Results for “Collisions” — Page 8

NASA NTRSDate not supplied

Helicopter Pilot Assessments of the Airborne Collision Avoidance System XR With Automated Maneuvering

The Airborne Collision Avoidance System X (ACAS X) is a next-generation collision avoidance tool developed to support different aircraft types and operations. The rotorcraft variant – referred to as ACAS XR – is designed to accommodate existing helicopter platforms as well as in-development, electric vertical takeoff and landing concepts, which are critical to the emerging concept of operations referred to as Advanced Air Mobility. The fundamental role of ACAS XR is to provide Detect and Avoid (DAA) and/or Collision Avoidance (CA) protection against airborne traffic. DAA alerting and guidance in the context of ACAS XR is caution-level and “suggestive,” and is to be used by the pilot if, and when, they decide to maneuver against an identified threat to DAA “well clear.” The CA alerting, by contrast, is warning-level and “directive,” with the pilot required to comply with the associated guidance to prevent a predicted Near Midair Collision (NMAC). The CA alerts generated by ACAS XR are referred to as Resolution Advisories (RAs) consistent with previous CA systems. Unlike earlier CA systems, ACAS XR issues RAs in the horizontal and vertical dimensions as well as multi-axis RAs (referred to as “Blended” RAs). According to the Minimal Operational Performance Standards of DAA systems for Unmanned Aircraft Systems, maneuvers to comply with RAs may be automated, whereas maneuvers based on DAA alerting assume a manual response. The current study was a human-in-the-loop simulation that presented rotorcraft pilots with ACAS XR alerts and guidance in a fixed-base eVTOL simulator with varying levels of automation. Objective results showed that pilots complied with all RAs within the expected 5-second time window and responded to DAA alerts quicker than in earlier studies with ACAS XU. Pilots often made larger horizontal deviations during Manual RAs, but often favored vertical and blended maneuvers. No NMACs occurred, and losses of well clear were mainly attributed to the obligation of the pilots and system to maneuver only after the CA phase of the encounter had begun. Other losses were due to pilots’ noncompliance or disregard for ACAS XR’s alerting and guidance. Noncompliance with RAs most frequently occurred when pilots determined they were too close to the terrain to continue to follow Descend RAs, performing vertical maneuvers instead of following Horizontal RAs, or rejecting Horizontal RA updates because they felt that enough maneuvering had been performed. Subjectively, pilots found the DAA and RA alerting and guidance intuitive and useful for VFR helicopter operations. Slightly more pilots preferred the Automated RA condition to the Manual RA condition. Lastly, they also felt that ACAS led to occasional unsafe Descend RAs. Caveats and future implications are discussed.

eVTOL↗

NASA NTRSDate not supplied

Helicopter Pilot Assessments of the Airborne Collision Avoidance System XR With Automated Maneuvering

The Airborne Collision Avoidance System X (ACAS X) is a next-generation collision avoidance tool developed to support different aircraft types and operations. The rotorcraft variant – referred to as ACAS XR – is designed to accommodate existing helicopter platforms as well as in-development, electric vertical takeoff and landing concepts, which are critical to the emerging concept of operations referred to as Advanced Air Mobility. The fundamental role of ACAS XR is to provide Detect and Avoid (DAA) and/or Collision Avoidance (CA) protection against airborne traffic. DAA alerting and guidance in the context of ACAS XR is caution-level and “suggestive,” and is to be used by the pilot if, and when, they decide to maneuver against an identified threat to DAA “well clear.” The CA alerting, by contrast, is warning-level and “directive,” with the pilot required to comply with the associated guidance to prevent a predicted Near Midair Collision (NMAC). The CA alerts generated by ACAS XR are referred to as Resolution Advisories (RAs) consistent with previous CA systems. Unlike earlier CA systems, ACAS XR issues RAs in the horizontal and vertical dimensions as well as multi-axis RAs (referred to as “Blended” RAs). According to the Minimal Operational Performance Standards of DAA systems for Unmanned Aircraft Systems, maneuvers to comply with RAs may be automated, whereas maneuvers based on DAA alerting assume a manual response. The current study was a human-in-the-loop simulation that presented rotorcraft pilots with ACAS XR alerts and guidance in a fixed-base eVTOL simulator with varying levels of automation. Objective results showed that pilots complied with all RAs within the expected 5-second time window and responded to DAA alerts quicker than in earlier studies with ACAS XU. Pilots often made larger horizontal deviations during Manual RAs, but often favored vertical and blended maneuvers. No NMACs occurred, and losses of well clear were mainly attributed to the obligation of the pilots and system to maneuver only after the CA phase of the encounter had begun. Other losses were due to pilots’ noncompliance or disregard for ACAS XR’s alerting and guidance. Noncompliance with RAs most frequently occurred when pilots determined they were too close to the terrain to continue to follow Descend RAs, performing vertical maneuvers instead of following Horizontal RAs, or rejecting Horizontal RA updates because they felt that enough maneuvering had been performed. Subjectively, pilots found the DAA and RA alerting and guidance intuitive and useful for VFR helicopter operations. Slightly more pilots preferred the Automated RA condition to the Manual RA condition. Lastly, they also felt that ACAS led to occasional unsafe Descend RAs. Caveats and future implications are discussed.

eVTOL↗

NASA NTRS2015

An Assessment of the Efficacy of Launch Collision Avoidance Analysis in Providing Risk Reduction for NASA

The objective of this document is to assess the value of collision on launch assessment (COLA, often referred to as “launch COLA”) practices and provide recommendations regarding its implementation for NASA robotic missions. The scope of this effort is limited to launch COLA screens against catalog objects that are either spacecraft or debris. No modifications to manned safety launch COLA practices are considered in this effort. An assessment of the value of launch COLA can be broken down into two fundamental questions: 1) Does collision during launch represent a significant risk to either the payload being launched or the space environment? 2) Can launch collision mitigation be performed in a manner that provides meaningful risk reduction at an acceptable level of operational impact? While it has been possible to piece together partial answers to these questions for some time, the first attempt to comprehensively address them is documented in reference (a), Launch COLA Operations: an Examination of Data Products, Procedures, and Thresholds, Revision A. This report is the product of an extensive study that addressed fundamental technical questions surrounding launch collision avoidance analysis and practice. The results provided in reference (a) will be cited throughout this document as these two questions are addressed. The premise of this assessment is that in order to conclude that launch COLA is a value-added activity, the answer to both of these questions must be affirmative. A “no” answer to either of these questions points toward the conclusion that launch COLA provides little or no risk mitigation benefit. The remainder of this assessment will focus on addressing these two questions.

launch COLA↗

NASA NTRSDate not supplied

COBRA-DDP: Trajectory Generation and Collision Avoidance Augmentations for eVTOL Vehicles

This paper presents a receding horizon model predictive control variation of the combined Bernstein polynomial optimal reciprocal collision avoidance (ORCA) differential dynamic programming (COBRA-DDP) algorithm for AAM vehicles. Collision avoidance in combination with effective trajectory replanning are expected to be core components of AAM vehicles operating within a crowded airspace. This environment necessitates the use of real-time trajectory planning algorithms that are capable of planning around large amounts of stationary and moving obstacles. Previous work on COBRA-DDP demonstrated the capability of the algorithm to produce dynamically feasible trajectories for AAM vehicles and general collision avoidance. This paper improves upon the previous work by increasing the number of stationary and moving obstacles, implementing a variation of COBRA-DDP that lends itself to real-time application. These advancements are demonstrated on a vertical takeoff and landing (VTOL) vehicle simulation with highly nonlinear vehicle dynamics.

COBRA-DDP↗

NASA NTRSDate not supplied

COBRA-DDP: Trajectory Generation and Collision Avoidance Augmentations for eVTOL Vehicles

This paper presents a receding horizon model predictive control variation of the combined Bernstein polynomial optimal reciprocal collision avoidance (ORCA) differential dynamic programming (COBRA-DDP) algorithm for AAM vehicles. Collision avoidance in combination with effective trajectory replanning are expected to be core components of AAM vehicles operating within a crowded airspace. This environment necessitates the use of real-time trajectory planning algorithms that are capable of planning around large amounts of stationary and moving obstacles. Previous work on COBRA-DDP demonstrated the capability of the algorithm to produce dynamically feasible trajectories for AAM vehicles and general collision avoidance. This paper improves upon the previous work by increasing the number of stationary and moving obstacles, implementing a variation of COBRA-DDP that lends itself to real-time application. These advancements are demonstrated on a vertical takeoff and landing (VTOL) vehicle simulation with highly nonlinear vehicle dynamics.

COBRA-DDP↗

NASA NTRSDate not supplied

Satellite Conjunction Assessment, Risk Analysis and Collision Avoidance Best Practices: The History, Evolution and Opportunities

Since Explorer 1 was launched on January 31, 1958, the United States (U.S.) has reaped the benefits of space exploration. New markets and new technologies have spurred the economy and changed lives in many ways across the national security, civil, and commercial sectors. Space technologies and space-based capabilities now provide global communications, navigation and timing, weather forecasting, and more. Space exploration also presents challenges that impact not only the U.S. but also its allies and other partners. A significant increase in the volume and diversity of activity in space means that it is becoming increasingly congested. Emerging commercial ventures such as satellite servicing, in-space manufacturing, and tourism as well as new technologies enabling small satellites and large constellations of satellites present serious challenges for safely and responsibly using space in a stable, sustainable manner. To meet these challenges, the U.S. seeks to improve global awareness of activity in space by publicly sharing flight safety-related information and by coordinating its own on-orbit activity in a safer, more responsible manner. It seeks to bolster stability and reduce current and future operational on-orbit risks so that space is sustained for future generations. To this end, new and better Space Situational Awareness (SSA) capabilities are needed to keep pace with the increased congestion, and the U.S. seeks to create a dynamic environment that encourages and rewards commercial providers who improve these capabilities. The National Aeronautics and Space Administration (NASA) Spacecraft Conjunction Assessment and Collision Avoidance Best Practices Handbook reflects how NASA currently operates, which has evolved over time. Consideration is given to important topics such as spacecraft and constellation design; spacecraft “trackability;” pre-launch preparation and early launch activities; on-orbit collision avoidance; and automated trajectory guidance and maneuvering. This talk aims to present examples of responsible practices for spacecraft Owners/Operators (O/O) to consider for lowering collision risks and operating safely in space (from LEO and beyond) in a stable and sustainable manner. As technology and innovation continues to improve upon existing capabilities, what kind of new challenges are presented in the SSA community? Can space exploration and commercial ventures thrive while keeping paramount the safety and protection of the space environment? What are the challenges and opportunities that need to be addressed and considered for space situational awareness in Cis-Lunar Space? It may prove useful for entities offering, or intending to offer, SSA or Conjunction Assessment (CA) services to consider such examples of responsible practices to protect the space environment for future use by all.

Collision Avoidance↗

NASA NTRSDate not supplied

Detect and Avoid and Collision Avoidance Flight Test Results with ACAS Xr

In October 2023, the National Aeronautics and Space Administration (NASA) completed its Integration of Automated Systems flight test series, conducted under NASA’s Advanced Air Mobility project and in partnership with Sikorsky and the Defense Advanced Research Projects Agency (DARPA). The flight test effort included two crewed rotorcraft platforms. The first, a modified S-76B helicopter, served as the “ownship” for the duration of the flight test. The second vehicle, a modified S-70, served as the intruder aircraft. One Sikorsky pilot and one NASA test pilot was onboard each aircraft for every test point, with the NASA test pilot responsible for interacting with the research systems under test. Approximately half of the flight test was devoted to assessing the Federal Aviation Administration’s (FAA) next-generation collision avoidance system, the Airborne Collision Avoidance System X for Rotorcraft (ACAS Xr). The two configurations available within ACAS Xr – the Collision Avoidance System (CAS) configuration and the Detect and Avoid (DAA) configuration – were flown with an onboard pilot under Visual Flight Rules in controlled airspace over the Long Island Sound (Connecticut, USA). A total of 33 flight test cards were flown with ACAS Xr active. The ownship was equipped with ACAS Xr and the intruder was equipped with Automatic Dependent Surveillance-Broadcast (ADS-B). The test points were blocked by ACAS Xr configuration, with individual encounters varying the ownship speed (90 knots or 20 knots), the intruder designation (en-route, terminal area, or structured airspace), and method of RA execution (automated or manually executed). Results showed that the ACAS Xr alerting and guidance was largely effective and rated positively by the NASA test pilots, exemplified by zero instances of the pilots overriding an ACAS Xr Resolution Advisory (RA). Key areas of improvement, however, were noted, particularly with regards to the lack of an aural alert indicating a need to accelerate when receiving an RA at low speed and the occurrence of multiple RAs that the pilots found to be unacceptable.

detect and avoid↗

NASA NTRSDate not supplied

Detect and Avoid and Collision Avoidance Flight Test Results with ACAS Xr

In October 2023, the National Aeronautics and Space Administration (NASA) completed its Integration of Automated Systems flight test series, conducted under NASA’s Advanced Air Mobility project and in partnership with Sikorsky and the Defense Advanced Research Projects Agency (DARPA). The flight test effort included two crewed rotorcraft platforms. The first, a modified S-76B helicopter, served as the “ownship” for the duration of the flight test. The second vehicle, a modified S-70, served as the intruder aircraft. One Sikorsky pilot and one NASA test pilot was onboard each aircraft for every test point, with the NASA test pilot responsible for interacting with the research systems under test. Approximately half of the flight test was devoted to assessing the Federal Aviation Administration’s (FAA) next-generation collision avoidance system, the Airborne Collision Avoidance System X for Rotorcraft (ACAS Xr). The two configurations available within ACAS Xr – the Collision Avoidance System (CAS) configuration and the Detect and Avoid (DAA) configuration – were flown with an onboard pilot under Visual Flight Rules in controlled airspace over the Long Island Sound (Connecticut, USA). A total of 33 flight test cards were flown with ACAS Xr active. The ownship was equipped with ACAS Xr and the intruder was equipped with Automatic Dependent Surveillance-Broadcast (ADS-B). The test points were blocked by ACAS Xr configuration, with individual encounters varying the ownship speed (90 knots or 20 knots), the intruder designation (en-route, terminal area, or structured airspace), and method of RA execution (automated or manually executed). Results showed that the ACAS Xr alerting and guidance was largely effective and rated positively by the NASA test pilots, exemplified by zero instances of the pilots overriding an ACAS Xr Resolution Advisory (RA). Key areas of improvement, however, were noted, particularly with regards to the lack of an aural alert indicating a need to accelerate when receiving an RA at low speed and the occurrence of multiple RAs that the pilots found to be unacceptable.

detect and avoid↗

NASA NTRS1972

Part 1: Classical laser. Part 2: The effect of velocity changing collisions on the output of a gas laser

A classical model for laser action is discussed, in which an active medium consisting of anharmonic oscillators interacts with an electromagnetic field in a resonant cavity. Comparison with the case of a medium consisting of harmonic oscillators shows the significance of nonlinearities for producing self-sustained oscillations in the radiation field. A theoretical model is presented for the pressure dependence of the intensity of a gas laser, in which only velocity-changing collisions with foreign gas atoms are included. A collision model for hard sphere, repulsive interactions was derived. Collision theory was applied to a third-order expansion of the polarization in powers of the cavity electric field (weak signal theory).

Borenstein, M.↗

NASA NTRS1972

Experimental and theoretical studies on collision-broadened lines in the nu-4 fundamental of methane.

High-resolution experimental and theoretical studies performed earlier by us on the collision-broadened rotational lines in the nu-3 and 2nu-3 bands of methane have been repeated on the lines in the nu-4 fundamental of the molecule. Line-width measurements and computations, as well as line-shape measurements, indicate that the significant differences which exist between the rotational term values of the nu-3 and nu-4 vibrational levels have no observable effect on the collision-broadening mechanism. Using the predictions of line-widths, based on the Anderson-Tsao-Curnutte theory in the extended version of Tejwani for octopolar molecules, the theoretical dependence of line-widths on temperature has been calculated for CH4-CH4, CH4-H2 and CH4-He collisions.

Varanasi, P.↗

NASA NTRS1972

Shapes and widths of ammonia lines collision-broadened by hydrogen.

Measurement of half-widths and shapes of several rotational lines in nu sub 2 bands of ammonia, collision-broadened by hydrogen. The measurements were made at room temperature with a spectral resolution of 0.15 per cm. Line intensities and self-broadened half-widths were also measured. From the line-intensity data, an estimate of S sub band = 600 plus or minus 30 per sq cm per atm has been derived for the absolute intensity of the pair of bands. Hydrogen-broadened half-widths of all the lines have been found to be equal to 0.075 plus or minus 0.004 per cm per atm. For all the lines measured, shapes of the lines in NH3-H2 collisions seem to conform to the super-Lorenz line shape proposed by Varanasi et al. (1972) for dipole quadrupole collisions.

Varanasi, P.↗

NASA NTRS1972

A problem of collision avoidance

Collision avoidance between two vehicles of constant speed with limited turning radii, moving in a horizontal plane is investigated. Collision avoidance is viewed as a game by assuming that the operator of one vehicle has perfect knowledge of the state of the other, whereas the operator of the second vehicle is unaware of any impending danger. The situation envisioned is that of an encounter between a commercial aircraft and a small light aircraft. This worse case situation is examined to determine the conditions under which the commercial aircraft should execute a collision avoidance maneuver. Three different zones of vulnerability are defined and the boundaries, or barriers, between these zones are determined for a typical aircraft encounter. A discussion of the methods used to obtain the results as well as some of the salient features associated with the resultant barriers is included.

Vincent, T. L.↗

NASA NTRS1972

Collision matrix elements near a pseudocrossing of potential energy curves.

The cross sections of certain inelastic atomic collision processes can be determined from the matrix elements of the collision operator, d/dR, where R is the separation of the colliding atoms. At one extreme, the matrix element may pass through zero near a pseudocrossing of potential energy curves, while at the other extreme, it may pass through a maximum. The resulting cross sections are entirely different in magnitude and in energy dependence. An attempt is made to predict the qualitative behavior of the collision matrix elements with variations in R from an analysis of the Born-Oppenheimer adiabatic Hamiltonian. The modifications caused by a second pseudocrossing with a third adiabatic state are studied.

Oppenheimer, M.↗

NASA NTRS1974

Behaviour of ion velocity distributions for a simple collision model

Calculation of the ion velocity distributions for a weakly ionized plasma subjected to crossed electric and magnetic fields. An exact solution to Boltzmann's equation has been obtained by replacing the Boltzmann collision integral with a simple relaxation model. At altitudes above about 150 km, where the ion collision frequency is much less than the ion cyclotron frequency, the ion distribution takes the shape of a torus in velocity space for electric fields greater than 40 mV/m. This shape persists for one to two hours after application of the electric field. At altitudes where the ion collision and cyclotron frequencies are approximately equal (about 120 km), the ion velocity distribution is shaped like a bean for large electric field strengths. This bean-shaped distribution persists throughout the lifetime of ionospheric electric fields. These highly non-Maxwellian ion velocity distributions may have an appreciable affect on the interpretation of ion temperature measurements.

St-Maurice, J.-P.↗

NASA NTRS1974

Rotational excitation of HCN by collisions

Rate constants for the rotational excitation of HCN by collisions with He atoms at temperatures below 100 K were computed from first principles and are presented in tabular form. The potential energy surface was obtained by using the uniform electron gas model of Gordon and Kim (1972) and then joined smoothly to the asymptotic long-range perturbation theory potential valid at large separations. Quantum close-coupling theory was used to analyze the collision dynamics. Individual rates are believed to be accurate to within 50% above 30 K and within a factor of two below 20 K. The results should be extendable to excitation by collision with H2 and may therefore be of value in the study of interstellar clouds.

Green, S.↗

NASA NTRS1974

A zero-gravity demonstration of the collision and coalescence of water droplets

The mechanics of the collision and coalescence of liquid droplets is one of the main research areas in the fields of nuclear physics, astrophysics, meteorology and fluid mechanics. The crew members on the Skylab 3 and 4 missions were requested to perform demonstrations of the collision and coalescence of water droplets under the low gravity environment at orbital altitude. In Skylab 4 two water droplets with equal volumes, 30 cu cm each, were used. A dark colored droplet (contaminated with grape drink) moving with a velocity of 3.14 cm/sec collided with a stationary pink colored droplet (contaminated with strawberry drink) and coalescence occurred. Theoretical models are proposed to study the various stages of the collision-coalescence processes. Special considerations are concentrated in the investigation of the bounce-coalescence and coalescence-instability processes. The surface tension of the coalesced droplets was calculated to be 52 dynes/cm in perfect agreement with laboratory measurements made after the flight using a reproduction of the liquids.

Hung, R. J.↗

NASA NTRS1974

Applications of the Glauber approximation to atomic collisions

Applications of the Glauber approximation to elastic and inelastic collisions of charged particles with neutral atoms are critically reviewed in an attempt to assess the utility of the Glauber approximation in the atomic collisions domain. Various alternative derivations of the Glauber amplitude formula, both for potential scattering and for composite collisions, also are described and compared. A number of possible problems for future research are listed.

Gerjuoy, E.↗

NASA NTRS1975

Jupiter orbiter lifetime: The hazard of Galilean satellite collision

The four Galilean satellites of Jupiter present a long-term collision hazard to an uncontrolled orbiting spacecraft that repeatedly enters the spatial region occupied by the satellites. Satellite close encounters and the likelihood of collision over a wide range of initial orbit conditions were analyzed. The effect of orbit inclination was of key interest. The scope of the analysis was restricted to orbital dynamic considerations alone, i.e. the question of biological contamination given the event of collision was not considered. A quarantine or orbiter lifetime of 50 years was assumed. This time period begins at spacecraft shutdown following completion of the mission objectives. A numerical approach was adopted wherein each initial orbit is propagated for 50 years, and satellite closest encounter distances recorded on every revolution. The computer program includes approximations of the three major perturbation effects on the long-term motion of the orbiter: (1) Jupiter oblateness, (2) solar gravity, and (3) satellite gravity.

Friedlander, A. L.↗