Results for “primary control” — Page 29

NASA NTRS2002

Vibration Reduction of Helicopter Blade Using Variable Dampers: A Feasibility Study

In the report, the investigation of controlling helicopter-blade lead-lag vibration is described. Current practice of adding passive damping may be improved to handle large dynamic range of the blade with several peaks of vibration resonance. To minimize extra-large damping forces that may damage the control system of blade, passive dampers should have relatively small damping coefficients, which in turn limit the effectiveness. By providing variable damping, a much larger damping coefficient to suppress the vibration can be realized. If the damping force reaches the maximum allowed threshold, the damper will be automatically switched into the mode with smaller damping coefficient to maintain near-constant damping force. Furthermore, the proposed control system will also have a fail-safe feature to guarantee the basic performation of a typical passive damper. The proposed control strategy to avoid resonant regions in the frequency domain is to generate variable damping force in combination with the supporting stiffness to manipulate the restoring force and conservative energy of the controlled blade system. Two control algorithms are developed and verified by a prototype variable damper, a digital controller and corresponding algorithms. Primary experiments show good potentials for the proposed variable damper: about 66% and 82% reductions in displacement at 1/3 length and the root of the blade respectively.

Lee, George C.↗

NASA NTRS2004

Situation Awareness Implications of Adaptive Automation of Air Traffic Controller Information Processing Functions

The goal of this research was to define a measure of situation awareness (SA) in an air traffic control (ATC) task and to assess the influence of adaptive automation (AA) of various information processing functions on controller perception, comprehension and projection. The measure was also to serve as a basis for defining and developing an approach to triggering dynamic control allocations, as part of AA, based on controller SA. To achieve these objectives, an enhanced version of an ATC simulation (Multitask (copyright)) was developed for use in two human factors experiments. The simulation captured the basic functions of Terminal Radar Approach Control (TRACON) and was capable of presenting to operators four different modes of control, including information acquisition, information analysis, decision making and action implementation automation, as well as a completely manual control mode. The SA measure that was developed as part of the research was based on the Situation Awareness Global Assessment Technique (SAGAT), previous goal-directed task analyses of enroute control and TRACON, and a separate cognitive task analysis on the ATC simulation. The results of the analysis on Multitask were used as a basis for formulating SA queries as part of the SAGAT-based approach to measuring controller SA, which was used in the experiments. A total of 16 subjects were recruited for both experiments. Half the subjects were used in Experiment #1, which focused on assessing the sensitivity and reliability of the SA measurement approach in the ATC simulation. Comparisons were made of manual versus automated control. The remaining subjects were used in the second experiment, which was intended to more completely describe the SA implications of AA applied to specific controller information processing functions, and to describe how the measure could ultimately serve as a trigger of dynamic function allocations in the application of AA to ATC. Comparisons were made of the sensitivity of the SA measure to automation manipulations impacting both higher-order information processing functions, such as information analysis and decision making, versus lower-order functions, including information acquisition and action implementation. All subjects were exposed to all forms of AA of the ATC task and the manual control condition. The approach to AA used in both experiments was to match operator workload, assessed using a secondary task, to dynamic control allocations in the primary task. In total, the subjects in each experiment participated in 10 trials with each lasting between 45 minutes and 1 hour. In both experiments, ATC performance was measured in terms of aircraft cleared, conflicting, and collided. Secondary task (gauge monitoring) performance was assessed in terms of a hit-to-signal ratio. As part of the SA measure, three simulation freezes were conducted during each trial to administer queries on Level 1, 2, and 3 SA.

Kaber, David B.↗

NASA NTRS1999

Liquid Bipropellant Microrocket Concept Under Development

Fundamental research into the feasibility of microrockets for primary propulsion and attitude control for far-term micro/integrated spacecraft is being performed. These rockets would be fabricated using microelectrical and mechanical systems (MEMS) technology. The enabling technology is being developed at the Massachusetts Institute of Technology (MIT). The NASA/MIT program leverages a very large Army Research Office and Defense Advanced Research Projects Agency (DARPA) program for the development of microturbine technology. The microrocket motor is complete with regenerative cooling, turbopumps, and control valves etched onto the same chip. They would be fabricated in large numbers in parallel using semiconductor manufacturing techniques. The technology may lead to the development of microsatellites as fully integrated MEMS devices that could be mass produced at a fraction of the cost of current satellites.

Schneider, Steven J.↗

NASA NTRS2003

Thermal Contributions to the Degradation of Ground-Laboratory- and Space-Irradiated Teflon Investigated

The Hubble Space Telescope (HST) is covered with two primary types of thermal control materials, radiators and multilayer insulation blankets, which passively control temperatures during orbit. Both of these thermal control materials utilize back-surface metalized Teflon FEP (DuPont, fluorinated ethylene propylene) as the exterior (spacefacing) layer because of its excellent optical properties (low solar absorptance and high thermal emittance). The aluminized-FEP (Al-FEP) outermost layer of the multilayer insulation blankets on the HST has become embrittled while in space, resulting in severe on-orbit cracking (see the photographs). During the second servicing mission, an extremely embrittled piece of Al-FEP was retrieved that had curled, exposing the backsurface aluminum to space (see the photograph on the right). Because the aluminum surface has a lower thermal emittance than the FEP, this curled piece reached 200 C during orbit, 150 C higher than the nominal temperature extreme. To better understand the effect of temperature on the rate of degradation, and on the mechanism of degradation, of this insulation material in the low-Earth-orbit environment, researchers at the NASA Glenn Research Center conducted experiments to determine the effect of heating on the degradation of FEP that has been irradiated in a ground laboratory facility or in space on the HST. For this study, Teflon FEP retrieved from the HST during the third servicing mission after 9.7 years of space exposure was provided to Glenn by the NASA Goddard Space Flight Center.

deGroh, Kim K.↗

NASA NTRS2002

Method and apparatus for rate integration supplement for attitude referencing with quaternion differencing

A control system for providing attitude control in spacecraft. The control system comprising a primary attitude reference system, a secondary attitude reference system, and a hyper-complex number differencing system. The hyper-complex number differencing system is connectable to the primary attitude reference system and the secondary attitude reference system.

Rodden, John James↗

NASA NTRS2007

Optical Modeling Activities for NASA's James Webb Space Telescope (JWST): Overview and Introduction of Matlab Based Toolkits used to Interface with Optical Design Software - 4

This is part four of a series on the ongoing optical modeling activities for James Webb Space Telescope (JWST). The first two discussed modeling JWST on-orbit performance using wavefront sensitivities to predict line of sight motion induced blur, and stability during thermal transients. The third investigates the aberrations resulting from alignment and figure compensation of the controllable degrees of freedom (primary and secondary mirrors), which may be encountered during ground alignment and on-orbit commissioning of the observatory. The work here introduces some of the math software tools used to perform the work of the previous three papers of this series. NASA has recently approved these in-house tools for public release as open source, so this presentation also serves as a quick tutorial on their use. The tools are collections of functions written in Matlab, which interface with optical design software (CodeV, OSLO, and Zemax) using either COM or DDE communication protocol. The functions are discussed, and examples are given.

Howard, Joseph↗

NASA NTRS2009

Apollo Onboard Navigation Techniques

This viewgraph presentation reviews basic navigation concepts, describes coordinate systems and identifies attitude determination techniques including Primary Guidance, Navigation and Control System (PGNCS) IMU management and Command and Service Module Stabilization and Control System/Lunar Module (LM) Abort Guidance System (AGS) attitude management. The presentation also identifies state vector determination techniques, including PGNCS coasting flight navigation, PGNCS powered flight navigation and LM AGS navigation.

Interbartolo, Michael↗

NASA NTRS2001

Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations

The Engineering and Mission Operations Directorates at NASA Johnson Space Center are combining laboratories and expertise to establish the Human Centered Autonomous and Assistant Systems Testbed for Exploration Operations. This is a testbed for human centered design, development and evaluation of intelligent autonomous and assistant systems that will be needed for human exploration and development of space. This project will improve human-centered analysis, design and evaluation methods for developing intelligent software. This software will support human-machine cognitive and collaborative activities in future interplanetary work environments where distributed computer and human agents cooperate. We are developing and evaluating prototype intelligent systems for distributed multi-agent mixed-initiative operations. The primary target domain is control of life support systems in a planetary base. Technical approaches will be evaluated for use during extended manned tests in the target domain, the Bioregenerative Advanced Life Support Systems Test Complex (BIO-Plex). A spinoff target domain is the International Space Station (ISS) Mission Control Center (MCC). Prodl}cts of this project include human-centered intelligent software technology, innovative human interface designs, and human-centered software development processes, methods and products. The testbed uses adjustable autonomy software and life support systems simulation models from the Adjustable Autonomy Testbed, to represent operations on the remote planet. Ground operations prototypes and concepts will be evaluated in the Exploration Planning and Operations Center (ExPOC) and Jupiter Facility.

Malin, Jane T.↗

NASA NTRS2009

Investigation of Primary Mirror Segment's Residual Errors for the Thirty Meter Telescope

The primary mirror segment aberrations after shape corrections with warping harness have been identified as the single largest error term in the Thirty Meter Telescope (TMT) image quality error budget. In order to better understand the likely errors and how they will impact the telescope performance we have performed detailed simulations. We first generated unwarped primary mirror segment surface shapes that met TMT specifications. Then we used the predicted warping harness influence functions and a Shack-Hartmann wavefront sensor model to determine estimates for the 492 corrected segment surfaces that make up the TMT primary mirror. Surface and control parameters, as well as the number of subapertures were varied to explore the parameter space. The corrected segment shapes were then passed to an optical TMT model built using the Jet Propulsion Laboratory (JPL) developed Modeling and Analysis for Controlled Optical Systems (MACOS) ray-trace simulator. The generated exit pupil wavefront error maps provided RMS wavefront error and image-plane characteristics like the Normalized Point Source Sensitivity (PSSN). The results have been used to optimize the segment shape correction and wavefront sensor designs as well as provide input to the TMT systems engineering error budgets.

warping harness↗

NASA NTRS2016

Concept of Operations for Interval Management Arrivals and Approach

This paper presents the concept of operations for interval management operations to be deployed in the US National Airspace System (NAS) by the Federal Aviation Administration (FAA) after 2020. The use of interval management operations is described that begin in en route airspace and continue to a termination point inside the arrival terminal area, in a terminal environment that includes other arrival management tools such as arrival metering, Ground-based Interval Management - Spacing (GIM-S), and Terminal Sequencing and Spacing (TSAS). The roles of Air Traffic Controllers and Flight Crews and the ground automation tools that are used by Air Traffic Controllers to enable the primary operation and variations are described.

Hicok, Daniel S.↗

NASA NTRS2016

Tuned Chamber Core Panel Acoustic Test Results

This report documents acoustic testing of tuned chamber core panels, which can be used to supplement the low-frequency performance of conventional acoustic treatment. The tuned chamber core concept incorporates low-frequency noise control directly within the primary structure and is applicable to sandwich constructions with a directional core, including corrugated-, truss-, and fluted-core designs. These types of sandwich structures have long, hollow channels (or chambers) in the core. By adding small holes through one of the facesheets, the hollow chambers can be utilized as an array of low-frequency acoustic resonators. These resonators can then be used to attenuate low-frequency noise (below 400 Hz) inside a vehicle compartment without increasing the weight or size of the structure. The results of this test program demonstrate that the tuned chamber core concept is effective when used in isolation or combined with acoustic foam treatments. Specifically, an array of acoustic resonators integrated within the core of the panels was shown to improve both the low-frequency absorption and transmission loss of the structure in targeted one-third octave bands.

Schiller, Noah H.↗

NASA NTRS2017

Momentum Management for the NASA Near Earth Asteroid Scout Solar Sail Mission

The Momentum Management (MM) system is described for the NASA Near Earth Asteroid Scout (NEA Scout) cubesat solar sail mission. Unlike many solar sail mission proposals that used solar torque as the primary or only attitude control system, NEA Scout uses small reaction wheels (RW) and a reaction control system (RCS) with cold gas thrusters, as described in the abstract "Solar Sail Attitude Control System for Near Earth Asteroid Scout Cubesat Mission." The reaction wheels allow fine pointing and higher rates with low mass actuators to meet the science, communication, and trajectory guidance requirements. The MM system keeps the speed of the wheels within their operating margins using a combination of solar torque and the RCS.

Heaton, Andrew↗

NASA NTRS2018

Airspace Technology Demonstration 2 (ATD-2) Technology Description Document (TDD)

This Technology Description Document (TDD) provides an overview of the technology for the Phase 1 Baseline Integrated Arrival, Departure, and Surface (IADS) prototype system of the National Aeronautics and Space Administration's (NASA) Airspace Technology Demonstration 2 (ATD-2) project, to be demonstrated beginning in 2017 at Charlotte Douglas International Airport (CLT). Development, integration, and field demonstration of relevant technologies of the IADS system directly address recommendations made by the Next Generation Air Transportation System (NextGen) Integration Working Group (NIWG) on Surface and Data Sharing and the Surface Collaborative Decision Making (Surface CDM) concept of operations developed jointly by the Federal Aviation Administration (FAA) and aviation industry partners. NASA is developing the IADS traffic management system under the ATD-2 project in coordination with the FAA, flight operators, CLT airport, and the National Air Traffic Controllers Association (NATCA). The primary goal of ATD-2 is to improve the predictability and operational efficiency of the air traffic system in metroplex environments, through the enhancement, development, and integration of the nation's most advanced and sophisticated arrival, departure, and surface prediction, scheduling, and management systems. The ATD-2 project is a 5-year research activity beginning in 2015 and extending through 2020. The Phase 1 Baseline IADS capability resulting from the ATD-2 research will be demonstrated at the CLT airport beginning in 2017. Phase 1 will provide the initial demonstration of the integrated system with strategic and tactical scheduling, tactical departure scheduling to an en route meter point, and an early implementation prototype of a Terminal Flight Data Manager (TFDM) Electronic Flight Data (EFD) system. The strategic surface scheduling element of the capability is consistent with the Surface CDM Concept of Operations published in 2014 by the FAA Surface Operations Directorate.

integrated arrival↗

NASA NTRS2019

Airspace Technology Demonstration 2 (ATD-2) Phase 2 Technology Description Document (TDD)

This Technology Description Document (TDD) provides an overview of the technology for the Phase 1 Baseline and Phase 2 Fused demonstrations of the Integrated Arrival, Departure, and Surface (IADS) prototype system of the National Aeronautics and Space Administration’s (NASA) Airspace Technology Demonstration 2 (ATD-2) project, which has been demonstrated since October of 2017 at Charlotte Douglas International Airport (CLT). Development, integration, and field demonstration of relevant technologies of the IADS system directly address recommendations made by the Next Generation Air Transportation System (NextGen) Integration Working Group (NIWG) on Surface and Data Sharing and the Surface Collaborative Decision Making (Surface CDM) concept of operations developed jointly by the Federal Aviation Administration (FAA) and aviation industry partners. NASA has been developing the IADS traffic management system under the ATD-2 project in coordination with the FAA, flight operators, CLT airport operators, and the National Air Traffic Controllers Association (NATCA). The primary goal of ATD-2 is to improve the predictability and operational efficiency of the air traffic system in metroplex environments, through the enhancement, development, and integration of the nation’s most advanced and sophisticated arrival, departure, and surface prediction, scheduling, and management systems. The ATD-2 project is a 5-year research activity beginning in 2015 and extending through 2020. The Phase 1 Baseline IADS capability resulting from the ATD-2 research has been demonstrated at the CLT airport since the beginning of October 2017. Phase 1 provided data exchange and integration with the initial demonstration of the integrated system of strategic and tactical scheduling, collaborative tactical surface metering, tactical departure scheduling to an en route meter point and overhead stream insertion, initial integration of a TFDM SWIM prototype feed, and an early implementation prototype of a Terminal Flight Data Manager (TFDM) Electronic Flight Data (EFD) system. The strategic surface scheduling element of the capability is consistent with the Surface CDM Concept of Operations published in 2014 by the FAA Surface Operations Directorate.1 The Phase 2 Fused IADS system provided substantial updates to baseline IADS Demonstration capability. Improvements were made to the IADS modeler; tactical surface scheduling, and metering; tactical departure scheduling for overhead stream insertion; Electronic Flight Data (EFD) and the integration with the FAA Advanced Electronic Flight Strip (AEFS); RTC/RMTC, and departure trajectories. New capabilities included a TFDM SWIM prototype feed and delivery of IADS data via the TFDM Terminal Publication (TTP) service of the FAA’s SWIM system; strategic surface scheduling and metering as well as fusion with tactical surface metering; integration and ingestion of data from TTP-connected Mobile App and texting industry for General Aviation (GA) flights; and expansion of airspace deployments to include adjacent Center automation, in particular interface with the Atlanta Center (ZTL) arrival metering TBFM system to evaluate pre-scheduling of flights. Improvements in Data Analysis and System Health (DASH) monitoring and updates were completed as well.

Talebi, Ehsan↗

NASA NTRSDate not supplied

Evaluating and Constraining Models’ Stratocumulus and Cumulus Cloud Feedbacks in the Tropics using Satellite Observations to Reduce Uncertainties in Future Climate Projections

Low-cloud feedbacks are thought to be the greatest source of uncertainty in climate projections on the centennial scale. Past research has mainly focused on the global low-cloud feedback as a whole whereas only a few studies have examined separated contributions from the two main low cloud categories: stratocumulus (Sc) and shallow cumulus (Cu). Here we aim to evaluate and constrain Sc and Cu cloud feedbacks in models using satellite observations to ultimately reduce their contribution to the spread in equilibrium climate sensitivity. We utilize the Cumulus and Stratocumulus CloudSat-CALIPSO Dataset (CASCCAD) recently developed by Cesana et al. (2019), which discriminates Sc from Cu clouds. This algorithm – based on cloud morphological characteristics at the orbital level – outperforms previous cloud-type classifications stemming from passive-sensor measurements. We investigate the observed relationship between the Sc and Cu cloud cover in tropical subsidence oceanic regions and their link to the primary low-cloud controlling factors (sea surface temperature, estimated inversion strength). To gain further insight into the Sc-Cu cloud partitioning, we explore the Sc-Cu relationship during the four meteorological seasons (DJF, MAM, JJA, SON) as well as on monthly timescale. We find a substantial negative correlation between the Sc and Cu cloud cover on annual, seasonal and monthly timescales. We finally evaluate how well climate models of the Coupled Model Intercomparison Project phase 5 (CMIP5) and phase 6 (CMIP6) agree with the observations. These results establish a framework to advance model parameterizations of the underlying physical processes driving the stratocumulus and shallow cumulus clouds (turbulence and convection).

Cloud feedbacks↗

NASA NTRSDate not supplied

Gateway Autonomy for Enabling Deep Space Exploration

The Gateway spacecraft is an important stepping-stone to exploration of the solar system, integrating commercial and international partners into a tightly coupled system, enabling cislunar activities, and implementing key technologies for missions to Mars. Autonomy is a capability area necessary to handle long communication outages where intervention from Earth is impossible, to prepare to operate with long communication delays that will be common in interplanetary travel, and to make spaceflight more affordable and accessible by reducing sustaining operations costs. The Gateway Concept of Operations states that one of Gateway’s goals is to “focus on infrastructure and systems that will allow autonomous operations aboard the Gateway with robotics, automated systems, advanced communications, and distributed computing.” Gateway’s Vehicle Systems Manager (VSM) and associated Autonomous Spacecraft Management Architecture (ASMA) are key products towards delivering autonomous capability. The primary functions of the control architecture are Mission Management and Timeline Execution, Resource Management, Fault Management, and Vehicle Control and Operation (VCO). In each of these areas, there is an initial level of capability to be delivered at launch, with plans to continue development and grow to greater capability. The initial deployment of VSM will focus on maintaining vehicle safety by focusing on full fault management capabilities and deploying only enough resource and timeline planning functionality to support that. The final deployment of VSM will add significant planning and control optimization functionality to support nominal operations for up to 21 days without ground support, even accommodating fault and failure conditions. While the VSM is the vehicle-level representation of autonomous reasoning, distributed automation is essential to provide the right scope and abstraction of information to process. Module and system support of automation and simplicity of interfaces are two important design paradigms that Gateway is focusing on to garner a systems approach to autonomy. Distribution of reasoning can increase complexity, so Gateway is also taking a strict hierarchical approach to information flow and decision making. VSM is not the only capability necessary to achieve an autonomous spacecraft. Robotics support for maintenance of the spacecraft will be essential to provide continued vehicle functionality even when crew is not present. Technical and programmatic challenges exist when implementing autonomous robotics operations. These challenges include sufficient network flexibility to support data transfer to the rest of the vehicle to coordinate module-to-module robotic walk-offs and finding the proper interfaces to allow sufficient dexterity. Communication system upgrades planned for Gateway include Delay Tolerant Networking to best utilize the complex network of relays that will be part of mature cislunar operations. Distributed computing and management will provide failure tolerance, robustness, and growth of capabilities while still allowing significant reuse of heritage software on heritage systems as well as reuse of common applications across a spacecraft to minimize new development, but this requires adherence to key standards and interfaces. The Gateway program has demonstrated significant progress towards these capabilities and has identified challenges other spacecraft developers should be aware of from the start.

Molly Anderson↗

NASA NTRSDate not supplied

Gateway Autonomy for Enabling Deep Space Exploration

The Gateway spacecraft is an important stepping-stone to exploration of the solar system, integrating commercial and international partners into a tightly coupled system, enabling cislunar activities, and implementing key technologies for missions to Mars. Autonomy is a capability area necessary to handle long communication outages where intervention from Earth is impossible, to prepare to operate with long communication delays that will be common in interplanetary travel, and to make spaceflight more affordable and accessible by reducing sustaining operations costs. The Gateway Concept of Operations states that one of Gateway’s goals is to “focus on infrastructure and systems that will allow autonomous operations aboard the Gateway with robotics, automated systems, advanced communications, and distributed computing.” Gateway’s Vehicle Systems Manager (VSM) and associated Autonomous Spacecraft Management Architecture (ASMA) are key products towards delivering autonomous capability. The primary functions of the control architecture are Mission Management and Timeline Execution, Resource Management, Fault Management, and Vehicle Control and Operation (VCO). In each of these areas, there is an initial level of capability to be delivered at launch, with plans to continue development and grow to greater capability. The initial deployment of VSM will focus on maintaining vehicle safety by focusing on full fault management capabilities and deploying only enough resource and timeline planning functionality to support that. The final deployment of VSM will add significant planning and control optimization functionality to support nominal operations for up to 21 days without ground support, even accommodating fault and failure conditions. While the VSM is the vehicle-level representation of autonomous reasoning, distributed automation is essential to provide the right scope and abstraction of information to process. Module and system support of automation and simplicity of interfaces are two important design paradigms that Gateway is focusing on to garner a systems approach to autonomy. Distribution of reasoning can increase complexity, so Gateway is also taking a strict hierarchical approach to information flow and decision making. VSM is not the only capability necessary to achieve an autonomous spacecraft. Robotics support for maintenance of the spacecraft will be essential to provide continued vehicle functionality even when crew is not present. Technical and programmatic challenges exist when implementing autonomous robotics operations. These challenges include sufficient network flexibility to support data transfer to the rest of the vehicle to coordinate module-to-module robotic walk-offs and finding the proper interfaces to allow sufficient dexterity. Communication system upgrades planned for Gateway include Delay Tolerant Networking to best utilize the complex network of relays that will be part of mature cislunar operations. Distributed computing and management will provide failure tolerance, robustness, and growth of capabilities while still allowing significant reuse of heritage software on heritage systems as well as reuse of common applications across a spacecraft to minimize new development, but this requires adherence to key standards and interfaces. The Gateway program has demonstrated significant progress towards these capabilities and has identified challenges other spacecraft developers should be aware of from the start.

Molly Anderson↗

NASA NTRS2009

Active Fail-Safe Micro-Array Flow Control for Advanced Embedded Propulsion Systems

The primary objective of this research effort was to develop and analytically demonstrate enhanced first generation active "fail-safe" hybrid flow-control techniques to simultaneously manage the boundary layer on the vehicle fore-body and to control the secondary flow generated within modern serpentine or embedded inlet S-duct configurations. The enhanced first-generation technique focused on both micro-vanes and micro-ramps highly-integrated with micro -jets to provide nonlinear augmentation for the "strength' or effectiveness of highly-integrated flow control systems. The study focused on the micro -jet mass flow ratio (Wjet/Waip) range from 0.10 to 0.30 percent and jet total pressure ratios (Pjet/Po) from 1.0 to 3.0. The engine bleed airflow range under study represents about a 10 fold decrease in micro -jet airflow than previously required. Therefore, by pre-conditioning, or injecting a very small amount of high-pressure jet flow into the vortex generated by the micro-vane and/or micro-ramp, active flow control is achieved and substantial augmentation of the controlling flow is realized.

Anderson, Bernhard H.↗