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NASA NTRS2020

Southern Bhutan Ecological Forecasting Tech Paper: Modeling Asian Elephant (Elephas maximus) Habitat Suitability along the Southern Bhutan Border with NASA Earth Observations

Asian elephants (Elephas maximus) are a flagship species essential for the functioning of forest ecosystems, and they also have cultural significance in Bhutan. Elephants receive the highest legal protection as listed under Schedule I of the Bhutan Forests and Nature Conservation Act, 1995. Yet, they face threats of extinction due to poaching for ivory as well as the loss and fragmentation of their habitat. Due to the recent clearing of forests and the growing populations in these areas, there has been an increase in incidents of human-elephant conflict. These conflicts have been detrimental to farmer’s annual harvests and livelihoods and have led to retaliatory killing and injury of elephants in southern Bhutan. The DEVELOP Southern Bhutan Ecological Forecasting team partnered with the Bhutan Foundation and Bhutan Tiger Center to help address this problem. The team integrated NASA Earth observations, including Landsat 5 Thematic Mapper (TM), Landsat 8 Operational Land Imager (OLI), Terra Moderate Resolution Imaging Spectroradiometer (MODIS), and the Shuttle Radar Topography Mission (SRTM) to acquire information on land cover change and elephant habitat suitability along the southern border of Bhutan. The team utilized Esri ArcGIS Pro and Software for Assisted Habitat Modeling (SAHM) for data analysis, modeling, and visualization. The team used elephant occurrence data and environmental variables to model current habitat suitability for migrating elephant populations. This analysis provided partners with maps to inform decisions about the placement and conservation of elephant corridors and helped build their capacity to use satellite data for future studies and project planning.

Palchen Wangchuk↗

NASA NTRS2020

Southern Bhutan Ecological Forecasting Project Summary - Modeling Asian Elephant (Elephas Maximus) Habitat Suitability along the Southern Bhutan Border with NASA Earth Observations

DEVELOP Project Summary↗

NASA NTRS2020

Striped Mullet Migration Patterns in the Indian River Lagoon: A Network Analysis Approach to Spatial Fisheries Management

Striped mullet (Mugil cephalus) are numerically abundant forage fish, highly valuable as prey and commercially valuable to humans. From September to December, mullet in the Indian River Lagoon (IRL), Florida undergo an annual migration from inshore foraging habitats to oceanic spawning sites. However, their migratory pathways, in particular their intra-estuarine movement pathways, remain unknown. To address this knowledge gap, we utilized passive acoustic telemetry to assess the movement patterns of M. cephalus within the IRL. Thirty-two fish were tagged, generating usable tracks from 18 individuals. The mean (±s.d.) time that fish were detected in the array was ~38 ± 90 days, with the longest at 444 days. We also document the first evidence of skipped spawning in M. cephalus inhabiting waters of the southeastern United States. These data suggest impoundments around the Merritt Island National Wildlife Refuge appear to serve as important refugia for striped mullet while the Banana and Indian Rivers act as corridors during their inshore migratory movements. Through spatial fisheries management, high value habitat and connective elements utilized by mullet and other vital forage fish may be identified, to benefit both natural and human dynamics in estuarine systems.

Acoustic telemetry↗

NASA NTRSDate not supplied

Wind Tunnel Testing Techniques for a Tandem Tilt-Wing, Distributed Electric Propulsion VTOL Aircraft

Urban Air Mobility (UAM) vertical takeoff and landing (VTOL) aircraftdesigns frequently include multiple distributed propulsors, complex wing-propulsor aerodynamics, significant airframe configuration changes during normal flight operations, and no historical database regarding the best ways to transition between vertical and horizontal flight. This paper describes the methodology used for wind tunnel testing of the Langley Aerodrome No. 8 (LA-8) in the NASA Langley 12-Foot Low-SpeedTunnel during multiple test entries in 2019 and2020. The LA-8 is a tandem tilt-wing aircraft with 4 motor-propellerunits and 4 control surfaces distributed across each wing, plus an inverted V-tail with 2 ruddervators on the fuselage. An initial tunnel entryused one-factor-at-a-time (OFAT) testing to (1) define candidate trimmed transition corridors between vertical and horizontal flight, (2) assess whether there was adequate control authority, and (3) define appropriatetest factor ranges for subsequent design of experiment (DOE) wind tunnel testing. The total number of independent variables for these wind tunnel tests (23) made DOE testing an efficient option for assessing the large number of potential interactions associated with the LA-8. The general advantages and disadvantages of OFAT and DOE wind tunnel testing techniques are also discussed –along with the benefits of a combined approach

wind tunnel research techniques↗

NASA NTRSDate not supplied

Achieving Equilibrium for Dense, Integrated, Vehicle Navigation

Drone usage has proliferated in recent years with many applications that have market-changing potential. Applications that include parcel delivery, wildlife protection, precision farming, law enforcement, and industrial inspection, just to name a few. In this paper, the term drone is used to mean both Unmanned Aerial Vehicle and small Unmanned Aircraft System vehicles. Flight infrastructure can currently only support a few thousand aircraft flying over the United States National Airspace System (NAS) at any given time. A delay atone airport sends ripple effects through the system, causing more delays and missed connections. Once regulations and safety policies are put in place to allow for the widespread use of unmanned drones, the number of aircraft in the NAS is expected to skyrocket to millions, potentially congesting the airspace resulting in possible separation violations. In air traffic control, separation is the concept of keeping an “ownship” aircraft outside a minimum distance from “intruder” aircraft to reduce the risk of the aircraft colliding, as well as preventing accidents due to secondary factors, such as wake turbulence. Maintaining proper separation is a safety critical property for drones in the airspace. This paper addresses separation in time and in distance for high volume corridors (en-route) and lanes(on ground). The requirements and necessary conditions for maintaining proper separation and reaching maximum throughput for a given corridor/lane are addressed assuming unidirectional corridors/lanes where an aircraft arrives from one side and departs from the opposite side. Simulation results are presented that show the presented solution guarantees a set of drones to reach the equilibrium state by adjusting their speed based on their distance to the aircraft in front of them. The equilibrium state is defined as a state when a set of n aircraft moving at a relatively constant speed and uniform spacing from each other in a congested system. A congested system is defined as a state when the aircraft cannot move at their maximum allowed speed. Unlike existing centralized and pre-planned approaches, the proposed solution is fully distributed and enables autonomous aircraft to decide to adjust their speed and distance with respect to the preceding aircraft, dynamically. Simulation results are presented that assess the feasibility of the approach using a large number of drones and evaluate the scalability of the proposed solution.

Mahyar R. Malekpour↗

NASA NTRS2021

Sacramento Urban Development: Quantifying and Mapping Urban Heat to Inform Urban Planning Initiatives in Sacramento, California

The combined effects of increasing urbanization and changing climatic conditions have exacerbated the urban heat island (UHI) effect and heat-related risks for city dwellers. Vulnerability to heat-related illnesses is further compounded by risk factors such as demographics, socioeconomic status, and pre-existing health conditions. The City of Sacramento, as California’s fastest-growing city by population, is particularly invested in combatting the UHI effect. The team collaborated with the City of Sacramento and urban planning firm, Dyett and Bhatia, on three main goals: assessing urban heat at the neighborhood scale, identifying priority areas for cooling interventions, and assessing heat risk to the population. This project utilized NASA Earth observation products to identify hotspots within the communities of Sacramento and create maps of urban heat, the heat-mitigation index, and heat risk from 2016-2020. The team used the Surface Reflectance product from Landsat 8 Operational Land Imager (OLI) and Thermal Infrared Sensor (TIRS) and the ECOsystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS) thermal infrared sensor. Additionally, the Integrated Valuation of Ecosystem Services and Tradeoffs (InVEST) urban cooling model was used to assess the impact of increased tree canopy scenarios. Urban hotspots were identified in central Sacramento and along major transportation corridors such as Stockton Boulevard, while the highest risk areas were identified in the communities of Fruitridge/Broadway and North Sacramento. This project identified these high-opportunity areas for heat mitigation to inform the City of Sacramento's General Plan and reduce citizen risk by addressing urban heat islands.

DEVELOP Project Summary↗

NASA NTRS2021

GLOBE Observer and the GO on a Trail Data Challenge: A Citizen Science Approach to Generating a Global Land Cover Land Use Reference Dataset

Land cover and land use are highly visible indicators of climate change and human disruption to natural processes. While land cover is frequently monitored over a large area using satellite data, ground-based reference data is valuable as a comparison point. The NASA-funded GLOBE Observer (GO) program provides volunteer-collected land cover photos tagged with location, date and time, and, in some cases, land cover type. When making a full land cover observation, volunteers take six photos of the site, one facing north, south, east, and west (N-S-E-W) respectively, one pointing straight up to capture canopy and sky, and one pointing down to document ground cover. Together, the photos document a 100 meter square of land. Volunteers may then optionally tag each N-S-E-W photo with the land cover types present. Volunteers collect the data through a smartphone app, also called GLOBE Observer, resulting in consistent data. While land cover data collected through GLOBE Observer is ongoing, this paper presents the results of a data challenge held between June 1 and October 15, 2019. Called “GO on a Trail,” the challenge focused on collecting land cover observations at designated points along the Lewis and Clark National Historic Trail (LCNHT), which transects approximately 7,900 kilometers of the United States from east to west. The challenge also included an international component in which participants were recognized for the most data collected during the period. The challenge resulted in more than 2800 land cover data points from around the world with just over 900 land cover data points along the LCNHT. The data collected along the LCNHT is largely within a 1,000 meter corridor along the historic route. Internationally, the challenge had strong participation in Australia, where a Scouts Australia team-based competition was conducted in conjunction with GO on a Trail. GLOBE Observer collections can serve as reference data, ground truthing satellite imagery for the improvement and verification of broad land cover maps. Continued collection using this protocol will build a database documenting climate-related land cover and land use change into the future.

land cover↗

NASA NTRSDate not supplied

A Robust Uniform Control Approach for VTOL Aircraft

We present a uniform control approach for transitioning vertical take-off and landing aircraft. The approach combines several well-understood linear techniques, including robust servomechanism linear quadratic regulation, control allocation, and gain scheduling, to provide a practical control framework that can be used to unify the control design process in all flight regimes. The choice of command variables provides a pilot/operator with a uniform set of intuitive control inputs through all phases of flight while also being easily integrated into autonomous trajectory tracking operations. The control method is applied to the NASA LA-8 aircraft, a tandem tiltwing distributed electric propulsion research vehicle designed at NASA Langley Research Center. The trim envelope of the aircraft is explored and the aircraft control authority analyzed throughout the transition corridor. The uniform control approach is then used to develop reference command tracking controllers for both the longitudinal and lateral-directional dynamics. An example trajectory is simulated to demonstrate how the controller effectively transitions the aircraft from hover to forward flight and vice versa while tracking a desired trajectory.

VTOL↗

NASA NTRS2021

High-Density Automated Vertiport Concept of Operations

The National Aeronautics and Space Administration (NASA) vision for Advanced Air Mobility (AAM) includes Urban Air Mobility (UAM) – a concept involving vertical takeoff and landing (VTOL) aircraft, decentralized (or federated) traffic management, and new infrastructure to support urban, suburban, and rural flight operations. High-density performance-based routes or corridors enable prompt transportation of people and goods from node to node, where each node represents a vertiport, defined as an identifiable ground or elevated area used for the takeoff and landing of VTOL aircraft. In the presence of uncertainty surrounding aircraft turnaround time on the ground, vertiports are the critical end points in scheduling, sequencing, and spacing (SSS) of aircraft in dense metropolitan environments. This Concept of Operations (ConOps) includes vertiports of varying sizes, configurations, service offerings, and locations. UAM air vehicles include conventional rotorcraft, unmanned VTOL aircraft, and novel piloted VTOL aircraft. This ConOps focuses on operations at a high-density vertiport, supported by a Vertiport Automation System (VAS) with high-throughput operation capabilities under conditions defined as NASA’s Urban Air Mobility Maturity Level Four (UML-4).

UAM↗

NASA NTRS2020

Modeling the smoky troposphere of the southeast Atlantic: a comparison to ORACLES airborne observations from September of 2016

In the southeast Atlantic, well-defined smoke plumes from Africa advect over marine boundary layer cloud decks; both are most extensive around September, when most of the smoke resides in the free troposphere. A framework is put forth for evaluating the performance of a range of global and regional atmospheric composition models against observations made during the NASA ORACLES (ObseRvations of Aerosols above CLouds and their intEractionS) airborne mission in September 2016. A strength of the comparison is a focus on the spatial distribution of a wider range of aerosol composition and optical properties than has been done previously. The sparse airborne observations are aggregated into approximately 2° grid boxes and into three vertical layers: 3–6 km, the layer from cloud top to 3 km, and the cloud-topped marine boundary layer. Simulated aerosol extensive properties suggest that the flight-day observations are reasonably representative of the regional monthly average, with systematic deviations of 30 % or less. Evaluation against observations indicates that all models have strengths and weaknesses, and there is no single model that is superior to all the others in all metrics evaluated. Whereas all six models typically place the top of the smoke layer within 0–500 m of the airborne lidar observations, the models tend to place the smoke layer bottom 300–1400 m lower than the observations. A spatial pattern emerges, in which most models underestimate the mean of most smoke quantities (black carbon, extinction, carbon monoxide) on the diagonal corridor between 16° S, 6° E, and 10° S, 0° E, in the 3–6 km layer, and overestimate them further south, closer to the coast, where less aerosol is present. Model representations of the above-cloud aerosol optical depth differ more widely. Most models overestimate the organic aerosol mass concentrations relative to those of black carbon, and with less skill, indicating model uncertainties in secondary organic aerosol processes. Regional-mean free-tropospheric model ambient single scattering albedos vary widely, between 0.83 and 0.93 compared with in situ dry measurements centered at 0.86, despite minimal impact of humidification on particulate scattering. The modeled ratios of the particulate extinction to the sum of the black carbon and organic aerosol mass concentrations (a mass extinction efficiency proxy) are typically too low and vary too little spatially, with significant inter-model differences. Most models overestimate the carbonaceous mass within the offshore boundary layer. Overall, the diversity in the model biases suggests that different model processes are responsible. The wide range of model optical properties requires further scrutiny because of their importance for radiative effect estimates.

Yohei Shinozuka↗

NASA NTRS2021

Sacramento Urban Development: Quantifying and Mapping Urban Heat to Support Urban Planning Initiatives in Sacramento, California

The combined effects of increasing urbanization and climate change have exacerbated the urban heat island (UHI) effect and heat-related risks for city dwellers. Vulnerability to heat-related illnesses is further compounded by risk factors such as demographics, socioeconomic status, and pre-existing health conditions. The City of Sacramento, as California’s fastest growing city in terms of population, is particularly invested in combatting the UHI effect. The team collaborated with the City of Sacramento and urban planning firm, Dyett and Bhatia, on three main goals: assessing urban heat at the neighborhood scale; identifying priority areas for cooling interventions; and assessing heat risk to the population. This project utilized NASA Earth observation products to identify hotspots within the community areas of Sacramento and create maps of urban heat, the heat-mitigation index, and heat risk of the study period from 2016-2020. The Surface Reflectance product were used from Landsat 8 Operational Land Imager (OLI) and Thermal Infrared Sensor (TIRS) and ECOsystem Spaceborne Thermal Radiometer Experiment on Space Station (ECOSTRESS) thermal infrared sensor. Additionally, the Integrated Valuation of Ecosystem Services and Tradeoffs (InVEST) Urban cooling model was used to assess the impact of increased tree canopy scenarios. Urban hotspots were identified in central Sacramento and along major transportation corridors such as Stockton Boulevard, while highest risk areas were identified in the community areas of Fruitridge/Broadway and North Sacramento. This project identified these high-opportunity areas for heat mitigation to inform the City of Sacramento's General Plan. This will inform the partners’ plans to reduce citizen risk by addressing urban heat islands.

Karina Alvarez↗

NASA NTRS2021

High-Density Automated Vertiport Concept of Operations

Urban Air Mobility↗

NASA NTRSDate not supplied

Flight Trajectory Prediction Based on Hybrid-Recurrent Networks

The development of future technologies for the National Airspace System (NAS) will be reliant on a new communications infrastructure capable of managing the limited available spectrum for communications among aircraft and ground systems. Emerging approaches to autonomous allocation of aviation spectrum mostlyrely on machine learning techniques, where 4D (longitude, latitude, altitude, time) trajectory prediction is an important data input to enable real-time resource allocation. This study explores and evaluates effective data sources and deep recurrent neural network techniques when determining flight trajectories. Specifically, data are collected and evaluated in a 100-day and 14-day period. Sources of data include NASA Sherlock Data Warehouse, MIT Lincoln Labs Corridor Integrated Weather Service (CIWS), and assorted NOAA weather datasets. Deep learning models for 4D predictions all utilize a hybrid-recurrent technique. A baseline model is considered via the convolutional-LSTM design from the existing literature. The modified design considers Gated Recurrent Units (GRU), Independently Recurrent Neural Networks (IndRNN), and stand-alone self-attention layers. Results indicatethe effectiveness of LSTM and GRUcells for state-of-the-art data processing (interpolation). Additionally, GRUs may be quickly trained with limited data, allowing for exacting improvements with optimizer selection. Attention mechanisms provide notable performance improvements to convolutional layers and may extend dimensional capabilities of a learning model. Finally, NOAA measurements provide only a supplemental value, requiring support from tailored measurements for Air Traffic Management.

Nathan Schimpf↗

NASA NTRSDate not supplied

Internal Architecture of the Common Habitat

The core stage liquid oxygen tank of the Space Launch System can be manufactured as a habitat instead of as a propellant tank, with a common design such that it is equally suitable for use in 0g, 1/6g, 3/8g, 1g, or variable artificial gravity. This Common Habitat can be the central element of a human spaceflight architecture that encompasses the Moon, Mars, and other destinations within the inner solar system. The Common Habitat is specifically used within an alternative architecture study (that is not part of the current NASA baseline) as the core habitation element within a Lunar Basecamp, Mars Basecamp, and the Deep Space Exploration Vehicle. The Common Habitat internal architecture applies a design philosophy to separate crew functions according to deck. The lower deck is reserved for private functions. It includes eight private crew quarters and four waste and hygiene clusters – each with a private waste management compartment, private full body hygiene compartment, and foyer/clothes changing area. The mid deck is primarily allocated to mission-related working functions. It includes an exercise facility, fabrication / maintenance / repair facility, physical science laboratory (physics, geology, and astronomy), and life science laboratory (biology and human research). The mid deck also has four external hatches, clocked one every 90 degrees, centered on the vehicle vertical centerline. Each hatch has a 60-inch tall by 40-inch wide opening with the mid deck floor 16 inches below the bottom lip of the hatch opening. The upper deck is primarily allocated to group or social functions. It includes a large galley, wardroom with projector and display screen, plant growth chambers, bulk stowage, command and control station, medical facility, hygiene compartment, and vehicle subsystems. A Vertical Translation System, based in part on results from a GrabCAD public challenge, enables crew and equipment traverse between habitat decks in 0g, 1/6g, 3/8g, and 1g. A 40-inch by 60-inch vertical translation corridor ensures that anything that can fit through the external hatches can also be moved from deck to deck. The system includes three component systems: a deploying floor to safety barrier system that folds down to become a traversable floor when vertical translation is not in use and deploys to become a safety barrier during vertical translations; a folding ladder that stows in the ceiling when not in use; and an elevator platform that can attach to the ladder for cargo or incapacitated crew member transport. This system is complemented by a Horizontal Translation System, also based in part on the same GrabCAD challenge, provides for horizontal crew translation in microgravity but requires no vehicle reconfiguration for fractional or whole gravity operation. It relies primarily on gecko-inspired grippers, originally developed at Stanford and NASA JPL, attached to footwear to enable crew to emulate walking. Some handrails are also strategically placed throughout the Common Habitat to aid translation in both gravity and microgravity environments.

Common Habitat↗

NASA NTRSDate not supplied

Optimal Angle of Attack Control for Aerocapture Maneuvers

Recent investigations of aerocapture maneuvers have considered direct force control as a promising alternative to bank angle control. By modulating the angle of attack and sideslip angle independently, the longitudinal and lateral channels can be decoupled and thus solved separately. However, the optimal angle of attack profile for minimizing post-atmospheric propellant expenditure was previously unknown. This research applies principles of optimal control theory to numerically solve for the optimal angle of attack profile for control of the longitudinal channel. Direct methods are first employed to discretize the angle of attack profile and show that an optimal solution follows a nearly bang-bang (full lift up then full lift down) structure under a variety of conditions along the flight path angle corridor. To corroborate these results, indirect methods were also applied to scope the Optimal Control Problem (OCP) as a Two Point Boundary Value Problem (2P-BVP) which could then be solved numerically. The indirect optimization results aligned closely with the direct results, providing further evidence that a bang-bang structure provides a good approximation for the optimal angle of attack profile for aerocapture maneuvers using direct force control.

aerocapture↗

NASA NTRSDate not supplied

Urban Air Mobility Airspace Dynamic Density

Effective flight planning requires information about a variety of potential threats, such as adverse weather or airspace restrictions, and about alternatives available if unforeseen events occur. Expected traffic along the route of flight is also essential to a safe outcome so that, for example, adequate fuel/energy supply can be loaded prior to flight. A dynamic density (DD) metric is introduced for the emerging urban air mobility (UAM) concept to predict airspace congestion that may lead to loss of separation between aircraft or less efficient operations. Using inspiration from dynamic density metric research for traditional air traffic management and a two-way highway analogy, we develop a dynamic density metric for a portion of airspace (aUAM corridor) that aggregates the impact from five factors: aircraft density, density of populous clusters, mean number of aircraft in populous clusters, mean distance between aircraft, and minimum distance between aircraft. This works describes our methodology, rationale, use cases, and visualization techniques to efficiently present the DD metric to an operator for informed decision making. We also present an approach for validating the metric. However, validation remains part of future work.

UAM↗

NASA NTRSDate not supplied

Vertical Translation System for the Common Habitat Architecture

The Common Habitat is a large, long-duration habitat that uses an SLS core stage Liquid Oxygen (LOX) tank as its primary structure. Measuring 8.4 meters in diameter and 15 meters in length, it is manufactured as a habitat and launched as such into space. It is intended for use on the Moon as part of a permanently occupied outpost, on Mars as part of an outpost that will be occupied for hundreds of days at a time, and in deep space as part of the Deep Space Exploration Vehicle where it will support crewed missions up to 1200 days in duration. A study of internal orientation and crew size resulted in a Common Habitat configuration sized for a crew of eight with a three-deck horizontal orientation. The Common Habitat Vertical Translation System provides a means for transporting crew and cargo between decks in a Common Habitat spacecraft in gravity levels varying from 0g to 1g. A crowdsourcing campaign was conducted through the GrabCAD platform to initially solicit ideas for restraints and mobility aids, including vertical translation. Four of the five top responses repeated ideas that would be incorporated into features of the Vertical Translation System. The first was a safety barrier (to prevent falls into the opening between decks) that could collapse to form a floor surface covering the opening when not in use. The second idea was a folding ladder that could be stowed in the ceiling when not in use. The third idea was an elevator platform that could traverse the ladder. Several key driving requirements were established for the Vertical Translation System: it may not penetrate into or through the lower deck; it must work on the Earth, Moon, Mars, and in microgravity; it must be easy to operate; it must enable translation of any item that can fit through the Common Habitat’s 40” x 60” hatches, inclusive of suited and unsuited crew with any degree of incapacitation and any equipment or cargo item; and it must include three component systems – deploying floor / safety barriers, a deployable ladder, and an elevator platform. Additional requirements were established for each of the component systems. The safety barriers must form a roughly 40-inch tall, complete wall enclosure on all four sides when deployed; it must include an easy to open gate that allows access to/from the ladder when deployed; and when retracted, the safety barrier must form a smooth, load-bearing floor that can be walked on, and wheeled objects can be rolled across in gravity, without being a trip hazard. The deployable ladder must be composed of multiple ladders that work together; it must stow in the ceiling when not in use; and it must not penetrate into the 40” x 60” vertical passage corridor. The elevator platform must work with the deployable ladder system; it must be able to bridge any gap in ladders between decks; it must stop at each deck flush with the deck surface; it must be capable of transporting an incapacitated crew member as a single rescuer operation; it must be capable of transporting a full-size subsystems pallet; it must function as an elevator for a crew member carrying large objects; it must have safety functions to prevent falls from the platform, or crew/cargo collisions with edges of hatch openings, or entanglement with ladder rungs/structure; it must stow when not in use; and it must autonomously both connect itself to the ladder and deploy itself to any deck where needed when called (e.g., a crew member on any deck can call for the platform and it must connect itself to the ladders without assistance and translate to the requestor’s deck). These requirements were developed into a system concept with the assistance of a NASA Pathways Intern who also added the requirement to size the design based on the use of commercial components, using existing motors and other mechanisms to ensure that the resulting system could be inexpensively produced. The Floor and Safety Barrier consists of four panels, two roughly 40 inches long and two roughly 60 inches long that can fold into the floor on top of each other when not in use. The uppermost panel is load bearing and acts as the floor surface. When deployed, they connect with each other to form a rigid barrier surrounding the vertical passageway. One of the panels contains a hinged gate that can be opened when deployed to allow for access to/from the passageway. The Deploying Ladder consists of two ladder segments, one mounted on the ceiling of the lower deck and the other mounted on the ceiling of the mid deck. A rotating mechanism is mounted on the ladder to allow it to rotate into a horizontal position against the ceiling for stowage, or down to a vertical position for use. A second rotating mechanism is built into the ladder, allowing the rungs to rotate. A toothed surface intended to work with the elevator platform covers the front of the ladder rails and the top and bottom of the rails are designed to be flush when aligned with another ladder segment. The elevator platform is essentially a motorized, self-propelled deck. It has a mechanism that holds it in contact with the ladder rails and drives itself against the toothed surface. This mechanism allows the elevator platform to ascend or descend the ladder. In order to stow the platform when not in use, a set of short ladder rails (without rungs) are mounted to the ceiling of the mid deck. When the mid deck ladder is stowed, it is flush with these rails and the platform can drive itself onto those short rails for stowage. An additional mechanism on the platform can pitch its deck surface 90 degrees, such that when the ladder is to be stowed, the platform can fold up against the ceiling. As a consequence of the ladder and elevator platform design, the opening between decks in the Common Habitat was enlarged to ensure that the elevator platform can accept a payload up to 40”x60” in dimension.

Human Centered Design↗

NASA NTRS2022

PAAV Concept Document

The Pathfinding for Airspace with Autonomous Vehicles (PAAV) Concept Document, version 1.0, lays out the key challenges and potential solutions for the use of uncrewed aircraft (UA) technology for future regional air cargo operations. The challenges and solutions described in this document were informed by communications with the UA industry community (e.g., RTCA, the Federal Aviation Administration, and regional air cargo business operators), as well as the PAAV team’s research activities during the last two years including four tabletop exercises, a human-in-the-loop simulation study, a numerical simulation study, a functional allocation study, and flight data analysis (Appendix A). This document first describes the expected operational context of PAAV (Section 2), such as the flight mission, baseline UAS components, nominal operations, m:N operations (i.e., "m" remote pilots per "N" aircraft), and off-nominal operations. This context sets the scope for the PAAV concept development work. PAAV concept development assumes that UA operations will be increasingly autonomous. Thus, near- and far-term assumptions are defined (Section 3). PAAV identified seven key challenges for UA operations (Section 4): - Flight route planning - Separation and flow management - Traffic pattern integration - Contingency management - Taxi, takeoff, and landing - m:N operations - Communications operations The following 13 potential solutions to these challenges are then described (Section 5): - Scalable communications architecture - Data link - Designated UAS corridors - Crew planning for m:N operations - Flight route optimization - Traffic load-level control - Trajectory solutions with data link - Automated hazard avoidance for m:N operations - Traffic pattern integration (TPI) tool - Standard lost command and control (C2) link (LC2L) procedures - Automated hazard avoidance under LC2L - Auto-taxi, auto-takeoff, and auto-land - Ground control station (GCS) user interface for m:N operations The document attempts to link each of these solutions to one or more of the challenge areas. Novel solutions involving numerous automation technologies are needed to mitigate traffic and airspace management challenges, especially for realizing m:N operations and ensuring safety under LC2L conditions. The purpose of this document is to help understand alternatives and tradeoffs among potential solutions and provide a foundation for a cohesive PAAV concept that will be described and refined in subsequent concept versions.

Unmanned aircraft, uncrewed aircraft, regional air↗