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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 649 records · Page 36
All sourcesNASA NTRSDOE OSTI
NASA NTRS1992

Robustness of solutions to a benchmark control problem

The robustness of 10 solutions to a benchmark control design problem presented at the 1990 American Control Conference has been evaluated. The 10 controllers have second-to-eighth-order transfer functions and have been designed using several different methods, including H-infinity optimization, loop-transfer recovery, imaginary-axis shifting, constrained optimization, structured covariance, game theory, and the internal model principle. Stochastic robustness analysis quantifies the controllers' stability and performance robustness with structured uncertainties in up to six system parameters. The analysis provides insights into system response that are not readily derived from other robustness criteria and provides a common ground for judging controllers produced by alternative methods. One important conclusion is that gain and phase margins are not reliable indicators of the probability of instability. Furthermore, parameter variations actually may improve the likelihood of achieving selected performance metrics, as demonstrated by results for the probability of settling-time exceedance.

Stengel, Robert F.↗
NASA NTRS2012

Doppler Lidar Sensor for Precision Landing on the Moon and Mars

Landing mission concepts that are being developed for exploration of planetary bodies are increasingly ambitious in their implementations and objectives. Most of these missions require accurate position and velocity data during their descent phase in order to ensure safe soft landing at the pre-designated sites. To address this need, a Doppler lidar is being developed by NASA under the Autonomous Landing and Hazard Avoidance (ALHAT) project. This lidar sensor is a versatile instrument capable of providing precision velocity vectors, vehicle ground relative altitude, and attitude. The capabilities of this advanced technology have been demonstrated through two helicopter flight test campaigns conducted over a vegetation-free terrain in 2008 and 2010. Presently, a prototype version of this sensor is being assembled for integration into a rocket-powered terrestrial free-flyer vehicle. Operating in a closed loop with vehicle's guidance and navigation system, the viability of this advanced sensor for future landing missions will be demonstrated through a series of flight tests in 2012.

Amzajerdian, Farzin↗
NASA NTRS2013

Evaluation of the Terminal Sequencing and Spacing System for Performance Based Navigation Arrivals

NASA has developed the Terminal Sequencing and Spacing (TSS) system, a suite of advanced arrival management technologies combining timebased scheduling and controller precision spacing tools. TSS is a ground-based controller automation tool that facilitates sequencing and merging arrivals that have both current standard ATC routes and terminal Performance-Based Navigation (PBN) routes, especially during highly congested demand periods. In collaboration with the FAA and MITRE's Center for Advanced Aviation System Development (CAASD), TSS system performance was evaluated in human-in-the-loop (HITL) simulations with currently active controllers as participants. Traffic scenarios had mixed Area Navigation (RNAV) and Required Navigation Performance (RNP) equipage, where the more advanced RNP-equipped aircraft had preferential treatment with a shorter approach option. Simulation results indicate the TSS system achieved benefits by enabling PBN, while maintaining high throughput rates-10% above baseline demand levels. Flight path predictability improved, where path deviation was reduced by 2 NM on average and variance in the downwind leg length was 75% less. Arrivals flew more fuel-efficient descents for longer, spending an average of 39 seconds less in step-down level altitude segments. Self-reported controller workload was reduced, with statistically significant differences at the p less than 0.01 level. The RNP-equipped arrivals were also able to more frequently capitalize on the benefits of being "Best-Equipped, Best- Served" (BEBS), where less vectoring was needed and nearly all RNP approaches were conducted without interruption.

terminal sequencing↗
NASA NTRS2021

Near-Optimum Real-Time Range Estimation Algorithms for Proximity Links

The renewed interest in space exploration and cis-lunar situational awareness demands accurate ranging algorithms to enable navigation solutions for a multitude of spacecraft, rovers, and human explorers on the Moon and even on Mars, in the near future. Current state-of-the-art in ground-based ranging accuracy is on the order of 30 cm, however complicated equipment calibration and significant post-processing is required to achieve this level of ranging accuracy. This article examines ad-hoc approaches that achieve near-optimum real-time ranging performance with reduced complexity by utilizing a DPLL (digital phase-locked loop) to track the phase of the residual carrier for both direct and subcarrier modulated PN sequences, and a DCL (digital Costas loop) to obtain independent estimates of carrier phase and optimal combinations of these implementations to achieve near-optimum real-time performance with reduced computational complexity.

Cheung, Kar-Ming↗
DOE OSTI2026

TEM Approaches for Microstructure-Informed Prediction of Mechanical Properties in Structural Alloys

Predicting the mechanical performance of structural alloys from their evolving microstructure remains a major challenge in materials science, particularly for nuclear structural materials, where irradiation-induced defects span multiple types and length scales and interact through complex mechanisms. The dispersed barrier hardening (DBH) [1] and Friedel–Kroupa–Hirsch (FKH) [2,3] models have been widely used to evaluate the hardening contributions of individual obstacles and to estimate tensile strength from quantified microstructures; however, when multiple size-dependent obstacles coexist and evolve, predicting temperature-dependent tensile strength becomes significantly more complex, and a fully consistent hardening model is still lacking. Transmission electron microscopy (TEM) plays a central role in refining hardening models and enabling predictive assessments of tensile strength evolution by providing quantitative characterization of dislocations, irradiation-induced defects (e.g., dislocation loops and cavities), precipitates, and grain structure (Fig. 1.). These experimentally measured defect densities are incorporated into physically based hardening models with size- and shape- dependent obstacle strengths [4], using root-sum-square superposition for obstacles of comparable strength and linear superposition for dissimilar ones [5]. In addition, recent advances in TEM [6-8], including high-resolution imaging, 4D-STEM strain mapping, EDS/EELS elemental analysis, and flash-polishing-based TEM specimen preparation and extraction-replica methods (Fig. 2), further improve the accuracy of microstructural quantification. By comparison with prior studies as well as our own results, we show that when TEM-derived microstructural information is carefully integrated with physically grounded hardening models, yield strength (or irradiation-induced hardening) measured at room temperature can be predicted with good quantitative agreement across multiple alloy classes. In-situ TEM combined with high-temperature mechanical testing represents an important next step for refining hardening models by directly probing dislocation–obstacle interactions across varying irradiation doses and temperatures [9]. Because the barrier strength factor (α) depends on both temperature and obstacle size, it should not be treated as a constant fitting parameter; rather, it must be explicitly evaluated to achieve physically meaningful predictions of mechanical behaviour at operating temperatures. This presentation therefore discusses why all strengthening contributions (e.g., Peierls stress, solid-solution strengthening, voids, bubbles, dislocation loops, dislocation lines, and grain boundaries) must be considered collectively, why appropriate superposition methods are essential when obstacles possess different barrier strength factors, how hardness measurements can be meaningfully related to tensile properties, and how TEM-derived microstructural information can be systematically incorporated into hardening models. More broadly, it outlines a pathway toward microstructure-informed prediction of mechanical properties and supports the goal of establishing science-based tools for evaluating structural materials in extreme environments [10].

Lin, Yan-Ru [ORNL] (ORCID:0000000339991473)↗
NASA NTRS1978

Integrated source and channel encoded digital communication system design study

The particular Ku-band carrier, PN despreading, and symbol synchronization strategies, which were selected for implementation in the Ku-band transponder aboard the orbiter, were assessed and evaluated from a systems performance viewpoint, verifying that system specifications were met. A study was performed of the design and implementation of tracking techniques which are suitable for incorporation into the Orbiter Ku-band communication system. Emphasis was placed on maximizing tracking accuracy and communication system flexibility while minimizing cost, weight, and system complexity of Orbiter and ground systems hardware. The payload communication study assessed the design and performance of the forward link and return link bent-pipe relay modes for attached and detached payloads. As part of this study, a design for a forward link bent-pipe was proposed which employs a residual carrier but which is tracked by the existing Costas loop.

Alem, W. K.↗
NASA NTRS2016

Effects of Transparency on Pilot Trust and Agreement in the Autonomous Constrained Flight Planner

We performed a human-in-the-loop study to explore the role of transparency in engendering trust and reliance within highly automated systems. Specifically, we examined how transparency impacts trust in and reliance upon the Autonomous Constrained Flight Planner (ACFP), a critical automated system being developed as part of NASA's Reduced Crew Operations (RCO) Concept. The ACFP is designed to provide an enhanced ground operator, termed a super dispatcher, with recommended diversions for aircraft when their primary destinations are unavailable. In the current study, 12 commercial transport rated pilots who played the role of super dispatchers were given six time-pressured all land scenarios where they needed to use the ACFP to determine diversions for multiple aircraft. Two factors were manipulated. The primary factor was level of transparency. In low transparency scenarios the pilots were given a recommended airport and runway, plus basic information about the weather conditions, the aircraft types, and the airport and runway characteristics at that and other airports. In moderate transparency scenarios the pilots were also given a risk evaluation for the recommended airport, and for the other airports if they requested it. In the high transparency scenario additional information including the reasoning for the risk evaluations was made available to the pilots. The secondary factor was level of risk, either high or low. For high-risk aircraft, all potential diversions were rated as highly risky, with the ACFP giving the best option for a bad situation. For low-risk aircraft the ACFP found only low-risk options for the pilot. Both subjective and objective measures were collected, including rated trust, whether the pilots checked the validity of the automation recommendation, and whether the pilots eventually flew to the recommended diversion airport. Key results show that: 1) Pilots trust increased with higher levels of transparency, 2) Pilots were more likely to verify ACFPs recommendations with low levels of transparency and when risk was high, 3) Pilots were more likely to explore other options from the ACFP in low transparency conditions and when risk was high, and 4) Pilots decision to accept or reject ACFPs recommendations increased as a function of the transparency in the explanation. The finding that higher levels of transparency was coupled with higher levels of trust, a lower need to verify other options, and higher levels of agreement with ACFP recommendations, confirms the importance of transparency in aiding reliance on automated recommendations. Additional analyses of qualitative data gathered from subjects through surveys and during debriefing interviews also provided the basis for new design recommendations for the ACFP.

trust↗
NASA NTRS1972

Flight-test experience in digital control of a remotely piloted vehicle.

The development of a remotely piloted vehicle system consisting of a remote pilot cockpit and a ground-based digital computer coupled to the aircraft through telemetry data links is described. The feedback control laws are implemented in a FORTRAN program. Flight-test experience involving high feedback gain limits for attitude and attitude rate feedback variables, filtering of sampled data, and system operation during intermittent telemetry data link loss is discussed. Comparisons of closed-loop flight tests with analytical calculations, and pilot comments on system operation are included.

Edwards, J. W.↗
NASA NTRS1993

Comparative study of x ray and microwave emissions during solar flares

The work supported by the grant consisted of two projects. The first project involved making detailed case studies of two flares using SMM data in conjunction with ground based observations. The first flare occurred at 1454 UT on June 20, 1989 and involved the eruption of a prominence near the limb. In the study we used data from many wavelength regimes including the radio, H-alpha, hard X-rays, and soft X-rays. We used a full gyrosynchrotron code to model the apparent presence of a 1.4 GHz source early in the flare that was in the form of a large coronal loop. The model results lead us to conclude that the initial acceleration occurs in small, dense loops which also produced the flare's hard X-ray emission. We also found evidence that a source at 1.4 GHz later in the event was due to second harmonic plasma emission. This source was adjacent to a leg of the prominence and comes from a dense column of material in the magnetic structure supporting the prominence. Finally, we investigated a source of microwaves and soft X-rays, occurring approximately 10 min after the hard X-ray peak, and calculate a lower limit for the density of the source. The second flare that was studied occurred at 2156 UT on June 20, 1989 and was observed with the VLA and the Owens Valley Radio Observatory (OVRO) Frequency Agile Array. We have developed a gyrosynchrotron model of the sources at flare peak using a new gyrosynchrotron approximation which is valid at very low harmonics of the gyrofrequency. We found that the accelerated particle densities of the sources decreased much more with radius from the source center than had been supposed in previous work, while the magnetic field varied less. We also used the available data to analyze a highly polarized source which appeared late in the flare. The second project involved compiling a statistical base for the relative timing of the hard X-ray peak, the turbulent and blue-shift velocities inferred from soft X-ray line emissions observed by SMM and the microwave peak as determined from ground-based observations. This timing was then used to aid the testing of newly developed global models for flares that incorporate the global magnetic topology as well as the electron dynamics that are responsible for the hard X-rays and microwaves.

Winglee, Robert M.↗
DOE OSTI2019

Up to a Sign. The Insidious Effects of Energetically Inaccessible Conical Intersections on Unimolecular Reactions

It is well established that conical intersections play an essential role in nonadiabatic radiationless decay where their double-cone topography causes them to act as efficient funnels channeling wave packets from the upper to the lower adiabatic state. Until recently, little attention was paid to the effect of conical intersections on dynamics on the lower state, particularly when the total energy involved is significantly below that of the conical intersection seam. This energetic deficiency is routinely used as a sufficient condition to exclude consideration of excited states in ground state dynamics. In this account, we show that, this energy criterion notwithstanding, energy inaccessible conical intersections can and do exert significant influence on lower state dynamics. The origin of this influence is the geometric phase, a signature property of conical intersections, which is the fact that the real-valued electronic wave function changes sign when transported along a loop containing a conical intersection, making the wave function double-valued. This geometric phase is permitted by an often neglected property of the real-valued adiabatic electronic wave function; namely, it is determined only up to an overall sign. Noting that in order to change sign a normalized, continuous function must go through zero, for loops of ever decreasing radii, demonstrating the need for an electronic degeneracy (intersection) to accompany the geometric phase. Since the total wave function must be single-valued a compensating geometry dependent phase needs to be included in the total electronic-nuclear wave function. This Account focuses on how this consequence of the geometric phase can modify nuclear dynamics energetically restricted to the lower state, including tunneling dynamics, in directly measurable ways, including significantly altering tunneling lifetimes, thus confounding the relation between measured lifetimes and barrier heights and widths, and/or completely changing product rotational distributions.

37 INORGANIC, ORGANIC, PHYSICAL, AND ANALYTICAL CH↗
DOE OSTI2024

Demonstrating autonomous controls on hardware test beds is a necessity for successful missions to Mars and beyond

NASA and the Department of Defense are planning for a mission to Mars in the 2030s–2040s using nuclear thermal propulsion (NTP). NTP uses a nuclear reactor to heat flowing hydrogen and create thrust. A serious concern for crewed and uncrewed missions to Mars is the loss of reactor control. The reactor startup and initial rocket impulse are initiated in cislunar or near-earth orbital regions; therefore, radio communications between ground control and the NTP engine should occur in real time. However, radio communications can take more than 20 min, depending on planet positions, to reach Mars orbiters from ground control. To address this delay, local autonomous controls are implemented onboard the NTP engine to ensure acceptable operation. However, autonomous controls have not been demonstrated or implemented in research or power reactor contexts because of safety and reliability concerns. To enable autonomous controls development, demonstration, and validation, Oak Ridge National Laboratory has created a nonnuclear hardware-in-the-loop test bed. Sensors throughout the test bed relay system status and hardware response to the user control algorithm, including measurements of temperature, flow, pressure of a loop, control drum position, and drum speed. This paper discusses the development of this facility and user accessibility.

33 ADVANCED PROPULSION SYSTEMS↗
NASA NTRS1982

Numerical and flight simulator test of the flight deterioration concept

Manned flight simulator response to theoretical wind shear profiles was studied in an effort to calibrate fixed-stick and pilot-in-the-loop numerical models of jet transport aircraft on approach to landing. Results of the study indicate that both fixed-stick and pilot-in-the-loop models overpredict the deleterious effects of aircraft approaches when compared to pilot performance in the manned simulator. Although the pilot-in-the-loop model does a better job than does the fixed-stick model, the study suggests that the pilot-in-the-loop model is suitable for use in meteorological predictions of adverse low-level wind shear along approach and departure courses to identify situations in which pilots may find difficulty. The model should not be used to predict the success or failure of a specific aircraft. It is suggested that the pilot model be used as part of a ground-based Doppler radar low-level wind shear detection and warning system.

Mccarthy, J.↗
NASA NTRS1998

Enhancement of Aircraft Ground Handling Simulation Capability

This report is a guide to methods of representing in a flight simulator, the stability and control of an aircraft on the ground. It updates an earlier publication, AGARDograph 285, in the light of simulation technology improvements over a ten year period. Emphasis is placed on the modeling of the vehicle dynamics, and on the modeling of the tire forces generated by the runway surface. Areas are identified where some current simulators are deficient. The different needs of pilot-in-the-loop and non-real-time simulations are discussed, and topics for further research are identified.

Barnes, A. G.↗
NASA NTRS1998

An Operational Concept for Flying FMS Trajectories in Center and TRACON Airspace

Current Flight Management Systems (FMS) do a good job of constructing and flying an optimal trajectory for a single aircraft. Unfortunately, flight crews are often unable to fly these FMS routes during arrivals at busy airports. The Center TRACON Automation System (CTAS) has been designed to aid Center and TRACON (Terminal Radar Approach Control) controllers in assigning runways, sequencing and vectoring all classes of aircraft. CTAS bases its advisories on trajectory predictions for arriving aircraft using algorithms very similar to those in airborne FMS systems. This paper presents near and far term operational concepts for how a ground ATM (air traffic management) automation system like CTAS could work more effectively with the airborne automation in FMS equipped aircraft. The concepts for a more compatible air-ground system include: 1) a common route databases for both CTAS and FMS; 2) datalink to downlink information on aircraft weight, final approach speed and trajectory intent and to uplink wind information; 3) new FMS functions to allow flight crews to easily update their FMS trajectory to match the trajectory suggested by the ground automation with voice clearances, and 4) in the far term, datalink to downlink user preferred trajectories and to uplink trajectory clearances in the terminal area. The paper analyses some of the human factors issues that may result in allowing aircraft to fly FMS routes during enroute descent and in the terminal area. A series of linked human in the loop flight deck and air traffic control simulations and a field test with the NASA 757 are being conducted at NASA's Ames and Langley Research Centers to address these issues and to evaluate the operational feasibility of these approaches to more efficient flight and increased airport throughput.

Palmer, Everett↗
NASA NTRS2014

Use of Semi-Autonomous Tools for ISS Commanding and Monitoring

As the International Space Station (ISS) has moved into a utilization phase, operations have shifted to become more ground-based with fewer mission control personnel monitoring and commanding multiple ISS systems. This shift to fewer people monitoring more systems has prompted use of semi-autonomous console tools in the ISS Mission Control Center (MCC) to help flight controllers command and monitor the ISS. These console tools perform routine operational procedures while keeping the human operator "in the loop" to monitor and intervene when off-nominal events arise. Two such tools, the Pre-positioned Load (PPL) Loader and Automatic Operators Recorder Manager (AutoORM), are used by the ISS Communications RF Onboard Networks Utilization Specialist (CRONUS) flight control position. CRONUS is responsible for simultaneously commanding and monitoring the ISS Command & Data Handling (C&DH) and Communications and Tracking (C&T) systems. PPL Loader is used to uplink small pieces of frequently changed software data tables, called PPLs, to ISS computers to support different ISS operations. In order to uplink a PPL, a data load command must be built that contains multiple user-input fields. Next, a multiple step commanding and verification procedure must be performed to enable an onboard computer for software uplink, uplink the PPL, verify the PPL has incorporated correctly, and disable the computer for software uplink. PPL Loader provides different levels of automation in both building and uplinking these commands. In its manual mode, PPL Loader automatically builds the PPL data load commands but allows the flight controller to verify and save the commands for future uplink. In its auto mode, PPL Loader automatically builds the PPL data load commands for flight controller verification, but automatically performs the PPL uplink procedure by sending commands and performing verification checks while notifying CRONUS of procedure step completion. If an off-nominal condition occurs during procedure execution, PPL Loader notifies CRONUS through popup messages, allowing CRONUS to examine the situation and choose an option of how PPL loader should proceed with the procedure. The use of PPL Loader to perform frequent, routine PPL uplinks offloads CRONUS to better monitor two ISS systems. It also reduces procedure performance time and decreases risk of command errors. AutoORM identifies ISS communication outage periods and builds commands to lock, playback, and unlock ISS Operations Recorder files. Operation Recorder files are circular buffer files of continually recorded ISS telemetry data. Sections of these files can be locked from further writing, be played back to capture telemetry data that occurred during an ISS loss of signal (LOS) period, and then be unlocked for future recording use. Downlinked Operation Recorder files are used by mission support teams for data analysis, especially if failures occur during LOS. The commands to lock, playback, and unlock Operations Recorder files are encompassed in three different operational procedures and contain multiple user-input fields. AutoORM provides different levels of automation for building and uplinking the commands to lock, playback, and unlock Operations Recorder files. In its automatic mode, AutoORM automatically detects ISS LOS periods, then generates and uplinks the commands to lock, playback, and unlock Operations Recorder files when MCC regains signal with ISS. AutoORM also features semi-autonomous and manual modes which integrate CRONUS more into the command verification and uplink process. AutoORMs ability to automatically detect ISS LOS periods and build the necessary commands to preserve, playback, and release recorded telemetry data greatly offloads CRONUS to perform more high-level cognitive tasks, such as mission planning and anomaly troubleshooting. Additionally, since Operations Recorder commands contain numerical time input fields which are tedious for a human to manually build, AutoORM's ability to automatically build commands reduces operational command errors. PPL Loader and AutoORM demonstrate principles of semi-autonomous operational tools that will benefit future space mission operations. Both tools employ different levels of automation to perform simple and routine procedures, thereby offloading human operators to perform higher-level cognitive tasks. Because both tools provide procedure execution status and highlight off-nominal indications, the flight controller is able to intervene during procedure execution if needed. Semi-autonomous tools and systems that can perform routine procedures, yet keep human operators informed of execution, will be essential in future long-duration missions where the onboard crew will be solely responsible for spacecraft monitoring and control.

Brzezinski, Amy S.↗
DOE OSTI2015

NSTX-U Advances in Real-Time C++11 on Linux

Programming languages like C and Ada combined with proprietary embedded operating systems have dominated the real-time application space for decades. The new C++11standard includes native, language-level support for concurrency, a required feature for any nontrivial event-oriented real-time software. Threads, Locks, and Atomics now exist to provide the necessary tools to build the structures that make up the foundation of a complex real-time system. The National Spherical Torus Experiment Upgrade (NSTX-U) at the Princeton Plasma Physics Laboratory (PPPL) is breaking new ground with the language as applied to the needs of fusion devices. A new Digital Coil Protection System (DCPS) will serve as the main protection mechanism for the magnetic coils, and it is written entirely in C++11 running on Concurrent Computer Corporation's real-time operating system, RedHawk Linux. It runs over 600 algorithms in a 5 kHz control loop that determine whether or not to shut down operations before physical damage occurs. To accomplish this, NSTX-U engineers developed software tools that do not currently exist elsewhere, including real-time atomic synchronization, real-time containers, and a real-time logging framework. Together with a recent (and carefully configured) version of the GCC compiler, these tools enable data acquisition, processing, and output using a conventional operating system to meet a hard real-time deadline (that is, missing one periodic is a failure) of 200 microseconds.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗
NASA NTRS1998

Development and Testing of the CRYOTSU Flight Experiment

This paper describes the development and ground testing of the CRYOTSU thermal management flight experiment. CRYOTSU incorporates three cryogenic temperature experiments and one ambient temperature experiment into a Hitchhiker (HH) Get Away Special (GAS) Canister that is currently scheduled to fly on STS-95 in October 1998. The cryogenic experiments consist of a nitrogen triple-point cryogenic thermal storage unit (CTSU), a nitrogen cryogenic capillary pumped loop (CCPL), and a hydrogen gas-gap cryogenic thermal switch (CTSW). The ambient experiment is a carbon-fiber core, paraffin-filled thermal storage unit. Test results of integrated flight canister testing are provided herein for the CTSU and CCPL experiments. Pre-integration laboratory test results are provided for the CTSW. Design information and test results for the ambient experiment are not included.

Bugby, David C.↗
NASA NTRS1998

Development and Testing of the CRYOTSU Flight Experiment

This paper describes the development and ground testing of the CRYOTSU thermal management flight experiment. CRYOTSU incorporates three cryogenic temperature experiments and one ambient temperature experiment into a Hitchhiker (HH) Get Away Special (GAS) Canister that is currently scheduled to fly on STS-95 in October 1998. The cryogenic experiments consist of a nitrogen triple-point cryogenic thermal storage unit (CTSU), a nitrogen cryogenic capillary pumped loop (CCPL) and a hydrogen gas-gap cryogenic thermal switch (CTSW). The ambient experiment is a carbon-fiber core, paraffin-filled thermal storage unit. Test results of integrated flight canister testing are provided herein for the CTSU and CCPL experiments. Pre-integration laboratory test results are provided for the CTSW. Design information and test results for the ambient experiment are not included.

Bugby, David C.↗