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At least 361 records · Page 20

Human Automation Teaming: Lessons Learned and Future Directions

Full autonomy seems to be the goal for system developers in almost every area of the economy. However, as we move from automated systems to autonomous systems, designers have needed to insert humans to oversee automation that has traditionally been brittle or incomplete. This creates its own problems as the operator is usually out of the loop when the automation hands over problems that it cannot handle. To better handle these situations, it has been proposed that we develop human automation teams that have shared goals and objectives to support task performance. This paper will describe an initial model of Human Automation Teaming (HAT) which has three elements: transparency, bi-directional communications, and human-directed execution. Transparency in our model is a method for giving insight into the reasoning behind automated recommendations and actions, bi-directional communication allows the operator to communicate directly with the automation, and finally the automation defers execution to the human. The model was implemented through a number of features on an electronic flight bag (EFB) which are described in the paper. The EFB was installed in a mid-fidelity flight simulator and used by 12 airline pilots to support diversion decisions during off-nominal flight scenarios. Pilots reported that working with the HAT automation made diversion decisions easier and reduced their workload. They also reported that the information provided about diversion airports was similar to what they would receive from ground dispatch, thus making coordination with dispatch easier and less time consuming. These HAT features engender more trust in the automation when appropriate, and less when not, allowing improved supervision of automated functions by flight crews.

Human-Autonomy Teaming↗

Improving the Aircraft Design Process Using Web-Based Modeling and Simulation

Designing and developing new aircraft systems is time-consuming and expensive. Computational simulation is a promising means for reducing design cycle times, but requires a flexible software environment capable of integrating advanced multidisciplinary and multifidelity analysis methods, dynamically managing data across heterogeneous computing platforms, and distributing computationally complex tasks. Web-based simulation, with its emphasis on collaborative composition of simulation models, distributed heterogeneous execution, and dynamic multimedia documentation, has the potential to meet these requirements. This paper outlines the current aircraft design process, highlighting its problems and complexities, and presents our vision of an aircraft design process using Web-based modeling and simulation.

Reed, John A.↗

Improving the Aircraft Design Process Using Web-based Modeling and Simulation

Designing and developing new aircraft systems is time-consuming and expensive. Computational simulation is a promising means for reducing design cycle times, but requires a flexible software environment capable of integrating advanced multidisciplinary and muitifidelity analysis methods, dynamically managing data across heterogeneous computing platforms, and distributing computationally complex tasks. Web-based simulation, with its emphasis on collaborative composition of simulation models, distributed heterogeneous execution, and dynamic multimedia documentation, has the potential to meet these requirements. This paper outlines the current aircraft design process, highlighting its problems and complexities, and presents our vision of an aircraft design process using Web-based modeling and simulation.

Reed, John A.↗

Software For Computing Reliability Of Other Software

Computer Aided Software Reliability Estimation (CASRE) computer program developed for use in measuring reliability of other software. Easier for non-specialists in reliability to use than many other currently available programs developed for same purpose. CASRE incorporates mathematical modeling capabilities of public-domain Statistical Modeling and Estimation of Reliability Functions for Software (SMERFS) computer program and runs in Windows software environment. Provides menu-driven command interface; enabling and disabling of menu options guides user through (1) selection of set of failure data, (2) execution of mathematical model, and (3) analysis of results from model. Written in C language.

Nikora, Allen↗

Sensing and perception research for space telerobotics at JPL

PIFLEX is a pipelined-image processor that can perform elaborate computations whose exact nature is not fixed in the hardware, and that can handle multiple images. A wire-wrapped prototype PIFEX module has been produced and debugged, using a version of the convolver composed of three custom VLSI chips (plus the line buffers). A printed circuit layout is being designed for use with a single-chip convolver, leading to production of a PIFEX with about 120 modules. A high-level language for programming PIFEX has been designed, and a compiler will be written for it. The camera calibration software has been completed and tested. Two more terms in the camera model, for lens distortion, probably will be added later. The acquisition and tracking system has been designed and most of it has been coded in Pascal for the MicroVAX-II. The feature tracker, motion stereo module and stereo matcher have executed successfully. The model matcher is still under development, and coding has begun on the tracking initializer. The object tracker was running on a different computer from the VAX, and preliminary runs on real images have been performed there. Once all modules are working, optimization and integration will begin. Finally, when a sufficiently large PIFEX is available, appropriate parts of acquisition and tracking, including much of the feature tracker, will be programmed into PIFEX, thus increasing the speed and robustness of the system.

Gennery, Donald B.↗

Grid2: A Program for Rapid Estimation of the Jovian Radiation Environment: A Numeric Implementation of the GIRE2 Jovian Radiation Model for Estimating Trapped Radiation for Mission Concept Studies

Grid2 is a program that utilizes the Galileo Interim Radiation Electron model 2 (GIRE2) Jovian radiation model to compute fluences and doses for Jupiter missions. (Note: The iterations of these two softwares have been GIRE and GIRE2; likewise Grid and Grid2.) While GIRE2 is an important improvement over the original GIRE radiation model, the GIRE2 model can take as long as a day or more to compute these quantities for a complete mission. Grid2 fits the results of the detailed GIRE2 code with a set of grids in local time and position thereby greatly speeding up the execution of the model--minutes as opposed to days. The Grid2 model covers the time period from 1971 to 2050and distances of 1.03 to 30 Jovian diameters (Rj). It is available as a direct-access database through a FORTRAN interface program. The new database is only slightly larger than the original grid version: 1.5 gigabytes (GB) versus 1.2 GB.

Europa↗

Update on Parallel Process Execution in the Next Generation System Analysis Model (NGSAM)

As of the end of 2022, it is estimated that over 90,000 metric tons of heavy metal (MTHM) of spent nuclear fuel (SNF) were stored at various commercial nuclear power reactor sites (both operating and shutdown) across the United States [1]. The Office of Storage and Transportation within the U.S. Department of Energy’s Office of Nuclear Energy is planning for the transportation, storage, and eventual disposal of SNF and high-level radioactive waste (HLW). To aid in this effort and inform decision-makers about the backend of the spent fuel cycle, systems analysis tools capable of analyzing the various options with respect to SNF and HLW management are being used as well as continuously improved to meet the evolving needs of the program. System analysts typically use these tools to vary underlying assumptions (shipping rates, available facilities, start dates, interim storage capacity, etc.) and study the associated system implications such as timing for clearing sites of SNF, various cost elements, transportation infrastructure acquisition needs, etc.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗

Integrating planning and reactive control

Our research is developing persistent agents that can achieve complex tasks in dynamic and uncertain environments. We refer to such agents as taskable, reactive agents. An agent of this type requires a number of capabilities. The ability to execute complex tasks necessitates the use of strategic plans for accomplishing tasks; hence, the agent must be able to synthesize new plans at run time. The dynamic nature of the environment requires that the agent be able to deal with unpredictable changes in its world. As such, agents must be able to react to unanticipated events by taking appropriate actions in a timely manner, while continuing activities that support current goals. The unpredictability of the world could lead to failure of plans generated for individual tasks. Agents must have the ability to recover from failures by adapting their activities to the new situation, or replanning if the world changes sufficiently. Finally, the agent should be able to perform in the face of uncertainty. The Cypress system, described here, provides a framework for creating taskable, reactive agents. Several features distinguish our approach: (1) the generation and execution of complex plans with parallel actions; (2) the integration of goal-driven and event driven activities during execution; (3) the use of evidential reasoning for dealing with uncertainty; and (4) the use of replanning to handle run-time execution problems. Our model for a taskable, reactive agent has two main intelligent components, an executor and a planner. The two components share a library of possible actions that the system can take. The library encompasses a full range of action representations, including plans, planning operators, and executable procedures such as predefined standard operating procedures (SOP's). These three classes of actions span multiple levels of abstraction.

Wilkins, David E.↗

Using a Model of Scheduler Runtime to Improve the Effectiveness of Scheduling Embedded in Execution

Scheduling often interacts with execution. When the scheduler is developing a schedule, real time (execution) proceeds. Usually a scheduler cannot modify portions of the schedule expected to start execution prior to the scheduler's expected completion. In deployed systems, often little effort is spent on predicting scheduler runtime and instead an extremely conservative, simple model is used, resulting in loss of performance as less of the schedule can be updated. We develop predictive model(s) of scheduler runtime and use these models to improve scheduler and execution performance. We present several models of scheduler runtime based on a scheduler being deployed onboard NASA's next Mars rover, the M2020 rover Perseverance. The models consider algorithmic complexity, characteristics of the input plan, and prior runtime data. First, we show how these still relatively unsophisticated models can more accurately predict scheduler runtime compared to the static conservative baseline being used for the actual M2020 onboard scheduler. Second, we show how the more accurate scheduler runtime models' tighter (shorter) runtime predictions enable better scheduler performance as measured by makespan and percentage of activities executed. Finally, we discuss a number of future steps to further advance this line of work.

Chi, Wayne↗

A study of carbon monoxide distribution determinations for a global transport model

A system of programs which model the chemistry and transport of carbon monoxide and methane in the Earth's atmosphere on a global scale was installed onto the NASA-Langley central scientific computer network. This system, the GLOBAL system, consists of a user-friendly set of procedural files which allow for simplified pre-processing, execution, and post-processing for all program elements. The package includes procedures for obtaining the NMC meteorological data, calculating the vertical winds to satisfy mass conservation, determining the boundary layer, and executing the transport/chemical model for carbon monoxide. In addition, plotting, saving to tape, and reading from tape routines were developed. Final modifications to the subprograms for processing the input data for the transport/chemistry model have improved these data to more accurately reflect true atmospheric conditions. The transfer of the transport/chemistry model from the NCAR CRAY system to the NASA-Langley VPS-32 system was completed. The problems encountered during this process and their resolutions are discussed.

Peters, Leonard K.↗

An optimization model for collection, haul, transfer, treatment and disposal of infectious medical waste: Application to a Greek region

Highlights: • We developed an optimization model to minimize cost of infectious waste management. •Two different software were used for model solution. • Model optimizes locations and capacities of treatment plants and transfer stations. • The higher percentage of total cost was due to construction of the treatment plant. • Sensitivity analysis with respect to fuel cost and waste production was conducted. - Abstract: The objective of this work was to develop an optimization model to minimize the cost of a collection, haul, transfer, treatment and disposal system for infectious medical waste (IMW). The model calculates the optimum locations of the treatment facilities and transfer stations, their design capacities (t/d), the number and capacities of all waste collection, transport and transfer vehicles and their optimum transport path and the minimum IMW management system cost. Waste production nodes (hospitals, healthcare centers, peripheral health offices, private clinics and physicians in private practice) and their IMW production rates were specified and used as model inputs. The candidate locations of the treatment facilities, transfer stations and sanitary landfills were designated, using a GIS-based methodology. Specifically, Mapinfo software with exclusion criteria for non-appropriate areas was used for siting candidate locations for the construction of the treatment plant and calculating the distance and travel time of all possible vehicle routes. The objective function was a non-linear equation, which minimized the total collection, transport, treatment and disposal cost. Total cost comprised capital and operation costs for: (1) treatment plant, (2) waste transfer stations, (3) waste transport and transfer vehicles and (4) waste collection bins and hospital boxes. Binary variables were used to decide whether a treatment plant and/or a transfer station should be constructed and whether a collection route between two or more nodes should be followed. Microsoft excel software was used as installation platform of the optimization model. For the execution of the optimization routine, two completely different software were used and the results were compared, thus, resulting in higher reliability and validity of the results. The first software was Evolver, which is based on the use of genetic algorithms. The second one was Crystal Ball, which is based on Monte Carlo simulation. The model was applied to the Region of East Macedonia – Thrace in Greece. The optimum solution resulted in one treatment plant located in the sanitary landfill area of Chrysoupolis, required no transfer stations and had a total management cost of 38,800 €/month or 809 €/t. If a treatment plant is sited in the most eastern part of the Region, i.e., the industrial area of Alexandroupolis, the optimum solution would result in a transfer station of 23 m{sup 3}, located near Kavala General Hospital, and a total cost of 39,800 €/month or 831 €/t. A sensitivity analysis was conducted and two alternative scenarios were optimized. In the first scenario, a 15% rise in fuel cost and in the second scenario a 25% rise in IMW production were considered. At the end, a cost calculation in €/t/km for every type of vehicle used for haul and transfer was conducted. Also, the cost of the whole system was itemized and calculated in €/t/km and €/t. The results showed that the higher percentage of the total cost was due to the construction of the treatment plant.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Extreme Scale Infrasound Inversion and Prediction for Weather Characterization and Acute Event Detection

Accurate and timely weather predictions are critical to many aspects of society with a profound impact on our economy, general well-being, and national security. In particular, our ability to forecast severe weather systems is necessary to avoid injuries and fatalities, but also important to minimize infrastructure damage and maximize mitigation strategies. The weather community has developed a range of sophisticated numerical models that are executed at various spatial and temporal scales in an attempt to issue global, regional, and local forecasts in pseudo real time. The accuracy however depends on the time period of the forecast, the nonlinearities of the dynamics, and the target spatial resolution. Significant uncertainties plague these predictions including errors in initial conditions, material properties, data, and model approximations. To address these shortcomings, a continuous data collection occurs at an effort level that is even larger than the modeling process. It has been demonstrated that the accuracy of the predictions depends on the quality of the data and is independent to a certain extent on the sophistication of the numerical models. Data assimilation has become one of the more critical steps in the overall weather prediction business and consequently substantial improvements in the quality of the data would have transformational benefits. This paper describes the use of infrasound inversion technology, enabled through exascale computing, that could potentially achieve orders of magnitude improvement in data quality and therefore transform weather predictions with significant impact on many aspects of our society.

58 GEOSCIENCES↗

Surface 3D Electrical Resistivity Tomography Inversion of 2005 BC Cribs and Trenches Datasets

Hydrogeophysics, Inc. (HGI) conducted an electrical resistivity tomography (ERT) dataset at the BC Cribs and Trenches site, located in the Central Plateau of the Hanford Site. The 20 trenches and 6 cribs received large volumes of liquid inorganic waste in the 1950s, resulting in a large inventory of contaminants in the vadose zone. The objective of the ERT survey was to map plume extents resulting from the legacy discharges. The HGI interpretation of the resistivity data was performed using geometric inversion to interpolate 2D lines into a 3D image. To demonstrate a newly developed geophysical code capability (E4D), the resistivity data were re-processed to fit a full 3D model of the bulk electrical conductivity. This proof-of-concept model inversion was executed in calendar year 2011, as the large dataset was well-suited for the use of high-performance computing. The 3D re-processing of the BC Cribs and Trenches ERT data conducted in 2011 resolved the true bulk electrical conductivity. This means that all of the resistivity data were fit to a single model of the bulk electrical conductivity, with true horizontal and vertical dimensions. This differed from the HGI data interpretation approach that used geometric inversion to process 2D lines independently, which were then interpolated into a 3D image. Both the full 3D re-processing and the 2D interpolation to a 3D image demonstrated a higher electrical conductivity observed immediately beneath the trenches and cribs. The electrical conductivity is strongly correlated with nitrate concentrations, indicating the presence of nitrate and other co-located contaminants.

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗

Probabilistic Evaluation of Geomechanical Risks in CO2 Storage: An Exploration of Caprock Integrity Metrics Using a Multilaminate Model

The probabilistic uncertainty assessment of geomechanical risk—specifically, caprock failure—attributable to CO2 injection, as presented in a simplified hypothetical geological model, was the focus of this study. Our approach amalgamates the implementation of a multilaminate model, the creation of a response surface model in conjunction with the Box–Behnken sampling design, the execution of associated numerical modeling experiments, and the utilization of Monte Carlo simulations. Probability distributions to encapsulate the inherent variability (elastic and mechanical properties of the caprock and reservoir) and uncertainty in prediction estimates (vertical displacement, total strain, and F value) were employed. Our findings reveal that the Young modulus of the caprock is a key factor controlling equivalent total strain but is insufficient as a stand-alone indicator of caprock integrity. It is confirmed that the caprock can accommodate significant deformation without failure, if it possesses a low Young’s modulus and high mechanical strength properties, such as the friction angle and uniaxial compressive strength. Similarly, vertical displacement was found to be an unreliable indicator for caprock integrity, as caprock failure can occur across a broad spectrum of vertical displacements, particularly when both the Young modulus and mechanical strength properties have wide ranges. This study introduces the F value as the most dependable indicator for caprock failure, although it is a theoretical attribute (the shortest distance between the Mohr circle and the nearest failure envelope used to measure the sensitivity to failure) and not physically measurable in the field. Deviatoric stress levels were found to vary based on stress regimes, with the maximum levels observed under extensive and compressive stress regimes. In conjunction with the use of the response surface method, this study demonstrates the efficacy of the multilaminate framework and the Mohr–Coulomb constitutive model in providing a simplified, yet effective, probabilistic model of the mechanical behavior of caprock failure, reducing mathematical and computational complexities.

Energy & Fuels↗

Coupling of CTF and TRACE for Modeling of Transients

This report documents the improvements that have been made to the capabilities for coupling CTF to systems codes-specifically, the US Nuclear Regulatory Commission (NRC) TRACE code. An initial systems coupling capability had been set up previously using a nonoverlapping domain approach with the codes exchanging data at the core boundaries. The present work adds a new approach using overlapping domains, in which the system code models the core as well. A new input format has been added to allow the user to specify the physical quantities to be exchanged and their location in the system model, which gives the flexibility of applying one-way or two-way coupling between the codes using the desired data exchanges. In addition to applying thermal-hydraulics (T/H) boundary condition (BC) values obtained from TRACE, a capability was added to allow CTF to apply flow resistance feedback to TRACE to match the CTF core pressure drop. Support was added for executing parallel CTF models within the CTF-systems coupling. The system coupling capability was successfully applied to a parallel MSLB transient, demonstrating that both the one-way and two-way coupling behaved as expected and provided substantial improvements to numerical stability and routine compared to the previous nonoverlapping domain coupling. An initial capability was also developed for performing restart calculations in CTF which will be used in the future for restarting CTF-TRACE simulations at specific points in the transient simulation.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Field and Model Data Associated with the Manuscript “Drivers of Streamflow Intermittency in Humid Regions: 1. Evaluating Above- and Below-ground Controls of Flow Persistence in a Forested Catchment”

This package contains field data, modeling files, and scripts supporting the investigation of the drivers of streamflow intermittency in a forested catchment. It includes the field data collected from electrical resistivity tomography (ERT) surveys, ground penetrating radar (GPR), continuous self-potential (SP) monitoring, electromagnetic (EM) imaging, groundwater and stilling well. In addition, it contains the data and results of the coupled water- and electrical-flow model developed using the COMSOL Multiphysics and Advanced Terrestrial Simulator (ATS), as well as software files and Jupyter notebooks used to process the data and generate figures in the manuscript submitted for peer review. The data archive is organized in the following directories: 1) Climate Includes hourly precipitation and daily evapotranspiration time series (2024 – 2025) provided as CSV files, alongside a text file detailing dataset units. 2) Coupled_model Contains two subfolders: Synthetic and Field_Application subfolder. Synthetic subfolder contains the ATS XML input script (can be opened using any code editor) for the four synthetic hydrological cases tested (Connected and gaining, Connected and losing, Disconnected and losing, and dry stream). It also includes other experimental cases to test the influence of precipitation and concentration gradient. For each synthetic case, the flow model simulation is executed using the ATS XML scripts and the included Python script (generate_data_set.py) to convert ATS output to COMSOL-ready input. COMSOL Multiphysics template (.mph can be opened with the commercial software COMSOL and requires a license) is executed using the ATS output data to simulate the potential field. It also includes the Synthetic_model_plot.ipynb (can be opened using any code editor) to visualize the SP result and generate manuscript figures. The data subfolder contains mesh files to run both the ATS (.exo and .stl files can be viewed using Paraview; .h5 files can be opened using HDFView software and h5py Python package) and COMSOL models. Field_Application subfolder contains two subfolders: ES_MDA_inversion and Final_Model. ES_MDA_inversion contains the Python script (.py can be opened using any code editor) and SP observation data used to run the Ensemble Smoother with Multiple Data Assimilation (ES-MDA) inversion sequence to get the optimal model parameters. The Final_model subfolder contains the ATS XML input scripts, data files, output data for the two SP sites. The same workflow steps outlined for the Synthetic subfolder apply here. It also contains the Jupyter notebook (Plot_final_calib.ipynb) to visualize the results of the modeled SP, stream-groundwater exchange and moisture content. 3) Discharge Includes the electrical conductivity (EC) time series (provided as CSV files) from salt slug injections. It also includes the Jupyter notebook (Discharge_process.ipynyb) used to estimate discharge. All discharge measurements collated into rating_curve_processed.csv 4) EM Contains the CSV file of the EM data from the DUALEM-42, including spatial coordinates (x, y, z), apparent conductivity, and in-phase measurements at 2 m coil separations for horizontal coplanar (HCP) and perpendicular (PRP) geometries. 5) ERT Contains raw resistivity data (provided as CSV files), spatial location of each of the electrodes (provided as CSV files), and files used for the resistivity inversion (.resipy can be opened with the open-source ResIPy software). 6) GPR Includes GPR field datasets collected at 100 MHz and 250 MHz antenna frequencies, along with the processing/interpretation project file (GPR_process.gpz can be viewed using EKKO_Project 6, a commercial software by Sensors & Software that requires a license). 7) Slug_test Includes the slug test data at all the groundwater wells provided as CSV files, as well as the Jupyter notebook (Slug_test.ipynb) for calculating hydraulic conductivity. 8) SP Contains the SP data collected in field at the two SP sites (one in the perennial reach and the other in the intermittent reach), provided as DAT files. 9) Well_data Contains two subfolders: 1) Raw, which provides unprocessed pressure, electrical conductivity and temperature timeseries downloaded from the loggers in all the groundwater and stilling wells, and 2) Processed, which contains sorted, QA/QC timeseries data for each well. The data archive also contains data_process.ipynb, a Jupyter notebook used for field data analysis and generating figures (plotting well, SP, climate, and discharge data, as well as calculating head gradient at sites with nested groundwater wells). It also includes DTW.ipynb, a Jupyter notebook containing the code for the dynamic time warping (DTW) with sliding window to evaluate SP signal synchronicity.

ATS↗

Prediction of Subsidence of Buildings as a Result of Earthquakes by Gaussian Process Regression

Subsidence of a foundation caused by liquefaction of sandy soil is a critical step in the creation of a building. Seven measured indicators of soil liquefaction in the course of an earthquake were selected as key impacting indicators that predict subsidence of a building. These indicators are the earthquake intensity EI, length–height ratio L/H, average contact pressure p, width-depth ratio, relative density D{sub R}, thickness of the non-liquefied layer, and the depth of the gravel layer. Furthermore, as a probabilistic machine learning kernel and powerful tool for solving highly nonlinear problems, Gaussian process regression (GPR model) can meet execution time requirements and assure a high level of precision of subsidence prediction due to the intrinsic defects of theoretical analysis and numerical calculation. A total of 41 groups of typical cases were first selected as a training sample and 20 groups of typical cases were defined as a test sample, where these cases possess input test value and were obtained at the yield of the prediction accuracy from the GPR model. Next, the PLS method, MLR method and LSSVM method were selected to verify the validity and reliability of the GPR model. Finally, the simulation result shows that the GPR model can improve the prediction precision for the case of the above problems and is of great value for practical applications.

58 GEOSCIENCES↗

Vertical Drop Testing and Analysis of the WASP Helicopter Skid Gear

Human occupant modeling and injury risk assessment have been identified as areas of research for improved prediction of rotorcraft crashworthiness within the NASA Aeronautics Program's Subsonic Rotary Wing Project. As part of this effort, an experimental program was conducted to assess the impact performance of a skid gear for use on the WASP kit-built helicopter, which is marketed by HeloWerks, Inc. of Hampton, Virginia. Test data from a drop test at an impact velocity of 8.4 feet-per-second were used to assess a finite element model of the skid gear test article. This assessment included human occupant analytic models developed for execution in LS-DYNA. The test article consisted of an aluminum skid gear mounted beneath a steel plate. A seating platform was attached to the upper surface of the steel plate, and two 95th percentile Hybrid III male Aerospace Anthropomorphic Test Devices (ATDs) were seated on the platform and secured using a four-point restraint system. The goal of the test-analysis correlation is to further the understanding of LS-DYNA ATD occupant models and responses in the vertical (or spinal) direction. By correlating human occupant experimental test data for a purely vertical impact with the LS-DYNA occupant responses, improved confidence in the use of these tools and better understanding of the limitations of the automotive-based occupant models for aerospace application can begin to be developed.

Fuchs, Yvonne T.↗