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At least 19 records

Streamlining Tactical Operator Handoffs During Multi-Vehicle Applications

Increased automation has shifted the operator control paradigm from a single operator controlling a single vehicle, to multiple operators collaborating to control multiple vehicles; this paradigm is known as m:N. Many questions remain unanswered in this new operational paradigm about the division of assets as workload for individual operators varies overtime. This paper explores the management of workload by enabling operators to temporarily handoff vehicles among each other. A study was conducted to explore both a manual and assisted method for performing handoffs during manipulated contingency scenarios. The assisted handoff method allowed subjects to easily choose and group nominal and/or contingency vehicles. The number of contingencies was also manipulated to determine the effect workload had on how pilots utilized the ability to handoff vehicles. Results show subjects performed handoffs more often when there were more contingencies and when the assisted handoff tool was available. In addition, the assisted tool make subjects feel more comfortable, enabling them to feel like they could take longer to resolve contingency situations. Lastly, even during contingencies, subjects were able to successfully complete secondary tasks.

M:N operations

Streamlining Tactical Operator Handoffs During Multi-Vehicle Operations

Increased automation has shifted the operator control paradigm from a single operator controlling a single vehicle, to multiple operators collaborating to control multiple vehicles; this paradigm is known as m:N. Many questions remain unanswered in this new operational paradigm about the division of assets as workload for individual operators varies over time. This paper explores the management of workload by enabling operators to temporarily handoff vehicles among each other. A study was conducted to explore both a manual and assisted method for performing handoffs during manipulated contingency scenarios. The assisted handoff method allowed subjects to easily choose and group nominal and/or contingency vehicles. The number of contingencies was also manipulated to determine the effect workload had on how pilots utilized the ability to handoff vehicles. Results show subjects performed handoffs more often when there were more contingencies and when the assisted handoff tool was available. In addition, the assisted tool made subjects feel more comfortable, enabling them to feel like they could take longer to resolve contingency situations. Lastly, even during contingencies, subjects were able to successfully complete secondary tasks.

m:N operations

Improved target handoff for single cycle instrument placement

Single Cycle Instrument Placement(SCIP)could dramatically increase the speed of various planetary rover operations. JPL is validating SCIP for use on its upcoming Mars Science Laboratory mission. Two major sources of error in the implementation submitted for validation were imprecision in selecting a distant target and error introduced while handing the target off to the rover's hazard cameras (hazcams). We have added the capability to designate a target using high resolution cameras (pancams) and then hand off to medium resolution cameras (navcams) with little error later in the traverse. We implemented several options for handoff from navcams to hazcams. We evaluated their performance on several test cases. Two methods produced average handoff error of 1 pixel when successful, but these only worked in half of the tests. Two other methods reliably produced about 10 pixels of error. None reliably reach the goal of 1 pixel handoff accuracy.

handoff

Rover mast calibration, exact camera pointing, and camara handoff for visual target tracking

This paper presents three technical elements that we have developed to improve the accuracy of the visual target tracking for single-sol approach-and-instrument placement in future Mars rover missions. An accurate, straightforward method of rover mast calibration is achieved by using a total station, a camera calibration target, and four prism targets mounted on the rover. The method was applied to Rocky8 rover mast calibration and yielded a 1.1-pixel rms residual error. Camera pointing requires inverse kinematic solutions for mast pan and tilt angles such that the target image appears right at the center of the camera image. Two issues were raised. Mast camera frames are in general not parallel to the masthead base frame. Further, the optical axis of the camera model in general does not pass through the center of the image. Despite these issues, we managed to derive non-iterative closed-form exact solutions, which were verified with Matlab routines. Actual camera pointing experiments aver 50 random target image paints yielded less than 1.3-pixel rms pointing error. Finally, a purely geometric method for camera handoff using stereo views of the target has been developed. Experimental test runs show less than 2.5 pixels error on high-resolution Navcam for Pancam-to-Navcam handoff, and less than 4 pixels error on lower-resolution Hazcam for Navcam-to-Hazcam handoff.

camera handoff

Remote Pilot Handoffs in Large UAS Multi-Vehicle Operations: Best Practices and Supportive Technologies

In response to pilot shortages and increasing air cargo demands, NASA's Pathfinding for Airspace with Autonomous Vehicles (PAAV) sub-project conducted the fourth in a series of tabletop studies investigating scalable solutions for integrating large Uncrewed Aircraft Systems (UAS) into the National Airspace System (NAS). This study solicited subject matter expertise to identify solutions to potential challenges for a further term vision, guiding participants through scenario-based discussions where the remote pilot (RP)-to-vehicle ratio has been scaled from 1:1 to m:N. Of those challenges, remote pilot handoffs were found throughout all phases of flight, both in nominal and non-nominal scenarios. The current paper details participant-suggested procedural and technological solutions for overcoming the handoff challenge, including determining the accepting RP, which aircraft to release, the location and timing of the transition, and options for supporting personnel, tools, and automation that could facilitate safe and efficient handoffs.

unmanned aircraft systems (UAS)

Remote Pilot Handoffs in Large UAS Multi-Vehicle Operations: Best Practices and Supportive Technologies

In response to pilot shortages and increasing air cargo demands, NASA's Pathfinding for Airspace with Autonomous Vehicles (PAAV) sub-project conducted the fourth in a series of tabletop studies investigating scalable solutions for integrating large Uncrewed Aircraft Systems (UAS) into the National Airspace System (NAS). This study solicited subject matter expertise to identify solutions to potential challenges for a further term vision, guiding participants through scenario-based discussions where the remote pilot (RP)-to-vehicle ratio has been scaled from 1:1 to m:N. Of those challenges, remote pilot handoffs were found throughout all phases of flight, both in nominal and non-nominal scenarios. The current paper details participant-suggested procedural and technological solutions for overcoming the handoff challenge, including determining the accepting RP, which aircraft to release, the location and timing of the transition, and options for supporting personnel, tools, and automation that could facilitate safe and efficient handoffs.

uncrewed aircraft systems

Target Tracking, Approach, and Camera Handoff for Automated Instrument Placement

This paper describes the target designation, tracking, approach, and camera handoff technologies required to achieve accurate, single-command autonomous instrument placement for a planetary rover. It focuses on robust tracking integrated with obstacle avoidance during the approach phase, and image-based camera handoff to allow vision-based instrument placement. It also provides initial results from a complete system combining these technologies with rover base placement to maximize arm manipulability and image-based instrument placement.

target tracking

m:N Handoff Study

Explore the source record for details and available documents.

m:N operations

Biogenic-to-lithogenic handoff of particulate Zn affects the Zn cycle in the Southern Ocean

Zinc (Zn) is vital to marine organisms. Its active uptake by phytoplankton results in a substantial depletion of dissolved Zn, and Zn bound to particulate organic matter replenishes dissolved Zn in the ocean through remineralization. However, we found that particulate Zn changes from Zn bound to phosphoryls in cells to recalcitrant inorganic pools that include biogenic silica, clays, and iron, manganese, and aluminum oxides in the Southern Ocean water column. The abundances of inorganic pools increase with depth and are the only phases preserved in sediments. Changes in the particulate-Zn speciation influence Zn bioavailability and explain the decoupling of Zn and phosphorus and the correlation of Zn and silicon in the water column. Here, these findings reveal a new dimension to the ocean Zn cycle, implicating an underappreciated role of inorganic Zn particles and their impact on biological productivity.

Duan, J.

Smart Handoffs: Preserving User Context Between Tools and Services Related to NASA's EOSDIS Data Archive

NASA's Earth Observing System Data and Information System (EOSDIS) is tasked with archiving and distributing Earth Observation data across a range of disciplines, including atmospheric science, oceanography, land processes, natural hazards, solar radiance and even socioeconomic aspects relating to the environment. Given the breadth of disciplines and depth of data that EOSDIS provides, the efficient and intuitive discovery and usage of data by a scientist is of paramount importance. An effective data gathering workflow may involve switching from general use discovery tools to a more bespoke services designed specifically for the scientist's discipline. Providing concrete interoperability between such tools could vastly improve the efficiency of a scientist's workflow.

Analytics

Handover aspects for a Low Earth Orbit (LEO) CDMA Land Mobile Satellite (LMS) system

This paper addresses the problem of handoff in a land mobile satellite (LMS) system between adjacent satellites in a low earth orbit (LEO) constellation. In particular, emphasis is placed on the application of soft handoff in a direct sequence code division multiple access (DS-CDMA) LMS system. Soft handoff is explained in terms of terrestrial macroscopic diversity, in which signals transmitted via several independent fading paths are combined to enhance the link quality. This concept is then reconsidered in the context of a LEO LMS system. A two-state Markov channel model is used to simulate the effects of shadowing on the communications path from the mobile to each satellite during handoff. The results of the channel simulation form a platform for discussion regarding soft handoff, highlighting the potential merits of the scheme when applied in a LEO LMS environment.

Carter, P.

Solar and Heliospheric Observatory (SOHO) Flight Dynamics Simulations Using MATLAB (R)

This paper describes a study to verify onboard attitude control laws in the coarse Sun-pointing (CSP) mode by simulation and to develop procedures for operational support for the Solar and Heliospheric Observatory (SOHO) mission. SOHO was launched on December 2, 1995, and the predictions of the simulation were verified with the flight data. This study used a commercial off the shelf product MATLAB(tm) to do the following: Develop procedures for computing the parasitic torques for orbital maneuvers; Simulate onboard attitude control of roll, pitch, and yaw during orbital maneuvers; Develop procedures for predicting firing time for both on- and off-modulated thrusters during orbital maneuvers; Investigate the use of feed forward or pre-bias torques to reduce the attitude handoff during orbit maneuvers - in particular, determine how to use the flight data to improve the feed forward torque estimates for use on future maneuvers. The study verified the stability of the attitude control during orbital maneuvers and the proposed use of feed forward torques to compensate for the attitude handoff. Comparison of the simulations with flight data showed: Parasitic torques provided a good estimate of the on- and off-modulation for attitude control; The feed forward torque compensation scheme worked well to reduce attitude handoff during the orbital maneuvers. The work has been extended to prototype calibration of thrusters from observed firing time and observed reaction wheel speed changes.

Headrick, R. D.

Demonstration of Two Extended Visual Line of Sight Methods for Urban UAV Operations

This report describes two extended visual line of sight (EVLOS) methods developed and utilized during two flight campaigns over the campus of NASA Langley Research Center (LaRC): a chase vehicle method and a radio controlled (RC) pilot handoff method. These campaigns were performed to (a) evaluate small unmanned aerial system (sUAS) flight beyond the visual line of sight (BVLOS) of the ground control station operator and (b) test technologies under development to enable a transition from EVLOS to BVLOS operations. While an autonomous waypoint-based operational approach enabled minimal pilot intervention in both methods, range containment was enforced (a) manually via continual pilot visual monitoring and (b) autonomously via on-board contingency landing autonomy triggerable at the boundary of stay-in geofences. In the thirty-nine flights which utilized the chase vehicle, the pilot followed the sUAS flying a 1.2 km path at 40m altitude over urban streets. In the fifteen flights which utilized pilot handoff, a pilot at one end of a 1.5 km path initiated the flight at 120m altitude over buildings and trees, and at the midway point of the path transferred radio control to a pilot at the other end. In comparison, the chase vehicle method requires less ground crew and simpler avionics, while the pilot handoff method avoids schedule risk arising from street traffic congestion but better replicates actual direct routing for BVLOS flights. Collision risk with another aircraft was introduced in both campaigns and mitigated with the same manual and autonomous methods. Results from these campaigns serve as a basis for planned BVLOS operations at NASA LaRC.

Nicholas Rymer

Nucleotide- and metalloid-driven conformational changes in the arsenite efflux ATPase ArsA

Arsenite (As III ) is toxic to all organisms due to its ability to tightly bind exposed thiols within cells. An important As III resistance mechanism in prokaryotes involves proteins encoded by thearsoperon. A central component of thearsoperon in many bacteria is the cytoplasmic ATPase, ArsA, which orchestrates a series of nucleotide-dependent handoffs, starting with the capture of As III by the ArsD metallochaperone and culminating in its removal from the cell by the ArsB efflux pump. Although the mechanism of ArsA has been widely studied, the molecular details of how nucleotide hydrolysis modulates these events remain unclear. ArsA is an archetypal member of the intradimeric Walker A (IWA) family of ATPases, implicated in a diversity of complex biological functions. Conformational changes typical of IWA ATPases have been postulated to drive these molecular events but have not been demonstrated. We report cryogenic electron microscopy (cryo-EM) structures of ArsA in MgADP-bound and MgATP-boundopenstates, as well as a distinctclosedMgATP-bound state liganded to As III . X-ray absorption spectroscopy (XAS) confirmed three-coordinate binding of As III to the conserved cysteines at the metalloid-binding site of the closed state. Coupled with biochemical characterization, our cryo-EM structures reveal key conformational changes in the ArsA catalytic cycle consistent with other IWA ATPases and provide the structural basis for allosteric activation of nucleotide hydrolysis by As III . This work establishes how the nucleotide state of ArsA transiently creates a high-affinity binding site that can sequester metalloid within the cell, followed by a nucleotide-driven handoff to ArsB for efflux.

Science & Technology - Other Topics

TRUST Sensors in Environments: Thermocouples (SE-TC), Release FY25

The Delivery Environments Testbeds to Reduce Uncertainty in Simulations and Tests (TRUST) project is a broad project intended to analyze simplified problems experimentally and with modeling and simulation. The purpose of analyzing these simplified problems is to extend solution methods to more complex problems, as well as understand deficiencies and gaps in knowledge of methods currently used in more complex analyses. The TRUST project encompasses several smaller testbeds intended to isolate individual phenomena. The testbed under consideration in this report is the Sensors in Environments: Thermocouples testbed. In previous years, the purpose of this testbed was to quantify uncertainty of thermocouple sensors. To accomplish this, an aluminum plate was placed in a thermal chamber and subject to various types of thermal loading. Thermocouples were placed in various locations on the aluminum plate in various configurations (e.g., embedded in the plate, placed under Kapton tape), and an effort was made to quantify uncertainty in these measurements. Finite element simulations were performed to investigate how sensitive these measurements were to parameters such as the boundary conditions on the plate and material properties. However, a fundamental source of uncertainty in this analysis was the convective heat transfer from the plate. Convective heat transfer is a complex physical phenomenon comprised of a number of interacting sub-processes and is difficult to predict accurately a priori. As such, the main purpose of this testbed in FY25 was to better understand, both experimentally and numerically, the convective heat transfer from the plate. This is a highly applicable problem to several more complex problems, as convective heat transfer occurs in nearly all problems where a body is moving through air. Numerically, this required a two-step approach. First, the air flow in the thermal chamber was in vestigated using computational fluid dynamics. The commercial solver Fluent was used to perform these simulations. From these simulations, a heat transfer coefficient over the surface of the plate was calculated. This heat transfer was then used as boundary conditions for finite element heat transfer simulations within the plate, which were performed using Abaqus. Significant effort was devoted to automating the handoff between these two solvers. Experimentally, previous thermocouple results in the plate were used to validate the time-dependent thermal profiles produced from Abaqus. Further experimental efforts were performed both to help validate the Fluent simulations and to inform its boundary conditions. For example, hot-wire anemometers were used to measure the velocity in the chamber, which would be particularly useful in understanding the chamber inlet velocity. Thermocouple measurements were also taken in the chamber, instead of only on the plate, to serve as validation evidence for the Fluent simulations. Numerical results showed that the Fluent to Abaqus workflow matched previous plate thermocouple measurements well. This type of handoff is useful for more complex experiments, or those that are not able to be examined in as great of detail as this testbed, as it was performed without any experimental input. Experimental results, however, were more mixed. The anemometers proved unreliable, with inconsistent measurements across all anemometers, even at locations that were nearly identical. On the other hand, the thermocouples provided a relatively rich view of the temperature field in the chamber.

42 ENGINEERING

Smart Hand Offs and Earthdata Search

Often a science user will discover data of interest in a general-purpose discovery tool like Earthdata Search. At that point it might be beneficial for the science user to switch to a more specialized tool. Smart handoffs allow the user to switch from one tool to another with their context (collection, spatial and temporal constraints) intact. This provides an efficient means of traversing tools and services. The idea of smart handoffs could be expanded to commercial search engines such as Google, visualization tools like State of the Ocean and Giovanni and domain-specific search tools like Earthdata Search.

Giovanni

Trajectory Optimization for dynamic tool Systems Swapping

Develop capability to reliably execute a handoff of the grapple tool between two robot arms in difficult environments. Goals for the end of summer include evaluating different approaches to state estimation and determine optimal handoff poses based on a given scene.

Dominic Bisio