ALBERT

Description: This paper describes the methodology and value of modifying allocations to reliability and maintainability requirements for the NASA Ground Systems Development and Operations (GSDO) programs subsystems. As systems progressed through their design life cycle and hardware data became available, it became necessary to reexamine the previously derived allocations. This iterative process provided an opportunity for the reliability engineering team to reevaluate allocations as systems moved beyond their conceptual and preliminary design phases. These new allocations are based on updated designs and maintainability characteristics of the components. It was found that trade-offs in reliability and maintainability were essential to ensuring the integrity of the reliability and maintainability analysis. This paper discusses the results of reliability and maintainability reallocations made for the GSDO subsystems as the program nears the end of its design phase.

Description: Separation assurance (SA) automation has been proposed as either a ground-based or airborne paradigm. The arrival environment is complex because aircraft are being sequenced and spaced to the arrival fix. This paper examines the effect of the allocation of the SA and scheduling functions on the performance of the system. Two coordination configurations between an SA and an arrival management system are tested using both ground and airborne implementations. All configurations have a conflict detection and resolution (CD&R) system and either an integrated or separated scheduler. Performance metrics are presented for the ground and airborne systems based on arrival traffic headed to Dallas/ Fort Worth International airport. The total delay, time-spacing conformance, and schedule conformance are used to measure efficiency. The goal of the analysis is to use the metrics to identify performance differences between the configurations that are based on different function allocations. A surveillance range limitation of 100 nmi and a time delay for sharing updated trajectory intent of 30 seconds were implemented for the airborne system. Overall, these results indicate that the surveillance range and the sharing of trajectories and aircraft schedules are important factors in determining the efficiency of an airborne arrival management system. These parameters are not relevant to the ground-based system as modeled for this study because it has instantaneous access to all aircraft trajectories and intent. Creating a schedule external to the CD&R and the scheduling conformance system was seen to reduce total delays for the airborne system, and had a minor effect on the ground-based system. The effect of an external scheduler on other metrics was mixed.

Description: As Unmanned Aircraft Systems (UAS) make their way to mainstream aviation operations within the National Airspace System (NAS), research efforts are underway to develop a safe and effective environment for their integration into the NAS. Detect and Avoid (DAA) systems are required to account for the lack of "eyes in the sky" due to having no human on-board the aircraft. The current NAS relies on pilot's vigilance and judgement to remain Well Clear (CFR 14 91.113) of other aircraft. RTCA SC-228 has defined DAA Well Clear (DAAWC) to provide a quantified Well Clear volume to allow systems to be designed and measured against. Extended research efforts have been conducted to understand and quantify system requirements needed to support a UAS pilot's ability to remain well clear of other aircraft. The efforts have included developing and testing sensor, algorithm, alerting, and display requirements. More recently, sensor uncertainty and uncertainty mitigation strategies have been evaluated. This paper discusses results and lessons learned from an End-to-End Verification and Validation (E2-V2) simulation study of a DAA system representative of RTCA SC-228's proposed Phase I DAA Minimum Operational Performance Standards (MOPS). NASA Langley Research Center (LaRC) was called upon to develop a system that evaluates a specific set of encounters, in a variety of geometries, with end-to-end DAA functionality including the use of sensor and tracker models, a sensor uncertainty mitigation model, DAA algorithmic guidance in both vertical and horizontal maneuvering, and a pilot model which maneuvers the ownship aircraft to remain well clear from intruder aircraft, having received collective input from the previous modules of the system. LaRC developed a functioning batch simulation and added a sensor/tracker model from the Federal Aviation Administration (FAA) William J. Hughes Technical Center, an in-house developed sensor uncertainty mitigation strategy, and implemented a pilot model similar to one from the Massachusetts Institute of Technology's Lincoln Laboratory (MIT/LL). The resulting simulation provides the following key parameters, among others, to evaluate the effectiveness of the MOPS DAA system: severity of loss of well clear (SLoWC), alert scoring, and number of increasing alerts (alert jitter). The technique, results, and lessons learned from a detailed examination of DAA system performance over specific test vectors and encounter cases during the simulation experiment will be presented in this paper.

Description: As the technological and operational capabilities of unmanned aircraft systems (UAS) have grown, so too have international efforts to integrate UAS into civil airspace. However, one of the major concerns that must be addressed in realizing this integration is that of safety. For example, UAS lack an on-board pilot to comply with the legal requirement that pilots see and avoid other aircraft. This requirement has motivated the development of a detect and avoid (DAA) capability for UAS that provides situational awareness and maneuver guidance to UAS operators to aid them in avoiding and remaining well clear of other aircraft in the airspace. The NASA Langley Research Center Formal Methods group has played a fundamental role in the development of this capability. This article gives a selected survey of the formal methods work conducted in support of the development of a DAA concept for UAS. This work includes specification of low-level and high-level functional requirements, formal verification of algorithms, and rigorous validation of software implementations.

Description: A fundamental requirement for the integration of unmanned aircraft into civil airspace is the capability of aircraft to remain well clear of each other and avoid collisions. This requirement has led to a broad recognition of the need for an unambiguous, formal definition of well clear. It is further recognized that any such definition must be interoperable with existing airborne collision avoidance systems (ACAS). A particular class of well-clear definitions uses logic checks of independent distance thresholds as well as independent time thresholds in the vertical and horizontal dimensions to determine if a well-clear violation is predicted to occur within a given time interval. Existing ACAS systems also use independent distance thresholds, however a common time threshold is used for the vertical and horizontal logic checks. The main contribution of this paper is the characterization of the effects of the decoupled vertical time threshold on a well-clear definition in terms of (1) time to well-clear violation, and (2) interoperability with existing ACAS. The paper provides governing equations for both metrics and includes simulation results to illustrate the relationships. In this paper, interoperability implies that the time of well-clear violation is strictly less than the time a resolution advisory is issued by ACAS. The encounter geometries under consideration in this paper are initially well clear and consist of constant-velocity trajectories resulting in near-mid-air collisions.

Description: This paper describes the Controller Acceptability Study 1 (CAS-1) experiment that was conducted by NASA Langley Research Center personnel from January through March 2014 and presents partial CAS-1 results. CAS-1 employed 14 air traffic controller volunteers as research subjects to assess the viability of simulated future unmanned aircraft systems (UAS) operating alongside manned aircraft in moderate-density, moderate-complexity Class E airspace. These simulated UAS were equipped with a prototype pilot-in-the-loop (PITL) Detect and Avoid (DAA) system, specifically the Self-Separation (SS) function of such a system based on Stratway+ software to replace the see-and-avoid capabilities of manned aircraft pilots. A quantitative CAS-1 objective was to determine horizontal miss distance (HMD) values for SS encounters that were most acceptable to air traffic controllers, specifically HMD values that were assessed as neither unsafely small nor disruptively large. HMD values between 0.5 and 3.0 nautical miles (nmi) were assessed for a wide array of encounter geometries between UAS and manned aircraft. The paper includes brief introductory material about DAA systems and their SS functions, followed by descriptions of the CAS-1 simulation environment, prototype PITL SS capability, and experiment design, and concludes with presentation and discussion of partial CAS-1 data and results.

Description: The Federal Aviation Administration (FAA) has been mandated by the Congressional funding bill of 2012 to open the National Airspace System (NAS) to Unmanned Aircraft Systems (UAS). With the growing use of unmanned systems, NASA has established a multi-center "UAS Integration in the NAS" Project, in collaboration with the FAA and industry, and is guiding its research efforts to look at and examine crucial safety concerns regarding the integration of UAS into the NAS. Key research efforts are addressing requirements for detect-and-avoid (DAA), self-separation (SS), and collision avoidance (CA) technologies. In one of a series of human-in-the-loop experiments, NASA Langley Research Center set up a study known as Collision Avoidance, Self-Separation, and Alerting Times (CASSAT). The first phase assessed active air traffic controller interactions with DAA systems and the second phase examined reactions to the DAA system and displays by UAS Pilots at a simulated ground control station (GCS). Analyses of the test results from Phase I and Phase II are presented in this paper. Results from the CASSAT study and previous human-in-the-loop experiments will play a crucial role in the FAA's establishment of rules, regulations, and procedures to safely, efficiently, and effectively integrate UAS into the NAS.

Description: This paper presents ideas for a new generation of agricultural system models that could meet the needs of a growing community of end-users exemplified by a set of Use Cases. We envision new data, models and knowledge products that could accelerate the innovation process that is needed to achieve the goal of achieving sustainable local, regional and global food security. We identify desirable features for models, and describe some of the potential advances that we envisage for model components and their integration. We propose an implementation strategy that would link a "pre-competitive" space for model development to a "competitive space" for knowledge product development and through private-public partnerships for new data infrastructure. Specific model improvements would be based on further testing and evaluation of existing models, the development and testing of modular model components and integration, and linkages of model integration platforms to new data management and visualization tools.

Description: Recursive branch and bound algorithms are often used to refine and isolate solutions to several classes of global optimization problems. A rigorous computation framework for the solution of systems of equations and inequalities involving nonlinear real arithmetic over hyper-rectangular variable and parameter domains is presented. It is derived from a generic branch and bound algorithm that has been formally verified, and utilizes self-validating enclosure methods, namely interval arithmetic and, for polynomials and rational functions, Bernstein expansion. Since bounds computed by these enclosure methods are sound, this approach may be used reliably in software verification tools. Advantage is taken of the partial derivatives of the constraint functions involved in the system, firstly to reduce the branching factor by the use of bisection heuristics and secondly to permit the computation of bifurcation sets for systems of ordinary differential equations. The associated software development, Kodiak, is presented, along with examples of three different branch and bound problem types it implements.

Description: The ability to safely confine the trajectories of small UAS to a specific geographical area is a key enabler for capabilities that require operating in close proximity to populated areas as well as other users of the airspace. These capabilities require highly reliable geofencing algorithms. In particular, these algorithms must promptly alert imminent breaches of keep-in/keep-out geofences by considering factors such as the vehicle speed and uncertainties in the state of the aircraft. This paper presents a novel approach to the prevention of geofence boundary violation based on closure rate constraints. These constraints are incorporated into a control framework to effectively prevent fence breaches. Simulation results illustrating an example use case of this framework are presented.