Collision Avoidance System NASA LICENSING WEBINAR...•ĀAccurate collision avoidance for all...

Collision Avoidance System

NASA LICENSING WEBINAR

Agenda for Today’s Webinar

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Welcome and Logistics

Technology Overview

Licensing Opportunities

Q & A

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Presenters

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Laura Fobel

Technology Transfer Officer,

NASA Armstrong TTO

Mark Skoog

Principal Investigator,

Automatic Systems Project Office

Armstrong Flight Research Center

Advancing technology & science through flight

�ĀMulti-disciplinary flight research

�ĀCutting-edge range & aircraft test facilities

�ĀFlight systems & test technique development

�ĀDiverse fleet of experimental & test aircraft

�ĀPiloted and unpiloted

�ĀAirborne remote sensing & science observation

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Armstrong Technology Transfer Office

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Manages commercialization of innovations

Facilitates research collaborations

(e.g., Space Act Agreements)

Supports utilization of SBIR and STTR results for

NASA mission use and commercialization

Armstrong’s Technology Portfolio

Control systems Sample

Sensors Innovations

Software packages

Improve flight and pilot safety Real-World

Help fight forest firesImpacts

Enhance security monitoring

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Improved Ground Collision Avoidance

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Looking

ahead

Testing &

evaluation

Context for Development

status development

Design description/

Functional architecture Technology

overview

Technology Overview

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Technologies Available for Licensing

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Preventing

Controlled Flight into Terrain (CFIT)

� High-fidelity terrain mapping

� Enhanced vehicle performance modeling

� Multi-directional avoidance techniquesSystem

includes: � Efficient data handling

� User-friendly warnings

� Flexible platform � Variety of aircraft

� Avionics system, mobile app–based,

electronic flight bag (EFB)

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Applications

Helicopters

viation

UAVs/Drones

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General A

Digital Autopilots

Military Aircraft

Technology Overview

Context for Development

Video: http://www.nasa.gov/offices/ipp/centers/dfrc/technology/

DRC-012-033-collision-avoidance.html

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http://www.nasa.gov/offices/ipp/centers/dfrc/technology/DRC-012-033-collision-avoidance.html

Military

Reasons Collision Avoidance

Improvements Are Needed

viation

#2 cause fatalities #1 cause fatalities

#2 cause mishaps

viation Military

Reasons Collision Avoidance

Improvements Are Needed

•ĀIneffective warning

systems for fighter pilots

•ĀTraining achievements

maxed out

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Controlled flight into terrain or midair collisions

General A

Existing solutions unsuccessful

or impractical

General A

•Ā Equipage to preventcan be cost prohibitive

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NASA Armstrong’s History in

Collision Avoidance

Automatic vs. Pilot Flown Warning

Ground Collision Avoidance

Top-Level System Description: •ĀUses nav solution and digital

terrain •ĀAlgorithm determines when

and where to avoid

Algorithm Features:

•Ā Nuisance free

•Ā Platform agnostic

•Ā Sensor agnostic

•Ā Modular software

architecture

F-16

2010 Risk Reduction Project

2013-14 Production Fielding

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Semi-Automatic Semi-Automatic Fully Automatic Manual

Research F-16 Production F-16 Research UAV GA Aircraft (SR22)

Advanced Fighter Automated Collision Small Unmanned Improved Collision Technology Integration Avoidance Technology Air Vehicle Avoidance System

Engages high-authority autopilot

to perform maneuver

Takes Control from Pilot •ĀWarning cues are optional

Small UAV

2012 Migration to Smart-Phone

Issues Warning Cue

•Ā Tells pilot when and where to avoid

SR22

2013-14 Evaluation

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Technology Overview

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Design Description

and

Functional Architecture

Guiding Principles

•Ā Do no harm

Requirements •Ā Do not impede

•Ā Avoid collision

•ĀCodified

Approach •ĀModularly partitioned at the

functional level

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Collision Avoidance Common


System Predicts Avoidance

Trajectories

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Sense

Own-State

Sufficient to

support trajectory

estimation

Sense

Collision Threat

•ĀTerrain •ĀAircraft •Ā Weather •ĀMissiles

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Predict Avoidance

Trajectories

•ĀAvoidance types

•ĀManeuvering capability

•ĀAvoidance trajectory

estimations

•ĀAssociated uncertainties

Predict

Collision Threat

•ĀScan/Track pertinent

threat

•ĀSimplify threat profile

•Ā Associated uncertainties

Determine

Need to Avoid

•ĀMinimum approach

•ĀIntegrity check

•ĀTime to evade

•ĀCommand avoidance

Pilot

Controls

•ĀMode selection

•ĀInterface

Notify

•ĀAlert

•ĀRecord

•ĀRecall

Avoid

•ĀIntegrity check •ĀExecute avoidance

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Faster than real-time

simulation

Predicts avoidance

trajectory through

space

Kinematic model

–ĀDelay phase

–ĀOnset phase

–ĀSteady-state phase

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Trajectories

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Faster than real-time

simulation

Predicts avoidance

trajectory through

space

Kinematic model

–ĀDelay phase

–ĀOnset phase

–ĀSteady-state phase


Trajectories

Trajectory

Attitude

Envelope

F-16 System Small UAV System GA System (SR22)

Single Trajectory •Ā Roll to wings-level Multi-Trajectory Multi-Trajectory •Ā Pull 5-6g or 18°–20° •Ā Wings-level •Ā 0 and ±30° bank

angle-of-attack •Ā 40° left and right bank •Ā Vy+10 climb rate

•Ā Over 30,000 f/m •Ā 1,000 f/m climb rate •Ā Modified chandelle climb rate

Limited Attitude Limited AttitudeAll Attitude

•Ā ±60° bank •Ā ±60° bank •Ā Bank

•Ā 45° dive •Ā 45° dive •Ā Dive

•Ā Does not support nadir •Ā Does not support nadir

Near-All Envelope All Envelope

•Ā > 2g available All Envelope •Ā Above stall to Vmax•Ā Mach 2+ •Ā 40 to 80 knots •Ā All altitudes

•Ā All store loadings •Ā < 1,500 feet above ground •Ā All gross weights

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Sense

Own-State

Sense

Collision Threat

Predict Avoidance

Trajectories

Predict

Collision Threat

Determine

Need to Avoid

Pilot

Controls

Notify

Avoid

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System Senses Collision Threat

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Sufficient to

support trajectory

estimation





estimations




threat





•ĀTime to evade


•ĀMode selection

•ĀInterface •ĀAlert

•ĀRecord

•ĀRecall

Digital terrain map (DTM)

•ĀArray of terrain elevations

•ĀOriented to latitude & longitude

Provided by third party

•ĀCivil: U.S. Geological Survey

•ĀMilitary: National Geospatial

Intelligence Agency

•ĀSupporting wide ��

customer base

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Intelligence Agency

•ĀSupporting wide

customer base







Intelligence Agency

•ĀSupporting wide ��

customer base ��

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F-16 System Small UAV & GA (SR22)

Digital

Terrain Map

Digital Terrain Elevation Data

(DTED)

•Ā Regular array

•Ā Even spacing

•Ā ~70 meg

Systems

Compressed Digital Terrain Map

(CDTM)

•Ā Semi-regular array

•Ā Size and fidelity adjustable to

user requirements

•Ā ~180 meg

Map Size •Ā ~5°x5° lat/long •Ā 80°N to 80°S

�Ā~90k sq. mi. �Ā~194M sq. mi.



Sense

Own-State

Sufficient to

support trajectory

estimation

Sense

Collision Threat


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Predict Avoidance

Trajectories




estimations


Predict

Collision Threat


threat



Determine

Need to Avoid



•ĀTime to evade


Pilot

Controls

•ĀMode selection

•ĀInterface

Notify

•ĀAlert

•ĀRecord

•ĀRecall

Avoid


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System Predicts Collision Threat

Circular

Terrain processing

(scanning) 2pt. Fan 6pt. Fan

Subsample terrain data

•Ā Terrain near aircraft

Simplify to 2-dimensional

profile

•Ā Preparation to compare to avoidance trajectory

Range Bins


Terrain processing

(scanning)

Subsample terrain data

•Ā Terrain near aircraft

Simplify to 2-dimensional

profile

•Ā Preparation to compare to avoidance trajectory

Te

rra

in E

leva

tio

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Integration and Installation

Aircraft state

data Digital terrain

storage

Algorithm

processing

Avoidance

maneuver

execution

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F-16 System Small UAV & GA (SR22)

Systems

Sub-Sample

Approach

•Ā Various geometric shapes

•Ā Dependent on aircraft state

•Ā Trajectory-based

�ĀGround track

�ĀTrack uncertainty

•Ā Aircraft agnostic

2-Dimensional

Profile •Ā ~Regularly spaced bins

•Ā Semi-regular spaced bins

�ĀTrack uncertainty

Pulling together system components

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Integration Is Flexible

Integration Is Continuing to Evolve

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Semi-automatic Fully automatic Manual

F-16 System Small UAV System GA System (SR22)

Aircraft

State Data •Ā 1553 mux

•Ā •Ā

RS-232 to USB

Command-and-control link

•Ā USB or wireless from

research computer

Digital Terrain

Storage

•Ā Advanced data transfer

cartridge •Ā Micro-SD card •Ā Micro-SD card

Algorithm •Ā Advanced data transfer •Ā Android smart phone •Ā Android smart phone

Processing unit

Avoidance •Ā High-authority autopilot

Maneuver in FCS •Ā Piccolo II autopilot •Ā Pilot flown

Execution •Ā No auto-throttle

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Technology Overview

Testing: F-16

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Testing and Evaluation

Collision

Avoidance

Excellent prevention

•Ā All historical F-16

CFIT mishaps covered

Nuisance-

Free Flight

Performance

•ĀHigh, low, and strafe

(attacking): Supports

required missions

•ĀAir show: Supports low-

altitude split-S execution

Do No Harm Works as designed

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Testing: Small UAV

Collision

Avoidance

•Ā Better than anticipated

in winds/gusts

•Ā Outperforms ability of

ground observers

Nuisance-

Free

Potential

•Ā Multi-trajectory

mandatory for lower

performing aircraft

Improvements needed

•Ā Phone-on-ground

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Excellent protection

Integrity

Management configuration requires

more complex integrity

monitoring

Tall Mountain with Protruding Ridge 100' terrain buffer, 70 knots

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Testing: SR22

Do Not Impede

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Integration

Results

Results of

5 Flight

Tests

Looking

Ahead

•Ā 40 hours to modify

algorithm to SR22

•Ā 10 working days to

integrate system

•Ā Characterization

•Ā Collision avoidance

•Ā Excellent mishap prevention

•Ā Nuisance-free operations

•Ā Better cuing required

•Ā Appropriate pilot reaction

time may be an issue

Note terrain resolution

of commercial unit

Commercial

unit warning

with no buffer

SR22 run at system warning initiation

System warning

with artificial

1,350-ft buffer

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Technology Overview

Current Status: What It Does Now

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Development Status

High-accuracy aircraft maneuver model

Advanced terrain handling

Multi-trajectory avoidance

Android OS/Nexus 4

Experimental wireless interface

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Current Status: Recent Improvements

Future Goals and Implementations

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Summer 2014

•ĀPilot-vehicle interface

�Ā Warning displays

�ĀPreference settings

•ĀConventional wireless interface

•ĀEasy aircraft adaptation for EFBs

Demonstration: Fall 2014

Goals

Possible

Formats

•ĀAccurate collision avoidance for

all aircraft

•ĀAutomatic and manual versions

•ĀFully automated ground

collision avoidance

•ĀGlass cockpit warning system

•ĀElectronic flight bag (EFB) or phone

warning system with wireless sensor inputs

•ĀStand-alone version using smart-device

sensors

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Roadmap – Vehicle Autonomy

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Ground collision

avoidance is the first in a series of planned

autonomy systems

This comprehensive

web will enable vehicle autonomy as provide

warning systems

Licensing Opportunities

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Armstrong Licensing Agreement Process

Armstrong Licensing Agreement Process

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Webinar briefing:

complete post-webinar “survey”

One-on-one

discussions with inventor

Phase 1 License

Application due

NASA announces

companies invited to submit Phase 2

•Ā •Ā •Ā •Ā •Ā

Follow-on steps:

Phase 2 License Application (by invitation) Phase 3 commercialization plan discussions

NASA drafts license agreement

Negotiate license language

Execute license

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One-on-One Discussions

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Opportunity for each company to speak directly with the inventor for 30 minutes

•ĀAsk questions

•ĀDiscuss company-specific information

Covered by Uniform Trade Secrets Act

•ĀNot be shared publicly

•ĀNot shared with other companies

Non-confidential discussion (no NDAs signed)

Request a meeting at http://www.meetme.so/DanielleMcCulloch

Phase 1 License Application

Enables evaluation of benefits for NASA,

taxpayers, and the company

All offers will be evaluated at the same

time •ĀMaximize benefits through simultaneous, strategic

selection

•ĀNot all applicants can be accepted due to limited

inventor availability

Download Phase 1: Application for License to Practice Invention:

http://www.nasa.gov/offices/ipp/centers/dfrc/technology/ DRC-012-033-collision-avoidance.html

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Phase 1 Components

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�Ā �Ā �Ā �Ā �Ā

�Ā �Ā

Company background

Product or service that will use NASA technology

Market size

Initial offer

Capabilities

–ĀTechnical, management, marketing, and financial

Desired support from NASA

Appendix

–ĀPro forma income statement – form provided

Initial Offer

Basic business

terms overview

Establish schedule

and key milestones

Specify type

of license Propose fees

and royalties

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Basic Business Terms

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Which NASA invention(s):

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Basic Business Terms

Which NASA invention(s)

Fields of use, period of time, or geographic area

•ĀLimit to areas where licensee intends to market

Highlight any significant terms or conditions

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Type of License

Fees

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•Ā Must be substantially manufactured

Exclusive or

Partially Exclusive

in the U.S. for products sold in U.S.

•Ā Sub-licensing allowed

•Ā Patent cost reimbursement

Non-Exclusive

•Ā No sub-licensing

•Ā U.S. manufacturing not required

•Ā Pro-rated patent cost reimbursement

•Ā Multiple licensees

Fees

Upfront fee

Patenting costs

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Royalties

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Paid at least annually •Ā Based on Net Sales* •Ā Specify preferred metric (e.g., units)

•Ā Ascending/Descending royalty

structureRunning

Royalty Minimum annual royalties

Non-royalty sublicensing payments

– For exclusive license

*Net Sales (as defined in license) =

gross sales – (returns + discounts + shipping/insurance + taxes/duties)

Schedule and Key Milestones

Annual reports

Milestone examples

�ĀPrototype demonstration

�ĀManufacturing process development

�ĀFunding/Investments (especially for startups)

�ĀMarketing of product

�ĀAchievement of sales

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Phase 1 Components

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�Ā �Ā �Ā �Ā �Ā

�Ā �Ā

Company background

Product or service that will use NASA technology

Market size

Initial offer

Capabilities

–ĀTechnical, management, marketing, and financial

Desired support from NASA

Appendix

–ĀPro forma income statement – form provided

Pro Forma Income Statement

�Ā

�Ā

�Ā

�Ā

Years until positive cash flow plus 2 more years

Only for the product line using NASA’s technology

Include proposed royalty payments and minimums

Ensure assumptions are clear

Download pro forma template:

http://www.nasa.gov/offices/ipp/centers/dfrc/technology/ DRC-012-033-collision-avoidance.html

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Sample Pro Forma Income Statement

Evaluation Criteria

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Four types of factors:

Business Management

Technical Economic

Not all qualified companies will be granted a license. Submit your best offer.

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Negotiations

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Finding the win-win

•Ā

•Ā

Negotiable •Ā Items •Ā

•Ā

•Ā

Type of license

Field of use

Upfront licensing fee

Running royalty rate

Yearly minimums

Milestones

Negotiations

Finding the win-win

•Ā NASA/U.S. government retains

irrevocable, royalty-free rights

to technology forNon-Negotiable noncommercial usesItems

•Ā March-in rights

•Ā Indemnity and warranty

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Signature and Monitoring

Next Steps

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Agreement(s)

Signed

NASA Monitoring of

Commercialization

•ĀAll applicants will be notified after

signing

•ĀEnsure milestones met

•ĀEnsure compliance with annual

reporting and payments •ĀSuccesses: We will collaborate

with you to celebrate/publicize

Complete post-webinar “survey” Appears as you sign out today

Schedule one-on-one Inventor available September 2–12

http://www.meetme.so/DanielleMcCulloch

Download Phase 1 License Application http://www.nasa.gov/offices/ipp/centers/dfrc/technology/

DRC-012-033-collision-avoidance.html

Submit Phase 1 License Application and pro forma Due November 3

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Questions

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Contact:

Janeya Griffin

[email protected]

661.276.5743

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Collision Avoidance System NASA LICENSING WEBINAR...•ĀAccurate collision avoidance for all...

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