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At least 559 records · Page 31

A Learning-Based Guidance Selection Mechanism for a Formally Verified Sense and Avoid Algorithm

This paper describes a learning-based strategy for selecting conflict avoidance maneuvers for autonomous unmanned aircraft systems. The selected maneuvers are provided by a formally verified algorithm and they are guaranteed to solve any impending conflict under general assumptions about aircraft dynamics. The decision-making logic that selects the appropriate maneuvers is encoded in a stochastic policy encapsulated as a neural network. The network’s parameters are optimized to maximize a reward function. The reward function penalizes loss of separation with other aircraft while rewarding resolutions that result in minimum excursions from the nominal flight plan. This paper provides a description of the technique and presents preliminary simulation results.

Balachandran, Swee↗

Impact of Airborne Radar Uncertainties on Detect-and-Avoid Systems’ Performance

Impact of sensor uncertainty on Detect-and-Avoid (DAA) systems’ performance is investigated. Key metrics analyzed are the loss of DAA well clear ratio, the near-mid-air-collision risk ratio, the alert ratio, and the number of maneuvers per loss of DAA well clear. Sensitivity of these metrics to the magnitude of sensor uncertainty, pilots’ selection of maneuver, and surveillance range is investigated. Benefits of a dynamic buffer around the DAA well clear separation boundary, computed based on track accuracies, are also analyzed. These metrics are computed from open- and closed-loop simulations of a large number of representative encounters between an unmanned aircraft system and a manned aircraft. Results show that sensor uncertainty degrades safety metrics considerably but has only a minor effect on the number of maneuvers per loss of DAA well clear. The number of maneuvers, nonetheless, can be reduced by a 5◦ buffer away from the edge of the range of conflict-resulting heading in pilots’ selection of maneuver.

UAS↗

Review of a Draft - Avoiding the Impossible: Re-focusing a Non-Feasible Mission 2-Hrs into a 3-Day Engineering Session

Concurrent engineering offers a great many benefits to engineers and mission designers throughout the world of aerospace. The only downside of concurrent engineering, and this is somewhat unavoidable, is that you don’t know the results of a design session until the end when it is completed. Usually, this is not a problem – you wouldn’t start building a spacecraft before the design is finished. However, within mass and cost constrained systems, you may end up with a final design that although technically sound – is not feasible due to mass or cost limits. Employing in-session mass and cost models with flexible inputs that refine their estimates and variance as more detailed information comes in throughout a design session allows major design changes to be made when the probability of breaching a mass or cost cap exceeds a threshold level. This enables mission designers to re-focus the study, and avoid spending 3-days with 15 engineers designing a non-feasible mission. By understanding key correlations and nested relationships within mass or cost, and specifically mass or cost allocations per mission element by mission type, it’s possible to get flexible-input, statistically based mass and cost estimates very early in the design process. Baseline models are seeded using mission characteristics and general parameters (outer planetary orbiter-probe mission, $500M cost cap for example) to provide a rough estimate of the expected mass or cost. As information gets solidified during the session, it gets added to the model and the estimates are updated. Continuing the orbiter-probe mission example, modeling probe heat shield cost as a percent of total probe cost, and probe cost as a percent of total flight system cost, and total flight system cost as a percent of total mission cost allows a design team to roll-up solidified information to estimate the probability of fitting within a mass or cost constraint early in a concurrent design session. When only the heat shield cost is known, the variance of the final estimate is higher, whereas when the full probe gets defined, naturally, the variance of the estimate decreases. A methodology, model, verification and demo implementation for cost limit breach are presented.

Hihn, Jairus M.↗

Onboard Stereo Vision for Drone Pursuit or Sense and Avoid

Wedescribeanew,on-board,shortrangeperceptionsystem that enables micro aerial vehicles (MAVs) to detect, track, and follow or avoid nearby drones (within 2-20 meters) in GPS-denied environments. Each vehicle is able to sense its neighborhood and adapt its motion accordingly without use of centralized reasoning or inter-vehicle communication. To enable a lightweight, low power solution, on-board stereo cameras are used for detection and tracking with depth images, while a downward-looking camera and an inertial measurement unit are used to estimate the position of the observer without use of GPS. We illustrate the robustness and accuracy of this approach through real-time, outdoor leader-follower experiments with three quadrotors. Our experiments show that state-of-art trackers are far less robust in detection against cluttered background. This demonstrates that stereo vision is a highly effective approach to perception for safe navigation of multiple MAVs in close proximity.

Matthies, Larry↗

Performance of Flash Lidar with Real-time Image Enhancement Algorithm for Landing Hazard Avoidance

Performance of a 3-D imaging flash lidar employing a novel super-resolution algorithm is characterized by a series of static and dynamic tests. A gantry test of this lidar in which the lidar was placed in an instrumented moving basket above a calibrated hazard field proved an excellent demonstration of hazard avoidance capabilities. Results of the gantry test are reported and potential of flash lidar utilizing super-resolution algorithm for future landing missions are explained.

Hazard Detection↗

Debris Avoidance and Phase Change Maneuvers in Near Rectilinear Halo Orbits

Over the course of its lifetime, Ga teway may execute excursions from itsba seline NRHO that include short-lead maneuvers to avoid other spacecraft or debris objects or long-lea d rephasing within the NRHO to support rendezvous or other mission objectives. The dynamical cha racteristics of the NRHO a re distinct from those of low Ea rth a nd low luna r orbits due to the simulta neous gra vitational influences of the Ea rth a nd Moon. Thus, new a pproaches for executing debris a voidance ma neuvers a nd repha sing ma neuversa re necessary. The current investiga tion proposesmethods for designing low-cost DAMs with short-lead pla nning time a s well a s rephasing maneuvers with many months of advance notice.

Diane C Davis↗

Projection-Based Inter-Agent Collision Avoidance in Dual Agent Systems

Inter-agent collisions can occur in otherwise dynamically-stable (i.e., Lyapunov stable) dual-agent leaderfollower systems. These inter-agent collisions between the leader and the follower happen during the transient phase of the system’s evolution, although the steady-state behavior of the system is asymptotically/exponentially stable. Therefore, to avoid such inter-agent collisions, it is essential to control the relative error trajectory between the leader and the follower during the transient phase of the system’s evolution. In this paper, we introduce a novel projection operator based modelreference control architecture that can mitigate impending inter-agent collisions by modifying the transient dynamics of relative trajectories. This controller augments the follower’s baseline controller and consists of two essential components: a collision-free reference model based on the projection operator and a model reference tracking controller to guide the follower to follow the reference-model. This paper defines the concept of transient-instability in leader-follower systems, introduces collision mitigation controller architecture, and presents an illustrative example demonstrating its effectiveness.

Bayard, David S.↗

Avoiding Selection Bias in Generating Examples of Plans in the Presence of Heuristic Error

It is generally understood that heuristic error hurts the performance of search algorithms, measured in terms of search effort. Hence there is an interest in understanding how to reduce heuristic error. One way to do this is to learn a heuristic from a set of examples of plans generated offline, e.g. bootstrapping methods. In this paper, we consider how some methods for generating examples of plans may skew the training set in the presence of heuristic errors. Initial theoretical results show that duplicate detection is one source of selection bias in the canonical A* algorithm. We introduce a duplicate selection scheme for A* that avoids selection bias in generating cost-optimal examples, without compromising memory efficiency, and develop ideas in the satisficing setting. We evaluate our approach on n x m grids with multiple cost-optimal solutions and synthetic heuristic error. Finally, we attempt to extend these ideas to the problem of generating extreme examples of plans.

Alison S Paredes↗

ATM-X Urban Air Mobility: Assistive Detect and Avoid for UAM Operations Safety Evaluation Metrics

This document satisfies ATM-X UAM Task UID 989 “Evaluation Report on Tactical Separation Provision Services with Advisory Detect and Avoid Safety Metrics”. The first version of this document was delivered to the UAM team on October 3, 2022, for initial revision and comments.This current version incorporates all the comments received and is being delivered to the UAM subproject for a final revision before is submitted to satisfy the L1 milestone deliverable.

UAM↗

Alternate Methods of Model Reduction to Avoid Dynamic Modal Truncation Error

Loads analysis is traditionally performed using dynamically reduced models, which provides the benefit to reduce run time. If the reduced model frequency cutoff is not chosen appropriately, the model will lack the dynamic content required to fully represent the response of the non-reduced model. Standard guidance for reduced model frequency content, provided in NASA-STD-5002, is to solve fixed base modes up to a minimum of 1.5x the model frequency content of interest and to employ static modal truncation methods such as residual vectors, the mode acceleration method, and the residual flexibility method to account for the truncated flexibility of the missing modes. Fixed base modes require the selection of a set of degrees of freedom to be constrained which, if not properly selected, may affect the accuracy of the reduced model by excluding some of the dynamic characteristic of the full model. In this case, the standard NASA guidance would be insufficient, but it may not be readily apparent that a portion of the reduced model response is missing. This error was encountered during an independent verification and validation (IV&V) effort, where it was observed that the resulting dynamic response was lower than the inline analysis. In this specific case, despite following the standard NASA model reduction guidelines in the selection of the frequency cutoff, the inline model still did not fully capture the necessary dynamic content. As part of the IV&V, an alternate reduction methodology was employed using an unconstrained mode acceleration method. The original model initially performed a constrained reduction to twice the frequency content of interest before doing a free-free run, employing the mode acceleration method to account for the truncated modes. In contrast in the IV&V, the unconstrained model reduced directly to the needed frequency content of the free-free run, avoiding any interactions between constraints and dynamic content. To verify the model, the original reduction methodology was used to generate a series of Hurty-Craig-Bampton reductions, each with a higher frequency cutoff than the previous. The results were shown to converge once the frequency cutoff increased past eight times the frequency content of interest. At the same frequency cutoff, the results of the Hurty-Craig-Bampton model converged with the results of the unconstrained mode acceleration model. This comparative study provided confidence that the results of the unconstrained modal acceleration reduced model were correct and that the Hurty-Craig-Bampton needed to increase its frequency cutoff to fully capture the dynamic response.

Erin Simmons↗

Alternate Methods of Model Reduction to Avoid Dynamic Modal Truncation Error

Loads analysis is traditionally performed using dynamically reduced models, which provides the benefit to reduce run time. If the reduced model frequency cutoff is not chosen appropriately, the model will lack the dynamic content required to fully represent the response of the non-reduced model. Standard guidance for reduced model frequency content, provided in NASA-STD-5002, is to solve fixed base modes up to a minimum of 1.5x the model frequency content of interest and to employ static modal truncation methods such as residual vectors, the mode acceleration method, and the residual flexibility method to account for the truncated flexibility of the missing modes. Fixed base modes require the selection of a set of degrees of freedom to be constrained which, if not properly selected, may affect the accuracy of the reduced model by excluding some of the dynamic characteristic of the full model. In this case, the standard NASA guidance would be insufficient, but it may not be readily apparent that a portion of the reduced model response is missing. This error was encountered during an independent verification and validation (IV&V) effort, where it was observed that the resulting dynamic response was lower than the inline analysis. In this specific case, despite following the standard NASA model reduction guidelines in the selection of the frequency cutoff, the inline model still did not fully capture the necessary dynamic content. As part of the IV&V, an alternate reduction methodology was employed using an unconstrained mode acceleration method. The original model initially performed a constrained reduction to twice the frequency content of interest before doing a free-free run, employing the mode acceleration method to account for the truncated modes. In contrast in the IV&V, the unconstrained model reduced directly to the needed frequency content of the free-free run, avoiding any interactions between constraints and dynamic content. To verify the model, the original reduction methodology was used to generate a series of Hurty-Craig-Bampton reductions, each with a higher frequency cutoff than the previous. The results were shown to converge once the frequency cutoff increased past eight times the frequency content of interest. At the same frequency cutoff, the results of the Hurty-Craig-Bampton model converged with the results of the unconstrained mode acceleration model. This comparative study provided confidence that the results of the unconstrained modal acceleration reduced model were correct and that the Hurty-Craig-Bampton needed to increase its frequency cutoff to fully capture the dynamic response.

Erin Simmons↗

HIRF Avoidance Approach for Advanced Air Mobility Vehicles

Advanced Air Mobility (AAM), including Urban Air Mobility (UAM), vehicles may be required to meet stringent High-Intensity Radiated Fields (HIRF) certification requirements. HIRF can cause interference and even damage to vehicle systems. A recently proposed map-based HIRF avoidance approach can help reduce HIRF protection costs compared to the standard approach. However, it necessitates knowing the locations, frequencies, and transmit powers of high-power antennas within the operating area. This study aims to provide the necessary transmitter data by utilizing regulatory license databases. Using New York City as a representative urban area, fixed transmitter data are presented for AM, FM, TV, satellite uplink, land-mobile radio, microwave link, weather radars, and others. The maximum antenna effective isotropic radiated powers are reported. The associated electric field envelopes at 100 feet (30.48 m) distance are compared against the current rotorcraft HIRF standard. The results show the current standards are far adequate in protecting the vehicles. Maps of regions with high HIRF are illustrated. Data for several other cities are also being considered.

HIRF↗

Development of a Compact Lidar Sensor for Terrain Relative Navigation and Terrain Hazard Avoidance

A Lidar sensor utilizing linear-mode flash lidar technology and a novel Super-Resolution technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps to achieve high reliability operation in near real-time. This paper describes the results of drone and helicopter flight tests of a breadboard system, explains the design and capabilities of a recently built compact prototype unit, and proposes a concepts of operation for future landing missions.

3-D Imaging↗

Development of a Compact Lidar Sensor for Terrain Relative Navigation and Terrain Hazard Avoidance

A Flash Lidar utilizing a novel Super-Resolution (SR) technique has been developed for providing Terrain Relative Navigation and Hazard Avoidance capabilities onboard landing vehicles. Processing algorithms for precision navigation and safe landing location identification take advantage of the uniform fixed pixels property of generated high resolution Digital Elevation Maps (DEMs) to achieve high reliability operation in near real-time. This paper describes the current and next generation breadboard units, report the results of recent dynamic tests, and explain the operational concept as envisioned for future landing missions.

3-D Imaging↗

Bunch length compression method for free electron lasers to avoid parasitic compressions

A method of bunch length compression method for a free electron laser (FEL) that avoids parasitic compressions by 1) applying acceleration on the falling portion of the RF waveform, 2) compressing using a positive momentum compaction (R.sub.56>0), and 3) compensating for aberration by using nonlinear magnets in the compressor beam line.

42 ENGINEERING↗

Avoidance of Tearing Mode Locking and Disruption with Electro-Magnetic Torque Introduced by Feedback-based Mode Rotation Control in DIII-D and RFX-mod

Disruptions caused by tearing modes (TMs) are considered to be one of the most critical roadblocks to achieving reliable, steady-state operation of tokamak fusion reactors. Here we have demonstrated a very promising scheme to avoid such disruptions by utilizing the electro-magnetic (EM) torque produced with 3D coils that are available in many tokamaks. In this scheme, the EM torque to the modes is created by a toroidal phase shift between the externally-applied field and the excited TM fields, compensating for the mode momentum loss due to the interaction with the resistive wall and uncorrected error fields. Fine control of torque balance is provided by a feedback scheme. We have explored this approach in two vastly different devices and plasma conditions: DIII-D and RFX-mod operated in tokamak mode. In DIII-D, the plasma target was high βN plasmas in a non-circular divertor tokamak. In RFX-mod, the plasma was ohmically-heated plasma with ultralow safety factor in a circular limiter discharge of active feedback coils outside the thick resistive shell. The DIII-D and RFX-mod experiments showed remarkable consistency with theoretical predictions of torque balance. The application to ignition-oriented devices such as International Thermonuclear Experimental Reactor (ITER) would expand the horizon of its operational regime. The internal 3D coil set currently under consideration for edge localized mode suppression in ITER would be well suited to this purpose.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

All About PID - Testing and Avoidance in the Field

Potential-induced degradation can cause significant power loss in modules if the appropriate precautions are not taken. In the first part of a new series in PV Tech Power on module failure, Peter Hacke and Steve Johnston assess the current state-of-the-art in detecting, avoiding and mitigating the worst effects of PID.

14 SOLAR ENERGY↗

Drone Video Platform—Collision Avoidance, Situational Awareness, and Communications STL-039-17, Year 2 of 2

At the beginning of FY 2018, the collision avoidance task of this project was dropped because it had become a “commercial off-the-shelf” product for rotary drones, but it was still considered a very difficult problem for fixed wing drones. In the second quarter of FY 2018, R. Trainham took over the project and decided to redirect efforts into testing a variety of sensors on a variety of platforms. The core module task was also dropped from the project because it duplicated what was already available commercially. Since last year’s SDRD final review, we have conducted flight tests in Idaho, Montana, Nevada, and Wisconsin. We have flown five different gamma detectors, a chemical detector and sampler, an optical spectrometer, and a point LIDAR on quadcopters, hexcopters, and the fixed wing T-28 and Sandstorm. We have collaborated with H3D, USI, Virginia Tech, and ORNL. In the coming year, we will continue those collaborations, and will add BYU and INL as collaborators.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗