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Feasibility Study of Distributed Decision-Making on the Edge for Urban Air Mobility

The Concept of Operations for Urban Air Mobility (UAM) put forward by FAA, NASA, and several industry stakeholders acknowledges the diversity and complexity in UAM operations and, thereby, envisions a federated architecture for UAM management. In this architecture, the decision-making is distributed to a set of service providers who collectively manage the shared airspace usage by different stakeholders. This notionally brings autonomy closer to the UAM businesses and encourages to explore the feasibility of decision making on the very edge, which is the topic of the presented research. This paper reports research conducted on the hypothesis based on which the residual compute capability onboard smart unmanned aerial systems (UASs) is utilized to build situational awareness and resolve conflicts by passive and active coordination among multiple UASs, thereby implementing a layer of distributed autonomy in UAM. Key features of the edge-computing approach involve inter-UAS information exchange, independent assessment of own flight and environmental conditions, and estimation of other UASs’ flight preferences, incorporating machine learning techniques in the last two. Parallel computing on portable graphics processing unit (GPU) enables the machine learning workflow on the edge. A custom-built 3D simulator is used to evaluate the efficacy of the distributed decision-making on the edge. Each edge node, representing a smart UAS, connects to the simulator from a remote location and independently controls the behavior of the corresponding virtual asset in the simulator, analogous to participants in an online multi-player game. The presented edge-computing-based distributed decision-making framework is envisioned to pave the way for collective mobility of autonomous air vehicles in the future shared airspace, while allowing the inclusion of the business preferences of the UAS operators within allowed regulatory limits.

Edge computing↗

Human Factors Research Considerations for Terminal Area Urban Air Mobility Operations

In this presentation, we discuss the human factors research challenges from introducing greater levels of automation in a future air transportation concept called Urban Air Mobility (UAM). UAM is an air transportation concept that aims to provide air transportation services to the daily commuter, as well as emergency response and package delivery. The principal innovation over current day large air transport system is the greater distribution of important safety functions to automated and human agents; these functions include air traffic management, traditionally an air traffic controller responsibility. A central aspect of UAM is the development of an automated air traffic manager, whose primary responsibility is to approve airspace access for vehicle operators. Vehicle operator roles may include onboard and remote pilots, as well as a human manager who will supervise an entire fleet. Alternatively, both fleet manager and vehicle operators can be merged into a single role – a feasible option if UAM aircraft are autonomous. In lieu of tower controllers, vertiport managers, with the assistance of automation, will manage arrival and departure schedules between vertiports, as well as supervise surface operations. Our approach here will be to introduce use cases currently being developed by NASA, and then provide preliminary definitions for each of the roles introduced above and how coordination between them can be configured to support the operations within the use cases described. Subsequently, we review the tools and interfaces being developed to support the various roles. To conclude, we present current human factors work related to defining the roles above and suggest future work to advance the UAM concept.

trial planning↗

An Annoyance Model for Urban Air Mobility Vehicle Noise in the Presence of a Masker

Proposed Urban Air Mobility (UAM) operations offer an alternative to road and rail traffic for local and regional movement of people and goods. To allow for large-scale adoption of UAM vertical takeoff and landing (VTOL) aircraft, it is critical to predict human annoyance response to the acoustic noise generated by these vehicles. We propose a model that predicts an individual’s perceived level of annoyance when presented with UAM VTOL aircraft noise in the context of a representative masking noise. The annoyance model is based on the psychoacoustic annoyance model of Fastl and Zwicker (Zwicker and Fastl, 1999), with an additional tonality term based on subjective testing of UAM sound quality (Boucher, et al., 2023). The model also predicts changes in annoyance when UAM noise is masked by a background sound, based on subjective evaluation of detection, noticeability, and annoyance of noise in the presence of a masker.

Noise↗

On the Modeling of Urban Air Mobility Vehicle Takeoff and Landing Operations in the FAA Aviation Environmental Design Tool

Urban air mobility (UAM) vehicles are anticipated to operate in close proximity to the public. A possible barrier to the introduction of UAM vehicles as a transit solution is their community noise impact, particularly around vertiports. The Federal Aviation Administration Aviation Environmental Design Tool (AEDT) is the mandated tool to assess aircraft noise and other environmental impacts due to federal actions at civilian airports, vertiports, or in U.S. airspace for commercial flight operations. However, AEDT was designed to model fixed-wing aircraft and conventional helicopter operations, not UAM vehicles. Prior work by the authors showed significant differences in noise contours of UAM departures and approaches when modeling operations as fixed-wing and helicopter types in AEDT. This paper identifies the sources of those differences. Additionally, a NASA time-marching simulation tool is used to generate noise exposure predictions for equivalent operations to help identify differences associated with the noise model implemented in AEDT and offer possible changes to assess UAM community noise impact more consistently with simulation-based modeling.

aeroacoustics↗

On the Modeling of Urban Air Mobility Vehicle Takeoff and Landing Operations in the FAA Aviation Environmental Design Tool

Urban air mobility (UAM) vehicles are anticipated to operate in close proximity to the public. A possible barrier to the introduction of UAM vehicles as a transit solution is their community noise impact, particularly around vertiports. The Federal Aviation Administration Aviation Environmental Design Tool (AEDT) is the mandated tool to assess aircraft noise and other environmental impacts due to federal actions at civilian airports, vertiports, or in U.S. airspace for commercial flight operations. However, AEDT was designed to model fixed-wing aircraft and conventional helicopter operations, not UAM vehicles. Prior work by the authors showed significant differences in noise contours of UAM departures and approaches when modeling operations as fixed-wing and helicopter types in AEDT. This paper identifies the sources of those differences. Additionally, a NASA time-marching simulation tool is used to generate noise exposure predictions for equivalent operations to help identify differences associated with the noise model implemented in AEDT and offer possible changes to assess UAM community noise impact more consistently with simulation-based modeling.

aeroacoustics↗

Overview of an Exploratory, Real-Time, Multi-Pilot Simulation Study of Early eVTOL Operations at Non-Towered Vertiports

This paper provides a report out on an exploratory, multi-aircraft/multi-pilot, real-time simulation study conducted by NASA of early commercial powered-lift, Urban Air Mobility (UAM) operations at a non-towered vertiport. As used in this paper, vertiport refers to the primary ground and airspace elements facilitating the takeoff and landing of electric vertical takeoff and landing (eVTOL) aircraft with central emphasis on a vertipad, i.e. the physical touch-down and lift-off area and surrounding approach , departure, local pattern procedures. The study, known as the Piloted UML-2 ConOps Study (PUCS), had two high-level goals. The first goal was providing preliminary insights and observations relevant to the piloting and flight operations of early, commercial UAM operations aligned with the initial stage of the FAA’s Advanced Air Mobility (AAM) Implementation Plan and the second level NASA’s UAM Maturity Level (UML) scale. The second goal was evaluating a novel, medium-fidelity, extensible, many-pilot, real-time simulation capability known as the UAM Flyers developed by NASA. The Flyers are intended to allow rapid development, screening, evaluation, and demonstrations of potential Concepts of Operation (ConOps) for UAM flight operations and airspace management in a modular and low-cost, real-time, human-in-the-loop rapid simulation prototyping environment. For this study, ten Flyer cockpits were configured to evaluate flight operations through a non-towered vertiport with pilot interfaces and displays (external and in-cockpit) appropriate for operations under visual flight rules (VFR) and employing flight and communication procedures representative of current operations at non-towered airports. The presented results include an achieved operational tempo; durations of individual flight tasks for approaches and departures; off-nominal events and triggers; and pilot comments regarding potential procedural and technology improvements.

Urban Air Mobility↗

Overview of an Exploratory, Multi-Pilot Simulation Study of Early eVTOL Operations at Non-Towered Vertiports

This paper provides a report out on an exploratory, multi-aircraft/multi-pilot, real-time simulation study conducted by NASA of early commercial powered-lift, Urban Air Mobility (UAM) operations at a non-towered vertiport. As used in this paper, vertiport refers to the primary ground and airspace elements facilitating the takeoff and landing of electric vertical takeoff and landing (eVTOL) aircraft with central emphasis on a vertipad, i.e. the physical touch-down and lift-off area and surrounding approach , departure, local pattern procedures. The study, known as the Piloted UML-2 ConOps Study (PUCS), had two high-level goals. The first goal was providing preliminary insights and observations relevant to the piloting and flight operations of early, commercial UAM operations aligned with the initial stage of the FAA’s Advanced Air Mobility (AAM) Implementation Plan and the second level NASA’s UAM Maturity Level (UML) scale. The second goal was evaluating a novel, medium-fidelity, extensible, many-pilot, real-time simulation capability known as the UAM Flyers developed by NASA. The Flyers are intended to allow rapid development, screening, evaluation, and demonstrations of potential Concepts of Operation (ConOps) for UAM flight operations and airspace management in a modular and low-cost, real-time, human-in-the-loop rapid simulation prototyping environment. For this study, ten Flyer cockpits were configured to evaluate flight operations through a non-towered vertiport with pilot interfaces and displays (external and in-cockpit) appropriate for operations under visual flight rules (VFR) and employing flight and communication procedures representative of current operations at non-towered airports. The presented results include an achieved operational tempo; durations of individual flight tasks for approaches and departures; off-nominal events and triggers; and pilot comments regarding potential procedural and technology improvements.

Urban Air Mobility↗

Developing Concepts of Operations Using Multi-Step Tool Techniques With Large Language Models

The National Aeronautics and Space Administration (NASA) Air Mobility Pathfinders (AMP) project is developing and evaluating concepts of operations (ConOps) for safe, secure, and scalable Urban Air Mobility (UAM) operations. The AMP project’s Operational Concepts, Architecture, and Requirements Integration (OCARI) Team is using a Model Based System Engineering (MBSE) approach for integration, interoperability, and traceability of Advanced Air Mobility (AAM) ecosystems centered around urban air taxi services. The team’s goal is to define structures and behaviors needed for system feasibility, readiness, and interoperability, establish a UAM knowledge base, and trace and validate assumptions and requirements relevant to AAM. NASA Langley Research Center (LaRC) is spearheading an innovative digital engineering approach to integrate, communicate, and facilitate the research of multi-modal transportation systems. The Knowledge-based Digital Platform (KbDP) is a concept being developed that ties the workflows of Project Managers (PM), Principal Investigators (PI), and System Engineers together across organizational boundaries. It does so through the management of an information database defined by mathematical, data science, and system engineering principles. Machine Learning (ML) algorithms play a key role in this concept by extracting meaningful knowledge from relational and graph databases, document repositories, and system artifacts, which the human user leverages to greatly improve the efficiency and effectiveness of their research. Recent advancements in the field of Large Language Models (LLMs), specifically models trained for tool use, such as Command-R , now allow for the reliable implementation of single-step and multi-step tool-centric systems. These techniques provide the LLM with a set of tools, in our case Python functions, that can be called on to answer a much wider range of questions compared to LLMs implemented using a traditional single-source or Retrieval Augmented Generation (RAG) approach. Through this method, the LLM can pull information from multiple data sources, such as relational or graph databases, document repositories, application programming interfaces (APIs), and SysML artifacts depending on the user’s question. The LLM can also output the information in a variety of different formats, using output generation tools, such as CSV, UML, or SysML artifacts. Additionally, tools can be assigned roles and can work together to provide answers to queries in an “agent” like approach, similar to that implemented by Microsoft’s AutoGen framework where different agents can converse with each other to accomplish tasks. Previously, our team developed a chatbot system with “agent like” functionality in the form of different “modes” the user could select from a user interface (UI), this architecture can be seen on the left in figure 1. Three different modes were implemented, the first mode allowed the LLM to utilize the structures and algorithms within a graph database to trace UAM requirements. The second mode gave the LLM access to a vector search capable of providing relevant information from thousands of document pages related to UAM ConOps and requirements. The third mode served as a general assistant where users could enter open-ended questions and custom prompts to utilize the LLM for different use-cases. This system improved the process surrounding generating and analyzing information related to UAM requirements, however, the implementation provided a clunky user experience. Users were required to know what mode to select within the UI in advance before entering their question to the selected tool. Moreover, the different tools were isolated from each other, they lacked bidirectional links that would allow for tools to collaborate to generate better responses. Our team is working on a new architecture, seen on the right in the below figure, with the goal to address many of the UX shortcomings of our original system while improving the accuracy and depth of responses from the LLM. This new system will automatically select the appropriate tool to use based off the user’s question. Each tool will be capable of calling on any of the other tools available to the LLM, resulting in a collaborative pipeline where tools can pass data between other tools until enough data is received to generate an answer to the user’s question. Using a locally deployed, open-source, LLM, the NASA OCARI team, in collaboration with Collins Aerospace, will implement a prototype application that will bridge knowledge across multiple sources to assist System Engineers (SEs) with requirements discovery and tracing, research question and use case identification, and assumption validation. Such a system will also allow SEs to more easily, and intuitively, explore the AAM ecosystem, ultimately improving the efficiency and effectiveness of the SE's research and decision-making processes surrounding ConOps development and validation. In this session, our team will provide a video demonstration of our new prototype architecture in action. We will also present an overview of our prototype system architecture and talk about its advantages over traditional LLM deployments along with how those advantages can provide additional value to the field of System Engineering.

systems engineering↗

Urban Air Mobility: A Control-Centric Approach to Addressing Technical Challenges

Urban Air Mobility (UAM) is an emerging aviation sector and is playing an integral part in the on-demand mobility revolution. UAM is powered by the convergence of advances in distributed electrical propulsion (DEP) and vehicle autonomy. The complexity of operations in the urban environment and the unconventional vehicle configurations designed to take advantage of new propulsion technologies, result in numerous challenges that benefit from a control-centric approach. In this talk we outline some of these challenges and present our current approach to addressing them. For example, in order to achieve full market potential and access to UAM, vehicle autonomous flight is required. A key barrier to autonomous flight in a large multi-agent system is dealing with off-nominal situations and contingencies in a safe and predictable manner. We present our approach to intelligent contingency management, and share recent results and open problems. Additionally, we discuss another major barrier to ubiquitous UAM – the noise signature produced by vehicles with multiple rotors. We present our approach to minimizing such noise within the framework of the acoustically-aware vehicle.

UAM↗

A Blockchain Case Study for Urban Air Mobility Operational Intent

To realize the potential of Urban Air Mobility (UAM), an assurance of cybersecurity is critical for public acceptance. UAM is a concept that proposes to develop short-range, point-to-point transportation systems in metropolitan areas using vertical takeoff and landing (VTOL) aircraft to overcome increasing surface congestion. The growth in the development of UAM systems, and the associated data exchange and service interactions will be at risk due to numerous types of cybersecurity attacks. The intent of this work is to leverage a permissioned blockchain to simulate secure data exchange and storage for the UAM operational intent use case.

UAM↗

Intelligent Contingency Management for Urban Air Mobility

The third aviation revolution is seeking to enable transportation where users have access to immediate and flexible air travel; the users dictate trip origin, destination and timing. One of the major components of this vision is urban air mobility (UAM) for the masses. UAM means a safe and efficient system for vehicles to move passengers and cargo within a city. In order to reach UAM’s full market potential the vehicle will have to be autonomous. One of the primary challenges of autonomous flight is dealing with off-nominal events, both common and unforeseen; thus, intelligent contingency management (ICM) is one of the enabling technologies. This paper proposes an ICM architecture with associated tools that would help enable the UAM vision.

UAM↗

Intelligent Contingency Management for Urban Air Mobility

The third aviation revolution is seeking to enable transportation where users have access to immediate and flexible air travel; the users dictate trip origin, destination and timing. One of the major components of this vision is urban air mobility (UAM) for the masses. UAM means a safe and efficient system for vehicles to move passengers and cargo within a city. In order to reach UAM’s full market potential the vehicle will have to be autonomous. One of the primary challenges of autonomous flight is dealing with off-nominal events, both common and unforeseen; thus, intelligent contingency management (ICM) is one of the enabling technologies. This paper proposes an ICM architecture with associated tools that would help enable the UAM vision.

UAM;↗

Simulations of Urban Air Mobility Operations

Urban Air Mobility (UAM) aims to offer air taxi service as an alternative to driving on the congested roads. Integration of UAM operations into the National Airspace System (NAS) has been the focus of the research conducted at NASA Ames Research Center. In this talk, I present results from simulations performed during FY2019 to investigate if NASA’s UAS Traffic Management (UTM) architecture and its implementation are extensible for UAM operations. These simulations also tested a set of core airspace management services tailored to controlled airspace access. In the latter half of this talk, I present the efforts made towards the integration of two such services – a strategic scheduling and a tactical separation service – in a simulation environment under ideal conditions. I will conclude this talk by presenting the future work planned towards enabling UAM operations

Urban Air Mobility↗

Simulations of Urban Air Mobility Operations

Urban Air Mobility (UAM) aims to offer air taxi service as an alternative to driving on the congested roads. Integration of UAM operations into the National Airspace System (NAS) has been the focus of the research conducted at NASA Ames Research Center. In this talk, I present results from simulations performed during FY2019 to investigate if NASA’s UAS Traffic Management (UTM) architecture and its implementation are extensible for UAM operations. These simulations also tested a set of core airspace management services tailored to controlled airspace access. In the latter half of this talk, I present the efforts made towards the integration of two such services – a strategic scheduling and a tactical separation service – in a simulation environment under ideal conditions. I will conclude this talk by presenting the future work planned towards enabling UAM operations

Urban Air Mobility↗

Urban Air Mobility Airspace Dynamic Density

Airspace safety must be assured for Urban Air Mobility (UAM) to become reality. Emerging operations need to safely integrate with existing and future air traffic. UAM is anticipated to evolve in stages. Early stages, characterized by low-density operations, may be accommodated by traditional air traffic management approaches. However, to enable the scale of UAM operations necessary to reach ubiquitous integration into daily life, new paradigms that utilize collaborative and automated systems are being considered. Correspondingly, traditional approaches for determining a safe number of simultaneous operations in an airspace must be adapted to suit evolving traffic management paradigms. In this paper, we examine dynamic density as an approach to determine when an airspace is excessively populated, and safety may become compromised. We review previous work on dynamic density as it relates to air traffic controller workload and propose factors that may be more fitting for UAMs. Rather than considering controller workload, we propose factors that suggest increased likelihood of loss of separation and may lead to conflicts that require tactical avoidance maneuvers. In addition to monitoring dynamic density for tactical decision making, we endeavor to predict airspace dynamic density with adequate look-ahead to allow for strategic route selection.

UAM↗

Analysis of Electrical Grid Capacity by Interconnection for Urban Air Mobility

A wide range of challenges must be overcome to conduct Urban Air Mobility (UAM)operations at scale with electric vertical take-off and landing aircraft as envisioned. This paper documents an analysis of one potential infrastructure challenge for UAM: available electrical grid power capacity. The success of UAM depends on the availability of electricity, which will be increasingly impacted by the proliferation of ground electric vehicles(EVs) over time. Under the best-case assumption that electricity can be transmitted and distributed as needed within each interconnection (i.e., electrical grid), it is estimated that the maximum number of UAM aircraft that can charge simultaneously in the continental United States will decrease by 20% from about 595 thousand in the year 2021 to about 475 thousand in the year 2050due to the projected increase in ground EVs.

electrical grid↗

Analysis of Electrical Grid Capacity by Interconnection for Urban Air Mobility

A wide range of challenges must be overcome to conduct Urban Air Mobility (UAM)operations at scale with electric vertical take-off and landing aircraft as envisioned. This paper documents an analysis of one potential infrastructure challenge for UAM: available electrical grid power capacity. The success of UAM depends on the availability of electricity, which will be increasingly impacted by the proliferation of ground electric vehicles(EVs) over time. Under the best-case assumption that electricity can be transmitted and distributed as needed within each interconnection (i.e., electrical grid), it is estimated that the maximum number of UAM aircraft that can charge simultaneously in the continental United States will decrease by 20% from about 595 thousand in the year 2021 to about 475 thousand in the year 2050due to the projected increase in ground EVs.

electrical grid↗

The High Density Vertiplex Advanced Onboard Automation Overview

While many studies have been performed examining Urban Air Mobility (UAM) operations from UAM Maturity Level (UML) UML-1 to UML-4, [1, 2] some uncertainty exists regarding the integration and role of onboard autonomous systems, airspace management systems, ground control and fleet management systems, and how they integrate with vertiport automation systems to ensure safe high-density future operations. One thrust of the Advanced Air Mobility (AAM) High Density Vertiplex (HDV) sub-project is to perform rapid prototyping and assessment of an Urban Air Mobility (UAM) Ecosystem within the terminal operational area to help inform future research investments and technology development. Another thrust within HDV is to perform integration, testing, and safety risk assessments required to acquire operational credit for several NASA small Unmanned Aerial Systems (sUAS) beyond visual line of sight (BVLOS) enabling technologies to expand test capabilities and to expedite technology transfer and ultimate effective usage. Both thrusts leverage sUAS to serve as surrogates for the highly-technologically-similar envisioned UAM aircraft as well as to provide significant contributions to sUAS Part-135 operators. This report provides an overview of the activities accomplished within the Advanced Onboard Automation (AOA) schedule work package of HDV.

Human Factors, Simulation↗