Trajectory Management, the likely FEC is "Minor". For Full Airborne Trajectory Management (Step 5), the most likely FEC is "Major".

Decision-Aiding and Optimization for Vertical Navigation of Long-Haul Aircraft

NASA Technical Reports Server (NTRS)

Patrick, Nicholas J. M.; Sheridan, Thomas B.

1996-01-01

Most decisions made in the cockpit are related to safety, and have therefore been proceduralized in order to reduce risk. There are very few which are made on the basis of a value metric such as economic cost. One which can be shown to be value based, however, is the selection of a flight profile. Fuel consumption and flight time both have a substantial effect on aircraft operating cost, but they cannot be minimized simultaneously. In addition, winds, turbulence, and performance vary widely with altitude and time. These factors make it important and difficult for pilots to (a) evaluate the outcomes associated with a particular trajectory before it is flown and (b) decide among possible trajectories. The two elements of this problem considered here are: (1) determining what constitutes optimality, and (2) finding optimal trajectories. Pilots and dispatchers from major u.s. airlines were surveyed to determine which attributes of the outcome of a flight they considered the most important. Avoiding turbulence-for passenger comfort-topped the list of items which were not safety related. Pilots' decision making about the selection of flight profile on the basis of flight time, fuel burn, and exposure to turbulence was then observed. Of the several behavioral and prescriptive decision models invoked to explain the pilots' choices, utility maximization is shown to best reproduce the pilots' decisions. After considering more traditional methods for optimizing trajectories, a novel method is developed using a genetic algorithm (GA) operating on a discrete representation of the trajectory search space. The representation is a sequence of command altitudes, and was chosen to be compatible with the constraints imposed by Air Traffic Control, and with the training given to pilots. Since trajectory evaluation for the GA is performed holistically, a wide class of objective functions can be optimized easily. Also, using the GA it is possible to compare the costs associated with different airspace design and air traffic management policies. A decision aid is proposed which would combine the pilot's notion of optimality with the GA-based optimization, provide the pilot with a number of alternative pareto-optimal trajectories, and allow him to consider unmodelled attributes and constraints in choosing among them. A solution to the problem of displaying alternatives in a multi-attribute decision space is also presented.

Decision-Aiding and Optimization for Vertical Navigation of Long-Haul Aircraft

NASA Technical Reports Server (NTRS)

Patrick, Nicholas J. M.; Sheridan, Thomas B.

1996-01-01

Most decisions made in the cockpit are related to safety, and have therefore been proceduralized in order to reduce risk. There are very few which are made on the basis of a value metric such as economic cost. One which can be shown to be value based, however, is the selection of a flight profile. Fuel consumption and flight time both have a substantial effect on aircraft operating cost, but they cannot be minimized simultaneously. In addition, winds, turbulence, and performance x,ary widely with altitude and time. These factors make it important and difficult for pilots to (a) evaluate the outcomes associated with a particular trajectory before it is flown and (b) decide among possible trajectories. The two elements of this problem considered here are (1) determining, what constitutes optimality, and (2) finding optimal trajectories. Pilots and dispatchers from major U.S. airlines were surveyed to determine which attributes of the outcome of a flight they considered the most important. Avoiding turbulence-for passenger comfort topped the list of items which were not safety related. Pilots' decision making about the selection of flight profile on the basis of flight time, fuel burn, and exposure to turbulence was then observed. Of the several behavioral and prescriptive decision models invoked to explain the pilots' choices, utility maximization is shown to best reproduce the pilots' decisions. After considering more traditional methods for optimizing trajectories, a novel method is developed using a genetic algorithm (GA) operating on a discrete representation of the trajectory search space. The representation is a sequence of command altitudes, and was chosen to be compatible with the constraints imposed by Air Traffic Control, and with the training given to pilots. Since trajectory evaluation for the GA is performed holistically, a wide class of objective functions can be optimized easily. Also, using the GA it is possible to compare the costs associated with different airspace design and air traffic management policies. A decision aid is proposed which would combine the pilot's notion of optimility with the GA-based optimization, provide the pilot with a number of alternative pareto-optimal trajectories, and allow him to consider un-modelled attributes and constraints in choosing among them. A solution to the problem of displaying alternatives in a multi-attribute decision space is also presented.

The use of locally optimal trajectory management for base reaction control of robots in a microgravity environment

NASA Technical Reports Server (NTRS)

Lin, N. J.; Quinn, R. D.

1991-01-01

A locally-optimal trajectory management (LOTM) approach is analyzed, and it is found that care should be taken in choosing the Ritz expansion and cost function. A modified cost function for the LOTM approach is proposed which includes the kinetic energy along with the base reactions in a weighted and scale sum. The effects of the modified functions are demonstrated with numerical examples for robots operating in two- and three-dimensional space. It is pointed out that this modified LOTM approach shows good performance, the reactions do not fluctuate greatly, joint velocities reach their objectives at the end of the manifestation, and the CPU time is slightly more than twice the manipulation time.

Bullet trajectory predicts the need for damage control: an artificial neural network model.

PubMed

Hirshberg, Asher; Wall, Matthew J; Mattox, Kenneth L

2002-05-01

Effective use of damage control in trauma hinges on an early decision to use it. Bullet trajectory has never been studied as a marker for damage control. We hypothesize that this decision can be predicted by an artificial neural network (ANN) model based on the bullet trajectory and the patient's blood pressure. A multilayer perceptron ANN predictive model was developed from a data set of 312 patients with single abdominal gunshot injuries. Input variables were the bullet path, trajectory patterns, and admission systolic pressure. The output variable was either a damage control laparotomy or intraoperative death. The best performing ANN was implemented on prospectively collected data from 34 patients. The model achieved a correct classification rate of 0.96 and area under the receiver operating characteristic curve of 0.94. External validation showed the model to have a sensitivity of 88% and specificity of 96%. Model implementation on the prospectively collected data had a correct classification rate of 0.91. Sensitivity analysis showed that systolic pressure, bullet path across the midline, and trajectory involving the right upper quadrant were the three most important input variables. Bullet trajectory is an important, hitherto unrecognized, factor that should be incorporated into the decision to use damage control.

Nonlinear dynamic analysis and optimal trajectory planning of a high-speed macro-micro manipulator

NASA Astrophysics Data System (ADS)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Zhao, Xiao-wei

2017-09-01

This paper reports the nonlinear dynamic modeling and the optimal trajectory planning for a flexure-based macro-micro manipulator, which is dedicated to the large-scale and high-speed tasks. In particular, a macro- micro manipulator composed of a servo motor, a rigid arm and a compliant microgripper is focused. Moreover, both flexure hinges and flexible beams are considered. By combining the pseudorigid-body-model method, the assumed mode method and the Lagrange equation, the overall dynamic model is derived. Then, the rigid-flexible-coupling characteristics are analyzed by numerical simulations. After that, the microscopic scale vibration excited by the large-scale motion is reduced through the trajectory planning approach. Especially, a fitness function regards the comprehensive excitation torque of the compliant microgripper is proposed. The reference curve and the interpolation curve using the quintic polynomial trajectories are adopted. Afterwards, an improved genetic algorithm is used to identify the optimal trajectory by minimizing the fitness function. Finally, the numerical simulations and experiments validate the feasibility and the effectiveness of the established dynamic model and the trajectory planning approach. The amplitude of the residual vibration reduces approximately 54.9%, and the settling time decreases 57.1%. Therefore, the operation efficiency and manipulation stability are significantly improved.

Kinetic Description of Ionospheric Outflows Based on the Exact Form of Fokker-Planck Collision Operator: Electrons

NASA Technical Reports Server (NTRS)

Khazanov, George V.; Khabibrakhmanov, Ildar K.; Glocer, Alex

2012-01-01

We present the results of a finite difference implementation of the kinetic Fokker-Planck model with an exact form of the nonlinear collisional operator, The model is time dependent and three-dimensional; one spatial dimension and two in velocity space. The spatial dimension is aligned with the local magnetic field, and the velocity space is defined by the magnitude of the velocity and the cosine of pitch angle. An important new feature of model, the concept of integration along the particle trajectories, is discussed in detail. Integration along the trajectories combined with the operator time splitting technique results in a solution scheme which accurately accounts for both the fast convection of the particles along the magnetic field lines and relatively slow collisional process. We present several tests of the model's performance and also discuss simulation results of the evolution of the plasma distribution for realistic conditions in Earth's plasmasphere under different scenarios.

Strategies for the sustained human exploration of Mars

NASA Astrophysics Data System (ADS)

Landau, Damon Frederick

A variety of mission scenarios are compared in this thesis to assess the strengths and weaknesses of options for Mars exploration. The mission design space is modeled along two dimensions: trajectory architectures and propulsion system technologies. Direct, semi-direct, stop-over, semi-cycler, and cycler architectures are examined, and electric propulsion, nuclear thermal rockets, methane and oxygen production on Mars, Mars water excavation, aerocapture, and reusable propulsion systems are included in the technology assessment. The mission sensitivity to crew size, vehicle masses, and crew travel time is also examined. The primary figure of merit for a mission scenario is the injected mass to low-Earth orbit (IMLEO), though technology readiness levels (TRL) are also included. Several elements in the architecture dimension are explored in more detail. The Earth-Mars semi-cycler architecture is introduced and five families of Earth-Mars semi-cycler trajectories are presented along with optimized itineraries. Optimized cycler trajectories are also presented. In addition to Earth-Mars semi-cycler and cycler trajectories, conjunction-class, free-return, Mars-Earth semi-cycler, and low-thrust trajectories are calculated. Design parameters for optimal DeltaV trajectories are provided over a range of flight times (from 120 to 270 days) and launch years (between 2009 and 2022). Unlike impulsive transfers, the mass-optimal low-thrust trajectory depends strongly on the thrust and specific impulse of the propulsion system. A low-thrust version of the rocket equation is provided where the initial mass or thrust may be minimized by varying the initial acceleration and specific impulse. Planet-centered operations are also examined. A method to rotate a parking orbit about the line of apsides to achieve the proper orientation at departure is discussed, thus coupling the effects of parking-orbit orientation with the interplanetary trajectories. Also, a guidance algorithm for rendezvous during flybys in semi-cycler and cycler missions is presented with a control law for final approach. A forty-year plan to establish a permanent base on Mars is detailed and methods to expand the base are discussed. Once a large base is established, one-, two-, or three-vehicle systems may sustain the colonization of Mars.

Visual display aid for orbital maneuvering - Design considerations

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1993-01-01

This paper describes the development of an interactive proximity operations planning system that allows on-site planning of fuel-efficient multiburn maneuvers in a potential multispacecraft environment. Although this display system most directly assists planning by providing visual feedback to aid visualization of the trajectories and constraints, its most significant features include: (1) the use of an 'inverse dynamics' algorithm that removes control nonlinearities facing the operator, and (2) a trajectory planning technique that separates, through a 'geometric spreadsheet', the normally coupled complex problems of planning orbital maneuvers and allows solution by an iterative sequence of simple independent actions. The visual feedback of trajectory shapes and operational constraints, provided by user-transparent and continuously active background computations, allows the operator to make fast, iterative design changes that rapidly converge to fuel-efficient solutions. The planning tool provides an example of operator-assisted optimization of nonlinear cost functions.

Airborne Four-Dimensional Flight Management in a Time-based Air Traffic Control Environment

NASA Technical Reports Server (NTRS)

Williams, David H.; Green, Steven M.

1991-01-01

Advanced Air Traffic Control (ATC) systems are being developed which contain time-based (4D) trajectory predictions of aircraft. Airborne flight management systems (FMS) exist or are being developed with similar 4D trajectory generation capabilities. Differences between the ATC generated profiles and those generated by the airborne 4D FMS may introduce system problems. A simulation experiment was conducted to explore integration of a 4D equipped aircraft into a 4D ATC system. The NASA Langley Transport Systems Research Vehicle cockpit simulator was linked in real time to the NASA Ames Descent Advisor ATC simulation for this effort. Candidate procedures for handling 4D equipped aircraft were devised and traffic scenarios established which required time delays absorbed through speed control alone or in combination with path stretching. Dissimilarities in 4D speed strategies between airborne and ATC generated trajectories were tested in these scenarios. The 4D procedures and FMS operation were well received by airline pilot test subjects, who achieved an arrival accuracy at the metering fix of 2.9 seconds standard deviation time error. The amount and nature of the information transmitted during a time clearance were found to be somewhat of a problem using the voice radio communication channel. Dissimilarities between airborne and ATC-generated speed strategies were found to be a problem when the traffic remained on established routes. It was more efficient for 4D equipped aircraft to fly trajectories with similar, though less fuel efficient, speeds which conform to the ATC strategy. Heavy traffic conditions, where time delays forced off-route path stretching, were found to produce a potential operational benefit of the airborne 4D FMS.

Trajectory Specification for Terminal Air Traffic: Pairwise Conflict Detection and Resolution

NASA Technical Reports Server (NTRS)

Paielli, Russ; Erzberger, Heinz

2017-01-01

Trajectory specification is the explicit bounding and control of aircraft trajectories such that the position at each point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft navigation capabilities and the current traffic situation. A standard language will be developed to represent these specifications and to communicate them by datalink. Assuming conformance, trajectory specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) system or datalink failure, hence it can help to achieve the high level of safety and reliability needed for ATC automation. As a more proactive form of ATC, it can also maximize airspace capacity and reduce the reliance on tactical backup systems during normal operation. It applies to both enroute airspace and the terminal area around airports, but this paper focuses on the terminal area and presents algorithms and software for spacing arrivals and deconflicting both arrivals and departures.

Programmatic Environmental Assessment High Speed Test Track (HSTT) Operations Holloman Air Force Base, New Mexico

DTIC Science & Technology

2007-09-01

include a machine shop, a welding shop, carpenter and wood shop, metal heat treatment shop, bead blast shop, paint shop, non-destructive inspection...annually. In 2005, 227 motors were fired. Sled operation can involve activities such as carrying explosives, testing ejection seats, shooting lasers ...Cinetheodolite-type metric cameras and/or laser tracking equipment are used for aircraft flight trajectories exceeding 500 feet above ground level

A six degree of freedom, plume-fuel optimal trajectory planner for spacecraft proximity operations using an A* node search. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Jackson, Mark Charles

1994-01-01

Spacecraft proximity operations are complicated by the fact that exhaust plume impingement from the reaction control jets of space vehicles can cause structural damage, contamination of sensitive arrays and instruments, or attitude misalignment during docking. The occurrence and effect of jet plume impingement can be reduced by planning approach trajectories with plume effects considered. An A* node search is used to find plume-fuel optimal trajectories through a discretized six dimensional attitude-translation space. A plume cost function which approximates jet plume isopressure envelopes is presented. The function is then applied to find relative costs for predictable 'trajectory altering' firings and unpredictable 'deadbanding' firings. Trajectory altering firings are calculated by running the spacecraft jet selection algorithm and summing the cost contribution from each jet fired. A 'deadbanding effects' function is defined and integrated to determine the potential for deadbanding impingement along candidate trajectories. Plume costs are weighed against fuel costs in finding the optimal solution. A* convergence speed is improved by solving approach trajectory problems in reverse time. Results are obtained on a high fidelity space shuttle/space station simulation. Trajectory following is accomplished by a six degree of freedom autopilot. Trajectories planned with, and without, plume costs are compared in terms of force applied to the target structure.

Theoretical Foundation of Copernicus: A Unified System for Trajectory Design and Optimization

NASA Technical Reports Server (NTRS)

Ocampo, Cesar; Senent, Juan S.; Williams, Jacob

2010-01-01

The fundamental methods are described for the general spacecraft trajectory design and optimization software system called Copernicus. The methods rely on a unified framework that is used to model, design, and optimize spacecraft trajectories that may operate in complex gravitational force fields, use multiple propulsion systems, and involve multiple spacecraft. The trajectory model, with its associated equations of motion and maneuver models, are discussed.

An Evaluation of Controller and Pilot Performance, Workload and Acceptability under a NextGen Concept for Dynamic Weather Adapted Arrival Routing

NASA Technical Reports Server (NTRS)

Johnson, Walter W.; Lachter, Joel; Brandt, Summer; Koteskey, Robert; Dao, Arik-Quang; Kraut, Josh; Ligda, Sarah; Battiste, Vernol

2012-01-01

In todays terminal operations, controller workload increases and throughput decreases when fixed standard terminal arrival routes (STARs) are impacted by storms. To circumvent this operational constraint, Prete, Krozel, Mitchell, Kim and Zou (2008) proposed to use automation to dynamically adapt arrival and departure routing based on weather predictions. The present study examined this proposal in the context of a NextGen trajectory-based operation concept, focusing on the acceptability and its effect on the controllers ability to manage traffic flows. Six controllers and twelve transport pilots participated in a human-in-the-loop simulation of arrival operations into Louisville International Airport with interval management requirements. Three types of routing structures were used: Static STARs (similar to current routing, which require the trajectories of individual aircraft to be modified to avoid the weather), Dynamic routing (automated adaptive routing around weather), and Dynamic Adjusted routing (automated adaptive routing around weather with aircraft entry time adjusted to account for differences in route length). Spacing Responsibility, whether responsibility for interval management resided with the controllers (as today), or resided with the pilot (who used a flight deck based automated spacing algorithm), was also manipulated. Dynamic routing as a whole was rated superior to static routing, especially by pilots, both in terms of workload reduction and flight path safety. A downside of using dynamic routing was that the paths flown in the dynamic conditions tended to be somewhat longer than the paths flown in the static condition.

Research of maneuvering target prediction and tracking technology based on IMM algorithm

NASA Astrophysics Data System (ADS)

Cao, Zheng; Mao, Yao; Deng, Chao; Liu, Qiong; Chen, Jing

2016-09-01

Maneuvering target prediction and tracking technology is widely used in both military and civilian applications, the study of those technologies is all along the hotspot and difficulty. In the Electro-Optical acquisition-tracking-pointing system (ATP), the primary traditional maneuvering targets are ballistic target, large aircraft and other big targets. Those targets have the features of fast velocity and a strong regular trajectory and Kalman Filtering and polynomial fitting have good effects when they are used to track those targets. In recent years, the small unmanned aerial vehicles developed rapidly for they are small, nimble and simple operation. The small unmanned aerial vehicles have strong maneuverability in the observation system of ATP although they are close-in, slow and small targets. Moreover, those vehicles are under the manual operation, therefore, the acceleration of them changes greatly and they move erratically. So the prediction and tracking precision is low when traditional algorithms are used to track the maneuvering fly of those targets, such as speeding up, turning, climbing and so on. The interacting multiple model algorithm (IMM) use multiple models to match target real movement trajectory, there are interactions between each model. The IMM algorithm can switch model based on a Markov chain to adapt to the change of target movement trajectory, so it is suitable to solve the prediction and tracking problems of the small unmanned aerial vehicles because of the better adaptability of irregular movement. This paper has set up model set of constant velocity model (CV), constant acceleration model (CA), constant turning model (CT) and current statistical model. And the results of simulating and analyzing the real movement trajectory data of the small unmanned aerial vehicles show that the prediction and tracking technology based on the interacting multiple model algorithm can get relatively lower tracking error and improve tracking precision comparing with traditional algorithms.

Computation of the asymptotic states of modulated open quantum systems with a numerically exact realization of the quantum trajectory method

NASA Astrophysics Data System (ADS)

Volokitin, V.; Liniov, A.; Meyerov, I.; Hartmann, M.; Ivanchenko, M.; Hänggi, P.; Denisov, S.

2017-11-01

Quantum systems out of equilibrium are presently a subject of active research, both in theoretical and experimental domains. In this work, we consider time-periodically modulated quantum systems that are in contact with a stationary environment. Within the framework of a quantum master equation, the asymptotic states of such systems are described by time-periodic density operators. Resolution of these operators constitutes a nontrivial computational task. Approaches based on spectral and iterative methods are restricted to systems with the dimension of the hosting Hilbert space dim H =N ≲300 , while the direct long-time numerical integration of the master equation becomes increasingly problematic for N ≳400 , especially when the coupling to the environment is weak. To go beyond this limit, we use the quantum trajectory method, which unravels the master equation for the density operator into a set of stochastic processes for wave functions. The asymptotic density matrix is calculated by performing a statistical sampling over the ensemble of quantum trajectories, preceded by a long transient propagation. We follow the ideology of event-driven programming and construct a new algorithmic realization of the method. The algorithm is computationally efficient, allowing for long "leaps" forward in time. It is also numerically exact, in the sense that, being given the list of uniformly distributed (on the unit interval) random numbers, {η1,η2,...,ηn} , one could propagate a quantum trajectory (with ηi's as norm thresholds) in a numerically exact way. By using a scalable N -particle quantum model, we demonstrate that the algorithm allows us to resolve the asymptotic density operator of the model system with N =2000 states on a regular-size computer cluster, thus reaching the scale on which numerical studies of modulated Hamiltonian systems are currently performed.

Computation of the asymptotic states of modulated open quantum systems with a numerically exact realization of the quantum trajectory method.

PubMed

Volokitin, V; Liniov, A; Meyerov, I; Hartmann, M; Ivanchenko, M; Hänggi, P; Denisov, S

2017-11-01

Quantum systems out of equilibrium are presently a subject of active research, both in theoretical and experimental domains. In this work, we consider time-periodically modulated quantum systems that are in contact with a stationary environment. Within the framework of a quantum master equation, the asymptotic states of such systems are described by time-periodic density operators. Resolution of these operators constitutes a nontrivial computational task. Approaches based on spectral and iterative methods are restricted to systems with the dimension of the hosting Hilbert space dimH=N≲300, while the direct long-time numerical integration of the master equation becomes increasingly problematic for N≳400, especially when the coupling to the environment is weak. To go beyond this limit, we use the quantum trajectory method, which unravels the master equation for the density operator into a set of stochastic processes for wave functions. The asymptotic density matrix is calculated by performing a statistical sampling over the ensemble of quantum trajectories, preceded by a long transient propagation. We follow the ideology of event-driven programming and construct a new algorithmic realization of the method. The algorithm is computationally efficient, allowing for long "leaps" forward in time. It is also numerically exact, in the sense that, being given the list of uniformly distributed (on the unit interval) random numbers, {η_{1},η_{2},...,η_{n}}, one could propagate a quantum trajectory (with η_{i}'s as norm thresholds) in a numerically exact way. By using a scalable N-particle quantum model, we demonstrate that the algorithm allows us to resolve the asymptotic density operator of the model system with N=2000 states on a regular-size computer cluster, thus reaching the scale on which numerical studies of modulated Hamiltonian systems are currently performed.

STS-40 descent BET products: Development and results

NASA Technical Reports Server (NTRS)

Oakes, Kevin F.; Wood, James S.; Findlay, John T.

1991-01-01

Descent Best Estimate Trajectory (BET) Data were generated for the final Orbiter Experiments Flight, STS-40. This report discusses the actual development of these post-flight products: the inertial BET, the Extended BET, and the Aerodynamic BET. Summary results are also included. The inertial BET was determined based on processing Tracking and Data Relay Satellite (TDRSS) coherent Doppler data in conjunction with observations from eleven C-band stations, to include data from the Kwajalein Atoll and the usual California coastal radars, as well as data from five cinetheodolite cameras in the vicinity of the runways at EAFB. The anchor epoch utilized for the trajectory reconstruction was 53,904 Greenwich Mean Time (GMT) seconds which corresponds to an altitude at epoch of approximately 708 kft. Atmospheric data to enable development of an Extended BET for this mission were upsurped from the JSC operational post-flight BET. These data were evaluated based on Space Shuttle-derived considerations as well as model comparisons. The Aerodynamic BET includes configuration information, final mass properties, and both flight-determined and predicted aerodynamic performance estimates. The predicted data were based on the final pre-operational databook, updated to include flight determined incrementals based on an earlier ensemble of flights. Aerodynamic performance comparisons are presented and correlated versus statistical results based on twenty-two previous missions.

LDSD POST2 Simulation and SFDT-1 Pre-Flight Launch Operations Analyses

NASA Technical Reports Server (NTRS)

Bowes, Angela L.; Davis, Jody L.; Dutta, Soumyo; Striepe, Scott A.; Ivanov, Mark C.; Powell, Richard W.; White, Joseph

2015-01-01

The Low-Density Supersonic Decelerator (LDSD) Project's first Supersonic Flight Dynamics Test (SFDT-1) occurred June 28, 2014. Program to Optimize Simulated Trajectories II (POST2) was utilized to develop trajectory simulations characterizing all SFDT-1 flight phases from drop to splashdown. These POST2 simulations were used to validate the targeting parameters developed for SFDT- 1, predict performance and understand the sensitivity of the vehicle and nominal mission designs, and to support flight test operations with trajectory performance and splashdown location predictions for vehicle recovery. This paper provides an overview of the POST2 simulations developed for LDSD and presents the POST2 simulation flight dynamics support during the SFDT-1 launch, operations, and recovery.

Trajectory Design Employing Convex Optimization for Landing on Irregularly Shaped Asteroids

NASA Technical Reports Server (NTRS)

Pinson, Robin M.; Lu, Ping

2016-01-01

Mission proposals that land on asteroids are becoming popular. However, in order to have a successful mission the spacecraft must reliably and softly land at the intended landing site. The problem under investigation is how to design a fuel-optimal powered descent trajectory that can be quickly computed on- board the spacecraft, without interaction from ground control. An optimal trajectory designed immediately prior to the descent burn has many advantages. These advantages include the ability to use the actual vehicle starting state as the initial condition in the trajectory design and the ease of updating the landing target site if the original landing site is no longer viable. For long trajectories, the trajectory can be updated periodically by a redesign of the optimal trajectory based on current vehicle conditions to improve the guidance performance. One of the key drivers for being completely autonomous is the infrequent and delayed communication between ground control and the vehicle. Challenges that arise from designing an asteroid powered descent trajectory include complicated nonlinear gravity fields, small rotating bodies and low thrust vehicles. There are two previous studies that form the background to the current investigation. The first set looked in-depth at applying convex optimization to a powered descent trajectory on Mars with promising results.1, 2 This showed that the powered descent equations of motion can be relaxed and formed into a convex optimization problem and that the optimal solution of the relaxed problem is indeed a feasible solution to the original problem. This analysis used a constant gravity field. The second area applied a successive solution process to formulate a second order cone program that designs rendezvous and proximity operations trajectories.3, 4 These trajectories included a Newtonian gravity model. The equivalence of the solutions between the relaxed and the original problem is theoretically established. The proposed solution for designing the asteroid powered descent trajectory is to use convex optimization, a gravity model with higher fidelity than Newtonian, and an iterative solution process to design the fuel optimal trajectory. The solution to the convex optimization problem is the thrust profile, magnitude and direction, that will yield the minimum fuel trajectory for a soft landing at the target site, subject to various mission and operational constraints. The equations of motion are formulated in a rotating coordinate system and includes a high fidelity gravity model. The vehicle's thrust magnitude can vary between maximum and minimum bounds during the burn. Also, constraints are included to ensure that the vehicle does not run out of propellant, or go below the asteroid's surface, and any vehicle pointing requirements. The equations of motion are discretized and propagated with the trapezoidal rule in order to produce equality constraints for the optimization problem. These equality constraints allow the optimization algorithm to solve the entire problem, without including a propagator inside the optimization algorithm.

Network-based study of Lagrangian transport and mixing

NASA Astrophysics Data System (ADS)

Padberg-Gehle, Kathrin; Schneide, Christiane

2017-10-01

Transport and mixing processes in fluid flows are crucially influenced by coherent structures and the characterization of these Lagrangian objects is a topic of intense current research. While established mathematical approaches such as variational methods or transfer-operator-based schemes require full knowledge of the flow field or at least high-resolution trajectory data, this information may not be available in applications. Recently, different computational methods have been proposed to identify coherent behavior in flows directly from Lagrangian trajectory data, that is, numerical or measured time series of particle positions in a fluid flow. In this context, spatio-temporal clustering algorithms have been proven to be very effective for the extraction of coherent sets from sparse and possibly incomplete trajectory data. Inspired by these recent approaches, we consider an unweighted, undirected network, where Lagrangian particle trajectories serve as network nodes. A link is established between two nodes if the respective trajectories come close to each other at least once in the course of time. Classical graph concepts are then employed to analyze the resulting network. In particular, local network measures such as the node degree, the average degree of neighboring nodes, and the clustering coefficient serve as indicators of highly mixing regions, whereas spectral graph partitioning schemes allow us to extract coherent sets. The proposed methodology is very fast to run and we demonstrate its applicability in two geophysical flows - the Bickley jet as well as the Antarctic stratospheric polar vortex.

Global Optimization of Low-Thrust Interplanetary Trajectories Subject to Operational Constraints

NASA Technical Reports Server (NTRS)

Englander, Jacob A.; Vavrina, Matthew A.; Hinckley, David

2016-01-01

Low-thrust interplanetary space missions are highly complex and there can be many locally optimal solutions. While several techniques exist to search for globally optimal solutions to low-thrust trajectory design problems, they are typically limited to unconstrained trajectories. The operational design community in turn has largely avoided using such techniques and has primarily focused on accurate constrained local optimization combined with grid searches and intuitive design processes at the expense of efficient exploration of the global design space. This work is an attempt to bridge the gap between the global optimization and operational design communities by presenting a mathematical framework for global optimization of low-thrust trajectories subject to complex constraints including the targeting of planetary landing sites, a solar range constraint to simplify the thermal design of the spacecraft, and a real-world multi-thruster electric propulsion system that must switch thrusters on and off as available power changes over the course of a mission.

Benefits of Using Pairwise Trajectory Management in the Central East Pacific

NASA Technical Reports Server (NTRS)

Chartrand, Ryan; Ballard, Kathryn

2017-01-01

Pairwise Trajectory Management (PTM) is a concept that utilizes airborne and ground-based capabilities to enable airborne spacing operations in procedural airspace. This concept makes use of updated ground automation, Automatic Dependent Surveillance-Broadcast (ADS-B) and on board avionics generating real time guidance. An experiment was conducted to examine the potential benefits of implementing PTM in the Central East Pacific oceanic region. An explanation of the experiment and some of the results are included in this paper. The PTM concept allowed for an increase in the average time an aircraft is able to spend at its desired flight level and a reduction in fuel burn.

Model based manipulator control

NASA Technical Reports Server (NTRS)

Petrosky, Lyman J.; Oppenheim, Irving J.

1989-01-01

The feasibility of using model based control (MBC) for robotic manipulators was investigated. A double inverted pendulum system was constructed as the experimental system for a general study of dynamically stable manipulation. The original interest in dynamically stable systems was driven by the objective of high vertical reach (balancing), and the planning of inertially favorable trajectories for force and payload demands. The model-based control approach is described and the results of experimental tests are summarized. Results directly demonstrate that MBC can provide stable control at all speeds of operation and support operations requiring dynamic stability such as balancing. The application of MBC to systems with flexible links is also discussed.

Parameterized data-driven fuzzy model based optimal control of a semi-batch reactor.

PubMed

Kamesh, Reddi; Rani, K Yamuna

2016-09-01

A parameterized data-driven fuzzy (PDDF) model structure is proposed for semi-batch processes, and its application for optimal control is illustrated. The orthonormally parameterized input trajectories, initial states and process parameters are the inputs to the model, which predicts the output trajectories in terms of Fourier coefficients. Fuzzy rules are formulated based on the signs of a linear data-driven model, while the defuzzification step incorporates a linear regression model to shift the domain from input to output domain. The fuzzy model is employed to formulate an optimal control problem for single rate as well as multi-rate systems. Simulation study on a multivariable semi-batch reactor system reveals that the proposed PDDF modeling approach is capable of capturing the nonlinear and time-varying behavior inherent in the semi-batch system fairly accurately, and the results of operating trajectory optimization using the proposed model are found to be comparable to the results obtained using the exact first principles model, and are also found to be comparable to or better than parameterized data-driven artificial neural network model based optimization results. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

Microsurgical resection of skull base meningioma-expanding the operative corridor.

PubMed

Raheja, Amol; Couldwell, William T

2016-11-01

A better understanding of surgical anatomy, marked improvement in illumination devices, provision of improved hemostatic agents, greater availability of more precise surgical instruments, and better modalities for skull base reconstruction have led to an inevitable evolution of skull base neurosurgery. For the past few decades, many skull base neurosurgeons have worked relentlessly to improve the surgical approach and trajectory for the expansion of operative corridor. With the advent of newer techniques and their rapid adaptation, it is foundational, especially for young neurosurgeons, to understand the basics and nuances of modifications of traditional neurosurgical approaches. The goal of this topic review is to discuss the evolution of, concepts in, and technical nuances regarding the operative corridor expansion in the field of skull base surgery for intracranial meningioma as they pertain to achieving optimal functional outcome.

Hazardous Environment Robotics

NASA Technical Reports Server (NTRS)

1996-01-01

Jet Propulsion Laboratory (JPL) developed video overlay calibration and demonstration techniques for ground-based telerobotics. Through a technology sharing agreement with JPL, Deneb Robotics added this as an option to its robotics software, TELEGRIP. The software is used for remotely operating robots in nuclear and hazardous environments in industries including automotive and medical. The option allows the operator to utilize video to calibrate 3-D computer models with the actual environment, and thus plan and optimize robot trajectories before the program is automatically generated.

The simulation of automatic ladar sensor control during flight operations using USU LadarSIM software

NASA Astrophysics Data System (ADS)

Pack, Robert T.; Saunders, David; Fullmer, Rees; Budge, Scott

2006-05-01

USU LadarSIM Release 2.0 is a ladar simulator that has the ability to feed high-level mission scripts into a processor that automatically generates scan commands during flight simulations. The scan generation depends on specified flight trajectories and scenes consisting of terrain and targets. The scenes and trajectories can either consist of simulated or actual data. The first modeling step produces an outline of scan footprints in xyz space. Once mission goals have been analyzed and it is determined that the scan footprints are appropriately distributed or placed, specific scans can then be chosen for the generation of complete radiometry-based range images and point clouds. The simulation is capable of quickly modeling ray-trace geometry associated with (1) various focal plane arrays and scanner configurations and (2) various scene and trajectories associated with particular maneuvers or missions.

Real Time Metrics and Analysis of Integrated Arrival, Departure, and Surface Operations

NASA Technical Reports Server (NTRS)

Sharma, Shivanjli; Fergus, John

2017-01-01

A real time dashboard was developed in order to inform and present users notifications and integrated information regarding airport surface operations. The dashboard is a supplement to capabilities and tools that incorporate arrival, departure, and surface air-traffic operations concepts in a NextGen environment. As trajectory-based departure scheduling and collaborative decision making tools are introduced in order to reduce delays and uncertainties in taxi and climb operations across the National Airspace System, users across a number of roles benefit from a real time system that enables common situational awareness. In addition to shared situational awareness the dashboard offers the ability to compute real time metrics and analysis to inform users about capacity, predictability, and efficiency of the system as a whole. This paper describes the architecture of the real time dashboard as well as an initial set of metrics computed on operational data. The potential impact of the real time dashboard is studied at the site identified for initial deployment and demonstration in 2017; Charlotte-Douglas International Airport. Analysis and metrics computed in real time illustrate the opportunity to provide common situational awareness and inform users of metrics across delay, throughput, taxi time, and airport capacity. In addition, common awareness of delays and the impact of takeoff and departure restrictions stemming from traffic flow management initiatives are explored. The potential of the real time tool to inform the predictability and efficiency of using a trajectory-based departure scheduling system is also discussed.

Simulation-Based Analysis of Reentry Dynamics for the Sharp Atmospheric Entry Vehicle

NASA Technical Reports Server (NTRS)

Tillier, Clemens Emmanuel

1998-01-01

This thesis describes the analysis of the reentry dynamics of a high-performance lifting atmospheric entry vehicle through numerical simulation tools. The vehicle, named SHARP, is currently being developed by the Thermal Protection Materials and Systems branch of NASA Ames Research Center, Moffett Field, California. The goal of this project is to provide insight into trajectory tradeoffs and vehicle dynamics using simulation tools that are powerful, flexible, user-friendly and inexpensive. Implemented Using MATLAB and SIMULINK, these tools are developed with an eye towards further use in the conceptual design of the SHARP vehicle's trajectory and flight control systems. A trajectory simulator is used to quantify the entry capabilities of the vehicle subject to various operational constraints. Using an aerodynamic database computed by NASA and a model of the earth, the simulator generates the vehicle trajectory in three-dimensional space based on aerodynamic angle inputs. Requirements for entry along the SHARP aerothermal performance constraint are evaluated for different control strategies. Effect of vehicle mass on entry parameters is investigated, and the cross range capability of the vehicle is evaluated. Trajectory results are presented and interpreted. A six degree of freedom simulator builds on the trajectory simulator and provides attitude simulation for future entry controls development. A Newtonian aerodynamic model including control surfaces and a mass model are developed. A visualization tool for interpreting simulation results is described. Control surfaces are roughly sized. A simple controller is developed to fly the vehicle along its aerothermal performance constraint using aerodynamic flaps for control. This end-to-end demonstration proves the suitability of the 6-DOF simulator for future flight control system development. Finally, issues surrounding real-time simulation with hardware in the loop are discussed.

Handling Trajectory Uncertainties for Airborne Conflict Management

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Doble, Nathan A.; Karr, David; Palmer, Michael T.

2005-01-01

Airborne conflict management is an enabling capability for NASA's Distributed Air-Ground Traffic Management (DAG-TM) concept. DAGTM has the goal of significantly increasing capacity within the National Airspace System, while maintaining or improving safety. Under DAG-TM, autonomous aircraft maintain separation from each other and from managed aircraft unequipped for autonomous flight. NASA Langley Research Center has developed the Autonomous Operations Planner (AOP), an onboard decision support system that provides airborne conflict management (ACM) and strategic flight planning support for autonomous aircraft pilots. The AOP performs conflict detection, prevention, and resolution from nearby traffic aircraft and area hazards. Traffic trajectory information is assumed to be provided by Automatic Dependent Surveillance Broadcast (ADS-B). Reliable trajectory prediction is a key capability for providing effective ACM functions. Trajectory uncertainties due to environmental effects, differences in aircraft systems and performance, and unknown intent information lead to prediction errors that can adversely affect AOP performance. To accommodate these uncertainties, the AOP has been enhanced to create cross-track, vertical, and along-track buffers along the predicted trajectories of both ownship and traffic aircraft. These buffers will be structured based on prediction errors noted from previous simulations such as a recent Joint Experiment between NASA Ames and Langley Research Centers and from other outside studies. Currently defined ADS-B parameters related to navigation capability, trajectory type, and path conformance will be used to support the algorithms that generate the buffers.

Design Study: Integer Subtraction Operation Teaching Learning Using Multimedia in Primary School

ERIC Educational Resources Information Center

Aris, Rendi Muhammad; Putri, Ratu Ilma Indra

2017-01-01

This study aims to develop a learning trajectory to help students understand concept of subtraction of integers using multimedia in the fourth grade. This study is thematic integrative learning in Curriculum 2013 PMRI based. The method used is design research consists of three stages; preparing for the experiment, design experiment, retrospective…

A System Trade Study of Remote Infrared Imaging for Space Shuttle Reentry

NASA Technical Reports Server (NTRS)

Schwartz, Richard J.; Ross, Martin N.; Baize, Rosemary; Horvath, Thomas J.; Berry, Scott A.; Krasa, Paul W.

2008-01-01

A trade study reviewing the primary operational parameters concerning the deployment of imaging assets in support of the Hypersonic Thermodynamic Infrared Measurements (HYTHIRM) project was undertaken. The objective was to determine key variables and constraints for obtaining thermal images of the Space Shuttle orbiter during reentry. The trade study investigated the performance characteristics and operating environment of optical instrumentation that may be deployed during a HYTHIRM data collection mission, and specified contributions to the Point Spread Function. It also investigated the constraints that have to be considered in order to optimize deployment through the use of mission planning tools. These tools simulate the radiance modeling of the vehicle as well as the expected spatial resolution based on the Orbiter trajectory and placement of land based or airborne optical sensors for given Mach numbers. Lastly, this report focused on the tools and methodology that have to be in place for real-time mission planning in order to handle the myriad of variables such as trajectory ground track, weather, and instrumentation availability that may only be known in the hours prior to landing.

Kinematically Optimal Robust Control of Redundant Manipulators

NASA Astrophysics Data System (ADS)

Galicki, M.

2017-12-01

This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

A special protection scheme utilizing trajectory sensitivity analysis in power transmission

NASA Astrophysics Data System (ADS)

Suriyamongkol, Dan

In recent years, new measurement techniques have provided opportunities to improve the North American Power System observability, control and protection. This dissertation discusses the formulation and design of a special protection scheme based on a novel utilization of trajectory sensitivity techniques with inputs consisting of system state variables and parameters. Trajectory sensitivity analysis (TSA) has been used in previous publications as a method for power system security and stability assessment, and the mathematical formulation of TSA lends itself well to some of the time domain power system simulation techniques. Existing special protection schemes often have limited sets of goals and control actions. The proposed scheme aims to maintain stability while using as many control actions as possible. The approach here will use the TSA in a novel way by using the sensitivities of system state variables with respect to state parameter variations to determine the state parameter controls required to achieve the desired state variable movements. The initial application will operate based on the assumption that the modeled power system has full system observability, and practical considerations will be discussed.

Moyal dynamics and trajectories

NASA Astrophysics Data System (ADS)

Braunss, G.

2010-01-01

We give first an approximation of the operator δh: f → δhf := h*planckf - f*planckh in terms of planck2n, n >= 0, where h\\equiv h(p,q), (p,q)\\in {\\mathbb R}^{2 n} , is a Hamilton function and *planck denotes the star product. The operator, which is the generator of time translations in a *planck-algebra, can be considered as a canonical extension of the Liouville operator Lh: f → Lhf := {h, f}Poisson. Using this operator we investigate the dynamics and trajectories of some examples with a scheme that extends the Hamilton-Jacobi method for classical dynamics to Moyal dynamics. The examples we have chosen are Hamiltonians with a one-dimensional quartic potential and two-dimensional radially symmetric nonrelativistic and relativistic Coulomb potentials, and the Hamiltonian for a Schwarzschild metric. We further state a conjecture concerning an extension of the Bohr-Sommerfeld formula for the calculation of the exact eigenvalues for systems with classically periodic trajectories.

Application of dynamic programming to control khuzestan water resources system

USGS Publications Warehouse

Jamshidi, M.; Heidari, M.

1977-01-01

An approximate optimization technique based on discrete dynamic programming called discrete differential dynamic programming (DDDP), is employed to obtain the near optimal operation policies of a water resources system in the Khuzestan Province of Iran. The technique makes use of an initial nominal state trajectory for each state variable, and forms corridors around the trajectories. These corridors represent a set of subdomains of the entire feasible domain. Starting with such a set of nominal state trajectories, improvements in objective function are sought within the corridors formed around them. This leads to a set of new nominal trajectories upon which more improvements may be sought. Since optimization is confined to a set of subdomains, considerable savings in memory and computer time are achieved over that of conventional dynamic programming. The Kuzestan water resources system considered in this study is located in southwest Iran, and consists of two rivers, three reservoirs, three hydropower plants, and three irrigable areas. Data and cost benefit functions for the analysis were obtained either from the historical records or from similar studies. ?? 1977.

Precision insertion of percutaneous sacroiliac screws using a novel augmented reality-based navigation system: a pilot study.

PubMed

Wang, Huixiang; Wang, Fang; Leong, Anthony Peng Yew; Xu, Lu; Chen, Xiaojun; Wang, Qiugen

2016-09-01

Augmented reality (AR) enables superimposition of virtual images onto the real world. The aim of this study is to present a novel AR-based navigation system for sacroiliac screw insertion and to evaluate its feasibility and accuracy in cadaveric experiments. Six cadavers with intact pelvises were employed in our study. They were CT scanned and the pelvis and vessels were segmented into 3D models. The ideal trajectory of the sacroiliac screw was planned and represented visually as a cylinder. For the intervention, the head mounted display created a real-time AR environment by superimposing the virtual 3D models onto the surgeon's field of view. The screws were drilled into the pelvis as guided by the trajectory represented by the cylinder. Following the intervention, a repeat CT scan was performed to evaluate the accuracy of the system, by assessing the screw positions and the deviations between the planned trajectories and inserted screws. Post-operative CT images showed that all 12 screws were correctly placed with no perforation. The mean deviation between the planned trajectories and the inserted screws was 2.7 ± 1.2 mm at the bony entry point, 3.7 ± 1.1 mm at the screw tip, and the mean angular deviation between the two trajectories was 2.9° ± 1.1°. The mean deviation at the nerve root tunnels region on the sagittal plane was 3.6 ± 1.0 mm. This study suggests an intuitive approach for guiding screw placement by way of AR-based navigation. This approach was feasible and accurate. It may serve as a valuable tool for assisting percutaneous sacroiliac screw insertion in live surgery.

Trajectory mapping of middle atmospheric water vapor by a mini network of NDACC instruments

NASA Astrophysics Data System (ADS)

Lainer, M.; Kämpfer, N.; Tschanz, B.; Nedoluha, G. E.; Ka, S.; Oh, J. J.

2015-08-01

The important task to observe the global coverage of middle atmospheric trace gases like water vapor or ozone usually is accomplished by satellites. Climate and atmospheric studies rely upon the knowledge of trace gas distributions throughout the stratosphere and mesosphere. Many of these gases are currently measured from satellites, but it is not clear whether this capability will be maintained in the future. This could lead to a significant knowledge gap of the state of the atmosphere. We explore the possibilities of mapping middle atmospheric water vapor in the Northern Hemisphere by using Lagrangian trajectory calculations and water vapor profile data from a small network of five ground-based microwave radiometers. Four of them are operated within the frame of NDACC (Network for the Detection of Atmospheric Composition Change). Keeping in mind that the instruments are based on different hardware and calibration setups, a height-dependent bias of the retrieved water vapor profiles has to be expected among the microwave radiometers. In order to correct and harmonize the different data sets, the Microwave Limb Sounder (MLS) on the Aura satellite is used to serve as a kind of traveling standard. A domain-averaging TM (trajectory mapping) method is applied which simplifies the subsequent validation of the quality of the trajectory-mapped water vapor distribution towards direct satellite observations. Trajectories are calculated forwards and backwards in time for up to 10 days using 6 hourly meteorological wind analysis fields. Overall, a total of four case studies of trajectory mapping in different meteorological regimes are discussed. One of the case studies takes place during a major sudden stratospheric warming (SSW) accompanied by the polar vortex breakdown; a second takes place after the reformation of stable circulation system. TM cases close to the fall equinox and June solstice event from the year 2012 complete the study, showing the high potential of a network of ground-based remote sensing instruments to synthesize hemispheric maps of water vapor.

Trajectory mapping of middle atmospheric water vapor by a mini network of NDACC instruments

NASA Astrophysics Data System (ADS)

Lainer, M.; Kämpfer, N.; Tschanz, B.; Nedoluha, G. E.; Ka, S.; Oh, J. J.

2015-04-01

The important task to observe the global coverage of middle atmospheric trace gases like water vapor or ozone usually is accomplished by satellites. Climate and atmospheric studies rely upon the knowledge of trace gas distributions throughout the stratosphere and mesosphere. Many of these gases are currently measured from satellites, but it is not clear whether this capability will be maintained in the future. This could lead to a significant knowledge gap of the state of the atmosphere. We explore the possibilities of mapping middle atmospheric water vapor in the Northern Hemisphere by using Lagrangian trajectory calculations and water vapor profile data from a small network of five ground-based microwave radiometers. Four of them are operated within the frame of NDACC (Network for the Detection of Atmospheric Composition Change). Keeping in mind that the instruments are based on different hardware and calibration setups, a height dependent bias of the retrieved water vapor profiles has to be expected among the microwave radiometers. In order to correct and harmonize the different datasets, the Microwave Limb Sounder (MLS) on the Aura satellite is used to serve as a kind of travelling standard. A domain-averaging TM (trajectory mapping) method is applied which simplifies the subsequent validation of the quality of the trajectory mapped water vapor distribution towards direct satellite observations. Trajectories are calculated forwards and backwards in time for up to 10 days using 6 hourly meteorological wind analysis fields. Overall, a total of four case studies of trajectory mapping in different meteorological regimes are discussed. One of the case studies takes place during a major sudden stratospheric warming (SSW) accompanied by the polar vortex breakdown, a second takes place after the reformation of stable circulation system. TM cases close to the fall equinox and June solstice event from the year 2012 complete the study, showing the high potential of a network of ground-based remote sensing instruments to synthesize hemispheric maps of water vapor.

How to Compute a Slot Marker - Calculation of Controller Managed Spacing Tools for Efficient Descents with Precision Scheduling

NASA Technical Reports Server (NTRS)

Prevot, Thomas

2012-01-01

This paper describes the underlying principles and algorithms for computing the primary controller managed spacing (CMS) tools developed at NASA for precisely spacing aircraft along efficient descent paths. The trajectory-based CMS tools include slot markers, delay indications and speed advisories. These tools are one of three core NASA technologies integrated in NASAs ATM technology demonstration-1 (ATD-1) that will operationally demonstrate the feasibility of fuel-efficient, high throughput arrival operations using Automatic Dependent Surveillance Broadcast (ADS-B) and ground-based and airborne NASA technologies for precision scheduling and spacing.

Is estimated bullet trajectory a reliable predictor of severe injury? Case report of a thoraco-abdominal gunshot with a protracted trajectory managed nonoperatively.

PubMed

Khan, Muhammad Sohaib; Khan, Bilal Masood; Naz, Sumbul; Pirzada, Muhammad Taqi

2013-02-15

Operative management of all gunshot's traumas carries a high rate of unwarranted interventions that are known to cause serious complications. Selective nonoperative management is thus being increasingly practiced which has reduced these avoidable interventions. Physical examination and computed tomography scans are most sensitive in assessing need of laparotomy. Assessment of internal injuries on the basis of an estimated bullet trajectory is often practiced but has seldom been studied. We report a case of conservative management of a thoraco abdominal gun shot patient where an estimated bullet trajectory was indicative of serious injuries. To the best of our knowledge this is the first report of a thoraco abdominal gunshot that, despite of a protracted trajectory, had no sequelae and was thus managed nonoperatively. A 30 year old male patient having height of 180 cm and weight of 70 kg (Body Mass Index 21.6) presented with complaint of a penetrating injury at left side of upper torso. The patient had no symptoms or obvious bleeding and was vitally stable. On examination a 1 cm × 1 cm entry wound at the left 3rd intercostal space in the mid clavicular line was identified. The chest and abdomen were otherwise unremarkable on examination. The chest radiograph displayed clear lung fields. The abdominal radiographs displayed a bullet in the upper left quadrant of the abdomen lateral to the spine. The bullets estimated trajectory from 3rd intercostal space and its lodgment in the abdomen lateral to the spine indicated severe visceral injury. The computed tomography scan showed that the bullet was lodged postero-medially to the left kidney. All thoracic, intra peritoneal and retroperitoneal visceral structures were identified to be normal. The patient remained clinically and vitally stable, hence was managed nonoperatively being discharged after 48 h of observation. From this case we conclude that decision for managing gun shot patients should be based on objective clinical and diagnostic findings. We recommend further investigation of the predictability of estimated trajectory for visceral injuries and consequent operative intervention as we found it to be misleading in this case.

Is estimated bullet trajectory a reliable predictor of severe injury? Case report of a thoraco-abdominal gunshot with a protracted trajectory managed nonoperatively

PubMed Central

2013-01-01

Background Operative management of all gunshot’s traumas carries a high rate of unwarranted interventions that are known to cause serious complications. Selective nonoperative management is thus being increasingly practiced which has reduced these avoidable interventions. Physical examination and computed tomography scans are most sensitive in assessing need of laparotomy. Assessment of internal injuries on the basis of an estimated bullet trajectory is often practiced but has seldom been studied. We report a case of conservative management of a thoraco abdominal gun shot patient where an estimated bullet trajectory was indicative of serious injuries. To the best of our knowledge this is the first report of a thoraco abdominal gunshot that, despite of a protracted trajectory, had no sequelae and was thus managed nonoperatively. Case presentation A 30 year old male patient having height of 180 cm and weight of 70 kg (Body Mass Index 21.6) presented with complaint of a penetrating injury at left side of upper torso. The patient had no symptoms or obvious bleeding and was vitally stable. On examination a 1 cm × 1 cm entry wound at the left 3rd intercostal space in the mid clavicular line was identified. The chest and abdomen were otherwise unremarkable on examination. The chest radiograph displayed clear lung fields. The abdominal radiographs displayed a bullet in the upper left quadrant of the abdomen lateral to the spine. The bullets estimated trajectory from 3rd intercostal space and its lodgment in the abdomen lateral to the spine indicated severe visceral injury. The computed tomography scan showed that the bullet was lodged postero-medially to the left kidney. All thoracic, intra peritoneal and retroperitoneal visceral structures were identified to be normal. The patient remained clinically and vitally stable, hence was managed nonoperatively being discharged after 48 h of observation. Conclusion From this case we conclude that decision for managing gun shot patients should be based on objective clinical and diagnostic findings. We recommend further investigation of the predictability of estimated trajectory for visceral injuries and consequent operative intervention as we found it to be misleading in this case. PMID:23414905

Trajectory Optimization Using Adjoint Method and Chebyshev Polynomial Approximation for Minimizing Fuel Consumption During Climb

NASA Technical Reports Server (NTRS)

Nguyen, Nhan T.; Hornby, Gregory; Ishihara, Abe

2013-01-01

This paper describes two methods of trajectory optimization to obtain an optimal trajectory of minimum-fuel- to-climb for an aircraft. The first method is based on the adjoint method, and the second method is based on a direct trajectory optimization method using a Chebyshev polynomial approximation and cubic spine approximation. The approximate optimal trajectory will be compared with the adjoint-based optimal trajectory which is considered as the true optimal solution of the trajectory optimization problem. The adjoint-based optimization problem leads to a singular optimal control solution which results in a bang-singular-bang optimal control.

Automated Sensitivity Analysis of Interplanetary Trajectories

NASA Technical Reports Server (NTRS)

Knittel, Jeremy; Hughes, Kyle; Englander, Jacob; Sarli, Bruno

2017-01-01

This work describes a suite of Python tools known as the Python EMTG Automated Trade Study Application (PEATSA). PEATSA was written to automate the operation of trajectory optimization software, simplify the process of performing sensitivity analysis, and was ultimately found to out-perform a human trajectory designer in unexpected ways. These benefits will be discussed and demonstrated on sample mission designs.

Program For Simulation Of Trajectories And Events

NASA Technical Reports Server (NTRS)

Gottlieb, Robert G.

1992-01-01

Universal Simulation Executive (USE) program accelerates and eases generation of application programs for numerical simulation of continuous trajectories interrupted by or containing discrete events. Developed for simulation of multiple spacecraft trajectories with events as one spacecraft crossing the equator, two spacecraft meeting or parting, or firing rocket engine. USE also simulates operation of chemical batch processing factory. Written in Ada.

Interactive orbital proximity operations planning system

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1988-01-01

An interactive graphical proximity operations planning system was developed, which allows on-site design of efficient, complex, multiburn maneuvers in a dynamic multispacecraft environment. Maneuvering takes place in and out of the orbital plane. The difficulty in planning such missions results from the unusual and counterintuitive character of orbital dynamics and complex time-varying operational constraints. This difficulty is greatly overcome by visualizing the relative trajectories and the relevant constraints in an easily interpretable graphical format, which provides the operator with immediate feedback on design actions. The display shows a perspective bird's-eye view of a Space Station and co-orbiting spacecraft on the background of the Station's orbital plane. The operator has control over the two modes of operation: a viewing system mode, which enables the exporation of the spatial situation about the Space Station and thus the ability to choose and zoom in on areas of interest; and a trajectory design mode, which allows the interactive editing of a series of way points and maneuvering burns to obtain a trajectory that complies with all operational constraints. A first version of this display was completed. An experimental program is planned in which operators will carry out a series of design missions which vary in complexity and constraints.

Traffic Aware Strategic Aircrew Requests (TASAR) Concept of Operations

NASA Technical Reports Server (NTRS)

Henderson, Jeffrey

2013-01-01

Aircrews submit trajectory change requests to air traffic control (ATC) to better achieve the operator's preferred business trajectory. Requests are currently made with limited information and are often denied because the change is not compatible with traffic. Also, request opportunities can be overlooked due to lack of automation that advises aircrews of trajectory changes that improve flight time, fuel burn, and other objectives. The Traffic Aware Strategic Aircrew Requests (TASAR) concept leverages Automatic Dependent Surveillance-Broadcast (ADS-B) surveillance information to advise the aircrew of beneficial trajectory changes that are probed for traffic compatibility prior to issuing the request to ATC. This document describes the features, benefits, and limitations of TASAR automation hosted on an Electronic Flight Bag. TASAR has two modes: (1) auto mode that continuously assesses opportunities for improving the performance of the flight and (2) manual mode that probes trajectory changes entered by aircrews for conflicts and performance objectives. The roles and procedures of the aircrew and ATC remain unchanged under TASAR.

A Comparative Study of Interval Management Control Law Capabilities

NASA Technical Reports Server (NTRS)

Barmore, Bryan E.; Smith, Colin L.; Palmer, Susan O.; Abbott, Terence S.

2012-01-01

This paper presents a new tool designed to allow for rapid development and testing of different control algorithms for airborne spacing. This tool, Interval Management Modeling and Spacing Tool (IM MAST), is a fast-time, low-fidelity tool created to model the approach of aircraft to a runway, with a focus on their interactions with each other. Errors can be induced between pairs of aircraft by varying initial positions, winds, speed profiles, and altitude profiles. Results to-date show that only a few of the algorithms tested had poor behavior in the arrival and approach environment. The majority of the algorithms showed only minimal variation in performance under the test conditions. Trajectory-based algorithms showed high susceptibility to wind forecast errors, while performing marginally better than the other algorithms under other conditions. Trajectory-based algorithms have a sizable advantage, however, of being able to perform relative spacing operations between aircraft on different arrival routes and flight profiles without employing ghosting. methods. This comes at the higher cost of substantially increased complexity, however. Additionally, it was shown that earlier initiation of relative spacing operations provided more time for corrections to be made without any significant problems in the spacing operation itself. Initiating spacing farther out, however, would require more of the aircraft to begin spacing before they merge onto a common route.

Trajectory-Based Loads for the Ares I-X Test Flight Vehicle

NASA Technical Reports Server (NTRS)

Vause, Roland F.; Starr, Brett R.

2011-01-01

In trajectory-based loads, the structural engineer treats each point on the trajectory as a load case. Distributed aero, inertial, and propulsion forces are developed for the structural model which are equivalent to the integrated values of the trajectory model. Free-body diagrams are then used to solve for the internal forces, or loads, that keep the applied aero, inertial, and propulsion forces in dynamic equilibrium. There are several advantages to using trajectory-based loads. First, consistency is maintained between the integrated equilibrium equations of the trajectory analysis and the distributed equilibrium equations of the structural analysis. Second, the structural loads equations are tied to the uncertainty model for the trajectory systems analysis model. Atmosphere, aero, propulsion, mass property, and controls uncertainty models all feed into the dispersions that are generated for the trajectory systems analysis model. Changes in any of these input models will affect structural loads response. The trajectory systems model manages these inputs as well as the output from the structural model over thousands of dispersed cases. Large structural models with hundreds of thousands of degrees of freedom would execute too slowly to be an efficient part of several thousand system analyses. Trajectory-based loads provide a means for the structures discipline to be included in the integrated systems analysis. Successful applications of trajectory-based loads methods for the Ares I-X vehicle are covered in this paper. Preliminary design loads were based on 2000 trajectories using Monte Carlo dispersions. Range safety loads were tied to 8423 malfunction turn trajectories. In addition, active control system loads were based on 2000 preflight trajectories using Monte Carlo dispersions.

An incremental DPMM-based method for trajectory clustering, modeling, and retrieval.

PubMed

Hu, Weiming; Li, Xi; Tian, Guodong; Maybank, Stephen; Zhang, Zhongfei

2013-05-01

Trajectory analysis is the basis for many applications, such as indexing of motion events in videos, activity recognition, and surveillance. In this paper, the Dirichlet process mixture model (DPMM) is applied to trajectory clustering, modeling, and retrieval. We propose an incremental version of a DPMM-based clustering algorithm and apply it to cluster trajectories. An appropriate number of trajectory clusters is determined automatically. When trajectories belonging to new clusters arrive, the new clusters can be identified online and added to the model without any retraining using the previous data. A time-sensitive Dirichlet process mixture model (tDPMM) is applied to each trajectory cluster for learning the trajectory pattern which represents the time-series characteristics of the trajectories in the cluster. Then, a parameterized index is constructed for each cluster. A novel likelihood estimation algorithm for the tDPMM is proposed, and a trajectory-based video retrieval model is developed. The tDPMM-based probabilistic matching method and the DPMM-based model growing method are combined to make the retrieval model scalable and adaptable. Experimental comparisons with state-of-the-art algorithms demonstrate the effectiveness of our algorithm.

Integrating technologies for oil spill response in the SW Iberian coast

NASA Astrophysics Data System (ADS)

Janeiro, J.; Neves, A.; Martins, F.; Relvas, P.

2017-09-01

An operational oil spill modelling system developed for the SW Iberia Coast is used to investigate the relative importance of the different components and technologies integrating an oil spill monitoring and response structure. A backtrack of a CleanSeaNet oil detection in the region is used to demonstrate the concept. Taking advantage of regional operational products available, the system provides the necessary resolution to go from regional to coastal scales using a downscalling approach, while a multi-grid methodology allows the based oil spill model to span across model domains taking full advantage of the increasing resolution between the model grids. An extensive validation procedure using a multiplicity of sensors, with good spatial and temporal coverage, strengthens the operational system ability to accurately solve coastal scale processes. The model is validated using available trajectories from satellite-tracked drifters. Finally, a methodology is proposed to identifying potential origins for the CleanSeaNet oil detection, by combining model backtrack results with ship trajectories supplied by AIS was developed, including the error estimations found in the backtrack validation.

Systems and methods for controlling energy use in a building management system using energy budgets

DOEpatents

Wenzel, Michael J.

2012-06-17

Systems and methods for limiting power consumption by a heating, ventilation, and air conditioning (HVAC) subsystem of a building are shown and described. A mathematical linear operator is found that transforms the unused or deferred cooling power usage of the HVAC system based on pre-determined temperature settings to a target cooling power usage. The mathematical operator is applied to the temperature settings to create a temperature setpoint trajectory expected to provide the target cooling power usage.

Benefit Opportunities for Integrated Surface and Airspace Departure Scheduling: A Study of Operations at Charlotte-Douglas International Airport

NASA Technical Reports Server (NTRS)

Coppenbarger, Rich; Jung, Yoon; Kozon, Tom; Farrahi, Amir; Malik, Wakar; Lee, Hanbong; Chevalley, Eric; Kistler, Matt

2016-01-01

NASA is collaborating with the FAA and aviation industry to develop and demonstrate new capabilities that integrate arrival, departure, and surface air-traffic operations. The concept relies on trajectory-based departure scheduling and collaborative decision making to reduce delays and uncertainties in taxi and climb operations. The paper describes the concept and benefit mechanisms aimed at improving flight efficiency and predictability while maintaining or improving operational throughput. The potential impact of the technology is studied and discussed through a quantitative analysis of relevant shortfalls at the site identified for initial deployment and demonstration in 2017: Charlotte-Douglas International Airport. Results from trajectory analysis indicate substantial opportunity to reduce taxi delays for both departures and arrivals by metering departures at the gate in a manner that maximizes throughput while adhering to takeoff restrictions due mostly to airspace constraints. Substantial taxi-out delay reduction is shown for flights subject to departure restrictions stemming from traffic flow management initiatives. Opportunities to improve the predictability of taxi, takeoff, and climb operations are examined and their potential impact on airline scheduling decisions and air-traffic forecasting is discussed. In addition, the potential to improve throughput with departure scheduling that maximizes use of available runway and airspace capacity is analyzed.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Jain, A.; Kreutz-Delgado, K.

1991-01-01

A recently developed spatial operator algebra for manipulator modeling, control, and trajectory design is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and for control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics.

Time-based collision risk modeling for air traffic management

NASA Astrophysics Data System (ADS)

Bell, Alan E.

Since the emergence of commercial aviation in the early part of last century, economic forces have driven a steadily increasing demand for air transportation. Increasing density of aircraft operating in a finite volume of airspace is accompanied by a corresponding increase in the risk of collision, and in response to a growing number of incidents and accidents involving collisions between aircraft, governments worldwide have developed air traffic control systems and procedures to mitigate this risk. The objective of any collision risk management system is to project conflicts and provide operators with sufficient opportunity to recognize potential collisions and take necessary actions to avoid them. It is therefore the assertion of this research that the currency of collision risk management is time. Future Air Traffic Management Systems are being designed around the foundational principle of four dimensional trajectory based operations, a method that replaces legacy first-come, first-served sequencing priorities with time-based reservations throughout the airspace system. This research will demonstrate that if aircraft are to be sequenced in four dimensions, they must also be separated in four dimensions. In order to separate aircraft in four dimensions, time must emerge as the primary tool by which air traffic is managed. A functional relationship exists between the time-based performance of aircraft, the interval between aircraft scheduled to cross some three dimensional point in space, and the risk of collision. This research models that relationship and presents two key findings. First, a method is developed by which the ability of an aircraft to meet a required time of arrival may be expressed as a robust standard for both industry and operations. Second, a method by which airspace system capacity may be increased while maintaining an acceptable level of collision risk is presented and demonstrated for the purpose of formulating recommendations for procedures regulating air traffic management methods and industry standards governing performance requirements for avionics designed to support trajectory based operations.

A New Theory of Trajectory Design and NASA's Vision

NASA Technical Reports Server (NTRS)

Folta, David

2006-01-01

This new theory is defined as the use of chaos to design trajectories and orbits that can be used to meet complex mission goals. The benefits are; a) minimizes fuel costs; b) optimizes trajectory profiles; c) provides non-standard and new orbit designs; and d) mitigates operational risks. Other synonymous terms include dynamical systems, invariant manifolds, capture orbits and ballistic orbits.

Automated Sensitivity Analysis of Interplanetary Trajectories for Optimal Mission Design

NASA Technical Reports Server (NTRS)

Knittel, Jeremy; Hughes, Kyle; Englander, Jacob; Sarli, Bruno

2017-01-01

This work describes a suite of Python tools known as the Python EMTG Automated Trade Study Application (PEATSA). PEATSA was written to automate the operation of trajectory optimization software, simplify the process of performing sensitivity analysis, and was ultimately found to out-perform a human trajectory designer in unexpected ways. These benefits will be discussed and demonstrated on sample mission designs.

Global Optimization of Low-Thrust Interplanetary Trajectories Subject to Operational Constraints

NASA Technical Reports Server (NTRS)

Englander, Jacob Aldo; Vavrina, Matthew; Hinckley, David

2016-01-01

Low-thrust electric propulsion provides many advantages for mission to difficult targets-Comets and asteroids-Mercury-Outer planets (with sufficient power supply)Low-thrust electric propulsion is characterized by high power requirements but also very high specific impulse (Isp), leading to very good mass fractions. Low-thrust trajectory design is a very different process from chemical trajectory.

Relationship of clinical and quality of life trajectories following the onset of seizures: findings from the UK MESS Study.

PubMed

Jacoby, Ann; Lane, Steven; Marson, Anthony; Baker, Gus A

2011-05-01

We defined a series of clinical trajectories represented among adult patients with new-onset seizures across a 4-year follow-up period; and linked these clinical trajectories to the quality of life (QOL) profiles and trajectories of those experiencing them. We examined both between- and within-group differences. Analyses were based on 253 individuals completing QOL questionnaires at baseline and 2 and 4 years subsequently. Based on patient self-report, we defined five "clinical trajectory" groups: individuals experiencing a single seizure only; individuals entering early remission; individuals experiencing late remission; individuals initially becoming seizure-free but subsequently relapsing; individuals with seizures persisting throughout follow-up. QOL profiles at each time point were compared using a validated QOL battery, NEWQOL. Even at baseline, there were significant between-group differences, with patients experiencing a single seizure only reporting the best QOL profile and those with seizures subsequently persisting across all time points reporting the worst. By 2 years, the QOL profiles of individuals experiencing early remission were similar to those of single seizure patients, as were those for late remission and relapse patients. A consistent pattern was seen, with "single seizure" individuals doing best and individuals with persistent seizures doing worst. Of particular concern is that even at baseline, individuals whose seizures persisted were doing poorly for QOL, suggesting the possibility that underlying neurobiologic mechanisms were operating. In contrast, our findings support previous reports of only short-lived and small QOL decrements for individuals experiencing a single or few seizures. Wiley Periodicals, Inc. © 2011 International League Against Epilepsy.

ST-analyzer: a web-based user interface for simulation trajectory analysis.

PubMed

Jeong, Jong Cheol; Jo, Sunhwan; Wu, Emilia L; Qi, Yifei; Monje-Galvan, Viviana; Yeom, Min Sun; Gorenstein, Lev; Chen, Feng; Klauda, Jeffery B; Im, Wonpil

2014-05-05

Molecular dynamics (MD) simulation has become one of the key tools to obtain deeper insights into biological systems using various levels of descriptions such as all-atom, united-atom, and coarse-grained models. Recent advances in computing resources and MD programs have significantly accelerated the simulation time and thus increased the amount of trajectory data. Although many laboratories routinely perform MD simulations, analyzing MD trajectories is still time consuming and often a difficult task. ST-analyzer, http://im.bioinformatics.ku.edu/st-analyzer, is a standalone graphical user interface (GUI) toolset to perform various trajectory analyses. ST-analyzer has several outstanding features compared to other existing analysis tools: (i) handling various formats of trajectory files from MD programs, such as CHARMM, NAMD, GROMACS, and Amber, (ii) intuitive web-based GUI environment--minimizing administrative load and reducing burdens on the user from adapting new software environments, (iii) platform independent design--working with any existing operating system, (iv) easy integration into job queuing systems--providing options of batch processing either on the cluster or in an interactive mode, and (v) providing independence between foreground GUI and background modules--making it easier to add personal modules or to recycle/integrate pre-existing scripts utilizing other analysis tools. The current ST-analyzer contains nine main analysis modules that together contain 18 options, including density profile, lipid deuterium order parameters, surface area per lipid, and membrane hydrophobic thickness. This article introduces ST-analyzer with its design, implementation, and features, and also illustrates practical analysis of lipid bilayer simulations. Copyright © 2014 Wiley Periodicals, Inc.

Preparing GMAT for Operational Maneuver Planning of the Advanced Composition Explorer (ACE)

NASA Technical Reports Server (NTRS)

Qureshi, Rizwan Hamid; Hughes, Steven P.

2014-01-01

The General Mission Analysis Tool (GMAT) is an open-source space mission design, analysis and trajectory optimization tool. GMAT is developed by a team of NASA, private industry, public and private contributors. GMAT is designed to model, optimize and estimate spacecraft trajectories in flight regimes ranging from low Earth orbit to lunar applications, interplanetary trajectories and other deep space missions. GMAT has also been flight qualified to support operational maneuver planning for the Advanced Composition Explorer (ACE) mission. ACE was launched in August, 1997 and is orbiting the Sun-Earth L1 libration point. The primary science objective of ACE is to study the composition of both the solar wind and the galactic cosmic rays. Operational orbit determination, maneuver operations and product generation for ACE are conducted by NASA Goddard Space Flight Center (GSFC) Flight Dynamics Facility (FDF). This paper discusses the entire engineering lifecycle and major operational certification milestones that GMAT successfully completed to obtain operational certification for the ACE mission. Operational certification milestones such as gathering of the requirements for ACE operational maneuver planning, gap analysis, test plans and procedures development, system design, pre-shadow operations, training to FDF ACE maneuver planners, shadow operations, Test Readiness Review (TRR) and finally Operational Readiness Review (ORR) are discussed. These efforts have demonstrated that GMAT is flight quality software ready to support ACE mission operations in the FDF.

The Gendered Shaping of University Leadership in Australia, South Africa and the United Kingdom

ERIC Educational Resources Information Center

White, Kate; Bagilhole, Barbara; Riordan, Sarah

2012-01-01

This article analyses career trajectories into university management in Australia, South Africa and the United Kingdom (UK), skills required to operate effectively and the power of vice-chancellors (VCs) and their impact on the gendered shaping of university leadership. It is based on qualitative research with 56 male and female senior managers.…

Orbit computation of the TELECOM-2D satellite with a Genetic Algorithm

NASA Astrophysics Data System (ADS)

Deleflie, Florent; Coulot, David; Vienne, Alain; Decosta, Romain; Richard, Pascal; Lasri, Mohammed Amjad

2014-07-01

In order to test a preliminary orbit determination method, we fit an orbit of the geostationary satellite TELECOM-2D, as if we did not know any a priori information on its trajectory. The method is based on a genetic algorithm coupled to an analytical propagator of the trajectory, that is used over a couple of days, and that uses a whole set of altazimutal data that are acquired by the tracking network made up of the two TAROT telescopes. The adjusted orbit is then compared to a numerical reference. The method is described, and the results are analyzed, as a step towards an operational method of preliminary orbit determination for uncatalogued objects.

Long-period comet impact risk mitigation with Earth-based laser arrays

NASA Astrophysics Data System (ADS)

Zhang, Qicheng; Lubin, Philip M.; Hughes, Gary B.

2017-09-01

Long-period comets (LPCs) frequently transit the inner solar system, and like near-Earth asteroids (NEAs), pose a continued risk of impact with Earth. Unlike NEAs, LPCs follow nearly parabolic trajectories and approach from the distant outer solar system where they cannot be observed. An LPC on an Earth-impact trajectory is unlikely to be discovered more than a few years in advance of its arrival, even with significant advancements in sky survey detection capabilities, likely leaving insufficient time to develop and deliver an interception mission to deflect the comet. However, recent proposals have called for the development of one or more large ˜ 1 km laser arrays placed on or near Earth primarily as a means for photon propulsion of low-mass spacecraft at delta-v above what would be feasible by traditional chemical or ion propulsion methods. Such a laser array can also be directed to target and heat a threatening comet, sublimating its ices and activating jets of dust and vapor which alter the comet's trajectory in a manner similar to rocket propulsion. Simulations of directed energy comet deflection were previously developed from astrometric models of nongravitational orbital perturbations from solar heating, an analogous process that has been observed in numerous comets. These simulations are used together with the distribution of known LPC trajectories to evaluate the effect of an operational Earth-based laser array on the LPC impact risk.

Diverse Planning for UAV Control and Remote Sensing

PubMed Central

Tožička, Jan; Komenda, Antonín

2016-01-01

Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands) to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well) together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs. PMID:28009831

Diverse Planning for UAV Control and Remote Sensing.

PubMed

Tožička, Jan; Komenda, Antonín

2016-12-21

Unmanned aerial vehicles (UAVs) are suited to various remote sensing missions, such as measuring air quality. The conventional method of UAV control is by human operators. Such an approach is limited by the ability of cooperation among the operators controlling larger fleets of UAVs in a shared area. The remedy for this is to increase autonomy of the UAVs in planning their trajectories by considering other UAVs and their plans. To provide such improvement in autonomy, we need better algorithms for generating alternative trajectory variants that the UAV coordination algorithms can utilize. In this article, we define a novel family of multi-UAV sensing problems, solving task allocation of huge number of tasks (tens of thousands) to a group of configurable UAVs with non-zero weight of equipped sensors (comprising the air quality measurement as well) together with two base-line solvers. To solve the problem efficiently, we use an algorithm for diverse trajectory generation and integrate it with a solver for the multi-UAV coordination problem. Finally, we experimentally evaluate the multi-UAV sensing problem solver. The evaluation is done on synthetic and real-world-inspired benchmarks in a multi-UAV simulator. Results show that diverse planning is a valuable method for remote sensing applications containing multiple UAVs.

Evaluation of the Trajectory Operations Applications Software Task (TOAST). Volume 2: Interview transcripts

NASA Technical Reports Server (NTRS)

Perkins, Sharon; Martin, Andrea; Bavinger, Bill

1990-01-01

The Trajectory Operations Applications Software Task (TOAST) is a software development project whose purpose is to provide trajectory operation pre-mission and real-time support for the Space Shuttle. The purpose of the evaluation was to evaluate TOAST as an Application Manager - to assess current and planned capabilities, compare capabilities to commercially-available off the shelf (COTS) software, and analyze requirements of MCC and Flight Analysis Design System (FADS) for TOAST implementation. As a major part of the data gathering for the evaluation, interviews were conducted with NASA and contractor personnel. Real-time and flight design users, orbit navigation users, the TOAST developers, and management were interviewed. Code reviews and demonstrations were also held. Each of these interviews was videotaped and transcribed as appropriate. Transcripts were edited and are presented chronologically.

Adjustable Trajectory Design Based on Node Density for Mobile Sink in WSNs

PubMed Central

Yang, Guisong; Liu, Shuai; He, Xingyu; Xiong, Naixue; Wu, Chunxue

2016-01-01

The design of movement trajectories for mobile sink plays an important role in data gathering for Wireless Sensor Networks (WSNs), as it affects the network coverage, and packet delivery ratio, as well as the network lifetime. In some scenarios, the whole network can be divided into subareas where the nodes are randomly deployed. The node densities of these subareas are quite different, which may result in a decreased packet delivery ratio and network lifetime if the movement trajectory of the mobile sink cannot adapt to these differences. To address these problems, we propose an adjustable trajectory design method based on node density for mobile sink in WSNs. The movement trajectory of the mobile sink in each subarea follows the Hilbert space-filling curve. Firstly, the trajectory is constructed based on network size. Secondly, the adjustable trajectory is established based on node density in specific subareas. Finally, the trajectories in each subarea are combined to acquire the whole network’s movement trajectory for the mobile sink. In addition, an adaptable power control scheme is designed to adjust nodes’ transmitting range dynamically according to the movement trajectory of the mobile sink in each subarea. The simulation results demonstrate that the proposed trajectories can adapt to network changes flexibly, thus outperform both in packet delivery ratio and in energy consumption the trajectories designed only based on the network size and the whole network node density. PMID:27941662

Interplanetary Program to Optimize Simulated Trajectories (IPOST). Volume 3: Programmer's manual

NASA Technical Reports Server (NTRS)

Hong, P. E.; Kent, P. D.; Olson, D. W.; Vallado, C. A.

1992-01-01

The Interplanetary Program to Optimize Space Trajectories (IPOST) is intended to support many analysis phases, from early interplanetary feasibility studies through spacecraft development and operations. Here, information is given on the IPOST code.

Rapid Preliminary Design of Interplanetary Trajectories Using the Evolutionary Mission Trajectory Generator

NASA Technical Reports Server (NTRS)

Englander, Jacob

2016-01-01

This set of tutorial slides is an introduction to the Evolutionary Mission Trajectory Generator (EMTG), NASA Goddard Space Flight Center's autonomous tool for preliminary design of interplanetary missions. This slide set covers the basics of creating and post-processing simple interplanetary missions in EMTG using both high-thrust chemical and low-thrust electric propulsion along with a variety of operational constraints.

Optimization of fixed-range trajectories for supersonic transport aircraft

NASA Astrophysics Data System (ADS)

Windhorst, Robert Dennis

1999-11-01

This thesis develops near-optimal guidance laws that generate minimum fuel, time, or direct operating cost fixed-range trajectories for supersonic transport aircraft. The approach uses singular perturbation techniques to time-scale de-couple the equations of motion into three sets of dynamics, two of which are analyzed in the main body of this thesis and one of which is analyzed in the Appendix. The two-point-boundary-value-problems obtained by application of the maximum principle to the dynamic systems are solved using the method of matched asymptotic expansions. Finally, the two solutions are combined using the matching principle and an additive composition rule to form a uniformly valid approximation of the full fixed-range trajectory. The approach is used on two different time-scale formulations. The first holds weight constant, and the second allows weight and range dynamics to propagate on the same time-scale. Solutions for the first formulation are only carried out to zero order in the small parameter, while solutions for the second formulation are carried out to first order. Calculations for a HSCT design were made to illustrate the method. Results show that the minimum fuel trajectory consists of three segments: a minimum fuel energy-climb, a cruise-climb, and a minimum drag glide. The minimum time trajectory also has three segments: a maximum dynamic pressure ascent, a constant altitude cruise, and a maximum dynamic pressure glide. The minimum direct operating cost trajectory is an optimal combination of the two. For realistic costs of fuel and flight time, the minimum direct operating cost trajectory is very similar to the minimum fuel trajectory. Moreover, the HSCT has three local optimum cruise speeds, with the globally optimum cruise point at the highest allowable speed, if range is sufficiently long. The final range of the trajectory determines which locally optimal speed is best. Ranges of 500 to 6,000 nautical miles, subsonic and supersonic mixed flight, and varying fuel efficiency cases are analyzed. Finally, the payload-range curve of the HSCT design is determined.

Capturing the Diversity of Successful Aging: An Operational Definition Based on 16-Year Trajectories of Functioning.

PubMed

Kok, Almar A L; Aartsen, Marja J; Deeg, Dorly J H; Huisman, Martijn

2017-04-01

To determine the prevalence and extent of successful aging (SA) when various suggestions proposed in the previous literature for improving models of SA are incorporated into one holistic operational definition. These suggestions include defining and measuring SA as a developmental process, including subjective indicators alongside more objective ones, and expressing SA on a continuum. Data were used from 2,241 respondents in the Longitudinal Aging Study Amsterdam, a multidisciplinary study in a nationally representative sample of older adults in the Netherlands. Latent class growth analysis was used to identify successful 16-year trajectories within nine indicators of physical, cognitive, emotional, and social functioning. SA was quantified as the number of indicators in which individual respondents showed successful trajectories (range 0-9). Successful trajectories were characterized by stability, limited decline, or even improvement of functioning over time. Of the respondents, 39.6% of men and 29.3% of women were successful in at least seven indicators; 7% of men and 11% of women were successful in less than three indicators. Proportions of successful respondents were largest in life satisfaction (>85%) and smallest in social activity (<25%). Correlations of success between separate indicators were low to moderate (range r = .02-.37). Many older adults age relatively successfully, but the character of successful functioning over time varies between indicators, and the combinations of successful indicators vary between individuals. © The Author 2015. Published by Oxford University Press on behalf of The Gerontological Society of America. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

OPTIMAL AIRCRAFT TRAJECTORIES FOR SPECIFIED RANGE

NASA Technical Reports Server (NTRS)

Lee, H.

1994-01-01

For an aircraft operating over a fixed range, the operating costs are basically a sum of fuel cost and time cost. While minimum fuel and minimum time trajectories are relatively easy to calculate, the determination of a minimum cost trajectory can be a complex undertaking. This computer program was developed to optimize trajectories with respect to a cost function based on a weighted sum of fuel cost and time cost. As a research tool, the program could be used to study various characteristics of optimum trajectories and their comparison to standard trajectories. It might also be used to generate a model for the development of an airborne trajectory optimization system. The program could be incorporated into an airline flight planning system, with optimum flight plans determined at takeoff time for the prevailing flight conditions. The use of trajectory optimization could significantly reduce the cost for a given aircraft mission. The algorithm incorporated in the program assumes that a trajectory consists of climb, cruise, and descent segments. The optimization of each segment is not done independently, as in classical procedures, but is performed in a manner which accounts for interaction between the segments. This is accomplished by the application of optimal control theory. The climb and descent profiles are generated by integrating a set of kinematic and dynamic equations, where the total energy of the aircraft is the independent variable. At each energy level of the climb and descent profiles, the air speed and power setting necessary for an optimal trajectory are determined. The variational Hamiltonian of the problem consists of the rate of change of cost with respect to total energy and a term dependent on the adjoint variable, which is identical to the optimum cruise cost at a specified altitude. This variable uniquely specifies the optimal cruise energy, cruise altitude, cruise Mach number, and, indirectly, the climb and descent profiles. If the optimum cruise cost is specified, an optimum trajectory can easily be generated; however, the range obtained for a particular optimum cruise cost is not known a priori. For short range flights, the program iteratively varies the optimum cruise cost until the computed range converges to the specified range. For long-range flights, iteration is unnecessary since the specified range can be divided into a cruise segment distance and full climb and descent distances. The user must supply the program with engine fuel flow rate coefficients and an aircraft aerodynamic model. The program currently includes coefficients for the Pratt-Whitney JT8D-7 engine and an aerodynamic model for the Boeing 727. Input to the program consists of the flight range to be covered and the prevailing flight conditions including pressure, temperature, and wind profiles. Information output by the program includes: optimum cruise tables at selected weights, optimal cruise quantities as a function of cruise weight and cruise distance, climb and descent profiles, and a summary of the complete synthesized optimal trajectory. This program is written in FORTRAN IV for batch execution and has been implemented on a CDC 6000 series computer with a central memory requirement of approximately 100K (octal) of 60 bit words. This aircraft trajectory optimization program was developed in 1979.

Multi-objective four-dimensional vehicle motion planning in large dynamic environments.

PubMed

Wu, Paul P-Y; Campbell, Duncan; Merz, Torsten

2011-06-01

This paper presents Multi-Step A∗ (MSA∗), a search algorithm based on A∗ for multi-objective 4-D vehicle motion planning (three spatial and one time dimensions). The research is principally motivated by the need for offline and online motion planning for autonomous unmanned aerial vehicles (UAVs). For UAVs operating in large dynamic uncertain 4-D environments, the motion plan consists of a sequence of connected linear tracks (or trajectory segments). The track angle and velocity are important parameters that are often restricted by assumptions and a grid geometry in conventional motion planners. Many existing planners also fail to incorporate multiple decision criteria and constraints such as wind, fuel, dynamic obstacles, and the rules of the air. It is shown that MSA∗ finds a cost optimal solution using variable length, angle, and velocity trajectory segments. These segments are approximated with a grid-based cell sequence that provides an inherent tolerance to uncertainty. The computational efficiency is achieved by using variable successor operators to create a multiresolution memory-efficient lattice sampling structure. The simulation studies on the UAV flight planning problem show that MSA∗ meets the time constraints of online replanning and finds paths of equivalent cost but in a quarter of the time (on average) of a vector neighborhood-based A∗.

Evaluation of the Trajectory Operations Applications Software Task (TOAST)

NASA Technical Reports Server (NTRS)

Perkins, Sharon; Martin, Andrea; Bavinger, Bill

1990-01-01

The Trajectory Operations Applications Software Task (TOAST) is a software development project under the auspices of the Mission Operations Directorate. Its purpose is to provide trajectory operation pre-mission and real-time support for the Space Shuttle program. As an Application Manager, TOAST provides an isolation layer between the underlying Unix operating system and the series of user programs. It provides two main services: a common interface to operating system functions with semantics appropriate for C or FORTRAN, and a structured input and output package that can be utilized by user application programs. In order to evaluate TOAST as an Application Manager, the task was to assess current and planned capabilities, compare capabilities to functions available in commercially-available off the shelf (COTS) and Flight Analysis Design System (FADS) users for TOAST implementation. As a result of the investigation, it was found that the current version of TOAST is well implemented and meets the needs of the real-time users. The plans for migrating TOAST to the X Window System are essentially sound; the Executive will port with minor changes, while Menu Handler will require a total rewrite. A series of recommendations for future TOAST directions are included.

Navigation of the autonomous vehicle reverse movement

NASA Astrophysics Data System (ADS)

Rachkov, M.; Petukhov, S.

2018-02-01

The paper presents a mathematical formulation of the vehicle reverse motion along a multi-link polygonal trajectory consisting of rectilinear segments interconnected by nodal points. Relevance of the problem is caused by the need to solve a number of tasks: to save the vehicle in the event of а communication break by returning along the trajectory already passed, to avoid a turn on the ground in constrained obstacles or dangerous conditions, or a partial return stroke for the subsequent bypass of the obstacle and continuation of the forward movement. The method of navigation with direct movement assumes that the reverse path is elaborated by using landmarks. To measure landmarks on board, a block of cameras is placed on a vehicle controlled by the operator through the radio channel. Errors in estimating deviation from the nominal trajectory of motion are determined using the multidimensional correlation analysis apparatus based on the dynamics of a lateral deviation error and a vehicle speed error. The result of the experiment showed a relatively high accuracy in determining the state vector that provides the vehicle reverse motion relative to the reference trajectory with a practically acceptable error while returning to the start point.

A New Computational Technique for the Generation of Optimised Aircraft Trajectories

NASA Astrophysics Data System (ADS)

Chircop, Kenneth; Gardi, Alessandro; Zammit-Mangion, David; Sabatini, Roberto

2017-12-01

A new computational technique based on Pseudospectral Discretisation (PSD) and adaptive bisection ɛ-constraint methods is proposed to solve multi-objective aircraft trajectory optimisation problems formulated as nonlinear optimal control problems. This technique is applicable to a variety of next-generation avionics and Air Traffic Management (ATM) Decision Support Systems (DSS) for strategic and tactical replanning operations. These include the future Flight Management Systems (FMS) and the 4-Dimensional Trajectory (4DT) planning and intent negotiation/validation tools envisaged by SESAR and NextGen for a global implementation. In particular, after describing the PSD method, the adaptive bisection ɛ-constraint method is presented to allow an efficient solution of problems in which two or multiple performance indices are to be minimized simultaneously. Initial simulation case studies were performed adopting suitable aircraft dynamics models and addressing a classical vertical trajectory optimisation problem with two objectives simultaneously. Subsequently, a more advanced 4DT simulation case study is presented with a focus on representative ATM optimisation objectives in the Terminal Manoeuvring Area (TMA). The simulation results are analysed in-depth and corroborated by flight performance analysis, supporting the validity of the proposed computational techniques.

Trajectory Specification for Automation of Terminal Air Traffic Control

NASA Technical Reports Server (NTRS)

Paielli, Russell A.

2016-01-01

"Trajectory specification" is the explicit bounding and control of aircraft tra- jectories such that the position at each point in time is constrained to a precisely defined volume of space. The bounding space is defined by cross-track, along-track, and vertical tolerances relative to a reference trajectory that specifies position as a function of time. The tolerances are dynamic and will be based on the aircraft nav- igation capabilities and the current traffic situation. A standard language will be developed to represent these specifications and to communicate them by datalink. Assuming conformance, trajectory specification can guarantee safe separation for an arbitrary period of time even in the event of an air traffic control (ATC) sys- tem or datalink failure, hence it can help to achieve the high level of safety and reliability needed for ATC automation. As a more proactive form of ATC, it can also maximize airspace capacity and reduce the reliance on tactical backup systems during normal operation. It applies to both enroute airspace and the terminal area around airports, but this paper focuses on arrival spacing in the terminal area and presents ATC algorithms and software for achieving a specified delay of runway arrival time.

Best-Fit Conic Approximation of Spacecraft Trajectory

NASA Technical Reports Server (NTRS)

Singh, Gurkipal

2005-01-01

A computer program calculates a best conic fit of a given spacecraft trajectory. Spacecraft trajectories are often propagated as conics onboard. The conic-section parameters as a result of the best-conic-fit are uplinked to computers aboard the spacecraft for use in updating predictions of the spacecraft trajectory for operational purposes. In the initial application for which this program was written, there is a requirement to fit a single conic section (necessitated by onboard memory constraints) accurate within 200 microradians to a sequence of positions measured over a 4.7-hour interval. The present program supplants a prior one that could not cover the interval with fewer than four successive conic sections. The present program is based on formulating the best-fit conic problem as a parameter-optimization problem and solving the problem numerically, on the ground, by use of a modified steepest-descent algorithm. For the purpose of this algorithm, optimization is defined as minimization of the maximum directional propagation error across the fit interval. In the specific initial application, the program generates a single 4.7-hour conic, the directional propagation of which is accurate to within 34 microradians easily exceeding the mission constraints by a wide margin.

EIVAN - AN INTERACTIVE ORBITAL TRAJECTORY PLANNING TOOL

NASA Technical Reports Server (NTRS)

Brody, A. R.

1994-01-01

The Interactive Orbital Trajectory planning Tool, EIVAN, is a forward looking interactive orbit trajectory plotting tool for use with Proximity Operations (operations occurring within a one kilometer sphere of the space station) and other maneuvers. The result of vehicle burns on-orbit is very difficult to anticipate because of non-linearities in the equations of motion governing orbiting bodies. EIVAN was developed to plot resulting trajectories, to provide a better comprehension of orbital mechanics effects, and to help the user develop heuristics for onorbit mission planning. EIVAN comprises a worksheet and a chart from Microsoft Excel on a Macintosh computer. The orbital path for a user-specified time interval is plotted given operator burn inputs. Fuel use is also calculated. After the thrust parameters (magnitude, direction, and time) are input, EIVAN plots the resulting trajectory. Up to five burns may be inserted at any time in the mission. Twenty data points are plotted for each burn and the time interval can be varied to accommodate any desired time frame or degree of resolution. Since the number of data points for each burn is constant, the mission duration can be increased or decreased by increasing or decreasing the time interval. The EIVAN program runs with Microsoft's Excel for execution on a Macintosh running Macintosh OS. A working knowledge of Excel is helpful, but not imperative, for interacting with EIVAN. The program was developed in 1989.

An Augmentation of G-Guidance Algorithms

NASA Technical Reports Server (NTRS)

Carson, John M. III; Acikmese, Behcet

2011-01-01

The original G-Guidance algorithm provided an autonomous guidance and control policy for small-body proximity operations that took into account uncertainty and dynamics disturbances. However, there was a lack of robustness in regards to object proximity while in autonomous mode. The modified GGuidance algorithm was augmented with a second operational mode that allows switching into a safety hover mode. This will cause a spacecraft to hover in place until a mission-planning algorithm can compute a safe new trajectory. No state or control constraints are violated. When a new, feasible state trajectory is calculated, the spacecraft will return to standard mode and maneuver toward the target. The main goal of this augmentation is to protect the spacecraft in the event that a landing surface or obstacle is closer or further than anticipated. The algorithm can be used for the mitigation of any unexpected trajectory or state changes that occur during standard mode operations

Pain and Function Recovery Trajectories following Revision Hip Arthroplasty: Short-Term Changes and Comparison with Primary Hip Arthroplasty in the ADAPT Cohort Study.

PubMed

Lenguerrand, Erik; Whitehouse, Michael R; Wylde, Vikki; Gooberman-Hill, Rachael; Blom, Ashley W

2016-01-01

Patients report similar or better pain and function before revision hip arthroplasty than before primary arthroplasty but worse results are reported after revision surgery than after primary surgery. The trajectory of post-operative recovery during the first months and any differences by type of surgery have received little attention. We explored the trajectories of change in pain and function after revision hip arthroplasty to 12-months post-operatively and compare them with those observed after primary hip arthroplasty. This study is a prospective cohort study of patients undergoing primary (n = 80 with 92% for an indication of osteoarthritis) and revision (n = 43) hip arthroplasties. WOMAC pain and function scores and walking speed were collected pre-operatively, at 3 and 12-months post-operatively. Multilevel regression models were used to chart and compare the trajectories of change (0-3 months and 3-12 months) between types of surgery. The improvements in pain and function following revision arthroplasty occurred within the first 3-months with no evidence of further change beyond this initial period. While the pattern of recovery was similar to the one observed after primary arthroplasty, improvements in the first 3-months were smaller after revision compared to primary arthroplasty. Patients listed for revision surgery reported lower pre-operative pain levels but similar post-operative levels compared to those undergoing primary surgery. At 12-months post-operation patients who underwent a revision arthroplasty had not reached the same level of function achieved by those who underwent primary arthroplasty. The post-operative improvements in pain and function are larger following primary hip arthroplasty than following revision hip arthroplasty. Irrespectively of surgery type, most of the improvements occur in the first three post-operative months. More research is required to identify whether the recovery following revision surgery could be improved with specific post-operative interventions.

Sampling-based real-time motion planning under state uncertainty for autonomous micro-aerial vehicles in GPS-denied environments.

PubMed

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-11-18

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints.

Sampling-Based Real-Time Motion Planning under State Uncertainty for Autonomous Micro-Aerial Vehicles in GPS-Denied Environments

PubMed Central

Li, Dachuan; Li, Qing; Cheng, Nong; Song, Jingyan

2014-01-01

This paper presents a real-time motion planning approach for autonomous vehicles with complex dynamics and state uncertainty. The approach is motivated by the motion planning problem for autonomous vehicles navigating in GPS-denied dynamic environments, which involves non-linear and/or non-holonomic vehicle dynamics, incomplete state estimates, and constraints imposed by uncertain and cluttered environments. To address the above motion planning problem, we propose an extension of the closed-loop rapid belief trees, the closed-loop random belief trees (CL-RBT), which incorporates predictions of the position estimation uncertainty, using a factored form of the covariance provided by the Kalman filter-based estimator. The proposed motion planner operates by incrementally constructing a tree of dynamically feasible trajectories using the closed-loop prediction, while selecting candidate paths with low uncertainty using efficient covariance update and propagation. The algorithm can operate in real-time, continuously providing the controller with feasible paths for execution, enabling the vehicle to account for dynamic and uncertain environments. Simulation results demonstrate that the proposed approach can generate feasible trajectories that reduce the state estimation uncertainty, while handling complex vehicle dynamics and environment constraints. PMID:25412217

Reconfigurable logic via gate controlled domain wall trajectory in magnetic network structure

PubMed Central

Murapaka, C.; Sethi, P.; Goolaup, S.; Lew, W. S.

2016-01-01

An all-magnetic logic scheme has the advantages of being non-volatile and energy efficient over the conventional transistor based logic devices. In this work, we present a reconfigurable magnetic logic device which is capable of performing all basic logic operations in a single device. The device exploits the deterministic trajectory of domain wall (DW) in ferromagnetic asymmetric branch structure for obtaining different output combinations. The programmability of the device is achieved by using a current-controlled magnetic gate, which generates a local Oersted field. The field generated at the magnetic gate influences the trajectory of the DW within the structure by exploiting its inherent transverse charge distribution. DW transformation from vortex to transverse configuration close to the output branch plays a pivotal role in governing the DW chirality and hence the output. By simply switching the current direction through the magnetic gate, two universal logic gate functionalities can be obtained in this device. Using magnetic force microscopy imaging and magnetoresistance measurements, all basic logic functionalities are demonstrated. PMID:26839036

Descent advisor preliminary field test

NASA Technical Reports Server (NTRS)

Green, Steven M.; Vivona, Robert A.; Sanford, Beverly

1995-01-01

A field test of the Descent Advisor (DA) automation tool was conducted at the Denver Air Route Traffic Control Center in September 1994. DA is being developed to assist Center controllers in the efficient management and control of arrival traffic. DA generates advisories, based on trajectory predictions, to achieve accurate meter-fix arrival times in a fuel efficient manner while assisting the controller with the prediction and resolution of potential conflicts. The test objectives were to evaluate the accuracy of DA trajectory predictions for conventional- and flight-management-system-equipped jet transports, to identify significant sources of trajectory prediction error, and to investigate procedural and training issues (both air and ground) associated with DA operations. Various commercial aircraft (97 flights total) and a Boeing 737-100 research aircraft participated in the test. Preliminary results from the primary test set of 24 commercial flights indicate a mean DA arrival time prediction error of 2.4 sec late with a standard deviation of 13.1 sec. This paper describes the field test and presents preliminary results for the commercial flights.

An artificial neural network model for periodic trajectory generation

NASA Astrophysics Data System (ADS)

Shankar, S.; Gander, R. E.; Wood, H. C.

A neural network model based on biological systems was developed for potential robotic application. The model consists of three interconnected layers of artificial neurons or units: an input layer subdivided into state and plan units, an output layer, and a hidden layer between the two outer layers which serves to implement nonlinear mappings between the input and output activation vectors. Weighted connections are created between the three layers, and learning is effected by modifying these weights. Feedback connections between the output and the input state serve to make the network operate as a finite state machine. The activation vector of the plan units of the input layer emulates the supraspinal commands in biological central pattern generators in that different plan activation vectors correspond to different sequences or trajectories being recalled, even with different frequencies. Three trajectories were chosen for implementation, and learning was accomplished in 10,000 trials. The fault tolerant behavior, adaptiveness, and phase maintenance of the implemented network are discussed.

Future Development Trajectories for Imaging X-rays Spectrometers Based on Microcalorimeters

NASA Technical Reports Server (NTRS)

Kilbourne, Caroline A.; Bandler, Simon R.

2013-01-01

Future development trajectories for imaging x-ray spectrometers based on microcalorimeters. Since their invention 30 years ago, the capability of X-ray microcalorimeters has increased steadily, with continual improvements in energy resolution, speed, and array size. Arrays of up to 1024 pixels have been produced, and resolution better than 1 eV at 1.5 keV has been achieved. These detectors can be optimized for the highest priority science, such as designing for the highest resolving power at low energies at the expense of dynamic range, or the greatest focal-plane coverage at the expense of speed. Three types of X-ray microcalorimeters presently dominate the field, each characterized by the thermometer technology. The first two types use temperature-sensitive resistors: semiconductors in the metal-insulator transition and superconductors operated in the superconducting-normal transition. The third type uses a magnetically coupled thermometer, and is at an earlier stage of development than the other two. The Soft X-ray Spectrometer (SXS) on Astro-H, expected to launch in 2015, will use an array of silicon thermistors with HgTe X-ray absorbers that will operate at 50 mK. Both the semiconductor and superconductor calorimeters have been implemented in small arrays. Kilopixel arrays of the superconducting calorimeters are being produced, and much larger arrays may require the non-dissipative advantage of magnetically coupled thermometers. I will project the development trajectories of these detectors and their read-out technologies and assess what their capabilities and limitations will be 10 - 20 years from now.

Neural network-based optimal adaptive output feedback control of a helicopter UAV.

PubMed

Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani

2013-07-01

Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.

Association of Impaired Linear Growth and Worse Neurodevelopmental Outcome in Infants with Single Ventricle Physiology: A Report from the Pediatric Heart Network Infant Single Ventricle Trial

PubMed Central

Ravishankar, Chitra; Zak, Victor; Williams, Ismee A.; Bellinger, David C.; Gaynor, J. William; Ghanayem, Nancy S.; Krawczeski, Catherine D.; Licht, Daniel J.; Mahony, Lynn; Newburger, Jane W.; Pemberton, Victoria L.; Williams, Richard V.; Sananes, Renee; Cook, Amanda L.; Atz, Teresa; Khaikin, Svetlana; Hsu, Daphne T.

2012-01-01

Objectives To describe neurodevelopmental outcomes in infants with single ventricle (SV) physiology and determine factors associated with worse outcomes. Study design Neurodevelopmental outcomes for infants with SV enrolled in a multicenter drug trial were assessed at 14 months of age using the Bayley Scales of Infant Development-II. Multivariable regression analysis was used to identify factors associated with worse outcomes. Results Neurodevelopmental testing was performed at 14±1 months in 170/185 subjects in the trial. Hypoplastic left heart syndrome was present in 59% and 75% had undergone the Norwood operation. Mean psychomotor (PDI) and mental developmental indices (MDI) were 80±18 and 96±14 respectively (normal 100±15, P<0.001 for each). Group-based trajectory analysis provided a two-group model (high” and “low”) for height z-score trajectory and brain type natriuretic peptide (BNP) trajectory. The predicted PDI scores were 15 points higher in the “high” height z-score trajectory compared with the “low” cluster (P<.001). A higher number of serious adverse events during the trial was associated with lower PDI scores (P=.02). The predicted MDI scores were 13–17 points lower in “low height trajectory- high BNP trajectory” group compared with the other three groups (P<.001). MDI scores were also lower in subjects who required extracorporeal membrane oxygenation during the neonatal hospitalization (P=.01) or supplemental oxygen at discharge (P=.01). Conclusions Neurodevelopmental outcome at 14 months of age is impaired in infants with SV physiology. Low height trajectory and high BNP trajectory were associated with worse neurodevelopmental outcomes. Efforts to improve nutritional status alone may not improve neurodevelopmental outcomes. PMID:22939929

ASTP (SA-210) Launch vehicle operational flight trajectory. Part 3: Final documentation

NASA Technical Reports Server (NTRS)

Carter, A. B.; Klug, G. W.; Williams, N. W.

1975-01-01

Trajectory data are presented for a nominal and two launch window trajectory simulations. These trajectories are designed to insert a manned Apollo spacecraft into a 150/167 km. (81/90 n. mi.) earth orbit inclined at 51.78 degrees for rendezvous with a Soyuz spacecraft, which will be orbiting at approximately 225 km. (121.5 n. mi.). The launch window allocation defined for this launch is 500 pounds of S-IVB stage propellant. The launch window opening trajectory simulation depicts the earliest launch time deviation from a planar flight launch which conforms to this constraint. The launch window closing trajectory simulation was developed for the more stringent Air Force Eastern Test Range (AFETR) flight azimuth restriction of 37.4 degrees east-of-north. These trajectories enclose a 12.09 minute launch window, pertinent features of which are provided in a tabulation. Planar flight data are included for mid-window reference.

IRVE-II Post-Flight Trajectory Reconstruction

NASA Technical Reports Server (NTRS)

O'Keefe, Stephen A.; Bose, David M.

2010-01-01

NASA s Inflatable Re-entry Vehicle Experiment (IRVE) II successfully demonstrated an inflatable aerodynamic decelerator after being launched aboard a sounding rocket from Wallops Flight Facility (WFF). Preliminary day of flight data compared well with pre-flight Monte Carlo analysis, and a more complete trajectory reconstruction performed with an Extended Kalman Filter (EKF) approach followed. The reconstructed trajectory and comparisons to an attitude solution provided by NASA Sounding Rocket Operations Contract (NSROC) personnel at WFF are presented. Additional comparisons are made between the reconstructed trajectory and pre and post-flight Monte Carlo trajectory predictions. Alternative observations of the trajectory are summarized which leverage flight accelerometer measurements, the pre-flight aerodynamic database, and on-board flight video. Finally, analysis of the payload separation and aeroshell deployment events are presented. The flight trajectory is reconstructed to fidelity sufficient to assess overall project objectives related to flight dynamics and overall, IRVE-II flight dynamics are in line with expectations

Neural joint control for Space Shuttle Remote Manipulator System

NASA Technical Reports Server (NTRS)

Atkins, Mark A.; Cox, Chadwick J.; Lothers, Michael D.; Pap, Robert M.; Thomas, Charles R.

1992-01-01

Neural networks are being used to control a robot arm in a telerobotic operation. The concept uses neural networks for both joint and inverse kinematics in a robotic control application. An upper level neural network is trained to learn inverse kinematic mappings. The output, a trajectory, is then fed to the Decentralized Adaptive Joint Controllers. This neural network implementation has shown that the controlled arm recovers from unexpected payload changes while following the reference trajectory. The neural network-based decentralized joint controller is faster, more robust and efficient than conventional approaches. Implementations of this architecture are discussed that would relax assumptions about dynamics, obstacles, and heavy loads. This system is being developed to use with the Space Shuttle Remote Manipulator System.

On the Formal Verification of Conflict Detection Algorithms

NASA Technical Reports Server (NTRS)

Munoz, Cesar; Butler, Ricky W.; Carreno, Victor A.; Dowek, Gilles

2001-01-01

Safety assessment of new air traffic management systems is a main issue for civil aviation authorities. Standard techniques such as testing and simulation have serious limitations in new systems that are significantly more autonomous than the older ones. In this paper, we present an innovative approach, based on formal verification, for establishing the correctness of conflict detection systems. Fundamental to our approach is the concept of trajectory, which is a continuous path in the x-y plane constrained by physical laws and operational requirements. From the Model of trajectories, we extract, and formally prove, high level properties that can serve as a framework to analyze conflict scenarios. We use the Airborne Information for Lateral Spacing (AILS) alerting algorithm as a case study of our approach.

Robust Target Tracking with Multi-Static Sensors under Insufficient TDOA Information.

PubMed

Shin, Hyunhak; Ku, Bonhwa; Nelson, Jill K; Ko, Hanseok

2018-05-08

This paper focuses on underwater target tracking based on a multi-static sonar network composed of passive sonobuoys and an active ping. In the multi-static sonar network, the location of the target can be estimated using TDOA (Time Difference of Arrival) measurements. However, since the sensor network may obtain insufficient and inaccurate TDOA measurements due to ambient noise and other harsh underwater conditions, target tracking performance can be significantly degraded. We propose a robust target tracking algorithm designed to operate in such a scenario. First, track management with track splitting is applied to reduce performance degradation caused by insufficient measurements. Second, a target location is estimated by a fusion of multiple TDOA measurements using a Gaussian Mixture Model (GMM). In addition, the target trajectory is refined by conducting a stack-based data association method based on multiple-frames measurements in order to more accurately estimate target trajectory. The effectiveness of the proposed method is verified through simulations.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, K.; Jain, A.

1989-01-01

A spatial operator algebra for modeling the control and trajectory design of manipulation is discussed, with emphasis on its analytical formulation and implementation in the Ada programming language. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of the manipulator. Inversion is obtained using techniques of recursive filtering and smoothing. The operator alegbra provides a high-level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. Implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection, thus greatly simplifying the transition from an abstract problem formulation and solution to the detailed mechanization of a specific algorithm.

Trajectories of Pain and Function after Primary Hip and Knee Arthroplasty: The ADAPT Cohort Study

PubMed Central

Lenguerrand, Erik; Wylde, Vikki; Gooberman-Hill, Rachael; Sayers, Adrian; Brunton, Luke; Beswick, Andrew D.; Dieppe, Paul; Blom, Ashley W.

2016-01-01

Background and Purpose Pain and function improve dramatically in the first three months after hip and knee arthroplasty but the trajectory after three months is less well described. It is also unclear how pre-operative pain and function influence short- and long-term recovery. We explored the trajectory of change in function and pain until and beyond 3-months post-operatively and the influence of pre-operative self-reported symptoms. Methods The study was a prospective cohort study of 164 patients undergoing primary hip (n = 80) or knee (n = 84) arthroplasty in the United Kingdom. Self-reported measures of pain and function using the Western Ontario and McMaster Universities Osteoarthritis index were collected pre-operatively and at 3 and 12 months post-operatively. Hip and knee arthroplasties were analysed separately, and patients were split into two groups: those with high or low symptoms pre-operatively. Multilevel regression models were used for each outcome (pain and function), and the trajectories of change were charted (0–3 months and 3–12 months). Results Hip: Most improvement occurred within the first 3 months following hip surgery and patients with worse pre-operative scores had greater changes. The mean changes observed between 3 and twelve months were statistically insignificant. One year after surgery, patients with worse pre-operative scores had post-operative outcomes similar to those observed among patients with less severe pre-operative symptoms. Knee: Most improvement occurred in the first 3 months following knee surgery with no significant change thereafter. Despite greater mean change during the first three months, patients with worse pre-operative scores had not ‘caught-up’ with those with less severe pre-operative symptoms 12 months after their surgery. Conclusion Most symptomatic improvement occurred within the first 3 months after surgery with no significant change between 3–12 months. Further investigations are now required to determine if patients with severe symptoms at the time of their knee arthroplasty have a different pre-surgical history than those with less severe symptoms and if they could benefit from earlier surgical intervention and tailored rehabilitation to achieve better post-operative patient-reported outcomes. PMID:26871909

Trajectories of Pain and Function after Primary Hip and Knee Arthroplasty: The ADAPT Cohort Study.

PubMed

Lenguerrand, Erik; Wylde, Vikki; Gooberman-Hill, Rachael; Sayers, Adrian; Brunton, Luke; Beswick, Andrew D; Dieppe, Paul; Blom, Ashley W

2016-01-01

Pain and function improve dramatically in the first three months after hip and knee arthroplasty but the trajectory after three months is less well described. It is also unclear how pre-operative pain and function influence short- and long-term recovery. We explored the trajectory of change in function and pain until and beyond 3-months post-operatively and the influence of pre-operative self-reported symptoms. The study was a prospective cohort study of 164 patients undergoing primary hip (n = 80) or knee (n = 84) arthroplasty in the United Kingdom. Self-reported measures of pain and function using the Western Ontario and McMaster Universities Osteoarthritis index were collected pre-operatively and at 3 and 12 months post-operatively. Hip and knee arthroplasties were analysed separately, and patients were split into two groups: those with high or low symptoms pre-operatively. Multilevel regression models were used for each outcome (pain and function), and the trajectories of change were charted (0-3 months and 3-12 months). Hip: Most improvement occurred within the first 3 months following hip surgery and patients with worse pre-operative scores had greater changes. The mean changes observed between 3 and twelve months were statistically insignificant. One year after surgery, patients with worse pre-operative scores had post-operative outcomes similar to those observed among patients with less severe pre-operative symptoms. Knee: Most improvement occurred in the first 3 months following knee surgery with no significant change thereafter. Despite greater mean change during the first three months, patients with worse pre-operative scores had not 'caught-up' with those with less severe pre-operative symptoms 12 months after their surgery. Most symptomatic improvement occurred within the first 3 months after surgery with no significant change between 3-12 months. Further investigations are now required to determine if patients with severe symptoms at the time of their knee arthroplasty have a different pre-surgical history than those with less severe symptoms and if they could benefit from earlier surgical intervention and tailored rehabilitation to achieve better post-operative patient-reported outcomes.

A manned maneuvering unit proximity operations planning and flight guidance display and control system

NASA Technical Reports Server (NTRS)

Gershzohn, Gary R.; Sirko, Robert J.; Zimmerman, K.; Jones, A. D.

1990-01-01

This task concerns the design, development, testing, and evaluation of a new proximity operations planning and flight guidance display and control system for manned space operations. A forecast, derivative manned maneuvering unit (MMU) was identified as a candidate for the application of a color, highway-in-the-sky display format for the presentation of flight guidance information. A silicon graphics 4D/20-based simulation is being developed to design and test display formats and operations concepts. The simulation includes the following: (1) real-time color graphics generation to provide realistic, dynamic flight guidance displays and control characteristics; (2) real-time graphics generation of spacecraft trajectories; (3) MMU flight dynamics and control characteristics; (4) control algorithms for rotational and translational hand controllers; (5) orbital mechanics effects for rendezvous and chase spacecraft; (6) inclusion of appropriate navigation aids; and (7) measurement of subject performance. The flight planning system under development provides for: (1) selection of appropriate operational modes, including minimum cost, optimum cost, minimum time, and specified ETA; (2) automatic calculation of rendezvous trajectories, en route times, and fuel requirements; (3) and provisions for manual override. Man/machine function allocations in planning and en route flight segments are being evaluated. Planning and en route data are presented on one screen composed of two windows: (1) a map display presenting a view perpendicular to the orbital plane, depicting flight planning trajectory and time data attitude display presenting attitude and course data for use en route; and (2) an attitude display presenting local vertical-local horizontal attitude data superimposed on a highway-in-the-sky or flight channel representation of the flight planned course. Both display formats are presented while the MMU is en route. In addition to these displays, several original display elements are being developed, including a 3DOF flight detector for attitude commanding, a different flight detector for translation commands, and a pictorial representation of velocity deviations.

Mission Operations and Navigation Toolkit Environment

NASA Technical Reports Server (NTRS)

Sunseri, Richard F.; Wu, Hsi-Cheng; Hanna, Robert A.; Mossey, Michael P.; Duncan, Courtney B.; Evans, Scott E.; Evans, James R.; Drain, Theodore R.; Guevara, Michelle M.; Martin Mur, Tomas J.;

Feasibility Analysis for a Manned Mars Free-Return Mission in 2018

NASA Technical Reports Server (NTRS)

Tito, Dennis A.; Anderson, Grant; Carrico, John P., Jr.; Clark, Jonathan; Finger, Barry; Lantz, Gary A.; Loucks, Michel E.; MacCallum, Taber; Poynter, Jane; Squire, Thomas H.;

Design and Analysis of Optimal Ascent Trajectories for Stratospheric Airships

NASA Astrophysics Data System (ADS)

Mueller, Joseph Bernard

Stratospheric airships are lighter-than-air vehicles that have the potential to provide a long-duration airborne presence at altitudes of 18-22 km. Designed to operate on solar power in the calm portion of the lower stratosphere and above all regulated air traffic and cloud cover, these vehicles represent an emerging platform that resides between conventional aircraft and satellites. A particular challenge for airship operation is the planning of ascent trajectories, as the slow moving vehicle must traverse the high wind region of the jet stream. Due to large changes in wind speed and direction across altitude and the susceptibility of airship motion to wind, the trajectory must be carefully planned, preferably optimized, in order to ensure that the desired station be reached within acceptable performance bounds of flight time and energy consumption. This thesis develops optimal ascent trajectories for stratospheric airships, examines the structure and sensitivity of these solutions, and presents a strategy for onboard guidance. Optimal ascent trajectories are developed that utilize wind energy to achieve minimum-time and minimum-energy flights. The airship is represented by a three-dimensional point mass model, and the equations of motion include aerodynamic lift and drag, vectored thrust, added mass effects, and accelerations due to mass flow rate, wind rates, and Earth rotation. A representative wind profile is developed based on historical meteorological data and measurements. Trajectory optimization is performed by first defining an optimal control problem with both terminal and path constraints, then using direct transcription to develop an approximate nonlinear parameter optimization problem of finite dimension. Optimal ascent trajectories are determined using SNOPT for a variety of upwind, downwind, and crosswind launch locations. Results of extensive optimization solutions illustrate definitive patterns in the ascent path for minimum time flights across varying launch locations, and show that significant energy savings can be realized with minimum-energy flights, compared to minimum-time time flights, given small increases in flight time. The performance of the optimal trajectories are then studied with respect to solar energy production during ascent, as well as sensitivity of the solutions to small changes in drag coefficient and wind model parameters. Results of solar power model simulations indicate that solar energy is sufficient to power ascent flights, but that significant energy loss can occur for certain types of trajectories. Sensitivity to the drag and wind model is approximated through numerical simulations, showing that optimal solutions change gradually with respect to changing wind and drag parameters and providing deeper insight into the characteristics of optimal airship flights. Finally, alternative methods are developed to generate near-optimal ascent trajectories in a manner suitable for onboard implementation. The structures and characteristics of previously developed minimum-time and minimum-energy ascent trajectories are used to construct simplified trajectory models, which are efficiently solved in a smaller numerical optimization problem. Comparison of these alternative solutions to the original SNOPT solutions show excellent agreement, suggesting the alternate formulations are an effective means to develop near-optimal solutions in an onboard setting.

Pairwise Trajectory Management (PTM): Concept Overview

NASA Technical Reports Server (NTRS)

Jones, Kenneth M.; Graff, Thomas J.; Chartrand, Ryan C.; Carreno, Victor; Kibler, Jennifer L.

2017-01-01

Pairwise Trajectory Management (PTM) is an Interval Management (IM) concept that utilizes airborne and ground-based capabilities to enable the implementation of airborne pairwise spacing capabilities in oceanic regions. The goal of PTM is to use airborne surveillance and tools to manage an "at or greater than" inter-aircraft spacing. Due to the precision of Automatic Dependent Surveillance-Broadcast (ADS-B) information and the use of airborne spacing guidance, the PTM minimum spacing distance will be less than distances a controller can support with current automation systems that support oceanic operations. Ground tools assist the controller in evaluating the traffic picture and determining appropriate PTM clearances to be issued. Avionics systems provide guidance information that allows the flight crew to conform to the PTM clearance issued by the controller. The combination of a reduced minimum distance and airborne spacing management will increase the capacity and efficiency of aircraft operations at a given altitude or volume of airspace. This paper provides an overview of the proposed application, description of a few key scenarios, high level discussion of expected air and ground equipment and procedure changes, overview of a potential flight crew human-machine interface that would support PTM operations and some initial PTM benefits results.

Spiral trajectory design: a flexible numerical algorithm and base analytical equations.

PubMed

Pipe, James G; Zwart, Nicholas R

2014-01-01

Spiral-based trajectories for magnetic resonance imaging can be advantageous, but are often cumbersome to design or create. This work presents a flexible numerical algorithm for designing trajectories based on explicit definition of radial undersampling, and also gives several analytical expressions for charactering the base (critically sampled) class of these trajectories. Expressions for the gradient waveform, based on slew and amplitude limits, are developed such that a desired pitch in the spiral k-space trajectory is followed. The source code for this algorithm, written in C, is publicly available. Analytical expressions approximating the spiral trajectory (ignoring the radial component) are given to characterize measurement time, gradient heating, maximum gradient amplitude, and off-resonance phase for slew-limited and gradient amplitude-limited cases. Several numerically calculated trajectories are illustrated, and base Archimedean spirals are compared with analytically obtained results. Several different waveforms illustrate that the desired slew and amplitude limits are reached, as are the desired undersampling patterns, using the numerical method. For base Archimedean spirals, the results of the numerical and analytical approaches are in good agreement. A versatile numerical algorithm was developed, and was written in publicly available code. Approximate analytical formulas are given that help characterize spiral trajectories. Copyright © 2013 Wiley Periodicals, Inc.

DUKSUP: A Computer Program for High Thrust Launch Vehicle Trajectory Design and Optimization

NASA Technical Reports Server (NTRS)

Williams, C. H.; Spurlock, O. F.

2014-01-01

From the late 1960's through 1997, the leadership of NASA's Intermediate and Large class unmanned expendable launch vehicle projects resided at the NASA Lewis (now Glenn) Research Center (LeRC). One of LeRC's primary responsibilities --- trajectory design and performance analysis --- was accomplished by an internally-developed analytic three dimensional computer program called DUKSUP. Because of its Calculus of Variations-based optimization routine, this code was generally more capable of finding optimal solutions than its contemporaries. A derivation of optimal control using the Calculus of Variations is summarized including transversality, intermediate, and final conditions. The two point boundary value problem is explained. A brief summary of the code's operation is provided, including iteration via the Newton-Raphson scheme and integration of variational and motion equations via a 4th order Runge-Kutta scheme. Main subroutines are discussed. The history of the LeRC trajectory design efforts in the early 1960's is explained within the context of supporting the Centaur upper stage program. How the code was constructed based on the operation of the Atlas/Centaur launch vehicle, the limits of the computers of that era, the limits of the computer programming languages, and the missions it supported are discussed. The vehicles DUKSUP supported (Atlas/Centaur, Titan/Centaur, and Shuttle/Centaur) are briefly described. The types of missions, including Earth orbital and interplanetary, are described. The roles of flight constraints and their impact on launch operations are detailed (such as jettisoning hardware on heating, Range Safety, ground station tracking, and elliptical parking orbits). The computer main frames on which the code was hosted are described. The applications of the code are detailed, including independent check of contractor analysis, benchmarking, leading edge analysis, and vehicle performance improvement assessments. Several of DUKSUP's many major impacts on launches are discussed including Intelsat, Voyager, Pioneer Venus, HEAO, Galileo, and Cassini.

DUKSUP: A Computer Program for High Thrust Launch Vehicle Trajectory Design and Optimization

NASA Technical Reports Server (NTRS)

Spurlock, O. Frank; Williams, Craig H.

2015-01-01

From the late 1960s through 1997, the leadership of NASAs Intermediate and Large class unmanned expendable launch vehicle projects resided at the NASA Lewis (now Glenn) Research Center (LeRC). One of LeRCs primary responsibilities --- trajectory design and performance analysis --- was accomplished by an internally-developed analytic three dimensional computer program called DUKSUP. Because of its Calculus of Variations-based optimization routine, this code was generally more capable of finding optimal solutions than its contemporaries. A derivation of optimal control using the Calculus of Variations is summarized including transversality, intermediate, and final conditions. The two point boundary value problem is explained. A brief summary of the codes operation is provided, including iteration via the Newton-Raphson scheme and integration of variational and motion equations via a 4th order Runge-Kutta scheme. Main subroutines are discussed. The history of the LeRC trajectory design efforts in the early 1960s is explained within the context of supporting the Centaur upper stage program. How the code was constructed based on the operation of the AtlasCentaur launch vehicle, the limits of the computers of that era, the limits of the computer programming languages, and the missions it supported are discussed. The vehicles DUKSUP supported (AtlasCentaur, TitanCentaur, and ShuttleCentaur) are briefly described. The types of missions, including Earth orbital and interplanetary, are described. The roles of flight constraints and their impact on launch operations are detailed (such as jettisoning hardware on heating, Range Safety, ground station tracking, and elliptical parking orbits). The computer main frames on which the code was hosted are described. The applications of the code are detailed, including independent check of contractor analysis, benchmarking, leading edge analysis, and vehicle performance improvement assessments. Several of DUKSUPs many major impacts on launches are discussed including Intelsat, Voyager, Pioneer Venus, HEAO, Galileo, and Cassini.

Trajectory Assessment and Modification Tools for Next Generation Air Traffic Management Operations

NASA Technical Reports Server (NTRS)

Brasil, Connie; Lee, Paul; Mainini, Matthew; Lee, Homola; Lee, Hwasoo; Prevot, Thomas; Smith, Nancy

2011-01-01

This paper reviews three Next Generation Air Transportation System (NextGen) based high fidelity air traffic control human-in-the-loop (HITL) simulations, with a focus on the expected requirement of enhanced automated trajectory assessment and modification tools to support future air traffic flow management (ATFM) planning positions. The simulations were conducted at the National Aeronautics and Space Administration (NASA) Ames Research Centers Airspace Operations Laboratory (AOL) in 2009 and 2010. The test airspace for all three simulations assumed the mid-term NextGenEn-Route high altitude environment utilizing high altitude sectors from the Kansas City and Memphis Air Route Traffic Control Centers. Trajectory assessment, modification and coordination decision support tools were developed at the AOL in order to perform future ATFM tasks. Overall tool usage results and user acceptability ratings were collected across three areas of NextGen operatoins to evaluate the tools. In addition to the usefulness and usability feedback, feasibility issues, benefits, and future requirements were also addressed. Overall, the tool sets were rated very useful and usable, and many elements of the tools received high scores and were used frequently and successfully. Tool utilization results in all three HITLs showed both user and system benefits including better airspace throughput, reduced controller workload, and highly effective communication protocols in both full Data Comm and mixed-equipage environments.

An artificially generated atmosphere near a lunar base

NASA Technical Reports Server (NTRS)

Burns, Jack O.; Fernini, Ilias; Sulkanen, Martin; Duric, Nebojsa; Taylor, G. Jeffrey; Johnson, Stewart W.

1992-01-01

We discuss the formation of an artificial atmosphere generated by vigorous lunar base activity in this paper. We developed an analytical, steady-state model for a lunar atmosphere based upon previous investigations of the Moon's atmosphere from Apollo. Constant gas-injection rates, ballistic trajectories, and a Maxwellian particle distribution for an oxygen-like gas are assumed. Even for the extreme case of continuous He-3 mining of the lunar regolith, we find that the lunar atmosphere would not significantly degrade astronomical observations beyond about 10 km from the mining operation.

Integrated guidance and control for microsatellite real-time automated proximity operations

NASA Astrophysics Data System (ADS)

Chen, Ying; He, Zhen; Zhou, Ding; Yu, Zhenhua; Li, Shunli

2018-07-01

This paper investigates the trajectory planning and control of autonomous spacecraft proximity operations with impulsive dynamics. A new integrated guidance and control scheme is developed to perform automated close-range rendezvous for underactuated microsatellites. To efficiently prevent collision, a modified RRT* trajectory planning algorithm is proposed under this context. Several engineering constraints such as collision avoidance, plume impingement, field of view and control feasibility are considered simultaneously. Then, the feedback controller that employs a turn-burn-turn strategy with a combined impulsive orbital control and finite-time attitude control is designed to ensure the implementation of planned trajectory. Finally, the performance of trajectory planner and controller are evaluated through numerical tests. Simulation results indicate the real-time implementability of the proposed integrated guidance and control scheme with position control error less than 0.5 m and velocity control error less than 0.05 m/s. Consequently, the proposed scheme offers the potential for wide applications, such as on-orbit maintenance, space surveillance and debris removal.

Trajectory Design and Control for the Compton Gamma Ray Observatory Re-Entry

NASA Technical Reports Server (NTRS)

Hoge, Susan; Vaughn, Frank; Bauer, Frank H. (Technical Monitor)

2000-01-01

The Compton Gamma Ray Observatory (CGRO) controlled re-entry operation was successfully conducted in June of 2000. The surviving parts of the spacecraft landed in the Pacific Ocean within the predicted footprint. The design of the maneuvers to control the trajectory to accomplish this re-entry presented several challenges. These challenges included timing and duration of the maneuvers, fuel management, post maneuver position knowledge, collision avoidance with other spacecraft, accounting for the break-up of the spacecraft into several pieces with a wide range of ballistic coefficients, and ensuring that the impact footprint would remain within the desired landing area in the event of contingencies. This paper presents the initial re-entry trajectory design and the evolution of the design into the maneuver sequence used for the re-entry. The paper discusses the constraints on the trajectory design, the modifications made to the initial design and the reasons behind these modifications. Data from the re-entry operation are presented.

Conformal bootstrap at large charge

NASA Astrophysics Data System (ADS)

Jafferis, Daniel; Mukhametzhanov, Baur; Zhiboedov, Alexander

2018-05-01

We consider unitary CFTs with continuous global symmetries in d > 2. We consider a state created by the lightest operator of large charge Q ≫ 1 and analyze the correlator of two light charged operators in this state. We assume that the correlator admits a well-defined large Q expansion and, relatedly, that the macroscopic (thermodynamic) limit of the correlator exists. We find that the crossing equations admit a consistent truncation, where only a finite number N of Regge trajectories contribute to the correlator at leading nontrivial order. We classify all such truncated solutions to the crossing. For one Regge trajectory N = 1, the solution is unique and given by the effective field theory of a Goldstone mode. For two or more Regge trajectories N ≥ 2, the solutions are encoded in roots of a certain degree N polynomial. Some of the solutions admit a simple weakly coupled EFT description, whereas others do not. In the weakly coupled case, each Regge trajectory corresponds to a field in the effective Lagrangian.

From Recess to Lockdown: Targeting Adult and Child School-Based Practices and Behaviors That Impact Black Male Entry into the School to Prison Pipeline

ERIC Educational Resources Information Center

Chase, Lance Montieth

2012-01-01

Prior studies establish that Black males follow a disproportionate trajectory from school to prison when compared to other groups. This same research has documented that multiple risk factors operating within schools may contribute to this phenomenon, commonly known as the "school to prison pipeline." The specific focus of the present…

Operating without a Safety Net: Gay Male Adolescents and Emerging Adults' Experiences of Marginalization and Migration, and Implications for Theory of Syndemic Production of Health Disparities

ERIC Educational Resources Information Center

Bruce, Douglas; Harper, Gary W.

2011-01-01

Health disparities among gay men (HIV, substance use, depression) have been described as a mutually occurring "syndemic" that is socially produced through two overarching dynamics: marginalization and migration. Although the syndemic theory proposes a developmental trajectory, it has been largely based on epidemiological studies of adult gay men…

Guidance and Control Architecture Design and Demonstration for Low Ballistic Coefficient Atmospheric Entry

NASA Technical Reports Server (NTRS)

Swei, Sean

2014-01-01

We propose to develop a robust guidance and control system for the ADEPT (Adaptable Deployable Entry and Placement Technology) entry vehicle. A control-centric model of ADEPT will be developed to quantify the performance of candidate guidance and control architectures for both aerocapture and precision landing missions. The evaluation will be based on recent breakthroughs in constrained controllability/reachability analysis of control systems and constrained-based energy-minimum trajectory optimization for guidance development operating in complex environments.

Complexity analysis of the Next Gen Air Traffic Management System: trajectory based operations.

PubMed

Lyons, Rhonda

2012-01-01

According to Federal Aviation Administration traffic predictions currently our Air Traffic Management (ATM) system is operating at 150 percent capacity; forecasting that within the next two decades, the traffic with increase to a staggering 250 percent [17]. This will require a major redesign of our system. Today's ATM system is complex. It is designed to safely, economically, and efficiently provide air traffic services through the cost-effective provision of facilities and seamless services in collaboration with multiple agents however, contrary the vision, the system is loosely integrated and is suffering tremendously from antiquated equipment and saturated airways. The new Next Generation (Next Gen) ATM system is designed to transform the current system into an agile, robust and responsive set of operations that are designed to safely manage the growing needs of the projected increasingly complex, diverse set of air transportation system users and massive projected worldwide traffic rates. This new revolutionary technology-centric system is dynamically complex and is much more sophisticated than it's soon to be predecessor. ATM system failures could yield large scale catastrophic consequences as it is a safety critical system. This work will attempt to describe complexity and the complex nature of the NextGen ATM system and Trajectory Based Operational. Complex human factors interactions within Next Gen will be analyzed using a proposed dual experimental approach designed to identify hazards, gaps and elicit emergent hazards that would not be visible if conducted in isolation. Suggestions will be made along with a proposal for future human factors research in the TBO safety critical Next Gen environment.

Validation of a Low-Thrust Mission Design Tool Using Operational Navigation Software

NASA Technical Reports Server (NTRS)

Englander, Jacob A.; Knittel, Jeremy M.; Williams, Ken; Stanbridge, Dale; Ellison, Donald H.

2017-01-01

Design of flight trajectories for missions employing solar electric propulsion requires a suitably high-fidelity design tool. In this work, the Evolutionary Mission Trajectory Generator (EMTG) is presented as a medium-high fidelity design tool that is suitable for mission proposals. EMTG is validated against the high-heritage deep-space navigation tool MIRAGE, demonstrating both the accuracy of EMTG's model and an operational mission design and navigation procedure using both tools. The validation is performed using a benchmark mission to the Jupiter Trojans.

Dynamic Weather Routes: A Weather Avoidance Concept for Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

McNally, B. David; Love, John

2011-01-01

The integration of convective weather modeling with trajectory automation for conflict detection, trial planning, direct routing, and auto resolution has uncovered a concept that could help controllers, dispatchers, and pilots identify improved weather routes that result in significant savings in flying time and fuel burn. Trajectory automation continuously and automatically monitors aircraft in flight to find those that could potentially benefit from improved weather reroutes. Controllers, dispatchers, and pilots then evaluate reroute options to assess their suitability given current weather and traffic. In today's operations aircraft fly convective weather avoidance routes that were implemented often hours before aircraft approach the weather and automation does not exist to automatically monitor traffic to find improved weather routes that open up due to changing weather conditions. The automation concept runs in real-time and employs two keysteps. First, a direct routing algorithm automatically identifies flights with large dog legs in their routes and therefore potentially large savings in flying time. These are common - and usually necessary - during convective weather operations and analysis of Fort Worth Center traffic shows many aircraft with short cuts that indicate savings on the order of 10 flying minutes. The second and most critical step is to apply trajectory automation with weather modeling to determine what savings could be achieved by modifying the direct route such that it avoids weather and traffic and is acceptable to controllers and flight crews. Initial analysis of Fort Worth Center traffic suggests a savings of roughly 50% of the direct route savings could be achievable.The core concept is to apply trajectory automation with convective weather modeling in real time to identify a reroute that is free of weather and traffic conflicts and indicates enough time and fuel savings to be considered. The concept is interoperable with today's integrated FMS/datalink. Auxiliary(lat/long) waypoints define a minimum delay reroute between current position and a downstream capture fix beyond the weather. These auxiliary waypoints can be uplinked to equipped aircraft and auto-loaded into the FMS. Alternatively, for unequipped aircraft, auxiliary waypoints can be replaced by nearby named fixes, but this could reduce potential savings. The presentation includes an overview of the automation approach and focuses on several cases in terms of potential savings, reroute complexity, best auxiliary waypoint solution vs. named fix solution, and other metrics.

Why Physics in Medicine?

PubMed

Samei, Ehsan; Grist, Thomas M

2018-05-18

Despite its crucial role in the development of new medical imaging technologies, in clinical practice, physics has primarily been involved in the technical evaluation of technologies. However, this narrow role is no longer adequate. New trajectories in medicine call for a stronger role for physics in the clinic. The movement toward evidence-based, quantitative, and value-based medicine requires physicists to play a more integral role in delivering innovative precision care through the intentional clinical application of physical sciences. There are three aspects of this clinical role: technology assessment based on metrics as they relate to expected clinical performance, optimized use of technologies for patient-centered clinical outcomes, and retrospective analysis of imaging operations to ensure attainment of expectations in terms of quality and variability. These tasks fuel the drive toward high-quality, consistent practice of medical imaging that is patient centered, evidence based, and safe. While this particular article focuses on imaging, this trajectory and paradigm is equally applicable to the multitudes of the applications of physics in medicine. Copyright © 2018 American College of Radiology. Published by Elsevier Inc. All rights reserved.

Visual display aid for orbital maneuvering - Experimental evaluation

NASA Technical Reports Server (NTRS)

Grunwald, Arthur J.; Ellis, Stephen R.

1993-01-01

An interactive proximity operations planning system, which allows on-site planning of fuel-efficient, multiburn maneuvers in a potential multispacecraft environment, has been experimentally evaluated. An experiment has been carried out in which nonastronaut operators with brief initial training were required to plan a trajectory to retrieve an object accidentally separated from a dual-keel Space Station, for a variety of different orbital situations. The experiments have shown that these operators were able to plan workable trajectories, satisfying a number of operational constraints. Fuel use and planning time were strongly correlated, both with the angle at which the object was separated and with the existence of spatial constraints. Planning behavior was found to be strongly operator-dependent. This finding calls for the need for standardizing planning strategies through operator training or the use of semiautomated planning schemes.

Simulated trajectories error analysis program, version 2. Volume 2: Programmer's manual

NASA Technical Reports Server (NTRS)

Vogt, E. D.; Adams, G. L.; Working, M. M.; Ferguson, J. B.; Bynum, M. R.

1971-01-01

A series of three computer programs for the mathematical analysis of navigation and guidance of lunar and interplanetary trajectories was developed. All three programs require the integration of n-body trajectories for both interplanetary and lunar missions. The virutal mass technique is used in all three programs. The user's manual contains the information necessary to operate the programs. The input and output quantities of the programs are described. Sample cases are given and discussed.

Back-trajectory modelling and DNA-based species-specific detection methods allow tracking of fungal spore transport in air masses.

PubMed

Grinn-Gofroń, Agnieszka; Sadyś, Magdalena; Kaczmarek, Joanna; Bednarz, Aleksandra; Pawłowska, Sylwia; Jedryczka, Malgorzata

2016-11-15

Recent advances in molecular detection of living organisms facilitate the introduction of novel methods to studies of the transport of fungal spores over large distances. Monitoring the migration of airborne fungi using microscope based spore identification is limited when different species produce very similar spores. In our study, DNA-based monitoring with the use of species-specific probes allowed us to track the aerial movements of two important fungal pathogens of oilseed rape (Brassica napus L.), i.e., Leptosphaeria maculans and Leptosphaeria biglobosa, which have identical spore shape and size. The fungi were identified using dual-labelled fluorescent probes that were targeted to a β-tubulin gene fragment of either Leptosphaeria species. Spore identification by Real-Time PCR techniques capable of detecting minute amounts of DNA of selected fungal species was combined with back-trajectory analysis, allowing the tracking of past movements of air masses using the Hybrid Single Particle Lagrangian Integrated Trajectory model. Over a study period spanning the previous decade (2006-2015) we investigated two specific events relating to the long distance transport of Leptosphaeria spp. spores to Szczecin in North-West Poland. Based on the above mentioned methods and the results obtained with the additional spore sampler located in nearby Szczecin, and operating at the ground level in an oilseed rape field, we have demonstrated that on both occasions the L. biglobosa spores originated from the Jutland Peninsula. This is the first successful attempt to combine analysis of back-trajectories of air masses with DNA-based identification of economically important pathogens of oilseed rape in Europe. In our studies, the timing of L. biglobosa ascospore dispersal in the air was unlikely to result in the infection of winter oilseed rape grown as a crop plant. However, the fungus could infect other host plants, such as vegetable brassicas, cruciferous weeds, spring rapeseed and winter rapeseed growing as a volunteer plant. Copyright © 2016 Elsevier B.V. All rights reserved.

Multi-objective optimisation of aircraft flight trajectories in the ATM and avionics context

NASA Astrophysics Data System (ADS)

Gardi, Alessandro; Sabatini, Roberto; Ramasamy, Subramanian

2016-05-01

The continuous increase of air transport demand worldwide and the push for a more economically viable and environmentally sustainable aviation are driving significant evolutions of aircraft, airspace and airport systems design and operations. Although extensive research has been performed on the optimisation of aircraft trajectories and very efficient algorithms were widely adopted for the optimisation of vertical flight profiles, it is only in the last few years that higher levels of automation were proposed for integrated flight planning and re-routing functionalities of innovative Communication Navigation and Surveillance/Air Traffic Management (CNS/ATM) and Avionics (CNS+A) systems. In this context, the implementation of additional environmental targets and of multiple operational constraints introduces the need to efficiently deal with multiple objectives as part of the trajectory optimisation algorithm. This article provides a comprehensive review of Multi-Objective Trajectory Optimisation (MOTO) techniques for transport aircraft flight operations, with a special focus on the recent advances introduced in the CNS+A research context. In the first section, a brief introduction is given, together with an overview of the main international research initiatives where this topic has been studied, and the problem statement is provided. The second section introduces the mathematical formulation and the third section reviews the numerical solution techniques, including discretisation and optimisation methods for the specific problem formulated. The fourth section summarises the strategies to articulate the preferences and to select optimal trajectories when multiple conflicting objectives are introduced. The fifth section introduces a number of models defining the optimality criteria and constraints typically adopted in MOTO studies, including fuel consumption, air pollutant and noise emissions, operational costs, condensation trails, airspace and airport operations. A brief overview of atmospheric and weather modelling is also included. Key equations describing the optimality criteria are presented, with a focus on the latest advancements in the respective application areas. In the sixth section, a number of MOTO implementations in the CNS+A systems context are mentioned with relevant simulation case studies addressing different operational tasks. The final section draws some conclusions and outlines guidelines for future research on MOTO and associated CNS+A system implementations.

Modern Methods for Modeling Change in Obesity Research in Nursing.

PubMed

Sereika, Susan M; Zheng, Yaguang; Hu, Lu; Burke, Lora E

2017-08-01

Persons receiving treatment for weight loss often demonstrate heterogeneity in lifestyle behaviors and health outcomes over time. Traditional repeated measures approaches focus on the estimation and testing of an average temporal pattern, ignoring the interindividual variability about the trajectory. An alternate person-centered approach, group-based trajectory modeling, can be used to identify distinct latent classes of individuals following similar trajectories of behavior or outcome change as a function of age or time and can be expanded to include time-invariant and time-dependent covariates and outcomes. Another latent class method, growth mixture modeling, builds on group-based trajectory modeling to investigate heterogeneity within the distinct trajectory classes. In this applied methodologic study, group-based trajectory modeling for analyzing changes in behaviors or outcomes is described and contrasted with growth mixture modeling. An illustration of group-based trajectory modeling is provided using calorie intake data from a single-group, single-center prospective study for weight loss in adults who are either overweight or obese.

Design of fast earth-return trajectories from a lunar base

NASA Astrophysics Data System (ADS)

Anhorn, Walter

1991-09-01

The Apollo Lunar Program utilized efficient transearth trajectories which employed parking orbits in order to minimize energy requirements. This thesis concentrates on a different type of transearth trajectory. These are direct-ascent, hyperbolic trajectories which omit the parking orbits in order to achieve short flight times to and from a future lunar base. The object of the thesis is the development of a three-dimensional transearth trajectory model and associated computer program for exploring trade-offs between flight-time and energy, given various mission constraints. The program also targets the Moon with a hyperbolic trajectory, which can be used for targeting Earth impact points. The first-order model is based on an Earth-centered conic and a massless spherical Moon, using MathCAD version 3.0. This model is intended as the basis for future patched-conic formulations for the design of fast Earth-return trajectories. Applications include placing nuclear deterrent arsenals on the Moon, various space support related activities, and finally protection against Earth-threatening asteroids and comets using lunar bases.

SAR observation and model tracking of an oil spill event in coastal waters.

PubMed

Cheng, Yongcun; Li, Xiaofeng; Xu, Qing; Garcia-Pineda, Oscar; Andersen, Ole Baltazar; Pichel, William G

2011-02-01

Oil spills are a major contributor to marine pollution. The objective of this work is to simulate the oil spill trajectory of oil released from a pipeline leaking in the Gulf of Mexico with the GNOME (General NOAA Operational Modeling Environment) model. The model was developed by NOAA (National Oceanic and Atmospheric Administration) to investigate the effects of different pollutants and environmental conditions on trajectory results. Also, a Texture-Classifying Neural Network Algorithm (TCNNA) was used to delineate ocean oil slicks from synthetic aperture radar (SAR) observations. During the simulation, ocean currents from NCOM (Navy Coastal Ocean Model) outputs and surface wind data measured by an NDBC (National Data Buoy Center) buoy are used to drive the GNOME model. The results show good agreement between the simulated trajectory of the oil spill and synchronous observations from the European ENVISAT ASAR (Advanced Synthetic Aperture Radar) and the Japanese ALOS (Advanced Land Observing Satellite) PALSAR (Phased Array L-band Synthetic Aperture Radar) images. Based on experience with past marine oil spills, about 63.0% of the oil will float and 18.5% of the oil will evaporate and disperse. In addition, the effects from uncertainty of ocean currents and the diffusion coefficient on the trajectory results are also studied. Copyright © 2010 Elsevier Ltd. All rights reserved.

On-Line Use of Three-Dimensional Marker Trajectory Estimation From Cone-Beam Computed Tomography Projections for Precise Setup in Radiotherapy for Targets With Respiratory Motion

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

Worm, Esben S., E-mail: esbeworm@rm.dk; Department of Medical Physics, Aarhus University Hospital, Aarhus; Hoyer, Morten

2012-05-01

Purpose: To develop and evaluate accurate and objective on-line patient setup based on a novel semiautomatic technique in which three-dimensional marker trajectories were estimated from two-dimensional cone-beam computed tomography (CBCT) projections. Methods and Materials: Seven treatment courses of stereotactic body radiotherapy for liver tumors were delivered in 21 fractions in total to 6 patients by a linear accelerator. Each patient had two to three gold markers implanted close to the tumors. Before treatment, a CBCT scan with approximately 675 two-dimensional projections was acquired during a full gantry rotation. The marker positions were segmented in each projection. From this, the three-dimensionalmore » marker trajectories were estimated using a probability based method. The required couch shifts for patient setup were calculated from the mean marker positions along the trajectories. A motion phantom moving with known tumor trajectories was used to examine the accuracy of the method. Trajectory-based setup was retrospectively used off-line for the first five treatment courses (15 fractions) and on-line for the last two treatment courses (6 fractions). Automatic marker segmentation was compared with manual segmentation. The trajectory-based setup was compared with setup based on conventional CBCT guidance on the markers (first 15 fractions). Results: Phantom measurements showed that trajectory-based estimation of the mean marker position was accurate within 0.3 mm. The on-line trajectory-based patient setup was performed within approximately 5 minutes. The automatic marker segmentation agreed with manual segmentation within 0.36 {+-} 0.50 pixels (mean {+-} SD; pixel size, 0.26 mm in isocenter). The accuracy of conventional volumetric CBCT guidance was compromised by motion smearing ({<=}21 mm) that induced an absolute three-dimensional setup error of 1.6 {+-} 0.9 mm (maximum, 3.2) relative to trajectory-based setup. Conclusions: The first on-line clinical use of trajectory estimation from CBCT projections for precise setup in stereotactic body radiotherapy was demonstrated. Uncertainty in the conventional CBCT-based setup procedure was eliminated with the new method.« less

Decentralized control algorithms of a group of vehicles in 2D space

NASA Astrophysics Data System (ADS)

Pshikhopov, V. K.; Medvedev, M. Y.; Fedorenko, R. V.; Gurenko, B. V.

2017-02-01

The problem of decentralized control of group of robots, described by kinematic and dynamic equations of motion in the plane, is considered. Group performs predetermined rectangular area passing at a fixed speed, keeping the line and a uniform distribution. The environment may contain a priori unknown moving or stationary obstacles. Decentralized control algorithms, based on the formation of repellers in the state space of robots, are proposed. These repellers form repulsive forces generated by dynamic subsystems that extend the state space of robots. These repulsive forces are dynamic functions of distances and velocities of robots in the area of operation of the group. The process of formation of repellers allows to take into account the dynamic properties of robots, such as the maximum speed and acceleration. The robots local control law formulas are derived based on positionally-trajectory control method, which allows to operate with non-linear models. Lyapunov function in the form of a quadratic function of the state variables is constructed to obtain a nonlinear closed-loop control system. Due to the fact that a closed system is decomposed into two independent subsystems Lyapunov function is also constructed as two independent functions. Numerical simulation of the motion of a group of five robots is presented. In this simulation obstacles are presented by the boundaries of working area and a movable object of a given radius, moving rectilinear and uniform. Obstacle speed is comparable to the speeds of the robots in a group. The advantage of the proposed method is ensuring the stability of the trajectories and consideration of the limitations on the speed and acceleration at the trajectory planning stage. Proposed approach can be used for more general robots' models, including robots in the three-dimensional environment.

Optimisation des trajectoires d'un systeme de gestion de vol d'avions pour la reduction des couts de vol

NASA Astrophysics Data System (ADS)

Sidibe, Souleymane

The implementation and monitoring of operational flight plans is a major occupation for a crew of commercial flights. The purpose of this operation is to set the vertical and lateral trajectories followed by airplane during phases of flight: climb, cruise, descent, etc. These trajectories are subjected to conflicting economical constraints: minimization of flight time and minimization of fuel consumed and environmental constraints. In its task of mission planning, the crew is assisted by the Flight Management System (FMS) which is used to construct the path to follow and to predict the behaviour of the aircraft along the flight plan. The FMS considered in our research, particularly includes an optimization model of flight only by calculating the optimal speed profile that minimizes the overall cost of flight synthesized by a criterion of cost index following a steady cruising altitude. However, the model based solely on optimization of the speed profile is not sufficient. It is necessary to expand the current optimization for simultaneous optimization of the speed and altitude in order to determine an optimum cruise altitude that minimizes the overall cost when the path is flown with the optimal speed profile. Then, a new program was developed. The latter is based on the method of dynamic programming invented by Bellman to solve problems of optimal paths. In addition, the improvement passes through research new patterns of trajectories integrating ascendant cruises and using the lateral plane with the effect of the weather: wind and temperature. Finally, for better optimization, the program takes into account constraint of flight domain of aircrafts which utilize the FMS.

Splines and polynomial tools for flatness-based constrained motion planning

NASA Astrophysics Data System (ADS)

Suryawan, Fajar; De Doná, José; Seron, María

2012-08-01

This article addresses the problem of trajectory planning for flat systems with constraints. Flat systems have the useful property that the input and the state can be completely characterised by the so-called flat output. We propose a spline parametrisation for the flat output, the performance output, the states and the inputs. Using this parametrisation the problem of constrained trajectory planning can be cast into a simple quadratic programming problem. An important result is that the B-spline parametrisation used gives exact results for constrained linear continuous-time system. The result is exact in the sense that the constrained signal can be made arbitrarily close to the boundary without having intersampling issues (as one would have in sampled-data systems). Simulation examples are presented, involving the generation of rest-to-rest trajectories. In addition, an experimental result of the method is also presented, where two methods to generate trajectories for a magnetic-levitation (maglev) system in the presence of constraints are compared and each method's performance is discussed. The first method uses the nonlinear model of the plant, which turns out to belong to the class of flat systems. The second method uses a linearised version of the plant model around an operating point. In every case, a continuous-time description is used. The experimental results on a real maglev system reported here show that, in most scenarios, the nonlinear and linearised models produce almost similar, indistinguishable trajectories.

Entry, Descent, and Landing Operations Analysis for the Mars Phoenix Lander

NASA Technical Reports Server (NTRS)

Prince, Jill L.; Desai, Prasun N.; Queen, Eric M.; Grover, Myron R.

2008-01-01

The Mars Phoenix lander was launched August 4, 2007 and remained in cruise for ten months before landing in the northern plains of Mars in May 2008. The one-month Entry, Descent, and Landing (EDL) operations phase prior to entry consisted of daily analyses, meetings, and decisions necessary to determine if trajectory correction maneuvers and environmental parameter updates to the spacecraft were required. An overview of the Phoenix EDL trajectory simulation and analysis that was performed during the EDL approach and operations phase is described in detail. The evolution of the Monte Carlo statistics and footprint ellipse during the final approach phase is also provided. The EDL operations effort accurately delivered the Phoenix lander to the desired landing region on May 25, 2008.

Analysis of multibunch free electron laser operation

NASA Astrophysics Data System (ADS)

Hellert, Thorsten; Decking, Winfried; Branlard, Julien

2017-09-01

At the SASE-FEL user facilities FLASH and European XFEL, superconducting TESLA type cavities are used for acceleration of the driving electron bunches. The high achievable duty cycle allows for operating with long bunch trains, hence considerably increasing the efficiency of the machine. However, multibunch free electron lasers (FEL) operation requires longitudinal and transverse stability within the bunch train. The purpose of this work is to investigate the intra-bunch-train transverse dynamics at FLASH and European XFEL. Key relationships of superconducting rf cavity operation and the resulting impact on the intrabunch-train trajectory variation are described. The observed trajectory variation during multibunch user runs at FLASH is analyzed and related to both, intrabunch-train variations of the rf and the following impact on the multibunch FEL performance.

Left Atrial trajectory impairment in Hypertrophic Cardiomyopathy disclosed by Geometric Morphometrics and Parallel Transport

NASA Astrophysics Data System (ADS)

Piras, Paolo; Torromeo, Concetta; Re, Federica; Evangelista, Antonietta; Gabriele, Stefano; Esposito, Giuseppe; Nardinocchi, Paola; Teresi, Luciano; Madeo, Andrea; Chialastri, Claudia; Schiariti, Michele; Varano, Valerio; Uguccioni, Massimo; Puddu, Paolo E.

2016-10-01

The analysis of full Left Atrium (LA) deformation and whole LA deformational trajectory in time has been poorly investigated and, to the best of our knowledge, seldom discussed in patients with Hypertrophic Cardiomyopathy. Therefore, we considered 22 patients with Hypertrophic Cardiomyopathy (HCM) and 46 healthy subjects, investigated them by three-dimensional Speckle Tracking Echocardiography, and studied the derived landmark clouds via Geometric Morphometrics with Parallel Transport. Trajectory shape and trajectory size were different in Controls versus HCM and their classification powers had high AUC (Area Under the Receiving Operator Characteristic Curve) and accuracy. The two trajectories were much different at the transition between LA conduit and booster pump functions. Full shape and deformation analyses with trajectory analysis enabled a straightforward perception of pathophysiological consequences of HCM condition on LA functioning. It might be worthwhile to apply these techniques to look for novel pathophysiological approaches that may better define atrio-ventricular interaction.

The analysis of control trajectories using symbolic and database computing

NASA Technical Reports Server (NTRS)

Grossman, Robert

1995-01-01

This final report comprises the formal semi-annual status reports for this grant for the periods June 30-December 31, 1993, January 1-June 30, 1994, and June 1-December 31, 1994. The research supported by this grant is broadly concerned with the symbolic computation, mixed numeric-symbolic computation, and database computation of trajectories of dynamical systems, especially control systems. A review of work during the report period covers: trajectories and approximating series, the Cayley algebra of trees, actions of differential operators, geometrically stable integration algorithms, hybrid systems, trajectory stores, PTool, and other activities. A list of publications written during the report period is attached.

Heliocentric interplanetary low thrust trajectory optimization program, supplement 1, part 2

NASA Technical Reports Server (NTRS)

Mann, F. I.; Horsewood, J. L.

1978-01-01

The improvements made to the HILTOP electric propulsion trajectory computer program are described. A more realistic propulsion system model was implemented in which various thrust subsystem efficiencies and specific impulse are modeled as variable functions of power available to the propulsion system. The number of operating thrusters are staged, and the beam voltage is selected from a set of five (or less) constant voltages, based upon the application of variational calculus. The constant beam voltages may be optimized individually or collectively. The propulsion system logic is activated by a single program input key in such a manner as to preserve the HILTOP logic. An analysis describing these features, a complete description of program input quantities, and sample cases of computer output illustrating the program capabilities are presented.

Galileo: Earth avoidance study report

NASA Technical Reports Server (NTRS)

Mitchell, R. T.

1988-01-01

The 1989 Galileo mission to Jupiter is based on a VEEGA (Venus Earth Earth-Gravity Assist) trajectory which uses two flybys of Earth and one of Venus to achieve the necessary energy and shaping to reach Jupiter. These encounters are needed because the Centaur upper stage is not now being used on this mission. Since the Galileo spacecraft uses radioisotope thermoelectric generators (RTGs) for electrical power, the question arises as to whether there is any chance of an inadvertent atmospheric entry of the spacecraft during either of the two Earth flybys. A study was performed which determined the necessary actions, in both spacecraft and trajectory design as well as in operations, to insure that the probability of such reentry is made very small, and to provide a quantitative assessment of the probability of reentry.

Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing

NASA Astrophysics Data System (ADS)

Chen, Zhi-Jun; Gao, Feng; Pan, Yang

2017-09-01

Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and implemented to the six-parallel-legged robot. The kinematic model of the six-parallel-legged robot is established and the model of measuring the positional relationship between the robot and the door is proposed. The measurement model is completely based on only force sensing. The real-time trajectory planning method and the control strategy are designed. The trajectory planning method allows the maximum angle between the sagittal axis of the robot body and the normal line of the door plane to be 45º. A 0-DOF tool mounted to the robot body is applied to operate. By integrating with the body, the tool has 6 DOFs and enough workspace to operate. The loose grasp achieved by the tool helps release the inner force in the tool. Experiments are carried out to validate the method. The results show that the method is effective and robust in opening doors wider than 1 m. This paper proposes a novel door-opening method for six-legged robots, which notably uses a 0-DOF tool and only force sensing to detect and open the door.

Reentry trajectory optimization based on a multistage pseudospectral method.

PubMed

Zhao, Jiang; Zhou, Rui; Jin, Xuelian

2014-01-01

Of the many direct numerical methods, the pseudospectral method serves as an effective tool to solve the reentry trajectory optimization for hypersonic vehicles. However, the traditional pseudospectral method is time-consuming due to large number of discretization points. For the purpose of autonomous and adaptive reentry guidance, the research herein presents a multistage trajectory control strategy based on the pseudospectral method, capable of dealing with the unexpected situations in reentry flight. The strategy typically includes two subproblems: the trajectory estimation and trajectory refining. In each processing stage, the proposed method generates a specified range of trajectory with the transition of the flight state. The full glide trajectory consists of several optimal trajectory sequences. The newly focused geographic constraints in actual flight are discussed thereafter. Numerical examples of free-space flight, target transition flight, and threat avoidance flight are used to show the feasible application of multistage pseudospectral method in reentry trajectory optimization.

Reentry Trajectory Optimization Based on a Multistage Pseudospectral Method

PubMed Central

Zhou, Rui; Jin, Xuelian

2014-01-01

Of the many direct numerical methods, the pseudospectral method serves as an effective tool to solve the reentry trajectory optimization for hypersonic vehicles. However, the traditional pseudospectral method is time-consuming due to large number of discretization points. For the purpose of autonomous and adaptive reentry guidance, the research herein presents a multistage trajectory control strategy based on the pseudospectral method, capable of dealing with the unexpected situations in reentry flight. The strategy typically includes two subproblems: the trajectory estimation and trajectory refining. In each processing stage, the proposed method generates a specified range of trajectory with the transition of the flight state. The full glide trajectory consists of several optimal trajectory sequences. The newly focused geographic constraints in actual flight are discussed thereafter. Numerical examples of free-space flight, target transition flight, and threat avoidance flight are used to show the feasible application of multistage pseudospectral method in reentry trajectory optimization. PMID:24574929

The Future of Air Traffic Management

NASA Technical Reports Server (NTRS)

Denery, Dallas G.; Erzberger, Heinz; Edwards, Thomas A. (Technical Monitor)

1998-01-01

A system for the control of terminal area traffic to improve productivity, referred to as the Center-TRACON Automation System (CTAS), is being developed at NASA's Ames Research Center under a joint program with the FAA. CTAS consists of a set of integrated tools that provide computer-generated advisories for en-route and terminal area controllers. The premise behind the design of CTAS has been that successful planning of traffic requires accurate trajectory prediction. Data bases consisting of representative aircraft performance models, airline preferred operational procedures and a three dimensional wind model support the trajectory prediction. The research effort has been the design of a set of automation tools that make use of this trajectory prediction capability to assist controllers in overall management of traffic. The first tool, the Traffic Management Advisor (TMA), provides the overall flow management between the en route and terminal areas. A second tool, the Final Approach Spacing Tool (FAST) provides terminal area controllers with sequence and runway advisories to allow optimal use of the runways. The TMA and FAST are now being used in daily operations at Dallas/Ft. Worth airport. Additional activities include the development of several other tools. These include: 1) the En Route Descent Advisor that assist the en route controller in issuing conflict free descents and ascents; 2) the extension of FAST to include speed and heading advisories and the Expedite Departure Path (EDP) that assists the terminal controller in management of departures; and 3) the Collaborative Arrival Planner (CAP) that will assist the airlines in operational decision making. The purpose of this presentation is to review the CTAS concept and to present the results of recent field tests. The paper will first discuss the overall concept and then discuss the status of the individual tools.

Configuring the HYSPLIT Model for National Weather Service Forecast Office and Spaceflight Meteorology Group Applications

NASA Technical Reports Server (NTRS)

Dreher, Joseph G.

2009-01-01

For expedience in delivering dispersion guidance in the diversity of operational situations, National Weather Service Melbourne (MLB) and Spaceflight Meteorology Group (SMG) are becoming increasingly reliant on the PC-based version of the HYSPLIT model run through a graphical user interface (GUI). While the GUI offers unique advantages when compared to traditional methods, it is difficult for forecasters to run and manage in an operational environment. To alleviate the difficulty in providing scheduled real-time trajectory and concentration guidance, the Applied Meteorology Unit (AMU) configured a Linux version of the Hybrid Single-Particle Lagrangian Integrated Trajectory (HYSPLIT) (HYSPLIT) model that ingests the National Centers for Environmental Prediction (NCEP) guidance, such as the North American Mesoscale (NAM) and the Rapid Update Cycle (RUC) models. The AMU configured the HYSPLIT system to automatically download the NCEP model products, convert the meteorological grids into HYSPLIT binary format, run the model from several pre-selected latitude/longitude sites, and post-process the data to create output graphics. In addition, the AMU configured several software programs to convert local Weather Research and Forecast (WRF) model output into HYSPLIT format.

Dynamics of essential collective motions in proteins: Theory

NASA Astrophysics Data System (ADS)

Stepanova, Maria

2007-11-01

A general theoretical background is introduced for characterization of conformational motions in protein molecules, and for building reduced coarse-grained models of proteins, based on the statistical analysis of their phase trajectories. Using the projection operator technique, a system of coupled generalized Langevin equations is derived for essential collective coordinates, which are generated by principal component analysis of molecular dynamic trajectories. The number of essential degrees of freedom is not limited in the theory. An explicit analytic relation is established between the generalized Langevin equation for essential collective coordinates and that for the all-atom phase trajectory projected onto the subspace of essential collective degrees of freedom. The theory introduced is applied to identify correlated dynamic domains in a macromolecule and to construct coarse-grained models representing the conformational motions in a protein through a few interacting domains embedded in a dissipative medium. A rigorous theoretical background is provided for identification of dynamic correlated domains in a macromolecule. Examples of domain identification in protein G are given and employed to interpret NMR experiments. Challenges and potential outcomes of the theory are discussed.

Descent Advisor Preliminary Field Test

NASA Technical Reports Server (NTRS)

Green, Steven M.; Vivona, Robert A.; Sanford, Beverly

1995-01-01

A field test of the Descent Advisor (DA) automation tool was conducted at the Denver Air Route Traffic Control Center in September 1994. DA is being developed to assist Center controllers in the efficient management and control of arrival traffic. DA generates advisories, based on trajectory predictions, to achieve accurate meter-fix arrival times in a fuel efficient manner while assisting the controller with the prediction and resolution of potential conflicts. The test objectives were: (1) to evaluate the accuracy of DA trajectory predictions for conventional and flight-management system equipped jet transports, (2) to identify significant sources of trajectory prediction error, and (3) to investigate procedural and training issues (both air and ground) associated with DA operations. Various commercial aircraft (97 flights total) and a Boeing 737-100 research aircraft participated in the test. Preliminary results from the primary test set of 24 commercial flights indicate a mean DA arrival time prediction error of 2.4 seconds late with a standard deviation of 13.1 seconds. This paper describes the field test and presents preliminary results for the commercial flights.

.

NASA Astrophysics Data System (ADS)

Liu, Yuan; Zhu, Qing

2017-07-01

In order to achieve the simulation of elaborate stroke trajectories in Chinese calligraphy, this paper puts forward the innovative researching on writing momentum in the field of non-photorealistic rendering in the first time. Through the analysis of using pen in Chinese calligraphy, the writing momentum is divided into three parts: the center, the side and the back of writing brush by the judgment of the angle of brush holder. We design an algorithm for dynamic outputting writing rendering based on brush model. According to monitoring parameters such as the direction, position and normalized pressure of using pen, we calculate parameters like the footprint direction, the shape, size and nib bending after writing. The algorithm can also judge the dynamic writing trend of stroke trajectories, even automatic generate stroke trajectories by the algorithm forecasted. We achieve a more delicate rendering of Chinese calligraphy to enhance the user's operating results. And we finish the unique writing effect separated the Chinese calligraphy form other general writing results, which greatly enhances the Chinese calligraphy simulation. So that people who lack of writing skills can easily draw a beautiful charm font.

Geometric quadratic stochastic operator on countable infinite set

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

Ganikhodjaev, Nasir; Hamzah, Nur Zatul Akmar

2015-02-03

In this paper we construct the family of Geometric quadratic stochastic operators defined on the countable sample space of nonnegative integers and investigate their trajectory behavior. Such operators can be reinterpreted in terms of of evolutionary operator of free population. We show that Geometric quadratic stochastic operators are regular transformations.

Multi-Objective Trajectory Optimization of a Hypersonic Reconnaissance Vehicle with Temperature Constraints

NASA Astrophysics Data System (ADS)

Masternak, Tadeusz J.

This research determines temperature-constrained optimal trajectories for a scramjet-based hypersonic reconnaissance vehicle by developing an optimal control formulation and solving it using a variable order Gauss-Radau quadrature collocation method with a Non-Linear Programming (NLP) solver. The vehicle is assumed to be an air-breathing reconnaissance aircraft that has specified takeoff/landing locations, airborne refueling constraints, specified no-fly zones, and specified targets for sensor data collections. A three degree of freedom scramjet aircraft model is adapted from previous work and includes flight dynamics, aerodynamics, and thermal constraints. Vehicle control is accomplished by controlling angle of attack, roll angle, and propellant mass flow rate. This model is incorporated into an optimal control formulation that includes constraints on both the vehicle and mission parameters, such as avoidance of no-fly zones and coverage of high-value targets. To solve the optimal control formulation, a MATLAB-based package called General Pseudospectral Optimal Control Software (GPOPS-II) is used, which transcribes continuous time optimal control problems into an NLP problem. In addition, since a mission profile can have varying vehicle dynamics and en-route imposed constraints, the optimal control problem formulation can be broken up into several "phases" with differing dynamics and/or varying initial/final constraints. Optimal trajectories are developed using several different performance costs in the optimal control formulation: minimum time, minimum time with control penalties, and maximum range. The resulting analysis demonstrates that optimal trajectories that meet specified mission parameters and constraints can be quickly determined and used for larger-scale operational and campaign planning and execution.

Improved solution accuracy for TDRSS-based TOPEX/Poseidon orbit determination

NASA Technical Reports Server (NTRS)

Doll, C. E.; Mistretta, G. D.; Hart, R. C.; Oza, D. H.; Bolvin, D. T.; Cox, C. M.; Nemesure, M.; Niklewski, D. J.; Samii, M. V.

1994-01-01

Orbit determination results are obtained by the Goddard Space Flight Center (GSFC) Flight Dynamics Division (FDD) using a batch-least-squares estimator available in the Goddard Trajectory Determination System (GTDS) and an extended Kalman filter estimation system to process Tracking and Data Relay Satellite (TDRS) System (TDRSS) measurements. GTDS is the operational orbit determination system used by the FDD in support of the Ocean Topography Experiment (TOPEX)/Poseidon spacecraft navigation and health and safety operations. The extended Kalman filter was implemented in an orbit determination analysis prototype system, closely related to the Real-Time Orbit Determination System/Enhanced (RTOD/E) system. In addition, the Precision Orbit Determination (POD) team within the GSFC Space Geodesy Branch generated an independent set of high-accuracy trajectories to support the TOPEX/Poseidon scientific data. These latter solutions use the geodynamics (GEODYN) orbit determination system with laser ranging and Doppler Orbitography and Radiopositioning integrated by satellite (DORIS) tracking measurements. The TOPEX/Poseidon trajectories were estimated for November 7 through November 11, 1992, the timeframe under study. Independent assessments were made of the consistencies of solutions produced by the batch and sequential methods. The batch-least-squares solutions were assessed based on the solution residuals, while the sequential solutions were assessed based on primarily the estimated covariances. The batch-least-squares and sequential orbit solutions were compared with the definitive POD orbit solutions. The solution differences were generally less than 2 meters for the batch-least-squares and less than 13 meters for the sequential estimation solutions. After the sequential estimation solutions were processed with a smoother algorithm, position differences with POD orbit solutions of less than 7 meters were obtained. The differences among the POD, GTDS, and filter/smoother solutions can be traced to differences in modeling and tracking data types, which are being analyzed in detail.

Pairwise Trajectory Management (PTM): Concept Description and Documentation

NASA Technical Reports Server (NTRS)

Jones, Kenneth M.; Graff, Thomas J.; Carreno, Victor; Chartrand, Ryan C.; Kibler, Jennifer L.

2018-01-01

Pairwise Trajectory Management (PTM) is an Interval Management (IM) concept that utilizes airborne and ground-based capabilities to enable the implementation of airborne pairwise spacing capabilities in oceanic regions. The goal of PTM is to use airborne surveillance and tools to manage an "at or greater than" inter-aircraft spacing. Due to the accuracy of Automatic Dependent Surveillance-Broadcast (ADS-B) information and the use of airborne spacing guidance, the minimum PTM spacing distance will be less than distances a controller can support with current automation systems that support oceanic operations. Ground tools assist the controller in evaluating the traffic picture and determining appropriate PTM clearances to be issued. Avionics systems provide guidance information that allows the flight crew to conform to the PTM clearance issued by the controller. The combination of a reduced minimum distance and airborne spacing management will increase the capacity and efficiency of aircraft operations at a given altitude or volume of airspace. This document provides an overview of the proposed application, a description of several key scenarios, a high level discussion of expected air and ground equipment and procedure changes, a description of a NASA human-machine interface (HMI) prototype for the flight crew that would support PTM operations, and initial benefits analysis results. Additionally, included as appendices, are the following documents: the PTM Operational Services and Environment Definition (OSED) document and a companion "Future Considerations for the Pairwise Trajectory Management (PTM) Concept: Potential Future Updates for the PTM OSED" paper, a detailed description of the PTM algorithm and PTM Limit Mach rules, initial PTM safety requirements and safety assessment documents, a detailed description of the design, development, and initial evaluations of the proposed flight crew HMI, an overview of the methodology and results of PTM pilot training requirements focus group and human-in-the-loop testing activities, and the PTM Pilot Guide.

Estimating traffic volumes for signalized intersections using connected vehicle data

DOE PAGES

Zheng, Jianfeng; Liu, Henry X.

2017-04-17

Recently connected vehicle (CV) technology has received significant attention thanks to active pilot deployments supported by the US Department of Transportation (USDOT). At signalized intersections, CVs may serve as mobile sensors, providing opportunities of reducing dependencies on conventional vehicle detectors for signal operation. However, most of the existing studies mainly focus on scenarios that penetration rates of CVs reach certain level, e.g., 25%, which may not be feasible in the near future. How to utilize data from a small number of CVs to improve traffic signal operation remains an open question. In this work, we develop an approach to estimatemore » traffic volume, a key input to many signal optimization algorithms, using GPS trajectory data from CV or navigation devices under low market penetration rates. To estimate traffic volumes, we model in this paper vehicle arrivals at signalized intersections as a time-dependent Poisson process, which can account for signal coordination. The estimation problem is formulated as a maximum likelihood problem given multiple observed trajectories from CVs approaching to the intersection. An expectation maximization (EM) procedure is derived to solve the estimation problem. Two case studies were conducted to validate our estimation algorithm. One uses the CV data from the Safety Pilot Model Deployment (SPMD) project, in which around 2800 CVs were deployed in the City of Ann Arbor, MI. The other uses vehicle trajectory data from users of a commercial navigation service in China. Mean absolute percentage error (MAPE) of the estimation is found to be 9–12%, based on benchmark data manually collected and data from loop detectors. Finally, considering the existing scale of CV deployments, the proposed approach could be of significant help to traffic management agencies for evaluating and operating traffic signals, paving the way of using CVs for detector-free signal operation in the future.« less

Estimating traffic volumes for signalized intersections using connected vehicle data

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

Zheng, Jianfeng; Liu, Henry X.

Recently connected vehicle (CV) technology has received significant attention thanks to active pilot deployments supported by the US Department of Transportation (USDOT). At signalized intersections, CVs may serve as mobile sensors, providing opportunities of reducing dependencies on conventional vehicle detectors for signal operation. However, most of the existing studies mainly focus on scenarios that penetration rates of CVs reach certain level, e.g., 25%, which may not be feasible in the near future. How to utilize data from a small number of CVs to improve traffic signal operation remains an open question. In this work, we develop an approach to estimatemore » traffic volume, a key input to many signal optimization algorithms, using GPS trajectory data from CV or navigation devices under low market penetration rates. To estimate traffic volumes, we model in this paper vehicle arrivals at signalized intersections as a time-dependent Poisson process, which can account for signal coordination. The estimation problem is formulated as a maximum likelihood problem given multiple observed trajectories from CVs approaching to the intersection. An expectation maximization (EM) procedure is derived to solve the estimation problem. Two case studies were conducted to validate our estimation algorithm. One uses the CV data from the Safety Pilot Model Deployment (SPMD) project, in which around 2800 CVs were deployed in the City of Ann Arbor, MI. The other uses vehicle trajectory data from users of a commercial navigation service in China. Mean absolute percentage error (MAPE) of the estimation is found to be 9–12%, based on benchmark data manually collected and data from loop detectors. Finally, considering the existing scale of CV deployments, the proposed approach could be of significant help to traffic management agencies for evaluating and operating traffic signals, paving the way of using CVs for detector-free signal operation in the future.« less

Robotic autopositioning of the operating microscope.

PubMed

Oppenlander, Mark E; Chowdhry, Shakeel A; Merkl, Brandon; Hattendorf, Guido M; Nakaji, Peter; Spetzler, Robert F

2014-06-01

Use of the operating microscope has become pervasive since its introduction to the neurosurgical world. Neuronavigation fused with the operating microscope has allowed accurate correlation of the focal point of the microscope and its location on the downloaded imaging study. However, the robotic ability of the Pentero microscope has not been utilized to orient the angle of the microscope or to change its focal length to hone in on a predefined target. To report a novel technology that allows automatic positioning of the operating microscope onto a set target and utilization of a planned trajectory, either determined with the StealthStation S7 by using preoperative imaging or intraoperatively with the microscope. By utilizing the current motorized capabilities of the Zeiss OPMI Pentero microscope, a robotic autopositioning feature was developed in collaboration with Surgical Technologies, Medtronic, Inc. (StealthStation S7). The system is currently being tested at the Barrow Neurological Institute. Three options were developed for automatically positioning the microscope: AutoLock Current Point, Align Parallel to Plan, and Point to Plan Target. These options allow the microscope to pivot around the lesion, hover in a set plane parallel to the determined trajectory, or rotate and point to a set target point, respectively. Integration of automatic microscope positioning into the operative workflow has potential to increase operative efficacy and safety. This technology is best suited for precise trajectories and entry points into deep-seated lesions.

Trajectory Browser: An Online Tool for Interplanetary Trajectory Analysis and Visualization

NASA Technical Reports Server (NTRS)

Foster, Cyrus James

2013-01-01

The trajectory browser is a web-based tool developed at the NASA Ames Research Center for finding preliminary trajectories to planetary bodies and for providing relevant launch date, time-of-flight and (Delta)V requirements. The site hosts a database of transfer trajectories from Earth to planets and small-bodies for various types of missions such as rendezvous, sample return or flybys. A search engine allows the user to find trajectories meeting desired constraints on the launch window, mission duration and (Delta)V capability, while a trajectory viewer tool allows the visualization of the heliocentric trajectory and the detailed mission itinerary. The anticipated user base of this tool consists primarily of scientists and engineers designing interplanetary missions in the context of pre-phase A studies, particularly for performing accessibility surveys to large populations of small-bodies.

Trend-Residual Dual Modeling for Detection of Outliers in Low-Cost GPS Trajectories.

PubMed

Chen, Xiaojian; Cui, Tingting; Fu, Jianhong; Peng, Jianwei; Shan, Jie

2016-12-01

Low-cost GPS (receiver) has become a ubiquitous and integral part of our daily life. Despite noticeable advantages such as being cheap, small, light, and easy to use, its limited positioning accuracy devalues and hampers its wide applications for reliable mapping and analysis. Two conventional techniques to remove outliers in a GPS trajectory are thresholding and Kalman-based methods, which are difficult in selecting appropriate thresholds and modeling the trajectories. Moreover, they are insensitive to medium and small outliers, especially for low-sample-rate trajectories. This paper proposes a model-based GPS trajectory cleaner. Rather than examining speed and acceleration or assuming a pre-determined trajectory model, we first use cubic smooth spline to adaptively model the trend of the trajectory. The residuals, i.e., the differences between the trend and GPS measurements, are then further modeled by time series method. Outliers are detected by scoring the residuals at every GPS trajectory point. Comparing to the conventional procedures, the trend-residual dual modeling approach has the following features: (a) it is able to model trajectories and detect outliers adaptively; (b) only one critical value for outlier scores needs to be set; (c) it is able to robustly detect unapparent outliers; and (d) it is effective in cleaning outliers for GPS trajectories with low sample rates. Tests are carried out on three real-world GPS trajectories datasets. The evaluation demonstrates an average of 9.27 times better performance in outlier detection for GPS trajectories than thresholding and Kalman-based techniques.

A spatial operator algebra for manipulator modeling and control

NASA Technical Reports Server (NTRS)

Rodriguez, G.; Kreutz, Kenneth; Jain, Abhinandan

1989-01-01

A recently developed spatial operator algebra, useful for modeling, control, and trajectory design of manipulators is discussed. The elements of this algebra are linear operators whose domain and range spaces consist of forces, moments, velocities, and accelerations. The effect of these operators is equivalent to a spatial recursion along the span of a manipulator. Inversion of operators can be efficiently obtained via techniques of recursive filtering and smoothing. The operator algebra provides a high level framework for describing the dynamic and kinematic behavior of a manipulator and control and trajectory design algorithms. The interpretation of expressions within the algebraic framework leads to enhanced conceptual and physical understanding of manipulator dynamics and kinematics. Furthermore, implementable recursive algorithms can be immediately derived from the abstract operator expressions by inspection. Thus, the transition from an abstract problem formulation and solution to the detailed mechanizaton of specific algorithms is greatly simplified. The analytical formulation of the operator algebra, as well as its implementation in the Ada programming language are discussed.

Optimization of geothermal well trajectory in order to minimize borehole failure

NASA Astrophysics Data System (ADS)

Dahrabou, A.; Valley, B.; Ladner, F.; Guinot, F.; Meier, P.

2017-12-01

In projects based on Enhanced Geothermal System (EGS) principle, deep boreholes are drilled to low permeability rock masses. As part of the completion operations, the permeability of existing fractures in the rock mass is enhanced by injecting large volumes of water. These stimulation treatments aim at achieving enough water circulation for heat extraction at commercial rates which makes the stimulation operations critical to the project success. The accurate placement of the stimulation treatments requires well completion with effective zonal isolation, and wellbore stability is a prerequisite to all zonal isolation techniques, be it packer sealing or cement placement. In this project, a workflow allowing a fast decision-making process for selecting an optimal well trajectory for EGS projects is developed. In fact, the well is first drilled vertically then based on logging data which are costly (100 KCHF/day), the direction in which the strongly deviated borehole section will be drilled needs to be determined in order to optimize borehole stability and to intersect the highest number of fractures that are oriented favorably for stimulation. The workflow applies to crystalline rock and includes an uncertainty and risk assessment framework. An initial sensitivity study was performed to identify the most influential parameters on borehole stability. The main challenge in these analyses is that the strength and stress profiles are unknown independently. Calibration of a geomechanical model on the observed borehole failure has been performed using data from the Basel Geothermal well BS-1. In a first approximation, a purely elastic-static analytical solution in combination with a purely cohesive failure criterion were used as it provides the most consistent prediction across failure indicators. A systematic analysis of the uncertainty on all parameters was performed to assess the reliability of the optimal trajectory selection. To each drilling scenario, failure probability and the associated risks, are computed stochastically. In addition, model uncertainty is assessed by confronting various failure modelling approaches to the available failure data from the Basel Project. Together, these results form the basis of an integrated workflow optimizing geothermal (EGS) well trajectory.

Cutting velocity accuracy as a criterion for comparing robot trajectories and manual movements for medical industry

NASA Astrophysics Data System (ADS)

Vorotnikov, A. A.; Klimov, D. D.; Romash, E. V.; Bashevskaya, O. S.; Poduraev, Yu. V.; Bazykyan, E. A.; Chunihin, A. A.

2018-03-01

Industrial robots perform technological operations, such as spot and arc welding, machining and laser cutting along different trajectories within their performance characteristics. The evaluation of these characteristics is carried out according to the criteria of the standard ISO 9283. The criteria of this standard are applicable in industrial manufacturing, but not in the medical industry, as they are not developed in the framework of medical tasks. Therefore, it is necessary to evaluate according to criteria built on different principles. In this article, the question of comparative evaluation of trajectories from program movements of a robot and manual movements of a surgeon, arising during the development of robotic medical complexes using industrial robots, is considered. A comparative evaluation is required to prove the expediency of automating medical operations in maxillofacial surgery. This study focuses on the estimation of velocity accuracy of a medical instrument. To obtain the velocity of the medical instrument, coordinates of the trajectory points from the program movements of the robot KUKA LWR4+ and trajectories from the manual movements of a professional surgeon have been measured. The measurement was carried out using a coordinate measuring machine, the laser tracker Leica LTD800. The accuracy estimation was carried out by two criteria: the criterion set out in the ISO 9283 standard, and the developed alternative criterion, the description of which is presented in this article. A quantitative comparative evaluation of the trajectories of a robot and a surgeon was obtained.

PaCER - A fully automated method for electrode trajectory and contact reconstruction in deep brain stimulation.

PubMed

Husch, Andreas; V Petersen, Mikkel; Gemmar, Peter; Goncalves, Jorge; Hertel, Frank

2018-01-01

Deep brain stimulation (DBS) is a neurosurgical intervention where electrodes are permanently implanted into the brain in order to modulate pathologic neural activity. The post-operative reconstruction of the DBS electrodes is important for an efficient stimulation parameter tuning. A major limitation of existing approaches for electrode reconstruction from post-operative imaging that prevents the clinical routine use is that they are manual or semi-automatic, and thus both time-consuming and subjective. Moreover, the existing methods rely on a simplified model of a straight line electrode trajectory, rather than the more realistic curved trajectory. The main contribution of this paper is that for the first time we present a highly accurate and fully automated method for electrode reconstruction that considers curved trajectories. The robustness of our proposed method is demonstrated using a multi-center clinical dataset consisting of N  = 44 electrodes. In all cases the electrode trajectories were successfully identified and reconstructed. In addition, the accuracy is demonstrated quantitatively using a high-accuracy phantom with known ground truth. In the phantom experiment, the method could detect individual electrode contacts with high accuracy and the trajectory reconstruction reached an error level below 100 μm (0.046 ± 0.025 mm). An implementation of the method is made publicly available such that it can directly be used by researchers or clinicians. This constitutes an important step towards future integration of lead reconstruction into standard clinical care.

Nuclear powered Mars cargo transport mission utilizing advanced ion propulsion

NASA Technical Reports Server (NTRS)

Galecki, Diane L.; Patterson, Michael J.

1987-01-01

Nuclear-powered ion propulsion technology was combined with detailed trajectory analysis to determine propulsion system and trajectory options for an unmanned cargo mission to Mars in support of manned Mars missions. A total of 96 mission scenarios were identified by combining two power levels, two propellants, four values of specific impulse per propellant, three starting altitudes, and two starting velocities. Sixty of these scenarios were selected for a detailed trajectory analysis; a complete propulsion system study was then conducted for 20 of these trajectories. Trip times ranged from 344 days for a xenon propulsion system operating at 300 kW total power and starting from lunar orbit with escape velocity, to 770 days for an argon propulsion system operating at 300 kW total power and starting from nuclear start orbit with circular velocity. Trip times for the 3 MW cases studied ranged from 356 to 413 days. Payload masses ranged from 5700 to 12,300 kg for the 300 kW power level, and from 72,200 to 81,500 kg for the 3 MW power level.

Integrated Simulation Design Challenges to Support TPS Repair Operations

NASA Technical Reports Server (NTRS)

Quiocho, Leslie J.; Crues, Edwin Z.; Huynh, An; Nguyen, Hung T.; MacLean, John

2005-01-01

During the Orbiter Repair Maneuver (ORM) operations planned for Return to Flight (RTF), the Shuttle Remote Manipulator System (SRMS) must grapple the International Space Station (ISS), undock the Orbiter, maneuver it through a long duration trajectory, and orient it to an EVA crewman poised at the end of the Space Station Remote Manipulator System (SSRMS) to facilitate the repair of the Thermal Protection System (TPS). Once repair has been completed and confirmed, then the SRMS proceeds back through the trajectory to dock the Orbiter to the Orbiter Docking System. In order to support analysis of the complex dynamic interactions of the integrated system formed by the Orbiter, ISS, SRMS, and SSRMS during the ORM, simulation tools used for previous 'nominal' mission support required substantial enhancements. These upgrades were necessary to provide analysts with the capabilities needed to study integrated system performance. This paper discusses the simulation design challenges encountered while developing simulation capabilities to mirror the ORM operations. The paper also describes the incremental build approach that was utilized, starting with the subsystem simulation elements and integration into increasing more complex simulations until the resulting ORM worksite dynamics simulation had been assembled. Furthermore, the paper presents an overall integrated simulation V&V methodology based upon a subsystem level testing, integrated comparisons, and phased checkout.

Improved Conflict Detection for Reducing Operational Errors in Air Traffic Control

NASA Technical Reports Server (NTRS)

Paielli, Russell A.; Erzberger, Hainz

2003-01-01

An operational error is an incident in which an air traffic controller allows the separation between two aircraft to fall below the minimum separation standard. The rates of such errors in the US have increased significantly over the past few years. This paper proposes new detection methods that can help correct this trend by improving on the performance of Conflict Alert, the existing software in the Host Computer System that is intended to detect and warn controllers of imminent conflicts. In addition to the usual trajectory based on the flight plan, a "dead-reckoning" trajectory (current velocity projection) is also generated for each aircraft and checked for conflicts. Filters for reducing common types of false alerts were implemented. The new detection methods were tested in three different ways. First, a simple flightpath command language was developed t o generate precisely controlled encounters for the purpose of testing the detection software. Second, written reports and tracking data were obtained for actual operational errors that occurred in the field, and these were "replayed" to test the new detection algorithms. Finally, the detection methods were used to shadow live traffic, and performance was analysed, particularly with regard to the false-alert rate. The results indicate that the new detection methods can provide timely warnings of imminent conflicts more consistently than Conflict Alert.

RESILIENCE THEORY AND ITS IMPLICATIONS FOR CHINESE ADOLESCENTS.

PubMed

Wang, Jin-Liang; Zhang, Da-Jun; Zimmerman, Marc A

2015-10-01

Over the past 20 years, resilience theory has attracted great attention from both researchers and mental health practitioners. Resilience is defined as a process of overcoming the negative effects of risk exposure, coping successfully with traumatic experiences, or avoiding the negative trajectories associated with risks. Three basic models of resilience have been proposed to account for the mechanism whereby promotive factors operate to alter the trajectory from risk exposure to negative consequences: compensatory model, protective model, and inoculation model. Assets and resources are two types of promotive factors found to be effective in decreasing internalizing and externalizing problems. Considering the protective or compensatory role of assets and resources in helping youth be resilient against negative effects of adversity, resilience could be applied to Chinese migrant and left-behind children who are at risk for internalizing (e.g., depression, anxiety) and externalizing problems (e.g., delinquent behaviors, cigarette and alcohol use). Additionally, psychological suzhi-based interventions, a mental health construct for individuals that focuses on a strengths-based approach, can be integrated with resilience-based approach to develop more balanced programs for positive youth development.

A new measuring method for motion accuracy of 3-axis NC equipments based on composite trajectory of circle and non-circle

NASA Astrophysics Data System (ADS)

Yang, Fan; Du, Zhengchun; Yang, Jiangguo; Hong, Maisheng

2011-12-01

Geometric motion error measurement has been considered as an important task for accuracy enhancement and quality assurance of NC machine tools and CMMs. In consideration of the disadvantages of traditional measuring methods,a new measuring method for motion accuracy of 3-axis NC equipments based on composite trajectory including circle and non-circle(straight line and/or polygonal line) is proposed. The principles and techniques of the new measuring method are discussed in detail. 8 feasible measuring strategies based on different measuring groupings are summarized and optimized. The experiment of the most preferable strategy is carried out on the 3-axis CNC vertical machining center Cincinnati 750 Arrow by using cross grid encoder. The whole measuring time of 21 error components of the new method is cut down to 1-2 h because of easy installation, adjustment, operation and the characteristics of non-contact measurement. Result shows that the new method is suitable for `on machine" measurement and has good prospects of wide application.

Numerical analysis for trajectory controllability of a coupled multi-order fractional delay differential system via the shifted Jacobi method

NASA Astrophysics Data System (ADS)

Priya, B. Ganesh; Muthukumar, P.

2018-02-01

This paper deals with the trajectory controllability for a class of multi-order fractional linear systems subject to a constant delay in state vector. The solution for the coupled fractional delay differential equation is established by the Mittag-Leffler function. The necessary and sufficient condition for the trajectory controllability is formulated and proved by the generalized Gronwall's inequality. The approximate trajectory for the proposed system is obtained through the shifted Jacobi operational matrix method. The numerical simulation of the approximate solution shows the theoretical results. Finally, some remarks and comments on the existing results of constrained controllability for the fractional dynamical system are also presented.

Pteros: fast and easy to use open-source C++ library for molecular analysis.

PubMed

Yesylevskyy, Semen O

2012-07-15

An open-source Pteros library for molecular modeling and analysis of molecular dynamics trajectories for C++ programming language is introduced. Pteros provides a number of routine analysis operations ranging from reading and writing trajectory files and geometry transformations to structural alignment and computation of nonbonded interaction energies. The library features asynchronous trajectory reading and parallel execution of several analysis routines, which greatly simplifies development of computationally intensive trajectory analysis algorithms. Pteros programming interface is very simple and intuitive while the source code is well documented and easily extendible. Pteros is available for free under open-source Artistic License from http://sourceforge.net/projects/pteros/. Copyright © 2012 Wiley Periodicals, Inc.

Didactic trajectory of research in mathematics education using research-based learning

NASA Astrophysics Data System (ADS)

Charitas Indra Prahmana, Rully; Kusumah, Yaya S.; Darhim

2017-10-01

This study aims to describe the role of research-based learning in design a learning trajectory of research in mathematics education to enhance research and academic writing skills for pre-service mathematics teachers. The method used is a design research with three stages, namely the preliminary design, teaching experiment, and retrospective analysis. The research subjects are pre-service mathematics teacher class of 2012 from one higher education institution in Tangerang - Indonesia. The use of research-based learning in designing learning trajectory of research in mathematics education plays a crucial role as a trigger to enhancing math department preservice teachers research and academic writing skills. Also, this study also describes the design principles and characteristics of the learning trajectory namely didactic trajectory generated by the role of research-based learning syntax.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Laboratory

NASA Technical Reports Server (NTRS)

Brewster, L.; Johnston, A.; Howard, R.; Mitchell, J.; Cryan, S.

2007-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success of the Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-loop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of"pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS. The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (1) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multi-sensor series of trajectories.

Using Natural Language to Enable Mission Managers to Control Multiple Heterogeneous UAVs

NASA Technical Reports Server (NTRS)

Trujillo, Anna C.; Puig-Navarro, Javier; Mehdi, S. Bilal; Mcquarry, A. Kyle

2016-01-01

The availability of highly capable, yet relatively cheap, unmanned aerial vehicles (UAVs) is opening up new areas of use for hobbyists and for commercial activities. This research is developing methods beyond classical control-stick pilot inputs, to allow operators to manage complex missions without in-depth vehicle expertise. These missions may entail several heterogeneous UAVs flying coordinated patterns or flying multiple trajectories deconflicted in time or space to predefined locations. This paper describes the functionality and preliminary usability measures of an interface that allows an operator to define a mission using speech inputs. With a defined and simple vocabulary, operators can input the vast majority of mission parameters using simple, intuitive voice commands. Although the operator interface is simple, it is based upon autonomous algorithms that allow the mission to proceed with minimal input from the operator. This paper also describes these underlying algorithms that allow an operator to manage several UAVs.

Evaluating Alerting and Guidance Performance of a UAS Detect-And-Avoid System

NASA Technical Reports Server (NTRS)

Lee, Seung Man; Park, Chunki; Thipphavong, David P.; Isaacson, Douglas R.; Santiago, Confesor

2016-01-01

A key challenge to the routine, safe operation of unmanned aircraft systems (UAS) is the development of detect-and-avoid (DAA) systems to aid the UAS pilot in remaining "well clear" of nearby aircraft. The goal of this study is to investigate the effect of alerting criteria and pilot response delay on the safety and performance of UAS DAA systems in the context of routine civil UAS operations in the National Airspace System (NAS). A NAS-wide fast-time simulation study was conducted to assess UAS DAA system performance with a large number of encounters and a broad set of DAA alerting and guidance system parameters. Three attributes of the DAA system were controlled as independent variables in the study to conduct trade-off analyses: UAS trajectory prediction method (dead-reckoning vs. intent-based), alerting time threshold (related to predicted time to LoWC), and alerting distance threshold (related to predicted Horizontal Miss Distance, or HMD). A set of metrics, such as the percentage of true positive, false positive, and missed alerts, based on signal detection theory and analysis methods utilizing the Receiver Operating Characteristic (ROC) curves were proposed to evaluate the safety and performance of DAA alerting and guidance systems and aid development of DAA system performance standards. The effect of pilot response delay on the performance of DAA systems was evaluated using a DAA alerting and guidance model and a pilot model developed to support this study. A total of 18 fast-time simulations were conducted with nine different DAA alerting threshold settings and two different trajectory prediction methods, using recorded radar traffic from current Visual Flight Rules (VFR) operations, and supplemented with DAA-equipped UAS traffic based on mission profiles modeling future UAS operations. Results indicate DAA alerting distance threshold has a greater effect on DAA system performance than DAA alerting time threshold or ownship trajectory prediction method. Further analysis on the alert lead time (time in advance of predicted loss of well clear at which a DAA alert is first issued) indicated a strong positive correlation between alert lead time and DAA system performance (i.e. the ability of the UAS pilot to maneuver the unmanned aircraft to remain well clear). While bigger distance thresholds had beneficial effects on alert lead time and missed alert rate, it also generated a higher rate of false alerts. In the design and development of DAA alerting and guidance systems, therefore, the positive and negative effects of false alerts and missed alerts should be carefully considered to achieve acceptable alerting system performance by balancing false and missed alerts. The results and methodology presented in this study are expected to help stakeholders, policymakers and standards committees define the appropriate setting of DAA system parameter thresholds for UAS that ensure safety while minimizing operational impacts to the NAS and equipage requirements for its users before DAA operational performance standards can be finalized.

Real-time terminal area trajectory planning for runway independent aircraft

NASA Astrophysics Data System (ADS)

Xue, Min

The increasing demand for commercial air transportation results in delays due to traffic queues that form bottlenecks along final approach and departure corridors. In urban areas, it is often infeasible to build new runways, and regardless of automation upgrades traffic must remain separated to avoid the wakes of previous aircraft. Vertical or short takeoff and landing aircraft as Runway Independent Aircraft (RIA) can increase passenger throughput at major urban airports via the use of vertiports or stub runways. The concept of simultaneous non-interfering (SNI) operations has been proposed to reduce traffic delays by creating approach and departure corridors that do not intersect existing fixed-wing routes. However, SNI trajectories open new routes that may overfly noise-sensitive areas, and RIA may generate more noise than traditional jet aircraft, particularly on approach. In this dissertation, we develop efficient SNI noise abatement procedures applicable to RIA. First, we introduce a methodology based on modified approximated cell-decomposition and Dijkstra's search algorithm to optimize longitudinal plane (2-D) RIA trajectories over a cost function that minimizes noise, time, and fuel use. Then, we extend the trajectory optimization model to 3-D with a k-ary tree as the discrete search space. We incorporate geography information system (GIS) data, specifically population, into our objective function, and focus on a practical case study: the design of SNI RIA approach procedures to Baltimore-Washington International airport. Because solutions were represented as trim state sequences, we incorporated smooth transition between segments to enable more realistic cost estimates. Due to the significant computational complexity, we investigated alternative more efficient optimization techniques applicable to our nonlinear, non-convex, heavily constrained, and discontinuous objective function. Comparing genetic algorithm (GA) and adaptive simulated annealing (ASA) with our original Dijkstra's algorithm, ASA is identified as the most efficient algorithm for terminal area trajectory optimization. The effects of design parameter discretization are analyzed, with results indicating a SNI procedure with 3-4 segments effectively balances simplicity with cost minimization. Finally, pilot control commands were implemented and generated via optimization-base inverse simulation to validate execution of the optimal approach trajectories.

Ares I-X Best Estimated Trajectory Analysis and Results

NASA Technical Reports Server (NTRS)

Karlgaard, Christopher D.; Beck, Roger E.; Starr, Brett R.; Derry, Stephen D.; Brandon, Jay; Olds, Aaron D.

2011-01-01

The Ares I-X trajectory reconstruction produced best estimated trajectories of the flight test vehicle ascent through stage separation, and of the first and upper stage entries after separation. The trajectory reconstruction process combines on-board, ground-based, and atmospheric measurements to produce the trajectory estimates. The Ares I-X vehicle had a number of on-board and ground based sensors that were available, including inertial measurement units, radar, air-data, and weather balloons. However, due to problems with calibrations and/or data, not all of the sensor data were used. The trajectory estimate was generated using an Iterative Extended Kalman Filter algorithm, which is an industry standard processing algorithm for filtering and estimation applications. This paper describes the methodology and results of the trajectory reconstruction process, including flight data preprocessing and input uncertainties, trajectory estimation algorithms, output transformations, and comparisons with preflight predictions.

Ares I-X Best Estimated Trajectory and Comparison with Pre-Flight Predictions

NASA Technical Reports Server (NTRS)

Karlgaard, Christopher D.; Beck, Roger E.; Derry, Stephen D.; Brandon, Jay M.; Starr, Brett R.; Tartabini, Paul V.; Olds, Aaron D.

2011-01-01

The Ares I-X trajectory reconstruction produced best estimated trajectories of the flight test vehicle ascent through stage separation, and of the first and upper stage entries after separation. The trajectory reconstruction process combines on-board, ground-based, and atmospheric measurements to produce the trajectory estimates. The Ares I-X vehicle had a number of on-board and ground based sensors that were available, including inertial measurement units, radar, air- data, and weather balloons. However, due to problems with calibrations and/or data, not all of the sensor data were used. The trajectory estimate was generated using an Iterative Extended Kalman Filter algorithm, which is an industry standard processing algorithm for filtering and estimation applications. This paper describes the methodology and results of the trajectory reconstruction process, including flight data preprocessing and input uncertainties, trajectory estimation algorithms, output transformations, and comparisons with preflight predictions.

On the analytic and numeric optimisation of airplane trajectories under real atmospheric conditions

NASA Astrophysics Data System (ADS)

Gonzalo, J.; Domínguez, D.; López, D.

2014-12-01

From the beginning of aviation era, economic constraints have forced operators to continuously improve the planning of the flights. The revenue is proportional to the cost per flight and the airspace occupancy. Many methods, the first started in the middle of last century, have explore analytical, numerical and artificial intelligence resources to reach the optimal flight planning. In parallel, advances in meteorology and communications allow an almost real-time knowledge of the atmospheric conditions and a reliable, error-bounded forecast for the near future. Thus, apart from weather risks to be avoided, airplanes can dynamically adapt their trajectories to minimise their costs. International regulators are aware about these capabilities, so it is reasonable to envisage some changes to allow this dynamic planning negotiation to soon become operational. Moreover, current unmanned airplanes, very popular and often small, suffer the impact of winds and other weather conditions in form of dramatic changes in their performance. The present paper reviews analytic and numeric solutions for typical trajectory planning problems. Analytic methods are those trying to solve the problem using the Pontryagin principle, where influence parameters are added to state variables to form a split condition differential equation problem. The system can be solved numerically -indirect optimisation- or using parameterised functions -direct optimisation-. On the other hand, numerical methods are based on Bellman's dynamic programming (or Dijkstra algorithms), where the fact that two optimal trajectories can be concatenated to form a new optimal one if the joint point is demonstrated to belong to the final optimal solution. There is no a-priori conditions for the best method. Traditionally, analytic has been more employed for continuous problems whereas numeric for discrete ones. In the current problem, airplane behaviour is defined by continuous equations, while wind fields are given in a discrete grid at certain time intervals. The research demonstrates advantages and disadvantages of each method as well as performance figures of the solutions found for typical flight conditions under static and dynamic atmospheres. This provides significant parameters to be used in the selection of solvers for optimal trajectories.

Novel Driving Control of Power Assisted Wheelchair Based on Minimum Jerk Trajectory

NASA Astrophysics Data System (ADS)

Seki, Hirokazu; Sugimoto, Takeaki; Tadakuma, Susumu

This paper describes a novel trajectory control scheme for power assisted wheelchair. Human input torque patterns are always intermittent in power assisted wheelchairs, therefore, the suitable trajectories must be generated also after the human decreases his/her input torque. This paper tries to solve this significant problem based on minimum jerk model minimizing the changing rate of acceleration. The proposed control system based on minimum jerk trajectory is expected to improve the ride quality, stability and safety. Some experiments show the effectiveness of the proposed method.

A Computerized Microelectrode Recording to Magnetic Resonance Imaging Mapping System for Subthalamic Nucleus Deep Brain Stimulation Surgery.

PubMed

Dodani, Sunjay S; Lu, Charles W; Aldridge, J Wayne; Chou, Kelvin L; Patil, Parag G

2018-06-01

Accurate electrode placement is critical to the success of deep brain stimulation (DBS) surgery. Suboptimal targeting may arise from poor initial target localization, frame-based targeting error, or intraoperative brain shift. These uncertainties can make DBS surgery challenging. To develop a computerized system to guide subthalamic nucleus (STN) DBS electrode localization and to estimate the trajectory of intraoperative microelectrode recording (MER) on magnetic resonance (MR) images algorithmically during DBS surgery. Our method is based upon the relationship between the high-frequency band (HFB; 500-2000 Hz) signal from MER and voxel intensity on MR images. The HFB profile along an MER trajectory recorded during surgery is compared to voxel intensity profiles along many potential trajectories in the region of the surgically planned trajectory. From these comparisons of HFB recordings and potential trajectories, an estimate of the MER trajectory is calculated. This calculated trajectory is then compared to actual trajectory, as estimated by postoperative high-resolution computed tomography. We compared 20 planned, calculated, and actual trajectories in 13 patients who underwent STN DBS surgery. Targeting errors for our calculated trajectories (2.33 mm ± 0.2 mm) were significantly less than errors for surgically planned trajectories (2.83 mm ± 0.2 mm; P = .01), improving targeting prediction in 70% of individual cases (14/20). Moreover, in 4 of 4 initial MER trajectories that missed the STN, our method correctly indicated the required direction of targeting adjustment for the DBS lead to intersect the STN. A computer-based algorithm simultaneously utilizing MER and MR information potentially eases electrode localization during STN DBS surgery.

Trend-Residual Dual Modeling for Detection of Outliers in Low-Cost GPS Trajectories

PubMed Central

Chen, Xiaojian; Cui, Tingting; Fu, Jianhong; Peng, Jianwei; Shan, Jie

2016-01-01

Low-cost GPS (receiver) has become a ubiquitous and integral part of our daily life. Despite noticeable advantages such as being cheap, small, light, and easy to use, its limited positioning accuracy devalues and hampers its wide applications for reliable mapping and analysis. Two conventional techniques to remove outliers in a GPS trajectory are thresholding and Kalman-based methods, which are difficult in selecting appropriate thresholds and modeling the trajectories. Moreover, they are insensitive to medium and small outliers, especially for low-sample-rate trajectories. This paper proposes a model-based GPS trajectory cleaner. Rather than examining speed and acceleration or assuming a pre-determined trajectory model, we first use cubic smooth spline to adaptively model the trend of the trajectory. The residuals, i.e., the differences between the trend and GPS measurements, are then further modeled by time series method. Outliers are detected by scoring the residuals at every GPS trajectory point. Comparing to the conventional procedures, the trend-residual dual modeling approach has the following features: (a) it is able to model trajectories and detect outliers adaptively; (b) only one critical value for outlier scores needs to be set; (c) it is able to robustly detect unapparent outliers; and (d) it is effective in cleaning outliers for GPS trajectories with low sample rates. Tests are carried out on three real-world GPS trajectories datasets. The evaluation demonstrates an average of 9.27 times better performance in outlier detection for GPS trajectories than thresholding and Kalman-based techniques. PMID:27916944

A real-time navigation monitoring expert system for the Space Shuttle Mission Control Center

NASA Technical Reports Server (NTRS)

Wang, Lui; Fletcher, Malise

1993-01-01

The ONAV (Onboard Navigation) Expert System has been developed as a real time console assistant for use by ONAV flight controllers in the Mission Control Center at the Johnson Space Center. This expert knowledge based system is used to monitor the Space Shuttle onboard navigation system, detect faults, and advise flight operations personnel. This application is the first knowledge-based system to use both telemetry and trajectory data from the Mission Operations Computer (MOC). To arrive at this stage, from a prototype to real world application, the ONAV project has had to deal with not only AI issues but operating environment issues. The AI issues included the maturity of AI languages and the debugging tools, verification, and availability, stability and size of the expert pool. The environmental issues included real time data acquisition, hardware suitability, and how to achieve acceptance by users and management.

Trajectory Software With Upper Atmosphere Model

NASA Technical Reports Server (NTRS)

Barrett, Charles

2012-01-01

The Trajectory Software Applications 6.0 for the Dec Alpha platform has an implementation of the Jacchia-Lineberry Upper Atmosphere Density Model used in the Mission Control Center for International Space Station support. Previous trajectory software required an upper atmosphere to support atmosphere drag calculations in the Mission Control Center. The Functional operation will differ depending on the end-use of the module. In general, the calling routine will use function-calling arguments to specify input to the processor. The atmosphere model will then compute and return atmospheric density at the time of interest.

Welding torch trajectory generation for hull joining using autonomous welding mobile robot

NASA Astrophysics Data System (ADS)

Hascoet, J. Y.; Hamilton, K.; Carabin, G.; Rauch, M.; Alonso, M.; Ares, E.

2012-04-01

Shipbuilding processes involve highly dangerous manual welding operations. Welding of ship hulls presents a hazardous environment for workers. This paper describes a new robotic system, developed by the SHIPWELD consortium, that moves autonomously on the hull and automatically executes the required welding processes. Specific focus is placed on the trajectory control of such a system and forms the basis for the discussion in this paper. It includes a description of the robotic hardware design as well as some methodology used to establish the torch trajectory control.

Evaluation of some significant issues affecting trajectory and control management for air-breathing hypersonic vehicles

NASA Technical Reports Server (NTRS)

Hattis, Philip D.; Malchow, Harvey L.

1992-01-01

Horizontal takeoff airbreathing-propulsion launch vehicles require near-optimal guidance and control which takes into account performance sensitivities to atmospheric characteristics while satisfying physically-derived operational constraints. A generic trajectory/control analysis tool that deepens insight into these considerations has been applied to two versions of a winged-cone vehicle model. Information that is critical to the design and trajectory of these vehicles is derived, and several unusual characteristics of the airbreathing propulsion model are shown to have potentially substantial effects on vehicle dynamics.

General Methodology for Designing Spacecraft Trajectories

NASA Technical Reports Server (NTRS)

Condon, Gerald; Ocampo, Cesar; Mathur, Ravishankar; Morcos, Fady; Senent, Juan; Williams, Jacob; Davis, Elizabeth C.

2012-01-01

A methodology for designing spacecraft trajectories in any gravitational environment within the solar system has been developed. The methodology facilitates modeling and optimization for problems ranging from that of a single spacecraft orbiting a single celestial body to that of a mission involving multiple spacecraft and multiple propulsion systems operating in gravitational fields of multiple celestial bodies. The methodology consolidates almost all spacecraft trajectory design and optimization problems into a single conceptual framework requiring solution of either a system of nonlinear equations or a parameter-optimization problem with equality and/or inequality constraints.

Hayabusa Re-Entry: Trajectory Analysis and Observation Mission Design

NASA Technical Reports Server (NTRS)

Cassell, Alan M.; Winter, Michael W.; Allen, Gary A.; Grinstead, Jay H.; Antimisiaris, Manny E.; Albers, James; Jenniskens, Peter

2011-01-01

On June 13th, 2010, the Hayabusa sample return capsule successfully re-entered Earth s atmosphere over the Woomera Prohibited Area in southern Australia in its quest to return fragments from the asteroid 1998 SF36 Itokawa . The sample return capsule entered at a super-orbital velocity of 12.04 km/sec (inertial), making it the second fastest human-made object to traverse the atmosphere. The NASA DC-8 airborne observatory was utilized as an instrument platform to record the luminous portion of the sample return capsule re-entry (60 sec) with a variety of on-board spectroscopic imaging instruments. The predicted sample return capsule s entry state information at 200 km altitude was propagated through the atmosphere to generate aerothermodynamic and trajectory data used for initial observation flight path design and planning. The DC- 8 flight path was designed by considering safety, optimal sample return capsule viewing geometry and aircraft capabilities in concert with key aerothermodynamic events along the predicted trajectory. Subsequent entry state vector updates provided by the Deep Space Network team at NASA s Jet Propulsion Laboratory were analyzed after the planned trajectory correction maneuvers to further refine the DC-8 observation flight path. Primary and alternate observation flight paths were generated during the mission planning phase which required coordination with Australian authorities for pre-mission approval. The final observation flight path was chosen based upon trade-offs between optimal viewing requirements, ground based observer locations (to facilitate post-flight trajectory reconstruction), predicted weather in the Woomera Prohibited Area and constraints imposed by flight path filing deadlines. To facilitate sample return capsule tracking by the instrument operators, a series of two racetrack flight path patterns were performed prior to the observation leg so the instruments could be pointed towards the region in the star background where the sample return capsule was expected to become visible. An overview of the design methodologies and trade-offs used in the Hayabusa re-entry observation campaign are presented.

Automatic Multiple-Needle Surgical Planning of Robotic-Assisted Microwave Coagulation in Large Liver Tumor Therapy

PubMed Central

Liu, Shaoli; Xia, Zeyang; Liu, Jianhua; Xu, Jing; Ren, He; Lu, Tong; Yang, Xiangdong

2016-01-01

The “robotic-assisted liver tumor coagulation therapy” (RALTCT) system is a promising candidate for large liver tumor treatment in terms of accuracy and speed. A prerequisite for effective therapy is accurate surgical planning. However, it is difficult for the surgeon to perform surgical planning manually due to the difficulties associated with robot-assisted large liver tumor therapy. These main difficulties include the following aspects: (1) multiple needles are needed to destroy the entire tumor, (2) the insertion trajectories of the needles should avoid the ribs, blood vessels, and other tissues and organs in the abdominal cavity, (3) the placement of multiple needles should avoid interference with each other, (4) an inserted needle will cause some deformation of liver, which will result in changes in subsequently inserted needles’ operating environment, and (5) the multiple needle-insertion trajectories should be consistent with the needle-driven robot’s movement characteristics. Thus, an effective multiple-needle surgical planning procedure is needed. To overcome these problems, we present an automatic multiple-needle surgical planning of optimal insertion trajectories to the targets, based on a mathematical description of all relevant structure surfaces. The method determines the analytical expression of boundaries of every needle “collision-free reachable workspace” (CFRW), which are the feasible insertion zones based on several constraints. Then, the optimal needle insertion trajectory within the optimization criteria will be chosen in the needle CFRW automatically. Also, the results can be visualized with our navigation system. In the simulation experiment, three needle-insertion trajectories were obtained successfully. In the in vitro experiment, the robot successfully achieved insertion of multiple needles. The proposed automatic multiple-needle surgical planning can improve the efficiency and safety of robot-assisted large liver tumor therapy, significantly reduce the surgeon’s workload, and is especially helpful for an inexperienced surgeon. The methodology should be easy to adapt in other body parts. PMID:26982341

Evaluation of spinal missile injuries with respect to bullet trajectory, surgical indications and timing of surgical intervention: a new guideline.

PubMed

Duz, Bulent; Cansever, Tufan; Secer, Halil Ibrahim; Kahraman, Serdar; Daneyemez, Mehmet Kadri; Gonul, Engin

2008-09-15

Analysis of the patients with spinal missile injury (SMI). Choosing the optimum treatment for SMI with respect to bullet trajectory, evaluation of surgical indications, and timing of surgical intervention. A few guidelines were reported for the management of SMI. But there is still no consensus about the indication and timing of the surgery. The relationship between the surgery and bullet trajectory was not reported previously. One hundred twenty-nine patients with spinal missile injury were admitted to our department from 1994 to 2006 and 122 of them could be functionally monitored. Functional recovery and complications in surgical and conservative treatment groups were evaluated. Surgical indications were discussed. The injuries were classified with respect to the bullet's trajectory. Seventy-four patients were treated surgically, of whom 60 (81%) had incomplete injuries. All 17 patients whose vertebral column was injured with side-to-side trajectory were operated on because of instability. In the surgical group, 33 (56.9%) showed improvement, 20 (34.5%) showed no change, and 5 (8.6%) worsened. The best results were obtained by the patients who received operations because of rapid neurologic decline, compression, and instability in the spinal canal (P < 0.0001). Twenty-three (31%) complications and associated injuries were seen in the surgically treated patients and 18 (34.6%) were seen in the conservatively treated patients. Anteroposterior and oblique trajectories [Gulhane Military Medical Academy (GATA)-SMI I and GATA-SMI II] of SMI must be recognized as highly infective in the lumbar region. A side-to-side trajectory (GATA-SMI III) missile causing spinal cord injury is unstable and needs further stabilization. The spinal cord is not injured by the GATA-SMI IV trajectory, and thus, the best approach in this case is conservative. The best results from neurosurgical interventions may be achieved after rapid neurologic deteriorations because of spinal compression and/or instability.

Automatic determination of optimal linear drilling trajectories for cochlear access accounting for drill-positioning error.

PubMed

Noble, Jack H; Majdani, Omid; Labadie, Robert F; Dawant, Benoit; Fitzpatrick, J Michael

2010-09-01

Cochlear implantation is a surgical procedure in which an electrode array is permanently implanted into the cochlea to stimulate the auditory nerve and allow deaf people to hear. Percutaneous cochlear access, a new minimally invasive implantation approach, requires drilling a single linear channel from the skull surface to the cochlea. The focus of this paper addresses a major challenge with this approach, which is the ability to determine, in a pre-operative CT, a safe and effective drilling trajectory. A measure of the safety and effectiveness of a given trajectory relative to sensitive structures is derived using a Monte Carlo approach. The drilling trajectory that maximizes this measure is found using an optimization algorithm. In tests on 13 ears, the technique was shown to find approximately twice as many acceptable trajectories as those found manually by an experienced surgeon. Using this method, safe trajectories can be automatically determined quickly and consistently. Copyright 2010 John Wiley & Sons, Ltd.

Model-based Optimization and Feedback Control of the Current Density Profile Evolution in NSTX-U

NASA Astrophysics Data System (ADS)

Ilhan, Zeki Okan

Nuclear fusion research is a highly challenging, multidisciplinary field seeking contributions from both plasma physics and multiple engineering areas. As an application of plasma control engineering, this dissertation mainly explores methods to control the current density profile evolution within the National Spherical Torus eXperiment-Upgrade (NSTX-U), which is a substantial upgrade based on the NSTX device, which is located in Princeton Plasma Physics Laboratory (PPPL), Princeton, NJ. Active control of the toroidal current density profile is among those plasma control milestones that the NSTX-U program must achieve to realize its next-step operational goals, which are characterized by high-performance, long-pulse, MHD-stable plasma operation with neutral beam heating. Therefore, the aim of this work is to develop model-based, feedforward and feedback controllers that can enable time regulation of the current density profile in NSTX-U by actuating the total plasma current, electron density, and the powers of the individual neutral beam injectors. Motivated by the coupled, nonlinear, multivariable, distributed-parameter plasma dynamics, the first step towards control design is the development of a physics-based, control-oriented model for the current profile evolution in NSTX-U in response to non-inductive current drives and heating systems. Numerical simulations of the proposed control-oriented model show qualitative agreement with the high-fidelity physics code TRANSP. The next step is to utilize the proposed control-oriented model to design an open-loop actuator trajectory optimizer. Given a desired operating state, the optimizer produces the actuator trajectories that can steer the plasma to such state. The objective of the feedforward control design is to provide a more systematic approach to advanced scenario planning in NSTX-U since the development of such scenarios is conventionally carried out experimentally by modifying the tokamak's actuator trajectories and analyzing the resulting plasma evolution. Finally, the proposed control-oriented model is embedded in feedback control schemes based on optimal control and Model Predictive Control (MPC) approaches. Integrators are added to the standard Linear Quadratic Gaussian (LQG) and MPC formulations to provide robustness against various modeling uncertainties and external disturbances. The effectiveness of the proposed feedback controllers in regulating the current density profile in NSTX-U is demonstrated in closed-loop nonlinear simulations. Moreover, the optimal feedback control algorithm has been implemented successfully in closed-loop control simulations within TRANSP through the recently developed Expert routine. (Abstract shortened by ProQuest.).

Cooperative control of two active spacecraft during proximity operations. M.S. Thesis - MIT

NASA Technical Reports Server (NTRS)

Polutchko, Robert J.

1989-01-01

A cooperative autopilot is developed for the control of the relative attitude, relative position and absolute attitude of two maneuvering spacecraft during on orbit proximity operations. The autopilot consists of an open-loop trajectory solver which computes a nine dimensional linearized nominal state trajectory at the beginning of each maneuver and a phase space regulator which maintains the two spacecraft on the nominal trajectory during coast phases of the maneuver. A linear programming algorithm is used to perform jet selection. Simulation tests using a system of two space shuttle vehicles are performed to verify the performance of the cooperative controller and comparisons are made to a traditional passive target/active pursuit vehicle approach to proximity operations. The cooperative autopilot is shown to be able to control the two vehicle system when both the would be pursuit vehicle and the target vehicle are not completely controllable in six degrees of freedom. The cooperative controller is also shown to use as much as 37 percent less fuel and 57 percent fewer jet firings than a single pursuit vehicle during a simple docking approach maneuver.

Shuttle Orbiter Contingency Abort Aerodynamics: Real-Gas Effects and High Angles of Attack

NASA Technical Reports Server (NTRS)

Prabhu, Dinesh K.; Papadopoulos, Periklis E.; Davies, Carol B.; Wright, Michael J.; McDaniel, Ryan D.; Venkatapathy, Ethiraj; Wercinski, Paul F.

2005-01-01

An important element of the Space Shuttle Orbiter safety improvement plan is the improved understanding of its aerodynamic performance so as to minimize the "black zones" in the contingency abort trajectories [1]. These zones are regions in the launch trajectory where it is predicted that, due to vehicle limitations, the Orbiter will be unable to return to the launch site in a two or three engine-out scenario. Reduction of these zones requires accurate knowledge of the aerodynamic forces and moments to better assess the structural capability of the vehicle. An interesting aspect of the contingency abort trajectories is that the Orbiter would need to achieve angles of attack as high as 60deg. Such steep attitudes are much higher than those for a nominal flight trajectory. The Orbiter is currently flight certified only up to an angle of attack of 44deg at high Mach numbers and has never flown at angles of attack larger than this limit. Contingency abort trajectories are generated using the data in the Space Shuttle Operational Aerodynamic Data Book (OADB) [2]. The OADB, a detailed document of the aerodynamic environment of the current Orbiter, is primarily based on wind-tunnel measurements (over a wide Mach number and angle-of-attack range) extrapolated to flight conditions using available theories and correlations, and updated with flight data where available. For nominal flight conditions, i.e., angles of attack of less than 45deg, the fidelity of the OADB is excellent due to the availability of flight data. However, at the off-nominal conditions, such as would be encountered on contingency abort trajectories, the fidelity of the OADB is less certain. The primary aims of a recent collaborative effort (completed in the year 2001) between NASA and Boeing were to determine: 1) accurate distributions of pressure and shear loads on the Orbiter at select points in the contingency abort trajectory space; and 2) integrated aerodynamic forces and moments for the entire vehicle and the control surfaces (body flap, speed brake, and elevons). The latter served the useful purpose of verification of the aerodynamic characteristics that went into the generation of the abort trajectories.

Statcast and the Baseball Trajectory Calculator

ERIC Educational Resources Information Center

Kagan, David; Nathan, Alan M.

2017-01-01

Baseball's flirtation with technology began in 2005 when PITCHf/x® by Sportvision started to be installed in major league ballparks. Every stadium had the system operational by 2007. Since then, the trajectories of over six million pitches have been measured to within about half an inch using three 60-Hz video cameras to track the position of the…

Spaceplane Technology and Research (STAR)

DTIC Science & Technology

1984-08-01

autonomy, flexibility , maneuverability, responsiveness, survivability and cost- effectiveness required of military aerospace operations as the result...orbit to simulate desired trajectory. Determine the ablative behavior and its effect on trajectory for various C/C composite materials. Expected... the 747-200F would potentially be the most flexible and cost- effective launch system. The associated use of stage-stations appears especially cost

An Evaluation of a Flight Deck Interval Management Algorithm Including Delayed Target Trajectories

NASA Technical Reports Server (NTRS)

Swieringa, Kurt A.; Underwood, Matthew C.; Barmore, Bryan; Leonard, Robert D.

2014-01-01

NASA's first Air Traffic Management (ATM) Technology Demonstration (ATD-1) was created to facilitate the transition of mature air traffic management technologies from the laboratory to operational use. The technologies selected for demonstration are the Traffic Management Advisor with Terminal Metering (TMA-TM), which provides precise timebased scheduling in the terminal airspace; Controller Managed Spacing (CMS), which provides controllers with decision support tools enabling precise schedule conformance; and Interval Management (IM), which consists of flight deck automation that enables aircraft to achieve or maintain precise in-trail spacing. During high demand operations, TMA-TM may produce a schedule and corresponding aircraft trajectories that include delay to ensure that a particular aircraft will be properly spaced from other aircraft at each schedule waypoint. These delayed trajectories are not communicated to the automation onboard the aircraft, forcing the IM aircraft to use the published speeds to estimate the target aircraft's estimated time of arrival. As a result, the aircraft performing IM operations may follow an aircraft whose TMA-TM generated trajectories have substantial speed deviations from the speeds expected by the spacing algorithm. Previous spacing algorithms were not designed to handle this magnitude of uncertainty. A simulation was conducted to examine a modified spacing algorithm with the ability to follow aircraft flying delayed trajectories. The simulation investigated the use of the new spacing algorithm with various delayed speed profiles and wind conditions, as well as several other variables designed to simulate real-life variability. The results and conclusions of this study indicate that the new spacing algorithm generally exhibits good performance; however, some types of target aircraft speed profiles can cause the spacing algorithm to command less than optimal speed control behavior.

Earth-Moon Libration Point Orbit Stationkeeping: Theory, Modeling and Operations

NASA Technical Reports Server (NTRS)

Folta, David C.; Pavlak, Thomas A.; Haapala, Amanda F.; Howell, Kathleen C.; Woodard, Mark A.

2013-01-01

Collinear Earth-Moon libration points have emerged as locations with immediate applications. These libration point orbits are inherently unstable and must be maintained regularly which constrains operations and maneuver locations. Stationkeeping is challenging due to relatively short time scales for divergence effects of large orbital eccentricity of the secondary body, and third-body perturbations. Using the Acceleration Reconnection and Turbulence and Electrodynamics of the Moon's Interaction with the Sun (ARTEMIS) mission orbit as a platform, the fundamental behavior of the trajectories is explored using Poincare maps in the circular restricted three-body problem. Operational stationkeeping results obtained using the Optimal Continuation Strategy are presented and compared to orbit stability information generated from mode analysis based in dynamical systems theory.

Assimilation of Wind Profiles from Multiple Doppler Radar Wind Profilers for Space Launch Vehicle Applications

NASA Technical Reports Server (NTRS)

Decker, Ryan K.; Walker, John R.; Barbre, Robert E., Jr.; Leach, Richard D.

2015-01-01

Atmospheric wind data are required by space launch vehicles in order to assess flight vehicle loads and performance on day-of-launch. Space launch ranges at NASA's Kennedy Space Center co-located with the United States Air Force's (USAF) Eastern Range (ER) at Cape Canaveral Air Force Station and USAF's Western Range (WR) at Vandenberg Air Force Base have extensive networks of in-situ and remote sensing instrumentation to measure atmospheric winds. Each instrument's technique to measure winds has advantages and disadvantages in regards to use within vehicle trajectory analyses. Balloons measure wind at all altitudes necessary for vehicle assessments, but two primary disadvantages exist when applying balloon output. First, balloons require approximately one hour to reach required altitudes. Second, balloons are steered by atmospheric winds down range of the launch site that could significantly differ from those winds along the vehicle ascent trajectory. These issues are mitigated by use of vertically pointing Doppler Radar Wind Profilers (DRWPs). However, multiple DRWP instruments are required to provide wind data over altitude ranges necessary for vehicle trajectory assessments. The various DRWP systems have different operating configurations resulting in different temporal and spatial sampling intervals. Therefore, software was developed to combine data from both DRWP-generated profiles into a single profile for use in vehicle trajectory analyses. This paper will present details of the splicing software algorithms and will provide sample output.

Fuzzy logic based robotic controller

NASA Technical Reports Server (NTRS)

Attia, F.; Upadhyaya, M.

1994-01-01

Existing Proportional-Integral-Derivative (PID) robotic controllers rely on an inverse kinematic model to convert user-specified cartesian trajectory coordinates to joint variables. These joints experience friction, stiction, and gear backlash effects. Due to lack of proper linearization of these effects, modern control theory based on state space methods cannot provide adequate control for robotic systems. In the presence of loads, the dynamic behavior of robotic systems is complex and nonlinear, especially where mathematical modeling is evaluated for real-time operators. Fuzzy Logic Control is a fast emerging alternative to conventional control systems in situations where it may not be feasible to formulate an analytical model of the complex system. Fuzzy logic techniques track a user-defined trajectory without having the host computer to explicitly solve the nonlinear inverse kinematic equations. The goal is to provide a rule-based approach, which is closer to human reasoning. The approach used expresses end-point error, location of manipulator joints, and proximity to obstacles as fuzzy variables. The resulting decisions are based upon linguistic and non-numerical information. This paper presents a solution to the conventional robot controller which is independent of computationally intensive kinematic equations. Computer simulation results of this approach as obtained from software implementation are also discussed.

Indoor Trajectory Tracking Scheme Based on Delaunay Triangulation and Heuristic Information in Wireless Sensor Networks.

PubMed

Qin, Junping; Sun, Shiwen; Deng, Qingxu; Liu, Limin; Tian, Yonghong

2017-06-02

Object tracking and detection is one of the most significant research areas for wireless sensor networks. Existing indoor trajectory tracking schemes in wireless sensor networks are based on continuous localization and moving object data mining. Indoor trajectory tracking based on the received signal strength indicator ( RSSI ) has received increased attention because it has low cost and requires no special infrastructure. However, RSSI tracking introduces uncertainty because of the inaccuracies of measurement instruments and the irregularities (unstable, multipath, diffraction) of wireless signal transmissions in indoor environments. Heuristic information includes some key factors for trajectory tracking procedures. This paper proposes a novel trajectory tracking scheme based on Delaunay triangulation and heuristic information (TTDH). In this scheme, the entire field is divided into a series of triangular regions. The common side of adjacent triangular regions is regarded as a regional boundary. Our scheme detects heuristic information related to a moving object's trajectory, including boundaries and triangular regions. Then, the trajectory is formed by means of a dynamic time-warping position-fingerprint-matching algorithm with heuristic information constraints. Field experiments show that the average error distance of our scheme is less than 1.5 m, and that error does not accumulate among the regions.

Shaping low-thrust trajectories with thrust-handling feature

NASA Astrophysics Data System (ADS)

Taheri, Ehsan; Kolmanovsky, Ilya; Atkins, Ella

2018-02-01

Shape-based methods are becoming popular in low-thrust trajectory optimization due to their fast computation speeds. In existing shape-based methods constraints are treated at the acceleration level but not at the thrust level. These two constraint types are not equivalent since spacecraft mass decreases over time as fuel is expended. This paper develops a shape-based method based on a Fourier series approximation that is capable of representing trajectories defined in spherical coordinates and that enforces thrust constraints. An objective function can be incorporated to minimize overall mission cost, i.e., achieve minimum ΔV . A representative mission from Earth to Mars is studied. The proposed Fourier series technique is demonstrated capable of generating feasible and near-optimal trajectories. These attributes can facilitate future low-thrust mission designs where different trajectory alternatives must be rapidly constructed and evaluated.

A Novel Approach for Enhancement of Automobile Clutch Engagement Quality Using Mechatronics Based Automated Clutch System

NASA Astrophysics Data System (ADS)

Tripathi, K.

2013-01-01

In automated manual clutch (AMC) a mechatronic system controls clutch force trajectory through an actuator governed by a control system. The present study identifies relevant characteristics of this trajectory and their effects on driveline dynamics and engagement quality. A new type of force trajectory is identified which gives the good engagement quality. However this trajectory is not achievable through conventional clutch control mechanism. But in AMC a mechatronic system based on electro-hydraulic or electro-mechanical elements can make it feasible. A mechatronic system is presented in which a mechatronic add-on system can be used to implement the novel force trajectory, without the requirement of replacing the traditional diaphragm spring based clutch in a vehicle with manual transmission.

Introducing the fit-criteria assessment plot - A visualisation tool to assist class enumeration in group-based trajectory modelling.

PubMed

Klijn, Sven L; Weijenberg, Matty P; Lemmens, Paul; van den Brandt, Piet A; Lima Passos, Valéria

2017-10-01

Background and objective Group-based trajectory modelling is a model-based clustering technique applied for the identification of latent patterns of temporal changes. Despite its manifold applications in clinical and health sciences, potential problems of the model selection procedure are often overlooked. The choice of the number of latent trajectories (class-enumeration), for instance, is to a large degree based on statistical criteria that are not fail-safe. Moreover, the process as a whole is not transparent. To facilitate class enumeration, we introduce a graphical summary display of several fit and model adequacy criteria, the fit-criteria assessment plot. Methods An R-code that accepts universal data input is presented. The programme condenses relevant group-based trajectory modelling output information of model fit indices in automated graphical displays. Examples based on real and simulated data are provided to illustrate, assess and validate fit-criteria assessment plot's utility. Results Fit-criteria assessment plot provides an overview of fit criteria on a single page, placing users in an informed position to make a decision. Fit-criteria assessment plot does not automatically select the most appropriate model but eases the model assessment procedure. Conclusions Fit-criteria assessment plot is an exploratory, visualisation tool that can be employed to assist decisions in the initial and decisive phase of group-based trajectory modelling analysis. Considering group-based trajectory modelling's widespread resonance in medical and epidemiological sciences, a more comprehensive, easily interpretable and transparent display of the iterative process of class enumeration may foster group-based trajectory modelling's adequate use.

Trajectory Based Behavior Analysis for User Verification

NASA Astrophysics Data System (ADS)

Pao, Hsing-Kuo; Lin, Hong-Yi; Chen, Kuan-Ta; Fadlil, Junaidillah

Many of our activities on computer need a verification step for authorized access. The goal of verification is to tell apart the true account owner from intruders. We propose a general approach for user verification based on user trajectory inputs. The approach is labor-free for users and is likely to avoid the possible copy or simulation from other non-authorized users or even automatic programs like bots. Our study focuses on finding the hidden patterns embedded in the trajectories produced by account users. We employ a Markov chain model with Gaussian distribution in its transitions to describe the behavior in the trajectory. To distinguish between two trajectories, we propose a novel dissimilarity measure combined with a manifold learnt tuning for catching the pairwise relationship. Based on the pairwise relationship, we plug-in any effective classification or clustering methods for the detection of unauthorized access. The method can also be applied for the task of recognition, predicting the trajectory type without pre-defined identity. Given a trajectory input, the results show that the proposed method can accurately verify the user identity, or suggest whom owns the trajectory if the input identity is not provided.

Fusing human and machine skills for remote robotic operations

NASA Technical Reports Server (NTRS)

Schenker, Paul S.; Kim, Won S.; Venema, Steven C.; Bejczy, Antal K.

1991-01-01

The question of how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions is addressed. Computer graphics techniques which enable the human operator to both visualize and predict detailed 3D trajectories in real-time are reported. Man-machine interactive control procedures for better management of manipulator contact forces and positioning are also described. It is found that collectively, these novel advanced teleoperations techniques both enhance system performance and significantly reduce control problems long associated with teleoperations under time delay. Ongoing robotic simulations of the 1984 space shuttle Solar Maximum EVA Repair Mission are briefly described.

A state-trajectory control law for dc-to-dc converters

NASA Technical Reports Server (NTRS)

Burns, W. W., III; Wilson, T. G.

1978-01-01

Mathematical representations of a state-plane switching boundary employed in a state-trajectory control law for dc-to-dc converters are derived. Several levels of approximation to the switching boundary equations are presented, together with an evaluation of the effects of nonideal operating characteristics of converter power stage components on the shape and location of the boundary and the behavior of a system controlled by it. Digital computer simulations of dc-to-dc converters operating in conjunction with each of these levels of control are presented and evaluated with respect to changes in transient and steady-state performance.

Programmer's manual for the Mission Analysis Evaluation and Space Trajectory Operations program (MAESTRO)

NASA Technical Reports Server (NTRS)

Lutzky, D.; Bjorkman, W. S.

1973-01-01

The Mission Analysis Evaluation and Space Trajectory Operations program known as MAESTRO is described. MAESTRO is an all FORTRAN, block style, computer program designed to perform various mission control tasks. This manual is a guide to MAESTRO, providing individuals the capability of modifying the program to suit their needs. Descriptions are presented of each of the subroutines descriptions consist of input/output description, theory, subroutine description, and a flow chart where applicable. The programmer's manual also contains a detailed description of the common blocks, a subroutine cross reference map, and a general description of the program structure.

Airborne Trajectory Management (ABTM): A Blueprint for Greater Autonomy in Air Traffic Management

NASA Technical Reports Server (NTRS)

Cotton, William B.; Wing, David

2017-01-01

The aviation users of the National Airspace System (NAS) - the airlines, General Aviation (GA), the military and, most recently, operators of Unmanned Aircraft Systems (UAS) - are constrained in their operations by the design of the current paradigm for air traffic control (ATC). Some of these constraints include ATC preferred routes, departure fix restrictions and airspace ground delay programs. As a result, most flights cannot operate on their most efficient business trajectories and a great many flights are delayed even getting into the air, which imposes a significant challenge to maintaining efficient flight and network operations. Rather than accepting ever more sophisticated scheduling solutions to accommodate the existing constraints in the airspace, a series of increasingly capable airborne technologies, integrated with planned improvements in the ground system through the Federal Aviation Administration (FAA) Next Generation Air Traffic Management System (NextGen) programs, could produce much greater operational flexibility for flight path optimization by the aviation system users. These capabilities, described in research coming out of NASA's Aeronautics Research Mission Directorate, can maintain or improve operational safety while taking advantage of air and ground NextGen technologies in novel ways. The underlying premise is that the nation's physical airspace is still abundant and underused, and that the delays and inefficient flight operations resulting from artificial structure in airspace use and procedural constraints on those operations may not be necessary for safe and efficient flight. This article is not an indictment of today's NAS or the people who run it. Indeed, it is an exceptional achievement that Air Traffic Management (ATM) - the complex human/machine conglomeration of communications, navigation and surveillance equipment and the rules and procedures for controlling traffic in the airspace - has both the capacity and enables the degree of efficiency in air travel that it does. But it is also true that sixty years of the "radar religion" (i.e., reliance on radar-based command and control) has produced several generations of ATM system operators and researchers who believe that introducing automation within the existing functional structure of ATM is the only way to "modernize" the system. Even NextGen, which began as a proposal for "transformational" change in the way ATC is performed, has morphed over the last decade and a half to become just the inclusion of Global Positioning System (GPS) for navigation, Automatic Dependent Surveillance Broadcast (ADS-B) for surveillance, and Data Communications (Data Comm) for communications, while still operating in rigidly structured airspace with human controllers being responsible for separation and traffic flow management (TFM) within defined sectors of airspace, using the same horizontal separation standards that have been in use since raw primary radar was introduced in the 1950s. No system as massive as the current NAS ATM can be replaced with a better system while simultaneously meeting the transportation and other aviation needs of the nation. A new generation of more flexible operations must emerge and yet coexist in harmony with the current operation (i.e., share the same airspace without segregation), thereby enabling a long-term transformation to take place in the way increasing numbers of flights are handled. Market forces will be the ultimate driver of this transformation, and investment realities mandate that real benefits must accrue to the first operators to adopt these new capabilities. In fact, the kinds of missions envisioned in the emerging world of UAS operations, unachievable under conventional ATM, demand that this transformation take place. Airborne Trajectory Management (ABTM) is proposed as a series of transformational steps leading to vastly increased flexibility in flight operations and capacity in the airspace to accommodate many varied airspace uses while improving safety. As will be described, ABTM enables the gradual emergence of a new paradigm for user-based trajectory management in ATM that brings tangible benefits to equipped operators at every step while leveraging the air and ground investments of NextGen. There are five steps in this ABTM transformation.1 NASA has extensively studied the first and last of these steps, and a roadmap of increasing capabilities and benefits is proposed for bridging between these operational concepts.

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George [Reno, NV

2011-11-22

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two-joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Extreme trajectory approach to the problem of determining the degree of stability of a laser surface scanning system

NASA Astrophysics Data System (ADS)

Nikitin, V. N.; Chemodanov, V. B.

2018-02-01

The degree of stability of a laser system for surface scanning with nonlinear multiplicative crosstalks is discussed. To determine its stability, the action functional is introduced, which is defined on the set of virtual (achievable) trajectories. The action functional is a measure of external action, which should be applied to a system to move it along a predetermined trial trajectory in the state space.The degree of stability of the system depends on the minimum value of the action functional which is reached on the extreme trajectory transferring the laser scanning system from equilibrium to the limit of the normal operation range. Numerical methods are proposed for calculating the degree of stability.

Coordinated joint motion control system with position error correction

DOEpatents

Danko, George L.

2016-04-05

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Interplanetary Program to Optimize Simulated Trajectories (IPOST). Volume 2: Analytic manual

NASA Technical Reports Server (NTRS)

Hong, P. E.; Kent, P. D.; Olson, D. W.; Vallado, C. A.

1992-01-01

The Interplanetary Program to Optimize Space Trajectories (IPOST) is intended to support many analysis phases, from early interplanetary feasibility studies through spacecraft development and operations. The IPOST output provides information for sizing and understanding mission impacts related to propulsion, guidance, communications, sensor/actuators, payload, and other dynamic and geometric environments. IPOST models three degree of freedom trajectory events, such as launch/ascent, orbital coast, propulsive maneuvering (impulsive and finite burn), gravity assist, and atmospheric entry. Trajectory propagation is performed using a choice of Cowell, Encke, Multiconic, Onestep, or Conic methods. The user identifies a desired sequence of trajectory events, and selects which parameters are independent (controls) and dependent (targets), as well as other constraints and the cost function. Targeting and optimization is performed using the Stanford NPSOL algorithm. IPOST structure allows subproblems within a master optimization problem to aid in the general constrained parameter optimization solution. An alternate optimization method uses implicit simulation and collocation techniques.

Advanced Free Flight Planner and Dispatcher's Workstation: Preliminary Design Specification

NASA Technical Reports Server (NTRS)

Wilson, J.; Wright, C.; Couluris, G. J.

1997-01-01

The National Aeronautics and Space Administration (NASA) has implemented the Advanced Air Transportation Technology (AATT) program to investigate future improvements to the national and international air traffic management systems. This research, as part of the AATT program, developed preliminary design requirements for an advanced Airline Operations Control (AOC) dispatcher's workstation, with emphasis on flight planning. This design will support the implementation of an experimental workstation in NASA laboratories that would emulate AOC dispatch operations. The work developed an airline flight plan data base and specified requirements for: a computer tool for generation and evaluation of free flight, user preferred trajectories (UPT); the kernel of an advanced flight planning system to be incorporated into the UPT-generation tool; and an AOC workstation to house the UPT-generation tool and to provide a real-time testing environment. A prototype for the advanced flight plan optimization kernel was developed and demonstrated. The flight planner uses dynamic programming to search a four-dimensional wind and temperature grid to identify the optimal route, altitude and speed for successive segments of a flight. An iterative process is employed in which a series of trajectories are successively refined until the LTPT is identified. The flight planner is designed to function in the current operational environment as well as in free flight. The free flight environment would enable greater flexibility in UPT selection based on alleviation of current procedural constraints. The prototype also takes advantage of advanced computer processing capabilities to implement more powerful optimization routines than would be possible with older computer systems.

On the reproducibility of expert-operated and robotic ultrasound acquisitions.

PubMed

Kojcev, Risto; Khakzar, Ashkan; Fuerst, Bernhard; Zettinig, Oliver; Fahkry, Carole; DeJong, Robert; Richmon, Jeremy; Taylor, Russell; Sinibaldi, Edoardo; Navab, Nassir

2017-06-01

We present the evaluation of the reproducibility of measurements performed using robotic ultrasound imaging in comparison with expert-operated sonography. Robotic imaging for interventional procedures may be a valuable contribution, but requires reproducibility for its acceptance in clinical routine. We study this by comparing repeated measurements based on robotic and expert-operated ultrasound imaging. Robotic ultrasound acquisition is performed in three steps under user guidance: First, the patient is observed using a 3D camera on the robot end effector, and the user selects the region of interest. This allows for automatic planning of the robot trajectory. Next, the robot executes a sweeping motion following the planned trajectory, during which the ultrasound images and tracking data are recorded. As the robot is compliant, deviations from the path are possible, for instance due to patient motion. Finally, the ultrasound slices are compounded to create a volume. Repeated acquisitions can be performed automatically by comparing the previous and current patient surface. After repeated image acquisitions, the measurements based on acquisitions performed by the robotic system and expert are compared. Within our case series, the expert measured the anterior-posterior, longitudinal, transversal lengths of both of the left and right thyroid lobes on each of the 4 healthy volunteers 3 times, providing 72 measurements. Subsequently, the same procedure was performed using the robotic system resulting in a cumulative total of 144 clinically relevant measurements. Our results clearly indicated that robotic ultrasound enables more repeatable measurements. A robotic ultrasound platform leads to more reproducible data, which is of crucial importance for planning and executing interventions.

Young adults' trajectories of Ecstasy use: a population based study.

PubMed

Smirnov, Andrew; Najman, Jake M; Hayatbakhsh, Reza; Plotnikova, Maria; Wells, Helene; Legosz, Margot; Kemp, Robert

2013-11-01

Young adults' Ecstasy use trajectories have important implications for individual and population-level consequences of Ecstasy use, but little relevant research has been conducted. This study prospectively examines Ecstasy trajectories in a population-based sample. Data are from the Natural History Study of Drug Use, a retrospective/prospective cohort study conducted in Australia. Population screening identified a probability sample of Ecstasy users aged 19-23 years. Complete data for 30 months of follow-up, comprising 4 time intervals, were available for 297 participants (88.4% of sample). Trajectories were derived using cluster analysis based on recent Ecstasy use at each interval. Trajectory predictors were examined using a generalized ordered logit model and included Ecstasy dependence (World Mental Health Composite International Diagnostic Instrument), psychological distress (Hospital Anxiety Depression Scale), aggression (Young Adult Self Report) and contextual factors (e.g. attendance at electronic/dance music events). Three Ecstasy trajectories were identified (low, intermediate and high use). At its peak, the high-use trajectory involved 1-2 days Ecstasy use per week. Decreasing frequency of use was observed for intermediate and high-use trajectories from 12 months, independently of market factors. Intermediate and high-use trajectory membership was predicted by past Ecstasy consumption (>70 pills) and attendance at electronic/dance music events. High-use trajectory members were unlikely to have used Ecstasy for more than 3 years and tended to report consistently positive subjective effects at baseline. Given the social context and temporal course of Ecstasy use, Ecstasy trajectories might be better understood in terms of instrumental rather than addictive drug use patterns. © 2013 Elsevier Ltd. All rights reserved.

LINEAR LATTICE AND TRAJECTORY RECONSTRUCTION AND CORRECTION AT FAST LINEAR ACCELERATOR

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

Romanov, A.; Edstrom, D.; Halavanau, A.

2017-07-16

The low energy part of the FAST linear accelerator based on 1.3 GHz superconducting RF cavities was successfully commissioned [1]. During commissioning, beam based model dependent methods were used to correct linear lattice and trajectory. Lattice correction algorithm is based on analysis of beam shape from profile monitors and trajectory responses to dipole correctors. Trajectory responses to field gradient variations in quadrupoles and phase variations in superconducting RF cavities were used to correct bunch offsets in quadrupoles and accelerating cavities relative to their magnetic axes. Details of used methods and experimental results are presented.

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles

PubMed Central

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-01-01

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional–integral–derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle. PMID:27110793

Vision-Based Leader Vehicle Trajectory Tracking for Multiple Agricultural Vehicles.

PubMed

Zhang, Linhuan; Ahamed, Tofael; Zhang, Yan; Gao, Pengbo; Takigawa, Tomohiro

2016-04-22

The aim of this study was to design a navigation system composed of a human-controlled leader vehicle and a follower vehicle. The follower vehicle automatically tracks the leader vehicle. With such a system, a human driver can control two vehicles efficiently in agricultural operations. The tracking system was developed for the leader and the follower vehicle, and control of the follower was performed using a camera vision system. A stable and accurate monocular vision-based sensing system was designed, consisting of a camera and rectangular markers. Noise in the data acquisition was reduced by using the least-squares method. A feedback control algorithm was used to allow the follower vehicle to track the trajectory of the leader vehicle. A proportional-integral-derivative (PID) controller was introduced to maintain the required distance between the leader and the follower vehicle. Field experiments were conducted to evaluate the sensing and tracking performances of the leader-follower system while the leader vehicle was driven at an average speed of 0.3 m/s. In the case of linear trajectory tracking, the RMS errors were 6.5 cm, 8.9 cm and 16.4 cm for straight, turning and zigzag paths, respectively. Again, for parallel trajectory tracking, the root mean square (RMS) errors were found to be 7.1 cm, 14.6 cm and 14.0 cm for straight, turning and zigzag paths, respectively. The navigation performances indicated that the autonomous follower vehicle was able to follow the leader vehicle, and the tracking accuracy was found to be satisfactory. Therefore, the developed leader-follower system can be implemented for the harvesting of grains, using a combine as the leader and an unloader as the autonomous follower vehicle.

Evidence of Teacher Change after Participating in TRIAD's Learning Trajectories-Based Professional Development and after Implementing Learning Trajectory-Based Mathematics Instruction

ERIC Educational Resources Information Center

Sarama, Julie; Clements, Douglas H.; Spitler, Mary Elaine

2017-01-01

Increased attention has been given to learning trajectories (LT) as structural frameworks for educational instruction. The purpose of this study was to explore preschool teachers' descriptions of self-change, seven years after the start of their participation in LT-based professional development and instruction. This study was part of a larger…

A Skill Score of Trajectory Model Evaluation Using Reinitialized Series of Normalized Cumulative Lagrangian Separation

NASA Astrophysics Data System (ADS)

Liu, Y.; Weisberg, R. H.

2017-12-01

The Lagrangian separation distance between the endpoints of simulated and observed drifter trajectories is often used to assess the performance of numerical particle trajectory models. However, the separation distance fails to indicate relative model performance in weak and strong current regions, such as a continental shelf and its adjacent deep ocean. A skill score is proposed based on the cumulative Lagrangian separation distances normalized by the associated cumulative trajectory lengths. The new metrics correctly indicates the relative performance of the Global HYCOM in simulating the strong currents of the Gulf of Mexico Loop Current and the weaker currents of the West Florida Shelf in the eastern Gulf of Mexico. In contrast, the Lagrangian separation distance alone gives a misleading result. Also, the observed drifter position series can be used to reinitialize the trajectory model and evaluate its performance along the observed trajectory, not just at the drifter end position. The proposed dimensionless skill score is particularly useful when the number of drifter trajectories is limited and neither a conventional Eulerian-based velocity nor a Lagrangian-based probability density function may be estimated.

On Integral Invariants for Effective 3-D Motion Trajectory Matching and Recognition.

PubMed

Shao, Zhanpeng; Li, Youfu

2016-02-01

Motion trajectories tracked from the motions of human, robots, and moving objects can provide an important clue for motion analysis, classification, and recognition. This paper defines some new integral invariants for a 3-D motion trajectory. Based on two typical kernel functions, we design two integral invariants, the distance and area integral invariants. The area integral invariants are estimated based on the blurred segment of noisy discrete curve to avoid the computation of high-order derivatives. Such integral invariants for a motion trajectory enjoy some desirable properties, such as computational locality, uniqueness of representation, and noise insensitivity. Moreover, our formulation allows the analysis of motion trajectories at a range of scales by varying the scale of kernel function. The features of motion trajectories can thus be perceived at multiscale levels in a coarse-to-fine manner. Finally, we define a distance function to measure the trajectory similarity to find similar trajectories. Through the experiments, we examine the robustness and effectiveness of the proposed integral invariants and find that they can capture the motion cues in trajectory matching and sign recognition satisfactorily.

Distributed Traffic Complexity Management by Preserving Trajectory Flexibility

NASA Technical Reports Server (NTRS)

Idris, Husni; Vivona, Robert A.; Garcia-Chico, Jose-Luis; Wing, David J.

2007-01-01

In order to handle the expected increase in air traffic volume, the next generation air transportation system is moving towards a distributed control architecture, in which groundbased service providers such as controllers and traffic managers and air-based users such as pilots share responsibility for aircraft trajectory generation and management. This paper presents preliminary research investigating a distributed trajectory-oriented approach to manage traffic complexity, based on preserving trajectory flexibility. The underlying hypotheses are that preserving trajectory flexibility autonomously by aircraft naturally achieves the aggregate objective of avoiding excessive traffic complexity, and that trajectory flexibility is increased by collaboratively minimizing trajectory constraints without jeopardizing the intended air traffic management objectives. This paper presents an analytical framework in which flexibility is defined in terms of robustness and adaptability to disturbances and preliminary metrics are proposed that can be used to preserve trajectory flexibility. The hypothesized impacts are illustrated through analyzing a trajectory solution space in a simple scenario with only speed as a degree of freedom, and in constraint situations involving meeting multiple times of arrival and resolving conflicts.

Treatment Planning and Image Guidance for Radiofrequency Ablations of Large Tumors

PubMed Central

Ren, Hongliang; Campos-Nanez, Enrique; Yaniv, Ziv; Banovac, Filip; Abeledo, Hernan; Hata, Nobuhiko; Cleary, Kevin

2014-01-01

This article addresses the two key challenges in computer-assisted percutaneous tumor ablation: planning multiple overlapping ablations for large tumors while avoiding critical structures, and executing the prescribed plan. Towards semi-automatic treatment planning for image-guided surgical interventions, we develop a systematic approach to the needle-based ablation placement task, ranging from pre-operative planning algorithms to an intra-operative execution platform. The planning system incorporates clinical constraints on ablations and trajectories using a multiple objective optimization formulation, which consists of optimal path selection and ablation coverage optimization based on integer programming. The system implementation is presented and validated in phantom studies and on an animal model. The presented system can potentially be further extended for other ablation techniques such as cryotherapy. PMID:24235279

Development of a Nonlinear Probability of Collision Tool for the Earth Observing System

NASA Technical Reports Server (NTRS)

McKinley, David P.

2006-01-01

The Earth Observing System (EOS) spacecraft Terra, Aqua, and Aura fly in constellation with several other spacecraft in 705-kilometer mean altitude sun-synchronous orbits. All three spacecraft are operated by the Earth Science Mission Operations (ESMO) Project at Goddard Space Flight Center (GSFC). In 2004, the ESMO project began assessing the probability of collision of the EOS spacecraft with other space objects. In addition to conjunctions with high relative velocities, the collision assessment method for the EOS spacecraft must address conjunctions with low relative velocities during potential collisions between constellation members. Probability of Collision algorithms that are based on assumptions of high relative velocities and linear relative trajectories are not suitable for these situations; therefore an algorithm for handling the nonlinear relative trajectories was developed. This paper describes this algorithm and presents results from its validation for operational use. The probability of collision is typically calculated by integrating a Gaussian probability distribution over the volume swept out by a sphere representing the size of the space objects involved in the conjunction. This sphere is defined as the Hard Body Radius. With the assumption of linear relative trajectories, this volume is a cylinder, which translates into simple limits of integration for the probability calculation. For the case of nonlinear relative trajectories, the volume becomes a complex geometry. However, with an appropriate choice of coordinate systems, the new algorithm breaks down the complex geometry into a series of simple cylinders that have simple limits of integration. This nonlinear algorithm will be discussed in detail in the paper. The nonlinear Probability of Collision algorithm was first verified by showing that, when used in high relative velocity cases, it yields similar answers to existing high relative velocity linear relative trajectory algorithms. The comparison with the existing high velocity/linear theory will also be used to determine at what relative velocity the analysis should use the new nonlinear theory in place of the existing linear theory. The nonlinear algorithm was also compared to a known exact solution for the probability of collision between two objects when the relative motion is strictly circular and the error covariance is spherically symmetric. Figure I shows preliminary results from this comparison by plotting the probabilities calculated from the new algorithm and those from the exact solution versus the Hard Body Radius to Covariance ratio. These results show about 5% error when the Hard Body Radius is equal to one half the spherical covariance magnitude. The algorithm was then combined with a high fidelity orbit state and error covariance propagator into a useful tool for analyzing low relative velocity nonlinear relative trajectories. The high fidelity propagator is capable of using atmospheric drag, central body gravitational, solar radiation, and third body forces to provide accurate prediction of the relative trajectories and covariance evolution. The covariance propagator also includes a process noise model to ensure realistic evolutions of the error covariance. This paper will describe the integration of the nonlinear probability algorithm and the propagators into a useful collision assessment tool. Finally, a hypothetical case study involving a low relative velocity conjunction between members of the Earth Observation System constellation will be presented.

[Near infrared spectroscopy based process trajectory technology and its application in monitoring and controlling of traditional Chinese medicine manufacturing process].

PubMed

Li, Wen-Long; Qu, Hai-Bin

2016-10-01

In this paper, the principle of NIRS (near infrared spectroscopy)-based process trajectory technology was introduced.The main steps of the technique include:① in-line collection of the processes spectra of different technics; ② unfolding of the 3-D process spectra;③ determination of the process trajectories and their normal limits;④ monitoring of the new batches with the established MSPC (multivariate statistical process control) models.Applications of the technology in the chemical and biological medicines were reviewed briefly. By a comprehensive introduction of our feasibility research on the monitoring of traditional Chinese medicine technical process using NIRS-based multivariate process trajectories, several important problems of the practical applications which need urgent solutions are proposed, and also the application prospect of the NIRS-based process trajectory technology is fully discussed and put forward in the end. Copyright© by the Chinese Pharmaceutical Association.

Mixed Pattern Matching-Based Traffic Abnormal Behavior Recognition

PubMed Central

Cui, Zhiming; Zhao, Pengpeng

2014-01-01

A motion trajectory is an intuitive representation form in time-space domain for a micromotion behavior of moving target. Trajectory analysis is an important approach to recognize abnormal behaviors of moving targets. Against the complexity of vehicle trajectories, this paper first proposed a trajectory pattern learning method based on dynamic time warping (DTW) and spectral clustering. It introduced the DTW distance to measure the distances between vehicle trajectories and determined the number of clusters automatically by a spectral clustering algorithm based on the distance matrix. Then, it clusters sample data points into different clusters. After the spatial patterns and direction patterns learned from the clusters, a recognition method for detecting vehicle abnormal behaviors based on mixed pattern matching was proposed. The experimental results show that the proposed technical scheme can recognize main types of traffic abnormal behaviors effectively and has good robustness. The real-world application verified its feasibility and the validity. PMID:24605045

Trajectory Orientation: A Technology-Enabled Concept Requiring a Shift in Controller Roles and Responsibilities

NASA Technical Reports Server (NTRS)

Leiden, Ken; Green, Steven

2000-01-01

The development of a decision support tool (DST) for the en-route domain with accurate conflict prediction time horizons of 20 minutes has introduced an interesting problem. A 20 minute time horizon for conflict prediction often results in the predicted conflict occurring one or more sectors downstream from the sector controller who "owns" (i-e., is responsible for the safe separation of aircraft) one or both of the aircraft in the conflict pair. Based on current roles and responsibilities of today's en route controllers, the upstream controller would not resolve this conflict. In most cases, the downstream controller would wait until the conflicting aircraft entered higher sector before resolving the conflict. This results in a delay of several minutes from the time when the conflict was initially predicted. This delay is inefficient from both a controller workload and user's cost of operations perspective. Trajectory orientation, a new concept for facilitating an efficient, conflict-free flight path across several sectors while conforming to metering or miles-in-trail spacing, is proposed as an alternative to today's sector-oriented method. This concept necessitates a fundamental shift in thinking about inter-sector coordination. Instead of operating independently, with the main focus on protecting their internal airspace, controllers would work cooperatively, depending on each other for well-planned, conflict-free flow of aircraft. To support the trajectory orientation concept, a long time horizon (15 to 20 minutes) for conflict prediction and resolution would most likely be a primary requirement. In addition, new tools, such as controller-pilot data link will be identified to determine their necessity and applicability for trajectory orientation. Finally, with significant controller participation from selected Air Route Traffic Control Centers, potential shifts in R-side/D-side roles and responsibilities as well as the creation of a new controller position for multi-sector planning will be examined to determine the most viable solutions.

Estimating the position and orientation of a mobile robot with respect to a trajectory using omnidirectional imaging and global appearance.

PubMed

Payá, Luis; Reinoso, Oscar; Jiménez, Luis M; Juliá, Miguel

2017-01-01

Along the past years, mobile robots have proliferated both in domestic and in industrial environments to solve some tasks such as cleaning, assistance, or material transportation. One of their advantages is the ability to operate in wide areas without the necessity of introducing changes into the existing infrastructure. Thanks to the sensors they may be equipped with and their processing systems, mobile robots constitute a versatile alternative to solve a wide range of applications. When designing the control system of a mobile robot so that it carries out a task autonomously in an unknown environment, it is expected to take decisions about its localization in the environment and about the trajectory that it has to follow in order to arrive to the target points. More concisely, the robot has to find a relatively good solution to two crucial problems: building a model of the environment, and estimating the position of the robot within this model. In this work, we propose a framework to solve these problems using only visual information. The mobile robot is equipped with a catadioptric vision sensor that provides omnidirectional images from the environment. First, the robot goes along the trajectories to include in the model and uses the visual information captured to build this model. After that, the robot is able to estimate its position and orientation with respect to the trajectory. Among the possible approaches to solve these problems, global appearance techniques are used in this work. They have emerged recently as a robust and efficient alternative compared to landmark extraction techniques. A global description method based on Radon Transform is used to design mapping and localization algorithms and a set of images captured by a mobile robot in a real environment, under realistic operation conditions, is used to test the performance of these algorithms.

Solar power satellite system definition study, volume 4, phase 2

NASA Technical Reports Server (NTRS)

1979-01-01

Results of an overall evaluation of the solar power satellite concept are reported. Specific topics covered include: solid state sandwich configuration; parametric development of reliability design; power distribution system for solid state solar power satellites; multibeam transmission; GEO base system configuration; suppression of the heavy lift launch vehicle trajectory; conceptual design of an offshore space center facility; solar power satellite development and operations scenario; and microwave power transmission technology, advancement, development, and facility requirements.

Almost periodic cellular neural networks with neutral-type proportional delays

NASA Astrophysics Data System (ADS)

Xiao, Songlin

2018-03-01

This paper presents a new result on the existence, uniqueness and generalised exponential stability of almost periodic solutions for cellular neural networks with neutral-type proportional delays and D operator. Based on some novel differential inequality techniques, a testable condition is derived to ensure that all the state trajectories of the system converge to an almost periodic solution with a positive exponential convergence rate. The effectiveness of the obtained result is illustrated by a numerical example.

DataComm in Flight Deck Surface Trajectory-Based Operations

NASA Technical Reports Server (NTRS)

Bakowski, Deborah L.; Foyle, David C.; Hooey, Becky L.; Meyer, Glenn R.; Wolter, Cynthia A.

2012-01-01

The purpose of this pilot-in-the-loop aircraft taxi simulation was to evaluate a NextGen concept for surface trajectory-based operations (STBO) in which air traffic control (ATC) issued taxi clearances with a required time of arrival (RTA) by Data Communications (DataComm). Flight deck avionics, driven by an error-nulling algorithm, displayed the speed needed to meet the RTA. To ensure robustness of the algorithm, the ability of 10 two-pilot crews to meet the RTA was tested in nine experimental trials representing a range of realistic conditions including a taxi route change, an RTA change, a departure clearance change, and a crossing traffic hold scenario. In some trials, these DataComm taxi clearances or clearance modifications were accompanied by 'preview' information, in which the airport map display showed a preview of the proposed route changes, including the necessary speed to meet the RTA. Overall, the results of this study show that with the aid of the RTA speed algorithm, pilots were able to meet their RTAs with very little time error in all of the robustness-testing scenarios. Results indicated that when taxi clearance changes were issued by DataComm only, pilots required longer notification distances than with voice communication. However, when the DataComm was accompanied by graphical preview, the notification distance required by pilots was equivalent to that for voice.

DataComm in Flight Deck Surface Trajectory-Based Operations. Chapter 20

NASA Technical Reports Server (NTRS)

Bakowski, Deborah L.; Foyle, David C.; Hooey, Becky L.; Meyer, Glenn R.; Wolter, Cynthia A.

2012-01-01

The purpose of this pilot-in-the-loop aircraft taxi simulation was to evaluate a NextGen concept for surface trajectory-based operations (STBO) in which air traffic control (ATC) issued taxi clearances with a required time of arrival (RTA) by Data Communications (DataComm). Flight deck avionics, driven by an error-nulling algorithm, displayed the speed needed to meet the RTA. To ensure robustness of the algorithm, the ability of 10 two-pilot crews to meet the RTA was tested in nine experimental trials representing a range of realistic conditions including a taxi route change, an RTA change, a departure clearance change, and a crossing traffic hold scenario. In some trials, these DataComm taxi clearances or clearance modifications were accompanied by preview information, in which the airport map display showed a preview of the proposed route changes, including the necessary speed to meet the RTA. Overall, the results of this study show that with the aid of the RTA speed algorithm, pilots were able to meet their RTAs with very little time error in all of the robustness-testing scenarios. Results indicated that when taxi clearance changes were issued by DataComm only, pilots required longer notification distances than with voice communication. However, when the DataComm was accompanied by graphical preview, the notification distance required by pilots was equivalent to that for voice.

Soft Pushing Operation with Dual Compliance Controllers Based on Estimated Torque and Visual Force

NASA Astrophysics Data System (ADS)

Muis, Abdul; Ohnishi, Kouhei

Sensor fusion extends robot ability to perform more complex tasks. An interesting application in such an issue is pushing operation, in which through multi-sensor, the robot moves an object by pushing it. Generally, a pushing operation consists of “approaching, touching, and pushing"(1). However, most researches in this field are dealing with how the pushed object follows the predefined trajectory. In which, the implication as the robot body or the tool-tip hits an object is neglected. Obviously on collision, the robot momentum may crash sensor, robot's surface or even the object. For that reason, this paper proposes a soft pushing operation with dual compliance controllers. Mainly, a compliance control is a control system with trajectory compensation so that the external force may be followed. In this paper, the first compliance controller is driven by estimated external force based on reaction torque observer(2), which compensates contact sensation. The other one compensates non-contact sensation. Obviously, a contact sensation, acquired from force sensor either reaction torque observer of an object, is measurable once the robot touched the object. Therefore, a non-contact sensation is introduced before touching an object, which is realized with visual sensor in this paper. Here, instead of using visual information as command reference, the visual information such as depth, is treated as virtual force for the second compliance controller. Thus, having contact and non-contact sensation, the robot will be compliant with wider sensation. This paper considers a heavy mobile manipulator and a heavy object, which have significant momentum on touching stage. A chopstick is attached on the object side to show the effectiveness of the proposed method. Here, both compliance controllers adjust the mobile manipulator command reference to provide soft pushing operation. Finally, the experimental result shows the validity of the proposed method.

JBoss Middleware for Spacecraft Trajectory Operations

NASA Technical Reports Server (NTRS)

Stensrud, Kjell; Srinivasan, Ravi; Hamm, Dustin

2008-01-01

This viewgraph presentation reviews the use of middleware for spacecraft trajectory planning. It reviews the following areas and questions: 1. Project Background - What is the environment where we are considering Open Source Middleware? 2. System Architecture - What technologies and design did we apply? 3. Testing overview - What are the quality scenarios and test points? 4. Project Conclusion - What did we learn about Open Source Middleware?

FPGA Implementation of an Efficient Algorithm for the Calculation of Charged Particle Trajectories in Cosmic Ray Detectors

NASA Astrophysics Data System (ADS)

Villar, Xabier; Piso, Daniel; Bruguera, Javier D.

2014-02-01

This paper presents an FPGA implementation of an algorithm, previously published, for the the reconstruction of cosmic rays' trajectories and the determination of the time of arrival and velocity of the particles. The accuracy and precision issues of the algorithm have been analyzed to propose a suitable implementation. Thus, a 32-bit fixed-point format has been used for the representation of the data values. Moreover, the dependencies among the different operations have been taken into account to obtain a highly parallel and efficient hardware implementation. The final hardware architecture requires 18 cycles to process every particle, and has been exhaustively simulated to validate all the design decisions. The architecture has been mapped over different commercial FPGAs, with a frequency of operation ranging from 300 MHz to 1.3 GHz, depending on the FPGA being used. Consequently, the number of particle trajectories processed per second is between 16 million and 72 million. The high number of particle trajectories calculated per second shows that the proposed FPGA implementation might be used also in high rate environments such as those found in particle and nuclear physics experiments.

A Bayesian model averaging method for the derivation of reservoir operating rules

NASA Astrophysics Data System (ADS)

Zhang, Jingwen; Liu, Pan; Wang, Hao; Lei, Xiaohui; Zhou, Yanlai

2015-09-01

Because the intrinsic dynamics among optimal decision making, inflow processes and reservoir characteristics are complex, functional forms of reservoir operating rules are always determined subjectively. As a result, the uncertainty of selecting form and/or model involved in reservoir operating rules must be analyzed and evaluated. In this study, we analyze the uncertainty of reservoir operating rules using the Bayesian model averaging (BMA) model. Three popular operating rules, namely piecewise linear regression, surface fitting and a least-squares support vector machine, are established based on the optimal deterministic reservoir operation. These individual models provide three-member decisions for the BMA combination, enabling the 90% release interval to be estimated by the Markov Chain Monte Carlo simulation. A case study of China's the Baise reservoir shows that: (1) the optimal deterministic reservoir operation, superior to any reservoir operating rules, is used as the samples to derive the rules; (2) the least-squares support vector machine model is more effective than both piecewise linear regression and surface fitting; (3) BMA outperforms any individual model of operating rules based on the optimal trajectories. It is revealed that the proposed model can reduce the uncertainty of operating rules, which is of great potential benefit in evaluating the confidence interval of decisions.

FVID: Fishing Vessel Type Identification Based on VMS Trajectories

NASA Astrophysics Data System (ADS)

Huang, Haiguang; Hong, Feng; Liu, Jing; Liu, Chao; Feng, Yuan; Guo, Zhongwen

2018-05-01

Vessel Monitoring System (VMS) provides a new opportunity for quantified fishing research. Many approaches have been proposed to recognize fishing activities with VMS trajectories based on the types of fishing vessels. However, one research problem is still calling for solutions, how to identify the fishing vessel type based on only VMS trajectories. This problem is important because it requires the fishing vessel type as a preliminary to recognize fishing activities from VMS trajectories. This paper proposes fishing vessel type identification scheme (FVID) based only on VMS trajectories. FVID exploits feature engineering and machine learning schemes of XGBoost as its two key blocks and classifies fishing vessels into nine types. The dataset contains all the fishing vessel trajectories in the East China Sea in March 2017, including 10031 pre-registered fishing vessels and 1350 unregistered vessels of unknown types. In order to verify type identification accuracy, we first conduct a 4-fold cross-validation on the trajectories of registered fishing vessels. The classification accuracy is 95.42%. We then apply FVID to the unregistered fishing vessels to identify their types. After classifying the unregistered fishing vessel types, their fishing activities are further recognized based upon their types. At last, we calculate and compare the fishing density distribution in the East China Sea before and after applying the unregistered fishing vessels, confirming the importance of type identification of unregistered fishing vessels.

Fast optimization of glide vehicle reentry trajectory based on genetic algorithm

NASA Astrophysics Data System (ADS)

Jia, Jun; Dong, Ruixing; Yuan, Xuejun; Wang, Chuangwei

2018-02-01

An optimization method of reentry trajectory based on genetic algorithm is presented to meet the need of reentry trajectory optimization for glide vehicle. The dynamic model for the glide vehicle during reentry period is established. Considering the constraints of heat flux, dynamic pressure, overload etc., the optimization of reentry trajectory is investigated by utilizing genetic algorithm. The simulation shows that the method presented by this paper is effective for the optimization of reentry trajectory of glide vehicle. The efficiency and speed of this method is comparative with the references. Optimization results meet all constraints, and the on-line fast optimization is potential by pre-processing the offline samples.

Design of relative trajectories for in orbit proximity operations

NASA Astrophysics Data System (ADS)

Opromolla, Roberto; Fasano, Giancarmine; Rufino, Giancarlo; Grassi, Michele

2018-04-01

This paper presents an innovative approach to design relative trajectories suitable for close-proximity operations in orbit, by assigning high-level constraints regarding their stability, shape and orientation. Specifically, this work is relevant to space mission scenarios, e.g. formation flying, on-orbit servicing, and active debris removal, which involve either the presence of two spacecraft carrying out coordinated maneuvers, or a servicing/recovery spacecraft (chaser) performing monitoring, rendezvous and docking with respect to another space object (target). In the above-mentioned scenarios, an important aspect is the capability of reducing collision risks and of providing robust and accurate relative navigation solutions. To this aim, the proposed approach exploits a relative motion model relevant to two-satellite formations, and developed in mean orbit parameters, which takes the perturbation effect due to secular Earth oblateness, as well as the motion of the target along a small-eccentricity orbit, into account. This model is used to design trajectories which ensure safe relative motion, to minimize collision risks and relax control requirements, providing at the same time favorable conditions, in terms of target-chaser relative observation geometry for pose determination and relative navigation with passive or active electro-optical sensors on board the chaser. Specifically, three design strategies are proposed in the context of a space target monitoring scenario, considering as design cases both operational spacecraft and debris, characterized by highly variable shape, size and absolute rotational dynamics. The effectiveness of the proposed design approach in providing favorable observation conditions for target-chaser relative pose estimation is demonstrated within a simulation environment which reproduces the designed target-chaser relative trajectory, the operation of an active LIDAR installed on board the chaser, and pose estimation algorithms.

Fast, Safe, Propellant-Efficient Spacecraft Motion Planning Under Clohessy-Wiltshire-Hill Dynamics

NASA Technical Reports Server (NTRS)

Starek, Joseph A.; Schmerling, Edward; Maher, Gabriel D.; Barbee, Brent W.; Pavone, Marco

2016-01-01

This paper presents a sampling-based motion planning algorithm for real-time and propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifically, this paper leverages recent algorithmic advances in the field of robot motion planning to the problem of impulsively actuated, propellant- optimized rendezvous and proximity operations under the Clohessy-Wiltshire-Hill dynamics model. The approach calls upon a modified version of the FMT* algorithm to grow a set of feasible trajectories over a deterministic, low-dispersion set of sample points covering the free state space. To enforce safety, the tree is only grown over the subset of actively safe samples, from which there exists a feasible one-burn collision-avoidance maneuver that can safely circularize the spacecraft orbit along its coasting arc under a given set of potential thruster failures. Key features of the proposed algorithm include 1) theoretical guarantees in terms of trajectory safety and performance, 2) amenability to real-time implementation, and 3) generality, in the sense that a large class of constraints can be handled directly. As a result, the proposed algorithm offers the potential for widespread application, ranging from on-orbit satellite servicing to orbital debris removal and autonomous inspection missions.

Leader-follower function for autonomous military convoys

NASA Astrophysics Data System (ADS)

Vasseur, Laurent; Lecointe, Olivier; Dento, Jerome; Cherfaoui, Nourrdine; Marion, Vincent; Morillon, Joel G.

2004-09-01

The French Military Robotic Study Program (introduced in Aerosense 2003), sponsored by the French Defense Procurement Agency and managed by Thales Airborne Systems as the prime contractor, focuses on about 15 robotic themes which can provide an immediate "operational added value." The paper details the "robotic convoy" theme (named TEL1), which main purpose is to develop a robotic leader-follower function so that several unmanned vehicles can autonomously follow teleoperated, autonomous or on-board driven leader. Two modes have been implemented: Perceptive follower: each autonomous follower anticipates the trajectory of the vehicle in front of it, thanks to a dedicated perception equipment. This mode is mainly based on the use of perceptive data, without any communication link between leader and follower (to lower the cost of future mass development and extend the operational capabilities). Delayed follower: the leader records its path and transmits it to the follower; the follower is able to follow the recorded trajectory again at any delayed time. This mode uses localization data got from inertial measurements. The paper presents both modes with detailed algorithms and the results got from the military acceptance tests performed on wheeled 4x4 vehicles (DARDS French ATD).

Automation of orbit determination functions for National Aeronautics and Space Administration (NASA)-supported satellite missions

NASA Technical Reports Server (NTRS)

Mardirossian, H.; Beri, A. C.; Doll, C. E.

1990-01-01

The Flight Dynamics Facility (FDF) at Goddard Space Flight Center (GSFC) provides spacecraft trajectory determination for a wide variety of National Aeronautics and Space Administration (NASA)-supported satellite missions, using the Tracking Data Relay Satellite System (TDRSS) and Ground Spaceflight and Tracking Data Network (GSTDN). To take advantage of computerized decision making processes that can be used in spacecraft navigation, the Orbit Determination Automation System (ODAS) was designed, developed, and implemented as a prototype system to automate orbit determination (OD) and orbit quality assurance (QA) functions performed by orbit operations. Based on a machine-resident generic schedule and predetermined mission-dependent QA criteria, ODAS autonomously activates an interface with the existing trajectory determination system using a batch least-squares differential correction algorithm to perform the basic OD functions. The computational parameters determined during the OD are processed to make computerized decisions regarding QA, and a controlled recovery process is activated when the criteria are not satisfied. The complete cycle is autonomous and continuous. ODAS was extensively tested for performance under conditions resembling actual operational conditions and found to be effective and reliable for extended autonomous OD. Details of the system structure and function are discussed, and test results are presented.

Automation of orbit determination functions for National Aeronautics and Space Administration (NASA)-supported satellite missions

NASA Technical Reports Server (NTRS)

Mardirossian, H.; Heuerman, K.; Beri, A.; Samii, M. V.; Doll, C. E.

1989-01-01

The Flight Dynamics Facility (FDF) at Goddard Space Flight Center (GSFC) provides spacecraft trajectory determination for a wide variety of National Aeronautics and Space Administration (NASA)-supported satellite missions, using the Tracking Data Relay Satellite System (TDRSS) and Ground Spaceflight and Tracking Data Network (GSTDN). To take advantage of computerized decision making processes that can be used in spacecraft navigation, the Orbit Determination Automation System (ODAS) was designed, developed, and implemented as a prototype system to automate orbit determination (OD) and orbit quality assurance (QA) functions performed by orbit operations. Based on a machine-resident generic schedule and predetermined mission-dependent QA criteria, ODAS autonomously activates an interface with the existing trajectory determination system using a batch least-squares differential correction algorithm to perform the basic OD functions. The computational parameters determined during the OD are processed to make computerized decisions regarding QA, and a controlled recovery process isactivated when the criteria are not satisfied. The complete cycle is autonomous and continuous. ODAS was extensively tested for performance under conditions resembling actual operational conditions and found to be effective and reliable for extended autonomous OD. Details of the system structure and function are discussed, and test results are presented.

Integrated control design for driver assistance systems based on LPV methods

NASA Astrophysics Data System (ADS)

Gáspár, Péter; Németh, Balázs

2016-12-01

The paper proposes a control design method for a driver assistance system. In the operation of the system, a predefined trajectory required by the driver with a steering command is followed. During manoeuvres the control system generates differential brake moment and the auxiliary front-wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e. the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalisation of their performance specifications. The fault-tolerant control can be achieved by incorporating the detected fault signals in their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design, the parameter-dependent linear parameter-varyingmethod, which meets the performance specifications, is used. The operation of the control system is illustrated through different normal and emergency vehicle manoeuvres with a high-accuracy simulation software.

Comparison of different interpolation operators including nonlinear subdivision schemes in the simulation of particle trajectories

NASA Astrophysics Data System (ADS)

Bensiali, Bouchra; Bodi, Kowsik; Ciraolo, Guido; Ghendrih, Philippe; Liandrat, Jacques

2013-03-01

In this work, we compare different interpolation operators in the context of particle tracking with an emphasis on situations involving velocity field with steep gradients. Since, in this case, most classical methods give rise to the Gibbs phenomenon (generation of oscillations near discontinuities), we present new methods for particle tracking based on subdivision schemes and especially on the Piecewise Parabolic Harmonic (PPH) scheme which has shown its advantage in image processing in presence of strong contrasts. First an analytic univariate case with a discontinuous velocity field is considered in order to highlight the effect of the Gibbs phenomenon on trajectory calculation. Theoretical results are provided. Then, we show, regardless of the interpolation method, the need to use a conservative approach when integrating a conservative problem with a velocity field deriving from a potential. Finally, the PPH scheme is applied in a more realistic case of a time-dependent potential encountered in the edge turbulence of magnetically confined plasmas, to compare the propagation of density structures (turbulence bursts) with the dynamics of test particles. This study highlights the difference between particle transport and density transport in turbulent fields.

SRMS Assisted Docking and Undocking for the Orbiter Repair Maneuver

NASA Technical Reports Server (NTRS)

Quiocho, Leslie J.; Briscoe, Timothy J.; Schliesing, John A.; Braman, Julia M.

2005-01-01

As part of the Orbiter Repair Maneuver (ORM) planned for Return to Flight (RTF) operations, the Shuttle Remote Manipulator System (SRMS) must undock the Orbiter, maneuver it through a complex trajectory at extremely low rates, present it to an EVA crewman at the end of the Space Station Remote Manipulator System to perform the Thermal Protection System (TPS) repair, and then retrace back through the trajectory to dock the Orbiter with the Orbiter Docking System (ODs). The initial and final segments of this operation involve the interaction between the SRMS, ISS, Orbiter and ODs. This paper first provides an overview of the Monte-Carlo screening analysis for the installation (both nominal and contingency), including the variation of separation distance, misalignment conditions, SRMS joint/brake parameter characteristics, and PRCS jet combinations and corresponding thrust durations. The resulting 'optimum' solution is presented based on trade studies between predicted capture success and integrated system loads. This paper then discusses the upgrades to the APAS math model associated with the new SRMS assisted undocking technique and reviews simulation results for various options investigated for either the active and passive separation of the ISS from the Orbiter.

Developmental Trajectories of Childhood Obesity and Risk Behaviors in Adolescence

ERIC Educational Resources Information Center

Huang, David Y. C.; Lanza, H. Isabella; Wright-Volel, Kynna; Anglin, M. Douglas

2013-01-01

Using group-based trajectory modeling, this study examined 5156 adolescents from the child sample of the 1979 National Longitudinal Survey of Youth to identify developmental trajectories of obesity from ages 6-18 and evaluate associations of such trajectories with risk behaviors and psychosocial health in adolescence. Four distinctive obesity…

The impact of covariance misspecification in group-based trajectory models for longitudinal data with non-stationary covariance structure.

PubMed

Davies, Christopher E; Glonek, Gary Fv; Giles, Lynne C

2017-08-01

One purpose of a longitudinal study is to gain a better understanding of how an outcome of interest changes among a given population over time. In what follows, a trajectory will be taken to mean the series of measurements of the outcome variable for an individual. Group-based trajectory modelling methods seek to identify subgroups of trajectories within a population, such that trajectories that are grouped together are more similar to each other than to trajectories in distinct groups. Group-based trajectory models generally assume a certain structure in the covariances between measurements, for example conditional independence, homogeneous variance between groups or stationary variance over time. Violations of these assumptions could be expected to result in poor model performance. We used simulation to investigate the effect of covariance misspecification on misclassification of trajectories in commonly used models under a range of scenarios. To do this we defined a measure of performance relative to the ideal Bayesian correct classification rate. We found that the more complex models generally performed better over a range of scenarios. In particular, incorrectly specified covariance matrices could significantly bias the results but using models with a correct but more complicated than necessary covariance matrix incurred little cost.

Operating Without a Safety Net: Gay Male Adolescents and Emerging Adults’ Experiences of Marginalization and Migration, and Implications for Theory of Syndemic Production of Health Disparities

PubMed Central

Bruce, Douglas; Harper, Gary W.

2011-01-01

Health disparities among gay men (HIV, substance use, depression) have been described as a mutually occurring “syndemic” that is socially produced through two overarching dynamics: marginalization and migration. Although the syndemic theory proposes a developmental trajectory, it has been largely based on epidemiological studies of adult gay men and has not been examined using qualitative data from gay male adolescents and emerging adults describing their developmental experience. We conducted interviews with 54 HIV-positive gay and bisexual male adolescents and emerging adults at four sites in the United States. This study provides examples of developmental trajectories that help explain the early onset of socially produced health disparities among some gay male adolescents and emerging adults, but also the development of risk factors that may follow some gay men into adulthood. PMID:21398621

PEGASO . Polar Explorer for Geomagnetic And other Scientific Observation

NASA Astrophysics Data System (ADS)

Romeo, G.; Di Stefano, G.; Di Felice, F.; Caprara, F.; Iarocci, A.; Peterzen, S.; Masi, S.; Spoto, D.; Ibba, R.; Musso, I.; Dragoy, P.

PEGASO (Polar Explorer for Geomagnetic And other Scientific Observation) program has been created to conduct small experiments in as many disciplines on-board of small stratospheric balloons. PEGASO uses the very low expensive pathfinder balloons. Stratospheric pathfinders are small balloons commonly used to explore the atmospheric circumpolar upper winds and to predict the trajectory for big LDBs (Long Duration Balloons). Installing scientific instruments on pathfinder and using solar energy to power supply the system, we have the opportunity to explorer the Polar Regions, during the polar summer, following circular trajectory. These stratospheric small payload have flown for 14 up to 40 days, measuring the magnetic field of polar region, by means of 3-axis-fluxgate magnetometer. PEGASO payload uses IRIDIUM satellite telemetry (TM). A ground station communicates with one or more payloads to download scientific and house-keeping data and to send commands for ballast releasing, for system resetting and for operating on the separator system at the flight end. The PEGASO missions have been performed from the Svalbard islands with the logistic collaboration of the Andoya Rocket Range and from the Antarctic Italian base. Continuous trajectory predictions, elaborated by Institute of Information Science and Technology (ISTI-CNR), were necessary for the flight safety requirements in the north hemisphere. This light payloads (<10 Kg) are realized by the cooperation between the INGV and the Physics department "La Sapienza" University and it has operated five times in polar areas with the sponsorship of Italian Antarctic Program (PNRA), Italian Space Agency (ASI). This paper summarizes important results about stratospheric missions.

Preliminary Benefits Assessment of Traffic Aware Strategic Aircrew Requests (TASAR)

NASA Technical Reports Server (NTRS)

Henderson, Jeff; Idris, Husni; Wing, David J.

2012-01-01

While en route, aircrews submit trajectory change requests to air traffic control (ATC) to better meet their objectives including reduced delays, reduced fuel burn, and passenger comfort. Aircrew requests are currently made with limited to no information on surrounding traffic. Consequently, these requests are uninformed about a key ATC objective, ensuring traffic separation, and therefore less likely to be accepted than requests informed by surrounding traffic and that avoids creating conflicts. This paper studies the benefits of providing aircrews with on-board decision support to generate optimized trajectory requests that are probed and cleared of known separation violations prior to issuing the request to ATC. These informed requests are referred to as traffic aware strategic aircrew requests (TASAR) and leverage traffic surveillance information available through Automatic Dependent Surveillance Broadcast (ADS-B) In capability. Preliminary fast-time simulation results show increased benefits with longer stage lengths since beneficial trajectory changes can be applied over a longer distance. Also, larger benefits were experienced between large hub airports as compared to other airport sizes. On average, an aircraft equipped with TASAR reduced its travel time by about one to four minutes per operation and fuel burn by about 50 to 550 lbs per operation depending on the objective of the aircrew (time, fuel, or weighted combination of time and fuel), class of airspace user, and aircraft type. These preliminary results are based on analysis of approximately one week of traffic in July 2012 and additional analysis is planned on a larger data set to confirm these initial findings.

SELENE Translunar Trajectory Reconfiguration Plan Provided for the Case of Main Engine Anomaly

NASA Technical Reports Server (NTRS)

Kawakatsu, Yasuhiro

2007-01-01

In this paper, the reconfiguration of translunar trajectory in case of main engine anomaly is investigated. The objectives of the trajectory design are to reduce the excessive velocity at the Lunar encounter as well as to reduce the total required Delta-v to complete the sequence. 3-impulse Hohmann transfer based trajectory is adopted and possible trajectories are categorized under 2-body approximation. The solutions obtained are applied to more sophisticated models (3-body approximation and 4-body) and yields feasible trajectory.

System Performance of an Integrated Airborne Spacing Algorithm with Ground Automation

NASA Technical Reports Server (NTRS)

Swieringa, Kurt A.; Wilson, Sara R.; Baxley, Brian T.

2016-01-01

The National Aeronautics and Space Administration's (NASA's) first Air Traffic Management (ATM) Technology Demonstration (ATD-1) was created to facilitate the transition of mature ATM technologies from the laboratory to operational use. The technologies selected for demonstration are the Traffic Management Advisor with Terminal Metering (TMA-TM), which provides precise time-based scheduling in the Terminal airspace; Controller Managed Spacing (CMS), which provides controllers with decision support tools to enable precise schedule conformance; and Interval Management (IM), which consists of flight deck automation that enables aircraft to achieve or maintain precise spacing behind another aircraft. Recent simulations and IM algorithm development at NASA have focused on trajectory-based IM operations where aircraft equipped with IM avionics are expected to achieve a spacing goal, assigned by air traffic controllers, at the final approach fix. The recently published IM Minimum Operational Performance Standards describe five types of IM operations. This paper discusses the results and conclusions of a human-in-the-loop simulation that investigated three of those IM operations. The results presented in this paper focus on system performance and integration metrics. Overall, the IM operations conducted in this simulation integrated well with ground-based decisions support tools and certain types of IM operational were able to provide improved spacing precision at the final approach fix; however, some issues were identified that should be addressed prior to implementing IM procedures into real-world operations.

Key frame extraction based on spatiotemporal motion trajectory

NASA Astrophysics Data System (ADS)

Zhang, Yunzuo; Tao, Ran; Zhang, Feng

2015-05-01

Spatiotemporal motion trajectory can accurately reflect the changes of motion state. Motivated by this observation, this letter proposes a method for key frame extraction based on motion trajectory on the spatiotemporal slice. Different from the well-known motion related methods, the proposed method utilizes the inflexions of the motion trajectory on the spatiotemporal slice of all the moving objects. Experimental results show that although a similar performance is achieved in the single-objective screen, by comparing the proposed method to that achieved with the state-of-the-art methods based on motion energy or acceleration, the proposed method shows a better performance in a multiobjective video.

Satellite observations and modeling of oil spill trajectories in the Bohai Sea.

PubMed

Xu, Qing; Li, Xiaofeng; Wei, Yongliang; Tang, Zeyan; Cheng, Yongcun; Pichel, William G

2013-06-15

On June 4 and 17, 2011, separate oil spill accidents occurred at two oil platforms in the Bohai Sea, China. The oil spills were subsequently observed on different types of satellite images including SAR (Synthetic Aperture Radar), Chinese HJ-1-B CCD and NASA MODIS. To illustrate the fate of the oil spills, we performed two numerical simulations to simulate the trajectories of the oil spills with the GNOME (General NOAA Operational Modeling Environment) model. For the first time, we drive the GNOME with currents obtained from an operational ocean model (NCOM, Navy Coastal Ocean Model) and surface winds from operational scatterometer measurements (ASCAT, the Advanced Scatterometer). Both data sets are freely and openly available. The initial oil spill location inputs to the model are based on the detected oil spill locations from the SAR images acquired on June 11 and 14. Three oil slicks are tracked simultaneously and our results show good agreement between model simulations and subsequent satellite observations in the semi-enclosed shallow sea. Moreover, GNOME simulation shows that the number of 'splots', which denotes the extent of spilled oil, is a vital factor for GNOME running stability when the number is less than 500. Therefore, oil spill area information obtained from satellite sensors, especially SAR, is an important factor for setting up the initial model conditions. Copyright © 2013 Elsevier Ltd. All rights reserved.

Air Traffic Management Technology Demonstration-1 Concept of Operations (ATD-1 ConOps), Version 2.0

NASA Technical Reports Server (NTRS)

Baxley, Brian T.; Johnson, William C.; Swenson, Harry N.; Robinson, John E.; Prevot, Tom; Callantine, Todd J.; Scardina, John; Greene, Michael

2013-01-01

This document is an update to the operations and procedures envisioned for NASA s Air Traffic Management (ATM) Technology Demonstration #1 (ATD-1). The ATD-1 Concept of Operations (ConOps) integrates three NASA technologies to achieve high throughput, fuel-efficient arrival operations into busy terminal airspace. They are Traffic Management Advisor with Terminal Metering (TMA-TM) for precise time-based schedules to the runway and points within the terminal area, Controller-Managed Spacing (CMS) decision support tools for terminal controllers to better manage aircraft delay using speed control, and Flight deck Interval Management (FIM) avionics and flight crew procedures to conduct airborne spacing operations. The ATD-1 concept provides de-conflicted and efficient operations of multiple arrival streams of aircraft, passing through multiple merge points, from top-of-descent (TOD) to the Final Approach Fix. These arrival streams are Optimized Profile Descents (OPDs) from en route altitude to the runway, using primarily speed control to maintain separation and schedule. The ATD-1 project is currently addressing the challenges of integrating the three technologies, and their implantation into an operational environment. The ATD-1 goals include increasing the throughput of high-density airports, reducing controller workload, increasing efficiency of arrival operations and the frequency of trajectory-based operations, and promoting aircraft ADS-B equipage.

NASA's ATM Technology Demonstration-1: Integrated Concept of Arrival Operations

NASA Technical Reports Server (NTRS)

Baxley, Brian T.; Swenson, Harry N.; Prevot, Thomas; Callantine, Todd J.

2012-01-01

This paper describes operations and procedures envisioned for NASA s Air Traffic Management (ATM) Technology Demonstration #1 (ATD-1). The ATD-1 Concept of Operations (ConOps) demonstration will integrate three NASA technologies to achieve high throughput, fuel-efficient arrival operations into busy terminal airspace. They are Traffic Management Advisor with Terminal Metering (TMA-TM) for precise time-based schedules to the runway and points within the terminal area, Controller-Managed Spacing (CMS) decision support tools for terminal controllers to better manage aircraft delay using speed control, and Flight deck Interval Management (FIM) avionics and flight crew procedures to conduct airborne spacing operations. The ATD-1 concept provides de-conflicted and efficient operations of multiple arrival streams of aircraft, passing through multiple merge points, from top-of-descent (TOD) to touchdown. It also enables aircraft to conduct Optimized Profile Descents (OPDs) from en route altitude to the runway, using primarily speed control to maintain separation and schedule. The ATD-1 project is currently addressing the challenges of integrating the three technologies, and implantation into an operational environment. Goals of the ATD-1 demonstration include increasing the throughput of high-density airports, reducing controller workload, increasing efficiency of arrival operations and the frequency of trajectory-based operations, and promoting aircraft ADS-B equipage.

Incidents Prediction in Road Junctions Using Artificial Neural Networks

NASA Astrophysics Data System (ADS)

Hajji, Tarik; Alami Hassani, Aicha; Ouazzani Jamil, Mohammed

2018-05-01

The implementation of an incident detection system (IDS) is an indispensable operation in the analysis of the road traffics. However the IDS may, in no case, represent an alternative to the classical monitoring system controlled by the human eye. The aim of this work is to increase detection and prediction probability of incidents in camera-monitored areas. Knowing that, these areas are monitored by multiple cameras and few supervisors. Our solution is to use Artificial Neural Networks (ANN) to analyze moving objects trajectories on captured images. We first propose a modelling of the trajectories and their characteristics, after we develop a learning database for valid and invalid trajectories, and then we carry out a comparative study to find the artificial neural network architecture that maximizes the rate of valid and invalid trajectories recognition.

Finite burn maneuver modeling for a generalized spacecraft trajectory design and optimization system.

PubMed

Ocampo, Cesar

2004-05-01

The modeling, design, and optimization of finite burn maneuvers for a generalized trajectory design and optimization system is presented. A generalized trajectory design and optimization system is a system that uses a single unified framework that facilitates the modeling and optimization of complex spacecraft trajectories that may operate in complex gravitational force fields, use multiple propulsion systems, and involve multiple spacecraft. The modeling and optimization issues associated with the use of controlled engine burn maneuvers of finite thrust magnitude and duration are presented in the context of designing and optimizing a wide class of finite thrust trajectories. Optimal control theory is used examine the optimization of these maneuvers in arbitrary force fields that are generally position, velocity, mass, and are time dependent. The associated numerical methods used to obtain these solutions involve either, the solution to a system of nonlinear equations, an explicit parameter optimization method, or a hybrid parameter optimization that combines certain aspects of both. The theoretical and numerical methods presented here have been implemented in copernicus, a prototype trajectory design and optimization system under development at the University of Texas at Austin.

Multi-Sensor Testing for Automated Rendezvous and Docking Sensor Testing at the Flight Robotics Lab

NASA Technical Reports Server (NTRS)

Brewster, Linda L.; Howard, Richard T.; Johnston, A. S.; Carrington, Connie; Mitchell, Jennifer D.; Cryan, Scott P.

2008-01-01

The Exploration Systems Architecture defines missions that require rendezvous, proximity operations, and docking (RPOD) of two spacecraft both in Low Earth Orbit (LEO) and in Low Lunar Orbit (LLO). Uncrewed spacecraft must perform automated and/or autonomous rendezvous, proximity operations and docking operations (commonly known as AR&D). The crewed missions may also perform rendezvous and docking operations and may require different levels of automation and/or autonomy, and must provide the crew with relative navigation information for manual piloting. The capabilities of the RPOD sensors are critical to the success ofthe Exploration Program. NASA has the responsibility to determine whether the Crew Exploration Vehicle (CEV) contractor-proposed relative navigation sensor suite will meet the requirements. The relatively low technology readiness level of AR&D relative navigation sensors has been carried as one of the CEV Project's top risks. The AR&D Sensor Technology Project seeks to reduce the risk by the testing and analysis of selected relative navigation sensor technologies through hardware-in-the-Ioop testing and simulation. These activities will provide the CEV Project information to assess the relative navigation sensors maturity as well as demonstrate test methods and capabilities. The first year of this project focused on a series of "pathfinder" testing tasks to develop the test plans, test facility requirements, trajectories, math model architecture, simulation platform, and processes that will be used to evaluate the Contractor-proposed sensors. Four candidate sensors were used in the first phase of the testing. The second phase of testing used four sensors simultaneously: two Marshall Space Flight Center (MSFC) Advanced Video Guidance Sensors (AVGS), a laser-based video sensor that uses retroreflectors attached to the target vehicle, and two commercial laser range finders. The multi-sensor testing was conducted at MSFC's Flight Robotics Laboratory (FRL) using the FRL's 6-DOF gantry system, called the Dynamic Overhead Target System (DOTS). The target vehicle for "docking" in the laboratory was a mockup that was representative of the proposed CEV docking system, with added retroreflectors for the AVGS.' The multi-sensor test configuration used 35 open-loop test trajectories covering three major objectives: (l) sensor characterization trajectories designed to test a wide range of performance parameters; (2) CEV-specific trajectories designed to test performance during CEV-like approach and departure profiles; and (3) sensor characterization tests designed for evaluating sensor performance under more extreme conditions as might be induced during a spacecraft failure or during contingency situations. This paper describes the test development, test facility, test preparations, test execution, and test results of the multisensor series oftrajectories

Preliminary Design of Low-Thrust Interplanetary Missions

NASA Technical Reports Server (NTRS)

Sims, Jon A.; Flanagan, Steve N.

1997-01-01

For interplanetary missions, highly efficient electric propulsion systems can be used to increase the mass delivered to the destination and/or reduce the trip time over typical chemical propulsion systems. This technology is being demonstrated on the Deep Space 1 mission - part of NASA's New Millennium Program validating technologies which can lower the cost and risk and enhance the performance of future missions. With the successful demonstration on Deep Space 1, future missions can consider electric propulsion as a viable propulsion option. Electric propulsion systems, while highly efficient, produce only a small amount of thrust. As a result, the engines operate during a significant fraction of the trajectory. This characteristic makes it much more difficult to find optimal trajectories. The methods for optimizing low-thrust trajectories are typically categorized as either indirect, or direct. Indirect methods are based on calculus of variations, resulting in a two-point boundary value problem that is solved by satisfying terminal constraints and targeting conditions. These methods are subject to extreme sensitivity to the initial guess of the variables - some of which are not physically intuitive. Adding a gravity assist to the trajectory compounds the sensitivity. Direct methods parameterize the problem and use nonlinear programming techniques to optimize an objective function by adjusting a set of variables. A variety of methods of this type have been examined with varying results. These methods are subject to the limitations of the nonlinear programming techniques. In this paper we present a direct method intended to be used primarily for preliminary design of low-thrust interplanetary trajectories, including those with multiple gravity assists. Preliminary design implies a willingness to accept limited accuracy to achieve an efficient algorithm that executes quickly.

Physics-model-based nonlinear actuator trajectory optimization and safety factor profile feedback control for advanced scenario development in DIII-D

DOE PAGES

Barton, Justin E.; Boyer, Mark D.; Shi, Wenyu; ...

2015-07-30

DIII-D experimental results are reported to demonstrate the potential of physics-model-based safety factor profile control for robust and reproducible sustainment of advanced scenarios. In the absence of feedback control, variability in wall conditions and plasma impurities, as well as drifts due to external disturbances, can limit the reproducibility of discharges with simple pre-programmed scenario trajectories. The control architecture utilized is a feedforward + feedback scheme where the feedforward commands are computed off-line and the feedback commands are computed on-line. In this work, firstly a first-principles-driven (FPD), physics-based model of the q profile and normalized beta (β N) dynamics is embeddedmore » into a numerical optimization algorithm to design feedforward actuator trajectories that sheer the plasma through the tokamak operating space to reach a desired stationary target state that is characterized by the achieved q profile and β N. Good agreement between experimental results and simulations demonstrates the accuracy of the models employed for physics-model-based control design. Secondly, a feedback algorithm for q profile control is designed following a FPD approach, and the ability of the controller to achieve and maintain a target q profile evolution is tested in DIII-D high confinement (H-mode) experiments. The controller is shown to be able to effectively control the q profile when β N is relatively close to the target, indicating the need for integrated q profile and β N control to further enhance the ability to achieve robust scenario execution. Furthermore, the ability of an integrated q profile + β N feedback controller to track a desired target is demonstrated through simulation.« less

Windfield and trajectory models for tornado-propelled objects. Final report

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

Redmann, G.H.; Radbill, J.R.; Marte, J.E.

1983-03-01

This is the final report of a three-phased research project to develop a six-degree-of-freedom mathematical model to predict the trajectories of tornado-propelled objects. The model is based on the meteorological, aerodynamic, and dynamic processes that govern the trajectories of missiles in a tornadic windfield. The aerodynamic coefficients for the postulated missiles were obtained from full-scale wind tunnel tests on a 12-inch pipe and car and from drop tests. Rocket sled tests were run whereby the 12-inch pipe and car were injected into a worst-case tornado windfield in order to verify the trajectory model. To simplify and facilitate the use ofmore » the trajectory model for design applications without having to run the computer program, this report gives the trajectory data for NRC-postulated missiles in tables based on given variables of initial conditions of injection and tornado windfield. Complete descriptions of the tornado windfield and trajectory models are presented. The trajectory model computer program is also included for those desiring to perform trajectory or sensitivity analyses beyond those included in the report or for those wishing to examine other missiles and use other variables.« less

Space Shuttle to deploy Magellan planetary science mission

NASA Technical Reports Server (NTRS)

1989-01-01

The objectives of Space Shuttle Mission STS-30 are described along with major flight activities, prelaunch and launch operations, trajectory sequence of events, and landing and post-landing operations. The primary objective of STS-30 is to successfully deploy the Magellan spacecraft into low earth orbit. Following deployment, Magellan will be propelled to its Venus trajectory by an Inertial Upper Stage booster. The objectives of the Magellan mission are to obtain radar images of more than 70 percent of Venus' surface, a near-global topographic map, and near-global gravity field data. Secondary STS-30 payloads include the Fluids Experiment Apparatus (FEA) and the Mesoscale Lightning Experiment (MLE).

LDSD POST2 Modeling Enhancements in Support of SFDT-2 Flight Operations

NASA Technical Reports Server (NTRS)

White, Joseph; Bowes, Angela L.; Dutta, Soumyo; Ivanov, Mark C.; Queen, Eric M.

2016-01-01

Program to Optimize Simulated Trajectories II (POST2) was utilized to develop trajectory simulations characterizing all flight phases from drop to splashdown for the Low-Density Supersonic Decelerator (LDSD) project's first and second Supersonic Flight Dynamics Tests (SFDT-1 and SFDT-2) which took place June 28, 2014 and June 8, 2015, respectively. This paper describes the modeling improvements incorporated into the LDSD POST2 simulations since SFDT-1 and presents how these modeling updates affected the predicted SFDT-2 performance and sensitivity to the mission design. The POST2 simulation flight dynamics support during the SFDT-2 launch, operations, and recovery is also provided.

Analytic derivation and evaluation of a state-trajectory control law for dc-to-dc converters

NASA Technical Reports Server (NTRS)

Burns, W. W., III; Wilson, T. G.

1977-01-01

Mathematical representations of a state-plane switching boundary employed in a state-trajectory control law for dc-to-dc converters are derived. Several levels of approximation to the switching boundary equations are presented, together with an evaluation of the effects of nonideal operating characteristics of converter power stage components on the shape and location of the boundary and the behavior of a system controlled by it. Digital computer simulations of dc-to-dc converters operating in conjunction with each of these levels of control are presented and evaluated with respect to changes in transient and steady-state performance.

Event-synchronized data acquisition system for the SPring-8 linac beam position monitors

NASA Astrophysics Data System (ADS)

Masuda, T.; Fukui, T.; Tanaka, R.; Taniuchi, T.; Yamashita, A.; Yanagida, K.

2005-05-01

By the summer of 2003, we had completed the installation of a new non-destructive beam position monitor (BPM) system to facilitate beam trajectory and energy correction for the SPring-8 linac. In all, 47 BPM sets were installed on the 1-GeV linac and three beam-transport lines. All of the BPM data acquisition system was required to operate synchronously with the electron beam acceleration cycle. We have developed an event-synchronized data acquisition system for the BPM data readout. We have succeeded in continuously taking all the BPMs data from six VME computers synchronized with the 10 pps operation of the linac to continuously acquire data. For each beam shot, the data points are indexed by event number and stored in a database. Using the real-time features of the Solaris operating system and distributed database technology, we currently have achieved about 99.9% efficiency in capturing and archiving all of the 10 Hz data. The linac BPM data is available for off-line analysis of the beam trajectory, but also for real-time control and automatic correction of the beam trajectory and energy.

Ares I-X Range Safety Flight Envelope Analysis

NASA Technical Reports Server (NTRS)

Starr, Brett R.; Olds, Aaron D.; Craig, Anthony S.

2011-01-01

Ares I-X was the first test flight of NASA's Constellation Program's Ares I Crew Launch Vehicle designed to provide manned access to low Earth orbit. As a one-time test flight, the Air Force's 45th Space Wing required a series of Range Safety analysis data products to be developed for the specified launch date and mission trajectory prior to granting flight approval on the Eastern Range. The range safety data package is required to ensure that the public, launch area, and launch complex personnel and resources are provided with an acceptable level of safety and that all aspects of prelaunch and launch operations adhere to applicable public laws. The analysis data products, defined in the Air Force Space Command Manual 91-710, Volume 2, consisted of a nominal trajectory, three sigma trajectory envelopes, stage impact footprints, acoustic intensity contours, trajectory turn angles resulting from potential vehicle malfunctions (including flight software failures), characterization of potential debris, and debris impact footprints. These data products were developed under the auspices of the Constellation's Program Launch Constellation Range Safety Panel and its Range Safety Trajectory Working Group with the intent of beginning the framework for the operational vehicle data products and providing programmatic review and oversight. A multi-center NASA team in conjunction with the 45th Space Wing, collaborated within the Trajectory Working Group forum to define the data product development processes, performed the analyses necessary to generate the data products, and performed independent verification and validation of the data products. This paper outlines the Range Safety data requirements and provides an overview of the processes established to develop both the data products and the individual analyses used to develop the data products, and it summarizes the results of the analyses required for the Ares I-X launch.

Ares I-X Range Safety Analyses Overview

NASA Technical Reports Server (NTRS)

Starr, Brett R.; Gowan, John W., Jr.; Thompson, Brian G.; Tarpley, Ashley W.

2011-01-01

Ares I-X was the first test flight of NASA's Constellation Program's Ares I Crew Launch Vehicle designed to provide manned access to low Earth orbit. As a one-time test flight, the Air Force's 45th Space Wing required a series of Range Safety analysis data products to be developed for the specified launch date and mission trajectory prior to granting flight approval on the Eastern Range. The range safety data package is required to ensure that the public, launch area, and launch complex personnel and resources are provided with an acceptable level of safety and that all aspects of prelaunch and launch operations adhere to applicable public laws. The analysis data products, defined in the Air Force Space Command Manual 91-710, Volume 2, consisted of a nominal trajectory, three sigma trajectory envelopes, stage impact footprints, acoustic intensity contours, trajectory turn angles resulting from potential vehicle malfunctions (including flight software failures), characterization of potential debris, and debris impact footprints. These data products were developed under the auspices of the Constellation's Program Launch Constellation Range Safety Panel and its Range Safety Trajectory Working Group with the intent of beginning the framework for the operational vehicle data products and providing programmatic review and oversight. A multi-center NASA team in conjunction with the 45th Space Wing, collaborated within the Trajectory Working Group forum to define the data product development processes, performed the analyses necessary to generate the data products, and performed independent verification and validation of the data products. This paper outlines the Range Safety data requirements and provides an overview of the processes established to develop both the data products and the individual analyses used to develop the data products, and it summarizes the results of the analyses required for the Ares I-X launch.

Characterizing spouse/partner depression and alcohol problems over the course of military deployment.

PubMed

Erbes, Christopher R; Kramer, Mark; Arbisi, Paul A; DeGarmo, David; Polusny, Melissa A

2017-04-01

Spouse/partners of military personnel demonstrate elevated levels of distress during military deployments, yet there is insufficient information about courses of adjustment over time. The current study identified trajectories of depression and alcohol use problems and predictors of those trajectories across the deployment cycle. National Guard soldiers (N = 1973) and spouses/intimate partners (N = 1020) completed assessments of risk/protective factors and baseline measures of mental health functioning 2 to 5 months prior to soldiers' 1-year deployments (Time 1) to Kuwait/Iraq in support of Operation New Dawn or Afghanistan in support of Operation Enduring Freedom. Partners' mental health was reassessed at 4 months (Time 2) and 8 months (Time 3) after soldiers deployed, and both spouses/partners and soldiers were reassessed 2-3 months postdeployment (Time 4). Latent class growth modeling of partner depression symptoms over time revealed 4 groups: Resilience (79.9%), Deployment Distress (8.9%), Anticipatory Distress (8.4%), and Post-Deployment Distress (2.7%). Three alcohol misuse trajectories were identified: Resilience (91.3%), Deployment Onset (5.4%), and Deployment Desistance (3.3%). Predeployment predictors of partners' depression symptom trajectories varied by group and included soldier reports of stressors and social support and partner levels of neuroticism, introversion, disconstraint, and reported stressors. Predeployment predictors of alcohol misuse trajectories varied by group, and included soldier levels of alcohol misuse as well as partner neuroticism, disconstraint, and family readiness. Delineating and predicting trajectories of partner adjustment can allow for better targeted interventions toward those most at risk for heightened distress or alcohol problems over the deployment cycle. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Quantum dynamics modeled by interacting trajectories

NASA Astrophysics Data System (ADS)

Cruz-Rodríguez, L.; Uranga-Piña, L.; Martínez-Mesa, A.; Meier, C.

2018-03-01

We present quantum dynamical simulations based on the propagation of interacting trajectories where the effect of the quantum potential is mimicked by effective pseudo-particle interactions. The method is applied to several quantum systems, both for bound and scattering problems. For the bound systems, the quantum ground state density and zero point energy are shown to be perfectly obtained by the interacting trajectories. In the case of time-dependent quantum scattering, the Eckart barrier and uphill ramp are considered, with transmission coefficients in very good agreement with standard quantum calculations. Finally, we show that via wave function synthesis along the trajectories, correlation functions and energy spectra can be obtained based on the dynamics of interacting trajectories.

Memoryless control of boundary concentrations of diffusing particles.

PubMed

Singer, A; Schuss, Z; Nadler, B; Eisenberg, R S

2004-12-01

Flux between regions of different concentration occurs in nearly every device involving diffusion, whether an electrochemical cell, a bipolar transistor, or a protein channel in a biological membrane. Diffusion theory has calculated that flux since the time of Fick (1855), and the flux has been known to arise from the stochastic behavior of Brownian trajectories since the time of Einstein (1905), yet the mathematical description of the behavior of trajectories corresponding to different types of boundaries is not complete. We consider the trajectories of noninteracting particles diffusing in a finite region connecting two baths of fixed concentrations. Inside the region, the trajectories of diffusing particles are governed by the Langevin equation. To maintain average concentrations at the boundaries of the region at their values in the baths, a control mechanism is needed to set the boundary dynamics of the trajectories. Different control mechanisms are used in Langevin and Brownian simulations of such systems. We analyze models of controllers and derive equations for the time evolution and spatial distribution of particles inside the domain. Our analysis shows a distinct difference between the time evolution and the steady state concentrations. While the time evolution of the density is governed by an integral operator, the spatial distribution is governed by the familiar Fokker-Planck operator. The boundary conditions for the time dependent density depend on the model of the controller; however, this dependence disappears in the steady state, if the controller is of a renewal type. Renewal-type controllers, however, produce spurious boundary layers that can be catastrophic in simulations of charged particles, because even a tiny net charge can have global effects. The design of a nonrenewal controller that maintains concentrations of noninteracting particles without creating spurious boundary layers at the interface requires the solution of the time-dependent Fokker-Planck equation with absorption of outgoing trajectories and a source of ingoing trajectories on the boundary (the so called albedo problem).

Adaptive density trajectory cluster based on time and space distance

NASA Astrophysics Data System (ADS)

Liu, Fagui; Zhang, Zhijie

2017-10-01

There are some hotspot problems remaining in trajectory cluster for discovering mobile behavior regularity, such as the computation of distance between sub trajectories, the setting of parameter values in cluster algorithm and the uncertainty/boundary problem of data set. As a result, based on the time and space, this paper tries to define the calculation method of distance between sub trajectories. The significance of distance calculation for sub trajectories is to clearly reveal the differences in moving trajectories and to promote the accuracy of cluster algorithm. Besides, a novel adaptive density trajectory cluster algorithm is proposed, in which cluster radius is computed through using the density of data distribution. In addition, cluster centers and number are selected by a certain strategy automatically, and uncertainty/boundary problem of data set is solved by designed weighted rough c-means. Experimental results demonstrate that the proposed algorithm can perform the fuzzy trajectory cluster effectively on the basis of the time and space distance, and obtain the optimal cluster centers and rich cluster results information adaptably for excavating the features of mobile behavior in mobile and sociology network.

Developmental trajectories of marital happiness in continuously married individuals: a group-based modeling approach.

PubMed

Anderson, Jared R; Van Ryzin, Mark J; Doherty, William J

2010-10-01

Most contemporary studies of change in marital quality over time have used growth curve modeling to describe continuously declining mean curves. However, there is some evidence that different trajectories of marital quality exist for different subpopulations. Group-based trajectory modeling provides the opportunity to conduct an empirical investigation of the variance in marital quality trajectories. We applied this method to analyze data from continuously married individuals from the Marital Instability over the Life Course Study (N = 706). Instead of a single continuously declining trajectory of marital happiness, we found 5 distinct trajectories. Nearly two thirds of participants reported high and stable levels of happiness over time, and the other one third showed either a pattern of continuous low happiness, low happiness that subsequently declined, or a curvilinear pattern of high happiness, decline, and recovery. Marital problems, time spent in shared activities, and (to a lesser degree) economic hardship were able to distinguish trajectory group membership. Our results suggest that marital happiness may have multiple distinct trajectories across reasonably diverse populations. Implications for theory, research, and practice are discussed.

The infinitesimal operator for the semigroup of the Frobenius-Perron operator from image sequence data: vector fields and transport barriers from movies.

PubMed

Santitissadeekorn, N; Bollt, E M

2007-06-01

In this paper, we present an approach to approximate the Frobenius-Perron transfer operator from a sequence of time-ordered images, that is, a movie dataset. Unlike time-series data, successive images do not provide a direct access to a trajectory of a point in a phase space; more precisely, a pixel in an image plane. Therefore, we reconstruct the velocity field from image sequences based on the infinitesimal generator of the Frobenius-Perron operator. Moreover, we relate this problem to the well-known optical flow problem from the computer vision community and we validate the continuity equation derived from the infinitesimal operator as a constraint equation for the optical flow problem. Once the vector field and then a discrete transfer operator are found, then, in addition, we present a graph modularity method as a tool to discover basin structure in the phase space. Together with a tool to reconstruct a velocity field, this graph-based partition method provides us with a way to study transport behavior and other ergodic properties of measurable dynamical systems captured only through image sequences.

The Development and Evaluation of an Operational Aerobraking Strategy for the Mars 2001 Odyssey Orbiter

NASA Technical Reports Server (NTRS)

Tartabini, Paul V.; Munk, Michelle M.; Powell, Richard W.

2002-01-01

The Mars 2001 Odyssey Orbiter successfully completed the aerobraking phase of its mission on January 11, 2002. This paper discusses the support provided by NASA's Langley Research Center to the navigation team at the Jet Propulsion Laboratory in the planning and operational support of Mars Odyssey Aerobraking. Specifically, the development of a three-degree-of-freedom aerobraking trajectory simulation and its application to pre-flight planning activities as well as operations is described. The importance of running the simulation in a Monte Carlo fashion to capture the effects of mission and atmospheric uncertainties is demonstrated, and the utility of including predictive logic within the simulation that could mimic operational maneuver decision-making is shown. A description is also provided of how the simulation was adapted to support flight operations as both a validation and risk reduction tool and as a means of obtaining a statistical basis for maneuver strategy decisions. This latter application was the first use of Monte Carlo trajectory analysis in an aerobraking mission.

Efficient Construction of Mesostate Networks from Molecular Dynamics Trajectories.

PubMed

Vitalis, Andreas; Caflisch, Amedeo

2012-03-13

The coarse-graining of data from molecular simulations yields conformational space networks that may be used for predicting the system's long time scale behavior, to discover structural pathways connecting free energy basins in the system, or simply to represent accessible phase space regions of interest and their connectivities in a two-dimensional plot. In this contribution, we present a tree-based algorithm to partition conformations of biomolecules into sets of similar microstates, i.e., to coarse-grain trajectory data into mesostates. On account of utilizing an architecture similar to that of established tree-based algorithms, the proposed scheme operates in near-linear time with data set size. We derive expressions needed for the fast evaluation of mesostate properties and distances when employing typical choices for measures of similarity between microstates. Using both a pedagogically useful and a real-word application, the algorithm is shown to be robust with respect to tree height, which in addition to mesostate threshold size is the main adjustable parameter. It is demonstrated that the derived mesostate networks can preserve information regarding the free energy basins and barriers by which the system is characterized.

Quantum Stochastic Trajectories: The Fokker-Planck-Bohm Equation Driven by the Reduced Density Matrix.

PubMed

Avanzini, Francesco; Moro, Giorgio J

2018-03-15

The quantum molecular trajectory is the deterministic trajectory, arising from the Bohm theory, that describes the instantaneous positions of the nuclei of molecules by assuring the agreement with the predictions of quantum mechanics. Therefore, it provides the suitable framework for representing the geometry and the motions of molecules without neglecting their quantum nature. However, the quantum molecular trajectory is extremely demanding from the computational point of view, and this strongly limits its applications. To overcome such a drawback, we derive a stochastic representation of the quantum molecular trajectory, through projection operator techniques, for the degrees of freedom of an open quantum system. The resulting Fokker-Planck operator is parametrically dependent upon the reduced density matrix of the open system. Because of the pilot role played by the reduced density matrix, this stochastic approach is able to represent accurately the main features of the open system motions both at equilibrium and out of equilibrium with the environment. To verify this procedure, the predictions of the stochastic and deterministic representation are compared for a model system of six interacting harmonic oscillators, where one oscillator is taken as the open quantum system of interest. The undeniable advantage of the stochastic approach is that of providing a simplified and self-contained representation of the dynamics of the open system coordinates. Furthermore, it can be employed to study the out of equilibrium dynamics and the relaxation of quantum molecular motions during photoinduced processes, like photoinduced conformational changes and proton transfers.

Method and device for diagnosing and controlling combustion instabilities in internal combustion engines operating in or transitioning to homogeneous charge combustion ignition mode

DOEpatents

Wagner, Robert M [Knoxville, TN; Daw, Charles S [Knoxville, TN; Green, Johney B [Knoxville, TN; Edwards, Kevin D [Knoxville, TN

2008-10-07

This invention is a method of achieving stable, optimal mixtures of HCCI and SI in practical gasoline internal combustion engines comprising the steps of: characterizing the combustion process based on combustion process measurements, determining the ratio of conventional and HCCI combustion, determining the trajectory (sequence) of states for consecutive combustion processes, and determining subsequent combustion process modifications using said information to steer the engine combustion toward desired behavior.

The Path to NGATS

NASA Technical Reports Server (NTRS)

Scardina, John

2006-01-01

NGATS operational Improvements and benefits include: 1) Broad area and precision navigation to access and capacity; 2) Airspace access and management to capacity; 3) 4D trajectory based ATM to capacity and efficiency; 4) Reduced separation between aircraft to capacity; 5) Flight deck situational awareness and delegation to capacity and safety; 6) ATM decision support to capacity; 7) Improved weather data and dissemination to capacity and safety; 8) Reduced cost to deliver ATM services to cost; 9) Greatly expanded airport network and improved terminals to capacity.

Effect of relativistic motion on witnessing nonclassicality of quantum states

NASA Astrophysics Data System (ADS)

Checińska, Agata; Lorek, Krzysztof; Dragan, Andrzej

2017-01-01

We show that the operational definition of nonclassicality of a quantum state depends on the motion of the observer. We use the relativistic Unruh-DeWitt detector model to witness nonclassicality of the probed field state. It turns out that the witness based on the properties of the P representation of the quantum state depends on the trajectory of the detector. Inertial and noninertial motion of the device have qualitatively different impact on the performance of the witness.

Trajectories of Marijuana Use During the Transition to Adulthood: The Big Picture Based on National Panel Data

PubMed Central

Schulenberg, John E.; Merline, Alicia C.; Johnston, Lloyd D.; O'Malley, Patrick M.; Bachman, Jerald G.; Laetz, Virginia B.

2005-01-01

The purposes of this study were to: a) identify trajectory groups of frequent marijuana use during emerging adulthood, b) distinguish among trajectory groups according to demographic and lifestyle characteristics, and c) examine how the trajectory groups relate to behavioral, attitudinal, and social-emotional correlates over time. National panel data from the Monitoring the Future study were used: 18 cohorts of high school seniors (classes of 1977-94) were followed biennially through age 24. Frequent marijuana use was defined as 3+ occasions of use in past month and/or 20 to 40+ occasions in past year. Based on four waves of complete longitudinal data (N=19,952), six frequent marijuana use trajectory groups were identified: chronic, decreased, increased, fling, rare, and abstain. Categorical analyses revealed trajectory group differences in demographic and lifestyle characteristics at senior year and age 24. The trajectory groups varied significantly in longitudinal patterns of other substance use, problem behaviors, and well-being. PMID:16534532

Functional Allocation with Airborne Self-Separation Evaluated in a Piloted Simulation

NASA Technical Reports Server (NTRS)

Wing, David J.; Murdoch, Jennifer L.; Chamberlain, James P.; Consiglio, Maria C.; Hoardley, Sherwood T.; Hubbs, Clay E.; Palmer, Michael T.

2010-01-01

A human-in-the-loop simulation experiment was designed and conducted to evaluate an airborne self-separation concept. The activity supports the National Aeronautics and Space Administration s (NASA) research focus on function allocation for separation assurance. The objectives of the experiment were twofold: (1) use experiment design features in common with a companion study of ground-based automated separation assurance to promote comparability, and (2) assess agility of self-separation operations in managing trajectory-changing events in high traffic density, en-route operations with arrival time constraints. This paper describes the experiment and presents initial results associated with subjective workload ratings and group discussion feedback obtained from the experiment s commercial transport pilot participants.

Superintegrability of the Fock-Darwin system

NASA Astrophysics Data System (ADS)

Drigho-Filho, E.; Kuru, Ş.; Negro, J.; Nieto, L. M.

2017-08-01

The Fock-Darwin system is analyzed from the point of view of its symmetry properties in the quantum and classical frameworks. The quantum Fock-Darwin system is known to have two sets of ladder operators, a fact which guarantees its solvability. We show that for rational values of the quotient of two relevant frequencies, this system is superintegrable, the quantum symmetries being responsible for the degeneracy of the energy levels. These symmetries are of higher order and close a polynomial algebra. In the classical case, the ladder operators are replaced by ladder functions and the symmetries by constants of motion. We also prove that the rational classical system is superintegrable and its trajectories are closed. The constants of motion are also generators of symmetry transformations in the phase space that have been integrated for some special cases. These transformations connect different trajectories with the same energy. The coherent states of the quantum superintegrable system are found and they reproduce the closed trajectories of the classical one.

Improvement of operational prediction system applied to the oil spill prediction in the Yellow Sea

NASA Astrophysics Data System (ADS)

Kim, C.; Cho, Y.; Choi, B.; Jung, K.

2012-12-01

Multi-nested operational prediction system for the Yellow Sea (YS) has been developed to predict the movement of oil spill. Drifter trajectory simulations were performed to predict the path of the oil spill of the MV Hebei Spirit accident occurred on 7 December 2007. The oil spill trajectories at the surface predicted by numerical model without tidal forcing were remarkably faster than the observation. However the speed of drifters predicted by model considering tide was satisfactorily improved not only for the motion with tidal cycle but also for the motion with subtidal period. The subtidal flow of the simulation with tide was weaker than that without tide due to tidal stress. Tidal stress decelerated the southward subtidal flows driven by northwesterly wind along the Korean coast of the YS in winter. This result provides a substantial implication that tide must be included for accurate prediction of oil spill trajectory not only for variation within a tidal cycle but also for longer time scale advection in tide dominant area.

Interplanetary program to optimize simulated trajectories (IPOST). Volume 4: Sample cases

NASA Technical Reports Server (NTRS)

Hong, P. E.; Kent, P. D; Olson, D. W.; Vallado, C. A.

1992-01-01

The Interplanetary Program to Optimize Simulated Trajectories (IPOST) is intended to support many analysis phases, from early interplanetary feasibility studies through spacecraft development and operations. The IPOST output provides information for sizing and understanding mission impacts related to propulsion, guidance, communications, sensor/actuators, payload, and other dynamic and geometric environments. IPOST models three degree of freedom trajectory events, such as launch/ascent, orbital coast, propulsive maneuvering (impulsive and finite burn), gravity assist, and atmospheric entry. Trajectory propagation is performed using a choice of Cowell, Encke, Multiconic, Onestep, or Conic methods. The user identifies a desired sequence of trajectory events, and selects which parameters are independent (controls) and dependent (targets), as well as other constraints and the cost function. Targeting and optimization are performed using the Standard NPSOL algorithm. The IPOST structure allows sub-problems within a master optimization problem to aid in the general constrained parameter optimization solution. An alternate optimization method uses implicit simulation and collocation techniques.

Neural Network Training by Integration of Adjoint Systems of Equations Forward in Time

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Barhen, Jacob (Inventor)

1999-01-01

A method and apparatus for supervised neural learning of time dependent trajectories exploits the concepts of adjoint operators to enable computation of the gradient of an objective functional with respect to the various parameters of the network architecture in a highly efficient manner. Specifically. it combines the advantage of dramatic reductions in computational complexity inherent in adjoint methods with the ability to solve two adjoint systems of equations together forward in time. Not only is a large amount of computation and storage saved. but the handling of real-time applications becomes also possible. The invention has been applied it to two examples of representative complexity which have recently been analyzed in the open literature and demonstrated that a circular trajectory can be learned in approximately 200 iterations compared to the 12000 reported in the literature. A figure eight trajectory was achieved in under 500 iterations compared to 20000 previously required. Tbc trajectories computed using our new method are much closer to the target trajectories than was reported in previous studies.

Neural network training by integration of adjoint systems of equations forward in time

NASA Technical Reports Server (NTRS)

Toomarian, Nikzad (Inventor); Barhen, Jacob (Inventor)

1992-01-01

A method and apparatus for supervised neural learning of time dependent trajectories exploits the concepts of adjoint operators to enable computation of the gradient of an objective functional with respect to the various parameters of the network architecture in a highly efficient manner. Specifically, it combines the advantage of dramatic reductions in computational complexity inherent in adjoint methods with the ability to solve two adjoint systems of equations together forward in time. Not only is a large amount of computation and storage saved, but the handling of real-time applications becomes also possible. The invention has been applied it to two examples of representative complexity which have recently been analyzed in the open literature and demonstrated that a circular trajectory can be learned in approximately 200 iterations compared to the 12000 reported in the literature. A figure eight trajectory was achieved in under 500 iterations compared to 20000 previously required. The trajectories computed using our new method are much closer to the target trajectories than was reported in previous studies.

Fuel-conservative guidance system for powered-lift aircraft

NASA Technical Reports Server (NTRS)

Erzberger, H.; Mclean, J. D.

1979-01-01

A concept for automatic terminal area guidance, comprising two modes of operation, was developed and evaluated in flight tests. In the predictive mode, fuel efficient approach trajectories are synthesized in fast time. In the tracking mode, the synthesized trajectories are reconstructed and tracked automatically. An energy rate performance model derived from the lift, drag, and propulsion system characteristics of the aircraft is used in the synthesis algorithm. The method optimizes the trajectory for the initial aircraft position and wind and temperature profiles encountered during each landing approach. The design theory and the results of simulations and flight tests using the Augmentor Wing Jet STOL Research Aircraft are described.

Global, Multi-Objective Trajectory Optimization With Parametric Spreading

NASA Technical Reports Server (NTRS)

Vavrina, Matthew A.; Englander, Jacob A.; Phillips, Sean M.; Hughes, Kyle M.

2017-01-01

Mission design problems are often characterized by multiple, competing trajectory optimization objectives. Recent multi-objective trajectory optimization formulations enable generation of globally-optimal, Pareto solutions via a multi-objective genetic algorithm. A byproduct of these formulations is that clustering in design space can occur in evolving the population towards the Pareto front. This clustering can be a drawback, however, if parametric evaluations of design variables are desired. This effort addresses clustering by incorporating operators that encourage a uniform spread over specified design variables while maintaining Pareto front representation. The algorithm is demonstrated on a Neptune orbiter mission, and enhanced multidimensional visualization strategies are presented.

Trajectories of Delinquency among Puerto Rican Children and Adolescents at Two Sites

ERIC Educational Resources Information Center

Maldonado-Molina, Mildred M.; Piquero, Alex R.; Jennings, Wesley G.; Bird, Hector; Canino, Glorisa

2009-01-01

This study examined the trajectories of delinquency among Puerto Rican children and adolescents in two cultural contexts. Relying on data from the Boricua Youth Study, a longitudinal study of children and youth from Bronx, New York, and San Juan, Puerto Rico, a group-based trajectory procedure estimated the number of delinquency trajectories,…

Trajectory Design Considerations for Exploration Mission 1

NASA Technical Reports Server (NTRS)

Dawn, Timothy F.; Gutkowski, Jeffrey P.; Batcha, Amelia L.; Williams, Jacob; Pedrotty, Samuel M.

2018-01-01

Exploration Mission 1 (EM-1) will be the first mission to send an uncrewed Orion Multi-Purpose Crew Vehicle (MPCV) to cislunar space in the fall of 2019. EM-1 was originally conceived as a lunar free-return mission, but was later changed to a Distant Retrograde Orbit (DRO) mission as a precursor to the Asteroid Redirect Mission. To understand the required mission performance (i.e., propellant requirement), a series of trajectory optimization runs was conducted using JSC's Copernicus spacecraft trajectory optimization tool. In order for the runs to be done in a timely manner, it was necessary to employ a parallelization approach on a computing cluster using a new trajectory scan tool written in Python. Details of the scan tool are provided and how it is used to perform the scans and post-process the results. Initially, a scan of daily due east launched EM-1 DRO missions in 2018 was made. Valid mission opportunities are ones that do not exceed the useable propellant available to perform the required burns. The initial scan data showed the propellant and delta-V performance patterns for each launch period. As questions were raised from different subsystems (e.g., power, thermal, communications, flight operations, etc.), the mission parameters or data that were of interest to them were added to the scan output data file. The additional data includes: (1) local launch and landing times in relation to sunrise and sunset, (2) length of eclipse periods during the in-space portion of the mission, (3) Earth line of sight from cislunar space, (4) Deep Space Network field of view looking towards cislunar space, and (5) variation of the downrange distance from Earth entry interface to splashdown. Mission design trades can also be performed based on the information that the additional data shows. For example, if the landing is in darkness, but the recovery operations team desires a landing in daylight, then an analysis is performed to determine how to change the mission design to meet this request. Also, subsystems request feasibility of alternate or contingency mission designs, such as adding an Orion main engine checkout burn or Orion completing all of its burns using only its auxiliary thrusters. This paper examines and presents the evolving trade studies that incorporate subsystem feedback and demonstrate the feasibility of these constrained mission trajectory designs and contingencies.

Point-Mass Aircraft Trajectory Prediction Using a Hierarchical, Highly-Adaptable Software Design

NASA Technical Reports Server (NTRS)

Karr, David A.; Vivona, Robert A.; Woods, Sharon E.; Wing, David J.

2017-01-01

A highly adaptable and extensible method for predicting four-dimensional trajectories of civil aircraft has been developed. This method, Behavior-Based Trajectory Prediction, is based on taxonomic concepts developed for the description and comparison of trajectory prediction software. A hierarchical approach to the "behavioral" layer of a point-mass model of aircraft flight, a clear separation between the "behavioral" and "mathematical" layers of the model, and an abstraction of the methods of integrating differential equations in the "mathematical" layer have been demonstrated to support aircraft models of different types (in particular, turbojet vs. turboprop aircraft) using performance models at different levels of detail and in different formats, and promise to be easily extensible to other aircraft types and sources of data. The resulting trajectories predict location, altitude, lateral and vertical speeds, and fuel consumption along the flight path of the subject aircraft accurately and quickly, accounting for local conditions of wind and outside air temperature. The Behavior-Based Trajectory Prediction concept was implemented in NASA's Traffic Aware Planner (TAP) flight-optimizing cockpit software application.

Fast Calculation of Abort Return Trajectories for Manned Missions to the Moon

NASA Technical Reports Server (NTRS)

Senent, Juan S.

2010-01-01

In order to support the anytime abort requirements of a manned mission to the Moon, the vehicle abort capabilities for the translunar and circumlunar phases of the mission must be studied. Depending on the location of the abort maneuver, the maximum return time to Earth and the available propellant, two different kinds of return trajectories can be calculated: direct and fly-by. This paper presents a new method to compute these return trajectories in a deterministic and fast way without using numerical optimizers. Since no simplifications of the gravity model are required, the resulting trajectories are very accurate and can be used for both mission design and operations. This technique has been extensively used to evaluate the abort capabilities of the Orion/Altair vehicles in the Constellation program for the translunar phase of the mission.

Guidance control of small UAV with energy and maneuverability limitations for a search and coverage mission

NASA Astrophysics Data System (ADS)

Gramajo, German G.

This thesis presents an algorithm for a search and coverage mission that has increased autonomy in generating an ideal trajectory while explicitly considering the available energy in the optimization. Further, current algorithms used to generate trajectories depend on the operator providing a discrete set of turning rate requirements to obtain an optimal solution. This work proposes an additional modification to the algorithm so that it optimizes the trajectory for a range of turning rates instead of a discrete set of turning rates. This thesis conducts an evaluation of the algorithm with variation in turn duration, entry-heading angle, and entry point. Comparative studies of the algorithm with existing method indicates improved autonomy in choosing the optimization parameters while producing trajectories with better coverage area and closer final distance to the desired terminal point.

Synthesis and implementation of state-trajectory control law for dc-to-dc converters

NASA Technical Reports Server (NTRS)

Burns, W. W., III; Huffman, S. D.; Wilson, T. G.; Owen, H. A., Jr.

1977-01-01

Mathematical representations of a state-plane switching boundary employed in a state-trajectory control law for dc-to-dc converters are derived. Two approaches to implementing the control law are discussed; one approach employs a digital processor and the other uses analog computational circuits. Performance characteristics of experimental voltage step-up dc-to-dc converters operating under the control of each of these implementations are presented.

Design of 95 GHz gyrotron based on continuous operation copper solenoid with water cooling

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

Borodin, Dmitri; Ben-Moshe, Roey; Einat, Moshe

2014-07-15

The design work for 2nd harmonic 95 GHz, 50 kW gyrotron based on continuous operation copper solenoid is presented. Thermionic magnetron injection gun specifications were calculated according to the linear trade off equation, and simulated with CST program. Numerical code is used for cavity design using the non-uniform string equation as well as particle motion in the “cold” cavity field. The mode TE02 with low Ohmic losses in the cavity walls was chosen as the operating mode. The Solenoid is designed to induce magnetic field of 1.8 T over a length of 40 mm in the interaction region with homogeneitymore » of ±0.34%. The solenoid has six concentric cylindrical segments (and two correction segments) of copper foil windings separated by water channels for cooling. The predicted temperature in continuous operation is below 93 °C. The parameters of the design together with simulation results of the electromagnetic cavity field, magnetic field, electron trajectories, and thermal analyses are presented.« less

Constraint-based semi-autonomy for unmanned ground vehicles using local sensing

NASA Astrophysics Data System (ADS)

Anderson, Sterling J.; Karumanchi, Sisir B.; Johnson, Bryan; Perlin, Victor; Rohde, Mitchell; Iagnemma, Karl

2012-06-01

Teleoperated vehicles are playing an increasingly important role in a variety of military functions. While advantageous in many respects over their manned counterparts, these vehicles also pose unique challenges when it comes to safely avoiding obstacles. Not only must operators cope with difficulties inherent to the manned driving task, but they must also perform many of the same functions with a restricted field of view, limited depth perception, potentially disorienting camera viewpoints, and significant time delays. In this work, a constraint-based method for enhancing operator performance by seamlessly coordinating human and controller commands is presented. This method uses onboard LIDAR sensing to identify environmental hazards, designs a collision-free path homotopy traversing that environment, and coordinates the control commands of a driver and an onboard controller to ensure that the vehicle trajectory remains within a safe homotopy. This system's performance is demonstrated via off-road teleoperation of a Kawasaki Mule in an open field among obstacles. In these tests, the system safely avoids collisions and maintains vehicle stability even in the presence of "routine" operator error, loss of operator attention, and complete loss of communications.

Optimizing Aircraft Trajectories with Multiple Cruise Altitudes in the Presence of Winds

NASA Technical Reports Server (NTRS)

Ng, Hok K.; Sridhar, Banavar; Grabbe, Shon

2014-01-01

This study develops a trajectory optimization algorithm for approximately minimizing aircraft travel time and fuel burn by combining a method for computing minimum-time routes in winds on multiple horizontal planes, and an aircraft fuel burn model for generating fuel-optimal vertical profiles. It is applied to assess the potential benefits of flying user-preferred routes for commercial cargo flights operating between Anchorage, Alaska and major airports in Asia and the contiguous United States. Flying wind optimal trajectories with a fuel-optimal vertical profile reduces average fuel burn of international flights cruising at a single altitude by 1-3 percent. The potential fuel savings of performing en-route step climbs are not significant for many shorter domestic cargo flights that have only one step climb. Wind-optimal trajectories reduce fuel burn and travel time relative to the flight plan route by up to 3 percent for the domestic cargo flights. However, for trans-oceanic traffic, the fuel burn savings could be as much as 10 percent. The actual savings in operations will vary from the simulation results due to differences in the aircraft models and user defined cost indices. In general, the savings are proportional to trip length, and depend on the en-route wind conditions and aircraft types.

Newly Enacted Intent Changes to ADS-B MASPS: Emphasis on Operations, Compatibility, and Integrity

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Warren, Anthony W.

2002-01-01

Significant changes to the intent reporting structure in the Minimum Aviation System Performance Standards (MASPS) for Automatic Dependent Surveillance Broadcast (ADS-B) have recently been approved by RTCA Special Committee 186. The re-structured intent formats incorporate two major changes to the current MASPS (DO-242): addition of a Target State (TS) report that provides information on the horizontal and vertical targets for the current flight segment and replacement of the current Trajectory Change Point (TCP) and TCP+1 reports with Trajectory Change (TC) reports. TC reports include expanded information about TCPs and their connecting flight segments, in addition to making provisions for trajectory conformance elements. New intent elements are designed to accommodate a greater range of intent information, better reflect operational use and capabilities of existing and future aircraft avionics, and aid trajectory synthesis and conformance monitoring systems. These elements are expected to benefit near-term and future Air Traffic Management (ATM) applications, including separation assurance, local traffic flow management, and conformance monitoring. The current MASPS revision (DO-242A) implements those intent elements that are supported by current avionics standards and data buses. Additional elements are provisioned for inclusion in future MASPS revisions (beyond DO-242A) as avionics systems are evolved.

Trajectories of Diurnal Cortisol in Mothers of Children with Autism and Other Developmental Disabilities: Relations to Health and Mental Health

ERIC Educational Resources Information Center

Dykens, Elisabeth M.; Lambert, Warren

2013-01-01

This study used a stress biomarker, diurnal cortisol, to identify how elevated stress in mothers of children and adults with autism and other disabilities relates to their health and mental health. Based on semi-parametric, group-based trajectory analysis of 91 mothers, two distinctive cortisol trajectories emerged: blunted (63%) or steep (37%).…

Space Shuttle Day-of-Launch Trajectory Design Operations

NASA Technical Reports Server (NTRS)

Harrington, Brian E.

2011-01-01

A top priority of any launch vehicle is to insert as much mass into the desired orbit as possible. This requirement must be traded against vehicle capability in terms of dynamic control, thermal constraints, and structural margins. The vehicle is certified to specific structural limits which will yield certain performance characteristics of mass to orbit. Some limits cannot be certified generically and must be checked with each mission design. The most sensitive limits require an assessment on the day-of-launch. To further minimize vehicle loads while maximizing vehicle performance, a day-of-launch trajectory can be designed. This design is optimized according to that day s wind and atmospheric conditions, which increase the probability of launch. The day-of-launch trajectory design and verification process is critical to the vehicle s safety. The Day-Of-Launch I-Load Update (DOLILU) is the process by which the National Aeronautics and Space Administration's (NASA) Space Shuttle Program tailors the vehicle steering commands to fit that day s environmental conditions and then rigorously verifies the integrated vehicle trajectory s loads, controls, and performance. This process has been successfully used for almost twenty years and shares many of the same elements with other launch vehicles that execute a day-of-launch trajectory design or day-of-launch trajectory verification. Weather balloon data is gathered at the launch site and transmitted to the Johnson Space Center s Mission Control. The vehicle s first stage trajectory is then adjusted to the measured wind and atmosphere data. The resultant trajectory must satisfy loads and controls constraints. Additionally, these assessments statistically protect for non-observed dispersions. One such dispersion is the change in the wind from the last measured balloon to launch time. This process is started in the hours before launch and is repeated several times as the launch count proceeds. Should the trajectory design not meet all constraint criteria, Shuttle would be No-Go for launch. This Shuttle methodology is very similar to other unmanned launch vehicles. By extension, this method would likely be employed for any future NASA launch vehicle. This paper will review the Shuttle s day-of-launch trajectory optimization and verification operations as an example of a more generic application of day-of-launch design and validation. With Shuttle s retirement, it is fitting to document the current state of this critical process and capture lessons learned to benefit current and future launch vehicle endeavors.

The possibility of evaluating turbo-set bearing misalignment defects on the basis of bearing trajectory features

NASA Astrophysics Data System (ADS)

Rybczyński, Józef

2011-02-01

This paper presents the results of computer simulation of bearing misalignment defects in a power turbogenerator. This malfunction is typical for great multi-rotor and multi-bearing rotating machines and very common in power turbo-sets. Necessary calculations were carried out by the computer code system MESWIR, developed and used at the IFFM in Gdansk for calculating dynamics of rotors supported on oil bearings. The results are presented in the form of a set of journal and bush trajectories of all turbo-set bearings. Our analysis focuses on the vibrational effects of displacing the two most vulnerable machine bearings in horizontal and vertical directions by the maximum acceptable range calculated with regard to bearing vibration criterion. This assumption required preliminary assessment of the maximum values for the permissible bearing dislocations. We show the relations between the attributes of the particular bearing trajectories and the bearing displacements in relation to their base design position. The shape and dimensions of bearing trajectories are interpreted based on the theory of hydrodynamic lubrication of oil bearings. It was shown that the relative journal trajectories and absolute bush trajectories carry much important information about the dynamic state of the machine, indicating also the way in which bearings are loaded. Therefore, trajectories can be a source of information about the position and direction of bearing misalignments. This article indicates the potential of using trajectory patterns for diagnosing misalignment defects in rotating machines and suggests including sets of trajectory patterns to the knowledge base of a machine diagnostic system.

Combustion Efficiency, Flameout Operability Limits and General Design Optimization for Integrated Ramjet-Scramjet Hypersonic Vehicles

NASA Astrophysics Data System (ADS)

Mbagwu, Chukwuka Chijindu

High speed, air-breathing hypersonic vehicles encounter a varied range of engine and operating conditions traveling along cruise/ascent missions at high altitudes and dynamic pressures. Variations of ambient pressure, temperature, Mach number, and dynamic pressure can affect the combustion conditions in conflicting ways. Computations were performed to understand propulsion tradeoffs that occur when a hypersonic vehicle travels along an ascent trajectory. Proper Orthogonal Decomposition methods were applied for the reduction of flamelet chemistry data in an improved combustor model. Two operability limits are set by requirements that combustion efficiency exceed selected minima and flameout be avoided. A method for flameout prediction based on empirical Damkohler number measurements is presented. Operability limits are plotted that define allowable flight corridors on an altitude versus flight Mach number performance map; fixed-acceleration ascent trajectories were considered for this study. Several design rules are also presented for a hypersonic waverider with a dual-mode scramjet engine. Focus is placed on ''vehicle integration" design, differing from previous ''propulsion-oriented" design optimization. The well-designed waverider falls between that of an aircraft (high lift-to-drag ratio) and a rocket (high thrust-to-drag ratio). 84 variations of an X-43-like vehicle were run using the MASIV scramjet reduced order model to examine performance tradeoffs. Informed by the vehicle design study, variable-acceleration trajectory optimization was performed for three constant dynamic pressures ascents. Computed flameout operability limits were implemented as additional constraints to the optimization problem. The Michigan-AFRL Scramjet In-Vehicle (MASIV) waverider model includes finite-rate chemistry, applied scaling laws for 3-D turbulent mixing, ram-scram transition and an empirical value of the flameout Damkohler number. A reduced-order modeling approach is justified (in lieu of higher-fidelity computational simulations) because all vehicle forces are computed multiple thousands of times to generate multi-dimensional performance maps. The findings of this thesis work present a number of compelling conclusions. It is found that the ideal operating conditions of a scramjet engine are heavily dependent on the ambient and combustor pressure (and less strongly on temperature). Combustor pressures of approximately 1.0 bar or greater achieve the highest combustion efficiency, in line with industry standards of more than 0.5 bar. Ascent trajectory analysis of combustion efficiency and lean-limit flameout dictate best operation at higher dynamic pressures and lower altitudes, but these goals are traded off by current structural limitations whereby dynamic pressures must remain below 100 kPa. Hypersonic waverider designs varied between an "airplane" and a "rocket" are found to have better performance with the latter design, with controllability and minimum elevon/rudder surface area as a stability constraint for the vehicle trim. Ultimately, these findings are beneficial and contribute to the overall understanding of dynamically stable waverider vehicles at hypersonic speeds. These types of vehicles have a range of applications from technology demonstration, to earth-to-low orbit payload transit, to most compellingly another step in the development and realization of viable supersonic commercial transport.

Management by Trajectory Trade Study of Roles and Responsibilities Between Participants and Automation Report

NASA Technical Reports Server (NTRS)

Fernandes, Alicia D.; Kaler, Curt; Leiden, Kenneth; Atkins, Stephen; Bell, Alan; Kilbourne, Todd; Evans, Mark

2017-01-01

This report describes a trade study of roles and responsibilities associated with the Management by Trajectory (MBT) concept. The MBT concept describes roles, responsibilities, and information and automation requirements for providing air traffic controllers and managers the ability to quickly generate, evaluate and implement changes to an aircraft's trajectory. In addition, the MBT concept describes mechanisms for imposing constraints on flight operator preferred trajectories only to the extent necessary to maintain safe and efficient traffic flows, and the concept provides a method for the exchange of trajectory information between ground automation systems and the aircraft that allows for trajectory synchronization and trajectory negotiation. The participant roles considered in this trade study include: airline dispatcher, flight crew, radar controller, traffic manager, and Air Traffic Control System Command Center (ATCSCC) traffic management specialists. The proposed allocation of roles and responsibilities was based on analysis of several use cases that were developed for this purpose as well as for walking through concept elements. The resulting allocation of roles and responsibilities reflects both increased automation capability to support many aviation functions, as well as increased flexibility to assign responsibilities to different participants - in many cases afforded by the increased automation capabilities. Note that the selection of participants to consider for allocation of each function is necessarily rooted in the current environment, in that MBT is envisioned as an evolution of the National Airspace System (NAS), and not a revolution. A key feature of the MBT allocations is a vision for the traffic management specialist to take on a greater role. This is facilitated by the vision that separation management functions, in addition to traffic management functions, will be carried out as trajectory management functions. This creates an opportunity for flexibility, allowing the traffic management specialist to carry out tasks that today can only be carried out by the controller currently in contact with the aircraft. This additional tasking for the traffic management specialist comes with requirements for workload management. An increased role for the Data-side (D-side) controller relative to the Radar-side (R-side) controller is a potential approach to mitigating workload for the traffic management specialist, as the D-side controller would have similar ability to perform separation management functions in what today might be considered the "trajectory management" timeframe. This analysis did not distinguish between the D-side and R-side controllers since in many cases the R-side controller works unassisted.

Optimization design and dynamic analysis on the drive mechanisms of flapping-wing air vehicles based on flapping trajectories

NASA Astrophysics Data System (ADS)

Xie, Lingwang; Zhang, Xingwei; Luo, Pan; Huang, Panpan

2017-10-01

The optimization designs and dynamic analysis on the driving mechanism of flapping-wing air vehicles on base of flapping trajectory patterns is carried out in this study. Three different driving mechanisms which are spatial double crank-rocker, plane five-bar and gear-double slider, are systematically optimized and analysed by using the Mat lab and Adams software. After a series debugging on the parameter, the comparatively ideal flapping trajectories are obtained by the simulation of Adams. Present results indicate that different drive mechanisms output different flapping trajectories and have their unique characteristic. The spatial double crank-rocker mechanism can only output the arc flapping trajectory and it has the advantages of small volume, high flexibility and efficient space utilization. Both planar five-bar mechanism and gear-double slider mechanism can output the oval, figure of eight and double eight flapping trajectories. Nevertheless, the gear-double slider mechanism has the advantage of convenient parameter setting and better performance in output double eight flapping trajectory. This study can provide theoretical basis and helpful reference for the design of the drive mechanisms of flapping-wing air vehicles with different output flapping trajectories.

Trajectory Browser Website

NASA Technical Reports Server (NTRS)

Foster, Cyrus; Jaroux, Belgacem A.

2012-01-01

The Trajectory Browser is a web-based tool developed at the NASA Ames Research Center to be used for the preliminary assessment of trajectories to small-bodies and planets and for providing relevant launch date, time-of-flight and V requirements. The site hosts a database of transfer trajectories from Earth to asteroids and planets for various types of missions such as rendezvous, sample return or flybys. A search engine allows the user to find trajectories meeting desired constraints on the launch window, mission duration and delta V capability, while a trajectory viewer tool allows the visualization of the heliocentric trajectory and the detailed mission itinerary. The anticipated user base of this tool consists primarily of scientists and engineers designing interplanetary missions in the context of pre-phase A studies, particularly for performing accessibility surveys to large populations of small-bodies. The educational potential of the website is also recognized for academia and the public with regards to trajectory design, a field that has generally been poorly understood by the public. The website is currently hosted on NASA-internal URL http://trajbrowser.arc.nasa.gov/ with plans for a public release as soon as development is complete.

Catching What We Can't See: Manual Interception of Occluded Fly-Ball Trajectories

PubMed Central

Bosco, Gianfranco; Delle Monache, Sergio; Lacquaniti, Francesco

2012-01-01

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories. PMID:23166653

Catching what we can't see: manual interception of occluded fly-ball trajectories.

PubMed

Bosco, Gianfranco; Delle Monache, Sergio; Lacquaniti, Francesco

2012-01-01

Control of interceptive actions may involve fine interplay between feedback-based and predictive mechanisms. These processes rely heavily on target motion information available when the target is visible. However, short-term visual memory signals as well as implicit knowledge about the environment may also contribute to elaborate a predictive representation of the target trajectory, especially when visual feedback is partially unavailable because other objects occlude the visual target. To determine how different processes and information sources are integrated in the control of the interceptive action, we manipulated a computer-generated visual environment representing a baseball game. Twenty-four subjects intercepted fly-ball trajectories by moving a mouse cursor and by indicating the interception with a button press. In two separate sessions, fly-ball trajectories were either fully visible or occluded for 750, 1000 or 1250 ms before ball landing. Natural ball motion was perturbed during the descending trajectory with effects of either weightlessness (0 g) or increased gravity (2 g) at times such that, for occluded trajectories, 500 ms of perturbed motion were visible before ball disappearance. To examine the contribution of previous visual experience with the perturbed trajectories to the interception of invisible targets, the order of visible and occluded sessions was permuted among subjects. Under these experimental conditions, we showed that, with fully visible targets, subjects combined servo-control and predictive strategies. Instead, when intercepting occluded targets, subjects relied mostly on predictive mechanisms based, however, on different type of information depending on previous visual experience. In fact, subjects without prior experience of the perturbed trajectories showed interceptive errors consistent with predictive estimates of the ball trajectory based on a-priori knowledge of gravity. Conversely, the interceptive responses of subjects previously exposed to fully visible trajectories were compatible with the fact that implicit knowledge of the perturbed motion was also taken into account for the extrapolation of occluded trajectories.

Huygens probe entry, descent, and landing trajectory reconstruction using the Program to Optimize Simulated Trajectories II

NASA Astrophysics Data System (ADS)

Striepe, Scott Allen

The objectives of this research were to develop a reconstruction capability using the Program to Optimize Simulated Trajectories II (POST2), apply this capability to reconstruct the Huygens Titan probe entry, descent, and landing (EDL) trajectory, evaluate the newly developed POST2 reconstruction module, analyze the reconstructed trajectory, and assess the pre-flight simulation models used for Huygens EDL simulation. An extended Kalman filter (EKF) module was developed and integrated into POST2 to enable trajectory reconstruction (especially when using POST2-based mission specific simulations). Several validation cases, ranging from a single, constant parameter estimate to multivariable estimation cases similar to an actual mission flight, were executed to test the POST2 reconstruction module. Trajectory reconstruction of the Huygens entry probe at Titan was accomplished using accelerometer measurements taken during flight to adjust an estimated state (e.g., position, velocity, parachute drag, wind velocity, etc.) in a POST2-based simulation developed to support EDL analyses and design prior to entry. Although the main emphasis of the trajectory reconstruction was to evaluate models used in the NASA pre-entry trajectory simulation, the resulting reconstructed trajectory was also assessed to provide an independent evaluation of the ESA result. Major findings from this analysis include: Altitude profiles from this analysis agree well with other NASA and ESA results but not with Radar data, whereas a scale factor of about 0.93 would bring the radar measurements into compliance with these results; entry capsule aerodynamics predictions (axial component only) were well within 3-sigma bounds established pre-flight for most of the entry when compared to reconstructed values; Main parachute drag of 9% to 19% above ESA model was determined from the reconstructed trajectory; based on the tilt sensor and accelerometer data, the conclusion from this assessment was that the probe was tilted about 10 degrees during the Drogue parachute phase.

Monte Carlo tree search -based non-coplanar trajectory design for station parameter optimized radiation therapy (SPORT).

PubMed

Dong, Peng; Liu, Hongcheng; Xing, Lei

2018-06-04

An important yet challenging problem in LINAC-based rotational arc radiation therapy is the design of beam trajectory, which requires simultaneous consideration of delivery efficiency and final dose distribution. In this work, we propose a novel trajectory selection strategy by developing a Monte Carlo tree search (MCTS) algorithm during the beam trajectory selection process. Methods: To search through the vast number of possible trajectories, MCTS algorithm was implemented. In this approach, a candidate trajectory is explored by starting from a leaf node and sequentially examining the next level of linked nodes with consideration of geometric and physical constraints. The maximum Upper Confidence Bounds for Trees, which is a function of average objective function value and the number of times the node under testing has been visited, was employed to intelligently select the trajectory. For each candidate trajectory, we run an inverse fluence map optimization with an infinity norm regularization. The ranking of the plan as measured by the corresponding objective function value was then fed back to update the statistics of the nodes on the trajectory. The method was evaluated with a chest wall and a brain case, and the results were compared with the coplanar and noncoplanar 4pi beam configurations. Results: For both clinical cases, the MCTS method found effective and easy-to-deliver trajectories within an hour. As compared with the coplanar plans, it offers much better sparing of the OARs while maintaining the PTV coverage. The quality of the MCTS-generated plan is found to be comparable to the 4pi plans. Conclusion: AI based on MCTS is valuable to facilitate the design of beam trajectory and paves the way for future clinical use of non-coplanar treatment delivery. . © 2018 Institute of Physics and Engineering in Medicine.

Orbit Determination Strategy and Simulation Performance for OSIRIS-REx Proximity Operations

NASA Technical Reports Server (NTRS)

Leonard, Jason M.; Antreasian, Peter G.; Jackman, Coralie D.; Page, Brian; Wibben, Daniel R.; Moreau, Michael C.

2017-01-01

The Origins Spectral Interpretation Resource Identification Security Regolith Explorer (OSIRISREx)is a NASA New Frontiers mission to the near-earth asteroid Bennu that will rendez vousin 2018, create a comprehensive and detailed set of observations over several years, collect a regolith sample, and return the sample to Earth in 2023. The Orbit Determination (OD) team isa sub-section of the Flight Dynamics System responsible for generating precise reconstructions and predictions of the spacecraft trajectory. The OD team processes radiometric data, LIDAR, as well as center-finding and landmark-based Optical Navigation images throughout the proximity operations phase to estimate and predict the spacecraft location within several meters. Stringent knowledge requirements stress the OD teams concept of operations and procedures to produce verified and consistent high quality solutions for observation planning, maneuver planning, and onboard sequencing. This paper will provide insight into the OD concept of operations and summarize the OD performance expected during the approach and early proximity operation phases,based on our pre-encounter knowledge of Bennu. Strategies and methods used to compare and evaluate predicted and reconstructed solutions are detailed. The use of high fidelity operational tests during early 2017 will stress the teams concept of operations and ability to produce precise OD solutions with minimal turn-around delay.

Design and Operational Evaluation of the Traffic Management Advisor at the Ft. Worth Air Route Traffic Control Center

NASA Technical Reports Server (NTRS)

Swenson, Harry N.; Vincent, Danny; Tobias, Leonard (Technical Monitor)

1997-01-01

NASA and the FAA have designed and developed and an automation tool known as the Traffic Management Advisor (TMA). The system was operationally evaluated at the Ft. Worth Air Route Traffic Control Center (ARTCC). The TMA is a time-based strategic planning tool that provides Traffic Management Coordinators and En Route Air Traffic Controllers the ability to efficiently optimize the capacity of a demand impacted airport. The TMA consists of trajectory prediction, constraint-based runway scheduling, traffic flow visualization and controllers advisories. The TMA was used and operationally evaluated for forty-one rush traffic periods during a one month period in the Summer of 1996. The evaluations included all shifts of air traffic operations as well as periods of inclement weather. Performance data was collected for engineering and human factor analysis and compared with similar operations without the TMA. The engineering data indicates that the operations with the TMA show a one to two minute per aircraft delay reduction during rush periods. The human factor data indicate a perceived reduction in en route controller workload as well as an increase in job satisfaction. Upon completion of the evaluation, the TMA has become part of the normal operations at the Ft. Worth ARTCC.

Safe Autonomous Flight Environment (SAFE50) for the Notional Last 50 ft of Operation of 55 lb Class of UAS

NASA Technical Reports Server (NTRS)

Krishnakumar, Kalmanje; Kopardekar, Parimal; Ippolito, Corey; Melton, John E.; Stepanyan, Vahram; Sankararaman, Shankar; Nikaido, Ben

2017-01-01

The most difficult phase of small Unmanned Aerial System (sUAS) deployment is autonomous operations below the notional 50 ft in urban landscapes. Understanding the feasibility of safely flying sUAS autonomously below 50 ft is a game changer for many civilian applications. This paper outlines three areas of research currently underway which address key challenges for flight in the urban landscape. These are: (1) Off-line and On-board wind estimation and accommodation; (2) Real-time trajectory planning via characterization of obstacles using a LIDAR; (3) On-board information fusion for real-time decision-making and safe trajectory generation.

Robotics-based synthesis of human motion.

PubMed

Khatib, O; Demircan, E; De Sapio, V; Sentis, L; Besier, T; Delp, S

2009-01-01

The synthesis of human motion is a complex procedure that involves accurate reconstruction of movement sequences, modeling of musculoskeletal kinematics, dynamics and actuation, and characterization of reliable performance criteria. Many of these processes have much in common with the problems found in robotics research. Task-based methods used in robotics may be leveraged to provide novel musculoskeletal modeling methods and physiologically accurate performance predictions. In this paper, we present (i) a new method for the real-time reconstruction of human motion trajectories using direct marker tracking, (ii) a task-driven muscular effort minimization criterion and (iii) new human performance metrics for dynamic characterization of athletic skills. Dynamic motion reconstruction is achieved through the control of a simulated human model to follow the captured marker trajectories in real-time. The operational space control and real-time simulation provide human dynamics at any configuration of the performance. A new criteria of muscular effort minimization has been introduced to analyze human static postures. Extensive motion capture experiments were conducted to validate the new minimization criterion. Finally, new human performance metrics were introduced to study in details an athletic skill. These metrics include the effort expenditure and the feasible set of operational space accelerations during the performance of the skill. The dynamic characterization takes into account skeletal kinematics as well as muscle routing kinematics and force generating capacities. The developments draw upon an advanced musculoskeletal modeling platform and a task-oriented framework for the effective integration of biomechanics and robotics methods.

An Evolutionary Complex Systems Decision-Support Tool for the Management of Operations

NASA Astrophysics Data System (ADS)

Baldwin, J. S.; Allen, P. M.; Ridgway, K.

2011-12-01

This research aimed to add both to the development of complex systems thinking in the subject area of Operations and Production Management and to the limited number of applications of computational models and simulations from the science of complex systems. The latter potentially offer helpful decision-support tools for operations and production managers. A mechanical engineering firm was used as a case study where a combined qualitative and quantitative methodological approach was employed to extract the required data from four senior managers. Company performance measures as well as firm technologies, practices and policies, and their relation and interaction with one another, were elicited. The data were subjected to an evolutionary complex systems model resulting in a series of simulations. The findings included both reassuring and some unexpected results. The simulation based on the CEO's opinions led the most cohesive and synergistic collection of practices describing the firm, closely followed by the Marketing and R&D Managers. The Manufacturing Manager's responses led to the most extreme evolutionary trajectory where the integrity of the entire firm came into question particularly when considering how employees were utilised. By drawing directly from the opinions and views of managers rather than from logical 'if-then' rules and averaged mathematical representations of agents that characterise agent-based and other self-organisational models, this work builds on previous applications by capturing a micro-level description of diversity and a learning effect that has been problematical not only in terms of theory but also in application. This approach can be used as a decision-support tool for operations and other managers providing a forum with which to explore a) the strengths, weaknesses and consequences of different decision-making capacities within the firm; b) the introduction of new manufacturing technologies, practices and policies; and, c) the different evolutionary trajectories that a firm can take.

Efficient Optimization of Low-Thrust Spacecraft Trajectories

NASA Technical Reports Server (NTRS)

Lee, Seungwon; Fink, Wolfgang; Russell, Ryan; Terrile, Richard; Petropoulos, Anastassios; vonAllmen, Paul

2007-01-01

A paper describes a computationally efficient method of optimizing trajectories of spacecraft driven by propulsion systems that generate low thrusts and, hence, must be operated for long times. A common goal in trajectory-optimization problems is to find minimum-time, minimum-fuel, or Pareto-optimal trajectories (here, Pareto-optimality signifies that no other solutions are superior with respect to both flight time and fuel consumption). The present method utilizes genetic and simulated-annealing algorithms to search for globally Pareto-optimal solutions. These algorithms are implemented in parallel form to reduce computation time. These algorithms are coupled with either of two traditional trajectory- design approaches called "direct" and "indirect." In the direct approach, thrust control is discretized in either arc time or arc length, and the resulting discrete thrust vectors are optimized. The indirect approach involves the primer-vector theory (introduced in 1963), in which the thrust control problem is transformed into a co-state control problem and the initial values of the co-state vector are optimized. In application to two example orbit-transfer problems, this method was found to generate solutions comparable to those of other state-of-the-art trajectory-optimization methods while requiring much less computation time.

Calculation of Water Drop Trajectories to and About Arbitrary Three-Dimensional Bodies in Potential Airflow

NASA Technical Reports Server (NTRS)

Norment, H. G.

1980-01-01

Calculations can be performed for any atmospheric conditions and for all water drop sizes, from the smallest cloud droplet to large raindrops. Any subsonic, external, non-lifting flow can be accommodated; flow into, but not through, inlets also can be simulated. Experimental water drop drag relations are used in the water drop equations of motion and effects of gravity settling are included. Seven codes are described: (1) a code used to debug and plot body surface description data; (2) a code that processes the body surface data to yield the potential flow field; (3) a code that computes flow velocities at arrays of points in space; (4) a code that computes water drop trajectories from an array of points in space; (5) a code that computes water drop trajectories and fluxes to arbitrary target points; (6) a code that computes water drop trajectories tangent to the body; and (7) a code that produces stereo pair plots which include both the body and trajectories. Code descriptions include operating instructions, card inputs and printouts for example problems, and listing of the FORTRAN codes. Accuracy of the calculations is discussed, and trajectory calculation results are compared with prior calculations and with experimental data.

Prototype Flight Management Capabilities to Explore Temporal RNP Concepts

NASA Technical Reports Server (NTRS)

Ballin, Mark G.; Williams, David H.; Allen, Bonnie Danette; Palmer, Michael T.

2008-01-01

Next Generation Air Transportation System (NextGen) concepts of operation may require aircraft to fly planned trajectories in four dimensions three spatial dimensions and time. A prototype 4D flight management capability is being developed by NASA to facilitate the development of these concepts. New trajectory generation functions extend today's flight management system (FMS) capabilities that meet a single Required Time of Arrival (RTA) to trajectory solutions that comply with multiple RTA constraints. When a solution is not possible, a constraint management capability relaxes constraints to achieve a trajectory solution that meets the most important constraints as specified by candidate NextGen concepts. New flight guidance functions provide continuous guidance to the aircraft s flight control system to enable it to fly specified 4D trajectories. Guidance options developed for research investigations include a moving time window with varying tolerances that are a function of proximity to imposed constraints, and guidance that recalculates the aircraft s planned trajectory as a function of the estimation of current compliance. Compliance tolerances are related to required navigation performance (RNP) through the extension of existing RNP concepts for lateral containment. A conceptual temporal RNP implementation and prototype display symbology are proposed.

Adaptive surrogate model based multi-objective transfer trajectory optimization between different libration points

NASA Astrophysics Data System (ADS)

Peng, Haijun; Wang, Wei

2016-10-01

An adaptive surrogate model-based multi-objective optimization strategy that combines the benefits of invariant manifolds and low-thrust control toward developing a low-computational-cost transfer trajectory between libration orbits around the L1 and L2 libration points in the Sun-Earth system has been proposed in this paper. A new structure for a multi-objective transfer trajectory optimization model that divides the transfer trajectory into several segments and gives the dominations for invariant manifolds and low-thrust control in different segments has been established. To reduce the computational cost of multi-objective transfer trajectory optimization, a mixed sampling strategy-based adaptive surrogate model has been proposed. Numerical simulations show that the results obtained from the adaptive surrogate-based multi-objective optimization are in agreement with the results obtained using direct multi-objective optimization methods, and the computational workload of the adaptive surrogate-based multi-objective optimization is only approximately 10% of that of direct multi-objective optimization. Furthermore, the generating efficiency of the Pareto points of the adaptive surrogate-based multi-objective optimization is approximately 8 times that of the direct multi-objective optimization. Therefore, the proposed adaptive surrogate-based multi-objective optimization provides obvious advantages over direct multi-objective optimization methods.

Gradient waveform pre-emphasis based on the gradient system transfer function.

PubMed

Stich, Manuel; Wech, Tobias; Slawig, Anne; Ringler, Ralf; Dewdney, Andrew; Greiser, Andreas; Ruyters, Gudrun; Bley, Thorsten A; Köstler, Herbert

2018-02-25

The gradient system transfer function (GSTF) has been used to describe the distorted k-space trajectory for image reconstruction. The purpose of this work was to use the GSTF to determine the pre-emphasis for an undistorted gradient output and intended k-space trajectory. The GSTF of the MR system was determined using only standard MR hardware without special equipment such as field probes or a field camera. The GSTF was used for trajectory prediction in image reconstruction and for a gradient waveform pre-emphasis. As test sequences, a gradient-echo sequence with phase-encoding gradient modulation and a gradient-echo sequence with a spiral read-out trajectory were implemented and subsequently applied on a structural phantom and in vivo head measurements. Image artifacts were successfully suppressed by applying the GSTF-based pre-emphasis. Equivalent results are achieved with images acquired using GSTF-based post-correction of the trajectory as a part of image reconstruction. In contrast, the pre-emphasis approach allows reconstruction using the initially intended trajectory. The artifact suppression shown for two sequences demonstrates that the GSTF can serve for a novel pre-emphasis. A pre-emphasis based on the GSTF information can be applied to any arbitrary sequence type. © 2018 International Society for Magnetic Resonance in Medicine.

ORBSIM- ESTIMATING GEOPHYSICAL MODEL PARAMETERS FROM PLANETARY GRAVITY DATA

NASA Technical Reports Server (NTRS)

Sjogren, W. L.

1994-01-01

The ORBSIM program was developed for the accurate extraction of geophysical model parameters from Doppler radio tracking data acquired from orbiting planetary spacecraft. The model of the proposed planetary structure is used in a numerical integration of the spacecraft along simulated trajectories around the primary body. Using line of sight (LOS) Doppler residuals, ORBSIM applies fast and efficient modelling and optimization procedures which avoid the traditional complex dynamic reduction of data. ORBSIM produces quantitative geophysical results such as size, depth, and mass. ORBSIM has been used extensively to investigate topographic features on the Moon, Mars, and Venus. The program has proven particulary suitable for modelling gravitational anomalies and mascons. The basic observable for spacecraft-based gravity data is the Doppler frequency shift of a transponded radio signal. The time derivative of this signal carries information regarding the gravity field acting on the spacecraft in the LOS direction (the LOS direction being the path between the spacecraft and the receiving station, either Earth or another satellite). There are many dynamic factors taken into account: earth rotation, solar radiation, acceleration from planetary bodies, tracking station time and location adjustments, etc. The actual trajectories of the spacecraft are simulated using least squares fitted to conic motion. The theoretical Doppler readings from the simulated orbits are compared to actual Doppler observations and another least squares adjustment is made. ORBSIM has three modes of operation: trajectory simulation, optimization, and gravity modelling. In all cases, an initial gravity model of curved and/or flat disks, harmonics, and/or a force table are required input. ORBSIM is written in FORTRAN 77 for batch execution and has been implemented on a DEC VAX 11/780 computer operating under VMS. This program was released in 1985.

A hybrid systems strategy for automated spacecraft tour design and optimization

NASA Astrophysics Data System (ADS)

Stuart, Jeffrey R.

As the number of operational spacecraft increases, autonomous operations is rapidly evolving into a critical necessity. Additionally, the capability to rapidly generate baseline trajectories greatly expands the range of options available to analysts as they explore the design space to meet mission demands. Thus, a general strategy is developed, one that is suitable for the construction of flight plans for both Earth-based and interplanetary spacecraft that encounter multiple objects, where these multiple encounters comprise a ``tour''. The proposed scheme is flexible in implementation and can readily be adjusted to a variety of mission architectures. Heuristic algorithms that autonomously generate baseline tour trajectories and, when appropriate, adjust reference solutions in the presence of rapidly changing environments are investigated. Furthermore, relative priorities for ranking the targets are explicitly accommodated during the construction of potential tour sequences. As a consequence, a priori, as well as newly acquired, knowledge concerning the target objects enhances the potential value of the ultimate encounter sequences. A variety of transfer options are incorporated, from rendezvous arcs enabled by low-thrust engines to more conventional impulsive orbit adjustments via chemical propulsion technologies. When advantageous, trajectories are optimized in terms of propellant consumption via a combination of indirect and direct methods; such a combination of available technologies is an example of hybrid optimization. Additionally, elements of hybrid systems theory, i.e., the blending of dynamical states, some discrete and some continuous, are integrated into the high-level tour generation scheme. For a preliminary investigation, this strategy is applied to mission design scenarios for a Sun-Jupiter Trojan asteroid tour as well as orbital debris removal for near-Earth applications.

Assimilation of Wind Profiles from Multiple Doppler Radar Wind Profilers for Space Launch Vehicle Applications

NASA Technical Reports Server (NTRS)

Decker, Ryan K.; Barbre, Robert E., Jr.; Brenton, James C.; Walker, James C.; Leach, Richard D.

2015-01-01

Space launch vehicles utilize atmospheric winds in design of the vehicle and during day-of-launch (DOL) operations to assess affects of wind loading on the vehicle and to optimize vehicle performance during ascent. The launch ranges at NASA's Kennedy Space Center co-located with the United States Air Force's (USAF) Eastern Range (ER) at Cape Canaveral Air Force Station and USAF's Western Range (WR) at Vandenberg Air Force Base have extensive networks of in-situ and remote sensing instrumentation to measure atmospheric winds. Each instrument's technique to measure winds has advantages and disadvantages in regards to use for vehicle engineering assessments. Balloons measure wind at all altitudes necessary for vehicle assessments, but two primary disadvantages exist when applying balloon output on DOL. First, balloons need approximately one hour to reach required altitude. For vehicle assessments this occurs at 60 kft (18.3 km). Second, balloons are steered by atmospheric winds down range of the launch site that could significantly differ from those winds along the vehicle ascent trajectory. Figure 1 illustrates the spatial separation of balloon measurements from the surface up to approximately 55 kft (16.8 km) during the Space Shuttle launch on 10 December 2006. The balloon issues are mitigated by use of vertically pointing Doppler Radar Wind Profilers (DRWPs). However, multiple DRWP instruments are required to provide wind data up to 60 kft (18.3 km) for vehicle trajectory assessments. The various DRWP systems have different operating configurations resulting in different temporal and spatial sampling intervals. Therefore, software was developed to combine data from both DRWP-generated profiles into a single profile for use in vehicle trajectory analyses. Details on how data from various wind measurement systems are combined and sample output will be presented in the following sections.

Stability and change in dietary scores and patterns across six waves of the Longitudinal Study of Australian Children.

PubMed

Gasser, Constantine E; Kerr, Jessica A; Mensah, Fiona K; Wake, Melissa

2017-04-01

This study aimed to derive and compare longitudinal trajectories of dietary scores and patterns from 2-3 to 10-11 years and from 4-5 to 14-15 years of age. In waves two to six of the Baby (B) Cohort and one to six of the Kindergarten (K) Cohort of the population-based Longitudinal Study of Australian Children, parents or children reported biennially on the study child's consumption of twelve to sixteen healthy and less healthy food or drink items for the previous 24 h. For each wave, we derived a dietary score from 0 to 14, based on the 2013 Australian Dietary Guidelines (higher scores indicating healthier diet). We then used factor analyses to empirically derive dietary patterns for separate waves. Using group-based trajectory modelling, we generated trajectories of dietary scores and empirical patterns in 4504 B and 4640 K Cohort children. Four similar trajectories of dietary scores emerged for the B and K Cohorts, containing comparable proportions of children in each cohort: 'never healthy' (8·8 and 11·9 %, respectively), 'moderately healthy' (24·0 and 20·7 %), 'becoming less healthy' (16·6 and 27·3 %) and 'always healthy' (50·7 and 40·2 %). Deriving trajectories based on dietary patterns, rather than dietary scores, produced similar findings. For 'becoming less healthy' trajectories, dietary quality appeared to worsen from 7 years of age in both cohorts. In conclusion, a brief dietary measure administered repeatedly across childhood generated robust, nuanced dietary trajectories that were replicable across two cohorts and two methodologies. These trajectories appear ideal for future research into dietary determinants and health outcomes.

Curved trajectories of actin-based motility in two dimensions

NASA Astrophysics Data System (ADS)

Wen, Fu-Lai; Leung, Kwan-tai; Chen, Hsuan-Yi

2012-05-01

Recent experiments have reported fascinating geometrical trajectories for actin-based motility of bacteria Listeria monocytogenes and functionalized beads. To understand the physical mechanism for these trajectories, we constructed a phenomenological model to study the motion of an actin-propelled disk in two dimensions. In our model, the force and actin density on the surface of the disk are influenced by the translation and rotation of the disk, which in turn is induced by the asymmetric distributions of those densities. We show that this feedback can destabilize a straight trajectory, leading to circular, S-shape and other geometrical trajectories observed in the experiments through bifurcations in the distributions of the force and actin density. The relation between our model and the models for self-propelled deformable particles is emphasized and discussed.

Automated Cooperative Trajectories for a More Efficient and Responsive Air Transportation System

NASA Technical Reports Server (NTRS)

Hanson, Curt

2015-01-01

The NASA Automated Cooperative Trajectories project is developing a prototype avionics system that enables multi-vehicle cooperative control by integrating 1090 MHz ES ADS-B digital communications with onboard autopilot systems. This cooperative control capability will enable meta-aircraft operations for enhanced airspace utilization, as well as improved vehicle efficiency through wake surfing. This briefing describes the objectives and approach to a flight evaluation of this system planned for 2016.

30 CFR 254.41 - Training your response personnel.

Code of Federal Regulations, 2014 CFR

2014-07-01

... INTERIOR OFFSHORE OIL-SPILL RESPONSE REQUIREMENTS FOR FACILITIES LOCATED SEAWARD OF THE COAST LINE Related... procedures; (3) Oil-spill trajectory analysis and predicting spill movement; and (4) Any other... ensure that the members of your spill-response operating team who are responsible for operating response...

30 CFR 254.41 - Training your response personnel.

Code of Federal Regulations, 2012 CFR

2012-07-01

... INTERIOR OFFSHORE OIL-SPILL RESPONSE REQUIREMENTS FOR FACILITIES LOCATED SEAWARD OF THE COAST LINE Related... procedures; (3) Oil-spill trajectory analysis and predicting spill movement; and (4) Any other... ensure that the members of your spill-response operating team who are responsible for operating response...

Convergence of damped inertial dynamics governed by regularized maximally monotone operators

NASA Astrophysics Data System (ADS)

Attouch, Hedy; Cabot, Alexandre

2018-06-01

In a Hilbert space setting, we study the asymptotic behavior, as time t goes to infinity, of the trajectories of a second-order differential equation governed by the Yosida regularization of a maximally monotone operator with time-varying positive index λ (t). The dissipative and convergence properties are attached to the presence of a viscous damping term with positive coefficient γ (t). A suitable tuning of the parameters γ (t) and λ (t) makes it possible to prove the weak convergence of the trajectories towards zeros of the operator. When the operator is the subdifferential of a closed convex proper function, we estimate the rate of convergence of the values. These results are in line with the recent articles by Attouch-Cabot [3], and Attouch-Peypouquet [8]. In this last paper, the authors considered the case γ (t) = α/t, which is naturally linked to Nesterov's accelerated method. We unify, and often improve the results already present in the literature.

Interplanetary Program to Optimize Simulated Trajectories (IPOST). Volume 1: User's guide

NASA Technical Reports Server (NTRS)

Hong, P. E.; Kent, P. D.; Olson, D. W.; Vallado, C. A.

1992-01-01

IPOST is intended to support many analysis phases, from early interplanetary feasibility studies through spacecraft development and operations. The IPOST output provides information for sizing and understanding mission impacts related to propulsion, guidance, communications, sensor/actuators, payload, and other dynamic and geometric environments. IPOST models three degree of freedom trajectory events, such as launch/ascent, orbital coast, propulsive maneuvering (impulsive and finite burn), gravity assist, and atmospheric entry. Trajectory propagation is performed using a choice of Cowell, Encke, Multiconic, Onestep, or Conic methods. The user identifies a desired sequence fo trajectory events, and selects which parameters are independent (controls) and dependent (targets), as well as other constraints and the coat function. Targeting and optimization is performed using the Stanford NPSOL algorithm. IPOST structure allows sub-problems within a master optimization problem to aid in the general constrained parameter optimization solution. An alternate optimization method uses implicit simulation and collocation techniques.

Fuel-conservative guidance system for powered-lift aircraft

NASA Technical Reports Server (NTRS)

Erzberger, H.; Mclean, J. D.

1979-01-01

A concept for automatic terminal-area guidance, comprising two modes of operation, has been developed and evaluated in flight tests. In the first or predictive mode, fuel-efficient approach trajectories are synthesized in fast time. In the second or tracking mode, the synthesized trajectories are reconstructed and tracked automatically. An energy rate performance model derived from the lift, drag, and propulsion-system characteristics of the aircraft is used in the synthesis algorithm. The method optimizes the trajectory for the initial aircraft position and wind and temperature profiles encountered during each landing approach. The paper describes the design theory and discusses the results of simulations and flight tests using the Augmentor Wing Jet STOL Research Aircraft.

NASA's Core Trajectory Sub-System Project: Using JBoss Enterprise Middleware for Building Software Systems Used to Support Spacecraft Trajectory Operations

NASA Technical Reports Server (NTRS)

Stensrud, Kjell C.; Hamm, Dustin

2007-01-01

NASA's Johnson Space Center (JSC) / Flight Design and Dynamics Division (DM) has prototyped the use of Open Source middleware technology for building its next generation spacecraft mission support system. This is part of a larger initiative to use open standards and open source software as building blocks for future mission and safety critical systems. JSC is hoping to leverage standardized enterprise architectures, such as Java EE, so that its internal software development efforts can be focused on the core aspects of their problem domain. This presentation will outline the design and implementation of the Trajectory system and the lessons learned during the exercise.

Techniques for shuttle trajectory optimization

NASA Technical Reports Server (NTRS)

Edge, E. R.; Shieh, C. J.; Powers, W. F.

1973-01-01

The application of recently developed function-space Davidon-type techniques to the shuttle ascent trajectory optimization problem is discussed along with an investigation of the recently developed PRAXIS algorithm for parameter optimization. At the outset of this analysis, the major deficiency of the function-space algorithms was their potential storage problems. Since most previous analyses of the methods were with relatively low-dimension problems, no storage problems were encountered. However, in shuttle trajectory optimization, storage is a problem, and this problem was handled efficiently. Topics discussed include: the shuttle ascent model and the development of the particular optimization equations; the function-space algorithms; the operation of the algorithm and typical simulations; variable final-time problem considerations; and a modification of Powell's algorithm.

Combining Simulation Tools for End-to-End Trajectory Optimization

NASA Technical Reports Server (NTRS)

Whitley, Ryan; Gutkowski, Jeffrey; Craig, Scott; Dawn, Tim; Williams, Jacobs; Stein, William B.; Litton, Daniel; Lugo, Rafael; Qu, Min

2015-01-01

Trajectory simulations with advanced optimization algorithms are invaluable tools in the process of designing spacecraft. Due to the need for complex models, simulations are often highly tailored to the needs of the particular program or mission. NASA's Orion and SLS programs are no exception. While independent analyses are valuable to assess individual spacecraft capabilities, a complete end-to-end trajectory from launch to splashdown maximizes potential performance and ensures a continuous solution. In order to obtain end-to-end capability, Orion's in-space tool (Copernicus) was made to interface directly with the SLS's ascent tool (POST2) and a new tool to optimize the full problem by operating both simulations simultaneously was born.

TH-EF-BRB-10: Dosimetric Validation of a Trajectory Based Cranial SRS Treatment Technique On a Varian TrueBeam Linac

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

Wilson, B; Vancouver Cancer Centre, Vancouver, BC; Gete, E

2016-06-15

Purpose: This work investigates the dosimetric accuracy of a trajectory based delivery technique in which an optimized radiation beam is delivered along a Couch-Gantry trajectory that is formed by simultaneous rotation of the linac gantry and the treatment couch. Methods: Nine trajectory based cranial SRS treatment plans were created using in-house optimization software. The plans were calculated for delivery on the TrueBeam STx linac with 6MV photon beam. Dose optimization was performed along a user-defined trajectory using MLC modulation, dose rate modulation and jaw tracking. The pre-defined trajectory chosen for this study is formed by a couch rotation through itsmore » full range of 180 degrees while the gantry makes four partial arc sweeps which are 170 degrees each. For final dose calculation, the trajectory based plans were exported to the Varian Eclipse Treatment Planning System. The plans were calculated on a homogeneous cube phantom measuring 18.2×18.2×18.2 cm3 with the analytical anisotropic algorithm (AAA) using a 1mm3 calculation voxel. The plans were delivered on the TrueBeam linac via the developer’s mode. Point dose measurements were performed on 9 patients with the IBA CC01 mini-chamber with a sensitive volume of 0.01 cc. Gafchromic film measurements along the sagittal and coronal planes were performed on three of the 9 treatment plans. Point dose values were compared with ion chamber measurements. Gamma analysis comparing film measurement and AAA calculations was performed using FilmQA Pro. Results: The AAA calculations and measurements were in good agreement. The point dose difference between AAA and ion chamber measurements were within 2.2%. Gamma analysis test pass rates (2%, 2mm passing criteria) for the Gafchromic film measurements were >95%. Conclusion: We have successfully tested TrueBeam’s ability to deliver accurate trajectory based treatments involving simultaneous gantry and couch rotation with MLC and dose rate modulation along the trajectory.« less

Dynamic modeling and adaptive vibration suppression of a high-speed macro-micro manipulator

NASA Astrophysics Data System (ADS)

Yang, Yi-ling; Wei, Yan-ding; Lou, Jun-qiang; Fu, Lei; Fang, Sheng; Chen, Te-huan

2018-05-01

This paper presents a dynamic modeling and microscopic vibration suppression for a flexible macro-micro manipulator dedicated to high-speed operation. The manipulator system mainly consists of a macro motion stage and a flexible micromanipulator bonded with one macro-fiber-composite actuator. Based on Hamilton's principle and the Bouc-Wen hysteresis equation, the nonlinear dynamic model is obtained. Then, a hybrid control scheme is proposed to simultaneously suppress the elastic vibration during and after the motor motion. In particular, the hybrid control strategy is composed of a trajectory planning approach and an adaptive variable structure control. Moreover, two optimization indices regarding the comprehensive torques and synthesized vibrations are designed, and the optimal trajectories are acquired using a genetic algorithm. Furthermore, a nonlinear fuzzy regulator is used to adjust the switching gain in the variable structure control. Thus, a fuzzy variable structure control with nonlinear adaptive control law is achieved. A series of experiments are performed to verify the effectiveness and feasibility of the established system model and hybrid control strategy. The excited vibration during the motor motion and the residual vibration after the motor motion are decreased. Meanwhile, the settling time is shortened. Both the manipulation stability and operation efficiency of the manipulator are improved by the proposed hybrid strategy.

An all-joint-control master device for single-port laparoscopic surgery robots.

PubMed

Shim, Seongbo; Kang, Taehun; Ji, Daekeun; Choi, Hyunseok; Joung, Sanghyun; Hong, Jaesung

2016-08-01

Robots for single-port laparoscopic surgery (SPLS) typically have all of their joints located inside abdomen during surgery, whereas with the da Vinci system, only the tip part of the robot arm is inserted and manipulated. A typical master device that controls only the tip with six degrees of freedom (DOFs) is not suitable for use with SPLS robots because of safety concerns. We designed an ergonomic six-DOF master device that can control all of the joints of an SPLS robot. We matched each joint of the master, the slave, and the human arm to decouple all-joint motions of the slave robot. Counterbalance masses were used to reduce operator fatigue. Mapping factors were determined based on kinematic analysis and were used to achieve all-joint control with minimal error at the tip of the slave robot. The proposed master device has two noteworthy features: efficient joint matching to the human arm to decouple each joint motion of the slave robot and accurate mapping factors, which can minimize the trajectory error of the tips between the master and the slave. We confirmed that the operator can manipulate the slave robot intuitively with the master device and that both tips have similar trajectories with minimal error.

Trajectories of health-related quality of life among family caregivers of individuals with dementia: A home-based caregiver-training program matters.

PubMed

Kuo, Li-Min; Huang, Huei-Ling; Liang, Jersey; Kwok, Yam-Ting; Hsu, Wen-Chuin; Liu, Chin-Yi; Shyu, Yea-Ing L

To determine distinct courses of change in health-related quality of life (HRQoL) among family caregivers of individuals with dementia and how participating in a home-based caregiver-training program affects the probability of belonging to each course. Sixty three caregivers were in the intervention group, and 66 caregivers were in the control group of a single-blinded randomized clinical trial. Two distinct trajectories of HRQoL were identified: a well-functioning trajectory and a poor-functioning trajectory. Caregivers who received the training program were more likely than those who did not have a well-functioning trajectory of HRQoL over 18 months. This trajectory included bodily pain (b = 1.02, odds ratio [OR] = 2.76), general health perception (b = 1.28, OR = 3.60), social functioning (b = 1.12, OR = 3.05), vitality (b = 1.51, OR = 4.49), general mental health (b = 1.08, OR = 2.94), and mental component summary (b = 1.27, OR = 3.55). Home-based caregiver training can be considered as part of the protocol for managing patients with dementia and their caregivers. NCT02667951. Copyright © 2016 Elsevier Inc. All rights reserved.

Spatiotemporal Interpolation Methods for Solar Event Trajectories

NASA Astrophysics Data System (ADS)

Filali Boubrahimi, Soukaina; Aydin, Berkay; Schuh, Michael A.; Kempton, Dustin; Angryk, Rafal A.; Ma, Ruizhe

2018-05-01

This paper introduces four spatiotemporal interpolation methods that enrich complex, evolving region trajectories that are reported from a variety of ground-based and space-based solar observatories every day. Our interpolation module takes an existing solar event trajectory as its input and generates an enriched trajectory with any number of additional time–geometry pairs created by the most appropriate method. To this end, we designed four different interpolation techniques: MBR-Interpolation (Minimum Bounding Rectangle Interpolation), CP-Interpolation (Complex Polygon Interpolation), FI-Interpolation (Filament Polygon Interpolation), and Areal-Interpolation, which are presented here in detail. These techniques leverage k-means clustering, centroid shape signature representation, dynamic time warping, linear interpolation, and shape buffering to generate the additional polygons of an enriched trajectory. Using ground-truth objects, interpolation effectiveness is evaluated through a variety of measures based on several important characteristics that include spatial distance, area overlap, and shape (boundary) similarity. To our knowledge, this is the first research effort of this kind that attempts to address the broad problem of spatiotemporal interpolation of solar event trajectories. We conclude with a brief outline of future research directions and opportunities for related work in this area.

Improved Propulsion Modeling for Low-Thrust Trajectory Optimization

NASA Technical Reports Server (NTRS)

Knittel, Jeremy M.; Englander, Jacob A.; Ozimek, Martin T.; Atchison, Justin A.; Gould, Julian J.

2017-01-01

Low-thrust trajectory design is tightly coupled with spacecraft systems design. In particular, the propulsion and power characteristics of a low-thrust spacecraft are major drivers in the design of the optimal trajectory. Accurate modeling of the power and propulsion behavior is essential for meaningful low-thrust trajectory optimization. In this work, we discuss new techniques to improve the accuracy of propulsion modeling in low-thrust trajectory optimization while maintaining the smooth derivatives that are necessary for a gradient-based optimizer. The resulting model is significantly more realistic than the industry standard and performs well inside an optimizer. A variety of deep-space trajectory examples are presented.

Tools for Designing, Evaluating, and Certifying NextGen Technologies and Procedures: Automation Roles and Responsibilities

NASA Technical Reports Server (NTRS)

Kanki, Barbara G.

2011-01-01

Barbara Kanki from NASA Ames Research Center will discuss research that focuses on the collaborations between pilots, air traffic controllers and dispatchers that will change in NextGen systems as automation increases and roles and responsibilities change. The approach taken by this NASA Ames team is to build a collaborative systems assessment template (CSAT) based on detailed task descriptions within each system to establish a baseline of the current operations. The collaborative content and context are delineated through the review of regulatory and advisory materials, policies, procedures and documented practices as augmented by field observations and interviews. The CSAT is developed to aid the assessment of key human factors and performance tradeoffs that result from considering different collaborative arrangements under NextGen system changes. In theory, the CSAT product may be applied to any NextGen application (such as Trajectory Based Operations) with specified ground and aircraft capabilities.

Trajectories of Delinquency and Parenting Styles

ERIC Educational Resources Information Center

Hoeve, Machteld; Blokland, Arjan; Dubas, Judith Semon; Loeber, Rolf; Gerris, Jan R. M.; van der Laan, Peter H.

2008-01-01

We investigated trajectories of adolescent delinquent development using data from the Pittsburgh Youth Study and examined the extent to which these different trajectories are differentially predicted by childhood parenting styles. Based on self-reported and official delinquency seriousness, covering ages 10-19, we identified five distinct…

Improved dense trajectories for action recognition based on random projection and Fisher vectors

NASA Astrophysics Data System (ADS)

Ai, Shihui; Lu, Tongwei; Xiong, Yudian

2018-03-01

As an important application of intelligent monitoring system, the action recognition in video has become a very important research area of computer vision. In order to improve the accuracy rate of the action recognition in video with improved dense trajectories, one advanced vector method is introduced. Improved dense trajectories combine Fisher Vector with Random Projection. The method realizes the reduction of the characteristic trajectory though projecting the high-dimensional trajectory descriptor into the low-dimensional subspace based on defining and analyzing Gaussian mixture model by Random Projection. And a GMM-FV hybrid model is introduced to encode the trajectory feature vector and reduce dimension. The computational complexity is reduced by Random Projection which can drop Fisher coding vector. Finally, a Linear SVM is used to classifier to predict labels. We tested the algorithm in UCF101 dataset and KTH dataset. Compared with existed some others algorithm, the result showed that the method not only reduce the computational complexity but also improved the accuracy of action recognition.

Trajectory optimization for lunar rover performing vertical takeoff vertical landing maneuvers in the presence of terrain

NASA Astrophysics Data System (ADS)

Ma, Lin; Wang, Kexin; Xu, Zuhua; Shao, Zhijiang; Song, Zhengyu; Biegler, Lorenz T.

2018-05-01

This study presents a trajectory optimization framework for lunar rover performing vertical takeoff vertical landing (VTVL) maneuvers in the presence of terrain using variable-thrust propulsion. First, a VTVL trajectory optimization problem with three-dimensional kinematics and dynamics model, boundary conditions, and path constraints is formulated. Then, a finite-element approach transcribes the formulated trajectory optimization problem into a nonlinear programming (NLP) problem solved by a highly efficient NLP solver. A homotopy-based backtracking strategy is applied to enhance the convergence in solving the formulated VTVL trajectory optimization problem. The optimal thrust solution typically has a "bang-bang" profile considering that bounds are imposed on the magnitude of engine thrust. An adaptive mesh refinement strategy based on a constant Hamiltonian profile is designed to address the difficulty in locating the breakpoints in the thrust profile. Four scenarios are simulated. Simulation results indicate that the proposed trajectory optimization framework has sufficient adaptability to handle VTVL missions efficiently.

Adaptive control of space-based robot manipulators

NASA Technical Reports Server (NTRS)

Walker, Michael W.; Wee, Liang-Boon

1991-01-01

A control method is presented that achieves globally stable trajectory tracking in the presence of uncertainties in the inertial parameters of the system. The 15-DOF system dynamics are divided into two components: a 9-DOF invertible portion and 6-DOF noninvertible portion. A controller is then designed to achieve trajectory tracking of the invertible portion of the system, which consists of the manipulator-joint positions and the orientation of the base. The motion of the noninvertible portion is bounded but otherwise unspecified. This portion of the system consists of the position of the robot's base and the position of the reaction wheels. A simulation is presented to demonstrate the effectiveness of the controller. A quadratic polynomial is used to generate the desired trajectory to illustrate the trajectory-tracking capability of the controller.

Visualization tool for the world ocean surface currents

NASA Astrophysics Data System (ADS)

Kasyanov, S.; Nikitin, O.

2003-04-01

Fortran-based software for the world ocean surface currents visualization functioning on the Windows platform (95 and higher) has been developed. The software works with the global interpolated drifting buoys data set (1979-2002) from the WOCE Surface Velocity Program and the global bottom relief five-minute resolution data set (ETOPO5). These data sets loaded in binary form into operative memory of a PC (256 Mb or better more), together with the software compose the world ocean surface currents visualization tool. The tool allows researches to process data on-line in any region of the world ocean, display data in different visualization forms, calculate currents velocity statistics and save chosen images as graphic files. It provides displays of buoy movement (animation), maps of buoy trajectories, averaged (by prescribed time and space grid intervals) current vector and modulus fields, fields of current mean and eddy kinetic energies and their ratio, current steadiness coefficient and sea surface temperature. Any trajectory may be selected simply by clicking it on any summary map of trajectories (or by given buoy number). It may then be viewed and analyzed in detail, while graphs of velocity (components, module and vector) and water temperature variations along this trajectory may be displayed. The description of the previous version of the tool and some screen shots are available at http://zhurnal.ape.relarn.ru/articles/2001/154.pdf(in Russian) and will be available (in English) at http://csit.ugatu.ac.ru (CSIT '2001, Proceedings, v.2, p. 32-41, Nikitin O.P. et al).

International Space Station (ISS) External Thermal Control System (ETCS) Loop A Pump Module (PM) Jettison Options Assessment

NASA Technical Reports Server (NTRS)

Murri, Daniel G.; Dwyer Cianciolo, Alicia; Shidner, Jeremy D.; Powell, Richard W.

2014-01-01

On December 11, 2013, the International Space Station (ISS) experienced a failure of the External Thermal Control System (ETCS) Loop A Pump Module (PM). To minimize the number of extravehicular activities (EVA) required to replace the PM, jettisoning the faulty pump was evaluated. The objective of this study was to independently evaluate the jettison options considered by the ISS Trajectory Operations Officer (TOPO) and to provide recommendations for safe jettison of the ETCS Loop A PM. The simulation selected to evaluate the TOPO options was the NASA Engineering and Safety Center's (NESC) version of Program to Optimize Simulated Trajectories II (POST2) developed to support another NESC assessment. The objective of the jettison analysis was twofold: (1) to independently verify TOPO posigrade and retrograde jettison results, and (2) to determine jettison guidelines based on additional sensitivity, trade study, and Monte Carlo (MC) analysis that would prevent PM recontact. Recontact in this study designates a propagated PM trajectory that comes within 500 m of the ISS propagated trajectory. An additional simulation using Systems Tool Kit (STK) was run for independent verification of the POST2 simulation results. Ultimately, the ISS Program removed the PM jettison option from consideration. However, prior to the Program decision, the retrograde jettison option remained part of the EVA contingency plan. The jettison analysis presented showed that, in addition to separation velocity/direction and the atmosphere conditions, the key variables in determining the time to recontact the ISS is highly dependent on the ballistic number (BN) difference between the object being jettisoned and the ISS.

Traffic Aware Strategic Aircrew Requests (TASAR)

NASA Technical Reports Server (NTRS)

Ballin, Mark G.; Wing, David J.

2012-01-01

Under Instrument Flight Rules, pilots are not permitted to make changes to their approved trajectory without first receiving permission from Air Traffic Control (ATC). Referred to as "user requests," trajectory change requests from aircrews are often denied or deferred by controllers because they have awareness of traffic and airspace constraints not currently available to flight crews. With the introduction of Automatic Dependent Surveillance-Broadcast (ADS-B) and other information services, a rich traffic, weather, and airspace information environment is becoming available on the flight deck. Automation developed by NASA uses this information to aid flight crews in the identification and formulation of optimal conflict-free trajectory requests. The concept of Traffic Aware Strategic Aircrew Requests (TASAR) combines ADS-B and airborne automation to enable user-optimal in-flight trajectory replanning and to increase the likelihood of ATC approval for the resulting trajectory change request. TASAR may improve flight efficiency or other user-desired attributes of the flight while not impacting and potentially benefiting the air traffic controller. This paper describes the TASAR concept of operations, its enabling automation technology which is currently under development, and NASA s plans for concept assessment and maturation.

Identifying depressive symptom trajectory groups among Korean adults and psychosocial factors as group determinants.

PubMed

Kwon, Tae Yeon

2015-06-01

Longitudinal research is needed to examine the depressive symptom trajectories of different groups during adulthood and their antecedents and consequences, because depressive symptoms may be changeable and heterogeneous over time. This study examined the number of trajectory groups describing the depressive symptoms of Korean adults, as well as the shape of the trajectories and the association between trajectory group membership and psychosocial factors identified based on the ecosystem model. This study used Nagin's semi-parametric group-based modeling to analyze Year 1 to Year 7 data from Korea Welfare Panel Survey (N = 13,735), a nationally representative sample of community-dwelling adults. Three distinct trajectory groups were identified: a low stable depressive symptoms group, a moderate depressive symptoms group and a high depressive symptoms group. Result from multinominal logit analysis showed that all psychosocial factors except family relationships affected the likelihood of membership in the three depressive symptoms groups. Especially, self-esteem was the psychosocial factor with the largest impact on depressive symptom trajectory group membership. When screening for depressive symptoms, individuals with a low socioeconomic status should be a primary concern and intervention should be made available to them. Prevention or intervention with members of the identified trajectory groups would likely require integrative approaches targeting psychosocial factors across multiple contexts. © The Author(s) 2015.

Impact of rheology on probabilistic forecasts of sea ice trajectories: application for search and rescue operations in the Arctic

NASA Astrophysics Data System (ADS)

Rabatel, Matthias; Rampal, Pierre; Carrassi, Alberto; Bertino, Laurent; Jones, Christopher K. R. T.

2018-03-01

We present a sensitivity analysis and discuss the probabilistic forecast capabilities of the novel sea ice model neXtSIM used in hindcast mode. The study pertains to the response of the model to the uncertainty on winds using probabilistic forecasts of ice trajectories. neXtSIM is a continuous Lagrangian numerical model that uses an elasto-brittle rheology to simulate the ice response to external forces. The sensitivity analysis is based on a Monte Carlo sampling of 12 members. The response of the model to the uncertainties is evaluated in terms of simulated ice drift distances from their initial positions, and from the mean position of the ensemble, over the mid-term forecast horizon of 10 days. The simulated ice drift is decomposed into advective and diffusive parts that are characterised separately both spatially and temporally and compared to what is obtained with a free-drift model, that is, when the ice rheology does not play any role in the modelled physics of the ice. The seasonal variability of the model sensitivity is presented and shows the role of the ice compactness and rheology in the ice drift response at both local and regional scales in the Arctic. Indeed, the ice drift simulated by neXtSIM in summer is close to the one obtained with the free-drift model, while the more compact and solid ice pack shows a significantly different mechanical and drift behaviour in winter. For the winter period analysed in this study, we also show that, in contrast to the free-drift model, neXtSIM reproduces the sea ice Lagrangian diffusion regimes as found from observed trajectories. The forecast capability of neXtSIM is also evaluated using a large set of real buoy's trajectories and compared to the capability of the free-drift model. We found that neXtSIM performs significantly better in simulating sea ice drift, both in terms of forecast error and as a tool to assist search and rescue operations, although the sources of uncertainties assumed for the present experiment are not sufficient for complete coverage of the observed IABP positions.

Visual traffic jam analysis based on trajectory data.

PubMed

Wang, Zuchao; Lu, Min; Yuan, Xiaoru; Zhang, Junping; van de Wetering, Huub

2013-12-01

In this work, we present an interactive system for visual analysis of urban traffic congestion based on GPS trajectories. For these trajectories we develop strategies to extract and derive traffic jam information. After cleaning the trajectories, they are matched to a road network. Subsequently, traffic speed on each road segment is computed and traffic jam events are automatically detected. Spatially and temporally related events are concatenated in, so-called, traffic jam propagation graphs. These graphs form a high-level description of a traffic jam and its propagation in time and space. Our system provides multiple views for visually exploring and analyzing the traffic condition of a large city as a whole, on the level of propagation graphs, and on road segment level. Case studies with 24 days of taxi GPS trajectories collected in Beijing demonstrate the effectiveness of our system.

Trajectories of diurnal cortisol in mothers of children with autism and other developmental disabilities: Relations to health and mental health

PubMed Central

Dykens, Elisabeth M.; Lambert, Warren

2014-01-01

This study used a stress biomarker, diurnal cortisol, to identify how elevated stress in mothers of children and adults with autism and other disabilities relates to their health and mental health. Based on semi-parametric, group-based trajectory analysis of 91 mothers, two distinctive cortisol trajectories emerged: blunted (63%) or steep (37%). Mothers in the blunted (versus steep) trajectory had higher stress levels, lower health ratings, and 89% of mothers of children with autism, and 53% with other disabilities, belonged to this trajectory. Atypical cortisol awakening responses and evening rises were differentially associated with anxiety, depression, health problems and employment status. Stress-reducing interventions are needed for parents of children with autism and other disabilities that include biomarkers as indices of risk or treatment outcome. PMID:23468069

Simulation Propulsion System and Trajectory Optimization

NASA Technical Reports Server (NTRS)

Hendricks, Eric S.; Falck, Robert D.; Gray, Justin S.

2017-01-01

A number of new aircraft concepts have recently been proposed which tightly couple the propulsion system design and operation with the overall vehicle design and performance characteristics. These concepts include propulsion technology such as boundary layer ingestion, hybrid electric propulsion systems, distributed propulsion systems and variable cycle engines. Initial studies examining these concepts have typically used a traditional decoupled approach to aircraft design where the aerodynamics and propulsion designs are done a-priori and tabular data is used to provide inexpensive look ups to the trajectory ana-ysis. However the cost of generating the tabular data begins to grow exponentially when newer aircraft concepts require consideration of additional operational parameters such as multiple throttle settings, angle-of-attack effects on the propulsion system, or propulsion throttle setting effects on aerodynamics. This paper proposes a new modeling approach that eliminated the need to generate tabular data, instead allowing an expensive propulsion or aerodynamic analysis to be directly integrated into the trajectory analysis model and the entire design problem optimized in a fully coupled manner. The new method is demonstrated by implementing a canonical optimal control problem, the F-4 minimum time-to-climb trajectory optimization using three relatively new analysis tools: Open M-DAO, PyCycle and Pointer. Pycycle and Pointer both provide analytic derivatives and Open MDAO enables the two tools to be combined into a coupled model that can be run in an efficient parallel manner that helps to cost the increased cost of the more expensive propulsion analysis. Results generated with this model serve as a validation of the tightly coupled design method and guide future studies to examine aircraft concepts with more complex operational dependencies for the aerodynamic and propulsion models.

Spatial-Operator Algebra For Robotic Manipulators

NASA Technical Reports Server (NTRS)

Rodriguez, Guillermo; Kreutz, Kenneth K.; Milman, Mark H.

1991-01-01

Report discusses spatial-operator algebra developed in recent studies of mathematical modeling, control, and design of trajectories of robotic manipulators. Provides succinct representation of mathematically complicated interactions among multiple joints and links of manipulator, thereby relieving analyst of most of tedium of detailed algebraic manipulations. Presents analytical formulation of spatial-operator algebra, describes some specific applications, summarizes current research, and discusses implementation of spatial-operator algebra in the Ada programming language.

Feasibility Criteria for Interval Management Operations as Part of Arrival Management Operations

NASA Technical Reports Server (NTRS)

Levitt, Ian M.; Weitz, Lesley A.; Barmore, Bryan E.; Castle, Michael W.

2014-01-01

Interval Management (IM) is a future airborne spacing concept that aims to provide more precise inter-aircraft spacing to yield throughput improvements and greater use of fuel efficient trajectories for arrival and approach operations. To participate in an IM operation, an aircraft must be equipped with avionics that provide speeds to achieve and maintain an assigned spacing interval relative to another aircraft. It is not expected that all aircraft will be equipped with the necessary avionics, but rather that IM fits into a larger arrival management concept developed to support the broader mixed-equipage environment. Arrival management concepts are comprised of three parts: a ground-based sequencing and scheduling function to develop an overall arrival strategy, ground-based tools to support the management of aircraft to that schedule, and the IM tools necessary for the IM operation (i.e., ground-based set-up, initiation, and monitoring, and the flight-deck tools to conduct the IM operation). The Federal Aviation Administration is deploying a near-term ground-automation system to support metering operations in the National Airspace System, which falls within the first two components of the arrival management concept. This paper develops a methodology for determining the required delivery precision at controlled meter points for aircraft that are being managed to a schedule and aircraft being managed to a relative spacing interval in order to achieve desired flow rates and adequate separation at the meter points.

Multivariate trajectories across multiple domains of health-related quality of life in children with new-onset epilepsy.

PubMed

Sajobi, Tolulope T; Wang, Meng; Ferro, Mark A; Brobbey, Anita; Goodwin, Shane; Speechley, Kathy N; Wiebe, Samuel

2017-10-01

The diagnosis of epilepsy in children is known to impact the trajectory of their health-related quality of life (HRQOL) over time. However, there is limited knowledge about variations in longitudinal trajectories across multiple domains of HRQOL. This study aims to characterize the heterogeneity in HRQOL trajectories across multiple HRQOL domains and to evaluate predictors of differences among the identified trajectory groups in children with new-onset epilepsy. Data were obtained from the Health Related Quality of Life in Children with Epilepsy Study (HERQULES), a prospective multi-center study of 373 children newly diagnosed with new-onset epilepsy who were followed up over 2years. Child HRQOL and family factors were reported by parents, and clinical characteristics were reported by neurologists. Group-based multi-trajectory modeling was adopted to characterize longitudinal trajectories of HRQOL as measured by the individual domains of cognitive, emotional, physical, and social functioning in the 55-item Quality of Life in Childhood Epilepsy Questionnaire (QOLCE-55). Multinomial logistic regression was used to assess potential factors that explain differences among the identified latent trajectory groups. Three distinct HRQOL trajectory subgroups were identified in children with new-onset epilepsy based on HRQOL scores: "High" (44.7%), "Intermediate" (37.0%), and "Low" (18.3%). While most trajectory groups exhibited increasing scores over time on physical and social domains, both flat and declining trajectories were noted on emotional and cognitive domains. Less severe epilepsy, an absence of cognitive and behavioral problems, lower parental depression scores, better family functioning, and fewer family demands were associated with a "Higher" or "Intermediate" HRQOL trajectory. The course of HRQOL over time in children with new-onset epilepsy appears to follow one of three different trajectories. Addressing the clinical and psychosocial determinants identified for each pattern can help clinicians provide more targeted care to these children and their families. Copyright © 2017 Elsevier Inc. All rights reserved.

Trajectories of Aggressive Behavior and Children's Social-Cognitive Development

ERIC Educational Resources Information Center

Averdijk, Margit; Malti, Tina; Ribeaud, Denis; Eisner, Manuel

2011-01-01

The current study investigated developmental trajectories of teacher-reported aggressive behavior and whether these trajectories are associated with social-cognitive development (i.e., aggressive problem-solving) across the first three elementary grades in a large sample from Switzerland (N = 1,146). Semiparametric group-based analyses were…

Challenges in Modeling and Measuring Learning Trajectories

ERIC Educational Resources Information Center

Confrey, Jere; Jones, R. Seth; Gianopulos, Garron

2015-01-01

Briggs and Peck make a compelling case for creating new, more intuitive measures of learning, based on creating vertical scales using learning trajectories (LT) in place of "domain sampling." We believe that the importance of creating measurement scales that coordinate recognizable landmarks in learning trajectories with interval scales…

Satellite Re-entry Modeling and Uncertainty Quantification

NASA Astrophysics Data System (ADS)

Horsley, M.

2012-09-01

LEO trajectory modeling is a fundamental aerospace capability and has applications in many areas of aerospace, such as maneuver planning, sensor scheduling, re-entry prediction, collision avoidance, risk analysis, and formation flying. Somewhat surprisingly, modeling the trajectory of an object in low Earth orbit is still a challenging task. This is primarily due to the large uncertainty in the upper atmospheric density, about 15-20% (1-sigma) for most thermosphere models. Other contributions come from our inability to precisely model future solar and geomagnetic activities, the potentially unknown shape, material construction and attitude history of the satellite, and intermittent, noisy tracking data. Current methods to predict a satellite's re-entry trajectory typically involve making a single prediction, with the uncertainty dealt with in an ad-hoc manner, usually based on past experience. However, due to the extreme speed of a LEO satellite, even small uncertainties in the re-entry time translate into a very large uncertainty in the location of the re-entry event. Currently, most methods simply update the re-entry estimate on a regular basis. This results in a wide range of estimates that are literally spread over the entire globe. With no understanding of the underlying distribution of potential impact points, the sequence of impact points predicted by the current methodology are largely useless until just a few hours before re-entry. This paper will discuss the development of a set of the High Performance Computing (HPC)-based capabilities to support near real-time quantification of the uncertainty inherent in uncontrolled satellite re-entries. An appropriate management of the uncertainties is essential for a rigorous treatment of the re-entry/LEO trajectory problem. The development of HPC-based tools for re-entry analysis is important as it will allow a rigorous and robust approach to risk assessment by decision makers in an operational setting. Uncertainty quantification results from the recent uncontrolled re-entry of the Phobos-Grunt satellite will be presented and discussed. This work performed under the auspices of the U.S. Department of Energy by Lawrence Livermore National Laboratory under Contract DE-AC52-07NA27344.

Poincaré resonances and the limits of trajectory dynamics.

PubMed Central

Petrosky, T; Prigogine, I

1993-01-01

In previous papers we have shown that the elimination of the resonance divergences in large Poincare systems leads to complex irreducible spectral representations for the Liouville-von Neumann operator. Complex means that time symmetry is broken and irreducibility means that this representation is implementable only by statistical ensembles and not by trajectories. We consider in this paper classical potential scattering. Our theory applies to persistent scattering. Numerical simulations show quantitative agreement with our predictions. PMID:11607428

Control of robot assistant for rehabilitation of upper extremities.

PubMed

Kostić, Miloš D; Popović, Mirjana B; Popović, Dejan B

2012-01-01

The assisted movement in humans with paresis of upper extremities is becoming popular for neurorehabilitation. We propose a novel method for trajectory selection and assistance control. This paper presents simulation of a planar two degrees of freedom robot that assists horizontal movement of the hand. The control assumes that during the exercise the hand needs to follow healthy alike trajectories. The robot is assumed to provide minimal assistance and operate as a teacher of the movement.

Fast-response free-running dc-to-dc converter employing a state-trajectory control law

NASA Technical Reports Server (NTRS)

Huffman, S. D.; Burns, W. W., III; Wilson, T. G.; Owen, H. A., Jr.

1977-01-01

A recently proposed state-trajectory control law for a family of energy-storage dc-to-dc converters has been implemented for the voltage step-up configuration. Two methods of realization are discussed; one employs a digital processor and the other uses analog computational circuits. Performance characteristics of experimental voltage step-up converters operating under the control of each of these implementations are reported and compared to theoretical predictions and computer simulations.

Dynamic characteristics of a pump-turbine during hydraulic transients of a model pumped-storage system: 3D CFD simulation

NASA Astrophysics Data System (ADS)

Zhang, X. X.; Cheng, Y. G.; Xia, L. S.; Yang, J. D.

2014-03-01

The runaway process in a model pumped-storage system was simulated for analyzing the dynamic characteristics of a pump-turbine. The simulation was adopted by coupling 1D (One Dimensional) pipeline MOC (Method of Characteristics) equations with a 3D (Three Dimensional) pump-turbine CFD (Computational Fluid Dynamics) model, in which the water hammer wave in the 3D zone was defined by giving a pressure dependent density. We found from the results that the dynamic performances of the pump-turbine do not coincide with the static operating points, especially in the S-shaped characteristics region, where the dynamic trajectories follow ring-shaped curves. Specifically, the transient operating points with the same Q11 and M11 in different moving directions of the dynamic trajectories give different n11. The main reason of this phenomenon is that the transient flow patterns inside the pump-turbine are influenced by the ones in the previous time step, which leads to different flow patterns between the points with the same Q11 and M11 in different moving directions of the dynamic trajectories.

Generalized entropy production fluctuation theorems for quantum systems

NASA Astrophysics Data System (ADS)

Rana, Shubhashis; Lahiri, Sourabh; Jayannavar, A. M.

2013-02-01

Based on trajectory dependent path probability formalism in state space, we derive generalized entropy production fluctuation relations for a quantum system in the presence of measurement and feedback. We have obtained these results for three different cases: (i) the system is evolving in isolation from its surroundings; (ii) the system being weakly coupled to a heat bath; and (iii) system in contact with reservoir using quantum Crooks fluctuation theorem. In case (iii), we build on the treatment carried out in [H. T. Quan and H. Dong, arxiv/cond-mat: 0812.4955], where a quantum trajectory has been defined as a sequence of alternating work and heat steps. The obtained entropy production fluctuation theorems retain the same form as in the classical case. The inequality of second law of thermodynamics gets modified in the presence of information. These fluctuation theorems are robust against intermediate measurements of any observable performed with respect to von Neumann projective measurements as well as weak or positive operator valued measurements.

A feedback control for the advanced launch system

NASA Technical Reports Server (NTRS)

Seywald, Hans; Cliff, Eugene M.

1991-01-01

A robust feedback algorithm is presented for a near-minimum-fuel ascent of a two-stage launch vehicle operating in the equatorial plane. The development of the algorithm is based on the ideas of neighboring optimal control and can be derived into three phases. In phase 1, the formalism of optimal control is employed to calculate fuel-optimal ascent trajectories for a simple point-mass model. In phase 2, these trajectories are used to numerically calculate gain functions of time for the control(s), the total flight time, and possibly, for other variables of interest. In phase 3, these gains are used to determine feedback expressions for the controls associated with a more realistic model of a launch vehicle. With the Advanced Launch System in mind, all calculations are performed on a two-stage vehicle with fixed thrust history, but this restriction is by no means important for the approach taken. Performance and robustness of the algorithm is found to be excellent.

Spacecraft Charging Issues for Launch Vehicles

NASA Technical Reports Server (NTRS)

Buhler, Janessa L.; Minow, Joseph I.; Trout, Dawn H.

2014-01-01

Spacecraft charging is well known threat to successful long term spacecraft operations and instrument reliability in orbits that spend significant time in hot electron environments. In recent years, spacecraft charging has increasingly been recognized as a potentially significant engineering issue for launch vehicles used to deploy spacecraft using (a) low Earth orbit (LEO), high inclination flight trajectories that pass through the auroral zone, (b) geostationary transfer orbits that require exposures to the hot electron environments in the Earths outer radiation belts, and (c) LEO escape trajectories using multiple phasing orbits through the Earths radiation belts while raising apogee towards a final Earth escape geometry. Charging becomes an issue when significant areas of exposed insulating materials or ungrounded conductors are used in the launch vehicle design or the payload is designed for use in a benign charging region beyond the Earths magnetosphere but must survive passage through the strong charging regimes of the Earths radiation belts. This presentation will first outline the charging risks encountered on typical launch trajectories used to deploy spacecraft into Earth orbit and Earth escape trajectories. We then describe the process used by NASAs Launch Services Program to evaluate when surface and internal charging is a potential risk to a NASA mission. Finally, we describe the options for mitigating charging risks including modification of the launch vehicle andor payload design and controlling the risk through operational launch constraints to avoid significant charging environments.