Results for “Collision” — Page 13

NASA NTRS2007

Cooperative Collision Avoidance Technology Demonstration Data Analysis Report

This report details the National Aeronautics and Space Administration (NASA) Access 5 Project Office Cooperative Collision Avoidance (CCA) Technology Demonstration for unmanned aircraft systems (UAS) conducted from 21 to 28 September 2005. The test platform chosen for the demonstration was the Proteus Optionally Piloted Vehicle operated by Scaled Composites, LLC, flown out of the Mojave Airport, Mojave, CA. A single intruder aircraft, a NASA Gulf stream III, was used during the demonstration to execute a series of near-collision encounter scenarios. Both aircraft were equipped with Traffic Alert and Collision Avoidance System-II (TCAS-II) and Automatic Dependent Surveillance Broadcast (ADS-B) systems. The objective of this demonstration was to collect flight data to support validation efforts for the Access 5 CCA Work Package Performance Simulation and Systems Integration Laboratory (SIL). Correlation of the flight data with results obtained from the performance simulation serves as the basis for the simulation validation. A similar effort uses the flight data to validate the SIL architecture that contains the same sensor hardware that was used during the flight demonstration.

Source record↗

NASA NTRS2008

Relative Velocity as a Metric for Probability of Collision Calculations

Collision risk assessment metrics, such as the probability of collision calculation, are based largely on assumptions about the interaction of two objects during their close approach. Specifically, the approach to probabilistic risk assessment can be performed more easily if the relative trajectories of the two close approach objects are assumed to be linear during the encounter. It is shown in this analysis that one factor in determining linearity is the relative velocity of the two encountering bodies, in that the assumption of linearity breaks down at low relative approach velocities. The first part of this analysis is the determination of the relative velocity threshold below which the assumption of linearity becomes invalid. The second part is a statistical study of conjunction interactions between representative asset spacecraft and the associated debris field environment to determine the likelihood of encountering a low relative velocity close approach. This analysis is performed for both the LEO and GEO orbit regimes. Both parts comment on the resulting effects to collision risk assessment operations.

Frigm, Ryan Clayton↗

NASA NTRS2007

The Photodetachment of Ps ion and Low-Energy e(+) -H Collisions

Two calculations in the area of positron collisions are presented. The first is the calculation of the photodetachment cross section of the positronium negative ion (Ps-) using accurate variational wave functions for both the initial bound-state and the final P continuum state. The second is the calculation of partial wave cross sections for Ps(1s)-formation in ef -H(ls) collisions using the hyperspherical hidden crossing method. Since the S-wave Stiickelberg phase is close to pi, the very small S-wave Ps(1s) formation cross section can be understood in terms of destructive interference. Other examples in positron collisions are given where it is either known or expected that destructive interference is the cause of the small S-wave Ps(1s) formation cross section. In addition, examples are presented of processes in atomic physics where the Stiickelberg phase is a multiple of pi/2.

Ward, S.J.↗

NASA NTRS2007

Convergent Close-Coupling Approach to Electron-Atom Collisions

It was with great pleasure and honour to accept the invitation to make a presentation at the symposium celebrating the life-long work of Aaron Temkin and Richard Drachman. The work of Aaron Temkin was particularly influential on our own during the development of the CCC method for electron-atom collisions. There are a number of key problems that need to be dealt with when developing a general computational approach to such collisions. Traditionally, the electron energy range was subdivided into the low, intermediate, and high energies. At the low energies only a finite number of channels are open and variational or close-coupling techniques could be used to obtain accurate results. At high energies an infinite number of discrete channels and the target continuum are open, but perturbative techniques are able to yield accurate results. However, at the intermediate energies perturbative techniques fail and computational approaches need to be found for treating the infinite number of open channels. In addition, there are also problems associated with the identical nature of electrons and the difficulty of implementing the boundary conditions for ionization processes. The beauty of the Temkin-Poet model of electron-hydrogen scattering is that it simplifies the full computational problem by neglecting any non-zero orbital angular momenta in the partial-wave expansion, without loosing the complexity associated with the above-mentioned problems. The unique nature of the problem allowed for accurate solution leading to benchmark results which could then be used to test the much more general approaches to electron-atom collision problems. The immense value of the Temkin-Poet model is readily summarised by the fact that the initial papers of Temkin and Poet have been collectively cited around 250 times to date and are still being cited in present times. Many of the citations came from our own work during the course of the development of the CCC method, which we now describe.

Bray, Igor↗

NASA NTRS2009

Cumulative Damage in Strength-Dominated Collisions of Rocky Asteroids: Rubble Piles and Brick Piles

Laboratory impact experiments were performed to investigate the conditions that produce large-scale damage in rock targets. Aluminum cylinders (6.3 mm diameter) impacted basalt cylinders (69 mm diameter) at speeds ranging from 0.7 to 2.0 km/s. Diagnostics included measurements of the largest fragment mass, velocities of the largest remnant and large fragments ejected from the periphery of the target, and X-ray computed tomography imaging to inspect some of the impacted targets for internal damage. Significant damage to the target occurred when the kinetic energy per unit target mass exceeded roughly 1/4 of the energy required for catastrophic shattering (where the target is reduced to one-half its original mass). Scaling laws based on a rate-dependent strength were developed that provide a basis for extrapolating the results to larger strength-dominated collisions. The threshold specific energy for widespread damage was found to scale with event size in the same manner as that for catastrophic shattering. Therefore, the factor of four difference between the two thresholds observed in the lab also applies to larger collisions. The scaling laws showed that for a sequence of collisions that are similar in that they produce the same ratio of largest fragment mass to original target mass, the fragment velocities decrease with increasing event size. As a result, rocky asteroids a couple hundred meters in diameter should retain their large ejecta fragments in a jumbled rubble-pile state. For somewhat larger bodies, the ejection velocities are sufficiently low that large fragments are essentially retained in place, possibly forming ordered "brick-pile" structures.

Housen, Kevin↗

NASA NTRS2014

Active Collision Avoidance for Planetary Landers

Present day robotic missions to other planets require precise, a priori knowledge of the terrain to pre-determine a landing spot that is safe. Landing sites can be miles from the mission objective, or, mission objectives may be tailored to suit landing sites. Future robotic exploration missions should be capable of autonomously identifying a safe landing target within a specified target area selected by mission requirements. Such autonomous landing sites must (1) 'see' the surface, (2) identify a target, and (3) land the vehicle. Recent advances in radar technology have resulted in small, lightweight, low power radars that are used for collision avoidance and cruise control systems in automobiles. Such radar systems can be adapted for use as active hazard avoidance systems for planetary landers. The focus of this CIF proposal is to leverage earlier work on collision avoidance systems for MSFC's Mighty Eagle lander and evaluate the use of automotive radar systems for collision avoidance in planetary landers.

Rickman, Doug↗

NASA NTRS2009

Robust Landing Using Time-to-Collision Measurement with Actuator Saturation

This paper considers a landing problem for an MAV that uses only a monocular camera for guidance. Although this sensor cannot measure the absolute distance to the target, by using optical flow algorithms, time-to-collision to the target is obtained. Existing work has applied a simple proportional feedback control to simple dynamics and demonstrated its potential. However, due to the singularity in the time-to-collision measurement around the target, this feedback could require an infinite control action. This paper extends the approach into nonlinear dynamics. In particular, we explicitly consider the saturation of the actuator and include the effect of the aerial drag. It is shown that the convergence to the target is guaranteed from a set of initial conditions, and the boundaries of such initial conditions in the state space are numerically obtained. The paper then introduces parametric uncertainties in the vehicle model and in the time-to-collision measurements. Using an argument similar to the nominal case, the robust convergence to the target is proven, but the region of attraction is shown to shrink due to the existence of uncertainties. The numerical simulation validates these theoretical results.

parametric uncertainty↗

NASA NTRS2019

An Initial Analysis of Automating Conjunction Assessment and Collision Avoidance Planning in Space Traffic Management

We introduce a framework that automates the process of assessing potential satellite conjunctions in space, and generating collision avoidance maneuvers to support mitigation efforts within a novel space traffic management (STM) architecture. A software implementation of the framework was developed in a MATLAB-STK integrated environment, however, the concept and framework is agnostic to the language or environment. The software pulls from existing catalogs of spaceborne objects and ingests user-defined parameters to produce conjunction data, which could potentially aid collision avoidance planning in the STM architecture. The utility of the software in maneuver planning and exploring a performance-based tradespace of actions is demonstrated using three example cases: one-to-one conjunction, one-versus-four conjunctions, and a near head-on collision. The framework also provides a test-bed for the use of application programming interfaces (APIs) to demonstrate machine-to-machine communication between entities in our proposed STM architecture. Results from this software implementation are expected to aid distributed decision-making among various stakeholders, and inform efficient, autonomous, structured but flexible concept of operations within STM.

Space Systems Engineering↗

NASA NTRS2019

Automatic Execution of Collision Avoidance and Return to Course Analysis (D.6.20) Experiment Review

This presentation details the experimental design for an upcoming engineering analysis of a mock version of the Airborne Collision Avoidance System (ACAS), specifically the 'Xu' variant, which is designed for unmanned aircraft platforms. As a component of the Unmanned Aircraft System (UAS) Integration into the National Airspace System (NAS) project, this engineering analysis intends to study aspects of ACAS Xu in two parts. In the first phase of the study, the display and alerting guidance for collision avoidance (CA) resolution advisories (RA) shown to pilots at a ground control station will be manipulated, varying in level of RA transparency and presentation of safe maneuver parameters. The second phase of the engineering analysis will examine pilots' response to increasing levels of automation in the tasks of collision avoidance and return-to-course (RTC).

Sadler, Garrett↗

NASA NTRS2019

An Operational Algorithm for Evaluating Satellite Collision Consequence

Risk is properly considered as the combination of likelihood and consequence; but conjunction assessment has usually limited itself to the consideration of only collision likelihood. When considered from an orbital regime protection perspective, the focus shifts to the question of the amount of debris that a collision might produce (the “consequence”). The present paper presents an operational algorithm for determining the expected amount of debris production should a conjunction result in a collision, and an assessment of the algorithm’s fidelity against a database of characterized objects.

Lechtenberg, Travis↗

NASA NTRS2019

An Operational Algorithm for Evaluating Satellite Collision Consequence

Risk is properly considered as the combination of likelihood and consequence; but conjunction assessment has usually limited itself to the consideration of only collision likelihood. When considered from an orbital regime protection perspective, the focus shifts to the question of the amount of debris that a collision might produce (the “consequence”). The present paper presents an operational algorithm for determining the expected amount of debris production should a conjunction result in a collision, and an assessment of the algorithm’s fidelity against a database of characterized objects.

Lechtenberg, Travis↗

NASA NTRSDate not supplied

3D Representation of UAV-obstacle Collision Risk under off-nominal conditions

Safe operations of autonomous unmanned aerial vehicles (UAVs) in low-altitude airspace with beyond visual line-of-sight (BVLOS) flights demand robust risk monitoring of airspace as well as of people and property on ground. One of the safety critical factors for UAV flights is the risk of collision with static and dynamic obstacles in proximity to its flight path. This paper presents a detailed formulation of risk likelihood of obstacle collision incorporating the effects of off-nominal conditions introduced by component failures, degraded controllability and environmental disturbances such as wind gusts. The deviation in the planned trajectory caused due to wind is computed utilizing a point-mass 3D kinematic simulation model of the vehicle. Likelihood of risk for the flight plan is then analyzed based on generating the probability of collision for each point in the trajectory. The proposed risk factor is demonstrated on real flight data from experimental flights of an octocopter at NASA Langley Research Center in presence of simulated obstacles and wind conditions. Effect of varying wind conditions, distance from obstacles, level of controllability and obstacle measurement noise on the risk factor is demonstrated. The proposed approach enables risk-informed decision making for timely mitigation of current and future unsafe events in autonomous systems.

Portia Banerjee↗

NASA NTRS2022

Perseverance Rover Collision Model for a range of Autonomous Behaviors

The NASA Mars 2020 Perseverance rover landed in Jezero crater on Mars on 18 February 2021. It is a science mission to collect and cache sample cores for possible return to Earth in the future. Robot collision modeling is traditionally used in robotics for hardware safety for manipulation and sampling. The Mars 2020 Rover Collision Model (RCM) optimizes and extends collision checking in innovative ways to provide a range of onboard autonomous capability on a computationally constrained system. It provides an example of the benefit of systems and operations cognizant software design and development of autonomous systems.

Klein, Douglas↗

NASA NTRSDate not supplied

The Viability of See-and-Avoid for Midair Collision Avoidance for UAM

Urban Air Mobility (UAM) is an emerging aviation concept that could supplement today’s ground and air transportation systems. For UAM, it is generally assumed that the private sector will manage separation and not rely on the Federal Aviation Administration air traffic control system. To date, discussions of initial operations focus on using the visual abilities of the pilot to “see and avoid” (SAA) other aircraft. Decades of research on SAA has demonstrated that it is inadequate for reliable detection of aircraft that might pose a collision risk. The literature on multi-object tracking is also reviewed for findings on how well humans can visually track objects. The research shows that humans have limited resources for tracking and that this may be affected by object characteristics and cognitive skills. The conclusion is that SAA is a risky method for avoiding midair collisions. It is recommended that flight deck displays and automated collision avoidance systems be implemented for all UAM aircraft at the outset of their introduction.

urban air mobility↗

NASA NTRSDate not supplied

The Viability of See-and-Avoid for Midair Collision Avoidance for Urban Air Mobility (UAM)

Urban Air Mobility (UAM) is an emerging aviation concept that could supplement today’s ground and air transportation systems. For UAM, it is generally assumed that the private sector will manage separation and not rely on the Federal Aviation Administration air traffic control system. To date, discussions of initial operations focus on using the visual abilities of the pilot to “see and avoid” (SAA) other aircraft. Decades of research on SAA has demonstrated that it is inadequate for reliable detection of aircraft that might pose a collision risk. The literature on multi-object tracking is also reviewed for findings on how well humans can visually track objects. The research shows that humans have limited resources for tracking and that this may be affected by object characteristics and cognitive skills. The conclusion is that SAA is a risky method for avoiding midair collisions. It is recommended that flight deck displays and automated collision avoidance systems be implemented for all UAM aircraft at the outset of their introduction.

urban air mobility↗

NASA NTRSDate not supplied

A Multistep Probability of Collision Computation Algorithm

The two-dimensional probability of collision calculation method is both widely used and computationally efficient. However, Monte Carlo simulations show that this method sometimes fails to provide sufficiently accurate estimates for Earthorbiting satellites. This study presents a multistep algorithm that calculates collision probabilities for all conjunctions, regardless if affected by curvilinear trajectory or time varying covariance dynamics. The algorithm sequentially applies increasingly accurate estimation methods, but only as required for efficiency. Evaluating usage violations for the two-dimensional probability of collision method represents one of the most important steps. Extensive testing demonstrates the efficiency and reliability of the multistep algorithm.

Doyle T. Hall↗

NASA NTRSDate not supplied

Assessing Helicopter Pilots’ Detect and Avoid and Collision Avoidance Performance With ACAS Xr

The latest variant of the Federal Aviation Administration’s Airborne Collision Avoidance System (ACAS X) is being designed for both crewed and uncrewed rotorcraft. Referred to as ACAS Xr, the system joins a suite of other ACAS X variants poised to replace the Traffic Alert and Collision Avoidance System (TCAS II). ACAS Xr is tuned to support current-day helicopter platforms as well as electric Vertical Takeoff and Landing (eVTOL) vehicles that are still under development. Given this flexibility, ACAS Xr may be used by helicopter crews currently in operation or by remotely-operated eVTOL aircraft in the emerging Advanced Air Mobility (AAM) market. To cover the range of potential uses, two distinct configurations are being proposed for ACAS Xr: Collision Avoidance System (CAS) and Detect and Avoid (DAA). Under the CAS configuration, ACAS Xr provides minimal caution-level alerting but issues directive warning-level alerting and guidance. The DAA configuration, by contrast, provides caution-level alerting and guidance, in addition to the warning-level alerting and guidance. The current study was performed as part of the National Aeronautics and Space Administration’s AAM project. Six helicopter pilots were recruited to fly a variety of scripted traffic scenarios in a full-motion, crewed eVTOL simulator. Participants flew 60 encounters over two days, reacting to pre-recorded intruder aircraft that were scripted to fly into the participant’s aircraft from different approach angles, relative altitudes, and during different phases of flight. The pilots flew half of the encounters with the CAS configuration and half with the DAA configuration. Within each block of 30 encounters, pilots experienced 10 conflicts while in cruise, 10 in hover, and 10 while on approach to a heliport. Results showed that pilot response times were consistently under 5 seconds for RAs and under 10 seconds for DAA alerts, when present, during all three phases of flight. Unsurprisingly, the DAA configuration was associated with lower rates of en-route and high-severity losses of DAA well clear compared to the CAS configuration in all phases of flight except for the terminal area. Rates of losses of DAA well clear were found to be substantially higher in the Hover scenario, compared to Cruise. Pilots failed to fully comply with RAs at a rate of 0.10-0.18 in all conditions except for the DAA configuration in the Hover scenario, which was associated with a higher non-compliance rate of 0.4 due to Descend RAs issued at low altitudes. The implications of these results with regards to the ongoing development of ACAS Xr is discussed.

air taxis↗

NASA NTRSDate not supplied

Assessing Helicopter Pilots’ Detect and Avoid and Collision Avoidance Performance with ACAS Xr

The latest variant of the Federal Aviation Administration’s Airborne Collision Avoidance System (ACAS X) is being designed for both crewed and uncrewed rotorcraft. Referred to as ACAS Xr, the system joins a suite of other ACAS X variants poised to replace the Traffic Alert and Collision Avoidance System (TCAS II). ACAS Xr is tuned to support current-day helicopter platforms as well as electric Vertical Takeoff and Landing (eVTOL) vehicles that are still under development. Given this flexibility, ACAS Xr may be used by helicopter crews currently in operation or by remotely-operated eVTOL aircraft in the emerging Advanced Air Mobility (AAM) market. To cover the range of potential uses, two distinct configurations are being proposed for ACAS Xr: Collision Avoidance System (CAS) and Detect and Avoid (DAA). Under the CAS configuration, ACAS Xr provides minimal caution-level alerting but issues directive warning-level alerting and guidance. The DAA configuration, by contrast, provides caution-level alerting and guidance, in addition to the warning-level alerting and guidance. The current study was performed as part of the National Aeronautics and Space Administration’s AAM project. Six helicopter pilots were recruited to fly a variety of scripted traffic scenarios in a full-motion, crewed eVTOL simulator. Participants flew 60 encounters over two days, reacting to pre-recorded intruder aircraft that were scripted to fly into the participant’s aircraft from different approach angles, relative altitudes, and during different phases of flight. The pilots flew half of the encounters with the CAS configuration and half with the DAA configuration. Within each block of 30 encounters, pilots experienced 10 conflicts while in cruise, 10 in hover, and 10 while on approach to a heliport. Results showed that pilot response times were consistently under 5 seconds for RAs and under 10 seconds for DAA alerts, when present, during all three phases of flight. Unsurprisingly, the DAA configuration was associated with lower rates of en-route and high-severity losses of DAA well clear compared to the CAS configuration in all phases of flight except for the terminal area. Rates of losses of DAA well clear were found to be substantially higher in the Hover scenario, compared to Cruise. Pilots failed to fully comply with RAs at a rate of 0.10-0.18 in all conditions except for the DAA configuration in the Hover scenario, which was associated with a higher non-compliance rate of 0.4 due to Descend RAs issued at low altitudes. The implications of these results with regards to the ongoing development of ACAS Xr is discussed.

air taxis↗