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Effects of Aircraft Health on Airspace Safety

This manuscript investigates the effects of aircraft health on the surrounding airspace, and proposes a methodology to understand how different aircraft-level faults (system faults, communication faults, etc.) can adversely affect the safety of the airspace, and qualitatively assess the impact of such faults on airspace safety metrics (such as congestion, controller/pilot workload, etc.). The topic of systems health management deals with continuously monitoring the performance of an engineering system, identifying and detecting the presence of faults, predicting the growth/progression of faults, computing the remaining useful life, and aiding online decision-making for the robust, continued operation of such engineering systems. The topic of real-time airspace modeling and safety analysis deals with defining and computing safety metrics for airspace operations in order to support risk-informed decision-making activities for various airspace entities including pilots, air traffic controllers, airlines, etc. This report presents recent research efforts that focus on combining multiple aspects of the aforementioned topics, and investigates the impact of aircraft-level faults on the airspace safety

Aircraft Health↗

Advanced Interactive Display Formats for Terminal Area Traffic Control

This research project deals with an on-line dynamic method for automated viewing parameter management in perspective displays. Perspective images are optimized such that a human observer will perceive relevant spatial geometrical features with minimal errors. In order to compute the errors at which observers reconstruct spatial features from perspective images, a visual spatial-perception model was formulated. The model was employed as the basis of an optimization scheme aimed at seeking the optimal projection parameter setting. These ideas are implemented in the context of an air traffic control (ATC) application. A concept, referred to as an active display system, was developed. This system uses heuristic rules to identify relevant geometrical features of the three-dimensional air traffic situation. Agile, on-line optimization was achieved by a specially developed and custom-tailored genetic algorithm (GA), which was to deal with the multi-modal characteristics of the objective function and exploit its time-evolving nature.

Grunwald, Arthur J.↗

Advanced Interactive Display Formats for Terminal Area Traffic Control

This research project deals with an on-line dynamic method for automated viewing parameter management in perspective displays. Perspective images are optimized such that a human observer will perceive relevant spatial geometrical features with minimal errors. In order to compute the errors at which observers reconstruct spatial features from perspective images, a visual spatial-perception model was formulated. The model was employed as the basis of an optimization scheme aimed at seeking the optimal projection parameter setting. These ideas are implemented in the context of an air traffic control (ATC) application. A concept, referred to as an active display system, was developed. This system uses heuristic rules to identify relevant geometrical features of the three-dimensional air traffic situation. Agile, on-line optimization was achieved by a specially developed and custom-tailored genetic algorithm (GA), which was to deal with the multi-modal characteristics of the objective function and exploit its time-evolving nature.

Grunwald, Arthur J.↗

NASA Tech Briefs, March 2014

Topics include: Data Fusion for Global Estimation of Forest Characteristics From Sparse Lidar Data; Debris and Ice Mapping Analysis Tool - Database; Data Acquisition and Processing Software - DAPS; Metal-Assisted Fabrication of Biodegradable Porous Silicon Nanostructures; Post-Growth, In Situ Adhesion of Carbon Nanotubes to a Substrate for Robust CNT Cathodes; Integrated PEMFC Flow Field Design for Gravity-Independent Passive Water Removal; Thermal Mechanical Preparation of Glass Spheres; Mechanistic-Based Multiaxial-Stochastic-Strength Model for Transversely-Isotropic Brittle Materials; Methods for Mitigating Space Radiation Effects, Fault Detection and Correction, and Processing Sensor Data; Compact Ka-Band Antenna Feed with Double Circularly Polarized Capability; Dual-Leadframe Transient Liquid Phase Bonded Power Semiconductor Module Assembly and Bonding Process; Quad First Stage Processor: A Four-Channel Digitizer and Digital Beam-Forming Processor; Protective Sleeve for a Pyrotechnic Reefing Line Cutter; Metabolic Heat Regenerated Temperature Swing Adsorption; CubeSat Deployable Log Periodic Dipole Array; Re-entry Vehicle Shape for Enhanced Performance; NanoRacks-Scale MEMS Gas Chromatograph System; Variable Camber Aerodynamic Control Surfaces and Active Wing Shaping Control; Spacecraft Line-of-Sight Stabilization Using LWIR Earth Signature; Technique for Finding Retro-Reflectors in Flash LIDAR Imagery; Novel Hemispherical Dynamic Camera for EVAs; 360 deg Visual Detection and Object Tracking on an Autonomous Surface Vehicle; Simulation of Charge Carrier Mobility in Conducting Polymers; Observational Data Formatter Using CMOR for CMIP5; Propellant Loading Physics Model for Fault Detection Isolation and Recovery; Probabilistic Guidance for Swarms of Autonomous Agents; Reducing Drift in Stereo Visual Odometry; Future Air-Traffic Management Concepts Evaluation Tool; Examination and A Priori Analysis of a Direct Numerical Simulation Database for High-Pressure Turbulent Flows; and Resource-Constrained Application of Support Vector Machines to Imagery.

Source record↗

Report of the workshop on Aviation Safety/Automation Program

As part of NASA's responsibility to encourage and facilitate active exchange of information and ideas among members of the aviation community, an Aviation Safety/Automation workshop was organized and sponsored by the Flight Management Division of NASA Langley Research Center. The one-day workshop was held on October 10, 1989, at the Sheraton Beach Inn and Conference Center in Virginia Beach, Virginia. Participants were invited from industry, government, and universities to discuss critical questions and issues concerning the rapid introduction and utilization of advanced computer-based technology into the flight deck and air traffic controller workstation environments. The workshop was attended by approximately 30 discipline experts, automation and human factors researchers, and research and development managers. The goal of the workshop was to address major issues identified by the NASA Aviation Safety/Automation Program. Here, the results of the workshop are documented. The ideas, thoughts, and concepts were developed by the workshop participants. The findings, however, have been synthesized into a final report primarily by the NASA researchers.

Morello, Samuel A.↗

Stereo Combining NASA Technologies and Partnerships to Transform Current-Day Emergency Response Operations

STEReO brings together several technologies in Unmanned Aircraft Systems (UAS) Traffic Management (UTM), Autonomy, Communications, Human Factors, and Domain Expertise & Tools, aimed at providing scalability and flexibility, as well as operational resiliency to dynamic changes during a disaster event. Some of the concepts STEReO explores are: collaborative tools to ingest remote sensing information and distribute a common mission operating picture, apply ad-hoc communication networks to facilitate timely information sharing and communication of changes, vehicle-to-vehicle and onboard autonomy technologies ensure the safety and resiliency of operations, and apply NASA’s UAS traffic management system (UTM) as a public safety UAS Service Supplier (USS) to access and coordinate use of the airspace by both manned and unmanned operations. The potential benefits of STEReO include: standardized, cross-platform communication means increased interoperability and ease of cooperation/collaboration, increased situation awareness and common operating picture allow for earlier detection and decision making, and scalable to size and complexity of environment, operations, and mission objectives. This presentation gives an overview of the STEReO project and introduces a stakeholder workshop as a three-day activity to solicit input from the community of emergency response operators and related industry representatives.

Mercer, Joey S.↗

Validation of A Simulation Environment for Future Space Traffic Management

This study presents initial results of a newly developed simulation environment intendedto explore and assess future Space Traffic Management (STM) scenarios. The number ofnew Resident Space Objects (RSOs) in near-Earth orbit is expected to increase significantlywith the expected future deployment of a number of large constellations. These futurescenarios involve the addition of many tens of thousands of new RSOs, making the analysisinto their impact on collision risk extend beyond what traditional data-mining of present-dayconjunction data can reliably predict. To address this, a robust simulation environment wasdeveloped that implements a full force-model for orbit propagation, and computes continuousall-on-all conjunction statistics for arbitrarily large catalog sizes and simulation timeframes.Collision avoidance and station-keeping maneuvers can be optionally implemented based onconfigurable user inputs including physical characteristics and spacecraft meta-data (e.g.,commercial/government, owner country, etc.). Constellation build-out and de-orbit scenarioswere also implemented and modeled based on real-data analysis. Validation of the simulationresults was a critical component of the simulation development, and was done using the currentcatalog with comparisons against both public and internal NASA data-sets. The comparisonsdemonstrate that, with the appropriate settings, representative levels of conjunction ratesand probabilities can be obtained, providing confidence that the simulation tool can generatemeaningful outcomes for test scenarios. As an initial demonstration of the tool’s capabilities,year-long simulations with station-keeping were conducted to examine conjunction historiesusing both the current object catalog (5800 active satellites) and a hypothetical 60,000 objectscenario involving five potential large constellations. Output metrics include the number ofconjunction events, estimates of collision consequence (fragmentation), delta-V maneuver costs,and the probability of at least one collision occurring. The results highlight the potential thatthe simulation tool has for incorporating and running performance comparisons between, e.g.,various sets of maneuver guidelines, industry norms, and definitions of risk, with the overallobjective of providing actionable data to STM policy makers. The presentation will providean overview of the simulation development and validation efforts, as well as a discussion ofobservations gathered from the initial simulations performed.

conjunction assessment↗

Profile negotiation: An air/ground automation integration concept for managing arrival traffic

NASA Ames Research Center and NASA Langley Research Center conducted a joint simulation study to evaluate a profile negotiation process (PNP) between a time-based air traffic control ATC system and an airplane equipped with a four dimensional flight management system (4D FMS). Prototype procedures were developed to support the functional implementation of this process. The PNP was designed to provide an arrival trajectory solution that satisfies the separation requirements of ATC while remaining as close as possible to the airplane's preferred trajectory. The Transport Systems Research Vehicle cockpit simulator was linked in real-time to the Center/TRACON Automation System (CTAS) for the experiment. Approximately 30 hours of simulation testing were conducted over a three week period. Active airline pilot crews and active Center controller teams participated as test subjects. Results from the experiment indicate the potential for successful incorporation of airplane preferred arrival trajectories in the CTAS automation environment. Controllers were able to consistently and effectively negotiate nominally conflict-free trajectories with pilots flying a 4D-FMS-equipped airplane. The negotiated trajectories were substantially closer to the airplane's preference than would have otherwise been possible without the PNP. Airplane fuel savings relative to baseline CTAS were achieved in the test scenarios. The datalink procedures and clearances developed for this experiment, while providing the necessary functionality, were found to be operationally unacceptable to the pilots. Additional pilot control and understanding of the proposed airplane-preferred trajectory and a simplified clearance procedure were cited as necessary for operational implementation of the concept. From the controllers' perspective, the main concerns were the ability of the 4D airplane to accurately track the negotiated trajectory and the workload required to support the PNP as implemented in this study.

Williams, David H.↗

Central-Monitor Software Module

One of the software modules of the emergency-vehicle traffic-light-preemption system of the two preceding articles performs numerous functions for the central monitoring subsystem. This module monitors the states of all units (vehicle transponders and intersection controllers): It provides real-time access to the phases of traffic and pedestrian lights, and maps the positions and states of all emergency vehicles. Most of this module is used for installation and configuration of units as they are added to the system. The module logs all activity in the system, thereby providing information that can be analyzed to minimize response times and optimize response strategies. The module can be used from any location within communication range of the system; with proper configuration, it can also be used via the Internet. It can be integrated into call-response centers, where it can be used for alerting emergency vehicles and managing their responses to specific incidents. A variety of utility subprograms provide access to any or all units for purposes of monitoring, testing, and modification. Included are "sniffer" utility subprograms that monitor incoming and outgoing data for accuracy and timeliness, and that quickly and autonomously shut off malfunctioning vehicle or intersection units.

Bachelder, Aaron↗

High Altitude Long Endurance Remotely Operated Aircraft - National Airspace System Integration - Simulation IPT: Detailed Airspace Operations Simulation Plan. Version 1.0

The primary goal of Access 5 is to allow safe, reliable and routine operations of High Altitude-Long Endurance Remotely Operated Aircraft (HALE ROAs) within the National Airspace System (NAS). Step 1 of Access 5 addresses the policies, procedures, technologies and implementation issues of introducing such operations into the NAS above pressure altitude 40,000 ft (Flight Level 400 or FL400). Routine HALE ROA activity within the NAS represents a potentially significant change to the tasks and concerns of NAS users, service providers and other stakeholders. Due to the complexity of the NAS, and the importance of maintaining current high levels of safety in the NAS, any significant changes must be thoroughly evaluated prior to implementation. The Access 5 community has been tasked with performing this detailed evaluation of routine HALE-ROA activities in the NAS, and providing to key NAS stakeholders a set of recommended policies and procedures to achieve this goal. Extensive simulation, in concert with a directed flight demonstration program are intended to provide the required supporting evidence that these recommendations are based on sound methods and offer a clear roadmap to achieving safe, reliable and routine HALE ROA operations in the NAS. Through coordination with NAS service providers and policy makers, and with significant input from HALE-ROA manufacturers, operators and pilots, this document presents the detailed simulation plan for Step 1 of Access 5. A brief background of the Access 5 project will be presented with focus on Steps 1 and 2, concerning HALE-ROA operations above FL400 and FL180 respectively. An overview of project management structure follows with particular emphasis on the role of the Simulation IPT and its relationships to other project entities. This discussion will include a description of work packages assigned to the Simulation IPT, and present the specific goals to be achieved for each simulation work package, along with the associated deliverables necessary to achieve these goals and the needs of other Access 5 IPTs. The simulation environment chosen for this task is then outlined. This section includes a description of the system architecture, a list of the necessary assumptions made by the Simulation IPT, and the roles, responsibilities and interactions of simulation participants. The method of simulation conduct is presented in the next section with particular emphasis on scenario development and applicability to evaluation of Step 1 HALE-ROA operations. Following, data collection and analysis methods are discussed for air traffic specialists and air vehicle control station operators. Lastly, a schedule of Step 1 simulation activities is presented for reference.

Source record↗

Development and Application of an Integrated Approach toward NASA Airspace Systems Research

The National Aeronautics and Space Administration's (NASA) Airspace Systems Program is contributing air traffic management research in support of the 2025 Next Generation Air Transportation System (NextGen). Contributions support research and development needs provided by the interagency Joint Planning and Development Office (JPDO). These needs generally call for integrated technical solutions that improve system-level performance and work effectively across multiple domains and planning time horizons. In response, the Airspace Systems Program is pursuing an integrated research approach and has adapted systems engineering best practices for application in a research environment. Systems engineering methods aim to enable researchers to methodically compare different technical approaches, consider system-level performance, and develop compatible solutions. Systems engineering activities are performed iteratively as the research matures. Products of this approach include a demand and needs analysis, system-level descriptions focusing on NASA research contributions, system assessment and design studies, and common systemlevel metrics, scenarios, and assumptions. Results from the first systems engineering iteration include a preliminary demand and needs analysis; a functional modeling tool; and initial system-level metrics, scenario characteristics, and assumptions. Demand and needs analysis results suggest that several advanced concepts can mitigate demand/capacity imbalances for NextGen, but fall short of enabling three-times current-day capacity at the nation s busiest airports and airspace. Current activities are focusing on standardizing metrics, scenarios, and assumptions, conducting system-level performance assessments of integrated research solutions, and exploring key system design interfaces.

Barhydt, Richard↗

TCL4 UTM (UAS Traffic Management) Nevada 2019 Flight Tests, Airspace Operations Laboratory (AOL) Report

The Unmanned Aircraft Systems (UAS) Traffic Management (UTM) research project has been developing and testing concept ideas for enabling small UAS (sUAS) operations in low altitude airspace (ground to 400 feet). To do this, NASA has organized a series of flight test demonstrations. Technology Capability Level-4 (TCL4) flight tests were conducted at a Nevada, USA test site, during June 2019. The testing resulted in over 300 data collection flights using eight live rotorcraft, 15 simulated vehicles, involving six flight crews and five Unmanned Aerial System (UAS) Service Suppliers (USS). The TCL4 approach was designed to demonstrate five scenarios that set up five diverse sets of UAS events and activities. The Nevada test site focused on three of these scenarios: an incoming weather front, a concert event with an incident requiring an emergency response, and a scenario where multiple vehicles experienced Communication, Navigation, and Surveillance (CNS) issues. The test site created their scenarios to each have three phases and were required to complete three executions of each scenario, for a total of nine missions per Nevada vehicle per scenario. This document presents data collected from participants during the TCL4-Nevada flight test that provides information about how much and how well operators were able to make use of UTM functions and information, with the goal of exploring what the minimum information requirements and/or best practices might be in TCL4 operations. The driving enquiry was: how do UTM tools and features support (human) operators leading to safe and effective conduct of large-scale beyond visual line of sight (BVLOS) sUAS operations in “urban canyon” environments? As with the data collected during previous similar tests (e.g., TCL3, Martin et al., 2019), the quality of the UTM information exchanged, and the meaningfulness and therefore usefulness of this information, were all focal points of the questions asked and the data collected. Data aligned with five human-system attributes to indicate that UTM provided information that contributed to users’ ability to operate safely and effectively within UTM, but that information was not always complete and was sometimes unclear.

UTM↗

Application of system safety to rail transit systems

Management emphasis on system safety in the rapid transit industry includes the granting and use of funds by the Federal Government according to systematic analysis of safety hazards in advance. Likelihood predictions that those hazards will be activated by exposure of the system to a system failure, a human error, external conditions, or combinations of these aspects determine alternatives to the assumption of risk and recommend corrections before the system is operational. Rigorous safety analyses are projected to assure operational safety for prolonged periods under varied maintenance conditions; these analysis encompass station accident possibilities as well as train-person collisions, car equipment and design, traffic control systems, and tunnel design problems.

Thomas DeW. Styles↗

Terminal Sequencing and Spacing (TSS)

The Federal Aviation Administration's (FAA) Next Generation Air Transportation System (or NextGen) is being designed to support the predicted increases in traffic volume and to increase the capacity, efficiency and safety of the National Airspace System (NAS). The Federal Aviation Administration (FAA) identifies Performance-Based Navigation (PBN) as a key enabling capability of NextGen and is actively publishing PBN procedures at major airports throughout the United States. Standard Terminal Arrival Routes (STARs), procedures, and approaches are designed to facilitate fuel-efficient continuous descent operations. However, their use is limited during periods of high traffic demand due to the complexity of merging multiple streams of aircraft to the same airport. As a result, most arrivals in the Terminal Radar Approach Control (TRACON) area continue to be controlled using radar vectoring and step-down descents, resulting in high workload for controllers and diverting aircraft from efficient PBN trajectories. To address this issue, NASA developed the Terminal Sequencing and Spacing (TSS) system, an advanced arrival management technology that combines time-based scheduling and controller-based precision spacing tools. TSS is a ground-based controller automation tool that facilitates sequencing and merging arrivals on Performance-Based Navigation (PBN) routes, especially during highly congested demand periods. The two main components of TSS are: 1) a scheduler that de-conflicts merging arrivals in the terminal area by computing appropriate arrival times to the runway threshold and upstream terminal merge points, and 2) a set of Controller-Managed Spacing (CMS) decision support tools to efficiently assist schedule conformance. Sixteen high-fidelity human-in-the-loop simulations involving more than five hundred hours of evaluation time, were conducted to mature TSS from proof-of-concept design to a fully functional prototype. Results indicate high controller use and acceptability of the CMS tools as well as improved PBN route conformance (Figure 2). The TSS technology was transferred to the FAA in 2014, and it is targeted for deployment to several busy airports in the U.S. starting in 2018. Potential enhancements to TSS using DataComm will also be presented.

controller-managed spacing↗

Considerations in Assuring Safety of Increasingly Autonomous Systems

Recent technological advances have accelerated the development and application of increasingly autonomous (IA) systems in civil and military aviation. IA systems can provide automation of complex mission tasks-ranging across reduced crew operations, air-traffic management, and unmanned, autonomous aircraft-with most applications calling for collaboration and teaming among humans and IA agents. IA systems are expected to provide benefits in terms of safety, reliability, efficiency, affordability, and previously unattainable mission capability. There is also a potential for improving safety by removal of human errors. There are, however, several challenges in the safety assurance of these systems due to the highly adaptive and non-deterministic behavior of these systems, and vulnerabilities due to potential divergence of airplane state awareness between the IA system and humans. These systems must deal with external sensors and actuators, and they must respond in time commensurate with the activities of the system in its environment. One of the main challenges is that safety assurance, currently relying upon authority transfer from an autonomous function to a human to mitigate safety concerns, will need to address their mitigation by automation in a collaborative dynamic context. These challenges have a fundamental, multidimensional impact on the safety assurance methods, system architecture, and V&V capabilities to be employed. The goal of this report is to identify relevant issues to be addressed in these areas, the potential gaps in the current safety assurance techniques, and critical questions that would need to be answered to assure safety of IA systems. We focus on a scenario of reduced crew operation when an IA system is employed which reduces, changes or eliminates a human's role in transition from two-pilot operations.

Alves, Erin E.↗

Security Management and Safeguards Office

The Security Management and Safeguards Office at NASA is here to keep the people working in a safe environment. They also are here to protect the buildings and documents from sabotage, espionage, and theft. During the summer of 2004, I worked with Richard Soppet in Physical Security. While I was working here I helped out with updating the map that we currently use at NASA Glenn Research Center, attended meetings for homeland security, worked with the security guards and the locksmith. The meetings that I attended for homeland security talked about how to protect ourselves before something happened, they told us to always be on the guard and look for anything suspicious, and the different ways that terrorist groups operate. When I was with the security guards I was taught how to check someone into the base, showed how to use a radar gun, observed a security guard make a traffic stop for training and was with them while they patrolled NASA Glenn Research Center to make sure things were running smooth and no one was in danger. When I was with the lock smith I was taught how to make keys and locks for the employees here at NASA. The lock smith also showed me that he had inventory cabinets of files that show how many keys were out to people and who currently has access to the rooms that they keys were made for. I also helped out the open house at NASA Glenn Research Center. I helped out by showing the Army Reserves, and Brook Park's SWAT team where all the main events were going to take place a week before the open house was going to begin. Then during the open house I helped out by making sure people had there IDS, checked through there bags, and handed out a map to them that showed where the different activities were going to take place. So the main job here at NASA Glenn Research Center for the Security Management and Safeguards Office is to make sure that nothing is stolen, sabotaged, and espionaged. Also most importantly make sure all the employees here at NASA are in a safe environment.

Bewley, Nathaniel M.↗

An Experimental System for Strategic Flight Path Management in Advanced Air Mobility

In the concept envisioned for Urban Air Mobility (UAM) operations, fleets of electric vertical takeoff and landing (eVTOL) vehicles would operate between vertiports distributed within a densely populated area. These operations would be largely independent from the existing air traffic control system and would place the responsibility for flight planning and aircraft separation on fleet operators. The fourth major level on the UAM Maturity Level scale, UML-4, relies on “collaborative and responsible” automation to enable operations in non-visual conditions with medium traffic density (hundreds of aircraft in one metropolitan region) and medium complexity. This level of service places many requirements on automation systems to assist the operators of these aircraft. NASA has developed the Autonomous Operations Planner (AOP), a reference prototype Flight Path Management automation system, and has modified AOP to support research of anticipated UML-4 operations. AOP creates a four-dimensional flight plan conforming to the constraints of these operations, evaluates and modifies the flight plan during flight as conditions and constraints evolve, and coordinates the flight plan with other airspace users and with service providers. This version of AOP has been integrated into the Sikorsky Autonomy Research Aircraft and used in a flight test activity. In this paper we discuss anticipated characteristics of UAM operations, modifications that were made to AOP to adapt to that environment or to support the flight test, and observations of software and aircraft performance during the flight test. The aircraft achieved four-dimensional conformance with the flight plan and AOP provided adequate planning in almost all cases. We discuss improvements that could be made to AOP to address deficiencies that were observed.

Autonomous Operations Planner↗

An Experimental System for Strategic Flight Path Management in Advanced Air Mobility

In the concept envisioned for Urban Air Mobility (UAM) operations, fleets of electric vertical takeoff and landing (eVTOL) vehicles would operate between vertiports distributed within a densely populated area. These operations would be largely independent from the existing air traffic control system and would place the responsibility for flight planning and aircraft separation on fleet operators. The fourth major level on the UAM Maturity Level scale, UML-4, relies on “collaborative and responsible” automation to enable operations in non-visual conditions with medium traffic density (hundreds of aircraft in one metropolitan region) and medium complexity. This level of service places many requirements on automation systems to assist the operators of these aircraft. NASA has developed the Autonomous Operations Planner (AOP), a reference prototype Flight Path Management automation system, and has modified AOP to support research of anticipated UML-4 operations. AOP creates a four-dimensional flight plan conforming to the constraints of these operations, evaluates and modifies the flight plan during flight as conditions and constraints evolve, and coordinates the flight plan with other airspace users and with service providers. This version of AOP has been integrated into the Sikorsky Autonomy Research Aircraft and used in a flight test activity. In this paper we discuss anticipated characteristics of UAM operations, modifications that were made to AOP to adapt to that environment or to support the flight test, and observations of software and aircraft performance during the flight test. The aircraft achieved four-dimensional conformance with the flight plan and AOP provided adequate planning in almost all cases. We discuss improvements that could be made to AOP to address deficiencies that were observed.

Autonomous Operations Planner↗