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NASA NTRS2004

Hand-Eye Calibration of Robonaut

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates.

Nickels, Kevin↗
NASA NTRS2010

Dynamic Visual Acuity: a Functionally Relevant Research Tool

Coordinated movements between the eyes and head are required to maintain a stable retinal image during head and body motion. The vestibulo-ocular reflex (VOR) plays a significant role in this gaze control system that functions well for most daily activities. However, certain environmental conditions or interruptions in normal VOR function can lead to inadequate ocular compensation, resulting in oscillopsia, or blurred vision. It is therefore possible to use acuity to determine when the environmental conditions, VOR function, or the combination of the two is not conductive for maintaining clear vision. Over several years we have designed and tested several tests of dynamic visual acuity (DVA). Early tests used the difference between standing and walking acuity to assess decrements in the gaze stabilization system after spaceflight. Supporting ground-based studies measured the responses from patients with bilateral vestibular dysfunction and explored the effects of visual target viewing distance and gait cycle events on walking acuity. Results from these studies show that DVA is affected by spaceflight, is degraded in patients with vestibular dysfunction, changes with target distance, and is not consistent across the gait cycle. We have recently expanded our research to include studies in which seated subjects are translated or rotated passively. Preliminary results from this work indicate that gaze stabilization ability may differ between similar active and passive conditions, may change with age, and can be affected by the location of the visual target with respect to the axis of motion. Use of DVA as a diagnostic tool is becoming more popular but the functional nature of the acuity outcome measure also makes it ideal for identifying conditions that could lead to degraded vision. By doing so, steps can be taken to alter the problematic environments to improve the man-machine interface and optimize performance.

Peters, Brian T.↗
NASA NTRS2010

Multi-Stage System for Automatic Target Recognition

A multi-stage automated target recognition (ATR) system has been designed to perform computer vision tasks with adequate proficiency in mimicking human vision. The system is able to detect, identify, and track targets of interest. Potential regions of interest (ROIs) are first identified by the detection stage using an Optimum Trade-off Maximum Average Correlation Height (OT-MACH) filter combined with a wavelet transform. False positives are then eliminated by the verification stage using feature extraction methods in conjunction with neural networks. Feature extraction transforms the ROIs using filtering and binning algorithms to create feature vectors. A feedforward back-propagation neural network (NN) is then trained to classify each feature vector and to remove false positives. The system parameter optimizations process has been developed to adapt to various targets and datasets. The objective was to design an efficient computer vision system that can learn to detect multiple targets in large images with unknown backgrounds. Because the target size is small relative to the image size in this problem, there are many regions of the image that could potentially contain the target. A cursory analysis of every region can be computationally efficient, but may yield too many false positives. On the other hand, a detailed analysis of every region can yield better results, but may be computationally inefficient. The multi-stage ATR system was designed to achieve an optimal balance between accuracy and computational efficiency by incorporating both models. The detection stage first identifies potential ROIs where the target may be present by performing a fast Fourier domain OT-MACH filter-based correlation. Because threshold for this stage is chosen with the goal of detecting all true positives, a number of false positives are also detected as ROIs. The verification stage then transforms the regions of interest into feature space, and eliminates false positives using an artificial neural network classifier. The multi-stage system allows tuning the detection sensitivity and the identification specificity individually in each stage. It is easier to achieve optimized ATR operation based on its specific goal. The test results show that the system was successful in substantially reducing the false positive rate when tested on a sonar and video image datasets.

Chao, Tien-Hsin↗
NASA NTRS2005

Jet Propulsion Laboratory: Annual Report 2004

Once or twice in an age, a year comes along that the historians proclaim as an Annus Mirabilis - a year of wonders. For the Jet Propulsion Laboratory, 2004 was just that sort of time. From beginning to end, it was a nonstop experience of wondrous events in space. Imagine that two robot rovers embark on cross-country rambles across Mars, scrutinizing rocks for signs of past water on the now-arid world. A flagship spacecraft brakes into orbit at Saturn to begin longterm surveillance of the ringed world, preparing to drop a sophisticated probe to the surface of its haze-shrouded largest moon. Another craft makes the closest-ever pass by the nucleus of a comet, collecting sample particles as it goes. Two new space telescopes peer into the depths of the universe far beyond our solar system, viewing stars, nebulas and galaxies in invisible light beyond the spectrum our eyes can see. A pair of instruments is lofted on a NASA Earth-orbiting satellite to monitor air quality and the protective layer of ozone blanketing our home planet. A small probe brings samples of the solar wind to Earth for in-depth study. While JPL was absorbed with all of these ventures on other worlds, NASA and the White House unveiled an ambitious new plan of space exploration. The Vision for Space Exploration announced in January foresees a program of robotic and astronaut missions leading to a human return to the Moon by 2020, and eventual crewed expeditions to Mars. The vision also calls for more robotic missions to the moons of the outer planets; spaceborne observatories that will search for Earth-like planets around other stars and explore the formation and evolution of the universe; and continued study of our home planet. In order to accomplish all of this, NASA must perfect many as-yet-uninvented technologies and space transportation capabilities. JPL has a great deal to bring to this vision. Robotic exploration of Mars will lead the way for missions that will carry women and men to the red planet. Our engineers and scientists are formulating spacecraft that could use nuclear power to enable exploration missions of the future. And even now we are designing formations of space telescopes that will capture family portraits of the planets around neighboring stars. Those are only some of the ways that the Laboratory is contributing to NASA's broader goals. During 2004, JPL made a distinctive contribution to agencywide initiatives in areas such as safety, NASA transformation, the agency's Internet portal and NASA's Explorer Schools programs. Years like 2004 pose a special challenge for us. It would be easy to say that this was a once-in-a-decade high point of mission activities, but I believe that this would miss an opportunity. We are fortunate to have many space projects in the works that have the promise of being just as exhilarating as the great mission successes that we celebrated this year. The challenge and opportunity for us now is to make every year like this one.

National Aeronautics and Space Administration (NAS↗
NASA NTRS2004

Compact Microscope Imaging System with Intelligent Controls

The figure presents selected views of a compact microscope imaging system (CMIS) that includes a miniature video microscope, a Cartesian robot (a computer- controlled three-dimensional translation stage), and machine-vision and control subsystems. The CMIS was built from commercial off-the-shelf instrumentation, computer hardware and software, and custom machine-vision software. The machine-vision and control subsystems include adaptive neural networks that afford a measure of artificial intelligence. The CMIS can perform several automated tasks with accuracy and repeatability . tasks that, heretofore, have required the full attention of human technicians using relatively bulky conventional microscopes. In addition, the automation and control capabilities of the system inherently include a capability for remote control. Unlike human technicians, the CMIS is not at risk of becoming fatigued or distracted: theoretically, it can perform continuously at the level of the best human technicians. In its capabilities for remote control and for relieving human technicians of tedious routine tasks, the CMIS is expected to be especially useful in biomedical research, materials science, inspection of parts on industrial production lines, and space science. The CMIS can automatically focus on and scan a microscope sample, find areas of interest, record the resulting images, and analyze images from multiple samples simultaneously. Automatic focusing is an iterative process: The translation stage is used to move the microscope along its optical axis in a succession of coarse, medium, and fine steps. A fast Fourier transform (FFT) of the image is computed at each step, and the FFT is analyzed for its spatial-frequency content. The microscope position that results in the greatest dispersal of FFT content toward high spatial frequencies (indicating that the image shows the greatest amount of detail) is deemed to be the focal position.

McDowell, Mark↗
NASA NTRS2011

Comparison of Ocular Outcomes in Two 14-Day Bed Rest Studies

Reports of astronauts visual changes raised concern about ocular health during long-duration spaceflight. Some of these findings included hyperopic shifts, choroidal folds, optic disc edema, retinal nerve fiber layer (RNFL) thickening, and cotton wool spots. While the etiology remains unknown, hypotheses speculate that hypertension in the brain caused by cephalad fluid shifts during spaceflight is a possible mechanism for these ocular changes. Head-down tilt (HDT) bed rest is a spaceflight analog that induces cephalad fluid shifts. In addition, previous studies of the HDT position demonstrated body fluid shifts associated with changes in intraocular pressure (IOP). For these reasons, vision monitoring of HDT bed rest subjects was implemented for NASA bed rest studies. Subjects selected for these studies were healthy adults (14 males and 5 females). Average age was 37.5 plus or minus 9.1 years, weight was 77.4 plus or minus 11.3 Kg, and height was 173.4 plus or minus 7.2 14 cm. Controlled conditions followed for all NASA bed rest studies were implemented. These conditions included factors such as eating a standardized diet, maintaining a strict sleep wake cycle, and remaining in bed for 24 hours each day. In one study, subjects maintained a horizontal (0 degree) position while in bed and were exercised six days per week with an integrated resistance and aerobic training (iRAT) program. In the other study, subjects were placed at 6 degrees HDT while in bed and did not engage in exercise. All subjects underwent pre- and post bed rest vision testing. While the battery of vision tests for each study was not identical, measures common to both studies will be presented. These measures included IOP and measures that provided an indication of optic disc swelling as derived from optical coherence tomography (OCT) testing: average retinal nerve fiber layer (RNFL) thickness (millimeters), disc area (square millimeters), rim area (square millimters), and average cup to disc (C/D) ratio. For all measures, there was no significant difference between subject groups for pre-bed rest testing. Post bed rest values also remained similar between groups. Comparison of pre- to post bed rest testing within each group did not demonstrate any statistical differences. These preliminary results from 14-day bed rest studies suggest that the combination of exercise and horizontal bed rest as compared to 6 degrees HDT bed rest did not produce differences in the ocular response with regard to IOP and optic disc parameters. The ocular measures reported here only included pre- and post bed rest time points. Further investigation is needed to examine both the acute response and long term adaptation of structural and functional ocular parameters in the bed rest platform and determine its usefulness for studying spaceflight phenomena. From a clinical perspective, the ability to study ocular responses in the controlled environment of the bed rest platform can provide valuable information for the care of patients restricted to bed rest.

Cromwell, R. L.↗
NASA NTRS2012

Comparison of Ocular Outcomes in Two 14-Day Bed Rest Studies

Reports of astronauts' visual changes have raised concern about ocular health during long-duration spaceflight. Some of these findings include globe flattening with hyperopic shifts, choroidal folds, optic disc edema, retinal nerve fiber layer (RNFL) thickening, and cotton wool spots. While the etiology remains unknown, it is hypothesized that, in predisposed individuals, hypertension in the brain may follow cephalad fluid shifts during spaceflight. This possible mechanism of ocular changes may also apply to analogous cases of idiopathic intracranial hypertension (IIH) or pseudotumor cerebri on Earth patients. Head-down t ilt (HDT) bed rest is a spaceflight analog that induces cephalad fluid shifts. Previous studies of the HDT position demonstrated body fluid shifts associated with changes in intraocular pressure (IOP) but the conditions of bed rest varied among experiments, making it difficult to compare data and draw conclusions. For these reasons, vision evaluation of bed rest subjects was implemented for NASA bed rest studies since 2010, in an attempt to monitor vision health in subjects subjected to bed rest. Vision monitoring is thus currently performed in all NASA-conducted bed rest campaigns

Cromwell, Ronita L.↗
NASA NTRS2012

NASA Human Health and Performance Strategy

In May 2007, what was then the Space Life Sciences Directorate, issued the 2007 Space Life Sciences Strategy for Human Space Exploration. In January 2012, leadership and key directorate personnel were once again brought together to assess the current and expected future environment against its 2007 Strategy and the Agency and Johnson Space Center goals and strategies. The result was a refined vision and mission, and revised goals, objectives, and strategies. One of the first changes implemented was to rename the directorate from Space Life Sciences to Human Health and Performance to better reflect our vision and mission. The most significant change in the directorate from 2007 to the present is the integration of the Human Research Program and Crew Health and Safety activities. Subsequently, the Human Health and Performance Directorate underwent a reorganization to achieve enhanced integration of research and development with operations to better support human spaceflight and International Space Station utilization. These changes also enable a more effective and efficient approach to human system risk mitigation. Since 2007, we have also made significant advances in external collaboration and implementation of new business models within the directorate and the Agency, and through two newly established virtual centers, the NASA Human Health and Performance Center and the Center of Excellence for Collaborative Innovation. Our 2012 Strategy builds upon these successes to address the Agency s increased emphasis on societal relevance and being a leader in research and development and innovative business and communications practices. The 2012 Human Health and Performance Vision is to lead the world in human health and performance innovations for life in space and on Earth. Our mission is to enable optimization of human health and performance throughout all phases of spaceflight. All HHPD functions are ultimately aimed at achieving this mission. Our activities enable mission success, optimizing human health and productivity in space before, during, and after the actual spaceflight experience of our crews, and include support for ground-based functions. Many of our spaceflight innovations also provide solutions for terrestrial challenges, thereby enhancing life on Earth. Our strategic goals are aimed at leading human exploration and ISS utilization, leading human health and performance internationally, excelling in management and advancement of innovations in health and human system integration, and expanding relevance to life on Earth and creating enduring support and enthusiasm for space exploration.

Davis, Jeffrey R.↗
NASA NTRS2012

Wernher von Braun: Reflections on His Contributions to Space Exploration

In 1950, Dr. Wernher von Braun and approximately 100 of his team members came to Huntsville, Alabama, to begin work with the Army on what would later become America's historic space program. He would later serve as the first director of the Marshall Space Flight Center and led the development of the Saturn V launch vehicle that launched seven crewed American mission to the moon, as well as America s first space station, Skylab. Von Braun is best known for his team s technical achievements. He realized his dream of exploring outer space by helping place humans on the moon. His engineering and managerial talent during the Apollo era had contributed to a technological revolution. He was by all accounts a good engineer, but he was only one among many. What set Von Braun apart were his charisma, his vision, and his leadership skills. He inspired loyalty and dedication in the people around him. He understood the importance of communicating his vision to his team, to political and business leaders and the public. Today, the Marshall Center continues his vision by pursuing engineering and scientific projects that will continue to open space to exploration. This presentation will discuss Von Braun's impact on Huntsville, the Marshall Center, the nation and the world and look at his contributions in context of where world space exploration is today.

Goldman, Arthur E.↗
NASA NTRS2013

Towards a Decision Support System for Space Flight Operations

The Mission Operations Directorate (MOD) at the Johnson Space Center (JSC) has put in place a Model Based Systems Engineering (MBSE) technological framework for the development and execution of the Flight Production Process (FPP). This framework has provided much added value and return on investment to date. This paper describes a vision for a model based Decision Support System (DSS) for the development and execution of the FPP and its design and development process. The envisioned system extends the existing MBSE methodology and technological framework which is currently in use. The MBSE technological framework currently in place enables the systematic collection and integration of data required for building an FPP model for a diverse set of missions. This framework includes the technology, people and processes required for rapid development of architectural artifacts. It is used to build a feasible FPP model for the first flight of spacecraft and for recurrent flights throughout the life of the program. This model greatly enhances our ability to effectively engage with a new customer. It provides a preliminary work breakdown structure, data flow information and a master schedule based on its existing knowledge base. These artifacts are then refined and iterated upon with the customer for the development of a robust end-to-end, high-level integrated master schedule and its associated dependencies. The vision is to enhance this framework to enable its application for uncertainty management, decision support and optimization of the design and execution of the FPP by the program. Furthermore, this enhanced framework will enable the agile response and redesign of the FPP based on observed system behavior. The discrepancy of the anticipated system behavior and the observed behavior may be due to the processing of tasks internally, or due to external factors such as changes in program requirements or conditions associated with other organizations that are outside of MOD. The paper provides a roadmap for the three increments of this vision. These increments include (1) hardware and software system components and interfaces with the NASA ground system, (2) uncertainty management and (3) re-planning and automated execution. Each of these increments provide value independently; but some may also enable building of a subsequent increment.

Meshkat, Leila↗
NASA NTRS2012

NASA Human Health and Performance Strategy

In May 2007, what was then the Space Life Sciences Directorate, issued the 2007 Space Life Sciences Strategy for Human Space Exploration. In January 2012, leadership and key directorate personnel were once again brought together to assess the current and expected future environment against its 2007 Strategy and the Agency and Johnson Space Center goals and strategies. The result was a refined vision and mission, and revised goals, objectives, and strategies. One of the first changes implemented was to rename the directorate from Space Life Sciences to Human Health and Performance to better reflect our vision and mission. The most significant change in the directorate from 2007 to the present is the integration of the Human Research Program and Crew Health and Safety activities. Subsequently, the Human Health and Performance Directorate underwent a reorganization to achieve enhanced integration of research and development with operations to better support human spaceflight and International Space Station utilization. These changes also enable a more effective and efficient approach to human system risk mitigation. Since 2007, we have also made significant advances in external collaboration and implementation of new business models within the directorate and the Agency, and through two newly established virtual centers, the NASA Human Health and Performance Center and the Center of Excellence for Collaborative Innovation. Our 2012 Strategy builds upon these successes to address the Agency's increased emphasis on societal relevance and being a leader in research and development and innovative business and communications practices. The 2012 Human Health and Performance Vision is to lead the world in human health and performance innovations for life in space and on Earth. Our mission is to enable optimization of human health and performance throughout all phases of spaceflight. All HH&P functions are ultimately aimed at achieving this mission. Our activities enable mission success, optimizing human health and productivity in space before, during, and after the actual spaceflight experience of our crews, and include support for ground-­‐ based functions. Many of our spaceflight innovations also provide solutions for terrestrial challenges, thereby enhancing life on Earth. Our strategic goals are aimed at leading human exploration and ISS utilization, leading human health and performance internationally, excelling in management and advancement of innovations in health and human system integration, and expanding relevance to life on Earth and creating enduring support and enthusiasm for space exploration.

Davis, Jeffrey R.↗
NASA NTRS2015

Anomalous Cases of Astronaut Helmet Detection

An astronaut's helmet is an invariant, rigid image element that is well suited for identification and tracking using current machine vision technology. Future space exploration will benefit from the development of astronaut detection software for search and rescue missions based on EVA helmet identification. However, helmets are solid white, except for metal brackets to attach accessories such as supplementary lights. We compared the performance of a widely used machine vision pipeline on a standard-issue NASA helmet with and without affixed experimental feature-rich patterns. Performance on the patterned helmet was far more robust. We found that four different feature-rich patterns are sufficient to identify a helmet and determine orientation as it is rotated about the yaw, pitch, and roll axes. During helmet rotation the field of view changes to frames containing parts of two or more feature-rich patterns. We took reference images in these locations to fill in detection gaps. These multiple feature-rich patterns references added substantial benefit to detection, however, they generated the majority of the anomalous cases. In these few instances, our algorithm keys in on one feature-rich pattern of the multiple feature-rich pattern reference and makes an incorrect prediction of the location of the other feature-rich patterns. We describe and make recommendations on ways to mitigate anomalous cases in which detection of one or more feature-rich patterns fails. While the number of cases is only a small percentage of the tested helmet orientations, they illustrate important design considerations for future spacesuits. In addition to our four successful feature-rich patterns, we present unsuccessful patterns and discuss the cause of their poor performance from a machine vision perspective. Future helmets designed with these considerations will enable automated astronaut detection and thereby enhance mission operations and extraterrestrial search and rescue.

Dolph, Chester↗
NASA NTRS2016

Risk of Visual Impairment and Intracranial Hypertension After Space Flight: Evaluation of the Role of Polymorphism of Enzymes Involved in One-Carbon Metabolism

Data from the Nutritional Status Assessment protocol provided biochemical evidence that the one-carbon metabolic pathway may be altered in individuals experiencing vision-related issues during and after space flight (1, 2). Briefly, serum concentrations of homocysteine, cystathionine, 2-methylcitric acid, and methylmalonic acid were significantly (P<0.001) higher (25-45%) in astronauts with ophthalmic changes than in those without such changes (1). These differences existed before, during, and after flight. Serum folate was lower (P<0.01) during flight in individuals with ophthalmic changes. Preflight serum concentrations of cystathionine and 2-methylcitric acid, and mean in-flight serum folate, were significantly (P<0.05) correlated with postflight changes in refraction (1). A follow-up study was conducted to evaluate a small number of known polymorphisms of enzymes in the one-carbon pathway, and to evaluate how these relate to vision and other medical aspects of the eye. Specifically, we investigated 5 polymorphisms in MTRR, MTHFR, SHMT, and CBS genes and their association with ophthalmic changes after flight in 49 astronauts. The number of G alleles of MTRR 66 and C alleles of SHMT1 1420 both contributed to the odds of visual disturbances (3). Block regression showed that B-vitamin status at landing and genetics were significant predictors for many of the ophthalmic outcomes studied (3). In conclusion, we document an association between MTRR 66 and SHMT1 1420 polymorphisms and space flightinduced vision changes. These data document that individuals with an altered 1-carbon metabolic pathway may be predisposed to anatomic and/or physiologic changes that render them susceptible to ophthalmic damage during space flight.

Smith, S. M.↗
NASA NTRS2018

Convergent Aeronautics Solutions Project

NASA is committed to transforming our aviation system to best meet demands and opportunities of the future. With a vision of safe, efficient, flexible, and environmentally sustainable air transportation, the NASA Aeronautics Research Mission Directorate is conducting research and development to address future needs of the aviation community, the Nation, and the world. While our NASA Aeronautics vision and strategy reaches into the next 25 years and beyond, we recognize that our vision and strategy must be responsive to new discoveries and emerging markets. For this reason, we are empowering our research community to redefine the future of aviation by dreaming up convergent/transformative ideas and studying if those ideas are possible. By modeling the new NASA Aeronautics' Convergent Aeronautics Solutions (CAS) Project after the venture capital community, we created opportunities for teams of intrapreneurs to mature their ideas into concepts through rapid feasibility studies. The CAS Project expects teams to consider the complexities and potential benefits of multi-disciplinary solutions and to leverage technology advances from outside the field of aeronautics. We also expect teams to explore their concepts in a rapid, iterative manner that allows them to learn and adjust their research approach. Within a year or two, teams are responsible for reporting on the feasibility of their concept. The findings inform NASA Aeronautics strategic planning and further investment. This presentation will give an overview of CAS.

Transformative↗
NASA NTRS2019

The TASAR Project: Launching Aviation on an Optimized Route Toward Aircraft Autonomy

The Traffic Aware Strategic Aircrew Request (TASAR) concept applies onboard automation for the purpose of advising the pilot of route modifications that would be beneficial to the flight. Leveraging onboard computing platforms with connectivity to avionics and diverse data sources on and off the aircraft, TASAR introduces a new, powerful capability for in-flight trajectory management to the cockpit and its flight crew that is anticipated to induce a significant culture change in airspace operations. Flight crews empowered by TASAR and its derivative technologies could transform from today’s flight plan followers to proactive trajectory managers, taking an initial critical step towards increasing autonomy in the airspace system. TASAR was developed as a catalyst for operational autonomy, a future vision where the responsibilities and authorities of trajectory management reside with the aircraft operator and are distributed among participating aircraft, thus fulfilling a vision dating back decades and enabling a fully scalable airspace system. This NASA Technical Paper maps TASAR to its foundational vision and traces its research and development from initial concept generation to an operational evaluation by a U.S. airline in revenue service, the final stage before technology transfer and commercialization.

Wing, David J.↗
NASA NTRSDate not supplied

An Initial Concept for Intermediate-State, Passenger-Carrying Urban Air Mobility Operations

This paper describes a general “vision” concept of operations (ConOps) for intermediate state, passenger-carrying urban air mobility (UAM) missions that has been developed jointly by NASA and Deloitte with input from stakeholders in the UAM ecosystem. This vision ConOps provides a broad overview of some of the high-level requirements for realizing the simultaneous operation of hundreds of aircraft over a single metropolitan area in a wide range of weather conditions as conceptualized by many visionaries at the time of its publication. The concepts contained in this vision ConOps are intended to provide a starting point for further discussions and investigations into how UAM operations can be best enabled. Consequently, we also describe some of the areas where additional research is required before a detailed baseline ConOps can be finalized.

urban air mobility↗
NASA NTRSDate not supplied

CFD2030 Grand Challenge: CFD-in-the-Loop Monte Carlo Simulation for Space Vehicle Design

Space vehicle design and certification differs widely from aircraft design relying more on probabilistic approaches than deterministic. Monte Carlo simulation plays an important role in the probabilistic design of space vehicles to ensure robust and reliable operation. Today, Monte Carlo flight simulation requires 1000’s of trajectory simulations that use databases to provide aerosciences models. These databases can be extremely expensive and time consuming to develop. Replacing these databases with unsteady computational fluid dynamics directly in the simulation loop has potential to significantly reduce the time required to analyze space vehicle concepts, improve simulation accuracy, and reduce the cost of space vehicle development. The CFD Vision 2030 Study outlined gaps and roadblocks to meeting the vision described in the study. The geometric, physical, and computational challenges associated with CFD-in-the-loop Monte Carlo simulation for space vehicle design are substantial and serve as an excellent grand challenge to advance the CFD 2030 vision.

CFD2030↗
NASA NTRSDate not supplied

Monocular Ranging for Small Unmanned Aerial Systems in the Far-Field

Recent proliferation of small Unmanned Aerial Systems (sUAS) applications requires onboard collision avoidance systems to mitigate the risk of collision with non-cooperative aircraft and manned aircraft, which may not see sUAS in time to perform an avoidance maneuver. An attractive avenue for onboard collision avoidance is the utilization of machine vision cameras due to their low size, weight and power (SWaP) requirements. In this paper, we characterize the range performance of a machine vision system developed in-house and mounted onto an sUAS. The technique was designed to estimate the performance of a sense-and-avoid system to ensure that the sensing components meet the well-clear requirements for the chosen platform and avoidance strategy. Experimental flight-test data was acquired from test-flights flown along multiple collision geometries for two intruders: a general Aviation (GA) aircraft and a fixed-wing sUAS. The ownship and both intruders were instrumented with inertial navigation systems (INS) recording position and attitude information. The range at first detection, 𝑹𝟎, was extracted from in-flight imagery of head-on collision course geometry synchronized with INS data from both aircraft and ground-truth values extracted from the raw imagery. This initial detection distance, 𝑹𝟎, scales with atmospheric attenuation. Therefore, under clear sky conditions, the derived 𝑹𝟎 value represents the upper bound on the detection range achievable by the test configuration of the detector. Results indicate that the maximum initial detection distance for a 4k resolution action camera fitted with a 41º Field of View (FOV) lens is 2.763 ± 0.037 km for a GA aircraft and 0.881 ± 0.061 km for a fixed-wing sUAS, respectively. The in results this study suggest that a vision-based detect and track system may be analyzed using the sensor characterization and contextualized within aircraft well-clear volumes.

Chester V. Dolph↗