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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 631 records · Page 35
All sourcesNASA NTRSDOE OSTI
NASA NTRS2001

Satellite Retrieval of Atmospheric Water Budget over Gulf of Mexico- Caribbean Basin: Seasonal Variability

This study presents results from a multi-satellite/multi-sensor retrieval system designed to obtain the atmospheric water budget over the open ocean. A combination of hourly-sampled monthly datasets derived from the GOES-8 5 Imager and the DMSP 7-channel passive microwave radiometer (SSM/I) have been acquired for the Gulf of Mexico-Caribbean Sea basin. Whereas the methodology is being tested over this basin, the retrieval system is designed for portability to any open-ocean region. Algorithm modules using the different datasets to retrieve individual geophysical parameters needed in the water budget equation are designed in a manner that takes advantage of the high temporal resolution of the GOES-8 measurements, as well as the physical relationships inherent to the SSM/I passive microwave signals in conjunction with water vapor, cloud liquid water, and rainfall. The methodology consists of retrieving the precipitation, surface evaporation, and vapor-cloud water storage terms in the atmospheric water balance equation from satellite techniques, with the water vapor advection term being obtained as the residue needed for balance. Thus, we have sought to develop a purely satellite-based method for obtaining the full set of terms in the atmospheric water budget equation without requiring in situ sounding information on the wind profile. The algorithm is partly validated by first cross-checking all the algorithm components through multiple-algorithm retrieval intercomparisons. More fundamental validation is obtained by directly comparing water vapor transports into the targeted basin diagnosed from the satellite algorithm to those obtained observationally from a network of land-based upper air stations that nearly uniformly surround the basin. Total columnar atmospheric water budget results will be presented for an extended annual cycle consisting of the months of October-97, January-98, April-98, July-98, October-98, and January-1999. These results are used to emphasize the changing relationship in E-P, as well as in the varying roles of storage and advection in balancing E-P both on daily and monthly time scales and on localized and basin space scales. Results from the algorithm-to-algorithm intercomparisons will also be presented in the context of sensitivity testing to help understand the intrinsic uncertainties in the water budget terms.

Smith, Eric A.↗
NASA NTRS2004

Use of GOES, SSM/I, TRMM Satellite Measurements Estimating Water Budget Variations in Gulf of Mexico - Caribbean Sea Basins

This study presents results from a multi-satellite/multi-sensor retrieval system designed to obtain the atmospheric water budget over the open ocean. A combination of 3ourly-sampled monthly datasets derived from the GOES-8 5-channel Imager, the TRMM TMI radiometer, and the DMSP 7-channel passive microwave radiometers (SSM/I) have been acquired for the combined Gulf of Mexico-Caribbean Sea basin. Whereas the methodology has been tested over this basin, the retrieval system is designed for portability to any open-ocean region. Algorithm modules using the different datasets to retrieve individual geophysical parameters needed in the water budget equation are designed in a manner that takes advantage of the high temporal resolution of the GOES-8 measurements, as well as the physical relationships inherent to the TRMM and SSM/I passive microwave measurements in conjunction with water vapor, cloud liquid water, and rainfall. The methodology consists of retrieving the precipitation, surface evaporation, and vapor-cloud water storage terms in the atmospheric water balance equation from satellite techniques, with the water vapor advection term being obtained as the residue needed for balance. Thus, the intent is to develop a purely satellite-based method for obtaining the full set of terms in the atmospheric water budget equation without requiring in situ sounding information on the wind profile. The algorithm is validated by cross-checking all the algorithm components through multiple- algorithm retrieval intercomparisons. A further check on the validation is obtained by directly comparing water vapor transports into the targeted basin diagnosed from the satellite algorithms to those obtained observationally from a network of land-based upper air stations that nearly uniformly surround the basin, although it is fair to say that these checks are more effective m identifying problems in estimating vapor transports from a leaky operational radiosonde network than in verifying the transport estimates determined from the satellite algorithm system Total columnar atmospheric water budget results are presented for an extended annual cycle consisting of the months of October-97, January-98, April-98, July-98,October-98, and January 1999. These results are used to emphasize the changing relationship in E-P, as well as in the varying roles of storage and advection in balancing E-P both on daily and monthly time scales and on localized and basin space scales. Results from the algorithm-to-algorithm intercomparisons are also presented in the context of sensitivity testing to help understand the intrinsic uncertainties in evaluating the water budget terms by an all-satellite algorithm approach.

Smith, Eric A.↗
NASA NTRS2006

Monthly-Diurnal Water Budget Variability Over Gulf of Mexico-Caribbean Sea Basin from Satellite Observations

This study presents results from a multi-satellite/multi-sensor retrieval system design d to obtain the atmospheric water budget over the open ocean. A combination of hourly-sampled monthly datasets derived from the GOES-8 5-channel Imager, the TRMM TMI radiometer, and the DMSP 7-channel passive microwave radiometers (SSM/I) have been acquired for the combined Gulf of Mexico-Caribbean Sea basin. Whereas the methodology has been tested over this basin, the retrieval system is designed for portability to any open-ocean region. Algorithm modules using the different datasets to retrieve individual geophysical parameters needed in the water budget equation are designed in a manner that takes advantage of the high temporal resolution of the GOES-8 measurements, as well as the physical relationships inherent to the TRMM and SSM/I passive microwave measurements in conjunction with water vapor, cloud liquid water, and rainfall. The methodology consists of retrieving the precipitation, surface evaporation, and vapor-cloud water storage terms in the atmospheric water balance equation from satellite techniques, with the water vapor advection term being obtained as the residue needed for balance. Thus, the intent is to develop a purely satellite-based method for obtaining the full set of terms in the atmospheric water budget equation without requiring in situ sounding information on the wind profile. The algorithm is validated by cross-checking all the algorithm components through multiple-algorithm retrieval intercomparisons. A further check on the validation is obtained by directly comparing water vapor transports into the targeted basin diagnosed from the satellite algorithms to those obtained observationally from a network of land-based upper air stations that nearly uniformly surround the basin, although it is fair to say that these checks are more effective in identifying problems in estimating vapor transports from a "leaky" operational radiosonde network than in verifying the transport estimates determined from the satellite algorithm system. Total columnar atmospheric water budget results are presented for an extended annual cycle consisting of the months of October-97, January-98, April-98, July-98,October-98, and January- 1999. These results are used to emphasize the changing relationship in E-P, as well as in the varying roles of storage and advection in balancing E-P both on daily and monthly time scales and on localized and basin space scales. Results from the algorithm-to-algorithm intercomparisons are also presented in the context of sensitivity testing to help understand the intrinsic uncertainties in evaluating the water budget terms by an all-satellite algorithm approach.

Smith, E. A.↗
NASA NTRS2011

Camp Blanding Lightning Mapping Array

A seven station, short base-line Lightning Mapping Array was installed at the Camp Blanding International Center for Lightning Research and Testing (ICLRT) during April 2011. This network will support science investigations of Terrestrial Gamma-Ray Flashes (TGFs) and lightning initiation using rocket triggered lightning at the ICLRT. The network operations and data processing will be carried out through a close collaboration between several organizations, including the NASA Marshall Space Flight Center, University of Alabama in Huntsville, University of Florida, and New Mexico Tech. The deployment was sponsored by the Defense Advanced Research Projects Agency (DARPA). The network does not have real-time data dissemination. Description, status and plans will be discussed.

Blakeslee,Richard↗
NASA NTRS2012

Affordability Approaches for Human Space Exploration

The design and development of historical NASA Programs (Apollo, Shuttle and International Space Station), have been based on pre-agreed missions which included specific pre-defined destinations (e.g., the Moon and low Earth orbit). Due to more constrained budget profiles, and the desire to have a more flexible architecture for Mission capture as it is affordable, NASA is working toward a set of Programs that are capability based, rather than mission and/or destination specific. This means designing for a performance capability that can be applied to a specific human exploration mission/destination later (sometime years later). This approach does support developing systems to flatter budgets over time, however, it also poses the challenge of how to accomplish this effectively while maintaining a trained workforce, extensive manufacturing, test and launch facilities, and ensuring mission success ranging from Low Earth Orbit to asteroid destinations. NASA Marshall Space Flight Center (MSFC) in support of Exploration Systems Directorate (ESD) in Washington, DC has been developing approaches to track affordability across multiple Programs. The first step is to ensure a common definition of affordability: the discipline to bear cost in meeting a budget with margin over the life of the program. The second step is to infuse responsibility and accountability for affordability into all levels of the implementing organization since affordability is no single person s job; it is everyone s job. The third step is to use existing data to identify common affordability elements organized by configuration (vehicle/facility), cost, schedule, and risk. The fourth step is to analyze and trend this affordability data using an affordability dashboard to provide status, measures, and trends for ESD and Program level of affordability tracking. This paper will provide examples of how regular application of this approach supports affordable and therefore sustainable human space exploration architecture.

Holladay, Jon↗
NASA NTRS2015

Climate Variability Drives Plankton Community Composition Changes: the 2010-2011 El Nino to La Nina Transition Around Australia

The strong La Nina of 2010-2011 provided an opportunity to investigate the ecological impacts of El Nino-Southern Oscillation on coastal plankton communities using the nine national reference stations around Australia. Based on remote sensing and across the entire Australian region 2011 (La Nina) was only modestly different from 2010 (El Nino) with the average temperature declining 0.2 percent surface chlorophyll a up 3 percent and modelled primary production down 14 percent. Other changes included a poleward shift in Prochlorococcus and Synechococcus. Along the east coast, there was a reduction in salinity, increase in nutrients, Chlorophytes and Prasinophytes (taxa with chlorophyll b, neoxanthin and prasinoxanthin). The southwest region had a rise in the proportion of 19-hexoyloxyfucoxanthin; possibly coccolithophorids in eddies of the Leeuwin Current and along the sub-tropical front. Pennate diatoms increased, Ceratium spp. decreased and Scrippsiella spp. increased in 2011. Zooplankton biomass declined significantly in 2011. There was a reduction in the abundance of Calocalanus pavo and Temora turbinata and increases in Clausocalanus farrani, Oncaea scottodicarloi and Macrosetella gracilis in 2011. The changes in the plankton community during the strong La Nina of 2011 suggest that this climatic oscillation exacerbates the tropicalization of Australia.

phytoplankton↗
NASA NTRS2015

The Life Cycle Cost (LCC) of Life Support Recycling and Resupply

Brief human space missions supply all the crew's water and oxygen from Earth. The multiyear International Space Station (ISS) program instead uses physicochemical life support systems to recycle water and oxygen. This paper compares the Life Cycle Cost (LCC) of recycling to the LCC of resupply for potential future long duration human space missions. Recycling systems have high initial development costs but relatively low durationdependent support costs. This means that recycling is more cost effective for longer missions. Resupplying all the water and oxygen requires little initial development cost but has a much higher launch mass and launch cost. The cost of resupply increases as the mission duration increases. Resupply is therefore more cost effective than recycling for shorter missions. A recycling system pays for itself when the resupply LCC grows greater over time than the recycling LCC. The time when this occurs is called the recycling breakeven date. Recycling will cost very much less than resupply for long duration missions within the Earth-Moon system, such as a future space station or Moon base. But recycling would cost about the same as resupply for long duration deep space missions, such as a Mars trip. Because it is not possible to provide emergency supplies or quick return options on the way to Mars, more expensive redundant recycling systems will be needed.

recycling↗
NASA NTRS2016

The Laser Ranging Experiment of the Lunar Reconnaissance Orbiter: Five Years of Operations and Data Analysis

We describe the results of the Laser Ranging (LR) experiment carried out from June 2009 to September 2014 in order to make one-way time-of-flight measurements of laser pulses between Earth-based laser ranging stations and the Lunar Reconnaissance Orbiter (LRO) orbiting the Moon. Over 4,000 hours of successful LR data are obtained from 10 international ground stations. The 20-30 centimeter precision of the full-rate LR data is further improved to 5-10 centimeter after conversion into normal points. The main purpose of LR is to utilize the high accuracy normal point data to improve the quality of the LRO orbits, which are nomi- nally determined by the radiometric S-band tracking data. When independently used in the LRO precision orbit determination process with the high-resolution GRAIL (Gravity Recovery and Interior Laboratory) gravity model, LR data provide good orbit solutions, with an average difference of approximately 50 meters in total position, and approximately 20 centimeters in radial direction, compared to the definitive LRO trajectory. When used in combination with the S-band tracking data, LR data help to improve the orbit accuracy in the radial direction to approximately 15 centimeters. In order to obtain highly accurate LR range measurements for precise orbit determination results, it is critical to closely model the behavior of the clocks both at the ground stations and on the spacecraft. LR provides a unique data set to calibrate the spacecraft clock. The LRO spacecraft clock is characterized by the LR data to a timing knowledge of 0.015 milliseconds over the entire 5 years of LR operation. We here present both the engineering setup of the LR experiments and the detailed analysis results of the LR data.

Mao, Dandan↗
NASA NTRS2017

The Effect of Fatty Acids to Protect Forward Osmosis Membranes from Damage

NASA has conducted research and development on forward osmosis (FO) membranes for wastewater reclamation in space since 1993. The lessons learned during operation of the International Space Station and FO based technologies on the ground taught us that reliability is a key limitation. Membranes are susceptible to organic fouling, oxidation and calcium scaling, and these factors tend to damage the membrane reducing their operating life and performance. The development of a Synthetic Biological Membrane (SBM), a membrane that mimics naturally occurring biological processes, will mitigate membrane damage and improve reliability. The SBM is a lipid-based membrane with a protective fatty acid layer configured for use in a FO water purification system. In this configuration, the protective layer on the surface of the lipid membrane is composed of fatty acids (FA). The FA interact with the chemicals found in the wastewater feed, and protect the membrane from damage. In this study, we conducted preliminary experiments to determine the feasibility of using fatty acids to alleviate damage from calcium scaling, oxidation and organic fouling.

Romero Mangado, Jaione↗
NASA NTRS2017

Axiomatic Design of Space Life Support Systems

Systems engineering is an organized way to design and develop systems, but the initial system design concepts are usually seen as the products of unexplained but highly creative intuition. Axiomatic design is a mathematical approach to produce and compare system architectures. The two axioms are:- Maintain the independence of the functional requirements.- Minimize the information content (or complexity) of the design. The first axiom generates good system design structures and the second axiom ranks them. The closed system human life support architecture now implemented in the International Space Station has been essentially unchanged for fifty years. In contrast, brief missions such as Apollo and Shuttle have used open loop life support. As mission length increases, greater system closure and increased recycling become more cost-effective.Closure can be gradually increased, first recycling humidity condensate, then hygiene wastewater, urine, carbon dioxide, and water recovery brine. A long term space station or planetary base could implement nearly full closure, including food production. Dynamic systems theory supports the axioms by showing that fewer requirements, fewer subsystems, and fewer interconnections all increase system stability. If systems are too complex and interconnected, reliability is reduced and operations and maintenance become more difficult. Using axiomatic design shows how the mission duration and other requirements determine the best life support system design including the degree of closure.

Axiomatic design↗
NASA NTRS2020

Evaluation of Performance, Fatigue and Workload during Real-time, Reactive Telerobotic Mission Control Operations

Telerobotic operations involve a user operating a robot from a different location from where the activity is taking place. It can be difficult for humans to maintain performance when faced with physiological stressors, such as fatigue or illness. Operations require vigilance for extended periods, raising safety concerns surrounding operator’s fatigue and workload. Every hour of wakefulness increases the drive to sleep, causing decreased reaction time (RT), increased lapses in attention (RT > 500 ms), and decreased memory capability. The NASA Task Load Index (NASA-TLX) was created to evaluate the multiple attributes surrounding workload (e.g., mental and physical demands). The upcoming Volatiles Investigating Polar Exploration Rover (VIPER) mission involves remotely controlling a lunar vehicle from an Earth-based mission control station. The goal of VIPER is to excavate the moon for volatiles (water) deep in the surface near the South Pole for a 100-day, continuous operation.

Fatigue↗
NASA NTRSDate not supplied

Evaluation of Performance, Fatigue and Workload During Real-time, Reactive Telerobotic Mission Control Operations

Real-time, reactive telerobotic mission control operations require personnel to actively operate and manage remotely controlled vehicles or robots in real time. Due to the physical separation of the vehicle from the operator, such operations present many additional factors that can influence fatigue (i.e., degraded mental performance) and workload (i.e., mental and physical cost of task requirements), making it difficult to assess how long an individual can safely and accurately conduct operations. The upcoming Volatiles Investigating Polar Exploration Rover (VIPER) mission involves remotely controlling a lunar vehicle from an Earth-based mission control station. METHODS: In order to determine how long personnel could successfully maintain alertness and performance while operating a rover, we studied seven trained operators (i.e., 5 drivers, 2 real-time scientists) in a simulated mission control environment. We further assessed workload in order to determine whether perceived workload levels would change relative to time on task and by time of day. Operators completed two five-hour simulations in a randomized order, beginning at noon and at midnight. Performance was evaluated every 30 minutes using the psychomotor vigilance task (PVT), Karolinska Sleepiness Scale (KSS), and NASA Task Load Index (NASA-TLX). RESULTS: On average, participants rated themselves as sleepier (5.06 ± 2.28) on the night drives compared to the day drives (3.12 ± 1.44; P < .0001). Workload was rated higher during the day drives (37.93 ± 20.09) compared to night (32.09 ± 21.74; P < .01). Lastly, participants had no change in average reaction time between the two drives. CONCLUSIONS: From the analysis, we observed performance began to degrade after approximately three hours of driving. Our findings suggest that rotating drivers at least every three hours would be prudent to allow for breaks, and to minimize performance degradation, particularly during night shifts.

fatigue↗
NASA NTRS2017

Discovery Deep Space Optical Communications (DSOC) transceiver

NASA’s 22 cm diameter Deep Space Optical Communications (DSOC) Transceiver is designed to provide a bi-directional optical link between a spacecraft in the inner solar system and an Earth-based optical ground station. This design, optimized for operation across a wide range of illumination conditions, is focused on minimizing blinding from stray light, and providing reliable, accurate attitude information to point its narrow communication beam accurately to the future location of the ground terminal. Though our transceiver will transmit in the 1550 nm waveband and receive in the 1064 nm waveband, the system design relies heavily on reflective optical elements, extending flexibility to be modified for use at different wavebands. The design makes use of common path propagation among transmit, receive and pointing verification optical channels to maintain precise alignment among its components, and to naturally correct for element misalignment resulting from launch or thermal element perturbations. This paper presents the results of trade studies showing the evolution of the design, unique operational characteristics of the design, elements that help to maintain minimal stray light contamination, and preliminary results from development and initial testing of a functional aluminum test model.

Roberts, W. Thomas↗
NASA NTRSDate not supplied

Geostationary Satellite Observations Over Global Environmental Monitoring Sites

Globally, there are now hundreds of ground-based environmental monitoring stations routinely collecting data on a variety of earth-atmosphere interactions. Such observations are also being augmented with data from orbiting satellites. With the beginning of the EOS-era, the MODIS subset around flux towers has been frequently used for validating ecosystem models developed at flux towers and upscaling the observed flux data to regional scales. However, MODIS on the polar-orbiting satellites can observe target regions only once a day, while the Fluxnet eddy- covariance data are compiled as sub-hourly. Therefore, summarizing the sub-hourly flux data into daily statistics is necessary for the comparison between MODIS and Flux data. The new generation geostationary satellite sensors (GOES-16/17 ABI and Himawari-8/9 AHI) have capabilities similar to MODIS but collect data at 5-15 minute intervals. These high-frequency observations allow us to understand and scale diurnal fluxes. Some studies have already shown the effective utilization of time series of geostationary satellite data for ecosystem modeling. We are producing NEX Level-1G products, which are gridded Top-of-Atmosphere reflectance and brightness temperature data from geostationary satellite sensors. We cut out the NEX Level-1G data using the same file format with the MODIS subset except for the projection. The other data products (e.g., surface reflectance, land surface temperature, vegetation indices, and climate data) will be added upon their availability. Currently included networks are Fluxnet, PhenoCam, and AERONET. The NEX subset data will be provided through NASA NEX data portal.

Geostationary Satellites↗
NASA NTRSDate not supplied

Probability of Obstacle Collision for UAVs in Presence of Wind

For incorporation of unmanned aerial vehicles into the National Airspace, ensuring safety of the airspace including the vehicles, people, and property on the ground is of utmost importance. One of the safety-critical factors for unmanned aviation flights is the risk of deviating from a planned trajectory resulting in a variety of hazards, including potential loss of separation between vehicle and obstacles or unexpected battery energy consumption. Off-nominal conditions introduced by component failures, degraded controllability and environmental disturbances such as wind gusts can lead to unacceptable unexpected deviations from the flight trajectory. It is essential to accurately model such effects on the flight trajectory while computing safety thresholds such as minimum separation from surrounding obstacles, available battery resource to complete the mission or determining delay in the expected time of arrival of flights. In this paper, a tool is presented based on Gaussian Process Regression for wind representation over a pre-defined trajectory for fast, yet approximated, in-time evaluation of possible trajectory deviations caused by wind gusts. The deviation in the planned trajectory caused by wind is further simulated utilizing a 6 degrees-of-freedom (DOF) UAV trajectory simulator comprising of a rotorcraft lumped-mass model with LQRI controller. Both steady-state wind and wind gust effects are investigated. The probability of collision with obstacle is computed and demonstrated on real flight data from experimental flights of an octocopter at NASA Langley Research Center in the presence of simulated obstacles and wind conditions. Effect of varying wind conditions and varying UAV airspeed is further demonstrated on experimental flights in the presence of wind measured by ground based weather service stations. The proposed approach would eventually benefit timely mitigation of current and future safety-critical events in autonomous systems by enabling risk-informed decision making.

Portia Banerjee↗
DOE OSTI2025

A study on dc fault handling of dc-dc converter based on series and parallel connected DABs in MVdc applications

With the increase of direct current (dc) based power generating stations and loads, multi-terminal medium voltage dc (MT-MVdc) systems are gaining popularity. The dc sources and loads are interfaced with the MT-MVdc systems using series and parallel connected dual-active-bridge (SP-DAB). In this paper, the dc fault ride through procedure of SP-DAB meant for MT-MVdc application is analyzed. The need for dc breaker (DCB) under the requirements of MT-MVdc is established through EMT simulation studies. It is shown that an additional dc filter capacitor is essential at the output terminals of the SP-DAB to ride through the dc faults.

Jaldanki, Sreenivasa [ORNL] (ORCID:000000028122322↗
NASA NTRS1976

A demonstration of an independent-station radio interferometry system with 4-cm precision on a 16-km base line

Radio interferometry promises eventually to measure directly, with accuracies of a few centimeters, both whole earth motions and relative crustal motions with respect to an 'inertial' reference frame. Interferometry measurements of arbitrarily long base lines require, however, the development of new techniques for independent-station observation. In connection with the development of such techniques, a series of short base line demonstration experiments has been conducted between two antennas. The experiments were related to a program involving the design of independent-station instrumentation capable of making three-dimensional earth-fixed base line measurements with an accuracy of a few centimeters. Attention is given to the instrumentation used in the experiments, aspects of data analysis, and the experimental results.

Thomas, J. B.↗
NASA NTRS2007

Evolution of the Space Station Robotic Manipulator

The Space Station Remote Manipulator System (SSRMS), Canadarm2, was launched in 2001 and deployed on the International Space Station (ISS). The Canadarm2 has been instrumental in ISS assembly and maintenance. Canadarm2 shares its heritage with the Space Shuttle Arm (Canadarm). This article explores the evolution from the Shuttle Canadarm to the Space Station Canadarm2 design, which incorporates a 7 degree of freedom design, larger joints, and changeable operating base. This article also addresses phased design, redundancy, life and maintainability requirements. The design of Canadarm2 meets unique ISS requirements, including expanded handling capability and the ability to be maintained on orbit. The size of ISS necessitated a mobile manipulator, resulting in the unique capability of Canadarm2 to relocate by performing a walk off to base points located along the Station, and interchanging the tip and base of the manipulator. This provides the manipulator with reach and access to a large part of the Station, enabling on-orbit assembly of the Station and providing support to Extra-Vehicular Activity (EVA). Canadarm2 is evolving based on on-orbit operational experience and new functionality requirements. SSRMS functionality is being developed in phases to support evolving ISS assembly and operation as modules are added and the Station becomes more complex. Changes to sustaining software, hardware architecture, and operations have significantly enhanced SSRMS capability to support ISS mission requirements. As a result of operational experience, SSRMS changes have been implemented for Degraded Joint Operations, Force Moment Sensor Thermal Protection, Enabling Ground Controlled Operations, and Software Commutation. Planned Canadarm2 design modifications include: Force Moment Accommodation, Smart Safing, Separate Safing, and Hot Backup. In summary, Canadarm2 continues to evolve in support of new ISS requirements and improved operations. It is a tribute to the design that this evolution can be accomplished while conducting critical on-orbit operations with minimal hardware changes.

Razvi, Shakeel↗