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At least 37 records · Page 2
All sourcesNASA NTRSDOE OSTI
NASA NTRS1990

Rotorcraft pursuit-evasion in nap-of-the-earth flight

Two approaches for studying the pursuit-evasion problem between rotorcraft executing nap-of-the-earth flight are presented. The first of these employs a constant speed kinematic helicopter model, while the second approach uses a three degree of freedom point-mass model. The candidate solutions to the first differential game are generated by integrating the state-costate equations backward in time. The second problem employs feedback linearization to obtain guidance laws in nonlinear feedback form. Both approaches explicitly use the terrain profile data. Sample extremals are presented.

Menon, P. K. A.↗
NASA NTRS1990

Modeling pilot interaction with automated digital avionics systems: Guidance and control algorithms for contour and nap-of-the-Earth flight

A collection of technical papers are presented that cover modeling pilot interaction with automated digital avionics systems and guidance and control algorithms for contour and nap-of-the-earth flight. The titles of the papers presented are as follows: (1) Automation effects in a multiloop manual control system; (2) A qualitative model of human interaction with complex dynamic systems; (3) Generalized predictive control of dynamic systems; (4) An application of generalized predictive control to rotorcraft terrain-following flight; (5) Self-tuning generalized predictive control applied to terrain-following flight; and (6) Precise flight path control using a predictive algorithm.

Hess, Ronald A.↗
NASA NTRS1990

Simulation of nap-of-Earth flight in helicopters

NASA-Ames in conjunction with U.S. Army has conducted extensive simulation investigations of rotorcraft in the nap-of-the-Earth (NOE) environment and has developed facility capabilities specifically designed for this flight regime. The experience gained to date in applying these facilities to the NOE flight regime are reported along with the results of specific experimental investigations conducted to understand the influence of both motion and visual scene on the fidelity of NOE simulation. Included are comparisons of results from concurrent piloted simulation and flight research investigations. The results of a recent simulation experiment to investigate simulator sickness in this flight regime is also discussed.

Condon, Gregory W.↗
NASA NTRS1991

Simulation of nap-of-the-Earth flight in helicopters

NASA-Ames along with the U.S. Army has conducted extensive simulation studies of rotorcraft in the nap-of-the-Earth (NOE) environment and has developed facility capabilities specifically designed for this flight regime. The experience gained to date in applying these facilities to the NOE flight regime are reported along with the results of specific experimental studies conducted to understand the influence of both motion and visual scene on the fidelity of NOE simulation. Included are comparisons of results from concurrent piloted simulation and flight research studies. The results of a recent simulation experiment to study simulator sickness in this flight regime is also discussed.

Condon, Gregory W.↗
NASA NTRS1991

Fully automatic guidance and control for rotorcraft nap-of-the-Earth flight following planned profiles. Volume 1: Real-time piloted simulation

Developing a single-pilot, all-weather nap-of-the-earth (NOE) capability requires fully automatic NOE (ANOE) navigation and flight control. Innovative guidance and control concepts are investigated in a four-fold research effort that: (1) organizes the on-board computer-based storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan; (2) defines a class of automatic anticipative pursuit guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles; (3) automates a decision-making process for unexpected obstacle avoidance; and (4) provides several rapid response maneuvers. Acquired knowledge from the sensed environment is correlated with the forehand knowledge of the recorded environment (terrain, cultural features, threats, and targets), which is then used to determine an appropriate evasive maneuver if a nonconformity of the sensed and recorded environments is observed. This four-fold research effort was evaluated in both fixed-based and moving-based real-time piloted simulations, thereby, providing a practical demonstration for evaluating pilot acceptance of the automated concepts, supervisory override, manual operation, and re-engagement of the automatic system. Volume one describes the major components of the guidance and control laws as well as the results of the piloted simulations. Volume two describes the complete mathematical model of the fully automatic guidance system for rotorcraft NOE flight following planned flight profiles.

Clement, Warren F.↗
NASA NTRS1991

Fully Automatic Guidance and Control for Rotorcraft Nap-of-the-earth Flight Following Planned Profiles. Volume 2: Mathematical Model

Developing a single-pilot, all-weather nap-of-the-earth (NOE) capability requires fully automatic NOE (ANOE) navigation and flight control. Innovative guidance and control concepts are investigated in a four-fold research effort that: (1) organizes the on-board computer-based storage and real-time updating of NOE terrain profiles and obstacles in course-oriented coordinates indexed to the mission flight plan; (2) defines a class of automatic anticipative pursuit guidance algorithms and necessary data preview requirements to follow the vertical, lateral, and longitudinal guidance commands dictated by the updated flight profiles; (3) automates a decision-making process for unexpected obstacle avoidance; and (4) provides several rapid response maneuvers. Acquired knowledge from the sensed environment is correlated with the forehand knowledge of the recorded environment (terrain, cultural features, threats, and targets), which is then used to determine an appropriate evasive maneuver if a nonconformity of the sensed and recorded environments is observed. This four-fold research effort was evaluated in both fixed-base and moving-base real-time piloted simulations; thereby, providing a practical demonstration for evaluating pilot acceptance of the automated concepts, supervisory override, manual operation, and re-engagement of the automatic system. Volume one describes the major components of the guidance and control laws as well as the results of the piloted simulations. Volume two describes the complete mathematical model of the fully automatic guidance system for rotorcraft NOE flight following planned flight profiles.

Clement, Warren F.↗
NASA NTRS1991

Status of automated nap-of-the-earth rotorcraft guidance

The status of automated nap-of-the-earth (NOE) flight guidance is discussed by examining two current research efforts that approach the problem of performing obstacle avoidance along a pre-planned course from different perspectives. The first, a real-time guidance system developed by Systems Technology Inc., focuses on the issue of pilot acceptable maneuvers, under the assumption of an ideal, but nonrealizable, obstacle detection system. The second, a system created at NASA Ames, concentrates on the utilization of realistic on-board sensor data for obstacle detection and avoidance-maneuver decisions. This paper examines the strengths and weaknesses of these two approaches, and how they might complement each other. The goal is an automatic NOE system that is both acceptable to pilots and capable of making intelligent use of realistic sensor information and path-selection logic.

Coppenbarger, Richard A.↗
NASA NTRS1991

Visual field information in Nap-of-the-Earth flight by teleoperated Helmet-Mounted displays

The human ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays originates from a Forward Looking Infrared Radiation Camera, gimbal-mounted at the front of the aircraft and slaved to the pilot's line-of-sight, to obtain wide-angle visual coverage. Although these displays are proved to be effective in Apache and Cobra helicopter night operations, they demand very high pilot proficiency and work load. Experimental work presented in the paper has shown that part of the difficulties encountered in vehicular control by means of these displays can be attributed to the narrow viewing aperture and head/camera slaving system phase lags. Both these shortcomings will impair visuo-vestibular coordination, when voluntary head rotation is present. This might result in errors in estimating the Control-Oriented Visual Field Information vital in vehicular control, such as the vehicle yaw rate or the anticipated flight path, or might even lead to visuo-vestibular conflicts (motion sickness). Since, under these conditions, the pilot will tend to minimize head rotation, the full wide-angle coverage of the Helmet-Mounted Display, provided by the line-of-sight slaving system, is not always fully utilized.

Grunwald, Arthur J.↗
NASA NTRS1992

Technologies for automating rotorcraft nap-of-the-earth flight

This paper discusses the technologies required for automating rotorcraft nap-of-the-earth flight, where the use of natural obstacles for masking from the enemy is intentional and the danger of undesirable obstacles such as enemy traps is real. Specifically, the automatic guidance structure is modeled by three decision-making levels: the far-field mission planning and the mid-field terrain-masking trajectory shaping are both driven by prestored terrain data, whereas the nearfield obstacle detection/avoidance is driven by real-time on-board sensor data. This paper summarizes the far-field and mid-field accomplishments, and reports on the status of the more-recent efforts in obstacle detection and avoidance development. Obstacle detection is based primarily on passive imaging sensors for the desirable properties of covertness and wide field of view, although active sensors are included in the structure to provide the much needed high resolution for thin-wire detection.

Cheng, Victor H. L.↗
NASA NTRS1993

Visual cueing considerations in Nap-of-the-Earth helicopter flight head-slaved helmet-mounted displays

The pilot's ability to derive Control-Oriented Visual Field Information from teleoperated Helmet-Mounted displays in Nap-of-the-Earth flight, is investigated. The visual field with these types of displays, commonly used in Apache and Cobra helicopter night operations, originates from a relatively narrow field-of-view Forward Looking Infrared Radiation Camera, gimbal-mounted at the nose of the aircraft and slaved to the pilot's line-of-sight, in order to obtain a wide-angle field-of-regard. Pilots have encountered considerable difficulties in controlling the aircraft by these devices. Experimental simulator results presented here indicate that part of these difficulties can be attributed to head/camera slaving system phase lags and errors. In the presence of voluntary head rotation, these slaving system imperfections are shown to impair the Control-Oriented Visual Field Information vital in vehicular control, such as the perception of the anticipated flight path or the vehicle yaw rate. Since, in the presence of slaving system imperfections, the pilot will tend to minimize head rotation, the full wide-angle field-of-regard of the line-of-sight slaved Helmet-Mounted Display, is not always fully utilized.

Grunwald, Arthur J.↗
DOE OSTI2020

Materials Data on NaP(HO2)2 by Materials Project

NaH2PO4 crystallizes in the monoclinic P2_1/c space group. The structure is three-dimensional. there are two inequivalent Na1+ sites. In the first Na1+ site, Na1+ is bonded to six O2- atoms to form distorted NaO6 octahedra that share corners with four PO4 tetrahedra, an edgeedge with one NaO6 octahedra, and an edgeedge with one PO4 tetrahedra. There are a spread of Na–O bond distances ranging from 2.32–2.71 Å. In the second Na1+ site, Na1+ is bonded in a 7-coordinate geometry to one H1+ and six O2- atoms. The Na–H bond length is 2.48 Å. There are a spread of Na–O bond distances ranging from 2.35–2.63 Å. There are two inequivalent P5+ sites. In the first P5+ site, P5+ is bonded to four O2- atoms to form PO4 tetrahedra that share corners with three equivalent NaO6 octahedra and corners with two equivalent PO4 tetrahedra. The corner-sharing octahedra tilt angles range from 49–58°. There are a spread of P–O bond distances ranging from 1.49–1.64 Å. In the second P5+ site, P5+ is bonded to four O2- atoms to form PO4 tetrahedra that share a cornercorner with one NaO6 octahedra, corners with two equivalent PO4 tetrahedra, and an edgeedge with one NaO6 octahedra. The corner-sharing octahedral tilt angles are 58°. There are a spread of P–O bond distances ranging from 1.50–1.63 Å. There are four inequivalent H1+ sites. In the first H1+ site, H1+ is bonded in a single-bond geometry to one O2- atom. The H–O bond length is 0.98 Å. In the second H1+ site, H1+ is bonded in a single-bond geometry to one O2- atom. The H–O bond length is 0.98 Å. In the third H1+ site, H1+ is bonded in a single-bond geometry to one O2- atom. The H–O bond length is 0.98 Å. In the fourth H1+ site, H1+ is bonded in a single-bond geometry to one Na1+ and one O2- atom. The H–O bond length is 0.99 Å. There are eight inequivalent O2- sites. In the first O2- site, O2- is bonded in a 2-coordinate geometry to one Na1+ and two P5+ atoms. In the second O2- site, O2- is bonded in a bent 120 degrees geometry to two P5+ atoms. In the third O2- site, O2- is bonded in a 3-coordinate geometry to two equivalent Na1+ and one P5+ atom. In the fourth O2- site, O2- is bonded in a 3-coordinate geometry to two equivalent Na1+ and one P5+ atom. In the fifth O2- site, O2- is bonded in a distorted water-like geometry to two Na1+ and two H1+ atoms. In the sixth O2- site, O2- is bonded in a distorted single-bond geometry to two Na1+ and one P5+ atom. In the seventh O2- site, O2- is bonded in a bent 120 degrees geometry to one Na1+ and one P5+ atom. In the eighth O2- site, O2- is bonded in a distorted water-like geometry to two equivalent Na1+ and two H1+ atoms.

36 MATERIALS SCIENCE↗
DOE OSTI2020

Materials Data on NaP(HO2)2 by Materials Project

NaH2PO4 crystallizes in the triclinic P-1 space group. The structure is three-dimensional. there are two inequivalent Na1+ sites. In the first Na1+ site, Na1+ is bonded to five O2- atoms to form distorted NaO5 square pyramids that share corners with five PO4 tetrahedra, an edgeedge with one NaO6 octahedra, and an edgeedge with one NaO5 square pyramid. There are a spread of Na–O bond distances ranging from 2.29–2.51 Å. In the second Na1+ site, Na1+ is bonded to six O2- atoms to form NaO6 octahedra that share corners with two PO4 tetrahedra, edges with two equivalent NaO6 octahedra, and an edgeedge with one NaO5 square pyramid. There are a spread of Na–O bond distances ranging from 2.42–2.53 Å. There are two inequivalent P5+ sites. In the first P5+ site, P5+ is bonded to four O2- atoms to form PO4 tetrahedra that share a cornercorner with one NaO6 octahedra, corners with three equivalent NaO5 square pyramids, and corners with two equivalent PO4 tetrahedra. The corner-sharing octahedral tilt angles are 56°. There are a spread of P–O bond distances ranging from 1.49–1.64 Å. In the second P5+ site, P5+ is bonded to four O2- atoms to form PO4 tetrahedra that share a cornercorner with one NaO6 octahedra, corners with two equivalent NaO5 square pyramids, and corners with two equivalent PO4 tetrahedra. The corner-sharing octahedral tilt angles are 53°. There are a spread of P–O bond distances ranging from 1.50–1.63 Å. There are four inequivalent H1+ sites. In the first H1+ site, H1+ is bonded in a single-bond geometry to one O2- atom. The H–O bond length is 0.98 Å. In the second H1+ site, H1+ is bonded in a single-bond geometry to one O2- atom. The H–O bond length is 0.98 Å. In the third H1+ site, H1+ is bonded in a single-bond geometry to one O2- atom. The H–O bond length is 0.99 Å. In the fourth H1+ site, H1+ is bonded in a single-bond geometry to one O2- atom. The H–O bond length is 0.98 Å. There are eight inequivalent O2- sites. In the first O2- site, O2- is bonded in a bent 150 degrees geometry to two P5+ atoms. In the second O2- site, O2- is bonded in a distorted trigonal planar geometry to two equivalent Na1+ and one P5+ atom. In the third O2- site, O2- is bonded in a 3-coordinate geometry to two Na1+ and one P5+ atom. In the fourth O2- site, O2- is bonded in a distorted bent 120 degrees geometry to one Na1+ and one P5+ atom. In the fifth O2- site, O2- is bonded in a 1-coordinate geometry to two Na1+ and one P5+ atom. In the sixth O2- site, O2- is bonded in a bent 120 degrees geometry to two P5+ atoms. In the seventh O2- site, O2- is bonded in a distorted water-like geometry to two equivalent Na1+ and two H1+ atoms. In the eighth O2- site, O2- is bonded in a distorted water-like geometry to two equivalent Na1+ and two H1+ atoms.

36 MATERIALS SCIENCE↗