242,577 research outputs found
Hypersonic Research Vehicle (HRV) real-time flight test support feasibility and requirements study. Part 2: Remote computation support for flight systems functions
The requirements are assessed for the use of remote computation to support HRV flight testing. First, remote computational requirements were developed to support functions that will eventually be performed onboard operational vehicles of this type. These functions which either cannot be performed onboard in the time frame of initial HRV flight test programs because the technology of airborne computers will not be sufficiently advanced to support the computational loads required, or it is not desirable to perform the functions onboard in the flight test program for other reasons. Second, remote computational support either required or highly desirable to conduct flight testing itself was addressed. The use is proposed of an Automated Flight Management System which is described in conceptual detail. Third, autonomous operations is discussed and finally, unmanned operations
Beauty and the Beast: Optimal Methods Meet Learning for Drone Racing
Autonomous micro aerial vehicles still struggle with fast and agile
maneuvers, dynamic environments, imperfect sensing, and state estimation drift.
Autonomous drone racing brings these challenges to the fore. Human pilots can
fly a previously unseen track after a handful of practice runs. In contrast,
state-of-the-art autonomous navigation algorithms require either a precise
metric map of the environment or a large amount of training data collected in
the track of interest. To bridge this gap, we propose an approach that can fly
a new track in a previously unseen environment without a precise map or
expensive data collection. Our approach represents the global track layout with
coarse gate locations, which can be easily estimated from a single
demonstration flight. At test time, a convolutional network predicts the poses
of the closest gates along with their uncertainty. These predictions are
incorporated by an extended Kalman filter to maintain optimal
maximum-a-posteriori estimates of gate locations. This allows the framework to
cope with misleading high-variance estimates that could stem from poor
observability or lack of visible gates. Given the estimated gate poses, we use
model predictive control to quickly and accurately navigate through the track.
We conduct extensive experiments in the physical world, demonstrating agile and
robust flight through complex and diverse previously-unseen race tracks. The
presented approach was used to win the IROS 2018 Autonomous Drone Race
Competition, outracing the second-placing team by a factor of two.Comment: 6 pages (+1 references
SlowFuzz: Automated Domain-Independent Detection of Algorithmic Complexity Vulnerabilities
Algorithmic complexity vulnerabilities occur when the worst-case time/space
complexity of an application is significantly higher than the respective
average case for particular user-controlled inputs. When such conditions are
met, an attacker can launch Denial-of-Service attacks against a vulnerable
application by providing inputs that trigger the worst-case behavior. Such
attacks have been known to have serious effects on production systems, take
down entire websites, or lead to bypasses of Web Application Firewalls.
Unfortunately, existing detection mechanisms for algorithmic complexity
vulnerabilities are domain-specific and often require significant manual
effort. In this paper, we design, implement, and evaluate SlowFuzz, a
domain-independent framework for automatically finding algorithmic complexity
vulnerabilities. SlowFuzz automatically finds inputs that trigger worst-case
algorithmic behavior in the tested binary. SlowFuzz uses resource-usage-guided
evolutionary search techniques to automatically find inputs that maximize
computational resource utilization for a given application.Comment: ACM CCS '17, October 30-November 3, 2017, Dallas, TX, US
Flight evaluation of a computer aided low-altitude helicopter flight guidance system
The Flight Systems Development branch of the U.S. Army's Avionics Research and Development Activity (AVRADA) and NASA Ames Research Center developed for flight testing a Computer Aided Low-Altitude Helicopter Flight (CALAHF) guidance system. The system includes a trajectory-generation algorithm which uses dynamic programming and a helmet-mounted display (HMD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor guidance symbology. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and precision navigation information to determine a trajectory between mission waypoints that seeks valleys to minimize threat exposure. This system was developed and evaluated through extensive use of piloted simulation and has demonstrated a 'pilot centered' concept of automated and integrated navigation and terrain mission planning flight guidance. This system has shown a significant improvement in pilot situational awareness, and mission effectiveness as well as a decrease in training and proficiency time required for a near terrain, nighttime, adverse weather system
Computer aiding for low-altitude helicopter flight
A computer-aiding concept for low-altitude helicopter flight was developed and evaluated in a real-time piloted simulation. The concept included an optimal control trajectory-generated algorithm based on dynamic programming, and a head-up display (HUD) presentation of a pathway-in-the-sky, a phantom aircraft, and flight-path vector/predictor symbol. The trajectory-generation algorithm uses knowledge of the global mission requirements, a digital terrain map, aircraft performance capabilities, and advanced navigation information to determine a trajectory between mission waypoints that minimizes threat exposure by seeking valleys. The pilot evaluation was conducted at NASA Ames Research Center's Sim Lab facility in both the fixed-base Interchangeable Cab (ICAB) simulator and the moving-base Vertical Motion Simulator (VMS) by pilots representing NASA, the U.S. Army, and the U.S. Air Force. The pilots manually tracked the trajectory generated by the algorithm utilizing the HUD symbology. They were able to satisfactorily perform the tracking tasks while maintaining a high degree of awareness of the outside world
Verifying the Safety of a Flight-Critical System
This paper describes our work on demonstrating verification technologies on a
flight-critical system of realistic functionality, size, and complexity. Our
work targeted a commercial aircraft control system named Transport Class Model
(TCM), and involved several stages: formalizing and disambiguating requirements
in collaboration with do- main experts; processing models for their use by
formal verification tools; applying compositional techniques at the
architectural and component level to scale verification. Performed in the
context of a major NASA milestone, this study of formal verification in
practice is one of the most challenging that our group has performed, and it
took several person months to complete it. This paper describes the methodology
that we followed and the lessons that we learned.Comment: 17 pages, 5 figure
Population mapping in informal settlements with high-resolution satellite imagery and equitable ground-truth
We propose a generalizable framework for the population estimation of dense, informal settlements in low-income urban areas–so called ’slums’–using high-resolution satellite imagery. Precise population estimates are a crucial factor for efficient resource allocations by government authorities and NGO’s, for instance in medical emergencies. We utilize equitable ground-truth data, which is gathered in collaboration with local communities: Through training and community mapping, the local population contributes their unique domain knowledge, while also maintaining agency over their data. This practice allows us to avoid carrying forward potential biases into the modeling pipeline, which might arise from a less
rigorous ground-truthing approach. We contextualize our approach in respect to the ongoing discussion within the machine learning community, aiming to make real-world machine learning applications more inclusive, fair and accountable. Because of the resource intensive ground-truth generation process, our training data is limited. We propose a gridded population estimation model, enabling flexible and customizable spatial resolutions. We test our pipeline on three experimental site in Nigeria, utilizing pre-trained and fine-tune vision networks to overcome data sparsity. Our findings highlight the difficulties of transferring common benchmark models to real-world tasks. We discuss this and propose steps forward
Haptic guidance improves the visuo-manual tracking of trajectories
BACKGROUND: Learning to perform new movements is usually achieved by
following visual demonstrations. Haptic guidance by a force feedback device is
a recent and original technology which provides additional proprioceptive cues
during visuo-motor learning tasks. The effects of two types of haptic
guidances-control in position (HGP) or in force (HGF)-on visuo-manual tracking
("following") of trajectories are still under debate. METHODOLOGY/PRINCIPALS
FINDINGS: Three training techniques of haptic guidance (HGP, HGF or control
condition, NHG, without haptic guidance) were evaluated in two experiments.
Movements produced by adults were assessed in terms of shapes (dynamic time
warping) and kinematics criteria (number of velocity peaks and mean velocity)
before and after the training sessions. CONCLUSION/SIGNIFICANCE: These results
show that the addition of haptic information, probably encoded in force
coordinates, play a crucial role on the visuo-manual tracking of new
trajectories
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