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NASA NTRS2021

A Systematic Approach to Developing Paths Towards Airborne Vehicle Autonomy

Advanced Air Mobility (AAM) demands greater levels of aircraft autonomy than are currently implemented today. To enable this requirement, novel aircraft functionalities and technologies as well as supporting airworthiness and operational regulations are required. A structured method to derive a comprehensive list of aircraft level decision-making functions is defined and applied. The resulting function set is programmed into an ontology, and enables autonomous decision-making through the application of a defined decision-making process. Paths to implementing the functions are generated by applying a structured four step method. By surveying current technologies, airspace, procedures and regulations, the paths generation method defines incremental paths to autonomy that the current regulatory environment can support. Opportunities to implement novel technologies and functions are identified, and regulatory mechanisms supporting their implementation are underscored. The analysis provides the tools to further define aircraft functions and paths to their implementation, while demonstrating that for particular use cases, aircraft autonomy is attainable in the medium-term.

Paul Vajda↗

NASA NTRSDate not supplied

Dynamic Spectrum Allocation in Urban Air Transportation System via Deep Reinforcement Learning

The emerging concepts of Urban Air Mobility (UAM) and Advanced Air Mobility (AAM) open a new paradigm for urban air transportation. A big challenge is that these new aerial vehicles will quickly saturate the already crowded aviation spectrum, which is an essential resource to ensure reliable communications for safe operations. In this paper, we consider an air transportation system where multiple aerial vehicles are operated to transport passengers or cargo from different sources to destinations along their pre-defined paths. During the flight, the minimum communication Quality of Service (QoS) requirement must be achieved to ensure flight safety. Our objective is to minimize the average mission completion time by jointly optimizing the velocity selection and spectrum allocation for all aerial vehicles. We formulate the optimization problem as a multi-stage Markov Decision Process (MDP) where the optimization variables are coupled together. A multi-agent Deep Reinforcement Learning (DRL) based solution is proposed where Value Decomposition Networks (VDN) algorithm is utilized to take discrete actions. Additionally, we propose a heuristic greedy algorithm as a baseline solution. Simulation results show that our learning based solution outperforms the heuristic greedy algorithm and another Orthogonal Multiple Access (OMA) solution in minimizing the mission completion time.

Ruixuan Han↗

NASA NTRSDate not supplied

Revolutionary Vertical Lift Technology (RVLT) Overview

The Aircraft Working Group enables the Advanced Air Mobility (AAM) ecosystem through vehicle development and production as well as individual vehicle management and operations. Aircraft design and operations management develop AAM-inspired concepts and technologies to help define requirements and standards addressing key challenges such as safety, integration, noise, automation, and scalability. This presentation focuses on RVLT electronic Vertical Takeoff Landing Propulsion overview.

Peggy Cornell↗

NASA NTRSDate not supplied

ACAS Xr Part Task Sim, Preliminary Experiment Design

In early 2022, the Human Autonomy Teaming Lab (NASA Ames Research Center) will conduct a manned, human-in-the-loop (HITL) simulation. This part task HITL will begin the lab’s Hazard Perception and Avoidance (HPA) technical work under NASA’s Advanced Air Mobility (AAM), Automated Flight and Contingency Management (AFCM) Sub-Project. The goals will be to assess levels of automation for manned, electric vertical takeoff and landing (eVTOL) aircraft. This simulation will test manual and automated Resolution Advisory (RA) responses and return-to-course (RTC) maneuvers for the first version of the Airborne Collision Avoidance System’s (ACAS) rotary-wing (Xr) variant. This will be conducted on a fixed-based simulator designed to fly eVTOL aircraft while maneuvering for intruding traffic. Variables for this study include levels of autonomy (i.e., manual and automated) as well as the types of alerts at the onset of conflicts (i.e., Corrective and RA). The data collected will include response times, losses of well clear, and maneuver sizes and durations as well as subjective ratings like acceptability, perceived workload, and meaningful human control. Additional details and future anticipations are also discussed.

air taxis↗

NASA NTRSDate not supplied

Benchmark Problem Development for Testing Maturity of Intelligent Contingency Management Tools

Increasingly autonomous Advanced Air Mobility (AAM) vehicles will be required to handle diverse conditions with limited human intervention. Intelligent contingency management (iCM) approaches are under development to address how automated agents can handle unforeseen, unplanned, and unanticipated events. Benchmark scenario is needed to test the maturity of the developed iCM tools and techniques.

Jon Holbrook↗

NASA NTRS2022

Vision-Based Precision Approach and Landing for Advanced Air Mobility

Advanced Air Mobility (AAM) aircraft require perception systems for precision approach and landing systems (PALS) in urban, suburban, rural, and regional environments. The current state-of-the-art methods approved for automated approach and landing will be difficult to utilize in support of AAM operational concepts. However, there are technology and systems from other applications and lower-TRL research that use vision, IR, radar, and GPS methods to provide baseline perception and sensing requirements for AAM aircraft approach and landing. This paper focuses on vision-based PAL to demonstrate a closed-loop baseline controller while adhering to the Federal Aviation Administration requirements and regulations. The coplanar algorithm determines pose estimation, which feeds into an Extended Kalman filter. Combining IMU with vision creates a sensor fusion navigation solution for GPS-denied environments. The state estimate leads to glideslope and localizer error computations, which will be pertinent for designing and deriving guidance laws and control laws for AAM PALS. The IMU and vision navigation solution provides promising simulation results for AAM PALS, and higher fidelity simulations will include computer graphics rendering and feature correspondence.

Evan Kawamura↗

NASA NTRSDate not supplied

Aerial Object Trajectory Classification by Training on Flight Controller Data and Testing on RADAR Generated Tracks

Onboard collision avoidance is needed to enable safe, autonomous flight operations for NASA projects such as Advanced Air Mobility (AAM), as well as many commercial applications. Real-time aerial object classification will improve onboard collision avoidance algorithm decision making and may reduce unnecessary activation of avoidance systems. This work trains an aircraft trajectory classifier using trajectories from flight controller logs and tests the classifier using RADAR collected trajectories during air to air experiments and ground to air experiments. In contrast to RADAR data, these flight controller logs are relatively abundant, which makes the possibility of substituting flight data for RADAR data an attractive, cost-effective option. The SVM model developed in this work achieved a 79.7% classification accuracy on the first second of radar trajectories of GA, multirotor sUAS, and fixed wing sUAS. Findings from this work indicate that it is feasible to classify sensor collected trajectories using a classifier trained on flight controller data.

Henry Holbrook↗

NASA NTRSDate not supplied

Human Interfaces and Management of Information (HIMI) Challenges for “In-time” Aviation Safety Management Systems (IASMS)

The envisioned transformation of the National Airspace System to integrate an In-time Aviation Safety Management System(IASMS)to assure safety in Advanced Air Mobility(AAM)brings unprecedented challenges to the design of human interfaces and management of safety information. Safety in design and operational safety assurance are critical factors for how humans will interact with increasingly autonomous systems. The IASMS Concept of Operations builds from traditional commercial operator safety management and scales in complexity to AAM. The transformative changes in future aviation systems pose potential new critical safety risks with novel types of aircraft and other vehicles having different performance capabilities, flying in increasingly complex airspace, and using adaptive contingencies to manage normal and non-normal operations. These changes compel development of new and emerging capabilities that enable innovative ways for humans to interact with data and manage information. In-creasing complexity of AAM corresponds with use of predictive modeling, data analytics, machine learning, and artificial intelligence to effectively address known hazards and emergent risks. The roles of humans will dynamically evolve in increments with this technological and operational evolution. The interfaces for how humans will interact with increasingly complex and assured systems designed to operate autonomously and how information will need to be presented are important challenges to be resolved.

Lawrence J Prinzel↗

NASA NTRS2022

DataSet: Aerial Object Trajectory Classification by Training on Flight Controller Data and Testing on RADAR Generated

Onboard collision avoidance is needed to enable safe, autonomous flight operations for NASA projects such as Advanced Air Mobility (AAM), as well as many commercial applications. Real-time aerial object classification will improve onboard collision avoidance algorithm decision making and may reduce unnecessary activation of avoidance systems. This work trains an aircraft trajectory classifier using trajectories from flight controller logs and tests the classifier using RADAR collected trajectories during air to air experiments and ground to air experiments. In contrast to RADAR data, these flight controller logs are relatively abundant, which makes the possibility of substituting flight data for RADAR data an attractive, cost-effective option. The SVM model developed in this work achieved a 79.7% classification accuracy on the first second of radar trajectories of GA, multirotor sUAS, and fixed wing sUAS. Findings from this e that it is feasible to classify sensor collected trajectories using a classifier trained flight controller data.

Chester V Dolph↗

NASA NTRSDate not supplied

A 3D Simulation Platform for Decentralized Decision-Making in Advanced Air Mobility

This paper presents a general purpose, plug-and-play simulation platform for the use of future aviation stakeholders, such as urban airspace planners, air vehicle operators, ground operation managers, air traffic controllers and aviation researchers. The presented simulator platform is envisioned to serve as a toolkit to visualize, evaluate, and configure future advanced air mobility (AAM) operations. Highlighting features of this toolkit include a modular architecture that allows multiple smart unmanned aerial systems (UASs) to remotely connect to the simulation server and participate in decentralized decision-making scenario simulations. As an example of the decentralized decision-making scenario, an inter-agent negotiation-based conflict resolution use case is considered in this paper, where the UASs leverage the on-board/on-the-edge artificial intelligence (AI) capability to continually build situational awareness, and use this information to predict future conflicts and resolve them through machine-to-machine negotiation. As such operations are non-existent at scale currently, the presented simulation platform offers a viable and cost-effective alternative for assessing the efficacy of AAM research outcomes and challenges in future shared airspace usage. The simulation platform allows plug-n-play connectivity with AI and non-AI compute modules representing individual UAS’s flight control. Each module can interact with the simulation platform independently to communicate current and desired future states, situational awareness, and conflict resolution utilization costs for inter-agent negotiation. The simulation environment orchestrates realistic operational scenarios with spatiotemporal details, dynamic events, tactical conflict-resolution methods, interfaces for customizing air traffic control parameters, and information exchange uncertainties. In the future, this can serve as a community focused cloud simulation platform, incorporating multi-stakeholder airspace constraints from regulatory, government, city, and local agencies.

Aditya N Das↗

NASA NTRS2022

A 3D Simulation Platform for Decentralized Decision-Making in Advanced Air Mobility

Aditya Das↗

NASA NTRSDate not supplied

VSLAM and Coplanar POSIT for Advanced Air Mobility Approach and Landing

Advanced Air Mobility (AAM) aircraft have many challenges for landing accurately and safely in urban, suburban, and rural environments. Localization in large and open rural environments could utilize GPS, but AAM aircraft in urban environments will encounter GPS degradation. Another challenge involves flight operation time, i.e., flying during the day or at night. There are different types of guidelines and landmarks at runways, heliports, and vertiports for daytime and nighttime applications. Tailoring feature detection methods for AAM approach and landing during the day and night pose different issues and challenges. It is easier to detect edges, lines, and other runway markers during the day than at night. Conversely, it is easier to detect landing light configurations and patterns at nighttime than daytime. Consequently, utilizing the same feature detector for daytime and nighttime operations may not be feasible. This paper focuses on vision-based precision approach and landing (PAL) and builds on previous work by comparing ORB SLAM, custom VSLAM, and coplanar pose from orthography and scaling with iterations (POSIT) for daytime and nighttime operations. Implementing high fidelity simulations with computer graphics and extracting video frames from flight test data provide promising results for AAM PAL applications.

Evan Kawamura↗

NASA NTRSDate not supplied

Distributed Sensing and Computer Vision Methods for Advanced Air Mobility Approach and Landing

Advanced Air Mobility (AAM) aircraft require precision approach and landing systems (PALS) in several types of environments such as urban, suburban, and rural. It is difficult to implement current state-of-the-art methods approved for automated approach and landing for AAM operations. However, existing technology and systems that use vision, IR, radar, and GPS methods provide baseline perception and sensing requirements for AAM aircraft approach and landing. This paper focuses on vision-based PAL and computer vision feature correspondence methods to demonstrate a baseline navigation system while adhering to the Federal Aviation Administration requirements and regulations. The coplanar algorithm determines pose estimation, which feeds into an Extended Kalman filter that combines IMU with vision to create a sensor fusion navigation solution for GPS-denied environments. The state estimate leads to glideslope and localizer error computations, which will be pertinent for designing and deriving guidance laws and control laws for AAM PALS. The IMU and vision navigation solution provides promising simulation results for AAM PALS. This paper builds on previous work by incorporating high fidelity simulations with computer graphics rendering to demonstrate a distributed sensor network to track an AAM aircraft during approach and landing to compare with the aircraft's onboard navigation solution.

Evan Kawamura↗

NASA NTRSDate not supplied

A Simulation Architecture for Air Traffic Over Urban Environments Supporting Autonomy Research in Advanced Air Mobility

NASA is conducting investigations into Advanced Air Mobility (AAM) concepts, aircraft, and operations. One of the most challenging scenarios for AAM will be enabling safe routine access into densely populated urban centers. To address challenges in the urban environment, a moderately high-fidelity simulation capability is needed to investigate AAM flight operations over a regional area for the development and evaluation of autonomy technologies. This paper describes a system to simulate flight operations around regions such as the San Francisco-Oakland Bay area at a moderately-high scale (10's-100's of flights) that incorporates detailed vehicle models and control necessary to support research in airborne autonomy. The flight vehicle utilizes NASA AAM concept vehicle dynamics integrated with a custom flight management system and flight control system to accurately simulate all phases of flight. Glass cockpit displays have been developed for monitoring aircraft operation over a detailed simulated urban environment. Simulation models have been integrated to simulate air and ground-based sensors, such as radar and LIDAR. The commercial X-Plane software package is used as a rendering engine to mimic vision-based sensors (such as onboard and ground-based cameras) at various times of day and in various weather conditions over a relatively detailed graphical model of the city. The paper presents a detailed illustration of the simulation and software architecture used for traffic over this urban region. This system is enabling the evaluation of NASA research concepts in autonomy for urban AAM operations on the path toward aircraft flight test evaluation.

Keerthana Kannan↗

NASA NTRSDate not supplied

A Structurally-Adaptive Framework for Distributed Airborne Sensing over Real-time Collaborative Information Sharing Networks

The emergence and maturation of wireless communication technologies continue to transform the aviation industry and are enabling new solutions to challenges faced by NASA’s Advanced Air Mobility (AAM) initiative. AAM is leading towards high-density autonomous aircraft operations in areas underserved by traditional aviation, such as over densely populated urban centers. In this paper, we build on concepts from Smart Spaces - where sensing, processing, and communication are embedded in an environment, and agents are operating within the space can exploit these capabilities in real-time through collaborative information sharing networks. Building from these concepts, we propose a framework to enable a dynamic, topologically-adaptive, and distributed estimation system for man-rated aviation to address challenges faced by autonomous AAM operations. This paper presents the initial concept of operations and system design for this framework, presents a mathematical formulation for abstraction of the problem, identifies requirements and constraints for operation, and presents algorithmic constructs and mathematical formalisms to demonstrate operation. The proposed framework will be evaluated on a regional AAM flight scenario and will focus on two initial applications: (1) GPS-free navigation supporting precision approach and landing (PAL), and (2) surveillance and conformance monitoring of aircraft in vertiport airspaces. Such approaches show promise in addressing gaps in current technologies needed to enable future AAM concepts, while promising greater capabilities, performance, robustness, and safety over current aviation systems and operations.

Structurally-Adaptive↗

NASA NTRS2022

Dynamic Path Planning Automation Concept for Advanced Air Mobility

Advanced Air Mobility (AAM) aims to develop an air transportation system for novel air vehicles between local, regional, intraregional, and urban places. Safety and efficiency of increasingly complex AAM operations are expected to require extensive use of automation, ranging from controlling the revolutionary new aircraft to managing flights dynamically in the high tempo airspace and aerodrome operations. Both onboard and ground automation will play central roles in assisting AAM operators with managing the flight paths of their fleet. This document presents a concept for dynamic path planning (DPP) automation applicable to AAM and other flight operations. The role of the DPP automation system is fivefold: (1) it creates a flight path with desired qualities of being feasible, deconflicted, harmonized, flexible, and optimal; (2) it monitors the progress of flight in a dynamic operating environment; (3) it supports the user in evaluating continued acceptability of the flight path in changing conditions; (4) it revises the flight path as needed to maintain the desired flight path qualities; and (5) it coordinates the flight path with airspace users and service providers. Key users of the DPP automation system include flight planners, pilots, and airspace service providers The concept allows for the system to be installed onboard the aircraft as well as on the ground. The system responds automatically to the dynamic operating environment to ensure that a safe and operationally acceptable flight path is available throughout the flight.

Vivek Sharma↗

NASA NTRSDate not supplied

Lean Model-Based Systems Engineering on the NASA High-Density Vertiplex Subproject

The High Density Vertiplex (HDV) subproject of NASA’s Advanced Air Mobility (AAM) project adopted Model-Based Systems Engineering (MBSE)in July of 2020, prior to subproject formulation. A small and lean team of HDV Systems Engineers(SE) are utilizing MagicDraw to execute NASA SE processes via MBSE. The SEs learned how to use MagicDraw from scratch and HDV is the first project for which the SEs have utilized MagicDraw. This paper will demonstrate project technical execution via MBSE, utilizing the digital elements built into the SysML (Systems Modeling Language). SysML provides a model-centric means of carrying out the NASA SE common technical processes by providing tools for complete system modeling, including requirements and interface management and design capture. The authors also leverage and extend SysML to perform other SE tasks, such as Verification and Validation (V&V)tracking. MBSE has two main purposes for HDV: 1) documenting the subproject’s logical architecture for distribution outside of the subproject, 2) capturing the subproject’s physical architecture in a single-source-of-truth for use by the subproject’s members. This paper details the challenges, lessons learned, and solutions that were encountered in implementing MBSE in the first iteration on a multi-iteration, full-lifecycle design, build, fly project.

Demetrios Katsaduros↗

NASA NTRSDate not supplied

Hazard Perception & Avoidance (HPA): Part Task 1 - Results Outbrief

n April 2022, the Human Autonomy Teaming Lab (NASA Ames Research Center) conducted a manned, human-in-the-loop (HITL) simulation. This part task HITL began the lab’s Hazard Perception and Avoidance (HPA) technical work under NASA’s Advanced Air Mobility (AAM), Automated Flight and Contingency Management (AFCM) Sub-Project. The goals were to assess levels of automation for manned, electric vertical takeoff and landing (eVTOL) aircraft. This simulation tested manual and automated Resolution Advisory (RA) responses and return-to-course (RTC) maneuvers for the first version of the Airborne Collision Avoidance System’s (ACAS) rotary-wing (Xr) variant. This was conducted on a fixed-based simulator designed to fly eVTOL aircraft while maneuvering for intruding traffic. Variables for this study included levels of autonomy (i.e., manual and automated) as well as the types of alerts at the onset of conflicts (i.e., Corrective and RA). The data collected included response times, losses of well clear, and maneuver sizes and durations as well as subjective ratings like acceptability, and perceived workload. Additional details and future anticipations are also discussed.

air taxis↗