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When an Unmanned Aircraft System (UAS) encounters an intruder and is unable to maintain required temporal and spatial separation between the two vehicles, it is referred to as a loss of well-clear. In this state, the UAS must make its best attempt to regain separation while maximizing the minimum separation between itself and the intruder. When encountering a non-cooperative intruder (an aircraft operating under visual flight rules without ADS-B or an active transponder) the UAS must rely on the radar system to provide the intruders location, velocity, and heading information. As many UAS have limited climb and descent performance, vertical position andor vertical rate errors make it difficult to determine whether an intruder will pass above or below them. To account for that, there is a proposal by RTCA Special Committee 228 to prohibit guidance systems from providing vertical guidance to regain well-clear to UAS in an encounter with a non-cooperative intruder unless their radar system has vertical position error below 175 feet (95) and vertical velocity errors below 200 fpm (95). Two sets of fast-time parametric studies was conducted, each with 54000 pairwise encounters between a UAS and non-cooperative intruder to determine the suitability of offering vertical guidance to regain well clear to a UAS in the presence of radar sensor noise. The UAS was not allowed to maneuver until it received well-clear recovery guidance. The maximum severity of the loss of well-clear was logged and used as the primary indicator of the separation achieved by the UAS. One set of 54000 encounters allowed the UAS to maneuver either vertically or horizontally, while the second permitted horizontal maneuvers, only. Comparing the two data sets allowed researchers to see the effect of allowing vertical guidance to a UAS for a particular encounter and vertical rate error. Study results show there is a small reduction in the average severity of a loss of well-clear when vertical maneuvers are suppressed, for all vertical error rate thresholds examined. However, results also show that in roughly 35 of the encounters where a vertical maneuver was selected, forcing the UAS to do a horizontal maneuver instead increased the severity of the loss of well-clear for that encounter. Finally, results showed a small reduction in the number of severe losses of well-clear when the high performance UAS (2000 fpm climb and descent rate) was allowed to maneuver vertically, and the vertical rate error was below 500 fpm. Overall, the results show that using a single vertical rate threshold is not advisable, and that limiting a UAS to horizontal maneuvers when vertical rate errors are above 175 fpm can make a UAS less safe about a third of the time. It is suggested that the hard limit be removed, and system manufacturers instructed to account for their own UAS performance, as well as vertical rate error and encounter geometry, when determining whether or not to provide vertical guidance to regain well-clear.
This paper documents a study that drove the development of a mathematical expression in the detect-and-avoid (DAA) minimum operational performance standards (MOPS) for unmanned aircraft systems (UAS). This equation describes the conditions under which vertical maneuver guidance should be provided during recovery of DAA well clear separation with a non-cooperative VFR aircraft. Although the original hypothesis was that vertical maneuvers for DAA well clear recovery should only be offered when sensor vertical rate errors are small, this paper suggests that UAS climb and descent performance should be considered-in addition to sensor errors for vertical position and vertical rate-when determining whether to offer vertical guidance. A fast-time simulation study involving 108,000 encounters between a UAS and a non-cooperative visual-flight-rules aircraft was conducted. Results are presented showing that, when vertical maneuver guidance for DAA well clear recovery was suppressed, the minimum vertical separation increased by roughly 50 feet (or horizontal separation by 500 to 800 feet). However, the percentage of encounters that had a risk of collision when performing vertical well clear recovery maneuvers was reduced as UAS vertical rate performance increased and sensor vertical rate errors decreased. A class of encounter is identified for which vertical-rate error had a large effect on the efficacy of horizontal maneuvers due to the difficulty of making the correct left/right turn decision: crossing conflict with intruder changing altitude. Overall, these results support logic that would allow vertical maneuvers when UAS vertical performance is sufficient to avoid the intruder, based on the intruder's estimated vertical position and vertical rate, as well as the vertical rate error of the UAS' sensor.
Because the results of preliminary flight tests had indicated. the P-63A-1 airplane possessed insufficient directional stability, the NACA and the manufacturer (Bell Aircraft Corporation) suggested three vertical-tail modifications to remedy the deficiencies in the directional characteristics. These modifications included an enlarged vertical tail formed by adding a tip extension to the original vertical tail, a large sharp-edge ventral fin, and a small dorsal fin. The enlarged vertical tail involved only a slight increase in total vertical-tail area from 23.73 to 26.58 square feet but a relatively much larger increase in geometric aspect ratio from 1.24 to 1.73 based on height and area above the horizontal tail. At the request of the Air Material Command, Army Air Forces, flight tests were made to determine the effect of these modifications and of some combinations of these modifications on the directional stability and control characteristics of the airplane, In all, six different vertical-tail. configurations were investigated to determine the lateral and directional oscillation characteristics of the airplane, the sideslip characteristics, the yaw due to ailerons in rudder-fixed rolls from turns and pull-outs, the trim changes due to speed changes; and the trim changes due to power changes. Results of the tests showed that the enlarged vertical tail approximately doubled the directional stability of the airplane and that the pilots considered the directional stability provided by the enlarged vertical tail to be satisfactory. Calculations based on sideslip data obtained at an indicated airspeed of 300 miles per hour showed that the directional stability of the airplane with the original vertical tail corresponded to a value of 0(sub n beta) of -0.00056 whereas for the enlarged vertical tail the estimated va1ue of C(sub n beta) was -0.00130, The ventral fin was found to increase by a moderate amount the directional stability of the airplane with the original vertical tail for smal1 sides1ip angles at low speeds but little consistent change in directional stability was effected by the ventral fin at higher speeds, The effectiveness of the ventral fin was generally much less when used with the enlarged vertical tail than when used with the original vertical tail. The ventral and dorsal fins were found to be very effective in eliminating rudder-force reversals which occurred in low-speed, high-engine-power, sideslipped conditions of flight . Sideslip tests at two altitudes for approximately the sane engine power and indicated airspeed showed that a small decrease in static directional stability occurred with increasing altitude and this decrease in stability was attributed to the increased propeller blade angles required at high altitudes. The variations of rudder pedal force with indicated airspeed using normal rated power and a constant rudder tab setting through the speed range were desirably small for all the configurations tested. The rudder pedal force changed by about 50 pounds for a power change from engine idling power, to normal rated power and this pedal force change was largely independent of airspeed or of vertical-tail configuration for the various configurations tested.
Accurate estimation of global vertical distribution of ionospheric and plasmaspheric density as a function of local time, season, and magnetic activity is required to improve the operation of space-based navigation and communication systems. The vertical density distribution, especially at low and equatorial latitudes, is governed by the equatorial electrodynamics that produces a vertical driving force. The vertical structure of the equatorial density distribution can be observed by using tomographic reconstruction techniques on ground-based global positioning system (GPS) total electron content (TEC). Similarly, the vertical drift, which is one of the driving mechanisms that govern equatorial electrodynamics and strongly affect the structure and dynamics of the ionosphere in the low/midlatitude region, can be estimated using ground magnetometer observations. We present tomographically reconstructed density distribution and the corresponding vertical drifts at two different longitudes: the East African and west South American sectors. Chains of GPS stations in the east African and west South American longitudinal sectors, covering the equatorial anomaly region of meridian approx. 37 deg and 290 deg E, respectively, are used to reconstruct the vertical density distribution. Similarly, magnetometer sites of African Meridian B-field Education and Research (AMBER) and INTERMAGNET for the east African sector and South American Meridional B-field Array (SAMBA) and Low Latitude Ionospheric Sensor Network (LISN) are used to estimate the vertical drift velocity at two distinct longitudes. The comparison between the reconstructed and Jicamarca Incoherent Scatter Radar (ISR) measured density profiles shows excellent agreement, demonstrating the usefulness of tomographic reconstruction technique in providing the vertical density distribution at different longitudes. Similarly, the comparison between magnetometer estimated vertical drift and other independent drift observation, such as from VEFI onboard Communication/Navigation Outage Forecasting System (C/NOFS) satellite and JULIA radar, is equally promising. The observations at different longitudes suggest that the vertical drift velocities and the vertical density distribution have significant longitudinal differences; especially the equatorial anomaly peaks expand to higher latitudes more in American sector than the African sector, indicating that the vertical drift in the American sector is stronger than the African sector.
Vertical velocity distribution below cloud is one of the key determinants of cloud life cycle, but observations of this variable are extremely sparse in space. Doppler lidar retrievals and large-eddy simulations at the U.S. Department of Energy’s Atmospheric Radiation Measurement User Facility Southern Great Plains site are used to determine whether vertical velocity statistics from temporally dense profiles at a single location can be substituted for spatial vertical velocity statistics. We show that even a small number (five) of widely distributed [ O (1°) latitude/longitude spacing] lidars is sufficient sampling to reconstruct domainwide spatial vertical velocity variance, but not higher moments of the vertical velocity distribution. Spatial and temporal vertical velocity variances in the Doppler lidar observations are nearly interchangeable as long as the spatial variance is temporally averaged and the temporal variance is averaged across lidars. This is true even though the dominant spatial scales of vertical velocity variability are ≲ 3 km, more than an order of magnitude smaller than the spacing between the lidars. Further, in the limit where the temporal variance does not vary across a spatial domain (e.g., if the meteorological and surface forcing of the atmospheric turbulence is homogeneous across the domain) and the domain-mean vertical velocity is zero, the commonly available retrieval of temporal vertical velocity variance at one site is equivalent to the spatial variance over the domain. We use an updraft parcel model to show that substituting temporal for spatial vertical velocity statistics will have a relatively minor effect on cloud droplet number concentrations.
Numerous recent studies calculate horizontal and vertical advection terms for budget studies of net ecosystem exchange of carbon. One potential uncertainty in such studies is the estimate of mean vertical motion. This work addresses the reliability of vertical advection estimates by contrasting the vertical motion obtained from the standard practise of measuring the vertical velocity and applying a tilt correction, to the vertical motion calculated from measurements of the horizontal divergence of the flow using a network of towers. Results are compared for three different tilt correction methods. Estimates of mean vertical motion are sensitive to the choice of tilt correction method. The short-term mean (10 to 60 minutes) vertical motion based on the horizontal divergence is more realistic compared to the estimates derived from the standard practise. The divergence shows long-term mean (days to months) sinking motion at the site, apparently due to the surface roughness change. Because all the tilt correction methods rely on the assumption that the long-term mean vertical motion is zero for a given wind direction, they fail to reproduce the vertical motion based on the divergence.
The ocean's velocity field is characterized by an exceptional variety of scales. While the small-scale oceanic turbulence responsible for the vertical mixing in the ocean is of scales a few centimeters and smaller, the oceanic general circulation is characterized by horizontal scales of thousands of kilometers. In oceanic general circulation models that are typically run today, the vertical structure of the ocean is represented by a few tens of discrete grid points. Such models cannot explicitly model the small-scale mixing processes, and must, therefore, find ways to parameterize them in terms of the larger-scale fields. Finding a parameterization that is both reliable and plausible to use in ocean models is not a simple task. Vertical mixing in the ocean is the combined result of many complex processes, and, in fact, mixing is one of the less known and less understood aspects of the oceanic circulation. In present models of the oceanic circulation, the many complex processes responsible for vertical mixing are often parameterized in an oversimplified manner. Yet, finding an adequate parameterization of vertical ocean mixing is crucial to the successful application of ocean models to climate studies. The results of general circulation models for quantities that are of particular interest to climate studies, such as the meridional heat flux carried by the ocean, are quite sensitive to the strength of the vertical mixing. We try to examine the difficulties in choosing an appropriate vertical mixing parameterization, and the methods that are available for validating different parameterizations by comparing model results to oceanographic data. First, some of the physical processes responsible for vertically mixing the ocean are briefly mentioned, and some possible approaches to the parameterization of these processes in oceanographic general circulation models are described in the following section. We then discuss the role of the vertical mixing in the physics of the large-scale ocean circulation, and examine methods of validating mixing parameterizations using large-scale ocean models.
An investigation has been made in the Langley high-speed 7- by 10-foot tunnel of some effects of horizontal-tail position on the vertical-tail pressure distributions of a complete model in sideslip at high subsonic speeds. The wing of the model was swept back 28.82 deg at the quarter-chord line and had an aspect ratio of 3.50, a taper ratio of 0.067, and NACA 65A004 airfoil sections parallel to the model plane of symmetry. Tests were made with the horizontal tail off, on the wing-chord plane extended, and in T-tail arrangements in forward and rearward locations. The test Mach numbers ranged from 0.60 to 0.92, which corresponds to a Reynolds number range from approximately 2.93 x 10(exp 6) to 3.69 x 10(exp 6), based on the wing mean aerodynamic chord. The sideslip angles varied from -3.9 deg to 12.7 deg at several selected angles of attack. The results indicated that, for a given angle of sideslip, increases in angle of attack caused reductions in the vertical-tail loads in the vicinity of the root chord and increases at the midspan and tip locations, with rearward movements in the local chordwise centers of pressure for the midspan locations and forward movements near the tip of the vertical tail. At the higher angles of attack all configurations investigated experienced outboard and rearward shifts in the center of pressure of the total vertical-tail load. Location of the horizontal tail on the wing- chord plane extended produced only small effects on the vertical-tail loads and centers of pressure. Locating the horizontal tail at the tip of the vertical tail in the forward position caused increases in the vertical-tail loads; this configuration, however, experienced considerable reduction in loads with increasing Mach number. Location of the horizontal tail at the tip of the vertical tail in the rearward position produced the largest increases in vertical-tail loads per degree sideslip angle; this configuration experienced the smallest variations of loads with Mach number of any of the configurations investigated.
Vertical head and eye coordination was studied as a function of viewing distance during locomotion. Vertical head translation and pitch movements were measured using a video motion analysis system (Optotrak 3020). Vertical eye movements were recorded using a video-based pupil tracker (Iscan). Subjects (five) walked on a linear treadmill at a speed of 1.67 m/s (6 km/h) while viewing a target screen placed at distances ranging from 0.25 to 2.0 m at 0. 25-m intervals. The predominant frequency of vertical head movement was 2 Hz. In accordance with previous studies, there was a small head pitch rotation, which was compensatory for vertical head translation. The magnitude of the vertical head movements and the phase relationship between head translation and pitch were little affected by viewing distance, and tended to orient the naso-occipital axis of the head at a point approximately 1 m in front of the subject (the head fixation distance or HFD). In contrast, eye velocity was significantly affected by viewing distance. When viewing a far (2-m) target, vertical eye velocity was 180 degrees out of phase with head pitch velocity, with a gain of 0. 8. This indicated that the angular vestibulo-ocular reflex (aVOR) was generating the eye movement response. The major finding was that, at a close viewing distance (0.25 m), eye velocity was in phase with head pitch and compensatory for vertical head translation, suggesting that activation of the linear vestibulo-ocular reflex (lVOR) was contributing to the eye movement response. There was also a threefold increase in the magnitude of eye velocity when viewing near targets, which was consistent with the goal of maintaining gaze on target. The required vertical lVOR sensitivity to cancel an unmodified aVOR response and generate the observed eye velocity magnitude for near targets was almost 3 times that previously measured. Supplementary experiments were performed utilizing body-fixed active head pitch rotations at 1 and 2 Hz while viewing a head-fixed target. Results indicated that the interaction of smooth pursuit and the aVOR during visual suppression could modify both the gain and phase characteristics of the aVOR at frequencies encountered during locomotion. When walking, targets located closer than the HFD (1.0 m) would appear to move in the same direction as the head pitch, resulting in suppression of the aVOR. The results of the head-fixed target experiment suggest that phase modification of the aVOR during visual suppression could play a role in generating eye movements consistent with the goal of maintaining gaze on targets closer than the HFD, which would augment the lVOR response.
1. The dynamic properties of otolith-ocular reflexes elicited by sinusoidal linear acceleration along the three cardinal head axes were studied during off-vertical axis rotations in rhesus monkeys. As the head rotates in space at constant velocity about an off-vertical axis, otolith-ocular reflexes are elicited in response to the sinusoidally varying linear acceleration (gravity) components along the interaural, nasooccipital, or vertical head axis. Because the frequency of these sinusoidal stimuli is proportional to the velocity of rotation, rotation at low and moderately fast speeds allows the study of the mid-and low-frequency dynamics of these otolith-ocular reflexes. 2. Animals were rotated in complete darkness in the yaw, pitch, and roll planes at velocities ranging between 7.4 and 184 degrees/s. Accordingly, otolith-ocular reflexes (manifested as sinusoidal modulations in eye position and/or slow-phase eye velocity) were quantitatively studied for stimulus frequencies ranging between 0.02 and 0.51 Hz. During yaw and roll rotation, torsional, vertical, and horizontal slow-phase eye velocity was sinusoidally modulated as a function of head position. The amplitudes of these responses were symmetric for rotations in opposite directions. In contrast, mainly vertical slow-phase eye velocity was modulated during pitch rotation. This modulation was asymmetric for rotations in opposite direction. 3. Each of these response components in a given rotation plane could be associated with an otolith-ocular response vector whose sensitivity, temporal phase, and spatial orientation were estimated on the basis of the amplitude and phase of sinusoidal modulations during both directions of rotation. Based on this analysis, which was performed either for slow-phase eye velocity alone or for total eye excursion (including both slow and fast eye movements), two distinct response patterns were observed: 1) response vectors with pronounced dynamics and spatial/temporal properties that could be characterized as the low-frequency range of "translational" otolith-ocular reflexes; and 2) response vectors associated with an eye position modulation in phase with head position ("tilt" otolith-ocular reflexes). 4. The responses associated with two otolith-ocular vectors with pronounced dynamics consisted of horizontal eye movements evoked as a function of gravity along the interaural axis and vertical eye movements elicited as a function of gravity along the vertical head axis. Both responses were characterized by a slow-phase eye velocity sensitivity that increased three- to five-fold and large phase changes of approximately 100-180 degrees between 0.02 and 0.51 Hz. These dynamic properties could suggest nontraditional temporal processing in utriculoocular and sacculoocular pathways, possibly involving spatiotemporal otolith-ocular interactions. 5. The two otolith-ocular vectors associated with eye position responses in phase with head position (tilt otolith-ocular reflexes) consisted of torsional eye movements in response to gravity along the interaural axis, and vertical eye movements in response to gravity along the nasooccipital head axis. These otolith-ocular responses did not result from an otolithic effect on slow eye movements alone. Particularly at high frequencies (i.e., high speed rotations), saccades were responsible for most of the modulation of torsional and vertical eye position, which was relatively large (on average +/- 8-10 degrees/g) and remained independent of frequency. Such reflex dynamics can be simulated by a direct coupling of primary otolith afferent inputs to the oculomotor plant. (ABSTRACT TRUNCATED).
The vertical profile of aerosol is important for its radiative effects, but weakly constrained by observations on the global scale, and highly variable among different models. To investigate the controlling factors in one particular model, we investigate the effects of individual processes in HadGEM3-UKCA and compare the resulting diversity of aerosol vertical profiles with the inter-model diversity from the AeroCom Phase II control experiment. In this way we show that (in this model at least) the vertical profile is controlled by a relatively small number of processes, although these vary among aerosol components and particle sizes. We also show that sufficiently coarse variations in these processes can produce a similar diversity to that among different models in terms of the global-mean profile and, to a lesser extent, the zonal-mean vertical position. However, there are features of certain models' profiles that cannot be reproduced, suggesting the influence of further structural differences between models. In HadGEM3-UKCA, convective transport is found to be very important in controlling the vertical profile of all aerosol components by mass. In-cloud scavenging is very important for all except mineral dust. Growth by condensation is important for sulfate and carbonaceous aerosol (along with aqueous oxidation for the former and ageing by soluble material for the latter). The vertical extent of biomass-burning emissions into the free troposphere is also important for the profile of carbonaceous aerosol. Boundary-layer mixing plays a dominant role for sea salt and mineral dust, which are emitted only from the surface. Dry deposition and below-cloud scavenging are important for the profile of mineral dust only. In this model, the microphysical processes of nucleation, condensation and coagulation dominate the vertical profile of the smallest particles by number (e.g. total CN >3 nm), while the profiles of larger particles (e.g. CN>100 nm) are controlled by the same processes as the component mass profiles, plus the size distribution of primary emissions. We also show that the processes that affect the AOD-normalised radiative forcing in the model are predominantly those that affect the vertical mass distribution, in particular convective transport, in-cloud scavenging, aqueous oxidation, ageing and the vertical extent of biomass-burning emissions.