A collision avoidance system for a spaceplane manipulator arm

Part of the activity in the area of collision avoidance related to the Hermes spaceplane is reported. A collision avoidance software system which was defined, developed and implemented in this project is presented. It computes the intersection between the solids representing the arm, the payload, and the objects. It is feasible with respect to the resources available on board, considering its performance

Vehicular Fog Computing Enabled Real-time Collision Warning via Trajectory Calibration

Vehicular fog computing (VFC) has been envisioned as a promising paradigm for enabling a variety of emerging intelligent transportation systems (ITS). However, due to inevitable as well as non-negligible issues in wireless communication, including transmission latency and packet loss, it is still challenging in implementing safety-critical applications, such as real-time collision warning in vehicular networks. In this paper, we present a vehicular fog computing architecture, aiming at supporting effective and real-time collision warning by offloading computation and communication overheads to distributed fog nodes. With the system architecture, we further propose a trajectory calibration based collision warning (TCCW) algorithm along with tailored communication protocols. Specifically, an application-layer vehicular-to-infrastructure (V2I) communication delay is fitted by the Stable distribution with real-world field testing data. Then, a packet loss detection mechanism is designed. Finally, TCCW calibrates real-time vehicle trajectories based on received vehicle status including GPS coordinates, velocity, acceleration, heading direction, as well as the estimation of communication delay and the detection of packet loss. For performance evaluation, we build the simulation model and implement conventional solutions including cloud-based warning and fog-based warning without calibration for comparison. Real-vehicle trajectories are extracted as the input, and the simulation results demonstrate that the effectiveness of TCCW in terms of the highest precision and recall in a wide range of scenarios

Leveraging ASTM Industry Standard F3269-17 for Providing Safe Operations of a Highly Autonomous Aircraft

This paper expands upon the ASTM industry standard F3269-17 to outline a run-time assurance (RTA) network architecture for use in ensuring safe flight operations of a highly autonomous aircraft. An RTA network architecture is proposed and critical features discussed to implement functions where automation is primarily responsible for the safety of the aircraft instead of a pilot. This shift in responsibility, made possible by the proposed architecture, is key to highly resilient automation and is a core enabler for future pilotless transportation concepts. The findings in this paper stem from the researchers experiences with ASTM in the generation of the standard and some seven years of RTA system development on various flight programs leveraging the RTA concepts outlined in the ASTM standard