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NASA NTRS1997

Surface Movement Incidents Reported to the NASA Aviation Safety Reporting System

Increasing numbers of aircraft are operating on the surface of airports throughout the world. Airport operations are forecast to grow by more that 50%, by the year 2005. Airport surface movement traffic would therefore be expected to become increasingly congested. Safety of these surface operations will become a focus as airport capacity planning efforts proceed toward the future. Several past events highlight the prevailing risks experienced while moving aircraft during ground operations on runways, taxiways, and other areas at terminal, gates, and ramps. The 1994 St. Louis accident between a taxiing Cessna crossing an active runway and colliding with a landing MD-80 emphasizes the importance of a fail-safe system for airport operations. The following study explores reports of incidents occurring on an airport surface that did not escalate to an accident event. The Aviation Safety Reporting System has collected data on surface movement incidents since 1976. This study sampled the reporting data from June, 1993 through June, 1994. The coding of the data was accomplished in several categories. The categories include location of airport, phase of ground operation, weather /lighting conditions, ground conflicts, flight crew characteristics, human factor considerations, and airport environment. These comparisons and distributions of variables contributing to surface movement incidents can be invaluable to future airport planning, accident prevention efforts, and system-wide improvements.

Connell, Linda J.↗
NASA NTRS1997

A Cognitive System Model for Human/Automation Dynamics in Airspace Management

NASA has initiated a significant thrust of research and development focused on providing the flight crew and air traffic managers automation aids to increase capacity in en route and terminal area operations through the use of flexible, more fuel-efficient routing, while improving the level of safety in commercial carrier operations. In that system development, definition of cognitive requirements for integrated multi-operator dynamic aiding systems is fundamental. In order to support that cognitive function definition, we have extended the Man Machine Integrated Design and Analysis System (MIDAS) to include representation of multiple cognitive agents (both human operators and intelligent aiding systems) operating aircraft, airline operations centers and air traffic control centers in the evolving airspace. The demands of this application require representation of many intelligent agents sharing world-models, and coordinating action/intention with cooperative scheduling of goals and actions in a potentially unpredictable world of operations. The MIDAS operator models have undergone significant development in order to understand the requirements for operator aiding and the impact of that aiding in the complex nondeterminate system of national airspace operations. The operator model's structure has been modified to include attention functions, action priority, and situation assessment. The cognitive function model has been expanded to include working memory operations including retrieval from long-term store, interference, visual-motor and verbal articulatory loop functions, and time-based losses. The operator's activity structures have been developed to include prioritization and interruption of multiple parallel activities among multiple operators, to provide for anticipation (knowledge of the intention and action of remote operators), and to respond to failures of the system and other operators in the system in situation-specific paradigms. The model's internal representation has been be modified so that multiple, autonomous sets of equipment will function in a scenario as the single equipment sets do now. In order to support the analysis requirements with multiple items of equipment, it is necessary for equipment to access the state of other equipment objects at initialization time (a radar object may need to access the position and speed of aircraft in its area, for example), and as a function of perception and sensor system interaction. The model has been improved to include multiple world-states as a function of equipment am operator interaction. The model has been used -1o predict the impact of warning and alert zones in aircraft operation, and, more critic-ally, the interaction of flight-deck based warning mechanisms and air traffic controller action in response to ground-based conflict prediction and alerting systems. In this operation, two operating systems provide alerting to two autonomous, but linked sets of operators, whose view of the system and whose dynamics in response are radically different. System stability and operator action was predicted using the MIDAS model.

Corker, Kevin M.↗
NASA NTRS1997

Teamwork in the Terminal Area: Organizational Issues and Solutions

Dynamic growth and technology advances in commercial aviation have turned the terminal area into a complex, multi-organization workplace which requires the smooth coordination of many operational teams. In addition to pilots, cabin crew, air traffic controllers, and dispatch (who nominally work together throughout a flight), surface operations additionally involve local, ground and ramp controllers, ramp agents, maintenance, dozens of service contractors, and any number of teams who are responsible for airport operations. Under abnormal or emergency conditions, even more teams become actively involved. In order to accommodate growth and to meet productivity and safety challenges, numerous changes are being made in surface operations. Unfortunately, it is often the case that changes in technologies, organizational roles, procedures, and training are developed and implemented in isolated and piecemeal fashion without regard to cross organizational impact. Thus, there is a need for evaluation methodologies which assure integrated system safety for all organizations. Such methodologies should aid the understanding of how organizations work together and how changes in one domain affects the next. In this study, we develop one approach toward addressing these organizational issues. Examples of surface operations in abnormal situations are examined in regard to their impact on personnel in the terminal area. Timelines are given for the responses to incidents, along with the necessary communication links, the specific roles that members of terminal teams have, and any overlapping responsibilities. Suggestions to improve cross-operational teamwork are given. Methods of graphic representation are explored, both in regards to human links and access to information. The outcome of such an approach should enhance the understanding which is critical for resolving organizational conflicts and maximizing system effectiveness.

Parke, Bonny K.↗
NASA NTRS2001

Integrating Analysis Goals for EOP, CRF and TRF

In a simplified, idealized way the TRF can be considered a set of positions at epoch and corresponding linear rates of change while the CRF is a set of fixed directions in space. VLBI analysis can be optimized for CRF and TRF separately while handling some of the complexity of geodetic and astrometric reality. For EOP time series both CRF and TRF should be accurate at the epoch of interest and well defined over time. The optimal integral EOP, TRF and CRF in a single VLBI solution configuration requires a detailed consideration of the data set and the possibly conflicting nature of reference frames.

Ma, Chopo↗
NASA NTRS1997

A Flight Deck Perspective of Self-Separation

I will be participating on a Free Flight Human Factors Panel at the Ninth International Symposium on Aviation Psychology in Columbus, Ohio. My representation is related to the work that our group has conducted on flight deck issues associate with free flight. Our group completed a full-mission simulation study investigating procedural issues associated with airborne self-separation. Ten crews flew eight scenarios each in the B747-400 simulator at Ames. Each scenario had a representation of different conflict geometries with intruder aircraft. New alerting logic was created and integrated into the simulator to enable self-separation. In addition, new display features were created to help provide for enhanced information to the flight crew about relevant aircraft, The participants were asked to coordinate maneuvers for self-separation with the intruder aircraft. Data analyses for the many of the crew procedures have been completed.

Lozito, Sandra↗
NASA NTRS1997

Computational Models of Human Performance: Validation of Memory and Procedural Representation in Advanced Air/Ground Simulation

The Man-Machine Interaction Design and Analysis System (MIDAS) under joint U.S. Army and NASA cooperative is intended to assist designers of complex human/automation systems in successfully incorporating human performance capabilities and limitations into decision and action support systems. MIDAS is a computational representation of multiple human operators, selected perceptual, cognitive, and physical functions of those operators, and the physical/functional representation of the equipment with which they operate. MIDAS has been used as an integrated predictive framework for the investigation of human/machine systems, particularly in situations with high demands on the operators. We have extended the human performance models to include representation of both human operators and intelligent aiding systems in flight management, and air traffic service. The focus of this development is to predict human performance in response to aiding system developed to identify aircraft conflict and to assist in the shared authority for resolution. The demands of this application requires representation of many intelligent agents sharing world-models, coordinating action/intention, and cooperative scheduling of goals and action in an somewhat unpredictable world of operations. In recent applications to airborne systems development, MIDAS has demonstrated an ability to predict flight crew decision-making and procedural behavior when interacting with automated flight management systems and Air Traffic Control. In this paper, we describe two enhancements to MIDAS. The first involves the addition of working memory in the form of an articulatory buffer for verbal communication protocols and a visuo-spatial buffer for communications via digital datalink. The second enhancement is a representation of multiple operators working as a team. This enhanced model was used to predict the performance of human flight crews and their level of compliance with commercial aviation communication procedures. We show how the data produced by MIDAS compares with flight crew performance data from full mission simulations. Finally, we discuss the use of these features to study communication issues connected with aircraft-based separation assurance.

Corker, Kevin M.↗
NASA NTRS2002

Integrating Analysis Goals for EOP, CRF and TRF

In a simplified, idealized way the TRF (Terrestrial Reference Frame) can be considered a set of positions at epoch and corresponding linear rates of change while the CRF (Celestial Reference Frame) is a set of fixed directions in space. VLBI analysis can be optimized for CRF and TRF separately while handling some of the complexity of geodetic and astrometric reality. For EOP (Earth Orientation Parameter) time series both CRF and TRF should be accurate at the epoch of interest and well defined over time. The optimal integration of EOP, TRF and CRF in a single VLBI solution configuration requires a detailed consideration of the data set and the possibly conflicting nature of the reference frames. A possible approach for an integrated analysis is described.

Ma, Chopo↗
NASA NTRS2002

Science Planning for Multi-Spacecraft Coordinated Observations

Fulfilling the promise of an era of great observatories, NASA now has more than three space-based astronomical telescopes operating in different wavebands. This situation provides astronomers with a unique opportunity to simultaneously observe with multiple observatories. Yet scheduling multiple observatories simultaneously is highly inefficient when compared to single observatory observations. Thus, programs using multiple observatories are limited not due to scientific restrictions, but due to operational inefficiencies. Each year, a number of proposals are accepted by a space-based observatory for conduction of astronomical observations and gathering of science data for the study of galactic events. Since each space-based observatory uses a set of instruments designed to operate in specific energy regions, most such studies are conducted by submitting observation proposals to multiple observatories, with requests to coordinate among themselves. To assure that the proposed observations can be scheduled, each observatory's staff has to check that the observations are valid and meet all the constraints for their own observatory; in addition, they have to verify that the observations satisfy the constraints of the other observatories. Thus, coordinated observations require painstaking manual collaboration among the observatory staff at each observatory. In order to exploit new paradigms for observatory operation, the Goddard Space Flight Center's Advanced Architectures and Automation Branch has developed a prototype tool called the Visual Observation Layout Tool (VOLT). The main objective of VOLT is to provide a visual tool to automate the science planning of coordinated observations for multiple spacecraft, as well as to increase the scheduling probability of observations. However, VOLT is also useful for single observatory planning to optimize observatory control. Three space-based missions are interested in using VOLT (the Hubble Space Telescope, the Chandra X-Ray Observatory, and the Far Ultraviolet Spectroscopic Explorer). The VOLT team members have collaborated with these missions to gather requirements and obtain feedback on their mission planning processes. VOLT has been developed as a cross-platform Java client application for use by scientists and observatory science planning staff to visualize scheduling options and constraints. It also supports a lightweight graphical user interface for remote viewing via a Web front end. Additionally, it uniquely supports the ability to interact with multiple, diverse scheduling packages in order to determine windows of opportunity for observations and visually portray the constraints of each observation request. VOLT enables science data capture scenarios which are currently either impossible, or which require extensive time and manpower to coordinate amongst multiple observatories. it supports early detection of planning conflicts by generating coordinated solutions based on observatory schedulability and constraints. The project development approach has included frequent prototype demonstrations to our interested missions to obtain feedback after each release of the software. We will present an overview of our lessons learned in infusing the VOLT tool into the operations of the missions we have collaborated with and a brief demonstration of the software.

Maks, Lori↗
NASA NTRS2002

High-Efficiency High-Resolution Global Model Developments at the NASA Goddard Data Assimilation Office

The Data Assimilation Office (DAO) has been developing a new generation of ultra-high resolution General Circulation Model (GCM) that is suitable for 4-D data assimilation, numerical weather predictions, and climate simulations. These three applications have conflicting requirements. For 4-D data assimilation and weather predictions, it is highly desirable to run the model at the highest possible spatial resolution (e.g., 55 km or finer) so as to be able to resolve and predict socially and economically important weather phenomena such as tropical cyclones, hurricanes, and severe winter storms. For climate change applications, the model simulations need to be carried out for decades, if not centuries. To reduce uncertainty in climate change assessments, the next generation model would also need to be run at a fine enough spatial resolution that can at least marginally simulate the effects of intense tropical cyclones. Scientific problems (e.g., parameterization of subgrid scale moist processes) aside, all three areas of application require the model's computational performance to be dramatically improved as compared to the previous generation. In this talk, I will present the current and future developments of the "finite-volume dynamical core" at the Data Assimilation Office. This dynamical core applies modem monotonicity preserving algorithms and is genuinely conservative by construction, not by an ad hoc fixer. The "discretization" of the conservation laws is purely local, which is clearly advantageous for resolving sharp gradient flow features. In addition, the local nature of the finite-volume discretization also has a significant advantage on distributed memory parallel computers. Together with a unique vertically Lagrangian control volume discretization that essentially reduces the dimension of the computational problem from three to two, the finite-volume dynamical core is very efficient, particularly at high resolutions. I will also present the computational design of the dynamical core using a hybrid distributed-shared memory programming paradigm that is portable to virtually any of today's high-end parallel super-computing clusters.

Lin, Shian-Jiann↗
NASA NTRS1998

The Future of Air Traffic Management

A system for the control of terminal area traffic to improve productivity, referred to as the Center-TRACON Automation System (CTAS), is being developed at NASA's Ames Research Center under a joint program with the FAA. CTAS consists of a set of integrated tools that provide computer-generated advisories for en-route and terminal area controllers. The premise behind the design of CTAS has been that successful planning of traffic requires accurate trajectory prediction. Data bases consisting of representative aircraft performance models, airline preferred operational procedures and a three dimensional wind model support the trajectory prediction. The research effort has been the design of a set of automation tools that make use of this trajectory prediction capability to assist controllers in overall management of traffic. The first tool, the Traffic Management Advisor (TMA), provides the overall flow management between the en route and terminal areas. A second tool, the Final Approach Spacing Tool (FAST) provides terminal area controllers with sequence and runway advisories to allow optimal use of the runways. The TMA and FAST are now being used in daily operations at Dallas/Ft. Worth airport. Additional activities include the development of several other tools. These include: 1) the En Route Descent Advisor that assist the en route controller in issuing conflict free descents and ascents; 2) the extension of FAST to include speed and heading advisories and the Expedite Departure Path (EDP) that assists the terminal controller in management of departures; and 3) the Collaborative Arrival Planner (CAP) that will assist the airlines in operational decision making. The purpose of this presentation is to review the CTAS concept and to present the results of recent field tests. The paper will first discuss the overall concept and then discuss the status of the individual tools.

Denery, Dallas G.↗
NASA NTRS2002

Is There a Cosmological Constant?

The grant contributed to the publication of 18 refereed papers and 5 conference proceedings. The primary uses of the funding have been for page charges, travel for invited talks related to the grant research, and the support of a graduate student, Charles Keeton. The refereed papers address four of the primary goals of the proposal: (1) the statistics of radio lenses as a probe of the cosmological model (#1), (2) the role of spiral galaxies as lenses (#3), (3) the effects of dust on statistics of lenses (#7, #8), and (4) the role of groups and clusters as lenses (#2, #6, #10, #13, #15, #16). Four papers (#4, #5, #11, #12) address general issues of lens models, calibrations, and the relationship between lens galaxies and nearby galaxies. One considered cosmological effects in lensing X-ray sources (#9), and two addressed issues related to the overall power spectrum and theories of gravity (#17, #18). Our theoretical studies combined with the explosion in the number of lenses and the quality of the data obtained for them is greatly increasing our ability to characterize and understand the lens population. We can now firmly conclude both from our study of the statistics of radio lenses and our survey of extinctions in individual lenses that the statistics of optically selected quasars were significantly affected by extinction. However, the limits on the cosmological constant remain at lambda < 0.65 at a 2-sigma confidence level, which is in mild conflict with the results of the Type la supernova surveys. We continue to find that neither spiral galaxies nor groups and clusters contribute significantly to the production of gravitational lenses. The lack of group and cluster lenses is strong evidence for the role of baryonic cooling in increasing the efficiency of galaxies as lenses compared to groups and clusters of higher mass but lower central density. Unfortunately for the ultimate objective of the proposal, improved constraints on the cosmological constant, the next large survey for gravitational lenses did not release its results during the term of the proposal. The research supported the career development. of six graduate students (polar, Fletcher, Herold, Keeton, Deng and Rusin) and two post-docs (Labor and Munoz).

Kochanek, Christopher↗
NASA NTRS1998

Errors in Aviation Decision Making: Bad Decisions or Bad Luck?

Despite efforts to design systems and procedures to support 'correct' and safe operations in aviation, errors in human judgment still occur and contribute to accidents. In this paper we examine how an NDM (naturalistic decision making) approach might help us to understand the role of decision processes in negative outcomes. Our strategy was to examine a collection of identified decision errors through the lens of an aviation decision process model and to search for common patterns. The second, and more difficult, task was to determine what might account for those patterns. The corpus we analyzed consisted of tactical decision errors identified by the NTSB (National Transportation Safety Board) from a set of accidents in which crew behavior contributed to the accident. A common pattern emerged: about three quarters of the errors represented plan-continuation errors, that is, a decision to continue with the original plan despite cues that suggested changing the course of action. Features in the context that might contribute to these errors were identified: (a) ambiguous dynamic conditions and (b) organizational and socially-induced goal conflicts. We hypothesize that 'errors' are mediated by underestimation of risk and failure to analyze the potential consequences of continuing with the initial plan. Stressors may further contribute to these effects. Suggestions for improving performance in these error-inducing contexts are discussed.

Orasanu, Judith↗
NASA NTRS2001

Articulation Management for Intelligent Integration of Information

When combining data from distinct sources, there is a need to share meta-data and other knowledge about various source domains. Due to semantic inconsistencies and heterogeneity of representations, problems arise in combining multiple domains when the domains are merged. The knowledge that is irrelevant to the task of interoperation will be included, making the result unnecessarily complex. This heterogeneity problem can be eliminated by mediating the conflicts and managing the intersections of the domains. For interoperation and intelligent access to heterogeneous information, the focus is on the intersection of the knowledge, since intersection will define the required articulation rules. An algebra over domain has been proposed to use articulation rules to support disciplined manipulation of domain knowledge resources. The objective of a domain algebra is to provide the capability for interrogating many domain knowledge resources, which are largely semantically disjoint. The algebra supports formally the tasks of selecting, combining, extending, specializing, and modifying Components from a diverse set of domains. This paper presents a domain algebra and demonstrates the use of articulation rules to link declarative interfaces for Internet and enterprise applications. In particular, it discusses the articulation implementation as part of a production system capable of operating over the domain described by the IDL (interface description language) of objects registered in multiple CORBA servers.

Maluf, David A.↗
NASA NTRS1998

A Cognitive-System Model for En Route Air Traffic Management

NASA Ames Research Center has been engaged in the development of advanced air traffic management technologies whose basic form is cognitive aiding systems for air traffic controller and flight deck operations. In the design and evaluation of such systems the dynamic interaction between the airborne aiding system and the ground-based aiding systems forms a critical coupling for control. The human operator is an integral control element in the system and the optimal integration of human decision and performance parameters with those of the automation aiding systems offers a significant challenge to cognitive engineering. This paper presents a study in full mission simulation and the development of a predictive computational model of human performance. We have found that this combination of methodologies provide a powerful design-aiding process. We have extended the computational model Man Machine Integrated Design and Analysis System (N13DAS) to include representation of multiple cognitive agents (both human operators and intelligent aiding systems), operating aircraft airline operations centers and air traffic control centers in the evolving airspace. The demands of this application require the representation of many intelligent agents sharing world-models, and coordinating action/intention with cooperative scheduling of goals and actions in a potentially unpredictable world of operations. The operator's activity structures have been developed to include prioritization and interruption of multiple parallel activities among multiple operators, to provide for anticipation (knowledge of the intention and action of remote operators), and to respond to failures of the system and other operators in the system in situation-specific paradigms. We have exercised this model in a multi-air traffic sector scenario with potential conflict among aircraft at and across sector boundaries. We have modeled the control situation as a multiple closed loop system. The inner and outer loop alerting structure of air traffic management has many implications that need to be investigated to assure adequate design. First, there are control and stability factors implicit in the design. As the inner loop response time approaches that of the outer loop, system stability may be compromised in that controllers may be solving a problem the nature of which has already been changed by pilot action. Second, information exchange and information presentation for both air and ground must be designed to complement as opposed to compete with each other. Third, the level of individual and shared awareness in trajectory modification and flight conformance needs to be defined. Fourth, the level of required awareness and performance impact of mixed fleet operations and failed-mode recovery must be explored.

Corker, Kevin M.↗
NASA NTRS2002

High-Efficiency High-Resolution Global Model Developments at the NASA Goddard Data Assimilation Office

The Data Assimilation Office (DAO) has been developing a new generation of ultra-high resolution General Circulation Model (GCM) that is suitable for 4-D data assimilation, numerical weather predictions, and climate simulations. These three applications have conflicting requirements. For 4-D data assimilation and weather predictions, it is highly desirable to run the model at the highest possible spatial resolution (e.g., 55 kin or finer) so as to be able to resolve and predict socially and economically important weather phenomena such as tropical cyclones, hurricanes, and severe winter storms. For climate change applications, the model simulations need to be carried out for decades, if not centuries. To reduce uncertainty in climate change assessments, the next generation model would also need to be run at a fine enough spatial resolution that can at least marginally simulate the effects of intense tropical cyclones. Scientific problems (e.g., parameterization of subgrid scale moist processes) aside, all three areas of application require the model's computational performance to be dramatically improved as compared to the previous generation. In this talk, I will present the current and future developments of the "finite-volume dynamical core" at the Data Assimilation Office. This dynamical core applies modem monotonicity preserving algorithms and is genuinely conservative by construction, not by an ad hoc fixer. The "discretization" of the conservation laws is purely local, which is clearly advantageous for resolving sharp gradient flow features. In addition, the local nature of the finite-volume discretization also has a significant advantage on distributed memory parallel computers. Together with a unique vertically Lagrangian control volume discretization that essentially reduces the dimension of the computational problem from three to two, the finite-volume dynamical core is very efficient, particularly at high resolutions. I will also present the computational design of the dynamical core using a hybrid distributed- shared memory programming paradigm that is portable to virtually any of today's high-end parallel super-computing clusters.

Lin, Shian-Jiann↗
NASA NTRS1998

On Substrate for Atomic Chain Electronics

A substrate for future atomic chain electronics, where adatoms are placed at designated positions and form atomically precise device components, is studied theoretically. The substrate has to serve as a two-dimensional template for adatom mounting with a reasonable confinement barrier and also provide electronic isolation, preventing unwanted coupling between independent adatom structures. However, the two requirements conflict. For excellent electronic isolation, we may seek adatom confinement via van der Waals interaction without chemical bonding to the substrate atoms, but the confinement turns out to be very weak and hence unsatisfactory. An alternative chemical bonding scheme with excellent structural strength is examined, but even fundamental adatom chain properties such as whether chains are semiconducting or metallic are strongly influenced by the nature of the chemical bonding, and electronic isolation is not always achieved. Conditions for obtaining semiconducting chains with well-localized surface-modes, leading to good isolation, are clarified and discussed.

Yamada, Toshishige↗
NASA NTRS2002

Observed Climate Properties of Tropical Precipitating Convection

Conflicting theories about the contribution of convective systems to cloud feedback highlight the need for observational constraints on the properties of these storms. The NASA Tropical Rainfall Measuring Mission (TRMM) satellite provides unprecedented information on the hydrological properties and energetics of tropical convection. We present an analysis of almost 9,000 TRMM storms, focusing on how convection strength affects storm cloud properties and rainfall, and what this implies for the opposing "adaptive iris" and "thermostat" hypotheses.

DelGenio, Anthony↗
NASA NTRS2002

Fielding An Amphibious UAV: Development, Results, and Lessons Learned

This report summarizes the work completed on the design and flight-testing of a small, unmanned, amphibious demonstrator aircraft that flies autonomously. The aircraft named ACAT (Autonomous Cargo Amphibious Transport) is intended to be a large cargo carrying unmanned aircraft that operates from water to avoid airspace and airfield conflict issues between manned and unmanned aircraft. To demonstrate the feasibility of this concept, a demonstrator ACAT was designed, built, and flown that has a six-foot wingspan and can fly autonomously from land or water airfield. The demonstrator was designed for a 1-hour duration and 1-mile telemetry range. A sizing code was used to design the smallest demonstrator UAV to achieve these goals. The final design was a six-foot wingspan, twin hull configuration that distributes the cargo weight across the span, reducing the wing structural weight. The demonstrator airframe was constructed from balsa wood, fiberglass, and plywood. A 4-stroke model airplane engine powered by methanol fuel was mounted in a pylon above the wing and powers the ACAT UAV. Initial flight tests from land and water were conducted under manual radio control and confirmed the amphibious capability of the design. Flight avionics that were developed by MLB for production UAVs were installed in the ACAT demonstrator. The flight software was also enhanced to permit autonomous takeoff and landing from water. A complete autonomous flight from ahard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and landing under complete computer control. A completely autonomous flight that featured a water takeoff and landing was completed on October 4, 2001. This report describes these activities in detail and highlights the challenges encountered and solved during the development of the ACAT demonstrator. hard runway was successfully completed on July 5, 2001 and consisted of a take-off, rectangular flight pattern, and landing under complete computer control. A completely autonomous flight that featured a water takeoff and landing was completed on October 4, 2001. This report describes these activities in detail and highlights the challenges encountered and solved during the development of the ACAT demonstrator.

Pisanich, Greg↗