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NASA NTRS1996

Sensor-Based Collision Avoidance: Theory and Experiments

A new on-line control strategy for sensor-based collision avoidance of manipulators and supporting experimental results are presented in this article. This control strategy is based on nullification of virtual forces applied to the end-effector by a hypothetical spring-plus-damper attached to the object's surface. In the proposed approach, the real-time arm control software continuously monitors the object distance measured by the arm-mounted proximity sensors. When this distance is less than a preset threshold, the collision avoidance control action is initiated to inhibit motion toward the object and thus prevent collision. This is accomplished by employing an outer feedback loop to perturb the end-effector nominal motion trajectory in real-time based on the sensory data. The perturbation is generated by a proportional-plus-integral (PI) collision avoidance controller acting on the difference between the sensed distance and the preset threshold. This approach is computationally very fast, requires minimal modification to the existing manipulator positioning system, and provides the manipulator with an on-line collision avoidance capability to react autonomously and intelligently. A dexterous RRC robotic arm is instrumented with infrared proximity sensors and is operated under the proposed collision avoidance strategy. Experimental results are presented to demonstrate end-effector collision avoidance both with an approaching object and while reaching inside a constricted opening.

Seraji, Homayoun↗

NASA NTRS2005

Accurate Determination of Comet and Asteroid Orbits Leading to Collision With Earth

Movements of the celestial bodies in our solar system inspired Isaac Newton to work out his profound laws of gravitation and motion; with one or two notable exceptions, all of those objects move as Newton said they would. But normally harmonious orbital motion is accompanied by the risk of collision, which can be cataclysmic. The Earth s moon is thought to have been produced by such an event, and we recently witnessed magnificent bombardments of Jupiter by several pieces of what was once Comet Shoemaker-Levy 9. Other comets or asteroids may have met the Earth with such violence that dinosaurs and other forms of life became extinct; it is this possibility that causes us to ask how the human species might avoid a similar catastrophe, and the answer requires a thorough understanding of orbital motion. The two red square flags with black square centers displayed are internationally recognized as a warning of an impending hurricane. Mariners and coastal residents who know the meaning of this symbol and the signs evident in the sky and ocean can act in advance to try to protect lives and property; someone who is unfamiliar with the warning signs or chooses to ignore them is in much greater jeopardy. Although collisions between Earth and large comets or asteroids occur much less frequently than landfall of a hurricane, it is imperative that we learn to identify the harbingers of such collisions by careful examination of an object s path. An accurate determination of the orbit of a comet or asteroid is necessary in order to know if, when, and where on the Earth s surface a collision will occur. Generally speaking, the longer the warning time, the better the chance of being able to plan and execute action to prevent a collision. The more accurate the determination of an orbit, the less likely such action will be wasted effort or, what is worse, an effort that increases rather than decreases the probability of a collision. Conditions necessary for a collision to occur are discussed, and warning times for long-period comets and near-Earth asteroids are presented.

Roithmayr, Carlos M.↗

NASA NTRS2005

Surface Collisions Involving Particles and Moisture (SCIP'M)

Experiments were performed on the collision of a solid sphere with a nearly horizontal flat surface covered with a thin layer of viscous liquid. High-speed collisions were obtained by dropping the ball onto the surface from various heights, using gravitational acceleration. Low-speed collisions were obtained using pendulums with long strings or by launching the balls at low velocities in the reduced-gravity environment of parabolic flight. The sphere bounces only when the impact velocity exceeds a critical value. The coefficient of restitution (ratio of rebound velocity to impact velocity) increases with increasing impact velocity above the critical value, indicating the increasing relative importance of elastic deformation to viscous dissipation. The critical impact velocity increases, and the coefficient of restitution decreases, with increasing viscosity or thickness of the liquid layer and with decreasing density or size of the sphere. The ratio of the wet and dry coefficients is expressed as a function of the Stokes number (ratio of particle inertia and viscous forces), showing good agreement between theory and experiment. Similar experiments were performed with the flat surface inclined at various angles to the approaching sphere. A modified Stokes number, which is a measure of the ratio of inertia of the sphere in the normal direction to the viscous forces exerted by the fluid layer, was used for the analysis of oblique collisions. Even for these oblique collisions, it was found that no rebound of the ball was observed below a certain critical Stokes number. The coefficient of normal restitution, defined as a ratio of normal rebound velocity to normal approach velocity, was found to increase beyond the critical Stokes number and even out as it approaches the value for dry restitution at high Stokes numbers. It was also found that, for smooth spheres like steel, the normal restitution at the same modified Stokes number is independent of the angle of impact. The tangential coefficient of restitution, defined as the ratio of tangential rebound velocity to tangential approach velocity, is found to be nearly unity, except for very low approach velocities. Thus, as a first approximation, the theories that predict the coefficient of restitution for head-on wet collisions can be extended to predict the coefficient of normal restitution for oblique wet collisions. Additional experiments were performed with soft surfaces in which a porous cloth or sponge layer was placed over the hard, flat surface. In these experiments, the coefficient of restitution was found to decrease with increasing impact velocity, due to inelastic losses in the soft material. A model combining inelastic deformation and flow through porous media was developed to describe these findings.

Davis, Robert H.↗

NASA NTRS2017

Consideration of Collision "Consequence" in Satellite Conjunction Assessment and Risk Analysis

Classic risk management theory requires the assessment of both likelihood and consequence of deleterious events. Satellite conjunction risk assessment has produced a highly-developed theory for assessing collision likelihood but holds a completely static solution for collision consequence, treating all potential collisions as essentially equally worrisome. This may be true for the survival of the protected asset, but the amount of debris produced by the potential collision, and therefore the degree to which the orbital corridor may be compromised, can vary greatly among satellite conjunctions. This study leverages present work on satellite collision modeling to develop a method by which it can be estimated, to a particular confidence level, whether a particular collision is likely to produce a relatively large or relatively small amount of resultant debris and how this datum might alter conjunction remediation decisions. The more general question of orbital corridor protection is also addressed, and a preliminary framework presented by which both collision likelihood and consequence can be jointly considered in the risk assessment process.

Hejduk, M.↗

NASA NTRSDate not supplied

Recommended DSMC Collision Model Parameters for Planetary Entry

Hybrid simulation frameworks combining Computational Fluid Dynamics (CFD) and Direct Simulation Monte Carlo (DSMC) are frequently employed to efficiently perform high-fidelity simulations of environments consisting of both continuum and rarified flow. DSMC is a stochastic, particle-based method which solves the fundamental Boltzmann equation and is therefore necessary for high-Knudsen flow where continuum-based assumptions governing CFD break down. However, the DSMC methodology is generally computationally inefficient to model the continuum regime. In a CFD/DSMC hybrid approach, obtaining an accurate, high-fidelity solution hinges on the consistent treatment of transport properties and the thermo-chemical models employed within the two solvers. In principle, in regions where CFD and DSMC are both employed, the same gas mixture under the same conditions should have the same properties, regardless of simulation type. Observed differences should be due to non-equilibrium processes, rather than differences in physical models. The goal of this work is to provide a comprehensive DSMC transport database encompassing the vast majority of known gas species encountered during Earth or other planetary atmospheric entry. This goal is largely possible due to recently performed ab initio quantum chemistry calculations. Combined with other high-fidelity data, the planned database will consist of collision integral data for over 200 neutral and ionized species and over 20000 binary collisions. From these collision integrals, Nelder-Mead optimization is used to compute collision-specific Variable Soft Sphere (VSS) collision model parameters, fitted from 300 K to 20000 K. Initial comparisons of transport properties of relevant equilibrium gas mixtures show great agreement between CFD and DSMC-derived results. The completed database can be readily applied to model binary collisions of any gas mixture containing the included species over the specified temperature range, making it a valuable tool for future planetary probe modeling efforts. An example is shown below in Fig. 1. Equilibrium mixture transport properties for a 35-species mixture composed originally of 10% air and 90% pyrolysis species of a carbon-phenolic ablator material [4] are computed using both fitted VSS Parameters and the original CFD collision integral values. Deviations in computed properties between the two approaches are less than 5% for the entire temperature range.

M. R. Gosma↗

DOE OSTI2025

Multiplicity dependence of (multi-)strange hadrons in oxygen-oxygen collisions at $\sqrt{s_{NN}}$ TeV using EPOS4 and AMPT

It is anticipated that the Large Hadron Collider (LHC) will collect data from oxygen-oxygen (O+O) collisions at a center-of-mass energy of $\sqrt{s_{NN}}$ = 7 TeV to explore the effects observed in high multiplicity proton-proton (p+p) and proton-lead (p+pb) collisions that closely related to lead-lead (Pb+Pb) collisions. Furthermore, these effects include azimuthal asymmetries in particle production, as well as variations in the abundances and momentum distributions across different hadron species, which are indicative of collective particle production mechanisms induced by the interactions in the presence of a QGP. The upcoming data on O+O collisions at the LHC are expected to constrain the model parameters and refine our understanding of theoretical models. In this work, the predicted transverse momentum (p T ) spectra, rapidity density distributions (dN/dy), particle yield ratios, and p T -differential ratios of (multi)strange hadrons produced in O+O collisions at $\sqrt{s_{NN}}$ = 7 TeV using AMPT and EPOS4 models are presented. AMPT focuses on preformed hadronic interactions, while EPOS4 incorporates a QGP phase. Stronger radial flow in EPOS4 as compared to AMPT is also observed. AMPT incorporates some flow effects, but the implementation of full hydrodynamic flow in EPOS4 appears to be significantly more effective in reproducing the existing experimental data. Both models predict the final state multiplicity overlap with p+p, p+pb, and Pb+Pb collisions.

Heavy-ion collisions↗

DOE OSTI2024

Jet radius dependence of dijet momentum balance and suppression in Pb + Pb collisions at 5.02 TeV with the ATLAS detector

This paper describes a measurement of the jet radius dependence of the dijet momentum balance between leading back-to-back jets in 1.72 nb -1 of Pb + Pb collisions collected in 2018 and 255 pb -1 of pp collisions collected in 2017 by the ATLAS detector at the LHC. Both datasets were collected at $\sqrt{s_{NN}}$ = 5.02 TeV. Jets are reconstructed using the anti-k t algorithm with jet radius parameters R = 0.2, 0.3, 0.4, 0.5, and 0.6. The dijet momentum balance distributions are constructed for leading jets with transverse momentum p T from 100 to 562 GeV for R = 0.2, 0.3, and 0.4 jets, and from 158 to 562 GeV for R = 0.5 and 0.6 jets. The absolutely normalized dijet momentum balance distributions are constructed to compare measurements of the dijet yields in Pb + Pb collisions directly to the dijet cross sections in pp collisions. For all jet radii considered here, there is a suppression of more balanced dijets in Pb + Pb collisions compared with pp collisions, while for more imbalanced dijets there is an enhancement. There is a jet radius dependence to the dijet yields, being stronger for more imbalanced dijets than for more balanced dijets. Additionally, jet pair nuclear modification factors are measured. The subleading jet yields are found to be more suppressed than leading jet yields in dijets. A jet radius dependence of the pair nuclear modification factors is observed, with the suppression decreasing with increasing jet radius. These measurements provide new constraints on jet quenching scenarios in the quark-gluon plasma.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS2017

Ensuring Interoperability between UAS Detect-and-Avoid and Manned Aircraft Collision Avoidance

The UAS community in the United States has identified the need for a collision avoidance region in which UAS Detect-and-Avoid (DAA) vertical guidance is restricted to preclude interoperability issues with manned aircraft collision avoidance system vertical resolution advisories (RAs). This paper documents the process by which the collision avoidance region was defined. Three candidate definitions were evaluated on 1.3 million simulated pairwise encounters between UAS and manned aircraft covering a wide range of horizontal and vertical closure rates, angles, and miss distances. They were evaluated with regard to UAS DAA interoperability with manned aircraft collision avoidance systems in terms of: 1) the primary objective of restricting DAA vertical guidance before RAs when the aircraft are close, and 2) the secondary objective of avoiding unnecessary restrictions of DAA vertical guidance at a DAA alert when the aircraft are further apart. The collision avoidance region definition that fully achieves the primary objective and best achieves the secondary objective was recommended to and accepted by the UAS community in the United States. By this definition, UAS and manned aircraft are in the collision avoidance region--during which DAA vertical guidance is restricted--when the time to closest point of approach is less than 50 seconds and either the time to co-altitude is less than 50 seconds or the current vertical separation is less than 800 feet.

collision avoidance↗

NASA NTRS2017

Ensuring Interoperability Between Unmanned Aircraft Detect-and-Avoid and Manned Aircraft Collision Avoidance

The Unmanned Aircraft Systems (UAS) community in the United States has identified the need for a collision avoidance region in which UAS Detect-and-Avoid (DAA) vertical guidance is restricted to preclude interoperability issues with manned aircraft collision avoidance system vertical resolution advisories (RAs). This paper documents the process by which the collision avoidance region was defined. Three candidate definitions were evaluated on 1.3 million simulated pairwise encounters between UAS and manned aircraft covering a wide range of horizontal and vertical closure rates, angles, and miss distances. Each definition was evaluated with regard to UAS DAA interoperability with manned aircraft collision avoidance in terms of how well it achieved: 1) the primary objective of restricting DAA vertical guidance prior to RAs when the aircraft are close, and 2) the secondary objective of avoiding unnecessary restrictions of DAA vertical guidance at DAA alerts when the aircraft are further apart. The collision avoidance region definition that fully achieves the primary objective and best achieves the secondary objective was recommended to and accepted by the UAS community in the United States. By this definition, UAS and manned aircraft are in the collision avoidance region where DAA vertical guidance is restricted when the time to closest point of approach (CPA) is less than 50 seconds and either the time to co-altitude is less than 50 seconds or the current vertical separation is less than 800 feet.

unmanned aircraft systems; collision avoidance; in↗

NASA NTRS2024

A Method of Compliance for Achieving Target Collision Risk in UTM Operations

This work proposes a method of compliance to ensure that the collision risks among small unmanned aircraft systems meet the target level of safety. This method presents what is needed for a strategic conflict detection service to achieve the target level of safety when conflict between operational intents are not permitted in nominal situations. A volume-based collision risk model is first developed to calculate the UA-to-UA collision risk given any two operational intent volumes. With this collision risk model, a test strategy is then proposed to assess if a strategic conflict detection service can reduce the collision risk and meet the target level of safety. The method also specifies operational data that are required to be collected to verify if requirements on conformance are being met. Additionally, two new requirements are identified and proposed by this method beyond the current standard for strategic conflict detection. In the sensitivity analysis, three main factors contributing to the collision risk are investigated. The analysis shows that buffers should be considered in a strategic conflict detection service when deconflicting operational intents. The results also reveal that the selection of test cases plays an important role in evaluating the strategic conflict detection service, and they should be representative and sufficiently complex in evaluation tests.

Collision Risk↗

NASA NTRSDate not supplied

A Method of Compliance for Achieving Target Collision Risk in UTM Operations

UTM, Method of Compliance, collision risk↗

NASA NTRSDate not supplied

A Method of Compliance for Achieving Target Collision Risk in UTM Operations

UTM↗

DOE OSTI2025

Study of $\langle {p}_{\text{T}}\rangle$ and its higher moments, and extraction of the speed of sound in Pb-Pb collisions with ALICE

Ultrarelativistic heavy-ion collisions produce a state of hot and dense strongly interacting QCD matter called quark-gluon plasma (QGP). On an event-by-event basis, the volume of the QGP in ultracentral collisions is mostly constant, while its total entropy can vary significantly due to quantum fluctuations, leading to variations in the temperature of the system. Exploiting this unique feature of ultracentral collisions allows for the interpretation of the correlation of the mean transverse momentum ($\langle$p T $\rangle$) of produced charged hadrons and the number of charged hadrons as a measure for the speed of sound, c s . This speed is related to the rate at which compression waves travel in the QGP and is determined by fitting the relative increase in $\langle$p T $\rangle$ with respect to the relative change in the average charged-particle density ($\langle$dN ch /dη$\rangle$) measured at mid-rapidity. This study reports the event-average $\langle$p T $\rangle$ of charged particles as well as the variance, skewness, and kurtosis of the event-by-event transverse momentum per charged particle ([p T ]) distribution in ultracentral Pb-Pb collisions at a center-of-mass energy of 5.02 TeV per nucleon pair using the ALICE detector. Different centrality estimators based on charged-particle multiplicity or the transverse energy of the event are used to select ultracentral collisions. By ensuring a pseudorapidity gap between the region used to define the centrality and the region used to perform the measurement, the influence of biases and their potential effects on the rise of the mean transverse momentum is tested. The measured c$^{2}_{s}$ is found to strongly depend on the exploited centrality estimator and ranges between 0.1146±0.0028 (stat.)±0.0065 (syst.) and 0.4374±0.0006 (stat.)±0.0184 (syst.) in natural units. The self-normalized variance shows a steep decrease towards ultracentral collisions, while the self-normalized skewness variables show a maximum, followed by a fast decrease. These non-Gaussian features are understood in terms of the vanishing of the impact-parameter fluctuations contributing to the event-to-event [p T ] distribution.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2024

Search for the Chiral Magnetic Effect with charge-dependent azimuthal correlations in Xe–Xe collisions at s NN = 5.44 TeV

Charge-dependent two- and three-particle correlations measured in Xe–Xe collisions at $\sqrt{s_{NN}}$ = TeV are presented. Results are obtained for charged particles in the pseudorapidity range |η| and transverse momentum interval 02. ≤ p T < GeV/c for different collision centralities. The three-particle correlator γ αβ ≡ $\langle$cos(φ α + φ β - 2Ψ a )$\rangle$, calculated for different combinations of charge sign α and β, is expected to be sensitive to the presence of the Chiral Magnetic Effect (CME). Its magnitude is similar to the one observed in Pb–Pb collisions in contrast to a smaller CME signal in Xe–Xe collisions than in Pb–Pb collisions predicted by Monte Carlo (MC) calculations including a magnetic field induced by the spectator protons. These observations point to a large non-CME contribution to the correlator. Furthermore, the charge dependence of γ αβ can be described by a blast wave model calculation that incorporates background effects and by the Anomalous Viscous Fluid Dynamics model with values of the CME signal consistent with zero. The Xe–Xe and Pb–Pb results are combined with the expected CME signal dependence on the system size from the MC calculations including a magnetic field to obtain the fraction of CME contribution in γ αβ , $f$ CME . The CME fraction is compatible with zero for the 30% most central events in both systems and then becomes positive. This yields an upper limit of 2% (3%) and 25% (32%) at 95% (99.7%) confidence level for the CME signal contribution to γ αβ in the 0–70% Xe–Xe and Pb–Pb collisions, respectively.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

DOE OSTI2024

Performance of CMS muon reconstruction from proton-proton to heavy ion collisions

The performance of muon tracking, identification, triggering, momentum resolution, and momentum scale has been studied with the CMS detector at the LHC using data collected at √(s$_{NN}$) = 5.02 TeV in proton-proton (pp) and lead-lead(PbPb) collisions in 2017 and 2018, respectively, and at √(s$_{NN}$) = 8.16 TeV in proton-lead (pPb) collisions in 2016. Muon efficiencies, momentum resolutions, and momentum scales are compared by focusing on how the muon reconstruction performance varies from relatively small occupancy pp collisions to the larger occupancies of pPb collisions and, finally, to the highest track multiplicity PbPb collisions. We find the efficiencies of muon tracking, identification, and triggering to be above 90% throughout most of the track multiplicity range. The momentum resolution and scale are unaffected by the detector occupancy. The excellent muon reconstruction of the CMS detector enables precision studies across all available collision systems.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗

DOE OSTI2025

Inclusive open charm photoproduction in ultraperipheral collisions at the LHC with in the generalized photon-nucleus fixed-order next-to-leading logarithm framework

We compute the inclusive 𝐷 0 production cross section in ultraperipheral Pb-Pb collisions at the LHC as a function of the 𝐷 0 transverse momentum and rapidity. These calculations are carried out within the new generalized photon-nucleus FONLL (G⁡𝛾⁢A−FONLL) framework, which can predict photonuclear cross sections for charm and beauty hadrons in electron-proton, electron-nucleus, and ultraperipheral heavy-ion collisions. The framework relies on fixed-order next-to-leading logarithm (FONLL) to model heavy-quark production in photonuclear collisions and employs a photon-flux reweighting procedure to describe the production cross sections in ultraperipheral heavy-ion collisions. The G⁡𝛾⁢A calculations are first validated against the photoproduction cross sections of 𝐷* in electron-proton collisions at HERA. The predictions for the 𝐷 0 production cross section in ultraperipheral Pb-Pb collisions at the LHC are then presented and compared to the first experimental results obtained by CMS at $\sqrt{s_{NN}}$ = 5.36 ⁢TeV. The predictions are benchmarked against different choices of nuclear parton distribution functions, fragmentation functions, and renormalization and factorization scales.

Parton distribution functions↗

DOE OSTI2026

Investigation of low-energy particle remnants in high-energy collisions at the LHC with a skipper-CCD detector

We deployed the Mobile Skipper Testing Apparatus ∼33 m away from the Compact Muon Solenoid collision point, the first skipper-CCD detector probing low-energy particles produced in high-energy collisions at the Large Hadron Collider. In this work, we search for beam-related events using data collected in 2024 during beam-on and beam-off periods. The dataset corresponds to integrated luminosities of 113.3 fb −1 and 1.54 nb −1 for the proton-proton and Pb-Pb collision periods, respectively. We report observed event rates in a model-independent framework across two ionization regions: ≤ 20⁢𝑒 − and > 20⁢𝑒 − . For the low-energy region, we perform a likelihood analysis to test the null hypothesis of no beam-correlated signal. We found no significant correlation during proton-proton and Pb-Pb collisions. For the high-energy region, we present the energy spectra for both collision periods and compare event rates for images with and without luminosity. We observe a slight increase in the event rate following the Pb-Pb collisions, coinciding with a rise in the single-electron rate, which will be investigated in future work. Using the low-energy proton-proton results, we place 95% confidence level constraints on the mass-millicharge parameter space of millicharged particles. Overall, the results in this work demonstrate the viability of skipper-CCD technology to explore new physics at high-energy colliders and motivate future searches with more massive detectors.

Cervantes-Vergara, Brenda A. [Fermi National Accel↗

DOE OSTI2026

Measurement of the azimuthal anisotropy of charged particles in sNN=5.36TeV O16+O16 and Ne20+Ne20 collisions with the ATLAS detector

This paper presents the first measurements of the azimuthal anisotropy coefficients , which quantify the -order Fourier modulation of charged-particle azimuthal distributions, for in and collisions recorded with the ATLAS detector at the CERN Large Hadron Collider in 2025. The coefficients are measured as a function of transverse momentum ( ), collision centrality, and event multiplicity. They are extracted using two complementary methods: two-particle correlations with a template-fit subtraction of short-range nonflow contributions, and four-particle subevent cumulants, which intrinsically suppress nonflow effects and provide sensitivity to flow fluctuations. The results show a clear hierarchy and a nonmonotonic dependence on , reaching a maximum around , consistent with trends observed in heavy-ion collisions. Detailed comparisons between the two collision systems reveal an enhanced in central collisions, consistent with theory expectations based on the predicted prolate deformation of neon nuclei, in contrast to the slightly tetrahedral structure predicted for oxygen. The four-particle cumulant results highlight strong event-by-event fluctuations and provide the greatest sensitivity to nuclear shape effects. These measurements can place new constraints on the initial geometry and the hydrodynamic response in light-ion collisions, offering valuable input for models of nuclear structure.

Aad, G↗