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At least 289 records · Page 16

Risk Management for Dynamic Radioisotope Power Systems

The implementation of dynamic power conversion technology in Radioisotope Power Systems (RPS) for spaceflight has potential for improved specific power and efficiency, compared with existing Radioisotope Thermoelectric Generators (RTGs). This proposed expansion of current RPS technology necessitates a full exploration of the requirements, goals, and concerns related to risks in developing and deploying such systems. The nature of dynamic systems also presents a new set of challenges related to the presence of moving machinery not intrinsic to traditional RTG units. A general RPS risk management methodology is outlined, which is used to identify and assess the variables and operational scenarios introducing risk throughout the design, fabrication, and system integration processes. This paper will demonstrate how mission requirements for Dynamic RPS concepts (DRPS) drive decisions throughout the development process. This work will define the standard practices for decision making within the scope of the risks associated with DRPS hardware development and deployment in sensitive spacecraft near sensitive payloads. Examples of potential risk areas are analyzed for the proposed dynamic systems, and compared to those associated with traditional RTG technologies. This analysis shows the promise for DRPS systems to elevate and extend the capabilities for power systems used in future NASA missions.

Matthes, Christopher S. R.↗

GammaCore: The Compton Observatory research environment

The Compton Observatory Science Support Center (COSSC) is developing a coherent analysis environment for the analysis of Compton and other gamma-ray astronomy data. This environment, GammaCore, allows the astronomer to access the data analysis systems developed at the Principal Investigator (PI) sites for the four Compton Observatory instruments. In addition users have access to standard astronomical tools such as IRAF, IDL, and XANADU. The user interface of GammaCore is the AGCL (AnswerGarden Command Language), developed at the AXAF Science Center. The parameter interface supported by the AGCL allows GammaCore to access all PI software systems in a uniform fashion. These systems are quite different, having been developed independently on heterogeneous systems without much concern for general portability. The data kibitzer concept, where a window running in a specific PI environment is controlled by the AGCL, has been used extensively. Users can choose to view what is going on in the native environment, to use the window to control PI software directly, or to ignore the PI systems entirely and to work only through the homogeneous AGCL interface. Software developed at the COSSC is also integrated within GammaCore. Extensive facilities for conversions of PI data formats to and from FITS have been developed. Access to the Compton data archive and catalogs will also be completely integrated with the GammaCore. Users can retrieve any publicly available Compton data. This paper examines the issues that have arisen in attempting to meld these widely diverse systems. The advantages and limitations of the parameter interface and the kibitzer are discussed along with issues of data portability, documentation, and the feasibility of multi-instrument analysis. Limited capabilities are now available within GammaCore with significant enhancements planned over the coming year. An implementation including all PI systems will be available within that time. Instructions on how to access GammaCore and how to get more information are given.

Mcglynn, T. A.↗

Variations on the Davenport Gyroscope Calibration Algorithm

This paper presents a number of variations on the Davenport algorithm for in-flight gyroscope recalibration, or first order initial calibration, specifically tailored for use with a minimum of satellite telemetry data. Central to one of the techniques described is the use of onboard integration of gyroscope data together with a detailed model of scheduled satellite slew profiles. Methods are presented for determining adjustments to either parameters for the standard linear model (i.e., a drift rate bias vector and/or a scale factor/alignment transformation matrix) or individual gyroscope scale parameters, both linear and nonlinear, in cases where the alignments are well known. The results of applying the methods in an analysis of the temporal evolution and nonlinear response of the gyroscopes installed on the Hubble Space Telescope following its first servicing mission are discussed. The two effects, when working coherently, have been found to result in slew errors of almost 1 arcsecond per degree. Procedures for selecting optimal operational gyroscope parameters subject to the constraint of using a linear model are discussed.

Welter, G.↗

A Concept for Run-Time Support of the Chapel Language

A document presents a concept for run-time implementation of other concepts embodied in the Chapel programming language. (Now undergoing development, Chapel is intended to become a standard language for parallel computing that would surpass older such languages in both computational performance in the efficiency with which pre-existing code can be reused and new code written.) The aforementioned other concepts are those of distributions, domains, allocations, and access, as defined in a separate document called "A Semantic Framework for Domains and Distributions in Chapel" and linked to a language specification defined in another separate document called "Chapel Specification 0.3." The concept presented in the instant report is recognition that a data domain that was invented for Chapel offers a novel approach to distributing and processing data in a massively parallel environment. The concept is offered as a starting point for development of working descriptions of functions and data structures that would be necessary to implement interfaces to a compiler for transforming the aforementioned other concepts from their representations in Chapel source code to their run-time implementations.

James, Mark↗

Design and Development of Functionally Effective Human-Machine Interfaces for Firing Room Displays

This project involves creating software for support equipment used on the Space Launch System (SLS). The goal is to create applications and displays that will be used to remotely operate equipment from the firing room and will continue to support the SLS launch vehicle to the extent of its program. These displays include design practices that help to convey information effectively, such as minimizing distractions at normal operating state and displaying intentional distractions during a warning or alarm state. The general practice for creating an operator display is to reduce the detail of unimportant aspects of the display and promote focus on data and dynamic information. These practices include using minimalist design, using muted tones for background colors, using a standard font at a readable text size, displaying alarms visible for immediate attention, grouping data logically, and displaying data appropriately varying on the type of data. Users of these displays are more likely to stay focused on operating for longer periods by using design practices that reduce eye strain and fatigue. Effective operator displays will improve safety by reducing human errors during operation, which will help prevent catastrophic accidents. This report entails the details of my work on developing remote displays for the Hypergolic fuel servicing system. Before developing a prototype display, the design and requirements of the system are outlined and compiled into a document. Then each subsystem has schematic representations drawn that meet the specifications detailed in the document. The schematics are then used as the outline to create display representations of each subsystem. Each display is first tested individually. Then the displays are integrated with a prototype of the master system, and they are tested in a simulated environment then retested in the real environment. Extensive testing is important to ensure the displays function reliably as intended.

displays↗

Optical Component Performance for the Ocean Radiometer for Carbon Assessment (ORCA)

The Ocean Radiometer for Carbon Assessment (ORCA) is a new design for the next generation remote sensing of ocean biology and biogeochemistry. ORCA is configured to meet all the measurement requirements of the Decadal Survey Aerosol, Cloud, and Ecology (ACE), the Ocean Ecosystem (OES) radiometer and the Pro-ACE climate data continuity mission (PACE). Under the auspices of a 2007 grant from NASA Research Opportunity in Space and Earth Science (ROSES) and the Instrument Incubator Program (IIP), a team at the Goddard Space Flight Center (GSFC) has been working on a functional prototype with flight-like fore and aft optics and scan mechanisms. As part of the development efforts to bring ORCA closer to a flight configuration and in order to reduce cost, we have conducted component-level optical testing using standard spectrophotometers and system-level characterizations using non-flight commercial off-the-shelf (COTS) focal plane array detectors. Although these arrays would not be able to handle flight data rates, they are adequate for optical alignment and performance testing. The purpose of this presentation is to describe the results of this testing performed at GSFC and the National Institute of Standards and Technology (NIST) at the component and system level. Specifically, we show results for ORCA's spectral calibration ranging from the near UV, visible, and near-infrared spectral region.

Quijada, Manuel A.↗

Sizing and Performance Analysis of a MW-Class Electrified Aircraft Propulsion (Eap) System for A Parallel Hybrid Turboprop Concept

Aircraft electrification has emerged as a pivotal research and development focus in the 21st century, gaining international momentum as a strategic approach to curtail fuel consumption and emissions in the civil aviation sector. Under the Electrified Powertrain Flight Demonstration (EPFD) project, NASA and industry partners are raising the technical readiness, addressing integration challenges and gathering data for future standards and regulations for demonstrate Megawatt (MW) class Electrified Aircraft Propulsion (EAP) systems which can be utilized on regional turboprop or single aisle transports. With the rapid emergence of novel EAP concepts, risk reduction efforts are focused on developing the capabilities to evaluate the impacts of electrification at the conceptual design level where high variability in the EAP system architecture must be accounted for. This paper details an integrated, approach to parametric sizing of multi-MW EAP systems with the primary goal of assessing vehicle-level performance sensitivities to variations in electrical system component-level performance metrics. The focus of this work is to investigate the degree to which EAP component parameters such as specific power, efficiency, and energy density impact range and overall fuel savings.

EAP↗

Sizing and Performance Analysis of a MegaWatt-Class Electrified Aircraft Propulsion (EAP) System for a Parallel Hybrid Turboprop Concept

Aircraft electrification has emerged as a pivotal research and development focus in the 21st century, gaining international momentum as a strategic approach to curtail fuel consumption and emissions in the civil aviation sector. Under the Electrified Powertrain Flight Demonstration (EPFD) project, NASA and industry partners are raising the technical readiness, addressing integration challenges and gathering data for future standards and regulations for demonstrate Megawatt (MW) class Electrified Aircraft Propulsion (EAP) systems which can be utilized on regional turboprop or single aisle transports. With the rapid emergence of novel EAP concepts, risk reduction efforts are focused on developing the capabilities to evaluate the impacts of electrification at the conceptual design level where high variability in the EAP system architecture must be accounted for. This paper details an integrated, approach to parametric sizing of multi-MW EAP systems with the primary goal of assessing vehicle-level performance sensitivities to variations in electrical system component-level performance metrics. The focus of this work is to investigate the degree to which EAP component parameters such as specific power, efficiency, and energy density impact range and overall fuel savings.

EAP↗

Advances in the Ocean Color Component of the Aerosol Robotic Network (AERONET-OC)

The Ocean Color Component of the Aerosol Robotic Network(AERONET-OC) supports activities related to ocean color such as validation of satellite data products, assessment of atmospheric correction schemes, and evaluation of bio-optical models through globally distributed standardized measurements of water-leaving radiance and aerosol optical depth. In view of duly assisting the AERONET-OC data user community, this work (i) summarizes the latest investigations on a number of scientific issues related to above-water radiometry, (ii) emphasizes the network expansion that from 2002 until the end of 2020 integrated 31 effective measurement sites, (iii) shows the equivalence of data product accuracy across sites and time for measurements performed with different instrument series, (iv) illustrates the variety of water types represented by the network sites ensuring validation activities across a diversity of observation conditions, and (v) documents the availability of water-leaving radiance data corrected for bidirectional effects by applying a method specifically developed for chlorophyll-a-dominated waters and an alternative one that is likely suitable for any water type.

In situ oceanic observations↗

Space Launch System Payload Stage Capability for Ultra-High Characteristic Energy Missions

The Space Launch System (SLS) vehicle is NASA’s cornerstone capability for a new era of human and robotic exploration of deep space. The unrivalled performance of SLS provides the capability to launch the first woman and next man to walk on the lunar surface and to support development of a sustained human presence in cislunar space, and ultimately human missions to Mars. As an evolvable capability with unique launch performance, the opportunities enabled by SLS also include game-changing benefits for science missions, including probes to the outer solar system and beyond. For the last two years, the SLS Program has worked with the Interstellar Probe team at the Johns Hopkins University Applied Physics Laboratory(APL) to provide data that describe how SLS could support a mission that would break through the boundary of the heliosphere and into pristine interstellar space only a decade after launch, enabling earlier science return and greatly increasing spacecraft life in the interstellar medium. In record-breaking time, the ISP as launched on SLS may answer questions raised by the extended mission of NASA’s Voyager spacecraft. While SLS and its efficient Exploration Upper Stage (EUS) offer benefits for exploration of the outer planets, adding one or more additional stages to this architecture makes it even more capable for missions beyond our solar system, offering more realistically appealing flight times that would allow the mission scientists to reap the rewards of exploration. During the time the SLS Program has been working with the Interstellar Probe team, it has identified an expedited path to the Block 2 capability planned for the Interstellar Probe mission, and further matured performance numbers for diverse multi-stage configurations using a combination of commercially available liquid hydrogen (LH2)/liquid oxygen (LOX) upper stages and solid motor kick stages. That work has demonstrated the SLS payload stage capability provides significant benefits and opens trade space for multiple missions in consideration during planning for the next Planetary Science and Astrobiology Decadal Survey. This presentation details the significant benefits SLS can provides for very high characteristic (C3) energy missions by coupling the capabilities of SLS to current commercial rocket propulsion stage systems. These capabilities are explored specifically in the context of an Interstellar Probe architecture in which a small, capable science probe, coupled with carefully tailored mission design trajectories, could be used to explore the outer solar system and the interstellar medium. The presentation will also address the operational logistics of integrating such a mission, explaining the options available for “non-standard” SLS payloads, including processing those with radioisotope power generators or additional propulsion stages. An SLS system overview and capabilities will be presented, along with vehicle configuration and orbit performance capability studies, explaining how SLS is enabling for a variety of high-energy science mission profiles, including launching an exploratory probe bound for interstellar space only a decade after launch.

Rob Stough↗

Design of a reconfigurable modular manipulator system

Using manipulators with a fixed configuration for specific tasks is appropriate when the task requirements are known beforehand. However, in less predictable situations, such as an outdoor construction site or aboard a space station, a manipulator system requires a wide range of capabilities, probably beyond the limitations of a single, fixed-configuration manipulator. To fulfill this need, researchers have been working on a Reconfigurable Modular Manipulator System (RMMS). Researchers have designed and are constructing a prototype RMMS. The prototype currently consists of two joint modules and four link modules. The joints utilize a conventional harmonic drive and torque motor actuator, with a small servo amplifier included in the assembly. A brushless resolver is used to sense the joint position and velocity. For coupling the modules together, a standard electrical connector and V-band clamps for mechanical connection are used, although more sophisticated designs are under way for future versions. The joint design yields an output torque to 50 ft-lbf at joint speeds up to 1 radian/second. The resolver and associated electronics have resolutions of 0.0001 radians, and absolute accuracies of plus or minus 0.001 radians. Manipulators configured from these prototype modules will have maximum reaches in the 0.5 to 2 meter range. The real-time RMMS controller consists of a Motorola 68020 single-board computer which will perform real time servo control and path planning of the manipulator. This single board computer communicates via shared memory with a SUN3 workstation, which serves as a software development system and robot programming environment. Researchers have designed a bus communication network to provide multiplexed communication between the joint modules and the computer controller. The bus supports identification of modules, sensing of joint states, and commands to the joint actuator. This network has sufficient bandwidth to allow servo sampling rates in excess of 500 Hz.

Schmitz, D.↗

Modifying a Commercial Centrifuge to Reduce Electromagnetic Interference and Evaluating Functionality of Ultrasound Equipment

The Project Management and Engineering Branch (SF4) supports the Human Health and Performance Directorate (HH&P) and is responsible for developing and supporting human systems hardware for the International Space Station (ISS). When a principal investigator's (PI) medical research project on the ISS is accepted, SF4 develops the necessary hardware and software to transport to the ISS. The two projects I primarily worked on were the centrifuge and ultrasound projects. Centrifuge: One concern with spacecraft such as the ISS is electromagnetic interference (EMI) from onboard equipment, typically from radio waves (frequencies of ~3 kHz to ~300 GHz), which can negatively affect nearby circuitry. Standard commercial centrifuges produce EMI above safety limits, so my task was to help reduce EMI production from this equipment. Two centrifuges were tested: one unmodified as a control and one modified. To reduce EMI below safety limits, one centrifuge was modified to become a Faraday shield, in which significant electrical contact was made between all regions of the centrifuge housing. This included removing non-conductive paint, applying conductive fabric to the lid and foam sealer, adding a 10,000 μF decoupling capacitor across the power supply, and adding copper adhesive-mount gaskets to the housing interior. EMI testing of both centrifuges was performed in the EMI/EMC Control Test and Measurement Facility. EMI for both centrifuges was below safety limits for frequencies between 10 MHz and 15 GHz (pass); however, between 14 kHz and 10 MHz, EMI for the unmodified centrifuge exceeded safety limits (fail) as expected. Alternatively, for the modified centrifuge with the Faraday shield, EMI was below the safely limit of 55 dBμV/m for electromagnetic frequencies between 14 kHz and 10 MHz. This result indicates our modifications were successful. The successful EMI test allowed us to communicate with the vendor what modifications they needed to make to their commercial unit to meet our specifications and to understand what needs to be done in lab to the new centrifuge. Our modifications will provide a standard for readying centrifuges for future missions. Once the new modified centrifuge arrives by the vendor, it will need to undergo EMI testing again for validation. The centrifuge is also in the process of compatibility testing with a custom stowage drawer, which is an ongoing project in SF4. Both of these items will be payloads on future missions to the ISS for various research purposes. Ultrasound: ISS currently has an onboard ultrasound (Ultrasound 2 system) for research and medical purposes. Every piece of medical flight hardware has an equivalent ground-unit so instrumentation can be routinely evaluated and transported to the ISS if necessary. The ground-unit ultrasound equipment must be evaluated every six months using a task performance sheet (TPS). A TPS is a document, written by the appropriate scientists and engineers, which describes how to run equipment and is written in such a way that astronauts with unspecialized training can follow the tasks. I was responsible for performing six TPSs on a combination of three ultrasounds and two video power converters (VPCs). Performing a TPS involves checking out and computationally documenting each piece of equipment removed from storage locations, setting up hardware and software, performing tasks to verify functionality, returning equipment, and logging items back into the computerized system. My work revealed all ground-unit ultrasounds were functioning properly. Because of proper function, a discrepancy report (DR) did not have to be opened. The TPS was then passed along to the Quality Engineering (QE) for review and ultimately given to Quality Assurance (QA). Other projects: In addition to my main projects, I participated in other tasks including troubleshooting an EEG headband, volunteering for an ultrasound training research study, and conformal coating printed circuit boards. My internship at SF4 has helped me understand how space systems hardware development for the ISS fits into NASA's mission and vision.

Greening, Gage J.↗

TurboTech Technical Evaluation Automated System

TurboTech software is a Web-based process that simplifies and semiautomates technical evaluation of NASA proposals for Contracting Officer's Technical Representatives (COTRs). At the time of this reporting, there have been no set standards or systems for training new COTRs in technical evaluations. This new process provides boilerplate text in response to interview style questions. This text is collected into a Microsoft Word document that can then be further edited to conform to specific cases. By providing technical language and a structured format, TurboTech allows the COTRs to concentrate more on the actual evaluation, and less on deciding what language would be most appropriate. Since the actual word choice is one of the more time-consuming parts of a COTRs job, this process should allow for an increase in quantity of proposals evaluated. TurboTech is applicable to composing technical evaluations of contractor proposals, task and delivery orders, change order modifications, requests for proposals, new work modifications, task assignments, as well as any changes to existing contracts.

Tiffany, Dorothy J.↗

Evaluation of Mid-Size Male Hybrid III Models for use in Spaceflight Occupant Protection Analysis

In an effort to improve occupant safety during dynamic phases of spaceflight, the National Aeronautics and Space Administration (NASA) has worked to develop occupant protection standards for future crewed spacecraft. One key aspect of these standards is the identification of injury mechanisms through anthropometric test devices (ATDs). Within this analysis, both physical and computational ATD evaluations are required to reasonably encompass the vast range of loading conditions any spaceflight crew may encounter. In this study the accuracy of publically available mid-size male HIII ATD finite element (FE) models are evaluated within applicable loading conditions against extensive sled testing performed on their physical counterparts. Methods: A series of sled tests were performed at the Wright Patterson Air force Base (WPAFB) employing variations of magnitude, duration, and impact direction to encompass the dynamic loading range for expected spaceflight. FE simulations were developed to the specifications of the test setup and driven using measured acceleration profiles. Both fast and detailed FE models of the mid-size male HIII were ran to quantify differences in their accuracy and thus assess the applicability of each within this field. Results: Preliminary results identify the dependence of model accuracy on loading direction, magnitude, and rate. Additionally the accuracy of individual response metrics are shown to vary across each model within evaluated test conditions. Causes for model inaccuracy are identified based on the observed relationships. Discussion: Computational modeling provides an essential component to ATD injury metric evaluation used to ensure the safety of future spaceflight occupants. The assessment of current ATD models lays the groundwork for how these models can be used appropriately in the future. Identification of limitations and possible paths for improvement aid in the development of these effective analysis tools.

Putnam, Jacob B.↗

Evaluation of Mid-Size Male Hybrid III Models for use in Spaceflight Occupant Protection Analysis

Introduction: In an effort to improve occupant safety during dynamic phases of spaceflight, the National Aeronautics and Space Administration (NASA) has worked to develop occupant protection standards for future crewed spacecraft. One key aspect of these standards is the identification of injury mechanisms through anthropometric test devices (ATDs). Within this analysis, both physical and computational ATD evaluations are required to reasonably encompass the vast range of loading conditions any spaceflight crew may encounter. In this study the accuracy of publically available mid-size male HIII ATD finite element (FE) models are evaluated within applicable loading conditions against extensive sled testing performed on their physical counterparts. Methods: A series of sled tests were performed at the Wright Patterson Air force Base (WPAFB) employing variations of magnitude, duration, and impact direction to encompass the dynamic loading range for expected spaceflight. FE simulations were developed to the specifications of the test setup and driven using measured acceleration profiles. Both fast and detailed FE models of the mid-size male HIII were ran to quantify differences in their accuracy and thus assess the applicability of each within this field. Results: Preliminary results identify the dependence of model accuracy on loading direction, magnitude, and rate. Additionally the accuracy of individual response metrics are shown to vary across each model within evaluated test conditions. Causes for model inaccuracy are identified based on the observed relationships. Discussion: Computational modeling provides an essential component to ATD injury metric evaluation used to ensure the safety of future spaceflight occupants. The assessment of current ATD models lays the groundwork for how these models can be used appropriately in the future. Identification of limitations and possible paths for improvement aid in the development of these effective analysis tools.

Putnam, J.↗

Prototyping and implementing flight qualifiable semicustom CMOS P-well bulk integrated circuits in the JPL environment

Presently, there are many difficulties associated with implementing application specific custom or semi-custom (standard cell based) integrated circuits (ICs) into JPL flight projects. One of the primary difficulties is developing prototype semi-custom integrated circuits for use and evaluation in engineering prototype flight hardware. The prototype semi-custom ICs must be extremely cost-effective and yet still representative of flight qualifiable versions of the design. A second difficulty is encountered in the transport of the design from engineering prototype quality to flight quality. Normally, flight quality integrated circuits have stringent quality standards, must be radiation resistant and should consume minimal power. It is often not necessary or cost effective, however, to impose such stringent quality standards on engineering models developed for systems analysis in controlled lab environments. This article presents work originally initiated for ground based applications that also addresses these two problems. Furthermore, this article suggests a method that has been shown successful in prototyping flight quality semi-custom ICs through the Metal Oxide Semiconductor Implementation Service (MOSIS) program run by the University of Southern California's Information Sciences Institute. The method has been used successfully to design and fabricate through the MOSIS three different semi-custom prototype CMOS p-well chips. The three designs make use of the work presented and were designed consistent with design techniques and structures that are flight qualifiable, allowing one hour transfer of the design from engineering model status to flight qualifiable foundry-ready status through methods outlined in this article.

Olson, E. M.↗

Averting Denver Airports on a Chip

As a result of recent advances in software engineering capabilities, we are now in a more stable environment. De-facto hardware and software standards are emerging. Work on software architecture and design patterns signals a consensus on the importance of early system-level design decisions, and agreements on the uses of certain paradigmatic software structures. We now routinely build systems that would have been risky or infeasible a few years ago. Unfortunately, technological developments threaten to destabilize software design again. Systems designed around novel computing and peripheral devices will spark ambitious new projects that will stress current software design and engineering capabilities. Micro-electro-mechanical systems (MEMS) and related technologies provide the physical basis for new systems with the potential to produce this kind of destabilizing effect. One important response to anticipated software engineering and design difficulties is carefully directed engineering-scientific research. Two specific problems meriting substantial research attention are: A lack of sufficient means to build software systems by generating, extending, specializing, and integrating large-scale reusable components; and a lack of adequate computational and analytic tools to extend and aid engineers in maintaining intellectual control over complex software designs.

Sullivan, Kevin J.↗

Recent Advancements in Propellant Densification

Next-generation launch vehicles demand several technological improvements to achieve lower cost and more reliable access to space. One technology area whose performance gains may far exceed others is densified propellants. The ideal rocket engine propellant is characterized by high specific impulse, high density, and low vapor pressure. A propellant combination of liquid hydrogen and liquid oxygen (LH2/LOX) is one of the highest performance propellants, but LH2 stored at standard conditions has a relatively low density and high vapor pressure. Propellant densification can significantly improve this propellant's properties relative to vehicle design and engine performance. Vehicle performance calculations based on an average of existing launch vehicles indicate that densified propellants may allow an increase in payload mass of up to 5 percent. Since the NASA Lewis Research Center became involved with the National Aerospace Plane program in the 1980's, it has been leading the way in making densified propellants a viable fuel for next-generation launch vehicles. Lewis researchers have been working to provide a method and critical data for continuous production of densified hydrogen and oxygen.

McNelis, Nancy B.↗