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Automatic Dependent Surveillance-Broadcast (ADS-B) In-Trail Procedures (ITP)

Aircraft in oceanic and remote non-radar airspace frequently fly for extended periods of time in the same direction, at the same time, along similar flight paths as other aircraft. Since there is no radar surveillance, controllers use procedural separation to ensure that aircraft remain separated. Procedural separation distances are typically larger than radar separation distances and as a result aircraft operating in oceanic airspace are sometimes held at non-optimal flight levels due to conflicting traffic at intervening flight levels. Automatic Dependent Surveillance-Broadcast (ADS-B) In-Trail Procedures (ITP) were developed to enable flight level change maneuvers that would otherwise not be possible with current procedural separation standards. Aircraft operators choosing to equip with an ADS-B transceiver and an appropriate onboard decision support system would be able to take advantage of these procedures when operating in proximity to aircraft equipped with a suitable ADS-B transmitter (“ADS-B Out”). The ability to perform in-trail maneuvers to achieve more time at optimum altitudes could result in more efficient and predictable flight profiles thereby saving fuel and in some cases allowing operators to make beneficial operational decisions. NASA first began developing ADS-B ITP in 2003 as a result of a desire to develop methodologies, concepts, and procedures to reduce separation requirements for future air transportation systems using airborne ADS-B. The objectives were to provide insight into the details necessary to reduce separation requirements for the future and to develop applications that could provide incentives for operators to voluntarily equip with transformational technologies. From 2003 to 2008, NASA conducted research that supported the development of ITP including batch simulations, human-in-the-loop experiments and avionics and separation standards development. This research showed enough maturity and benefit that in 2008, the FAA Surveillance and Broadcast Services (SBS) program adopted ADS-B ITP as one of their three key, near-term applications to make use of ADS-B-In. The FAA developed an agreement with NASA to transition the technology and established an FAA project for the purpose of performing an operational trial of ADS-B ITP in revenue service in the summer of 2011. The objectives of the project are to a) validate the operational performance and economic benefits of ITP; and b) develop and validate ADS-B ITP Minimum Operational Performance Specifications (MOPS) material. As a part of this project, the FAA established agreements with United Airlines and Honeywell. The agreements include the work necessary for the development, certification and installation of onboard systems for twelve United Airlines 747-400s. ITP system development is nearly complete and certification activities are underway. The FAA project has also been working with Oakland Oceanic Control Center (ZOA) and the FAA’s Oceanic and Offshore Operations Office to develop controller procedures and safety analyses that are required to support the flight trial. The FAA has also been working on the development of an ITP Operational Specification that should be approved this April. The presentation will cover some of the key aspects of the development, challenges, and integration required to successfully transition ADS-B ITP from a concept in 2003 to flight trials in revenue service in 2011.

Kenneth M Jones↗
NASA NTRS2008

Pilot In-Trail Procedure Validation Simulation Study

A Human-In-The-Loop experiment was conducted at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) to investigate the viability of the In-Trail Procedure (ITP) concept from a flight crew perspective, by placing participating airline pilots in a simulated oceanic flight environment. The test subject pilots used new onboard avionics equipment that provided improved information about nearby traffic and enabled them, when specific criteria were met, to request an ITP flight level change referencing one or two nearby aircraft that might otherwise block the flight level change. The subject pilots subjective assessments of ITP validity and acceptability were measured via questionnaires and discussions, and their objective performance in appropriately selecting, requesting, and performing ITP flight level changes was evaluated for each simulated flight scenario. Objective performance and subjective workload assessment data from the experiment s test conditions were analyzed for statistical and operational significance and are reported in the paper. Based on these results, suggestions are made to further improve the ITP.

Bussink, Frank J. L.↗
NASA NTRS2005

A Fast-Time Simulation Environment for Airborne Merging and Spacing Research

As part of NASA's Distributed Air/Ground Traffic Management (DAG-TM) effort, NASA Langley Research Center is developing concepts and algorithms for merging multiple aircraft arrival streams and precisely spacing aircraft over the runway threshold. An airborne tool has been created for this purpose, called Airborne Merging and Spacing for Terminal Arrivals (AMSTAR). To evaluate the performance of AMSTAR and complement human-in-the-loop experiments, a simulation environment has been developed that enables fast-time studies of AMSTAR operations. The environment is based on TMX, a multiple aircraft desktop simulation program created by the Netherlands National Aerospace Laboratory (NLR). This paper reviews the AMSTAR concept, discusses the integration of the AMSTAR algorithm into TMX and the enhancements added to TMX to support fast-time AMSTAR studies, and presents initial simulation results.

Bussink, Frank J. L.↗
NASA NTRS1993

Human-in-the-loop evaluation of RMS Active Damping Augmentation

Active Damping Augmentation is the insertion of Controls-Structures Integration Technology to benefit the on-orbit performance of the Space Shuttle Remote Manipulator System. The goal is to reduce the vibration decay time of the Remote Manipulator System following normal payload maneuvers and operations. Simulation of Active Damping Augmentation was conducted in the realtime human-in-the-loop Systems Engineering Simulator at the NASA Johnson Space Center. The objective of this study was to obtain a qualitative measure of operational performance improvement from astronaut operators and to obtain supporting quantitative performance data. Sensing of vibratory motions was simulated using a three-axis accelerometer mounted at the end of the lower boom of the Remote Manipulator System. The sensed motions were used in a feedback control law to generate commands to the joint servo mechanisms which reduced the unwanted oscillations. Active damping of the Remote Manipulator System with an attached 3990 lb. payload was successfully demonstrated. Six astronaut operators examined the performance of an Active Damping Augmentation control law following single-joint and coordinated six-joint translational and rotational maneuvers. Active Damping Augmentation disturbance rejection of Orbiter thruster firings was also evaluated. Significant reductions in the dynamic response of the 3990 lb. payload were observed. Astronaut operators recommended investigation of Active Damping Augmentation benefits to heavier payloads where oscillations are a bigger problem (e.g. Space Station Freedom assembly operators).

Demeo, Martha E.↗
NASA NTRS2003

Airborne Conflict Management within Confined Airspace in a Piloted Simulation of DAG-TM Autonomous Aircraft Operations

A human-in-the-loop experiment was performed at the NASA Langley Research Center to study the feasibility of Distributed Air/Ground Traffic Management (DAG-TM) autonomous aircraft operations in highly constrained airspace. The airspace was constrained by a pair of special use airspace (SUA) regions on either side of the pilot s planned route. The available airspace was further varied by changing the separation standard for lateral separation between 3 nm and 5 nm. The pilot had to maneuver through the corridor between the SUA s, avoid other traffic and meet flow management constraints. Traffic flow management (TFM) constraints were imposed as a required time of arrival and crossing altitude at an en route fix. This is a follow-up study to work presented at the 4th USA/Europe Air Traffic Management R&D Seminar in December 2001. Nearly all of the pilots were able to meet their TFM constraints while maintaining adequate separation from other traffic. In only 3 out of 59 runs were the pilots unable to meet their required time of arrival. Two loss of separation cases are studied and it is found that the pilots need conflict prevention information presented in a clearer manner. No degradation of performance or safety was seen between the wide and narrow corridors. Although this was not a thorough study of the consequences of reducing the en route lateral separation, nothing was found that would refute the feasibility of reducing the separation requirement from 5 nm to 3 nm. The creation of additional, second-generation conflicts is also investigated. Two resolution methods were offered to the pilots: strategic and tactical. The strategic method is a closed-loop alteration to the Flight Management System (FMS) active route that considers other traffic as well as TFM constraints. The tactical resolutions are short-term resolutions that leave avoiding other traffic conflicts and meeting the TFM constraints to the pilot. Those that made use of the strategic tools avoided additional conflicts, whereas, those making tactical maneuvers often caused additional conflicts. Many of these second-generation conflicts could be avoided by improved conflict prevention tools that clearly present to the pilot which maneuver choices will result in a conflict-free path. These results, together with previously reported studies, continue to support the feasibility of autonomous aircraft operations.

Barmore, Bryan↗
NASA NTRS2007

Intelligent Entity Behavior Within Synthetic Environments

This paper describes some elements in the development of realistic performance and behavior in the synthetic entities (players) which support Modeling and Simulation (M&S) applications, particularly military training. Modern human-in-the-loop (virtual) training systems incorporate sophisticated synthetic environments, which provide: 1. The operational environment, including, for example, terrain databases; 2. Physical entity parameters which define performance in engineered systems, such as aircraft aerodynamics; 3. Platform/system characteristics such as acoustic, IR and radar signatures; 4. Behavioral entity parameters which define interactive performance, including knowledge/reasoning about terrain, tactics; and, 5. Doctrine, which combines knowledge and tactics into behavior rule sets. The resolution and fidelity of these model/database elements can vary substantially, but as synthetic environments are designed to be compose able, attributes may easily be added (e.g., adding a new radar to an aircraft) or enhanced (e.g. Amending or replacing missile seeker head/ Electronic Counter Measures (ECM) models to improve the realism of their interaction). To a human in the loop with synthetic entities, their observed veridicality is assessed via engagement responses (e.g. effect of countermeasures upon a closing missile), as seen on systems displays, and visual (image) behavior. The realism of visual models in a simulation (level of detail as well as motion fidelity) remains a challenge in realistic articulation of elements such as vehicle antennae and turrets, or, with human figures; posture, joint articulation, response to uneven ground. Currently the adequacy of visual representation is more dependant upon the quality and resolution of the physical models driving those entities than graphics processing power per Se. Synthetic entities in M&S applications traditionally have represented engineered systems (e.g. aircraft) with human-in-the-loop performance characteristics (e.g. visual acuity) included in the system behavioral specification. As well, performance affecting human parameters such as experience level, fatigue and stress are coming into wider use (via AI approaches) to incorporate more uncertainty as to response type as well as performance (e.g. Where an opposing entity might go and what it might do, as well as how well it might perform).

Kruk, R. V.↗
NASA NTRS1989

Graphical programming and the use of simulation for space-based manipulators

Robotic manipulators are difficult to program even without the special requirements of a zero-gravity environment. While attention should be paid to investigating the usefulness of industrial application programming methods to space manipulators, new methods with potential application to both environments need to be invented. These methods should allow various levels of autonomy and human-in-the-loop interaction and simple, rapid switching among them. For all methods simulation must be integrated to provide reliability and safety. Graphical programming of manipulators is a candidate for an effective robot programming method despite current limitations in input devices and displays. A research project in task-level robot programming has built an innovative interface to a state-of-the-art commercial simulation and robot programming platform. The prototype demonstrates simple augmented methods for graphical programming and simulation which may be of particular interest to those concerned with Space Station applications; its development has also raised important issues for the development of more sophisticated robot programming tools. Both aspects of the project are discussed.

Mcgrath, Debra S.↗
NASA NTRS2010

Human Habitation in a Lunar Electric Rover During a 14-Day Field Trial

Various military and commercial entities, as well as the National Aeronautics and Space Administration (NASA), have conducted space cabin confinement studies. However, after an extensive literature search, only one study was found using a simulated lunar rover (LUNEX II), under laboratory conditions, with a crew of two for an eighteen day lunar mission. Forty-three years later, NASA human factors engineers conducted a similar study using the Lunar Electric Rover (LER) in a dynamic real-world lunar simulation at the Black Point Lava Flow in Arizona. The objective of the study was to obtain human-in-the-loop performance data on the vehicle s interior volume with respect to human-system interfaces, crew accommodations, and habitation over a 14-day mission. Though part of a larger study including 212 overall operational elements, this paper will discuss only the performance of fifty different daily habitational elements within the confines of the vehicle carried out by two male subjects. Objective timing data and subjective questionnaire data were collected. Results indicate, much like the LUNEX II study, the LER field study suggest that a crew of two was able to maintain a satisfactory performance of tasks throughout the 14-day field trail within a relative small vehicle volume.

Litaker, Harry, Jr.↗
NASA NTRS2001

Monte-carlo maneuver analysis for the microwave anisotropy probe

The results of this trajectory replication are presented, followed by the results of monte-carlo maneuver simulations. The results are subject to two important assumptions: that linearization is valid (as the software used for the monte-carlo simulation, LAMBIC, is based on a linearization of the trajectory about the nominal) and that the planned human-in-the-loop lunar targeting may be approximated by targeting to a fixed aimpoint.

monte-carlo↗
NASA NTRS2005

Conflict Resolution Performance in an Experimental Study of En Route Free Maneuvering Operations

NASA has developed a far-term air traffic management concept, termed Distributed Air/Ground Traffic Management (DAG-TM). One component of DAG-TM, En Route Free Maneuvering, allows properly trained flight crews of equipped autonomous aircraft to assume responsibility for separation from other autonomous aircraft and from Instrument Flight Rules (IFR) aircraft. Ground-based air traffic controllers continue to separate IFR traffic and issue flow management constraints to all aircraft. To examine En Route Free Maneuvering operations, a joint human-in-the-loop experiment was conducted in summer 2004 at the NASA Ames and Langley Research Centers. Test subject pilots used desktop flight simulators to resolve traffic conflicts and adhere to air traffic flow constraints issued by subject controllers. The experimental airspace integrated both autonomous and IFR aircraft at varying traffic densities. This paper presents a subset of the En Route Free Maneuvering experimental results, focusing on airborne and ground-based conflict resolution, and the effects of increased traffic levels on the ability of pilots and air traffic controllers to perform this task. The results show that, in general, increases in autonomous traffic do not significantly impact conflict resolution performance. In addition, pilot acceptability of autonomous operations remains high throughout the range of traffic densities studied. Together with previously reported findings, these results continue to support the feasibility of the En Route Free Maneuvering component of DAG-TM.

Doble, Nathan A.↗
NASA NTRS2005

Airborne Management of Traffic Conflicts in Descent With Arrival Constraints

NASA is studying far-term air traffic management concepts that may increase operational efficiency through a redistribution of decisionmaking authority among airborne and ground-based elements of the air transportation system. One component of this research, En Route Free Maneuvering, allows trained pilots of equipped autonomous aircraft to assume responsibility for traffic separation. Ground-based air traffic controllers would continue to separate traffic unequipped for autonomous operations and would issue flow management constraints to all aircraft. To evaluate En Route Free Maneuvering operations, a human-in-the-loop experiment was jointly conducted by the NASA Ames and Langley Research Centers. In this experiment, test subject pilots used desktop flight simulators to resolve conflicts in cruise and descent, and to adhere to air traffic flow constraints issued by test subject controllers. Simulators at NASA Langley were equipped with a prototype Autonomous Operations Planner (AOP) flight deck toolset to assist pilots with conflict management and constraint compliance tasks. Results from the experiment are presented, focusing specifically on operations during the initial descent into the terminal area. Airborne conflict resolution performance in descent, conformance to traffic flow management constraints, and the effects of conflicting traffic on constraint conformance are all presented. Subjective data from subject pilots are also presented, showing perceived levels of workload, safety, and acceptability of autonomous arrival operations. Finally, potential AOP functionality enhancements are discussed along with suggestions to improve arrival procedures.

Doble, Nathan A.↗
NASA NTRS2006

Simulating Humans as Integral Parts of Spacecraft Missions

The Collaborative-Virtual Environment Simulation Tool (C-VEST) software was developed for use in a NASA project entitled "3-D Interactive Digital Virtual Human." The project is oriented toward the use of a comprehensive suite of advanced software tools in computational simulations for the purposes of human-centered design of spacecraft missions and of the spacecraft, space suits, and other equipment to be used on the missions. The C-VEST software affords an unprecedented suite of capabilities for three-dimensional virtual-environment simulations with plug-in interfaces for physiological data, haptic interfaces, plug-and-play software, realtime control, and/or playback control. Mathematical models of the mechanics of the human body and of the aforementioned equipment are implemented in software and integrated to simulate forces exerted on and by astronauts as they work. The computational results can then support the iterative processes of design, building, and testing in applied systems engineering and integration. The results of the simulations provide guidance for devising measures to counteract effects of microgravity on the human body and for the rapid development of virtual (that is, simulated) prototypes of advanced space suits, cockpits, and robots to enhance the productivity, comfort, and safety of astronauts. The unique ability to implement human-in-the-loop immersion also makes the C-VEST software potentially valuable for use in commercial and academic settings beyond the original space-mission setting.

Bruins, Anthony C.↗
NASA NTRS2009

Techniques and Results for Determining Window Placement and Configuration for the Small Pressurized Rover (SPR)

A natural component to driving any type of vehicle, be it Earth-based or space-based, is visibility. In its simplest form visibility is a measure of the distance at which an object can be seen. With the National Aeronautics and Space Administration s (NASA) Space Shuttle and the International Space Station (ISS), there are human factors design guidelines for windows. However, for planetary exploration related vehicles, especially land-based vehicles, relatively little has been written on the importance of windows. The goal of the current study was to devise a proper methodology and to obtain preliminary human-in-the-loop data on window placement and location for the small pressurized rover (SPR). Nine participants evaluated multiple areas along the vehicle s front "nose", while actively maneuvering through several lunar driving simulations. Subjective data was collected on seven different aspects measuring areas of necessity, frequency of views, and placement/configuration of windows using questionnaires and composite drawings. Results indicated a desire for a large horizontal field-of-view window spanning the front of the vehicle for most driving situations with slightly reduced window areas for the lower front, lower corners, and side views.

Thompson, Shelby↗
NASA NTRS2005

Technology-enabled Airborne Spacing and Merging

Over the last several decades, advances in airborne and groundside technologies have allowed the Air Traffic Service Provider (ATSP) to give safer and more efficient service, reduce workload and frequency congestion, and help accommodate a critically escalating traffic volume. These new technologies have included advanced radar displays, and data and communication automation to name a few. In step with such advances, NASA Langley is developing a precision spacing concept designed to increase runway throughput by enabling the flight crews to manage their inter-arrival spacing from TRACON entry to the runway threshold. This concept is being developed as part of NASA s Distributed Air/Ground Traffic Management (DAG-TM) project under the Advanced Air Transportation Technologies Program. Precision spacing is enabled by Automatic Dependent Surveillance-Broadcast (ADS-B), which provides air-to-air data exchange including position and velocity reports; real-time wind information and other necessary data. On the flight deck, a research prototype system called Airborne Merging and Spacing for Terminal Arrivals (AMSTAR) processes this information and provides speed guidance to the flight crew to achieve the desired inter-arrival spacing. AMSTAR is designed to support current ATC operations, provide operationally acceptable system-wide increases in approach spacing performance and increase runway throughput through system stability, predictability and precision spacing. This paper describes problems and costs associated with an imprecise arrival flow. It also discusses methods by which Air Traffic Controllers achieve and maintain an optimum interarrival interval, and explores means by which AMSTAR can assist in this pursuit. AMSTAR is an extension of NASA s previous work on in-trail spacing that was successfully demonstrated in a flight evaluation at Chicago O Hare International Airport in September 2002. In addition to providing for precision inter-arrival spacing, AMSTAR provides speed guidance for aircraft on converging routes to safely and smoothly merge onto a common approach. Much consideration has been given to working with operational conditions such as imperfect ADS-B data, wind prediction errors, changing winds, differing aircraft types and wake vortex separation requirements. A series of Monte Carlo simulations are planned for the spring and summer of 2004 at NASA Langley to further study the system behavior and performance under more operationally extreme and varying conditions. This will coincide with a human-in-the-loop study to investigate the flight crew interface, workload and acceptability.

Hull, James↗
NASA NTRS2009

Human Factors Assessment of Vibration Effects on Visual Performance During Launch

The Human Factors Assessment of Vibration Effects on Visual Performance During Launch (Visual Performance) investigation will determine visual performance limits during operational vibration and g-loads on the Space Shuttle, specifically through the determination of minimum readable font size during ascent using planned Orion display formats. Research Summary: The aim of the Human Factors Assessment of Vibration Effects on Visual Performance during Launch (Visual Performance) investigation is to provide supplementary data to that collected by the Thrust Oscillation Seat Detailed Technical Objective (DTO) 695 (Crew Seat DTO) which will measure seat acceleration and vibration from one flight deck and two middeck seats during ascent. While the Crew Seat DTO data alone are important in terms of providing a measure of vibration and g-loading, human performance data are required to fully interpret the operational consequences of the vibration values collected during Space Shuttle ascent. During launch, crewmembers will be requested to view placards with varying font sizes and indicate the minimum readable size. In combination with the Crew Seat DTO, the Visual Performance investigation will: Provide flight-validated evidence that will be used to establish vibration limits for visual performance during combined vibration and linear g-loading. o Provide flight data as inputs to ongoing ground-based simulations, which will further validate crew visual performance under vibration loading in a controlled environment. o Provide vibration and performance metrics to help validate procedures for ground tests and analyses of seats, suits, displays and controls, and human-in-the-loop performance.

Kritina Holden↗
NASA NTRS2004

Data Management for Mars Exploration Rovers

Data Management for the Mars Exploration Rovers (MER) project is a comprehensive system addressing the needs of development, test, and operations phases of the mission. During development of flight software, including the science software, the data management system can be simulated using any POSIX file system. During testing, the on-board file system can be bit compared with files on the ground to verify proper behavior and end-to-end data flows. During mission operations, end-to-end accountability of data products is supported, from science observation concept to data products within the permanent ground repository. Automated and human-in-the-loop ground tools allow decisions regarding retransmitting, re-prioritizing, and deleting data products to be made using higher level information than is available to a protocol-stack approach such as the CCSDS File Delivery Protocol (CFDP).

Mars missions↗
NASA NTRS2010

A Human-in-the Loop Exploration of the Dynamic Airspace Configuration Concept

An exploratory human-in-the-loop study was conducted to better understand the impact of Dynamic Airspace Configuration (DAC) on air traffic controllers. To do so, a range of three progressively more aggressive algorithmic approaches to sectorizations were chosen. Sectorizations from these algorithms were used to test and quantify the range of impact on the controller and traffic. Results show that traffic count was more equitably distributed between the four test sectors and duration of counts over MAP were progressively lower as the magnitude of boundary change increased. However, taskload and workload were also shown to increase with the increase in aggressiveness and acceptability of the boundary changes decreased. Overall, simulated operations of the DAC concept did not appear to compromise safety. Feedback from the participants highlighted the importance of limiting some aspects of boundary changes such as amount of volume gained or lost and the extent of change relative to the initial airspace design.

Homola, Jeffrey↗
NASA NTRS2005

Evaluation of Airborne Precision Spacing in a Human-in-the-Loop Experiment

A significant bottleneck in the current air traffic system occurs at the runway. Expanding airports and adding new runways will help solve this problem; however, this comes with significant costs: financially, politically and environmentally. A complementary solution is to safely increase the capacity of current runways. This can be achieved by precisely spacing aircraft at the runway threshold, with a resulting reduction in the spacing bu er required under today s operations. At NASA's Langley Research Center, the Airspace Systems program has been investigating airborne technologies and procedures that will assist the flight crew in achieving precise spacing behind another aircraft. A new spacing clearance allows the pilot to follow speed cues from a new on-board guidance system called Airborne Merging and Spacing for Terminal Arrivals (AMSTAR). AMSTAR receives Automatic Dependent Surveillance-Broadcast (ADS-B) reports from an assigned, leading aircraft and calculates the appropriate speed for the ownship to fly to achieve the desired spacing interval, time- or distance-based, at the runway threshold. Since the goal is overall system capacity, the speed guidance algorithm is designed to provide system-wide benefits and stability to a string of arriving aircraft. An experiment was recently performed at the NASA Langley Air Traffic Operations Laboratory (ATOL) to test the flexibility of Airborne Precision Spacing operations under a variety of operational conditions. These included several types of merge and approach geometries along with the complementary merging and in-trail operations. Twelve airline pilots and four controllers participated in this simulation. Performance and questionnaire data were collected from a total of eighty-four individual arrivals. The pilots were able to achieve precise spacing with a mean error of 0.5 seconds and a standard deviation of 4.7 seconds. No statistically significant di erences in spacing performance were found between in-trail and merging operations or among the three modeled airspaces. Questionnaire data showed general acceptance for both pilots and controllers. These results reinforce previous findings from full-mission simulation and flight evaluation of the in-trail operations. This paper reviews the results of this simulation in detail.

Barmore, Bryan E.↗