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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 631 records · Page 35
All sourcesNASA NTRSDOE OSTI
NASA NTRS1996

Experimental Study of Collision Detection Schema Used by Pilots During Closely Spaced Parallel Approaches

An experimental flight simulator study was conducted to examine the mental alerting logic and thresholds used by subjects to issue an alert and execute an avoidance maneuver. Subjects flew a series of autopilot landing approaches with traffic on a closely-spaced parallel approach; during some runs, the traffic would deviate towards the subject and the subject was to indicate the point when they recognized the potential traffic conflict, and then indicate a direction of flight for an avoidance maneuver. A variety of subjects, including graduate students, general aviation pilots and airline pilots, were tested. Five traffic displays were evaluated, with a moving map TCAS-type traffic display as a baseline. A side-task created both high and low workload situations. Subjects appeared to use the lateral deviation of the intruder aircraft from its approach path as the criteria for an alert regardless of the display available. However, with displays showing heading and/or trend information, their alerting thresholds were significantly lowered. This type of range-only schema still resulted in many near misses, as a high convergence rate was often established by the time of the subject's alert. Therefore, the properties of the intruder's trajectory had the greatest effect on the resultant near miss rate; no display system reliably caused alerts timely enough for certain collision avoidance. Subjects' performance dropped significantly on a side-task while they analyzed the need for an alert, showing alert generation can be a high workload situation at critical times. No variation was found between subjects with and with out piloting experience. These results suggest the design of automatic alerting systems should take into account the range-type alerting schema used by the human, such that the rationale for the automatic alert should be obvious to, and trusted by, the operator. Although careful display design may help generate pilot/automation trust, issues such as user non-conformance to automatically generated commands can remain a possibility.

Pritchett, Amy R.↗
NASA NTRS2016

Algorithms for Collision Detection Between a Point and a Moving Polygon, with Applications to Aircraft Weather Avoidance

This paper proposes mathematical definitions of functions that can be used to detect future collisions between a point and a moving polygon. The intended application is weather avoidance, where the given point represents an aircraft and bounding polygons are chosen to model regions with bad weather. Other applications could possibly include avoiding other moving obstacles. The motivation for the functions presented here is safety, and therefore they have been proved to be mathematically correct. The functions are being developed for inclusion in NASA's Stratway software tool, which allows low-fidelity air traffic management concepts to be easily prototyped and quickly tested.

Narkawicz, Anthony↗
NASA NTRS1982

Avoidance maneuevers selected while viewing cockpit traffic displays

Ten airline pilots rates the collision danger of air traffic presented on cockpit displays of traffic information while they monitored simulated departures from Denver. They selected avoidance maneuvers when necessary for separation. Most evasive maneuvers were turns rather than vertical maneuvers. Evasive maneuvers chosen for encounters with low or moderate collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threst situations pilots turned toward the intruder only at chance levels. Intruders coming from positions in front of the pilot's own ship were more frequently avoided by turns toward than when intruders approached laterally or from behind. Some of the implications of the pilots' turning-toward tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

Smith, J. D.↗
NASA NTRS1995

Planning Motions To Avoid Moving Obstacles

Method of planning motions of object to prevent collisions with other moving objects derived from concept of collision cones in relative-velocity space. Collision cones computed, then maneuvers chosen to avoid these cones. Method considered prototype of automated method of planning motions in diverse applications, including complex manufacturing tasks involving coordination of multiple robots and controlling land, air, and sea traffic.

Fiorini, Paolo↗
NASA NTRS1984

Perceived threat and avoidance maneuvers in response to cockpit traffic displays

Airline pilots rated their perception of the danger of an air-to-air collision based on cockpit displays of traffic information while they monitored simulated departures. They selected avoidance maneuvers when necessary for separation. Most evasive maneuvers were turns rather than vertical maneuvers. Evasive maneuvers chosen for encounters with lowor moderate-collision danger were generally toward the intruding aircraft. This tendency lessened as the perceived threat level increased. In the highest threat situations, pilots turned toward the intruder only at chance levels. Intruders coming from positions in front of the pilot's ship were more frequently avoided by turns toward than when intruders approached laterally or from behind. Some of the implications of the pilot's turning-toward tendencies are discussed with respect to automatic collision avoidance systems and coordination of avoidance maneuvers of conflicting aircraft.

Smith, J. D.↗
DOE OSTI2017

Causal control design for wave energy converters with finite stroke

Control design is of central importance in the optimization of power generation from ocean wave energy converters (WECs). The problem is made challenging by the fact that the resource is vibratory and stochastic, with a low quality factor. It has recently been shown that when constrained to causality, the optimal feedback controller for a WEC is solvable in closed-form as a sign-indefinite LQG problem, for the case in which the WEC exhibits linear dynamics and quadratic power transmission dissipation. However, most WECs exhibit stroke limits, which must be explicitly accounted for in control design to avoid end-stop collisions. This is important because such collisions lead to damage, and also because the introduction of unmodeled stroke limits can actually destabilize the otherwise-optimal closed loop. We illustrate a control design technique to address this issue, which consists of two design steps. In the first step, LMI techniques are used to optimize the mean power harvested from waves with a known power spectral density, subject to several competing objectives. In the second step, the controller is augmented via a nonlinear passivity-based outer-loop design which guarantees to prevent stroke saturation while also guaranteeing to preserve closed-loop stability. Furthermore, the technique is illustrated using a model of a simple heaving point absorber, and verified in simulation.

16 TIDAL AND WAVE POWER↗
DOE OSTI2025

Unit cell manufacture by blown powder directed energy deposition

Lattice structures manufactured by additive manufacturing show unique promise to alter existing components to improve the thermo-mechanical properties of the base structure. Here, in the present study, the manufacture of a self-supporting lattice structure by blown powder directed energy deposition was explored. Converging struts were manufactured using multiple lean angles to facilitate the self-supporting structure and to avoid machine-part collisions. The struts showed near uniform straightness relative to a fitted line with a maximum deviation of 1mm at a lean angle of 10°. Micro–hardness and porosity evaluation results showed no significant variation along the struts.

Additive manufacturing↗
NASA NTRS1989

Grasp planning under uncertainty

The planning of dexterous grasps for multifingered robot hands operating in uncertain environments is covered. A sensor-based approach to the planning of a reach path prior to grasping is first described. An on-line, joint space finger path planning algorithm for the enclose phase of grasping was then developed. The algorithm minimizes the impact momentum of the hand. It uses a Preshape Jacobian matrix to map task-level hand preshape requirements into kinematic constraints. A master slave scheme avoids inter-finger collisions and reduces the dimensionality of the planning problem.

Erkmen, A. M.↗
NASA NTRS1994

Unsteady panel method for flows with multiple bodies moving along various paths

A potential flow based three-dimensional panel method was modified to treat time-dependent conditions in which several submerged bodies can move within the fluid along different trajectories. This modification was accomplished by formulating the momentary solution in an inertial frame of reference, attached to the undisturbed stationary fluid. Consequently, the numerical interpretation of the multiple-body, solid-surface boundary condition and the viscous wake rollup was considerably simplified. The usteady capability of this code was calibrated and validated by comparing computed results with closed-form analytical results available for an airfoil, which was impulsively set into a constant speed forward motion. To demonstrate the multicomponent capability, computations were made for two wings following closely intersecting paths (i.e., simulations aimed at avoiding mid-air collisions) and for a flowfield with relative rotation (i.e., the case of a helicopter rotor rotating relative to the fuselage). Computed results for the cases were compared to experimental data, when such data was available.

Richardson, Thomas F.↗
NASA NTRS2024

Orbital Debris Quarterly News, February 2024

- The Second International Orbital Debris Conference - ISS Maneuvers to Avoid Potential November 2023 Collision - Goldstone Radar Measurements of the Orbital Debris Environment: 2022 - ODPO Lab Updates - Conference and Workshop Reports - Upcoming Meetings - IOC II Conference Abstracts from the NASA HVIT - IOC II Conference Abstracts from the NASA ODPO - Space Missions and Satellite Box Score

Heather Cowardin↗
DOE OSTI2017

The fusion code XGC: Enabling kinetic study of multi-scale edge turbulent transport in ITER [Book Chapter]

The XGC fusion gyrokinetic code combines state-of-the-art, portable computational and algorithmic technologies to enable complicated multiscale simulations of turbulence and transport dynamics in ITER edge plasma on the largest US open-science computer, the CRAY XK7 Titan, at its maximal heterogeneous capability, which have not been possible before due to a factor of over 10 shortage in the time-to-solution for less than 5 days of wall-clock time for one physics case. Frontier techniques such as nested OpenMP parallelism, adaptive parallel I/O, staging I/O and data reduction using dynamic and asynchronous applications interactions, dynamic repartitioning for balancing computational work in pushing particles and in grid related work, scalable and accurate discretization algorithms for non-linear Coulomb collisions, and communication-avoiding subcycling technology for pushing particles on both CPUs and GPUs are also utilized to dramatically improve the scalability and time-to-solution, hence enabling the difficult kinetic ITER edge simulation on a present-day leadership class computer.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS1999

Launch Collision Probability

This report analyzes the probability of a launch vehicle colliding with one of the nearly 10,000 tracked objects orbiting the Earth, given that an object on a near-collision course with the launch vehicle has been identified. Knowledge of the probability of collision throughout the launch window can be used to avoid launching at times when the probability of collision is unacceptably high. The analysis in this report assumes that the positions of the orbiting objects and the launch vehicle can be predicted as a function of time and therefore that any tracked object which comes close to the launch vehicle can be identified. The analysis further assumes that the position uncertainty of the launch vehicle and the approaching space object can be described with position covariance matrices. With these and some additional simplifying assumptions, a closed-form solution is developed using two approaches. The solution shows that the probability of collision is a function of position uncertainties, the size of the two potentially colliding objects, and the nominal separation distance at the point of closest approach. ne impact of the simplifying assumptions on the accuracy of the final result is assessed and the application of the results to the Cassini mission, launched in October 1997, is described. Other factors that affect the probability of collision are also discussed. Finally, the report offers alternative approaches that can be used to evaluate the probability of collision.

Bollenbacher, Gary↗
NASA NTRS1990

The spiral-compact galaxy pair AM 2208-251: Computer simulations versus observations

The system AM2208-251 is a roughly edge-on spiral extending east-west with a smaller round compact E system about 60 arcsec east of the spiral nucleus along the major axis of the spiral. Bertola, Huchtmeier, and Zeilinger (1990) have presented optical spectroscopic as well as single dish 21 cm observations of this system. Their spectroscopic data show, via emission lines lambda lambda 3727-29A, a rising rotation curve near the nucleus. These spectroscopic observations may indicate a tidal interaction in the system. In order to learn more about such pairs, the authors simulated the interaction using the computer model developed by Miller (1976 a,b, 1978) and modified by the authors (Byrd 1986, 1987, 1988). To do the simulation they need an idea of the mutual orbits of the two galaxies. Their computer model is a two-dimensional polar N-body program. It consists of a self-gravitating disk of particles, within an inert axially symmetric stabilizing halo potential. The particles are distributed in a 24(radial) by 36(azimuthal) polar grid. Self consistent calculations can be done only within the grid area. The disk is modeled with a finite Mestel disk, where all the particles initially move in circular orbits with constant tangential velocities (Mestel 1963), resulting in a flat rotation curve. The gas particles in the spiral's disk, which make up 30 percent of its mass, collide in the following manner. The number of particles in each bin of the polar grid is counted every time step. If it is greater than a given critical density, all the particles in the bin collide, obtaining in the result the same velocities, equal to the average for the bin. This process produces clumps of gas particles-the star formation sites. The authors suppress the collision in the inner part of the disk (within the circle r = 6) to represent the hole seen in the gas in the nuclear bulge of spirals. They thus avoid spurious effects due to collisions in that region. They also varied the size of the collisional bins, which did not affect their conclusions.

Klaric, Mario↗
NASA NTRS2011

Safe Maritime Navigation with COLREGS Using Velocity Obstacles

This paper presents a motion planning algorithm for Unmanned Surface Vehicles (USVs) to navigate safely in dynamic, cluttered environments. The proposed algorithm not only addresses Hazard Avoidance (HA) for stationary and moving hazards but also applies the International Regulations for Preventing Collisions at Sea (known as COLREGs). The COLREG rules specify, for example, which vessel is responsible for giving way to the other and to which side of the "stand-on" vessel to maneuver. The three primary COLREG rules were considered in this paper: crossing, overtaking, and head-on situations. For USVs to be safely deployed in environments with other traffic boats, it is imperative that the USV's navigation algorithm obey COLREGs. Note also that if other boats disregard their responsibility under COLREGs, the USV will still apply its HA algorithms to avoid a collision. The proposed approach is based on Velocity Obstacles, which generates a cone-shaped obstacle in the velocity space. Because Velocity Obstacles also specify which side of the obstacle the vehicle will pass during the avoidance maneuver, COLREGs are encoded in the velocity space in a natural way. The algorithm is demonstrated via both simulation and on-water tests.

velocity obstacles↗
DOE OSTI2016

TU-FG-201-07: Development of SRS Conical Collimator Collision Prediction Software for Radiation Treatment Safety

Purpose: Stereotactic radiosurgery (SRS) treatments using conical collimators can potentially result in gantry collision with treatment table due to limited collision-clear spaces. An in-house software was developed to help the SRS treatment planner mitigate potential SRS conical collimator (Varian Medical System, Palo Alto, CA) collisions with the treatment table. This software was designed to remove treatment re-planning secondary to unexpected collisions. Methods: A BrainLAB SRS ICT Frameless Extension used for SRS treatments in our clinic was mathematically modelled using surface points registered to the 3D co-ordinate space of the couch extension. The surface points are transformed based on the treatment isocenter point and potential collisions are determined in 3D space for couch and gantry angle combinations. The distance between the SRS conical collimators and LINAC isocenter is known. The collision detection model was programmed in MATLAB (Mathwork, Natick, MA) to display graphical plots of the calculations, and the plotted data is used to avoid the gantry and couch angle combinations that would likely result in a collision. We have utilized the cone collision tool for 23 SRS cone treatment plans (8 retrospective and 15 prospective for 10 patients). Results: Twenty one plans strongly agreed with the software tool prediction for collision. However, in two plans, a collision was observed with a 0.5 cm margin when the software predicted no collision. Therefore, additional margins were added to the clearance criteria in the program to achieve a lower risk of actual collisions. Conclusion: Our in-house developed collision check software successfully avoided SRS cone re-planning by 91.3% due to a reduction in cone collisions with the treatment table. Future developments to our software will include a CT image data set based collision prediction model as well as a beam angle optimization tool to avoid normal critical tissues as well as previously treated lesions.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2024

Cable-Driven Parallel Robot (CDPR) for Panelized Envelope Retrofits: Feasible Workspace Analysis

Recent decades have seen remarkable progress in the field of robotic-assisted construction. Cable-driven parallel robots (CDPRs) emerge as promising tools for automating construction processes, due to their advantageous features such as scalability, reconfigurability, compact design, and high payload-to-weight ratio. This paper uses a simple static model to determine the feasibility of a CDPR for overclad panel installation in building envelope retrofits. Given that the building facade needs to be a subset of the CDPR’s wrench-feasible workspace, we focus on the sensitivity of the workspace concerning various cable arrangements and CDPR frame sizes (e.g., height and width extensions). Our analysis indicates that no cable arrangement satisfies the requirement of complete facade coverage and avoids cable-to-panel collisions. Thus, frame extension is needed to enhance coverage. However, in densely populated areas where width extension is limited by space constraints, height extension alone is insufficient to guarantee full facade coverage. This paper pioneers the investigation of CDPRs for panelized envelope retrofits, showcasing their advantages and limitations and paving the way for further research and development.

Liu, Yifang↗
NASA NTRS1987

Shear and mixing effects on cells in agitated microcarrier tissue culture reactors

Tissue cells are known to be sensitive to mechanical stresses imposed on them by agitation in bioreactors. The amount of agitation provided in a microcarrier or suspension bioreactor should be only enough to provide effective homogeneity. Three distinct flow regions can be identified in the reactor: bulk turbulent flow, bulk laminar flow and boundary-layer flows. Possible mechanisms of cell damage are examined by analyzing the motion of microcarriers or free cells relative to the surrounding fluid, to each other and to moving or stationary solid surfaces. The primary mechanisms of cell damage appear to result from: (1) direct interaction between microcarriers and turbulent eddies; (2) collisions between microcarriers in turbulent flow; and (3) collisions against the impeller or other stationary surfaces. If the smallest eddies of turbulent flow are of the same size as the microcarrier beads, they may cause high shear stresses on the cells. Eddies the size of the average interbead spacing may cause bead-bead collisions which damage cells. The severity of the collisions increases when the eddies are also of the same size as the beads. Impeller collisions occur when beads cannot avoid the impeller leading edge as it advances through the liquid. The implications of the results of this analysis on the design and operation of tissue culture reactors are discussed.

Cherry, Robert S.↗
NASA NTRS1988

Titanium carbide coatings for aerospace ball bearings

In conventional ball bearings, steel to steel contacts between the balls and the raceways are at the origin of microwelds which lead to material transfer, surface roughening, lubricant breakdown, and finally to a loss in the bearing performances. To minimize the microwelding tendencies of the contacting partners it is necessary to modify their surface materials; the solid to solid collisions themselves are difficult to avoid. The use of titanium carbide coated steel balls can bring spectacular improvements in the performances and lifetimes of both oil-grease lubricated and oil-grease free bearings in a series of severe applications.

Boving, Hans J.↗