Airborne Radar for sUAS Sense and Avoid

A primary challenge for the safe integration of small UAS operations into the National Airspace System (NAS) is traffic deconfliction, both from manned and unmanned aircraft. The UAS Traffic Management (UTM) project being conducted at the National Aeronautics and Space Administration (NASA) considers a layered approach to separation provision, ranging from segregation of operations through airspace volumes (geofences) to autonomous sense and avoid (SAA) technologies for higher risk, densely occupied airspace. Cooperative SAA systems, such as Automatic Dependent Surveillance-Broadcast (ADS-B) and/or vehicle-to-vehicle communication systems provide significant additional risk mitigation but they fail to adequately mitigate collision risks for non-cooperative (non-transponder equipped) airborne aircraft. The RAAVIN (Radar on Autonomous Aircraft to Verify ICAROUS Navigation) flight test being conducted by NASA and the Mid-Atlantic Aviation Partnership (MAAP) was designed to investigate the applicability and performance of a prototype, commercially available sUAS radar to detect and track non-cooperative airborne traffic, both manned and unmanned. The radar selected for this research was a Frequency Modulated Continuous Wave (FMCW) radar with 120 degree azimuth and 80 degree elevation field of view operating at 24.55GHz center frequency with a 200 MHz bandwidth. The radar transmits 2 watts of power thru a Metamaterial Electronically Scanning Array antenna in horizontal polarization. When the radar is transmitting, personnel must be at least 1 meter away from the active array to limit nonionizing radiation exposure. The radar physical dimensions are 18.7cm by 12.1cm by 4.1cm and it weighs less than 820 grams making it well suited for installation on small UASs. The onboard, SAA capability, known as ICAROUS, (Independent Configurable Architecture for Reliable Operations of Unmanned Systems), developed by NASA to support sUAS operations, will provide autonomous guidance using the traffic radar tracks from the onboard radar. The RAAVIN set of studies will be conducted in three phases. The first phase included outdoor, ground-based radar evaluations performed at the Virginia Techs Kentland Farm testing range in Blacksburg, VA. The test was designed to measure how well the radar could detect and track a small UAS flying in the radars field of view. The radar was used to monitor 5 test flights consisting of outbound, inbound and crossing routes at different ranges and altitudes. The UAS flown during the ground test was the Inspire 2, a quad copter weighing less than 4250 grams (10 pounds) at maximum payload. The radar was set up to scan and track targets over its full azimuthal field of view from 0 to 40 degrees in elevation. The radar was configured to eliminate tracks generated from any targets located beyond 2000 meters from the radar and moving at velocities under 1.45 meters per second. For subsequent phases of the study the radar will be integrated with a sUAS platform to evaluate its performance in flight for SAA applications ranging from sUAS to manned GA aircraft detections and tracking. Preliminary data analysis from the first outdoor ground tests showed the radar performed well at tracking the vehicle as it flew outbound and repeatedly maintained a track out to 1000 meters (maximum 1387 meters) until the vehicle slowed to a stop to reverse direction to fly inbound. As the Inspire flew inbound tracks from beyond 800 meters, a reacquisition time delay was consistently observed between when the Inspire exceeds a speed of 1.45 meters per second and when the radar indicated an inbound target was present and maintained its track. The time delay varied between 6 seconds to over 37 seconds for the inbound flights examined, and typically resulted in about a 200 meter closure distance before the Inspire track was maintained. The radar performed well at both acquiring and tracking the vehicle as it flew crossing routes out past 400 meters across the azimuthal field of view. The radar and ICAROUS software will be integrated and flown on a BFD-1400-SE8-E UAS during the next phase of the RAAVIN project. The main goal at the conclusion of this effort is to determine if this radar technology can reliably support minimum requirements for SAA applications of sUAS. In particular, the study will measure the range of vehicle detections, lateral and vertical angular errors, false and missed/late detections, and estimated distance at closest point of approach after an avoidance maneuver is executed. This last metric is directly impacted by sensor performance and indicates its suitability for the task

Legitimation, Endorsement, and Compliance

The theoretical development distinguishes three objects of legitimation, of persons, of positions, and of actions; and three types of legitimacy, propriety, endorsement, and authorization. Propriety is normative support of power, endorsement is group support, and authorization is support of an actor higher in the organizational structure. They conducted an experiment varying levels of endorsement. Results showed strong effects of endorsement on compliance. Related publications include Walker et al. (1986), Ridgeway et al. (1994), and Younts (2008)

PyPedia:using the wiki paradigm as crowd sourcing environment for bioinformatics protocols

Background: Today researchers can choose from many bioinformatics protocols for all types of life sciences research, computational environments and coding languages. Although the majority of these are open source, few of them possess all virtues to maximize reuse and promote reproducible science. Wikipedia has proven a great tool to disseminate information and enhance collaboration between users with varying expertise and background to author qualitative content via crowdsourcing. However, it remains an open question whether the wiki paradigm can be applied to bioinformatics protocols. Results: We piloted PyPedia, a wiki where each article is both implementation and documentation of a bioinformatics computational protocol in the python language. Hyperlinks within the wiki can be used to compose complex workflows and induce reuse. A RESTful API enables code execution outside the wiki. Initial content of PyPedia contains articles for population statistics, bioinformatics format conversions and genotype imputation. Use of the easy to learn wiki syntax effectively lowers the barriers to bring expert programmers and less computer savvy researchers on the same page. Conclusions: PyPedia demonstrates how wiki can provide a collaborative development, sharing and even execution environment for biologists and bioinformaticians that complement existing resources, useful for local and multi-center research teams. Availability: PyPedia is available online at: http://www.pypedia.com. The source code and installation instructions are available at: https://github.com/kantale/PyPedia_server. The PyPedia python library is available at: https://github.com/kantale/pypedia. PyPedia is open-source, available under the BSD 2-Clause License

Indoor Ground Testing of a Small UAS Sense and Avoid Airborne Doppler Radar

The National Aeronautics and Space Administrations Unmanned Aircraft System (UAS) Traffic Management (UTM) project is researching prototype technologies needed to ensure safe integration of UAS operations into the National Airspace System (NAS). Within the UTM Concept of Operations, UAS would be equipped with on-board Sense and Avoid (SAA) technology to continually monitor for manned and unmanned aircraft in its vicinity while operating beyond visual line of sight in uncontrolled airspace. To support this effort, a candidate commercially available 24.5 GHz Doppler radar was selected and evaluated to determine if the technology could reliably support minimum requirements for SAA applications of small UAS (sUAS). Indoor ground tests were conducted inside the NASA Langley Research Centers Experimental Test Range (ETR) from a stationary platform to evaluate the Doppler radar performance characteristics and gain operational proficiency before the radar was authorized to transmit outdoors. A high speed linear rail system was developed for the radar evaluation and was shown to be an effective method to generate Doppler radar targets of known radar cross section. The accuracy of the range and velocity reported by the radar was shown to be dependent on the Kalman filter state variance parameter settings. Antenna measurements were collected with the radar installed both on and off a sUAS to quantify the relative antenna gain, beam width and side lobe levels of the radars Metamaterial Electronically Scanning Array (MESA) antennas at boresight and extreme field of view pointing vectors. The relative antenna gain measured 2.6 dB lower at extreme field view angles compared to the boresight radiation pattern

Effects of Low Tide Rainfall on Intertidal Zone Material Cycling

Sediment transport by rainfall-runoff processes is well documented for terrestrial landscapes but few studies have focused on rainfall-runoff effects in intertidal areas. Here we present geochemical analyses performed on sediment samples collected during low tide irrigation experiments, and tidal channel turbidity measurements taken during natural rainfall over North Inlet Marsh, South Carolina. Order of magnitude approximations indicate that a single 10 minute storm may entrain 8-15% of the local annual average sediment accumulation. This rainfall-entrained material is enriched in organic nitrogen and marine algal matter, and therefore of high nutritional quality

Postablation endometrial carcinoma

Background: Many women have undergone both resectoscopic and nonresectoscopic (or global) endometrial ablation (EA) during the past 20 years. These women are now approaching their sixth and seventh decades of life, a time frame in which endometrial carcinoma (EC) is most frequently diagnosed. Database: In several reports, surgeons have expressed concern that endometrial ablation may leave a sequestered island of EC that may escape detection, possibly delaying its diagnosis or causing it to appear at an advanced stage. Others suggest that EA artifact does not hinder the evaluation and treatment planning in the presence of EC. Data bases used are from Medline and PubMed. Discussion: We introduce 6 new cases of postablation endometrial carcinoma (PAEC), 4 of which occurred after the introduction of global endometrial ablation (GEA) techniques. In addition, we examine several key questions regarding the impact of EA on the subsequent development of EC, including the manner in which PAEC presents, the efficacy of traditional diagnostic modalities, the ablation-to-cancer interval, and the stage of PAEC at the time of diagnosis. Finally, we explore the use of reoperative hysteroscopic surgery (RHS) as a diagnostic modality and address the possible role ultrasound surveillance as a screening method for women at risk of EC