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At least 127 records · Page 7
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Distance estimation and collision prediction for on-line robotic motion planning

An efficient method for computing the minimum distance and predicting collisions between moving objects is presented. This problem has been incorporated in the framework of an in-line motion planning algorithm to satisfy collision avoidance between a robot and moving objects modeled as convex polyhedra. In the beginning the deterministic problem, where the information about the objects is assumed to be certain is examined. If instead of the Euclidean norm, L(sub 1) or L(sub infinity) norms are used to represent distance, the problem becomes a linear programming problem. The stochastic problem is formulated, where the uncertainty is induced by sensing and the unknown dynamics of the moving obstacles. Two problems are considered: (1) filtering of the minimum distance between the robot and the moving object, at the present time; and (2) prediction of the minimum distance in the future, in order to predict possible collisions with the moving obstacles and estimate the collision time.

Kyriakopoulos, K. J.↗
NASA NTRS1991

Collision avoidance for CTV: Requirements and capabilities

Cargo transfer vehicle (CTV) operations near Space Station Freedom will require positive collision avoidance maneuver (CAM) capability to preclude any change of collision, even in the event of CTV failures. The requirements for CAM are discussed, and the CAM design approach and design of the Orbiting Maneuvering Vehicle (OMV) are reviewed; this design met requirements for OMV operation near the Space Station, provided a redundant collision avoidance maneuver capability. Significant portions of the OMV CAM design should be applicable to CTV. The key features of the OMV design are summarized and related to the CTV mission design to that of OMV's. CAM is a defined sequence of events executed by the CTV to place the vehicle in a safe position relative to a target such as the Space Station. CAM can be performed through software commands to the propulsion system, or through commands pre-stored in hardware. Various techniques for triggering CAM are considered, and the risks associated with CAM enable and execution in phases are considered. OMV CAM design features both hardware and software CAM capability, with analyses conducted to assess the ability to meet the collision-free requirement during all phases of the mission.

Nosek, Thomas P.↗
NASA NTRS1993

Collision lifetimes and impact statistics of near-Earth asteroids

We have examined the lifetimes of Near-Earth asteroids (NEA's) by directly computing the collision probabilities with other asteroids and with the terrestrial planets. We compare these to the dynamical lifetimes, and to collisional lifetimes assumed by other workers. We discuss the implications of the differences. The lifetimes of NEA's are important because, along with the statistics of craters on the Earth and Moon, they help us to compute the number of NEA's and the rate at which new NEA's are brought to the vicinity of the Earth. Assuming that the NEA population is in steady-state, the lifetimes determine the flux of new bodies needed to replenish the population. Earlier estimates of the lifetimes ignored (or incompletely accounted for) the differences in the velocities of asteroids as they move in their orbits, so our results differ from (for example) Greenberg and Chapman (1983, Icarus 55, 455) and Wetherill (1988, Icarus 76, 1) by factors of 2 to 10. We have computed the collision rates and relative velocities of NEA's with each other, the main-belt asteroids, and the terrestrial planets, using the corrected method described by Bottke et. al. (1992, GRL, in press). We find that NEA's typically have shorter collisional lifetimes than do main-belt asteroids of the same size, due to their high eccentricities, which typically give them aphelia in the main belt. Consequently, they spend a great deal of time in the main belt, and are moving much slower than the bodies around them, making them 'sitting ducks' for impacts with other asteroids. They cross the paths of many objects, and their typical collision velocities are much higher (10-15 km/s) than the collision velocities (5 km/s) among objects within the main belt. These factors combine to give them substantially shorter lifetimes than had been previously estimated.

Bottke, W. F., Jr.↗
NASA NTRS1994

Computations of drop collision and coalescence

Computations of drops collision and coalescence are presented. The computations are made possible by a recently developed finite difference/front tracking technique that allows direct solutions of the Navier-Stokes equations for a multi-fluid system with complex, unsteady internal boundaries. This method has been used to examine the boundaries between the various collision modes for drops of equal size and two examples, one of a 'reflective' collision and another of a 'grazing' collision is shown. From drops of unequal size, coalescence can result in considerable mixing between the fluid from the small and the large drop. This problem is discussed and one example showed. In many cases it is necessary to account also for heat transfer along with the fluid mechanics. We show two preliminary results where we are using extensions of the method to simulate such a problem. One example shows pattern formation among many drops moving due to thermal migration, the other shows unstable evolution of a solidification front.

Tryggvason, Gretar↗
NASA NTRS1995

Investigation of the collision line broadening problem as applicable to the NASA Optical Plume Anomaly Detection (OPAD) system, phase 1

As a final report for phase 1 of the project, the researchers are submitting to the Tennessee Tech Office of Research the following two papers (reprinted in this report): 'Collision Line Broadening Effects on Spectrometric Data from the Optical Plume Anomaly System (OPAD),' presented at the 30th AIAA/ASME/SAE/ASEE Joint Propulsion Conference, 27-29 June 1994, and 'Calculation of Collision Cross Sections for Atomic Line Broadening in the Plume of the Space Shuttle Main Engine (SSME),' presented at the IEEE Southeastcon '95, 26-29 March 1995. These papers fully state the problem and the progress made up to the end of NASA Fiscal Year 1994. The NASA OPAD system was devised to predict concentrations of anomalous species in the plume of the Space Shuttle Main Engine (SSME) through analysis of spectrometric data. The self absorption of the radiation of these plume anomalies is highly dependent on the line shape of the atomic transition of interest. The Collision Line Broadening paper discusses the methods used to predict line shapes of atomic transitions in the environment of a rocket plume. The Voigt profile is used as the line shape factor since both Doppler and collisional line broadening are significant. Methods used to determine the collisional cross sections are discussed and the results are given and compared with experimental data. These collisional cross sections are then incorporated into the current self absorbing radiative model and the predicted spectrum is compared to actual spectral data collected from the Stennis Space Center Diagnostic Test Facility rocket engine. The second paper included in this report investigates an analytical method for determining the cross sections for collision line broadening by molecular perturbers, using effective central force interaction potentials. These cross sections are determined for several atomic species with H2, one of the principal constituents of the SSME plume environment, and compared with experimental data.

Dean, Timothy C.↗
NASA NTRS1996

Squeezed States and Particle Production in High Energy Collisions

Using the 'quantum optical approach' we propose a model of multiplicity distributions in high energy collisions based on squeezed coherent states. We show that the k-mode squeezed coherent state is the most general one in describing hadronic multiplicity distributions in particle collision processes, describing not only p(bar-p) collisions but e(+)e(-), vp and diffractive collisions as well. The reason for this phenomenological fit has been gained by working out a microscopic theory in which the squeezed coherent sources arise naturally if one considers the Lorentz squeezing of hadrons and works in the covariant phase space formalism.

Bambah, Bindu A.↗
NASA NTRS1997

Roto-Translational Collision-Induced Absorption of CO2 for the Atmosphere of Venus at Frequencies from 0 to 250 cm(exp -1), at Temperatures from 200 to 800 K

The collision-induced absorption (CIA)of gaseous CO2 is the primary source of far-infrared opacity of the atmosphere of Venus. At the temperatures and densities of the venusian atmosphere, the absorption is due mainly to binary collisions of CO2 molecules. Using a realistic anisotropic intermolecular potential and assuming the absorbing dipole to be due to the electrostatic induction and a quantum overlap, a series of molecular dynamics simulations were performed for the temperature range 200 to 800 K, and the roto-translational (RT) collision-induced absorption spectra at frequencies from 0 to 250 cm(exp -1) were derived. The absorption coefficient in the submillimeter region, used in constituency retrieval studies, decreases more than 10 times in the temperature range 200 to 800 K. On the other hand, the absorption coefficient at 800 K and at the frequency range above 150 cm(exp -1) was found to be almost 10 times higher than at 200 K. Earlier works relied on experimental RT CIA data at a fixed temperature of 300 K. The new, temperature-dependent absorption bands may, when included in the analysis of the atmospheric radiative transfer of the planet, help explain the observed high far-infrared opacity of the lower layers of the atmosphere. To make the results of the simulations readily available for atmospheric abundance and radiative transfer analysis, an analytic model of the roto-translational collision-induced absorption spectral profile, applicable from 200 to 800 K, is being proposed here. The FORTRAN computer code of this newly developed model is available from the authors on request.

Gruszka, Marcin↗
NASA NTRS1999

Scale Effects in Strength-Dominated Collisions of Rocky Asteroids

The application of laboratory collision experimental results to the larger scales of asteroid impacts is complicated by the fact that the dynamic strength of rock typically decreases as the loading duration increases. Because loading times increase with the size scale of a collision, large bodies are effectively weaker than small ones. While this effect has been postulated for over a decade, it has never been verified in actual collision experiments. This paper summarizes collision tests performed under the conditions required to examine scale effects, i.e., increasing the size scale of the experiment while holding the impact velocity and impact kinetic energy per target mass constant. Granite targets are used, with a diameter variation of a factor of 18. The larger targets experienced significantly more collisional damage than small ones, confirming a decrease in dynamic strength with increasing size scale. The results are compared to a scaling model based on the concept that fragmentation is accomplished through the growth and coalescence of preexisting flaws. Measurements of the actual flaw-size distribution are used to validate the model. Field observations of flaw and fault sizes at scales to 10 km are used to construct a scaling model that is believed to apply to the shattering of a wide range of rock types. The results show that kilometer-sized rocky bodies may be significantly weaker than indicated by previous estimates.

Housen, Kevin R.↗
NASA NTRS2007

A Comparison of Three Catastrophic On-Orbit Collisions

Orbital debris environment models, such as NASA's LEGEND model, show that accidental collisions between satellites will begin to be the dominant cause for future debris population growth within the foreseeable future. The collisional breakup models employed are obviously a critical component of the environment models. The Chinese Anti-Satellite (ASAT) test which destroyed the Fengyun-1C weather satellite provided a rare, but not unique, chance to compare the breakup models against an actual on-orbit collision. Measurements from the U.S. Space Surveillance Network (SSN), for debris larger than 10-cm, and from Haystack, for debris larger than 1-cm, show that the number of fragments created from Fengyun significantly exceeds model predictions using the NASA Standard Collisional Breakup Model. However, it may not be appropriate to alter the model to match this one, individual case. Two other on-orbit collisions have occurred in the past which have produced significant numbers of debris fragments. In September 1985, the U.S. conducted an ASAT test against the Solwind P-78 spacecraft at an altitude of approximately 525 km. A year later, in September 1986, the Delta 180 payload was struck by its Delta II rocket body in a planned collision at 220 km altitude. Although no Haystack data is available in 1985-6 and very few debris pieces were cataloged from Delta 180 due to its low altitude, measurements were collected in dedicated tests by phased array radars in the SSN in the days after each test. This paper will examine the available radar data from each test and compare and contrast the results with model predictions and with the results from the more recent Fengyun ASAT test.

Stansbery, Gene↗
NASA NTRS2009

Fighting Testing ACAT/FRRP: Automatic Collision Avoidance Technology/Fighter Risk Reduction Project

This slide presentation reviews the work of the Flight testing Automatic Collision Avoidance Technology/Fighter Risk Reduction Project (ACAT/FRRP). The goal of this project is to develop common modular architecture for all aircraft, and to enable the transition of technology from research to production as soon as possible to begin to reduce the rate of mishaps. The automated Ground Collision Avoidance System (GCAS) system is designed to prevent collision with the ground, by avionics that project the future trajectory over digital terrain, and request an evasion maneuver at the last instance. The flight controls are capable of automatically performing a recovery. The collision avoidance is described in the presentation. Also included in the presentation is a description of the flight test.

Skoog, Mark A.↗
NASA NTRS2010

Analysis and Consequences of the Iridium 33-Cosmos 2251 Collision

The collision of Iridium 33 and Cosmos 2251, on 10 February 2009, was the first known unintentional hypervelocity collision in space of intact satellites. Iridium 33 was an active commercial telecommunications satellite, while Cosmos 2251 was a derelict communication satellite of the Strela-2M class. The collision occurred at a relative velocity of 11.6 km/s at an altitude of approximately 790 km over the Great Siberian Plain and near the northern apex of Cosmos 2251 s orbit. This paper describes the physical and orbital characteristics of the relevant spacecraft classes and reports upon our analysis of the resulting debris clouds size, mass, area-to-mass ratio, and relative velocity/directionality distributions. We compare these distributions to those predicted by the NASA breakup model and notable recent fragmentation events; in particular, we compare the area-to-mass ratio distribution for each spacecraft to that exhibited by the FY-1C debris cloud for the purpose of assessing the relative contribution of modern aerospace materials to debris clouds resulting from energetic collisions. In addition, we examine the long-term consequences of this event for the low Earth orbit (LEO) environment. Finally, we discuss "lessons learned", which may be incorporated into NASA s environmental models.

Anz-Meador, P. D.↗
NASA NTRS2010

The Kuiper Belt, Exozodiacal Dust, Debris Disks: It's All About Collisions

Debris disks around other stars, like the disks around Fomalhaut, Vega, and Epsilon Eridani, are often described as more massive versions of the Kuiper Belt. But for a long time, it's been hard to test this notion, because grain-grain collisions dominate the grain lifetimes and we lacked the tools to model the effect of collisions on the appearance of the disks. I'll describe a new breakthrough that has allowed us to make 3-D models of collisions in debris disks and exozodiacal clouds for the first time, and I'll show the latest supercomputer simulations of these systems, illustrating the effects of planets and collisions in sculpting these disks. These models will be the key to interpreting debris disk images from HST, Herschel, SOFIA, JWST, and ALMA, as well as understanding the exozodiacal dust backgrounds for direct imaging of exo-Earths.

Kuchner, Marc↗
NASA NTRS2013

Integrated Collision Avoidance System for Air Vehicle

Collision with ground/water/terrain and midair obstacles is one of the common causes of severe aircraft accidents. The various data from the coremicro AHRS/INS/GPS Integration Unit, terrain data base, and object detection sensors are processed to produce collision warning audio/visual messages and collision detection and avoidance of terrain and obstacles through generation of guidance commands in a closed-loop system. The vision sensors provide more information for the Integrated System, such as, terrain recognition and ranging of terrain and obstacles, which plays an important role to the improvement of the Integrated Collision Avoidance System.

Lin, Ching-Fang↗
NASA NTRS2015

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 10kW class lasers directed by 1.5 m 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 planed simulation approach for that effort.

conjunction analysis↗
NASA NTRS2016

VLTI-AMBER Velocity-Resolved Aperture-Synthesis Imaging of Eta Carinae with a Spectral Resolution of 12 000: Studies of the Primary Star Wind and Innermost Wind-Wind Collision Zone

The mass loss from massive stars is not understood well. Eta Carinae is a unique object for studying the massive stellar wind during the luminous blue variable phase. It is also an eccentric binary with a period of 5.54 yr. The nature of both stars is uncertain, although we know from X-ray studies that there is a wind-wind collision whose properties change with orbital phase. Aims. We want to investigate the structure and kinematics of Car's primary star wind and wind-wind collision zone with a high spatial resolution of approx.6 mas (approx.14 au) and high spectral resolution of R = 12 000. Methods. Observations of Car were carried out with the ESO Very Large Telescope Interferometer (VLTI) and the AMBER instrument between approximately five and seven months before the August 2014 periastron passage. Velocity-resolved aperture-synthesis images were reconstructed from the spectrally dispersed interferograms. Interferometric studies can provide information on the binary orbit, the primary wind, and the wind collision. Results. We present velocity-resolved aperture-synthesis images reconstructed in more than 100 di erent spectral channels distributed across the Br(gamma) 2.166 micron emission line. The intensity distribution of the images strongly depends on wavelength. At wavelengths corresponding to radial velocities of approximately -140 to -376 km/s measured relative to line center, the intensity distribution has a fan-shaped structure. At the velocity of -277 km/s, the position angle of the symmetry axis of the fan is 126. The fan-shaped structure extends approximately 8.0 mas (approx.18:8 au) to the southeast and 5.8 mas (approx.13:6 au) to the northwest, measured along the symmetry axis at the 16% intensity contour. The shape of the intensity distributions suggests that the obtained images are the first direct images of the innermost wind-wind collision zone. Therefore, the observations provide velocity-dependent image structures that can be used to test three-dimensional hydrodynamical, radiative transfer models of the massive interacting winds of Eta Car.

Velocity-resolved aperture-synthesis images↗
NASA NTRS2017

Time Dependence of Collision Probabilities During Satellite Conjunctions

The NASA Conjunction Assessment Risk Analysis (CARA) team has recently implemented updated software to calculate the probability of collision (P (sub c)) for Earth-orbiting satellites. The algorithm can employ complex dynamical models for orbital motion, and account for the effects of non-linear trajectories as well as both position and velocity uncertainties. This “3D P (sub c)” method entails computing a 3-dimensional numerical integral for each estimated probability. Our analysis indicates that the 3D method provides several new insights over the traditional “2D P (sub c)” method, even when approximating the orbital motion using the relatively simple Keplerian two-body dynamical model. First, the formulation provides the means to estimate variations in the time derivative of the collision probability, or the probability rate, R (sub c). For close-proximity satellites, such as those orbiting in formations or clusters, R (sub c) variations can show multiple peaks that repeat or blend with one another, providing insight into the ongoing temporal distribution of risk. For single, isolated conjunctions, R (sub c) analysis provides the means to identify and bound the times of peak collision risk. Additionally, analysis of multiple actual archived conjunctions demonstrates that the commonly used “2D P (sub c)” approximation can occasionally provide inaccurate estimates. These include cases in which the 2D method yields negligibly small probabilities (e.g., P (sub c)) is greater than 10 (sup -10)), but the 3D estimates are sufficiently large to prompt increased monitoring or collision mitigation (e.g., P (sub c) is greater than or equal to 10 (sup -5)). Finally, the archive analysis indicates that a relatively efficient calculation can be used to identify which conjunctions will have negligibly small probabilities. This small-P (sub c) screening test can significantly speed the overall risk analysis computation for large numbers of conjunctions.

Hall, Doyle T.↗
NASA NTRSDate not supplied

Risk Assessment of Obstacle Collision for UAVs under off-nominal conditions

Enabling operations of unmanned aerial vehicles (UAVs) in low-altitude airspace, demands the need of robust risk monitoring framework for assessing the safety of airspace, ground-structures and people. As widespread applications emerge, the need of risk assessment becomes increasingly important for UAV flights beyond visual line-of-sight, especially subjected to off-nominal conditions introduced by component failures, degraded controllability or environmental disturbances such as wind gusts in an urban canyon. From a safety perspective, collision with obstacles can be detrimental not only to the vehicle and payload, but also to the structure and people on ground. Although it is safe to assume that approved UAVs would be equipped with collision avoidance systems, risk of collision which can be predicted for a flight trajectory even before the UAV encounters any obstacle is beneficial to resolve contingencies in its decision-making under off-nominal conditions. In this paper, a framework is presented for computing the risk of collision with obstacle based on a UAV's predicted trajectory, proximity to static and dynamic obstacles, sub-system state-of-health and external wind conditions. The conditional probability of trajectory deviation is generated using a Bayesian Belief Network (BBN) based on on-board sensor measurements. Further, a kinematic 3-DOF model is implemented to compute deviation in UAV's trajectory subjected to one case study of off-nominal condition i.e. wind gusts. Finally, the integrated risk factor is demonstrated on real data from experimental flights of an octocopter at NASA Langley Research Center, in presence of simulated obstacles and wind conditions. The proposed approach would enable risk-informed decision making process for timely mitigation of current and future unsafe events.

Portia Banerjee↗
NASA NTRSDate not supplied

Risk Assessment of Obstacle Collision for UAVs under Off-nominal Conditions

Enabling operations of unmanned aerial vehicles (UAVs) in low-altitude airspace demands the need of robust risk monitoring framework for assessing the safety of airspace, ground structures and people. As widespread applications emerge, the need of risk assessment becomes increasingly important for UAV flights beyond visual line-of-sight, especially subjected to off-nominal conditions introduced by component failures, degraded controllability or environmental disturbances such as wind gusts in an urban canyon. From a safety perspective, collision with obstacles can be detrimental not only to the vehicle and payload, but also to the structure and people on ground. Although it is safe to assume that approved UAVs would be equipped with collision avoidance systems, risk of collision which can be predicted for a flight trajectory even before the UAV encounters any obstacle is beneficial to resolve contingencies in its decision-making under off-nominal conditions. In this paper, a framework is presented for computing the risk of collision with obstacle based on a UAV’s predicted trajectory, proximity to static and dynamic obstacles, sub-system state-of-health and external wind conditions. The conditional probability of trajectory deviation is generated using a Bayesian Belief Network (BBN) based on on-board sensor measurements. Further, a kinematic 3-DOF model is implemented to compute deviation in UAV’s trajectory subjected to one case study of off-nominal condition i.e. wind gusts. Finally, the integrated risk factor is demonstrated on real data from experimental flights of an octocopter at NASA Langley Research Center, in presence of simulated obstacles and wind conditions. The proposed approach would enable risk-informed decision making process for timely mitigation of current and future unsafe events.

Bayesian network↗