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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 613 records · Page 34
All sourcesNASA NTRSDOE OSTI
NASA NTRS2015

Software Testbed for Developing and Evaluating Integrated Autonomous Subsystems

To implement fault tolerant autonomy in future space systems, it will be necessary to integrate planning, adaptive control, and state estimation subsystems. However, integrating these subsystems is difficult, time-consuming, and error-prone. This paper describes Intelliface/ADAPT, a software testbed that helps researchers develop and test alternative strategies for integrating planning, execution, and diagnosis subsystems more quickly and easily. The testbed's architecture, graphical data displays, and implementations of the integrated subsystems support easy plug and play of alternate components to support research and development in fault-tolerant control of autonomous vehicles and operations support systems. Intelliface/ADAPT controls NASA's Advanced Diagnostics and Prognostics Testbed (ADAPT), which comprises batteries, electrical loads (fans, pumps, and lights), relays, circuit breakers, invertors, and sensors. During plan execution, an experimentor can inject faults into the ADAPT testbed by tripping circuit breakers, changing fan speed settings, and closing valves to restrict fluid flow. The diagnostic subsystem, based on NASA's Hybrid Diagnosis Engine (HyDE), detects and isolates these faults to determine the new state of the plant, ADAPT. Intelliface/ADAPT then updates its model of the ADAPT system's resources and determines whether the current plan can be executed using the reduced resources. If not, the planning subsystem generates a new plan that reschedules tasks, reconfigures ADAPT, and reassigns the use of ADAPT resources as needed to work around the fault. The resource model, planning domain model, and planning goals are expressed using NASA's Action Notation Modeling Language (ANML). Parts of the ANML model are generated automatically, and other parts are constructed by hand using the Planning Model Integrated Development Environment, a visual Eclipse-based IDE that accelerates ANML model development. Because native ANML planners are currently under development and not yet sufficiently capable, the ANML model is translated into the New Domain Definition Language (NDDL) and sent to NASA's EUROPA planning system for plan generation. The adaptive controller executes the new plan, using augmented, hierarchical finite state machines to select and sequence actions based on the state of the ADAPT system. Real-time sensor data, commands, and plans are displayed in information-dense arrays of timelines and graphs that zoom and scroll in unison. A dynamic schematic display uses color to show the real-time fault state and utilization of the system components and resources. An execution manager coordinates the activities of the other subsystems. The subsystems are integrated using the Internet Communications Engine (ICE). an object-oriented toolkit for building distributed applications.

Testbed↗
DOE OSTI2022

A Framework to Assess Advanced Reactor Spent Fuel Management Facility Deployment

Previous planning and prioritization for LWR SNF management investigated the risks and uncertainties of deploying facilities such as consolidated interim storage [1, 2, 3, 4]. As part of that work, activities and milestones were collected into success precedence diagrams that charted a path to achieving facility deployment [1]. In that framework, activities are any research, development, design, or decision required to achieve an intermediate goal; milestones are activity endpoints and mark the completion of deliverables. Milestones can be thought of as achievements required to reach the final goal of facility deployment; activities are the means by which milestones are accomplished. In planning, activities and milestones are compiled into comprehensive flow charts that visualize the steps necessary for deployment. This framework has been used to quantify risks, timelines, and costs of deploying SNF management facilities.

11 NUCLEAR FUEL CYCLE AND FUEL MATERIALS↗
NASA NTRS2012

The Ice, Cloud, and land Elevation Satellite (ICESat) Summary Mission Timeline and Performance Relative to Pre-Launch Mission Success Criteria

The Ice, Cloud and land Elevation Satellite (ICESat) mission was conceived, primarily, to quantify the spatial and temporal variations in the topography of the Greenland and Antarctic ice sheets. It carried on board the Geoscience Laser Altimeter System (GLAS), which measured the round-trip travel time of a laser pulse emitted from the satellite to the surface of the Earth and back. Each range derived from these measurements was combined with precise, concurrent orbit and pointing information to determine the location of the laser spot centroid on the Earth. By developing a time series of precise topographic maps for each ice sheet, changes in their surface elevations can be used to infer their mass balances.

Webb, Charles E.↗
DOE OSTI2022

Postmortem and Antemortem Forensic Assessment of Pediatric Fracture Healing from Radiographs and Machine Learning Classification

A timeline of pediatric bone healing using fracture healing characteristics that can be assessed solely using radiographs would be practical for forensic casework, where the fracture event may precede death by days, months, or years. However, the dating of fractures from radiographs is difficult, imprecise, and lacks consensus, as only a few aspects of the healing process are visible on radiographs. Multiple studies in both the clinical and forensic literature have attempted to develop a usable scale to assess pediatric bone healing on radiographs using various healing characteristics. In contrast to the orthopedic definition, a fracture in forensic casework is only considered to be healed when the area around the fracture has been remodeled to the point that the fracture is difficult to detect on a radiograph or on the surface of the bone itself, a process that can take several years. We subjectively assessed visible characteristics of healing in radiograms of fractures occurring in 942 living children and adolescents. By dividing these assessments into learning and test (validation) sets, the accuracy of a newly proposed fracture healing scale was compared to a previous study. Two machine learning models were used to test predictions of the new scale. All three models produced similar estimates with substantial imprecision. Results corroborate the Malone model with an independent dataset and support the efficacy of using less complex models to estimate fracture age in children.

60 APPLIED LIFE SCIENCES↗
NASA NTRS2010

Kepler Science Operations Center Architecture

We give an overview of the operational concepts and architecture of the Kepler Science Data Pipeline. Designed, developed, operated, and maintained by the Science Operations Center (SOC) at NASA Ames Research Center, the Kepler Science Data Pipeline is central element of the Kepler Ground Data System. The SOC charter is to analyze stellar photometric data from the Kepler spacecraft and report results to the Kepler Science Office for further analysis. We describe how this is accomplished via the Kepler Science Data Pipeline, including the hardware infrastructure, scientific algorithms, and operational procedures. The SOC consists of an office at Ames Research Center, software development and operations departments, and a data center that hosts the computers required to perform data analysis. We discuss the high-performance, parallel computing software modules of the Kepler Science Data Pipeline that perform transit photometry, pixel-level calibration, systematic error-correction, attitude determination, stellar target management, and instrument characterization. We explain how data processing environments are divided to support operational processing and test needs. We explain the operational timelines for data processing and the data constructs that flow into the Kepler Science Data Pipeline.

Middour, Christopher↗
NASA NTRS2019

Solar Power System and Radioisotope Thermoelectric Generation Technologies at Jupiter-Saturn-Uranus Environments: New Insights and Paradigms

Power system selection for outer planet destinations, such as Jupiter, Saturn, and Uranus and beyond, is complex, involving and dependent on many interdisciplinary factors such as power system mass, specific power, cost, mechanical and electrical integration, and natural radiation environment. Low solar irradiance at Jupiter, Saturn, and Uranus systems (i.e., 50, 15, and 4 W/m2 , respectively) makes solar power systems challenging in mechanical / electrical integration and accommodating radiation environments. More costly radioisotope thermoelectric generator (RTG) systems can help proposed missions overcome radiation environment and spacecraft control challenges at Jupiter, Saturn, and Uranus. NASA’s Jet Propulsion Laboratory (JPL) has recently made significant strides in demonstrating high-efficiency, radiation-hard solar cell technologies for low-irradiance, low-temperature (LILT) applications, and high-efficiency thermoelectric (TE) materials and modules for higher-specific-power RTGs. Stateof-art multi-junction solar cells now routinely demonstrate high efficiencies of 30-34% at LILT (9.5AU and -165°C), making solar arrays a viable option for many near-term Saturn mission concepts. Emerging technologies like LILToptimized solar cells have recently demonstrated even higher efficiencies of 37% at 9.5AU and -165°C and 30% lower mass than the state-of-art, offering the prospect of ~3W/kg array-level, end-of-life specific powers under Saturn conditions. Having already demonstrated the tremendous utility of RTGs on Mars and in deep-space missions (e.g., Galileo at Jupiter, New Horizons at Pluto), NASA is now developing and demonstrating new TE materials and modules (e.g., skutterudites, La3-x Te4, and Zintls) for increasing RTG specific power (up to >8.5 W/kg), which strongly impacts an RTG’s mass, fuel utilization, and modularity in the power system trade domain. New accomplishments in both areas highlight the renewed requisite for updated comparisons and trade-offs in power output, specific power and mass, cost, mechanical and electrical integration, new technology timelines, and natural radiation impacts between new LILT-optimized photovoltaic technologies and next-generation RTG technologies. This work discusses and demonstrates how new LILT-based technologies are now allowing one to consider and design solar power systems for Saturn orbit and beyond, and are changing the potential cost-mass trade-offs between emerging solar power technologies and newly-envisioned RTG technologies. Key updated system mass and cost trade-offs between high-performance LILT solar technologies and new RTG technologies are presented, reinforcing and refining power selection criteria supporting possible future NASA deep-space science and exploration missions to Mars, the Jupiter system (Europa, Ganymede), the Saturn system (Titan, Enceladus), Uranus, and beyond. Key trade-offs in other above-mentioned interdisciplinary factors between these two power technologies are also discussed.

Bairstow, Brian K.↗
NASA NTRS2011

Suitport Feasibility - Development and Test of a Suitport and Space Suit for Human Pressurized Space Suit Donning Tests

The suitport concept has been recently implemented as part of the small pressurized lunar rover (Currently the Space Exploration vehicle, or SEV) and the Multi-Mission Space Exploration Vehicle (MMSEV) concept demonstrator vehicle. Suitport replaces or augments the traditional airlock function of a spacecraft by providing a bulkhead opening, capture mechanism, and sealing system to allow ingress and egress of a spacesuit while the spacesuit remains outside of the pressurized volume of the spacecraft. This presents significant new opportunities to EVA exploration in both microgravity and surface environments. The suitport concept will enable three main improvements in EVA by providing reductions in: pre-EVA time from hours to less than thirty minutes; airlock consumables; contamination returned to the cabin with the EVA crewmember. To date, the first generation suitport has been tested with mockup suits on the rover cabins and pressurized on a bench top engineering unit. The work on the rover cabin has helped define the operational concepts and timelines, and has demonstrated the potential of suitport to save significant amounts of crew time before and after EVAs. The work with the engineering unit has successfully demonstrated the pressurizable seal concept including the ability to seal after the introduction and removal of contamination to the sealing surfaces. Using this experience, a second generation suitport was designed. This second generation suitport has been tested with a spacesuit prototype using the pressure differentials of the spacecraft. This test will be performed using the JSC B32 Chamber B, a human rated vacuum chamber. This test will include human rated suitports, the suitport compatible prototype suit, and chamber modifications. This test will bring these three elements together in the first ever pressurized donning of a rear entry suit through a suitport. This paper presents design of a human rated second generation suitport, modifications to the JSC human rated chamber B to accept a suitport, and a compatible space suit to support pressurized human donning of the pressurized suit through a suitport. Design challenges and solutions and compromises required to develop the system are presented. Initial human testing results are presented.

Boyle, Robert M.↗
DOE OSTI2026

Deer Isle and Stonington Energy Reliability Opportunities

The towns of Deer Isle and Stonington, located on the island of Deer Isle in Maine, partnered with the U.S. Department of Energy's Energy Technology Innovation Partnership Project (ETIPP) to examine options to enhance energy resilience, reduce dependence on imported fuels, and mitigate high energy costs. With technical support from the National Laboratory of the Rockies (NLR), Lawrence Berkeley National Laboratory (LBNL), and regional partner the Island Institute, the project focused on evaluation of the local electricity distribution infrastructure, examination of ongoing activities to reduce the frequency of outages, review of the applicable policy and regulatory environment, and identification of potential on-site energy solutions. Key findings revealed the island's reliance on a single distribution line, and limited hosting capacity for additional distributed energy resources. Solar photovoltaics (PV) technology, with and without battery storage, was found to be the most viable technology given economic, technical, and social considerations. While also technically feasible, wind energy faces more difficult siting and less public acceptance compared to PV. Marine energy technologies were determined to be infeasible due to technology immaturity and lengthy permitting timelines. Modeling of potential building-scale PV plus storage systems resulted in successful grant applications for installations at two local facilities. Analysis of community scale energy generation and storage options resulted the local utility, Versant, submitting a grant application for a proposed community-scale battery storage system to increase grid resilience and hosting capacity. This initiative has strengthened the communities' energy planning capabilities and laid the groundwork for future clean energy development.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
NASA NTRS1984

Effective organizational solutions for implementation of DBMS software packages

The space telescope management information system development effort is a guideline for discussing effective organizational solutions used in implementing DBMS software. Focus is on the importance of strategic planning. The value of constructing an information system architecture to conform to the organization's managerial needs, the need for a senior decision maker, dealing with shifting user requirements, and the establishment of a reliable working relationship with the DBMS vendor are examined. Requirements for a schedule to demonstrate progress against a defined timeline and the importance of continued monitoring for production software control, production data control, and software enhancements are also discussed.

Jones, D.↗
NASA NTRS1994

A software architecture for automating operations processes

The Operations Engineering Lab (OEL) at JPL has developed a software architecture based on an integrated toolkit approach for simplifying and automating mission operations tasks. The toolkit approach is based on building adaptable, reusable graphical tools that are integrated through a combination of libraries, scripts, and system-level user interface shells. The graphical interface shells are designed to integrate and visually guide a user through the complex steps in an operations process. They provide a user with an integrated system-level picture of an overall process, defining the required inputs and possible output through interactive on-screen graphics. The OEL has developed the software for building these process-oriented graphical user interface (GUI) shells. The OEL Shell development system (OEL Shell) is an extension of JPL's Widget Creation Library (WCL). The OEL Shell system can be used to easily build user interfaces for running complex processes, applications with extensive command-line interfaces, and tool-integration tasks. The interface shells display a logical process flow using arrows and box graphics. They also allow a user to select which output products are desired and which input sources are needed, eliminating the need to know which program and its associated command-line parameters must be executed in each case. The shells have also proved valuable for use as operations training tools because of the OEL Shell hypertext help environment. The OEL toolkit approach is guided by several principles, including the use of ASCII text file interfaces with a multimission format, Perl scripts for mission-specific adaptation code, and programs that include a simple command-line interface for batch mode processing. Projects can adapt the interface shells by simple changes to the resources configuration file. This approach has allowed the development of sophisticated, automated software systems that are easy, cheap, and fast to build. This paper will discuss our toolkit approach and the OEL Shell interface builder in the context of a real operations process example. The paper will discuss the design and implementation of a Ulysses toolkit for generating the mission sequence of events. The Sequence of Events Generation (SEG) system provides an adaptable multimission toolkit for producing a time-ordered listing and timeline display of spacecraft commands, state changes, and required ground activities.

Miller, Kevin J.↗
NASA NTRS2010

Risk Analysis of On-Orbit Spacecraft Refueling Concepts

On-orbit refueling of spacecraft has been proposed as an alternative to the exclusive use of Heavy-lift Launch Vehicles to enable human exploration beyond Low Earth Orbit (LEO). In these scenarios, beyond LEO spacecraft are launched dry (without propellant) or partially dry into orbit, using smaller or fewer element launch vehicles. Propellant is then launched into LEO on separate launch vehicles and transferred to the spacecraft. Refueling concepts are potentially attractive because they reduce the maximum individual payload that must be placed in Earth orbit. However, these types of approaches add significant complexity to mission operations and introduce more uncertainty and opportunities for failure to the mission. In order to evaluate these complex scenarios, the authors developed a Monte Carlo based discrete-event model that simulates the operational risks involved with such strategies, including launch processing delays, transportation system failures, and onorbit element lifetimes. This paper describes the methodology used to simulate the mission risks for refueling concepts, the strategies that were evaluated, and the results of the investigation. The results of the investigation show that scenarios that employ refueling concepts will likely have to include long launch and assembly timelines, as well as the use of spare tanker launch vehicles, in order to achieve high levels of mission success through Trans Lunar Injection.

Cirillo, William M.↗
NASA NTRS2015

Update on CMH-17 Volume 5: Ceramic Matrix Composites

CMC components are projected to enter service in commercial aircraft in 2016. A wide range of issues must be addressed prior to certification of this hardware. The Composite Materials Handbook-17, Volume 5 on ceramic matrix composites is being revised to support FAA certification of CMCs for hot structure and other elevated temperature applications. The handbook supports the development and use of CMCs through publishing and maintaining proven, reliable engineering information and standards that have been thoroughly reviewed. Volume 5 will contain detailed sections describing CMC materials processing, design analysis guidelines, testing procedures, and data analysis and acceptance. A review of the status of and plans for two of these areas, which are being addressed by the M and P Working Group and the Testing Working Group, will be presented along with a timeline for the preparation of CMH-17, Volume 5.

design↗
DOE OSTI2023

Reference Station Design for Heavy-Duty Vehicles

Five alternative design configurations for a heavy-duty hydrogen refueling truck stop are detailed in this work. Each of the station concepts provides fast, 5-minute, 50 kg fills of up to 4 vehicles simultaneously, with a station capacity of 4200 kg/day. Two on-site production stations using PEM electrolysis are considered: one with off-peak production of the daily capacity; and one with on-demand production of hydrogen during vehicle refueling. Three delivered liquid hydrogen station concepts are considered: one with the same, high-pressure cascade storage system for dispensing as the electrolysis supplied stations, with low-pressure vaporization of the liquid hydrogen and pressurization via a compressor; and two with on-demand pressurization: one by low-pressure vaporization and compressors; and one with a cryogenic pump and high-pressure vaporization. Design, economic, and operational considerations for each of the components needed in these station concepts is provided. Of all the station concepts, the delivered liquid station with a low-pressure vaporizer and a cascade dispensing system has the lowest capital costs and equipment footprint, but the second highest operating costs primarily due to high costs for liquid hydrogen delivery. The lowest operating cost station is that with on-site production via PEM electrolysis at off-peak hours with a cascade delivery system. The low-pressure buffer storage system and electrolyzers have a large footprint and considerable capital costs, but could result in a low total cost of ownership, depending on the design timeline. The liquid hydrogen station with a cryo-pump has moderate capital costs, the lowest operating costs of the three delivered hydrogen stations, and the same small equipment footprint as the delivered liquid, cascade dispensing system. As cryogenic pumping technology improves and the capital costs for these pumps decreases, this station concept will become even more favorable. Three-dimensional renderings of the five station concepts provide station designers with a starting point for the development of heavy-duty refueling stations.

08 HYDROGEN↗
NASA NTRS2016

Composite Characterization Using Ultrasonic Wavefield Techniques

The large-scale use of composite components in aerospace applications is expected to continue due to the benefits of composite materials, such as reduced weight, increased strength, and tailorability. NASA's Advanced Composites Project (ACP) has the goals of reducing the timeline for certification of composite materials and enabling the expanded use of advanced composite materials. A key technical challenge area for accomplishing these goals is the need for nondestructive evaluation and materials characterization techniques that are optimized for rapid inspection and detailed defect/damage characterization in composite materials. This presentation will discuss ongoing research investigating the use of ultrasonic wavefield techniques for the characterization of defects such as fiber waviness and delamination damage. Ongoing work includes the development of realistic ultrasonic simulation tools for use in predicting the inspectability of composites and optimizing inspection methodologies. Recent studies on detecting/characterizing delamination damage and fiber waviness via wavefield methods will be described.

Leckey, Cara A. C.↗
NASA NTRSDate not supplied

Field Assessment of Sensorimotor Function Following Long-Duration Spaceflight

INTRODUCTION: Field assessments of functional task performance following long duration spaceflight are critical to characterize the risk associated with sensorimotor adaptation. A portable test battery involving sit-to-stand, prone-to-stand, walk and turn with obstacle, and tandem walking has been implemented during pre- and postflight testing to provide Sensorimotor Standard Measures that could be implemented in remote test locations. METHODS: To date, 19 astronauts (12 males, 7 females) participated in this study before and after 6–8-month expeditions to the International Space Station (198 ± 70 days, mean ±std). Ethics approvals were obtained, and all subjects provided informed consent. Tests were conducted preflight, within a few hours after landing, and then 1 day and 6–11 days later. Time to stability was the outcome measure for both standing tasks, time to completion and turn rate for the walk and turn task, and percent complete steps for the tandem walking (eyes open and closed). Statistical analyses included mixed effects (multi-level) generalized linear models. RESULTS: Consistent with previous Field Tests, significant effects of spaceflight were observed during the initial testing including longer times to stabilize posture when standing, longer times to complete the short obstacle walk, and fewer correct steps during tandem walking. The recovery timeline varied with task complexity, generally taking longer when either the basis of support was limited (e.g., tandem walk) and/or visual cues were deprived (eyes closed). DISCUSSION: These data suggest that additional sensorimotor-based countermeasures may be necessary to maintain functional performance during long-duration spaceflight. Maintaining core measures as new countermeasures are implemented during future missions will be instrumental in assessing their efficacy. This test battery will also serve as the basis for developing sensorimotor assessments during future space exploration.

Scott Jonathan Wood↗
NASA NTRS2025

OnAIR: Applications of The NASA On-Board Artificial Intelligence Research Platform

Infusing artificial intelligence algorithms into production aerospace systems can be challenging due to costs, timelines, and a risk averse industry. We introduce the Onboard Artificial Intelligence Research (OnAIR) platform, an open source software pipeline and cognitive architecture tool which enables full life cycle AI research for on-board intelligent systems. We begin a description and user walk-through of the OnAIR tool. Next we describe four use cases of OnAIR for both research and deployed onboard applications, detailing their use of OnAIR and the benefits it provided to development and function of each respective scenario. We conclude with remarks on future work, future planned deployments and goals for forward progression of OnAIR as a tool to enable larger AI and aerospace research community.

Cognitive Architecture↗
DOE OSTI2020

Process-Based Balance-of-System Cost Modeling for Offshore Wind Power Plants in the United States: Preprint

This work describes the development of a process based and open source balance of system cost model which provides the capability to evaluate both existing and novel offshore wind technologies. Individual design and installation steps are represented with bottom-up engineering models that compute the times and costs associated with the process; furthermore, operational constraints are assigned to each process so that delays due to weather and presence of marine mammals may be accounted for in the overall project timeline. The model structure, assumptions, inputs, and results are vetted with industry partners and compared against actual projects for validation; installation times are shown to agree with real data with relative errors of less than 35\%. Case studies are presented to demonstrate the functionality of the model. First, individual vessel efficiencies are computed for varying numbers of installation vessels and weather time series to show the diminishing returns of more than two feeder barges. Then, array cable capital costs and installation times are determined for a representative project with different turbine sizes. This quantifies the cost benefit tradeoffs of decreasing number of turbines, increased turbine spacing, and fewer turbine terminations and shows a net cost savings. These results demonstrate that the BOS model features the accuracy, functionality, and accessibility to serve as the foundation for a wide range of analyses to identify cost reduction potentials for offshore wind energy in the United States.

17 WIND ENERGY↗
NASA NTRS2012

Suitport Feasibility: Development and Test of a Suitport and Space Suit for Human Pressurized Space Suit Donning Tests

The suitport concept has been recently implemented as part of the small pressurized lunar rover (Currently the Space Exploration vehicle, or SEV) and the Multi-Mission Space Exploration Vehicle (MMSEV) concept demonstrator vehicle. Suitport replaces or augments the traditional airlock function of a spacecraft by providing a bulkhead opening, capture mechanism, and sealing system to allow ingress and egress of a space suit while the space suit remains outside of the pressurized volume of the spacecraft. This presents significant new opportunities to EVA exploration in both microgravity and surface environments. The suitport concept will enable three main improvements in EVA by providing reductions in: pre-EVA time from hours to less than thirty minutes; airlock consumables; contamination returned to the cabin with the EVA crewmember. To date, the first generation suitport has been tested with mockup suits on the rover cabins and pressurized on a bench top engineering unit. The work on the rover cabin has helped define the operational concepts and timelines, and has demonstrated the potential of suitport to save significant amounts of crew time before and after EVAs. The work with the engineering unit has successfully demonstrated the pressurizable seal concept including the ability to seal after the introduction and removal of contamination to the sealing surfaces. Using this experience, a second generation suitport was designed. This second generation suitport has been tested with a space suit prototype on the second generation MMSEV cabin, and testing is planned using the pressure differentials of the spacecraft. Pressurized testing will be performed using the JSC B32 Chamber B, a human rated vacuum chamber. This test will include human rated suitports, a suitport compatible prototype suit, and chamber modifications. This test will bring these three elements together in the first ever pressurized donning of a rear entry suit through a suitport. This paper presents the design of a human rated second generation suitport, the design of a suit capable of supporting pressurized human donning through a suitport, ambient pressure testing of the suit with the suitport, and modifications to the JSC human rated chamber B to accept a suitport. Design challenges and solutions, as well as compromises required to develop the system, are presented. Initial human testing results are presented.

Boyle, Robert M.↗