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At least 649 records · Page 36

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DOE OSTI2025

Multi-Resolution UAV Path Replanning for Inspection of Tailings Dams

Autonomous inspection of large and complex structures with a commercial unmanned aerial vehicle (UAV) is a challenging problem that has been addressed in recent years. In this paper, we address the global motion planning problem of creating autonomous inspection missions for UAVs considering photogrammetry constraints. We focus on the inspection of large tailings dams, which are dam structures used to store waste byproducts of mining. Our method uses a prior sparse point cloud of the dam to generate a voxel grid, where paths satisfying photogrammetry constraints are tested for collisions. We then apply the A* algorithm as a local planner to avoid obstacles within the global mission. Moreover, we address the problem of changing routes online by using octree-based multi-resolution grids for efficient and fast pathfinding. Our results, obtained using tridimensional maps of an actual coal mine tailings dam, show that using octrees for multi-resolution motion planning is faster than using a fixed voxel grid in online missions while inspecting large structures.

42 ENGINEERING↗

DOE OSTI2021

An Orthogonal Recursive Bisection (ORB) Based Time Advancement Algorithm for CFD-DEM Solvers

The time integration of the granular phase in coupled computational fluid dynamics (CFD) – discrete element method (DEM) simulations presents a unique computational challenge brought about by the large variations in particle collisional time scales. Particles in the dilute regions of the computational domain can be advanced with large time steps while dense regions require much smaller time increments. However, the time step size in most solvers is globally set as the limit for accuracy and stability imposed by the collisions and is typically orders of magnitude less than that required away from collisions. This work addresses this precise issue and provides a strategy to avoid the use of a global conservative small time step size for the entire set of particles.A novel time stepping algorithm for CFD-DEM solvers using a partitioning approach using orthogonal recursive bisection (ORB) that allows for variable time steps among particles is described and its computational performance is compared against baseline explicit methods, typically used in several CFD-DEM solvers. ORB has advantages of being relatively quick and easy to update incrementally and has the required heuristic behavior (i.e., it will split the region in half with a cluster on each side) when groups of particles are well separated (clustered). The algorithm presented in this work uses a local time stepping approach to resolve collisional time scales for subsets of particles that are present at the leaves of the ORB, thereby resulting in substantial reduction of computational cost. The parallel implementation of this method where a ``knapsack” algorithm is used in tandem with ORB for effective load-balancing is also presented, where a best possible partitioning is obtained based on number of particles and local time-stepping costs. The algorithm is tested against benchmark problems with varying particle distributions that include fluidized bed and riser flow scenarios. Preliminary results indicate that the approach is 2-3X faster than traditional explicit methods for problems that involve both dense and dilute regions, while maintaining the same level of accuracy.

adaptive timestepping↗

NASA NTRS1993

The use of CMAC neural architectures in obstacle avoidance

In this paper, CMAC neural architectures are used in conjunction with a hierarchical planning approach to find collision free paths over two dimensional analog valued obstacle fields. The method constructs a coarse resolution version of the original problem and then finds the corresponding coarse optimal path using multipass dynamic programming. CMAC artificial neural architectures are used to estimate the analog transition costs that dynamic programming requires. The coarse optimal path is then used as a baseline for the construction of a fine scale optimal path through the original obstacle array.

Peterson, James K.↗

DOE OSTI2023

Characterization of recent wild pig-vehicle collisions in Georgia, USA

Vehicle collisions with wild pigs (Sus scrofa) are reported almost everywhere this species is found. However, this is one of the least studied and characterized forms of damage that these invasive animals cause in the United States (U.S.). Here, we analyzed 518 wild pig-vehicle collisions (WPVCs) that took place statewide in Georgia between 2015 and 2021. From that dataset, we analyzed several parameters in order to better understand and characterize these accidents on a scale that had previously not been done in the U.S. Wild pig-vehicle collisions were reported from 105 out of the 159 counties in Georgia, increasing in number annually over the seven-year period. WPVCs were most likely to occur in the fall (37%). A duration weighted time of day analysis showed that WPVCs were most frequent at dusk. Most (97%) reported accidents were caused by live wild pigs, with the remainder being due to collisions with already dead or road-killed pigs. Most (86%) collisions involved a single wild pig while the remainder occurred with two or more pigs. Collisions occurred mostly with passenger cars on dry, straight, and level two-lane blacktop roads under dark, unlighted conditions. Nine percent of the vehicle accidents involving wild pigs resulted in injuries to the drivers and passengers. Some of the most severe injuries reported were caused by swerving to avoid striking wild pigs. No human fatalities were recorded due to these accidents. Wild pig-vehicle collisions are costly and dangerous and should be closely monitored and mitigated by the agencies responsible for motorist safety, transportation infrastructure, and wildlife management.

Georgia↗

DOE OSTI2025

Bats flying through a Y-maze are visually attracted to wind turbine surfaces

Wind energy’s rapid expansion has led to unintended consequences for wildlife, with migratory bats among the species most at risk. The behavioural mechanisms underlying collisions remain poorly understood, but one hypothesis is that bats are attracted to wind turbine structures. Vision is important to bat orientation and obstacle avoidance, yet it has been relatively understudied in the context of bat–turbine interactions. We hypothesize that light reflected off turbine surfaces could attract bats, acting as a sensory pollutant that may increase collision risk. To test whether reflective turbine surfaces elicit attraction, we flew 242 Lasiurus cinereus and 154 Lasionycteris noctivagans through Y-maze assays. Bats were at least twice as likely to fly towards white turbine blade sections compared to less reflective black ones. This attraction intensified when the alternative exit was a dark, empty flyway, with 74% of L. cinereus and 97% of L. noctivagans flying towards the white turbine blade. These findings provide evidence that visual sensory pollutants could underlie bat–turbine interactions, and if so, wind turbines could be ecological traps.

17 WIND ENERGY↗

NASA NTRS2006

Stochastic Evolutionary Algorithms for Planning Robot Paths

A computer program implements stochastic evolutionary algorithms for planning and optimizing collision-free paths for robots and their jointed limbs. Stochastic evolutionary algorithms can be made to produce acceptably close approximations to exact, optimal solutions for path-planning problems while often demanding much less computation than do exhaustive-search and deterministic inverse-kinematics algorithms that have been used previously for this purpose. Hence, the present software is better suited for application aboard robots having limited computing capabilities (see figure). The stochastic aspect lies in the use of simulated annealing to (1) prevent trapping of an optimization algorithm in local minima of an energy-like error measure by which the fitness of a trial solution is evaluated while (2) ensuring that the entire multidimensional configuration and parameter space of the path-planning problem is sampled efficiently with respect to both robot joint angles and computation time. Simulated annealing is an established technique for avoiding local minima in multidimensional optimization problems, but has not, until now, been applied to planning collision-free robot paths by use of low-power computers.

Fink, Wolfgang↗

NASA NTRS1994

The MITy micro-rover: Sensing, control, and operation

The sensory, control, and operation systems of the 'MITy' Mars micro-rover are discussed. It is shown that the customized sun tracker and laser rangefinder provide internal, autonomous dead reckoning and hazard detection in unstructured environments. The micro-rover consists of three articulated platforms with sensing, processing and payload subsystems connected by a dual spring suspension system. A reactive obstacle avoidance routine makes intelligent use of robot-centered laser information to maneuver through cluttered environments. The hazard sensors include a rangefinder, inclinometers, proximity sensors and collision sensors. A 486/66 laptop computer runs the graphical user interface and programming environment. A graphical window displays robot telemetry in real time and a small TV/VCR is used for real time supervisory control. Guidance, navigation, and control routines work in conjunction with the mapping and obstacle avoidance functions to provide heading and speed commands that maneuver the robot around obstacles and towards the target.

Malafeew, Eric↗

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↗

DOE OSTI2025

The Langdon effect in laser plasmas: Absorption and conduction

A plasma heated by inverse bremsstrahlung absorption of laser light develops a non-Maxwellian electron distribution function, called the Langdon effect [A. B. Langdon, Phys. Rev. Lett. 44, 575 (1980)]. These non-Maxwellian distributions are sufficiently long-lived to impact the absorption processes itself as well as the transport of heat by electrons. The theory of the Langdon effect in a homogeneous plasma is reviewed to clarify some aspects of Langdon's derivation as well as to confirm that the widely used super-Gaussian approximation works fairly well to describe the shape of the distribution function and reduction of the absorption rate. The Langdon effect on thermal conduction in an inhomogeneous plasma is developed by considering perturbations in a homogeneous absorbing plasma, which develops a heat flux due to both temperature and density gradients. A practical theory of the heat flux is developed by fitting the results of Vlasov–Fokker–Planck simulations, which avoids several approximations that compromised the usefulness of past theoretical predictions, most critically, the effect of electron–electron collisions on the fluxes. The present fits parameterize the coefficients of the temperature gradient (thermal conductivity) and the density gradient for a plasma of any ionization state and for any laser intensity where the theory of the Langdon effect remains locally valid. It is expected that this generalized theory of heat flow in an absorbing plasma will improve the predictive capability of radiation-hydrodynamics simulations of laser-produced plasmas, especially those formed in inertial confinement fusion experiments.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

NASA NTRS1982

Orbital interactions - A new geometrical formalism

The geometry of encounters between two bodies on independent Keplerian orbits around a third body is considered by a novel analysis, which avoids approximations made in previous studies. For the case of most of the applications considered, the formulas for collision frequencies and orbital element rates of change due to close approaches which comprise the method agree with past results. It is shown that the method can be extended to such other applications as the consideration of oscillations in orbital elements due to secular perturbations, and the computation of probabilities of escape from the system.

Greenberg, R.↗

NASA NTRS1986

Hypervelocity particle capture: Some considerations regarding suitable target media

Hypervelocity particles colliding with passive capture media will be traversed by shock waves; depending on the stress amplitude, the particle may remain solid or it may melt or vaporize. Any capture mechanism considered for cosmic dust collection in low Earth-orbit must be designed such that sample alteration and hence loss of scientific information is minimized. Capture of pristine particles is fundamentally difficult, because the specific heat of melting and even vaporization is exceeded upon impact at typical, geocentric encounter velocities. From the results of calculated and observed melting behaviors it is concluded that shock stresses in excess of 50 GPA should be avoided during hypervelocity particle capture on board Space Station and that stresses 20 GPa, even at 15 km/s collision velocities, should constitute desirable instrument design goals. Some principal characteristics of the capture medium that may satisfy these requirements are identified.

Horz, F.↗

NASA NTRS1987

Debris-cloud collisions: Accretion studies in the Space Station

The growth of planetesimals in the Solar System reflects the success of collisional aggregation over disruption. It is widely assumed that aggregation must represent relatively low encounter velocities between two particles in order to avoid both disruption and high-ejecta velocities. Such an assumption is supported by impact experiments and theory. Experiments involving particle-particle impacts, however, may be pertinent to only one type of collisional process in the early Solar System. Most models envision a complex protoplanetary nebular setting involving gas and dust. Consequently, collisions between clouds of dust or solids and dust may be a more relistic picture of protoplanetary accretion. Recent experiments performed at the NASA-Ames Vertical Gun Range have produced debris clouds impacting particulate targets with velocities ranging from 100 m/s to 6 km/s. The experiments produced several intriguing results that not only warrant further study but also may encourage experiments with the impact conditions permitted in a microgravity environment. Possible Space Station experiments are briefly discussed.

Schultz, Peter H.↗

NASA NTRS2019

Defining Well Clear Separation for Unmanned Aircraft Systems Operating with Non-Cooperative Aircraft

Detect-and-Avoid (DAA) systems are essential to the safe operations of Unmanned Aircraft Systems, and have the objectives of mitigating collisions with and remaining Well Clear of manned aircraft. This paper analyzes four candidate DAA Well Clear definitions for non-cooperative aircraft using mitigated performance metrics of DAA systems. These DAA Well Clear definitions were proposed in previous work based on their unmitigated collision risk and maneuver initiation range. In this work they are evaluated using safety and operational suitability metrics computed from a large number of representative encounters. Results suggest that although the four candidate DAA Well Clear definitions provide comparable safety, the alerting characteristics give preference for the DAA Well Clear definition without a temporal parameter.

Chen, Christine C.↗

NASA NTRS2019

Defining Well Clear Separation for Unmanned Aircraft Systems Operating with Noncooperative Aircraft

Well Clear↗

NASA NTRS1993

Planning collision free paths for two cooperating robots using a divide-and-conquer C-space traversal heuristic

A method was developed to plan feasible and obstacle-avoiding paths for two spatial robots working cooperatively in a known static environment. Cooperating spatial robots as referred to herein are robots which work in 6D task space while simultaneously grasping and manipulating a common, rigid payload. The approach is configuration space (c-space) based and performs selective rather than exhaustive c-space mapping. No expensive precomputations are required. A novel, divide-and-conquer type of heuristic is used to guide the selective mapping process. The heuristic does not involve any robot, environment, or task specific assumptions. A technique was also developed which enables solution of the cooperating redundant robot path planning problem without requiring the use of inverse kinematics for a redundant robot. The path planning strategy involves first attempting to traverse along the configuration space vector from the start point towards the goal point. If an unsafe region is encountered, an intermediate via point is identified by conducting a systematic search in the hyperplane orthogonal to and bisecting the unsafe region of the vector. This process is repeatedly applied until a solution to the global path planning problem is obtained. The basic concept behind this strategy is that better local decisions at the beginning of the trouble region may be made if a possible way around the 'center' of the trouble region is known. Thus, rather than attempting paths which look promising locally (at the beginning of a trouble region) but which may not yield overall results, the heuristic attempts local strategies that appear promising for circumventing the unsafe region.

Weaver, Johnathan M.↗

NASA NTRS2001

Laser Solutions for Reducing the Environmental Risks Associated with Orbital Debris and Near Earth Objects

Increasing activity in space is gradually increasing the amount of orbital debris in low earth orbit. As the debris increases, the environmental risk (hypervelocity collisions) associated with spaceflight also increases. Debris larger than 10 cm can typically be detected and tracked sufficiently to allow risk avoidance to be achieved by maneuvering to safe distances. Risk reduction for objects smaller than I cm may be accomplished through shielding. However, intermediate sized debris remains a problem. A convenient risk reduction solution has been identified using modem laser technology. In this approach, a relatively low energy laser facility operating near e equator may significantly reduce the amount of intermediate sized debris (1 - 10 cm) in a few years of operation. A sufficiently intense laser pulse arriving at a debris objects surface will ablate a micro-thin layer of material. As this hot gas rapidly expands away from the object, a small change in momentum is imparted. The momentum change for one pulse is insignificant. However, since the laser can provide 10-1000 pulses per second over several minutes, the cumulative effect is substantive. The object's perigee may be lowered in this manner into atmosphere where it will be vaporized. This same technique may be employed on a larger scale for risk reduction in asteroids, meteoroids, and comets colliding with the Earth at hypervelocities.

Campbell, Jonathan W.↗

NASA NTRSDate not supplied

Impact of Airborne Radar Uncertainties on Detect-and-Avoid Systems’ Performance

Impact of sensor uncertainty on Detect-and-Avoid (DAA) systems’ performance is investigated. Key metrics analyzed are the loss of DAA well clear ratio, the near-mid-air-collision risk ratio, the alert ratio, and the number of maneuvers per loss of DAA well clear. Sensitivity of these metrics to the magnitude of sensor uncertainty, pilots’ selection of maneuver, and surveillance range is investigated. Benefits of a dynamic buffer around the DAA well clear separation boundary, computed based on track accuracies, are also analyzed. These metrics are computed from open- and closed-loop simulations of a large number of representative encounters between an unmanned aircraft system and a manned aircraft. Results show that sensor uncertainty degrades safety metrics considerably but has only a minor effect on the number of maneuvers per loss of DAA well clear. The number of maneuvers, nonetheless, can be reduced by a 5◦ buffer away from the edge of the range of conflict-resulting heading in pilots’ selection of maneuver.

UAS↗

NASA NTRS2015

Pilot Evaluation of a UAS Detect-and-Avoid System's Effectiveness in Remaining Well Clear

Unmanned aircraft will equip with a detect-and-avoid (DAA) system that allows them to comply with the requirement to see and avoid other aircraft, an important layer in the overall set of procedural, strategic and tactical separation methods designed to prevent mid-air collisions. Although the effectiveness of the DAA system will be set to a minimum threshold by regulators, different combinations of algorithms, displays and procedures could be used to meet that minimum. The research presented in this paper indicates the effectiveness of the combined pilot-DAA system as a function of the DAA design requirements and provides data that may be used to model the behavior of pilots when employing such systems. Over the course of two simulations 21 professional UAS pilots evaluated eight different DAA system designs and metrics were collected on their ability to maintain the well clear separation standard. The independent variables were the time horizon at which pilots were alerted to potential losses of well clear, the location of the traffic display, and the tools and informational elements available on the display to aid the pilot in detecting and resolving those potential losses. In the second experiment the UAS encountered two categories of aircraft: those equipped with simulated transponders that could be seen dozens of miles away and those without that were only detectable by a simulated radar within a range of six nautical miles. The data indicate that integrating the traffic display with the primary mission map directly in front of the pilot reduced the frequency of losses of well clear. Improved detection and resolution tools, including explicit maneuver guidance and a trial planning capability, had less of an effect in reducing the frequency of losses but significantly reduced the time in loss when they occurred. The amount of warning time provided to the pilot had a strong effect on their ability to remain well clear: when alerts were first presented with less than about 15 seconds to a predicted loss of well clear pilots were able to maneuver successfully in only 26 percent of encounters, whereas they were about 83 percent successful when they had more than 15 seconds. Pilots' ability to separate from the two categories of aircraft was nearly the same after accounting for the amount of alert time provided in each encounter, although the limited surveillance volume for the non-transponder equipped aircraft meant alerts tended to occur later and therefore were more difficult to resolve.

loss of well clear↗