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NASA NTRS2017

R2U2: Tool Overview

R2U2 (Realizable, Responsive, Unobtrusive Unit) is an extensible framework for runtime System HealthManagement (SHM) of cyber-physical systems. R2U2 can be run in hardware (e.g., FPGAs), or software; can monitorhardware, software, or a combination of the two; and can analyze a range of different types of system requirementsduring runtime. An R2U2 requirement is specified utilizing a hierarchical combination of building blocks: temporal formula runtime observers (in LTL or MTL), Bayesian networks, sensor filters, and Boolean testers. Importantly, the framework is extensible; it is designed to enable definitions of new building blocks in combination with the core structure. Originally deployed on Unmanned Aerial Systems (UAS), R2U2 is designed to run on a wide range of embedded platforms, from autonomous systems like rovers, satellites, and robots, to human-assistive ground systems and cockpits. R2U2 is named after the requirements it satisfies; while the exact requirements vary by platform and mission, the ability to formally reason about realizability, responsiveness, and unobtrusiveness is necessary for flight certifiability, safety-critical system assurance, and achievement of technology readiness levels for target systems. Realizability ensures that R2U2 is suficiently expressive to encapsulate meaningful runtime requirements while maintaining adaptability to run on different platforms, transition between different mission stages, and update quickly between missions. Responsiveness entails continuously monitoring the system under test, real-time reasoning, reporting intermediate status, and as-early-as-possible requirements evaluations. Unobtrusiveness ensures compliance with the crucial properties of the target architecture: functionality, certifiability, timing, tolerances, cost, or other constraints.

Rozier, Kristin Y.↗
NASA NTRSDate not supplied

Initial testing of the Uncrewed Aerial System Pilot Kit (UASP-kit) in Operational Settings

Pilots for small uncrewed aerial systems (sUAS) are at a disadvantage for building situation awareness of the remote airspace in which they are flying, simply because they are distant from their vehicles. A tool to provide increased air traffic situation awareness for an sUAS pilot is being developed. The UAS pilot kit, “UASP-kit,” is small and self-contained, with its chief capability being to collect and display Automatic Dependent Surveillance-Broadcast reports of local aircraft. UASP-kits were taken into the field, introduced to users during a training course, and then left with them for the summer fire season. sUAS pilots used the prototypes when it was appropriate throughout the summer. The UASP-kits were operational for a total of 79 flight-days. Users reported that the UASP-kits supported their situation awareness but also identified several usability issues. The findings contribute to validation of the UASP-kit, and support continuing the work to improve the tool and develop additional functionality.

STEReO↗
NASA NTRS2018

An Implementation Analysis of Communications, Navigation, and Surveillance (CNS) Technologies for Unmanned Air Systems (UAS)

The aviation industry and government agencies face a rapidly-emerging need for integrating large-scale populations of Unmanned Air Systems (UAS) into the worldwide controlled and uncontrolled airspace. Critical components for integration include the Communications, Navigation, and Surveillance (CNS) technologies necessary for ensuring safe UAS operations. Under NASA program NNA16BD84C, our work on CNS architectural concepts for the safe operation of UAS in controlled and uncontrolled airspace has introduced CNS architectures which must be analyzed in terms of implementation readiness.Controlled airspace operations for UAS are consistent with the needs for manned aviation in the worldwide Air Traffic Management (ATM) service. Uncontrolled airspace operations are consistent with the NASA Unmanned (air) Traffic Management (UTM) concept of operations. Implementation readiness is based on the NASA concept of Technology Readiness Levels (TRLs) ranging from TRL1 (basic principles observed and reported) to TRL9 (actual system flight proven through successful mission operations). In the architecture concepts, we have introduced a number of new CNS architectural elements which need to be correlated with TRL levels.In this paper, we present our implementation analysis for communications networks, communications data links, navigation, and surveillance. Each area has been under active research and development during the course of the current NASA program which has produced studies on UAS CNS Requirements, UAS CNS Architecture for Controlled Airspace and UAS CNS Architecture for Uncontrolled Airspace. We have published our architecture concepts in major UAS-related conferences (including iCNS2017, IEEE Aerospace 2018, and iCNS2018) and will continue to seek additional publication opportunities. We look forward to continuing our work to realize a full integration testing scenario for both controlled and uncontrolled airspace operation.

Ponchak, Denise↗
NASA NTRSDate not supplied

RadBREAD: Radiation Biology Research at an Elevated Altitude through Dosimetry – A student-designed payload

NASA uses extreme environment platforms (ground testing facilities, high-altitude balloons and aircraft, and CubeSats) to provide greater understanding of the conditions and limitations of extra-terrestrial environments. As part of a two-week flight planned for summer 2021, RadBREAD (Radiation Biology Research at an Elevated Altitude through Dosimetry) will fly as a secondary payload consisting of a M-42C (German Aerospace Center, DLR) ionizing radiation dosimeter, UV micro-logger, and multiple desiccated yeast samples. The platform is a novel high-altitude solar-powered aircraft: the Swift Engineering High-Altitude samples. The platform is a novel high-altitude solar-powered aircraft: the Swift Engineering High-Altitude Long-Endurance Unmanned Aircraft System (HALE UAS), which offers significantly longer flight durations than other high-altitude platforms. The yeast Saccharomyces cerevisiae will provide meaningful biological correlation for the sensor readings, due to its resistance to extremely low temperature and pressure when desiccated, ease of genetic manipulation, and homology to human genes. The RadBREAD team comprises the 2020 cohort of NASA’s Space Life Sciences Training Program (SLSTP) research associates as well as NASA scientists, engineers and radiation experts from NASA and the DLR. Yeast survival, metabolic, and transcriptomic changes will be correlated with environmental data collected during long-term exposure to the upper atmosphere. Additionally, the team will evaluate the upper atmospheric environment (radiation, pressure, and temperature) provided by the HALE UAS platform as a Mars surface analog for biological payloads. We hypothesize that exposure to upper atmospheric conditions during the HALE UAS flight will alter the survival, metabolism, and transcriptome of desiccated wild-type S. cerevisiae upon rehydration compared to sensitive and tolerant yeast strains exposed to the same conditions, and between the flight samples compared to asynchronous ground controls.

radiation exposure↗
NASA NTRS2007

Ikhana: A NASA UAS Supporting Long Duration Earth Science Missions

The NASA Ikhana unmanned aerial vehicle (UAV) is a General Atomics Ae ronautical Systems Inc. (San Diego, California) MQ-9 Predator-B modif ied to support the conduct of Earth science missions for the NASA Sci ence Mission Directorate and, through partnerships, other government agencies and universities. It can carry over 2000 lb of experiment p ayloads in the avionics bay and external pods and is capable of missi on durations in excess of 24 hours at altitudes above 40,000 ft. The aircraft is remotely piloted from a mobile ground control station (GC S) that is designed to be deployable by air, land, or sea. On-board s upport capabilities include an instrumentation system and an Airborne Research Test System (ARTS). The Ikhana project will complete GCS d evelopment, science support systems integration, external pod integra tion and flight clearance, and operations crew training in early 2007 . A large-area remote sensing mission is currently scheduled for Summ er 2007.

Cobleigh, B.↗
NASA NTRS2018

An Implementation Analysis of Communications, Navigation, and Surveillance (CNS) Technologies for Unmanned Air Systems (UAS)

The aviation industry and government agencies face a rapidly-emerging need for integrating large-scale populations of Unmanned Air Systems (UAS) into the worldwide controlled and uncontrolled airspace. Critical components for integration include the Communications, Navigation, and Surveillance (CNS) technologies necessary for ensuring safe UAS operations. Under NASA program NNA16BD84C, our work on CNS architectural concepts for the safe operation of UAS in controlled and uncontrolled airspace has introduced CNS architectures which must be analyzed in terms of implementation readiness.Controlled airspace operations for UAS are consistent with the needs for manned aviation in the worldwide Air Traffic Management (ATM) service. Uncontrolled airspace operations are consistent with the NASA Unmanned (air) Traffic Management (UTM) concept of operations. Implementation readiness is based on the NASA concept of Technology Readiness Levels (TRLs) ranging from TRL1 (basic principles observed and reported) to TRL9 (actual system flight proven through successful mission operations). In the architecture concepts, we have introduced a number of new CNS architectural elements which need to be correlated with TRL levels. In this paper, we present our implementation analysis for communications networks, communications data links, navigation, and surveillance. Each area has been under active research and development during the course of the current NASA program which has produced studies on UAS CNS Requirements, UAS CNS Architecture for Controlled Airspace and UAS CNS Architecture for Uncontrolled Airspace. We have published our architecture concepts in major UAS-related conferences (including iCNS2017, IEEE Aerospace 2018, and iCNS2018) and will continue to seek additional publication opportunities. We look forward to continuing our work to realize a full integration testing scenario for both controlled and uncontrolled airspace operation.

Unmanned (Air) Traffic Management (UTM) service↗
NASA NTRS2015

Control and Non-Payload Communications (CNPC) Prototype Radio - Generation 2 Security Architecture Lab Test Report

NASA Glenn Research Center, in cooperation with Rockwell Collins, is working to develop a prototype Control and Non-Payload Communications (CNPC) radio platform as part of NASA Integrated Systems Research Program's (ISRP) Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) project. A primary focus of the project is to work with the FAA and industry standards bodies to build and demonstrate a safe, secure, and efficient CNPC architecture that can be used by industry to evaluate the feasibility of deploying a system using these technologies in an operational capacity. GRC has been working in conjunction with these groups to assess threats, identify security requirements, and to develop a system of standards-based security controls that can be applied to the current GRC prototype CNPC architecture as a demonstration platform. The security controls were integrated into a lab test bed mock-up of the Mobile IPv6 architecture currently being used for NASA flight testing, and a series of network tests were conducted to evaluate the security overhead of the controls compared to the baseline CNPC link without any security. The aim of testing was to evaluate the performance impact of the additional security control overhead when added to the Mobile IPv6 architecture in various modes of operation. The statistics collected included packet captures at points along the path to gauge packet size as the sample data traversed the CNPC network, round trip latency, jitter, and throughput. The effort involved a series of tests of the baseline link, a link with Robust Header Compression (ROHC) and without security controls, a link with security controls and without ROHC, and finally a link with both ROHC and security controls enabled. The effort demonstrated that ROHC is both desirable and necessary to offset the additional expected overhead of applying security controls to the CNPC link.

Communication Networks↗
NASA NTRS2007

NASA Dryden's UAS Service Capabilities

The vision of NASA s Dryden Flight Research Center is to "fly what others only imagine." Its mission is to advance technology and science through flight. Objectives supporting the mission include performing flight research and technology integration to revolutionize aviation and pioneer aerospace technology, validating space exploration concepts, conducting airborne remote sensing and science missions, and supporting operations of the Space Shuttle and the International Space Station. A significant focus of effort in recent years has been on Unmanned Aircraft Systems (UAS), both in support of the Airborne Science Program and as research vehicles to advance the state of the art in UAS. Additionally, the Center has used its piloted aircraft in support of UAS technology development. In order to facilitate greater access to the UAS expertise that exists at the Center, that expertise has been organized around three major capabilities. The first is access to high-altitude, long-endurance UAS. The second is the establishment of a test range for small UAS. The third is safety case assessment support.

Bauer, Jeff↗
NASA NTRS2017

Modeling and Simulation Plans in Support of Low Cost, Size, Weight, and Power Surveillance Systems for Detecting and Tracking Non-Cooperative Aircraft

RTCA Special Committee (SC) 228 has initiated a second phase for the development of minimum operational performance standards (MOPS) for UAS detect and avoid (DAA) systems. Technologies to enable UAS with less available Size, Weight, and Power (SWaP) will be considered. RTCA SC-228 has established sub-working groups and one of the sub-working groups is focused on aligning modeling and simulations activities across all participating committee members. This briefing will describe NASAs modeling and simulation plans for the development of performance standards for low cost, size, weight, and power (C-SWaP) surveillance systems that detect and track non-cooperative aircraft. The briefing will also describe the simulation platform NASA intends to use to support end-to-end verification and validation for these DAA systems. Lastly, the briefing will highlight the experiment plan for our first simulation study, and provide a high-level description of our future flight test plans. This briefing does not contain any results or data.

surveillance↗
NASA NTRS2015

RUMS - Realtime Visualization and Evaluation of Live, Virtual, Constructive Simulation Data

This paper describes the tools and display capabilities being developed to visualize aircraft flight and trajectory information that is produced during a distributed Live, Virtual, Constructive (LVC) simulation events involving a mix of manned and unmanned aircraft. This paper discusses the design approach and general software architecture of the Remote User Monitor Service (RUMS) application. The simulations and flight tests are conducted over a nationwide network with components communicating via software gateways that translate the messages and provide a location to access and collect data. The data collected is not only archived for post-processing and analysis, but also processed in real-time by RUMS, which allows dynamic viewing of the information via a web browser. This real-time dynamic viewing of the data allows test conductors and researchers to monitor the health of the distributed system and of the data being collected not only in situ where tests are conducted but also at remote locations.

distributed simulation↗
NASA NTRS2016

SAFEGUARD: An Assured Safety Net Technology for UAS

As demands increase to use unmanned aircraft systems (UAS) for a broad spectrum of commercial applications, regulatory authorities are examining how to safely integrate them without loss of safety or major disruption to existing airspace operations. This work addresses the development of the Safeguard system as an assured safety net technology for UAS. The Safeguard system monitors and enforces conformance to a set of rules defined prior to flight (e.g., geospatial stay-out or stay-in regions, speed limits, altitude limits). Safeguard operates independently of the UAS autopilot and is strategically designed in a way that can be realized by a small set of verifiable functions to simplify compliance with regulatory standards for commercial aircraft. A framework is described that decouples the system from any other devices on the UAS as well as introduces complementary positioning source(s) for applications that require integrity and availability beyond what the Global Positioning System (GPS) can provide. Additionally, the high level logic embedded within the software is presented, as well as the steps being taken toward verification and validation (V&V) of proper functionality. Next, an initial prototype implementation of the described system is disclosed. Lastly, future work including development, testing, and system V&V is summarized.

Dill, Evan T.↗
NASA NTRS2017

High-Fidelity Multi-Rotor Unmanned Aircraft System Simulation Development for Trajectory Prediction Under Off-Nominal Flight Dynamics

The NASA Unmanned Aircraft System (UAS) Traffic Management (UTM) project is conducting research to enable civilian low-altitude airspace and UAS operations. A goal of this project is to develop probabilistic methods to quantify risk during failures and off nominal flight conditions. An important part of this effort is the reliable prediction of feasible trajectories during off-nominal events such as control failure, atmospheric upsets, or navigation anomalies that can cause large deviations from the intended flight path or extreme vehicle upsets beyond the normal flight envelope. Few examples of high-fidelity modeling and prediction of off-nominal behavior for small UAS (sUAS) vehicles exist, and modeling requirements for accurately predicting flight dynamics for out-of-envelope or failure conditions are essentially undefined. In addition, the broad range of sUAS aircraft configurations already being fielded presents a significant modeling challenge, as these vehicles are often very different from one another and are likely to possess dramatically different flight dynamics and resultant trajectories and may require different modeling approaches to capture off-nominal behavior. NASA has undertaken an extensive research effort to define sUAS flight dynamics modeling requirements and develop preliminary high fidelity six degree-of-freedom (6-DOF) simulations capable of more closely predicting off-nominal flight dynamics and trajectories. This research has included a literature review of existing sUAS modeling and simulation work as well as development of experimental testing methods to measure and model key components of propulsion, airframe and control characteristics. The ultimate objective of these efforts is to develop tools to support UTM risk analyses and for the real-time prediction of off-nominal trajectories for use in the UTM Risk Assessment Framework (URAF). This paper focuses on modeling and simulation efforts for a generic quad-rotor configuration typical of many commercial vehicles in use today. An overview of relevant off-nominal multi-rotor behaviors will be presented to define modeling goals and to identify the prediction capability lacking in simplified models of multi-rotor performance. A description of recent NASA wind tunnel testing of multi-rotor propulsion and airframe components will be presented illustrating important experimental and data acquisition methods, and a description of preliminary propulsion and airframe models will be presented. Lastly, examples of predicted off-nominal flight dynamics and trajectories from the simulation will be presented.

Foster, John V.↗
NASA NTRS2016

Measurement and Modelling of Multicopter UAS Rotor Blades in Hover

Multicopters are becoming one of the more common and popular type of unmanned aircraft systems (UAS) which have both civilian and military applications. One example being the concept of drone deliveries proposed by the distribution company Amazon [1]. The electrical propulsion is considered to have both faster and easier deliveries and also environmental benefits compared to other vehicles that still use fossil fuel. Other examples include surveillance and just simple entertainment. The reason behind their success is often said to be due to their small size, relatively low cost, simple structure and finally simple usage. With an increase in the UAS market comes challenges in terms of security, as both people and other aircrafts could be harmed if not used correctly. Therefore further studies and regulations are needed to ensure that future use of drones, especially in the civilian and public sectors, are safe and efficient. Thorough research has been done on full scale, man or cargo transporting, helicopters so that most parts of flight and performance are fairly well understood. Yet not much of it have been verified for small multicopters. Until today many studies and research projects have been done on the control systems, navigation and aerodynamics of multicopters. Many of the methods used today for building multicopters involve a process of trial an error of what will work well together, and once that is accomplished some structural analysis of the multicopter bodies might be done to verify that the product will be strong enough and have a decent aerodynamic performance. However, not much has been done on the research of the rotor blades, especially in terms of structural stress analyses and ways to ensure that the commonly used parts are indeed safe and follow safety measures. Some producers claim that their propellers indeed have been tested, but again that usually tends towards simple fluid dynamic analyses and even simpler stress analyses. There is no real deflection measurement of said blades and all theory is today based on the theory developed for full scale helicopters. This report thus intends to highlight the problems that come with blade deflection theory and measurements for multicopters. This thesis starts with the introduction and problem formulation where the grounds for what the report contains are laid out. Then a literature review of the research within the area follows where previous and current research and methods are presented. In the background information and theory relevant to the area are presented. After that the methods and set up of the different experimental and computer simulation approaches are depicted. In the results section the obtained results are presented and compared. Lastly there is a discussion where the results and methods are evaluated and analyzed, followed by the most important conclusions.

Multicopter UAS Rotor Blades↗
NASA NTRS2014

NASA Unmanned Aircraft (UA) Control and Non-Payload Communication (CNPC) System Waveform Trade Studies

Unmanned Aircraft Systems (UAS) represent a new capability that will provide a variety of services in the government (public) and commercial (civil) aviation sectors. The growth of this potential industry has not yet been realized due to the lack of a common understanding of what is required to safely operate UAS in the National Airspace System (NAS). To address this deficiency, NASA has established a project called UAS Integration in the NAS (UAS in the NAS), under the Integrated Systems Research Program (ISRP) of the Aeronautics Research Mission Directorate (ARMD). This project provides an opportunity to transition concepts, technology, algorithms, and knowledge to the Federal Aviation Administration (FAA) and other stakeholders to help them define the requirements, regulations, and issues for routine UAS access to the NAS. The safe, routine, and efficient integration of UAS into the NAS requires new radio frequency (RF) spectrum allocations and a new data communications system which is both secure and scalable with increasing UAS traffic without adversely impacting the Air Traffic Control (ATC) communication system. These data communications, referred to as Control and Non-Payload Communications (CNPC), whose purpose is to exchange information between the unmanned aircraft and the ground control station to ensure safe, reliable, and effective unmanned aircraft flight operation. A Communications Subproject within the UAS in the NAS Project has been established to address issues related to CNPC development, certification and fielding. The focus of the Communications Subproject is on validating and allocating new RF spectrum and data link communications to enable civil UAS integration into the NAS. The goal is to validate secure, robust data links within the allocated frequency spectrum for UAS. A vision, architectural concepts, and seed requirements for the future commercial UAS CNPC system have been developed by RTCA Special Committee 203 (SC-203) in the process of determining formal recommendations to the FAA in its role provided for under the Federal Advisory Committee Act. NASA intends to conduct its research and development in keeping with this vision and associated architectural concepts. The prototype communication systems developed and tested by NASA will be used to validate and update the initial SC-203 requirements in order to provide a foundation for SC-203's Minimum Aviation System Performance Standards (MASPS).

Aircraft Communications↗
NASA NTRSDate not supplied

A Remote, Human-in-the-Loop Evaluation of a Multiple-Drone Delivery Operation

Over time, advances in unmanned aircraft systems (UAS) have enabled a shift in the operational paradigm from one operator managing one aircraft to that of multiple operators working together to manage multiple aircraft. This shift has highlighted the need for effective human-autonomy teaming methods to maintain manageable workload levels for operators as well as high standards of system performance and safety. This paper presents a study aimed at evaluating whether automation can help operators manage workload during small UAS (sUAS) package delivery scenarios featuring contingency situations. These contingency situations, resulting from unplanned UAS Volume Reservations (UVRs), required flight path reroutes for multiple aircraft simultaneously. The study manipulated the number of aircraft affected by the UVRs and the level of automation support. The presence of terrain conflicts was also controlled within each scenario. Due to the COVID-19 pandemic, subjects were not able to gain direct access to the Ground Control System (GCS). Therefore, the study was conducted using a subject-surrogate paradigm that required subjects to relay commands through a verbal protocol from remote locations outside of the lab to a researcher surrogate who had direct control of the GCS interfaces at the lab location. Results show that the automated support condition was associated with faster reroute response times, more efficient reroute maneuvers, and significantly lower levels of perceived workload than the manual reroute condition. However, the automation support level did not significantly impact pilots’ ability to avoid the UVR successfully; pilots were overwhelmingly capable of avoiding the UVR in all conditions. The presence of terrain conflicts primarily impacted pilot performance by leading to multiple uploads per vehicle, which was not typically required when pilots only needed to maneuver laterally. Although subjects did not have direct control over the GCS, subjective ratings indicate that the displays under test provided them with sufficient information to manage their aircraft and promptly respond to the unplanned UVRs. Overall, the objective and subjective data strongly suggest that the verbal protocol and subject-surrogate paradigm were effective methods for collecting data remotely amid the COVID-19 pandemic.

multi-UAS↗
NASA NTRS2017

Validation of Minimum Display Requirements for a UAS Detect and Avoid System

The full integration of Unmanned Aircraft Systems (UAS) into the National Airspace System (NAS), a prerequisite for enabling a broad range of public and commercial UAS operations, presents several technical challenges to UAS developers, operators and regulators. A primary barrier is the inability for UAS pilots (situated at a ground control station, or GCS) to comply with Title 14 Code of Federal Regulations sections 91.111 and 91.113, which require pilots to “see and avoid” other aircraft in order to maintain well clear. UAS pilots’ removal from the flight deck of the aircraft necessitates the development of a UAS-specific system for detecting nearby traffic and displaying traffic information to the pilot to support their ability to maintain an objectively defined “DAA well clear” threshold from other aircraft. This new UAS-specific function of remaining DAA well clear is called traffic avoidance. The resulting Detect and Avoid (DAA) system, however, will be subject to a collection of requirements that manufacturers will be obligated to meet in order to certify their equipment. RTCA Special Committee 228 (SC-228), a consortium of representatives from government, industry and academia, is responsible for developing and documenting the Minimum Operational Performance Standards (MOPS) for UAS DAA systems. The present study is the final in a series of human-in-the-loop (HITL) experiments designed to explore and test the various display and alerting requirements being incorporated into the DAA MOPS. Whereas the prior DAA HITLs examined a wide variety of DAA display features and concepts, the current experiment aims to validate the latest minimum display requirements for Phase 1 of the DAA MOPS. Rather than test different display concepts, this study tests two configurations of a MOPS-compatible DAA display: a version that is integrated into the primary navigation and control display of the GCS and a version that is physically separated from the primary display. This manipulation tests the draft minimum requirement that allows the DAA traffic display to be a separate, or standalone, configuration. This type of configuration is a more achievable near-term technology solution since it does not stipulate additional certification or integration requirements on UAS manufacturers. However, a standalone display configuration has the potential to result in pilot performance issues resulting from the cognitive costs of switching between the primary DAA display and the primary navigation and control display. This configuration is also particularly susceptible to errors if the displays are in different orientations (e.g., north-up versus track-up). Both the integrated and standalone display configurations were presented to 16 active UAS pilots in a medium-fidelity simulation, which included confederate air traffic controllers and pseudo pilots operating simulated manned traffic. Pilots were tasked with navigating two different mission routes while maintaining DAA well clear with scripted conflicts. Pilot response times (i.e., measured response) and ability to remain DAA well clear are reported. Primary results indicate that both display configurations resulted in favorable response times and well clear rates. While there were clear trends of pilots objectively performing better in the integrated display condition, with several measured response metrics reaching statistical significance, the differences between the two displays were typically moderate. While the primary variable of DAA display location did not have an especially large impact on pilot performance on its own, when examined alongside the type of DAA threat the pilot was facing (a caution-level versus a warning-level alert), the response time benefits associated with the integrated display were amplified. The implications of these American Institute of Aeronautics and Astronautics 2 results on the Phase 1 DAA MOPS and the connection of this data to previous studies is also discussed.

detect and avoid↗
NASA NTRS2017

The Generic Resolution Advisor and Conflict Evaluator (GRACE) for Detect-And-Avoid Systems

Java Architecture for Detect-And-Avoid (DAA) Extensibility and Modeling (JADEM) was developed at NASA Ames Research Center as a research and modeling tool for Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS). UAS will be required to have DAA systems in order to fulfill the regulatory requirement to remain well clear'' of other traffic. JADEM supports research on technological requirements and Minimum Operational Performance Standards (MOPS) for UAS DAA systems by providing a flexible and extensible software platform that includes models and algorithms for all major DAA functions. This paper describes one of these algorithms, the Generic Resolution Advisor and Conflict Evaluator (GRACE). GRACE supports two core DAA functions: threat evaluation and guidance. GRACE is generic in the sense that it is designed to work with any aircraft or sensor type (both cooperative and non-cooperative), and to be used in various applications and DAA guidance concepts, thus supporting evolving MOPS requirements and research. GRACE combines flexibility, robustness, and computational efficiency. It has modest memory requirements and can handle multiple cooperative and noncooperative intruders. GRACE has been used as a core JADEM component in several real-time and fast-time experiments, including human-in-the-loop simulations and live flight tests.

detect and avoid↗
NASA NTRS2006

Ikhana: A NASA UAS Supporting Long Duration Earth Science Missions

NASA's Ikhana unmanned aerial vehicle (UAV) is a General Atomics MQ-9 Predator-B modified to support the conduct of Earth science missions for the NASA Science Mission Directorate through partnerships, other government agencies and universities. Ikhana, a Native American word meaning 'intelligence', can carry over 2000 lbs of atmospheric and remote sensing instruments in the payload bay and external pods. The aircraft is capable of mission durations in excess of 24 hours at altitudes above 40,000 ft. Redundant flight control, avionics, power, and network systems increase the system reliability and allow easier access to public airspace. The aircraft is remotely piloted from a mobile ground control station (GCS) using both C-band line-of-sight and Ku-band over-the-horizon satellite datalinks. NASA's GCS has been modified to support on-site science monitoring, or the downlink data can be networked to remote sites. All ground support systems are designed to be deployable to support global Eart science investigations. On-board support capabilities include an instrumentation system and an Airborne Research Test System (ARTS). The ARTS can host research algorithms that will autonomously command and control on-board sensors, perform sensor health monitoring, conduct data analysis, and request changes to the flight plan to maximize data collection. The ARTS also has the ability to host algorithms that will autonomously control the aircraft trajectory based on sensor needs, (e.g. precision trajectory for repeat pass interferometry) or to optimize mission objectives (e.g. search for specific atmospheric conditions). Standard on-board networks will collect science data for recording and for inclusion in the aircraft's high bandwidth downlink. The Ikhana project will complete GCS development, science support systems integration, external pod integration and flight clearance, and operations crew training in early 2007. A large-area remote sensing mission is currently scheduled for the Summer 2007.

Cobleigh, Brent R.↗