Simulated Vision-based Approach and Landing System for Advanced Air Mobility
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distributed sensing↗
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VSLAM and Vision-based Approach and Landing for Advanced Air Mobility
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distributed sensing↗
A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility
As part of its research, NASA investigates concepts, aircraft, and operations related to Advanced Air Mobility (AAM). One of the most challenging scenarios for AAM will be enabling safe routine access near densely populated urban centers. AAM flight operations over a regional area require a moderately high-fidelity simulation capability to develop and evaluate autonomy technologies in the urban environment. This paper aims to describe a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (tens to hundreds of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to simulate all flight phases accurately. The simulation incorporates a detailed simulated urban environment and includes glass cockpit displays to monitor aircraft operations. Simulation models integrate to simulate air and ground-based sensors, such as Radar and LiDAR. As a commercially available rendering engine, X-Plane 11 is used as the renderer to simulate vision-based sensors (such as onboard and ground-based cameras) with a detailed graphical model of a city at different times of the day and weather conditions. This paper presents the simulation and software architecture used for simulating AAM traffic over this urban region. This system enables the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward flight test evaluation.
Distributed sensing↗
Using Distributed Fiber-optic Strain Sensing to Estimate Generalized Modal Coordinates from Flight-test Data
Background and Motivation - Problem - Contemporary aircraft carry around structural mass so that the flutter instabilities lie well outside of the operational envelope. - Better methods of measuring the structural state could allow reduction of the extra structural weight - Modal filtering - Standard method in structural analysis - Deformations are a combination of mode shapes - Modal filtering is estimating these modal coordinates from data - Often ordinary least squares methods - Often applied to simpler test articles - Factor Analysis - Analysis method from psychology - Measurements are a combination of small number of unmeasurable variables. - Lessons from factor analysis can be adapted to improve the modal filtering methods
Jeffrey Ouellette↗
Ground-Based Vision Tracker for Advanced Air Mobility and Urban Air Mobility
Advanced Air Mobility (AAM) Air Mobility and Urban Air Mobility (UAM) require aircraft surveillance and monitoring for safety and security. Persistent tracking of flying objects provides Air Traffic Control (ATC) and Air Traffic Management (ATM) continuous coverage and knowledge of the national airspace (NAS). Since there are numerous more AAM and UAM aircraft than commercial aircraft, it will be challenging to utilize the same ATC/ATM architectures. A first step in creating a similar ATC/ATM architecture for AAM/UAM will require ground-based and airborne-based sensors to provide monitoring, which will be difficult in urban environments due to GPS degradation. This paper proposes a vision-based tracking method with static cameras by utilizing image subtraction and blob detection, which avoids adding additional electromagnetic interferences in the environment with sensors such as radar. The ground-based vision tracker (GBVT) outputs the detected objects' azimuth and elevation angles from unmanned aerial system (UAS) flight tests. Future and ongoing work includes sending the detected objects' azimuth and elevation angles as inputs for an extended Kalman filter (EKF) to estimate the position and velocity of the detected object.
distributed sensing↗
Ground-Based Vision Tracker for Advanced Air Mobility and Urban Air Mobility
Advanced Air Mobility (AAM) Air Mobility and Urban Air Mobility (UAM) require aircraft surveillance and monitoring for safety and security. Persistent tracking of flying objects provides Air Traffic Control (ATC) and Air Traffic Management (ATM) continuous coverage and knowledge of the national airspace system (NAS). Given the significant disparity in the number of AAM and UAM aircraft compared to commercial aircraft in the NAS, coupled with the dense AAM/UAM operations in urban environments, employing the existing ATC/ATM architectures poses considerable challenges. A first step in creating a similar ATC/ATM architecture for AAM/UAM will require ground-based and airborne-based sensors to provide monitoring, which will be difficult in urban environments due to GPS degradation. This paper proposes a vision-based tracking method with static cameras by utilizing image subtraction and blob detection, which avoids adding additional electromagnetic interferences in the environment with sensors such as radar. The ground-based vision tracker (GBVT) outputs the detected objects' azimuth and elevation angles from unmanned aerial system (UAS) flight tests. Future and ongoing work includes sending the detected objects' azimuth and elevation angles as inputs for an extended Kalman filter (EKF) to estimate the position and velocity of the detected object.
distributed sensing↗
Distributed Sensor Fusion of Ground and Air Nodes Using Vision and Radar Modalities for Tracking Multirotor Small Uncrewed Air Systems and Birds
High-density airspace operations with multiple aircraft type and potentially noncooperative aircraft require distributed sensor detection and tracking systems to monitor airspace for safe, autonomous flight operations for advanced air mobility, urban air mobility, and high density small uncrewed air systems (SUAS) flight concepts. This work collected data using a distributed radar and camera sensor framework during the NASA Advanced Air Mobility High Density Vertiplex project SUAS flight operation. Node locations include on an onboard SUAS, affixed to the Landing and Impact Research Facility with approximate 200ft elevation, on a tripod on first-floor roof with an approximate elevation of 20 ft, and on a tripod on a concrete pad that is approximately 4 ft above sea level. Each node includes camera, radar, and GPS.
Beyond Visual Line of Sight↗
Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility
Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context.
sensor placement↗
Considerations for Optimal Sensor Placement for Higher Accuracy Object Localization for Urban Air Mobility
Previous research into object localization has shown that sensor placement and alignment plays an important role in achieving higher accuracy levels of the estimated location of a tracked Urban Air Mobility Vehicle. In general, a near-orthogonal intersection between the ground node observation vectors results in the highest accuracy due to a smaller overlapping uncertainty region between both. This applies to triangulation by means of ground node camera angle observations as well as trilateration by means of ground node distance measurements. However, this simple concept is not easily fulfilled with a network of a limited number of static ground nodes and a moving object to be localized. This case study performs sensitivity analyses and explores practical ways on how to achieve higher estimate accuracy levels in this context.
sensor placement↗
Predicting distribution of malaria vector larval habitats in Ethiopia by integrating distributed hydrologic modeling with remotely sensed data
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Ai-Ling Jiang↗
Improving the Accessibility and Usability of Geothermal Information with Data Lakes and Data Pipelines on the Geothermal Data Repository: Preprint
The Geothermal Data Repository (GDR) provides universal access to data and information resulting from research and development activities funded by the Department of Energy (DOE). The GDR has extended this universal access to big data through integration with data lakes developed by the Open Energy Data Initiative (OEDI). Previously, large datasets such as seismic waveform or distributed acoustic sensing (DAS) data could only be accessed by institutions with high performance data storage and compute capabilities, effectively limiting the accessibility of big data to national labs, larger universities, and major corporations. Moreover, the time and resources needed to transport big data and configure them can produce additional barriers to use. Many of the standard formats used for structured data models (also known as content models) are incapable of handling big data and can introduce additional usability problems, often requiring data to be reformatted prior to use. This paper will explore how recent integrations between the GDR and the OEDI data lake have improved the accessibility and usability of geothermal data in a big way, making the data available to a broader audience, and enabling collaborative analysis and innovation across the greater geothermal industry.
access↗
Fibre-optic based DAS technology for Long-term Seismic Monitoring of Carbon Capture and Storage Projects
Long-term seismic monitoring of carbon capture and storage projects (CCS) is needed to verify that the injected gas is safely stored in the subsurface until permanence can be assured. Conventional surface seismic monitoring techniques are usually expensive, require highly invasive surface operations, and need significant time investments on the part of personnel for both the field effort and processing the acquired data. For these reasons, permanent reservoir monitoring (PRM) technologies are preferred, as they can offer a cost-effective solution for long-term monitoring. In this context, we have developed and trialed the use of distributed acoustic sensing (DAS) coupled to permanent rotary sources, called surface orbital vibrators (SOV), with the objective to build a continuous monitoring array for CCS projects.
47 OTHER INSTRUMENTATION↗
Improving the Accessibility and Usability of Geothermal Information with Data Lakes and Data Pipelines on the Geothermal Data Repository
The Geothermal Data Repository (GDR) provides universal access to data and information resulting from research and development activities funded by the Department of Energy (DOE). The GDR has extended this universal access to big data through integration with data lakes developed by the Open Energy Data Initiative (OEDI). Previously, large datasets such as seismic waveform or distributed acoustic sensing (DAS) data could only be accessed by institutions with high performance data storage and compute capabilities, effectively limiting the accessibility of big data to national labs, larger universities, and major corporations. Moreover, the time and resources needed to transport big data and configure them can produce additional barriers to use. Many of the standard formats used for structured data models (also known as content models) are incapable of handling big data and can introduce additional usability problems, often requiring data to be reformatted prior to use. This paper will explore how recent integrations between the GDR and the OEDI data lake have improved the accessibility and usability of geothermal data in a big way, making the data available to a broader audience, and enabling collaborative analysis and innovation across the greater geothermal industry.
access↗
Fiber-Based Distributed Hydrogen Measurement at High Temperatures
In this work, we discuss the implementation of evanescent field optical fiber sensors for distributed gas sensing of H2, focusing on results using a Ni / Gd-doped CeO2 nanocomposite sensing material for detection of low levels of H2 (0-4%) at 700 °C. This approach utilizes sensors prepared using a low-cost, wet chemical deposition process, in conjunction with a custom-built interrogator system leveraging optical time domain reflectometry (OTDR). Using a specially designed dual-gas flow reactor system, the sensor is tested by establishing a controlled equilibrium gradient of gas concentration. Initial results are shown using silica fiber, but provides a pathway for utilization with high temperature stable single crystal optical fiber for operation at higher temperatures and higher levels of H2 relevant for solid oxide fuel cell (SOFC) operating conditions.
Wuenschell, Jeffrey↗
Calcined Polyethyleneimine-Coated Optical Fibers for Distributed pH Monitoring at High Pressures and Temperatures
In the oil and gas, CO2 sequestration, H2 subsurface storage, and geothermal energy sectors, subsurface pH measurements are critical for monitoring the geochemical conditions and estimating potential corrosion rates of wellbore systems. Real-time pH measurements in these conditions are vital for detecting and predicting corrosion deterioration of wellbore components that may jeopardize the safety and continued operation of wellbore systems. Previous tests using metal oxide-based coatings (TiO2) provided strong responses at elevated temperatures and moderate pressure stability but provided poor differentiation between acidic and alkaline solutions. Building off the pH responsiveness of the TiO2 surface and known pH sensitivity of amine-based polymers, a coating based on the secondary amine polymer polyethyleneimine (PEI) was developed. As the polymer itself is highly water soluble and easily removed by aqueous solutions, the sensor coating was treated with a high temperature (500 °C) calcination procedure in air to convert it into a more stable oxidized coating capable of withstanding hot aqueous solutions without dissolving while retaining linear pH sensitivity from pH values between 2 and 11. The sensor performance was measured using optical transmission measurements in solutions of various pHs and using optical backscatter reflectometry for distributed pH sensing demonstration in wellbore-relevant pressures (up to 1,000 psi) and temperatures (80 °C).
Shumski, Alexander↗
Sensing Electrical Networks Securely & Economically (SENSE)
The growing adoption of distributed energy resources (DERs) like battery energy storage systems and roof top solar/PV and the rapid penetration of electric vehicles (EVs), the electric grid is undergoing a major transformation with elevated stress on legacy grid assets. Despite a lot of expenditure to address these challenges, both in dollars and manpower, utilities have not been able to receive the value that was promised. The gains have been most visible at the transmission and substation level, especially where the main objective was improving operational and economic efficiency for the utility. Improving visibility and control at a few select points enhances the existing and established paradigm of centralized command and control. With changing load patterns, load types and the overall transition to an “active grid”, the centralized control and coordination paradigm gets challenged. To address the challenges, a new architecture and mechanism is needed, one that supports decentralized control and decision making, extracting value streams at the grid edge, particularly as the changes are fueled by transitions occurring in the distribution system. To address this, a communications and data processing platform, “GAMMA” was developed and demonstrated through the project. At the heart of the platform, are distributed, intelligent edge nodes with sensing and compute capabilities, that can record and analyze information locally. They are embedded in sensors and actuators specific to different distribution system applications. Phase 1 of the project focused on developing novel sensor technology that can be used for monitoring utility pole top distribution transformers. The sensors were designed with the objective of being low-cost, communicating with the GAMMA cloud using novel “delay-tolerant” networking using Bluetooth and a secure mobile application. They were non-intrusive in nature so that they can be installed quickly in the field, resulting in overall low cost of deployment and operations. Following the successful completion of Phase 1, the team manufactured 100 units for a field demonstration in Phase 2. The field demonstration was carried out on two real feeder systems with the local utility partner. In total, 100 sensors were installed and operated over a period of 6 months in the state of Georgia. The platform is operational end to end, with the cloud infrastructure deployed on a distributed, serverless environment that can serve multiple data streams, an analytics engine and a portal to securely view the data from multiple assets. The data collected through the GAMMA Mobile Phone app showcased the viability of the novel delay tolerant networking architecture, and the data processing algorithms developed through the course of the project, were successful in extracting important information about the overall network, improving the utility’s visibility and situational awareness in the distribution feeder.
24 POWER TRANSMISSION AND DISTRIBUTION↗
Sensing Small Uncrewed Aerial Vehicles with Distributed Radars for Advanced Air Mobility Surveillance
In the context of Advanced and Urban Air Mobility major attention is being reserved to the development of sensing strategies for small Uncrewed Aerial Vehicles (sUAVs) to enable their safe operations in and around urban areas. Such strategies should rely on non-cooperative distributed sensors to strengthen the surveillance solution towards the unreliability of Global Navigation Satellite System (GNSS) positioning information, which is typical for low-altitude-flying platforms in urban regions, and increase the monitored airspace volume. To this aim, this paper proposes a fusion solution for a network of distributed ground-based radars, which can be exploited to not only increase the coverage over large airspace volumes but also improve the overall detectability and traceability of sUAVs by leveraging on multiple views over the same area. The solution exploits a centralized fusion scheme in which measurements collected by each radar are shared with a Fusion Center where Kalman Filtering is exploited to build a unique, fused track. Tests conducted on experimental data collected using two sUAVs as flying targets and three distributed radars showed that the proposed solution can produce an increase in coverage from about 20 % (single radar configuration) to about 80 % of the targets’ flight path, as well as a finer accuracy yielding meter and meter-per-second root mean square error values on position and velocity components.
Federica Vitiello↗
Network-Capable Application Process and Wireless Intelligent Sensors for ISHM
Intelligent sensor technology and systems are increasingly becoming attractive means to serve as frameworks for intelligent rocket test facilities with embedded intelligent sensor elements, distributed data acquisition elements, and onboard data acquisition elements. Networked intelligent processors enable users and systems integrators to automatically configure their measurement automation systems for analog sensors. NASA and leading sensor vendors are working together to apply the IEEE 1451 standard for adding plug-and-play capabilities for wireless analog transducers through the use of a Transducer Electronic Data Sheet (TEDS) in order to simplify sensor setup, use, and maintenance, to automatically obtain calibration data, and to eliminate manual data entry and error. A TEDS contains the critical information needed by an instrument or measurement system to identify, characterize, interface, and properly use the signal from an analog sensor. A TEDS is deployed for a sensor in one of two ways. First, the TEDS can reside in embedded, nonvolatile memory (typically flash memory) within the intelligent processor. Second, a virtual TEDS can exist as a separate file, downloadable from the Internet. This concept of virtual TEDS extends the benefits of the standardized TEDS to legacy sensors and applications where the embedded memory is not available. An HTML-based user interface provides a visual tool to interface with those distributed sensors that a TEDS is associated with, to automate the sensor management process. Implementing and deploying the IEEE 1451.1-based Network-Capable Application Process (NCAP) can achieve support for intelligent process in Integrated Systems Health Management (ISHM) for the purpose of monitoring, detection of anomalies, diagnosis of causes of anomalies, prediction of future anomalies, mitigation to maintain operability, and integrated awareness of system health by the operator. It can also support local data collection and storage. This invention enables wide-area sensing and employs numerous globally distributed sensing devices that observe the physical world through the existing sensor network. This innovation enables distributed storage, distributed processing, distributed intelligence, and the availability of DiaK (Data, Information, and Knowledge) to any element as needed. It also enables the simultaneous execution of multiple processes, and represents models that contribute to the determination of the condition and health of each element in the system. The NCAP (intelligent process) can configure data-collection and filtering processes in reaction to sensed data, allowing it to decide when and how to adapt collection and processing with regard to sophisticated analysis of data derived from multiple sensors. The user will be able to view the sensing device network as a single unit that supports a high-level query language. Each query would be able to operate over data collected from across the global sensor network just as a search query encompasses millions of Web pages. The sensor web can preserve ubiquitous information access between the querier and the queried data. Pervasive monitoring of the physical world raises significant data and privacy concerns. This innovation enables different authorities to control portions of the sensing infrastructure, and sensor service authors may wish to compose services across authority boundaries.
Figueroa, Fernando↗