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At least 73 records · Page 4

Assistive Detect and Avoid Technology in Urban Air Mobility Environments

The use of Assistive Detect and Avoid (Assistive DAA or ADAA) technology in Urban Air Mobility (UAM) environments poses potential benefits as well as challenges. Assistive DAA refers to the leveraged use of DAA technology, originally developed to replace see-and-avoid capabilities for remotely piloted aircraft, in onboard-piloted aircraft to augment (rather than replace) pilots’ see-and-avoid abilities and thus enhance the safety and efficiency of visual flight operations. ADAA is anticipated to be especially safety-enhancing in airspace where traffic density is high or traditional air traffic services are limited, such as in future UAM environments. ADAA may also enable higher-tempo UAM operations than with only see-and-avoid capabilities, while still maintaining acceptable levels of safety. UAM concepts under development by the FAA, NASA, and industry focus on operations moving people and cargo in urban and suburban areas using innovative technologies, operations, and aircraft, including electric vertical takeoff and landing (eVTOL) aircraft. Researchers at NASA Langley Research Center, in collaboration with FAA researchers at the William J. Hughes Technical Center in Atlantic City, NJ, have conducted a series of medium-fidelity, human-in-the-loop research simulations of potential future UAM operations and concepts in both Class C and Class B airspace environments. These simulations have included use of a Langley-developed ADAA research tool called DANTi, which enables configurable ADAA displays to be presented to pilots of simulated eVTOL aircraft participating in higher-density and higher-tempo UAM operations. Experience and observations made during testing of the NASA-developed DANTi ADAA capability in the UAM NFLITE simulation environment will be reported in this paper together with a discussion of airspace integration and regulatory topics.

Detect and Avoid↗

Analytical population dynamics underlying harmful algal blooms triggered by prey avoidance

A modified version of the NPZD ecosystem model is used to analytically examine the effects of predation avoidance, a possible mechanism for triggering harmful algal blooms (HAB). To resolve HAB development caused by predation avoidance, an additional phytoplankton functional group is considered, one that has slower nutrient uptake and better predation avoidance characteristics than the non-harmful phytoplankton group used in traditional NPZD models. Because the two phytoplankton groups (one non-harmful and one HAB) compete for only one resource within the same system, steady state (equilibrium) conditions cannot occur without the presence of zooplankton; only the non-harmful phytoplankton group, which defeats the HAB group in the resource competition, can survive in the equilibrium. The presence of sufficient zooplankton effectively acts to replenish the nutrient pool by consuming the non-harmful phytoplankton. When this occurs, two equilibrium states are found: one with both phytoplankton groups coexisting, and one that only includes the HAB group. Further, the condition required for equilibrium is that the total nitrogen within the system should be larger than a threshold determined by model coefficients. The threshold and feasibility of the equilibrium are sensitive to the relative HAB predation avoidance coefficient. If the coefficient is larger than the ratio of net growth rates between the HAB and non-harmful phytoplankton group, the threshold becomes infinite, and an equilibrium is not feasible. The time scale for the system to reach an equilibrium state that includes a HAB group is determined asymptotically. The dependence of a threshold condition as a controlling factor may explain the regime shift of dominant species causing HABs. The ecosystem model is fully implemented into the Regional Ocean Modeling System and applied to an idealized coastal embayment (with depths and geometry taken from San Francisco Bay) to show numerically the dominance of prey avoidance dynamics in a natural shallow water environment that includes advection and diffusion. The analytical results improve strategies for HAB modeling and provide guidance for setting model coefficients necessary to resolve a HAB event.

54 ENVIRONMENTAL SCIENCES↗

Ipsilateral kidney sparing in treatment of pancreatic malignancies using volumetric-modulated arc therapy avoidance sectors

Recent research has shown treating pancreatic cancer with volumetric-modulated arc therapy (VMAT) to be superior to either intensity-modulated radiation therapy or 3-dimensional conformal radiotherapy (3D-CRT), with respect to reducing normal tissue toxicity, monitor units, and treatment time. Furthermore, using avoidance sectors with RapidArc planning can further reduce normal tissue dose while maintaining target conformity. This study looks at the methods in reducing dose to the ipsilateral kidney, in pancreatic head cases, while observing dose received by other critical organs using avoidance sectors. Overall, 10 patients were retrospectively analyzed. Each patient had preoperative/unresectable pancreatic tumor and were selected based on the location of the right kidney being situated within the traditional 3D-CRT treatment field. The target planning target volume (286.97 ± 85.17 cm{sup 3}) was prescribed to 50.4 Gy using avoidance sectors of 30°, 40°, and 50° and then compared with VMAT as well as 3D-CRT. Analysis of the data shows that the mean dose to the right kidney was reduced by 11.6%, 15.5%, and 21.9% for avoidance angles of 30°, 40°, and 50°, respectively, over VMAT. The mean dose to the total kidney also decreased by 6.5%, 8.5%, and 11.0% for the same increasing angles. Spinal cord maximum dose, however, increased as a function of angle by 3.7%, 4.8%, and 6.1% compared with VMAT. Employing avoidance sector angles as a complement to VMAT planning can significantly reduce high dose to the ipsilateral kidney while not greatly overdosing other critical organs.

61 RADIATION PROTECTION AND DOSIMETRY↗

Carcass appearance does not influence scavenger avoidance of carnivore carrion

Abstract The selection or avoidance of certain carrion resources by vertebrate scavengers can alter the flow of nutrients in ecosystems. Evidence suggests higher trophic level carrion is scavenged by fewer vertebrate species and persists longer when compared to lower trophic level carrion, although it is unclear how scavengers distinguish between carcasses of varying species. To investigate carnivore carrion avoidance and explore sensory recognition mechanisms in scavenging species, we investigated scavenger use of intact and altered (i.e., skin, head, and feet removed) coyote— Canis latrans (carnivore) and wild pig— Sus scrofa (omnivore) carcasses experimentally placed at the Savannah River Site, SC, USA. We predicted carnivore carcasses would persist longer due to conspecific and intraguild scavenger avoidance. Further, we hypothesized visually modifying carcasses would not reduce avoidance of carnivore carrion, given scavengers likely depend largely on chemical cues when assessing carrion resources. As expected, mammalian carnivores largely avoided scavenging on coyote carcasses, resulting in carnivore carcasses having longer depletion times than wild pig carcasses at intact and altered trials. Therefore, nutrients derived from carnivore carcasses are not as readily incorporated into higher trophic levels and scavengers largely depend on olfactory cues when assessing benefits and risks associated with varying carrion resources.

60 APPLIED LIFE SCIENCES↗

Solar Avoided Cost Solution SunShot 6 Final Report

The core objectives of this project were two separate but integrated products, collectively providing game-changing Avoided Cost capabilities. The first was a kit of avoided cost tools and data that any solar provider can use a-lacarte or as a whole. It’s open and easily accessible nature allows the rapid and accurate calculation of avoided cost in whatever context and software that make sense (“Typical and Avoided Cost Tools”). This kit includes a dataset of typical energy rates, costs and usage that can be used for solar prospecting, lead generation and any situation where data about an opportunity is missing or imperfect. The second is a web application and related APIs specifically built for solar providers to radically streamline their lead-to-sale process (“Solar Provider Module”). The typical and Avoided Cost tools are built directly into this, and allow for solar providers to track their opportunities, collaborate with their installers and financiers, and close more sales faster.

14 SOLAR ENERGY↗

Obstacle avoidance for redundant robots using configuration control

The article presents a new and simple solution to the obstacle avoidance problem for redundant robots. In the proposed approach, called configuraiton control, the redundancy is utilized to configure the robot so as to satisfy a set of kinematic inequality constraints representing obstacle avoidance, while the end-effector is tracking a desired trajectory. The robot control scheme is very simple, and uses on-line adaptation to eliminate the need for the complex dynamic model and parameter values of the robot. Several simulation results for a four-link planar robot are presented to illustrate the versatility of the approach. These include reaching around a stationary obstacle, simultaneous avoidance of two obstacles, robot reconfiguration to avoid a moving obstacle, and avoidance of rectangular obstacles.

Colbaugh, R.↗

Avoiding and tolerating latency in large-scale next-generation shared-memory multiprocessors

A scalable solution to the memory-latency problem is necessary to prevent the large latencies of synchronization and memory operations inherent in large-scale shared-memory multiprocessors from reducing high performance. We distinguish latency avoidance and latency tolerance. Latency is avoided when data is brought to nearby locales for future reference. Latency is tolerated when references are overlapped with other computation. Latency-avoiding locales include: processor registers, data caches used temporally, and nearby memory modules. Tolerating communication latency requires parallelism, allowing the overlap of communication and computation. Latency-tolerating techniques include: vector pipelining, data caches used spatially, prefetching in various forms, and multithreading in various forms. Relaxing the consistency model permits increased use of avoidance and tolerance techniques. Each model is a mapping from the program text to sets of partial orders on program operations; it is a convention about which temporal precedences among program operations are necessary. Information about temporal locality and parallelism constrains the use of avoidance and tolerance techniques. Suitable architectural primitives and compiler technology are required to exploit the increased freedom to reorder and overlap operations in relaxed models.

Probst, David K.↗

Automatic Collision Avoidance Technology (ACAT)

This document represents two views of the Automatic Collision Avoidance Technology (ACAT). One viewgraph presentation reviews the development and system design of Automatic Collision Avoidance Technology (ACAT). Two types of ACAT exist: Automatic Ground Collision Avoidance (AGCAS) and Automatic Air Collision Avoidance (AACAS). The AGCAS Uses Digital Terrain Elevation Data (DTED) for mapping functions, and uses Navigation data to place aircraft on map. It then scans DTED in front of and around aircraft and uses future aircraft trajectory (5g) to provide automatic flyup maneuver when required. The AACAS uses data link to determine position and closing rate. It contains several canned maneuvers to avoid collision. Automatic maneuvers can occur at last instant and both aircraft maneuver when using data link. The system can use sensor in place of data link. The second viewgraph presentation reviews the development of a flight test and an evaluation of the test. A review of the operation and comparison of the AGCAS and a pilot's performance are given. The same review is given for the AACAS is given.

Swihart, Donald E.↗

Flight Deck Weather Avoidance Decision Support: Implementation and Evaluation

Weather related disruptions account for seventy percent of the delays in the National Airspace System (NAS). A key component in the weather plan of the Next Generation of Air Transportation System (NextGen) is to assimilate observed weather information and probabilistic forecasts into the decision process of flight crews and air traffic controllers. In this research we explore supporting flight crew weather decision making through the development of a flight deck predicted weather display system that utilizes weather predictions generated by ground-based radar. This system integrates and presents this weather information, together with in-flight trajectory modification tools, within a cockpit display of traffic information (CDTI) prototype. that the CDTI features 2D and perspective 3D visualization models of weather. The weather forecast products that we implemented were the Corridor Integrated Weather System (CIWS) and the Convective Weather Avoidance Model (CWAM), both developed by MIT Lincoln Lab. We evaluated the use of CIWS and CWAM for flight deck weather avoidance in two part-task experiments. Experiment 1 compared pilots' en route weather avoidance performance in four weather information conditions that differed in the type and amount of predicted forecast (CIWS current weather only, CIWS current and historical weather, CIWS current and forecast weather, CIWS current and forecast weather and CWAM predictions). Experiment 2 compared the use of perspective 3D and 21/2D presentations of weather for flight deck weather avoidance. Results showed that pilots could take advantage of longer range predicted weather forecasts in performing en route weather avoidance but more research will be needed to determine what combinations of information are optimal and how best to present them.

CWAM↗

Lightforce Photon-Pressure Collision Avoidance: Efficiency Analysis in the Current Debris Environment and Long-Term Simulation Perspective

This work provides an efficiency analysis of the LightForce space debris collision avoidance scheme in the current debris environment and describes a simulation approach to assess its impact on the long-term evolution of the space debris environment. LightForce aims to provide just-in-time collision avoidance by utilizing photon pressure from ground-based industrial lasers. These ground stations impart minimal accelerations to increase the miss distance for a predicted conjunction between two objects. In the first part of this paper we will present research that investigates the short-term effect of a few systems consisting of 20-kilowatt-class lasers directed by 1.5-meter-diameter telescopes using adaptive optics. The results found such a network of ground stations to mitigate more than 85 percent of conjunctions and could lower the expected number of collisions in Low Earth Orbit (LEO) by an order of magnitude. While these are impressive numbers that indicate LightForce's utility in the short-term, the remaining 15 percent of possible collisions contain (among others) conjunctions between two massive objects that would add large amount of debris if they collide. Still, conjunctions between massive objects and smaller objects can be mitigated. Hence, we choose to expand the capabilities of the simulation software to investigate the overall effect of a network of LightForce stations on the long-term debris evolution. In the second part of this paper, we will present the planned simulation approach for that effort. For the efficiency analysis of collision avoidance in the current debris environment, we utilize a simulation approach that uses the entire Two Line Element (TLE) catalog in LEO for a given day as initial input. These objects are propagated for one year and an all-on-all conjunction analysis is performed. For conjunctions that fall below a range threshold, we calculate the probability of collision and record those values. To assess efficiency, we compare a baseline (without collision avoidance) conjunction analysis with an analysis where LightForce is active. Using that approach, we take into account that collision avoidance maneuvers could have effects on third objects. Performing all-on-all conjunction analyses for extended period of time requires significant computer resources; hence we implemented this simulation utilizing a highly parallel approach on the NASA Pleiades supercomputer.

space debris mitigation↗

Comparative Analysis of ACAS-Xu and DAIDALUS Detect-and-Avoid Systems

The Detect and Avoid (DAA) capability of a recent version (Run 3) of the Airborne Collision Avoidance System-Xu (ACAS-Xu) is measured against that of the Detect and AvoID Alerting Logic for Unmanned Systems (DAIDALUS), a reference algorithm for the Phase 1 Minimum Operational Performance Standards (MOPS) for DAA. This comparative analysis of the two systems' alerting and horizontal guidance outcomes is conducted through the lens of the Detect and Avoid mission using flight data of scripted encounters from a recent flight test. Results indicate comparable timelines and outcomes between ACAS-Xu's Remain Well Clear alert and guidance and DAIDALUS's corrective alert and guidance, although ACAS-Xu's guidance appears to be more conservative. ACAS-Xu's Collision Avoidance alert and guidance occurs later than DAIDALUS's warning alert and guidance, and overlaps with DAIDALUS's timeline of maneuver to remain Well Clear. Interesting discrepancies between ACAS-Xu's directive guidance and DAIDALUS's "Regain Well Clear" guidance occur in some scenarios.

Davies, Jason T.↗

FT-01: Autonomous Helicopter Flight Testing Over Long Island Sound Special Session - Hazard Perception and Avoidance Tech Area

This presentation is included as part of a panel reporting on the Integration of Automated Systems (IAS) flight test series. The IAS series concluded in October 2023 and was conducted under NASA’s Advanced Air Mobility project and in partnership with Sikorsky and the Defense Advanced Research Projects Agency (DARPA). The flight test effort included two crewed rotorcraft platforms. The first, a modified S-76B helicopter, served as the “ownship” for the duration of the flight test. The second vehicle, a modified S-70, served as the intruder aircraft. One Sikorsky pilot and one NASA test pilot was onboard each aircraft for every test point, with the NASA test pilot responsible for interacting with the research systems under test. This portion of the panel presentation focuses on the results of the flight test that assessed the Federal Aviation Administration’s (FAA) next-generation collision avoidance system, the Airborne Collision Avoidance System X for Rotorcraft (ACAS Xr). The two configurations available within ACAS Xr – the Collision Avoidance System (CAS) configuration and the Detect and Avoid (DAA) configuration – were flown with an onboard pilot under Visual Flight Rules in controlled airspace over the Long Island Sound (Connecticut, USA). A total of 33 flight test cards were flown with ACAS Xr active. Results showed that the ACAS Xr alerting and guidance was largely effective and rated positively by the NASA test pilots, exemplified by zero instances of the pilots overriding an ACAS Xr Resolution Advisory (RA). Key areas of improvement, however, were noted, particularly with regards to the lack of an aural alert indicating a need to accelerate when receiving an RA at low speed and the occurrence of multiple RAs that the pilots found to be unacceptable.

detect and avoid↗

Display and Automation Considerations for the Airborne Collision Avoidance System Xu

In this paper we examine several display and automation considerations of a collision avoidance system that is currently under development: the Airborne Collision Avoidance System (ACAS) Xu. This study builds on previous work conducted as part of NASA’s Unmanned Aircraft Systems (UAS) Integration into the National Airspace System (NAS) project. ACAS Xu represents the next-generation successor to the Traffic Alert and Collision Avoidance System (TCAS II), wherein the Xu variant is intended for UAS applications. Whereas TCAS II exclusively issues RAs in the vertical dimension, a major distinction between ACAS Xu and previous collision avoidance (CA) systems is the introduction of horizontal and “blended” RAs (i.e., RAs with both horizontal and vertical components). This present work was conducted as an engineering analysis involving two parts. In Part 1, a two-by-two, within-subjects study was performed that manipulated how RAs were presented to a pilot situated at a UAS ground control station. Five participants experienced four experimental trials in which text and aural alerting characteristics were manipulated. In Part 2, another five participants experienced four trials in which the levels of automation were manipulated with regard to the CA and return-to-course (RTC) tasks. The results for Part 1 found no effect of display or alerting configuration on pilot performance. However, it was discovered that pilot response time to RAs greatly depended on the RA type. In particular, pilots were quicker to respond to vertical RAs (M = 4.52 seconds) than horizontal (M = 7.42 seconds) and blended (M = 9.68 seconds) RAs in which both dimensions were issued simultaneously. For Part 2 of the study, pilots found both auto-CA and auto-RTC functions equally useful. Most pilots were comfortable with the automation, however responses were mixed. Three of five participants indicated high levels of comfort with the auto-CA function, while two rated their comfort as low. Pilots’ comfort for the auto-RTC functionality was slightly higher: four out of five pilots gave high ratings, while one pilot gave a low rating. Overall, pilots ordinally ranked their preference for automated functions as auto-CA together with auto-RTC (when an aural alert announces a change between CA and RTC states), auto-CA, and auto-CA and RTC (without the aural state-change announcement). Recommendations for improving the display of automation are also discussed.

collision avoidance↗

Display and Automation Considerations for the Airborne Collision Avoidance System Xu

In this presentation we examine several display and automation considerations of a collision avoidance system that is currently under development: the Airborne Collision Avoidance System (ACAS) Xu. This study builds on previous work conducted as part of NASA’s Unmanned Aircraft Systems (UAS) Integration into the National Airspace System (NAS) project. ACAS Xu represents the next-generation successor to the Traffic Alert and Collision Avoidance System (TCAS II), wherein the Xu variant is intended for UAS applications. Whereas TCAS II exclusively issues RAs in the vertical dimension, a major distinction between ACAS Xu and previous collision avoidance (CA) systems is the introduction of horizontal and “blended” RAs (i.e., RAs with both horizontal and vertical components). This present work was conducted as an engineering analysis involving two parts. In Part 1, a two-by-two, within-subjects study was performed that manipulated how RAs were presented to a pilot situated at a UAS ground control station. Five participants experienced four experimental trials in which text and aural alerting characteristics were manipulated. In Part 2, another five participants experienced four trials in which the levels of automation were manipulated with regard to the CA and return-to-course (RTC) tasks. The results for Part 1 found no effect of display or alerting configuration on pilot performance. However, it was discovered that pilot response time to RAs greatly depended on the RA type. In particular, pilots were quicker to respond to vertical RAs (M = 4.52 seconds) than horizontal (M = 7.42 seconds) and blended (M = 9.68 seconds) RAs in which both dimensions were issued simultaneously. For Part 2 of the study, pilots found both auto-CA and auto-RTC functions equally useful. Most pilots were comfortable with the automation, however responses were mixed. Three of five participants indicated high levels of comfort with the auto-CA function, while two rated their comfort as low. Pilots’ comfort for the auto-RTC functionality was slightly higher: four out of five pilots gave high ratings, while one pilot gave a low rating. Overall, pilots ordinally ranked their preference for automated functions as auto-CA together with auto-RTC (when an aural alert announces a change between CA and RTC states), auto-CA, and auto-CA and RTC (without the aural state-change announcement). Recommendations for improving the display of automation are also discussed.

collision avoidance↗

Real-time avoidance of the L-mode and H-mode density limit via machine-learned stability metrics

Reliable operation of burning plasma tokamaks will require robust control strategies to avoid macroscopic instability limits such as the L-mode and H-mode density limits (LDL, HDL). In this work, we explore closed-loop avoidance of these phenomena at DIII-D using machine-learned risk metrics. Feedback control is implemented via the ‘DL Supervisor’ scheme, which regulates the chosen risk metric by reducing the density target or increasing NBI heating in real-time. Using the LDL 25 risk metric, the LDL is reproducibly suppressed. We also introduce an HDL risk metric in this study, HDL 25 , which reduces the False Positive Rate by 2x compared to the Greenwald fraction. Applying this scaling to a plasma current ramp-down, we successfully avoid an HDL-driven H/L back-transition. These experiments constitute the first demonstration of real-time DL avoidance using machine-learned risk metrics. These instability metrics outline a path to safer high-density operation, more reliable ramp-down scenarios, and improved off-normal control for next-step devices such as ITER and SPARC.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

WE-FG-206-08: Pulmonary Functional Imaging Biomarkers of NSCLC to Guide and Optimize Functional Lung Avoidance Radiotherapy

Purpose: Functional lung avoidance radiotherapy promises optimized therapy planning by minimizing dose to well-functioning lung and maximizing dose to the rest of the lung. Patients with NSCLC commonly present with co-morbid COPD and heterogeneously distributed ventilation abnormalities stemming from emphysema, airways disease, and tumour burden. We hypothesized that pulmonary functional imaging methods may be used to optimize radiotherapy plans to avoid regions of well-functioning lung and significantly improve outcomes like quality-of-life and survival. To ascertain the utility of functional lung avoidance therapy in clinical practice, we measured COPD phenotypes in NSCLC patients enrolled in a randomized-controlled-clinical-trial prior to curative intent therapy. Methods: Thirty stage IIIA/IIIB NSCLC patients provided written informed consent to a randomized-controlled-clinical-trial ( http://clinicaltrials.gov/ct2/show/NCT02002052 ) comparing outcomes in patients randomized to standard or image-guided radiotherapy. Hyperpolarized noble gas MRI ventilation-defect-percent (VDP) (Kirby et al, Acad Radiol, 2012) as well as CT-emphysema measurements were determined. Patients were stratified based on quantitative imaging evidence of ventilation-defects and emphysema into two subgroups: 1) tumour-specific ventilation defects only (TSD), and, 2) tumour-specific and other ventilation defects with and without emphysema (TSD{sub VE}). Receiver-operating-characteristic (ROC) curves were used to characterize the performance of clinical measures as predictors of the presence of non-tumour specific ventilation defects. Results: Twenty-one out of thirty subjects (70%) had non-tumour specific ventilation defects (TSD{sub VE}) and nine subjects had ONLY tumour-specific defects (TSD). Subjects in the TSD{sub VE} group had significantly greater smoking-history (p=.006) and airflow obstruction (FEV{sub 1}/FVC) (p=.001). ROC analysis demonstrated an 87% classification rate for smoking pack-years, 90% for FEV{sub 1}/FVC, and 56% for tumour RECIST measurements for identifying patients with non-tumour and tumour-specific ventilation abnormalities. Conclusion: 70% of NSCLC patients had ventilation abnormalities stemming from emphysema, airways disease and tumour burden. Smoking-history and airflow obstruction, but not RECIST, identified NSCLC patients with ventilation abnormalities appropriate for functional lung avoidance therapy.

60 APPLIED LIFE SCIENCES↗

Behavioral regulation of gravity - Schedule effects under escape-avoidance procedures

Squirrel monkeys were restrained in a centrifuge capsule and trained to escape and avoid increases in artificial gravity. During escape-avoidance, lever responses reduced centrifugally simulated gravity or postponed scheduled increases. The effect of variation in the interval of postponement (equal to the duration of decrease produced by escape responses) was studied under a multiple schedule of four components. Three components were gravity escape-avoidance with postponement times of 20, 40, and 60 sec. The fourth component was extinction. Each component was associated with a different auditory stimulus. Rate of responding decreased with increasing postponement time and higher mean g-levels occurred at shorter intervals of postponement. Effects of the schedule parameter on response rate and mean g-level were similar to effects of the schedule on free-operant avoidance and on titration behavior maintained by shock.

Clark, F. C.↗

Avoidance maneuevers selected while viewing cockpit traffic displays

Ten airline pilots rates the collision danger of air traffic presented on cockpit displays of traffic information while they monitored simulated departures from Denver. They selected avoidance maneuvers when necessary for separation. Most evasive maneuvers were turns rather than vertical maneuvers. Evasive maneuvers chosen for encounters with low or moderate collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threst situations pilots turned toward the intruder only at chance levels. Intruders coming from positions in front of the pilot's own ship were more frequently avoided by turns toward than when intruders approached laterally or from behind. Some of the implications of the pilots' turning-toward tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

Smith, J. D.↗