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At least 361 records · Page 20
All sourcesNASA NTRSDOE OSTI
NASA NTRS2007

Algorithm Plans Collision-Free Path for Robotic Manipulator

An algorithm has been developed to enable a computer aboard a robot to autonomously plan the path of the manipulator arm of the robot to avoid collisions between the arm and any obstacle, which could be another part of the robot or an external object in the vicinity of the robot. In simplified terms, the algorithm generates trial path segments and tests each segment for potential collisions in an iterative process that ends when a sequence of collision-free segments reaches from the starting point to the destination. The main advantage of this algorithm, relative to prior such algorithms, is computational efficiency: the algorithm is designed to make minimal demands upon the limited computational resources available aboard a robot. This path-planning algorithm utilizes a modified version of the collision-detection method described in "Improved Collision-Detection Method for Robotic Manipulator" (NPO-30356), NASA Tech Briefs, Vol. 27, No. 3 (June 2003), page 72. The method involves utilization of mathematical models of the robot constructed prior to operation and similar models of external objects constructed automatically from sensory data acquired during operation. This method incorporates a previously developed method, known in the art as the method of oriented bounding boxes (OBBs), in which an object is represented approximately, for computational purposes, by a box that encloses its outer boundary. Because many parts of a robotic manipulator are cylindrical, the OBB method has been extended in this method to enable the approximate representation of cylindrical parts by use of octagonal or other multiple-OBB assemblies denoted oriented bounding prisms (OBPs). A multiresolution OBB/OBP representation of the robot and its manipulator arm and a multiresolution OBB representation of external objects (including terrain) are constructed and used in a process in which collisions at successively finer resolutions are detected through computational detection of overlaps between the corresponding OBB and OBP models. For computational efficiency, the process is started at the coarsest resolution and stopped as soon as possible, preferably before reaching the finest resolution. At the coarsest resolution, there is a single OBB enclosing all relevant external objects and a single OBB enclosing the entire robot. At the next finer level of resolution, the coarsest-resolution OBB is divided into two OBBs, and so forth. If no collision is detected at the coarsest resolution, then there is no need for further computation to detect collisions. If a collision is detected at the coarsest resolution, then tests for collisions are performed at the next finer level of resolution. This process is continued to successively finer resolutions until either no more collisions are detected or the finest resolution is reached.

Backes, Paul↗
NASA NTRSDate not supplied

Demonstration of Two Extended Visual Line of Sight Methods for Urban UAV Operations

This report describes two extended visual line of sight (EVLOS) methods developed and utilized during two flight campaigns over the campus of NASA Langley Research Center (LaRC): a chase vehicle method and a radio controlled (RC) pilot handoff method. These campaigns were performed to (a) evaluate small unmanned aerial system (sUAS) flight beyond the visual line of sight (BVLOS) of the ground control station operator and (b) test technologies under development to enable a transition from EVLOS to BVLOS operations. While an autonomous waypoint-based operational approach enabled minimal pilot intervention in both methods, range containment was enforced (a) manually via continual pilot visual monitoring and (b) autonomously via on-board contingency landing autonomy triggerable at the boundary of stay-in geofences. In the thirty-nine flights which utilized the chase vehicle, the pilot followed the sUAS flying a 1.2 km path at 40m altitude over urban streets. In the fifteen flights which utilized pilot handoff, a pilot at one end of a 1.5 km path initiated the flight at 120m altitude over buildings and trees, and at the midway point of the path transferred radio control to a pilot at the other end. In comparison, the chase vehicle method requires less ground crew and simpler avionics, while the pilot handoff method avoids schedule risk arising from street traffic congestion but better replicates actual direct routing for BVLOS flights. Collision risk with another aircraft was introduced in both campaigns and mitigated with the same manual and autonomous methods. Results from these campaigns serve as a basis for planned BVLOS operations at NASA LaRC.

Nicholas Rymer↗
NASA NTRS2010

Modeling and Simulation of an UAS Collision Avoidance Systems

This paper describes a Modeling and Simulation of an Unmanned Aircraft Systems (UAS) Collision Avoidance System, capable of representing different types of scenarios for UAS collision avoidance. Commercial and military piloted aircraft currently utilize various systems for collision avoidance such as Traffic Alert and Collision A voidance System (TCAS), Automatic Dependent Surveillance-Broadcast (ADS-B), Radar and ElectroOptical and Infrared Sensors (EO-IR). The integration of information from these systems is done by the pilot in the aircraft to determine the best course of action. In order to operate optimally in the National Airspace System (NAS) UAS have to work in a similar or equivalent manner to a piloted aircraft by applying the principle of "detect-see and avoid" (DSA) to other air traffic. Hence, we have taken these existing sensor technologies into consideration in order to meet the challenge of researching the modeling and simulation of an approximated DSA system. A Schematic Model for a UAS Collision Avoidance System (CAS) has been developed ina closed loop block diagram for that purpose. We have found that the most suitable software to carry out this task is the Satellite Tool Kit (STK) from Analytical Graphics Inc. (AGI). We have used the Aircraft Mission Modeler (AMM) for modeling and simulation of a scenario where a UAS is placed on a possible collision path with an initial intruder and then with a second intruder, but is able to avoid them by executing a right tum maneuver and then climbing. Radars have also been modeled with specific characteristics for the UAS and both intruders. The software provides analytical, graphical user interfaces and data controlling tools which allow the operator to simulate different conditions. Extensive simulations have been carried out which returned excellent results.

Oliveros, Edgardo V.↗
NASA NTRS1982

Flight crew performance when pilot-flying and pilot-not-flying duties are exchanged

This study compares reports from the ASRS database depicting operational anomalies related to flight crew performance when pilot-flying and pilot-not-flying duties were exchanged. A greater number of near midair collisions, takeoff anomalies, and crossing altitude deviations were reported when the Captain was flying. More altitude deviations, near midair collisions during approach, and landing incidents occurred when the First Officer was flying. There were differences in monitoring effectiveness and in the type and distribution of information transfer problems associated with the anomalies. In addition, a number of crew performance factors were noted that were not affected by the exchange of duties. Several of these were deemed important enough to be included as matter of general interest.

Orlady, H. W.↗
NASA NTRS2010

Separation Assurance and Collision Avoidance

Objective SACA-1: Determine the level of safety provided by tactical separation assurance safety monitoring systems for UAS missions. a) Rationale: Continuous mission-risk monitoring can provide equivalent levels of safety for UAS operations possibly reducing the burden on other safety systems. b) Approach: Utilize and adapt algorithms and approaches developed for the NextGen Airspace Systems Program for UAS applications.

Lauderdale, Todd↗
NASA NTRS1992

Operator vision aids for space teleoperation assembly and servicing

This paper investigates concepts for visual operator aids required for effective telerobotic control. Operator visual aids, as defined here, mean any operational enhancement that improves man-machine control through the visual system. These concepts were derived as part of a study of vision issues for space teleoperation. Extensive literature on teleoperation, robotics, and human factors was surveyed to definitively specify appropriate requirements. This paper presents these visual aids in three general categories of camera/lighting functions, display enhancements, and operator cues. In the area of camera/lighting functions concepts are discussed for: (1) automatic end effector or task tracking; (2) novel camera designs; (3) computer-generated virtual camera views; (4) computer assisted camera/lighting placement; and (5) voice control. In the technology area of display aids, concepts are presented for: (1) zone displays, such as imminent collision or indexing limits; (2) predictive displays for temporal and spatial location; (3) stimulus-response reconciliation displays; (4) graphical display of depth cues such as 2-D symbolic depth, virtual views, and perspective depth; and (5) view enhancements through image processing and symbolic representations. Finally, operator visual cues (e.g., targets) that help identify size, distance, shape, orientation and location are discussed.

Brooks, Thurston L.↗
NASA NTRS2018

System Autonomy for Space Traffic Management

This paper proposes an initial architecture for a Space Traffic Management (STM) system, based on openApplication Programming Interfaces (APIs) and drawing on previous work by the NASA Ames Research Center (ARC) to develop an architecture for low-altitude Unmanned Aerial System Traffic Management (UTM). The authors explore how autonomy could be used to enhance an STM system, and how constraints inherent in STM complicate and challenge certain applications of autonomy. We conceptually explore how autonomy could be used within an STM architecture, with multiple non-authoritative catalogs of resident space objects, and to determine which oftwo conjuncting spacecraft moves. NASA ARC is developing a software research environment for STM, along with a physical laboratory and visualization space. We invite STM stakeholders to collaborate in our infrastructure, to help inform the design of the proposed STM architecture, and to participate in the refinement and validation of its concept of operations using the software research platform.

space situational awareness↗
NASA NTRS1973

High intensity copper atom beam - Preliminary results

The development of a nozzle which gas-dynamically accelerates neutral copper atoms at controlled energy levels and flux rates suitable for the investigation of inelastic copper atom collision processes is reported. Preliminary test data demonstrate that vapor-deposited rhenium nozzles do not degrade in the presence of copper vapor at high temperatures. Operation with high purity helium gas at nozzle stagnation temperatures in the range 2650-2700 K and total stagnation pressures from 1/4 to 2 atm with continuous copper atom flux rates of approximately 10 to the 18th power per second has been maintained, for a total time of 8-1/2 h to date.

Kelly, A. J.↗
NASA NTRS1988

A tandem mirror hybrid plume plasma propulsion facility

A concept in electrodeless plasma propulsion, which is also capable of delivering a variable Isp, is presented. The concept involves a three-stage system of plasma injection, heating, and subsequent ejection through a magnetic nozzle. The nozzle produces the hybrid plume by the coaxial injection of hypersonic neutral gas. The gas layer, thus formed, protects the material walls from the hot plasma and, through increased collisions, helps detach it from the diverging magnetic field. The physics of this concept is evaluated numerically through full spatial and temporal simulations; these explore the operating characteristics of such a device over a wide region of parameter space. An experimental facility to study the plasma dynamics in the hybrid plume was built. The device consists of a tandem mirror operating in an asymmetric mode. A later upgrade of this system will incorporate a cold plasma injector at one end of the machine. Initial experiments involve the full characterization of the operating envelope, as well as extensive measurements of plasma properties at the exhaust. The results of the numerical simulations are described.

Chang-Diaz, F. R.↗
NASA NTRS1990

The real-time learning mechanism of the Scientific Research Associates Advanced Robotic System (SRAARS)

Scientific research associates advanced robotic system (SRAARS) is an intelligent robotic system which has autonomous learning capability in geometric reasoning. The system is equipped with one global intelligence center (GIC) and eight local intelligence centers (LICs). It controls mainly sixteen links with fourteen active joints, which constitute two articulated arms, an extensible lower body, a vision system with two CCD cameras and a mobile base. The on-board knowledge-based system supports the learning controller with model representations of both the robot and the working environment. By consecutive verifying and planning procedures, hypothesis-and-test routines and learning-by-analogy paradigm, the system would autonomously build up its own understanding of the relationship between itself (i.e., the robot) and the focused environment for the purposes of collision avoidance, motion analysis and object manipulation. The intelligence of SRAARS presents a valuable technical advantage to implement robotic systems for space exploration and space station operations.

Chen, Alexander Y.↗
NASA NTRS1992

Orbital debris minimization and mitigation techniques

Man's activity in space has generated significant amounts of debris that remain in orbit for periods of sufficient duration to become a hazard to future space activities. Upper stages and spacecraft that have ended their functional life are the largest objects. In the past, additional debris has been generated by inadvertent explosions of upper stages and spacecraft, by intentional explosions for military reasons, and possibly by a few breakups resulting from collisions. In the future, debris can be generated by collisions among spacecraft as the number of orbital objects continues to grow at rates greater than natural forces remove them from orbit. There are design and operations practices that can minimize the inadvertent generation of debris. There are other design and operations options for removing objects from space at the end of their useful service so they are not available as a source for the generation of future debris. Those studies are the primary concern of this paper. The most economic removal of objects is achieved when those objects have the capability to execute the necessary maneuvers with their own systems and resources. The most costly option is to have some other system remove the spacecraft after it has become a derelict. Numerous options are being studied to develop systems and techniques that can remove spacecraft from useful orbits at the end of their useful life and do so for the least mass penalty and economic cost.

Loftus, Joseph P., Jr.↗
NASA NTRS2017

Individually Identifiable Surface Acoustic Wave Sensors, Tags and Systems

A surface-launched acoustic wave sensor tag system for remotely sensing and/or providing identification information using sets of surface acoustic wave (SAW) sensor tag devices is characterized by acoustic wave device embodiments that include coding and other diversity techniques to produce groups of sensors that interact minimally, reducing or alleviating code collision problems typical of prior art coded SAW sensors and tags, and specific device embodiments of said coded SAW sensor tags and systems. These sensor/tag devices operate in a system which consists of one or more uniquely identifiable sensor/tag devices and a wireless interrogator. The sensor device incorporates an antenna for receiving incident RF energy and re-radiating the tag identification information and the sensor measured parameter(s). Since there is no power source in or connected to the sensor, it is a passive sensor. The device is wirelessly interrogated by the interrogator.

Hines, Jacqueline H.↗
NASA NTRS2016

Operational Implementation of a Pc Uncertainty Construct for Conjunction Assessment Risk Analysis

Earlier this year the NASA Conjunction Assessment and Risk Analysis (CARA) project presented the theoretical and algorithmic aspects of a method to include the uncertainties in the calculation inputs when computing the probability of collision (Pc) between two space objects, principally uncertainties in the covariances and the hard-body radius. The output of this calculation approach is to produce rather than a single Pc value an entire probability density function that will represent the range of possible Pc values given the uncertainties in the inputs and bring CA risk analysis methodologies more in line with modern risk management theory. The present study provides results from the exercise of this method against an extended dataset of satellite conjunctions in order to determine the effect of its use on the evaluation of conjunction assessment (CA) event risk posture. The effects are found to be considerable: a good number of events are downgraded from or upgraded to a serious risk designation on the basis of consideration of the Pc uncertainty. The findings counsel the integration of the developed methods into NASA CA operations.

assessment↗
NASA NTRS2004

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

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.

Barhydt, Richard↗
NASA NTRS2015

Conjunction Assessment Past, Present, and Future

Since 1957, humankind's reliance on the space domain for military, humanitarian, and commercial applications has continued to increase. 1960 first successful use of a meteorological satellite,1963 first use of a geosynchronous communications satellite, 1985 Block I of GPS fielded, 1998 first module of ISS, 2001 first satellite radio broadcast over North America. What you take into space, stays in space: launch vehicle, rocket-bodies, mission-related debris. Debris can also be generated on-orbit: fuel/battery explosions, collisions. Only naturally-occurring retarding effect is orbital decay due to atmospheric drag: some remediation measures available, active debris removal not yet viable option. Because of our reliance on space and the fact that space really isn't limitless, the Big Sky theory is no longer an acceptable risk posture. There have been eight (8) on-orbit collisions reported to date, half of which occurred in the last 10 years.

Assessment↗
NASA NTRS2020

Evaluation, Analysis and Results of the DANTi Flight Test Data, the DAIDALUS Detect and Avoid Algorithm, and the DANTi Concept for Detect and Avoid in the Cockpit

The DAIDALUS Detect and Avoid Algorithm [1] was developed to address the operational needs of Unmanned Aerial Systems (UAS) and meet the Minimum Operational Performance Standards for Detect and Avoid [2]. The DANTi (Detect and Avoid iN the cockpit) concept [3], developed at the National Aeronautics and Space Administration (NASA) Langley Research Center, leverages advancements achieved in surveillance and Detect and Avoid technologies for unmanned aircraft systems as a safety enhancing capability for pilots of manned aircraft. Pilots operating under Visual Flight Rules and not receiving Air Traffic Control radar services rely on see and avoid to remain well clear of other aircraft and avoid collisions. The DANTi concept has been conceived as a safety enhancement capability to remain well clear and avoid potential collisions. The DANTi concept uses a traffic display to provide situational awareness, conflict detection, alerting, and guidance to remain well clear.

Detect and Avoid↗
NASA NTRS1991

Differential collision cross-sections for atomic oxygen: Analysis of space flight instruments for solar terrestrial physics

A summary of the status of the Cross-section Facility at MSFC is presented. A facility was designed, fabricated, assembled, tested, and operated for measurement of differential scattering cross sections important to understand the induced environment for a vehicle (e.g., Space Station) in low earth orbit. A user's manual for the facility is also presented. The performance of the facility was evaluated and found to be satisfactory in all the essential areas. Differential scattering cross sections were measured and results for the scattering measurements are included. Input to the development of the Ultraviolet Imager Optical System is also discussed. Design, fabrication, and evaluation of UV filters using a four-layer aluminum base are reported.

Torr, Douglas G.↗
NASA NTRS1982

Electric thruster research

It has been customary to assume that ions flow nearly equally in all directions from the ion production region within an electron-bombardment discharge chamber. In general, the electron current through a magnetic field can alter the electron density, and hence the ion density, in such a way that ions tend to be directed away from the region bounded by the magnetic field. When this mechanism is understood, it becomes evident that many past discharge chamber designs have operated with a preferentially directed flow of ions. Thermal losses were calculated for an oxide-free hollow cathode. At low electron emissions, the total of the radiation and conduction losses agreed with the total discharge power. At higher emissions, though, the plasma collisions external to the cathode constituted an increasingly greater fraction of the discharge power. Experimental performance of a Hall-current thruster was adversely affected by nonuniformities in the magnetic field, produced by the cathode heating current. The technology of closed-drift thrusters was reviewed. The experimental electron diffusion in the acceleration channel was found to be within about a factor of 3 of the Bohm value for the better thruster designs at most operating conditions. Thruster efficiencies of about 0.5 appear practical for the 1000 to 2000 s range of specific impulse. Lifetime information is limited, but values of several thousands of hours should be possible with anode layer thrusters operated or = to 2000 s.

Kaufman, H. R.↗