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At least 811 records · Page 45

Hot on the Trail: Mapping Wildland Fires With Citizen Science and Live Image Processing

Heightened fire activity is straining existing firefighting resources and budgets across the nation and worldwide. For this reason, the 2021 NASA Academy at Langley Research Center has the challenge of applying NASA technology to the challenges faced by wild-land firefighting professionals. The approach is three-fold: Data Acquisition, Communications, and Equipment Development. The Communications Team focused on improving data latency for fire mapping and advancing communications between civilians and incident dispatch. The team developed two main concepts to address these areas: First, they tried to identify, map, and transmit fire perimeter data via an Uncrewed Aerial System (UAS), and second, they suggest a fully functioning web-app for early fire detection and fire monitoring using citizen science. This report outlines the materials and methods of these concepts, as well as future work necessary to bring the proposed technology into the field.

UAS data transfer ground stations↗

M2-SCREAM: A Stratospheric Composition Reanalysis of Aura MLS Data With MERRA-2 Transport

MERRA-2 Stratospheric Composition Reanalysis of Aura Microwave Limb Sounder (M2-SCREAM) is a new reanalysis of stratospheric ozone, water vapor, hydrogen chloride (HCl), nitric acid (HNO 3 ) and nitrous oxide (N 2 O) between 2004 and the present (with a latency of several months). The assimilated fields are provided at a 50-km horizontal resolution and at a three-hourly frequency. M2-SCREAM assimilates version 4.2 Microwave Limb Sounder (MLS) profiles of the five constituents alongside total ozone column from the Ozone Monitoring Instrument. Dynamics and tropospheric water vapor are constrained by the MERRA-2 reanalysis. The assimilated species are in excellent agreement with the MLS observations, except for HNO 3 in polar night, where data are not assimilated. Comparisons against independent observations show that the reanalysis realistically captures the spatial and temporal variability of all the assimilated constituents. In particular, the standard deviations of the differences between M2-SCREAM and constituent mixing ratio data from The Atmospheric Chemistry Experiment Fourier Transform Spectrometer are much smaller than the standard deviations of the measured constituents. Evaluation of the reanalysis against aircraft data and balloon-borne frost point hygrometers indicates a faithful representation of small-scale structures in the assimilated water vapor, HNO 3 and ozone fields near the tropopause. Comparisons with independent observations and a process-based analysis of the consistency of the assimilated constituent fields with the MERRA-2 dynamics and with large-scale stratospheric processes demonstrate the utility of M2-SCREAM for scientific studies of chemical and transport variability on time scales ranging from hours to decades. Analysis uncertainties and guidelines for data usage are provided.

MERRA-2↗

Open Data Integration (ODIN): A Concurrent, Distributed Message-Based Architecture and Framework for Disaster Response

The Runtime for Airspace Concept Evaluation (RACE) is an open-source software architecture and framework to build configurable, highly concurrent and distributed message-based systems that offer scalable, low-latency performance on commodity hardware. RACE was used in commercial aviation applications to rapidly build systems that span several machines (including synchronized displays), interface existing hardware simulators and other live data feeds, and incorporate sophisticated visualization components such as NASA WorldWind. These RACE applications validated elements of the FAA’s System Wide Information Management (SWIM) Program, handling up to 1000 messages/sec from diverse sources (SFDPS, TFM-DATA, TAIS, ASDE-X, ITWS and local ADS) for 4,500 simultaneous flights tracked in the next-generation air transportation system’s digital backbone. We have since generalized RACE to support Open Data Integration (ODIN) applications outside aviation. Systems built with RACE/ODIN can be deployed in the field, on commodity hardware, and operate with limited or intermittent connectivity to the outside world. Our primary use case is a web-server with local/persistent data storage that runs within and only serves the stakeholder network (e.g. an incident command post). We are tailoring the RACE/ODIN system to support wildland fire management for the upcoming NASA Wildland Fire Safety Demonstration Series. RACE-ODIN is under consideration for application in the Scalable Traffic Management for Emergency Response Operations project, or STEReO, which aims to create a system that can be deployed during emergencies, to coordinate multiple elements of disaster response. Such data sources predominantly come from existing services on the internet (e.g. weather and satellite data, imported from so called "edge servers") but can also include dynamic (real-time) data from computer simulations and within the stakeholder network (such as aircraft and personnel tracking information). We will present the architecture and ODIN system demonstration incorporating local data from instrumented power-line towers, interpolated weather data and geospatial data from space-based platforms.

Joseph C Coughlan↗

Promoting Crew Autonomy in a Human Spaceflight Earth Analog Mission through Self-Scheduling

Deep space exploration missions face the challenge of communication transmission latencies between ground stations and astronaut crews due to increasing distance between the Earth and spacecraft in transit. To address this, research at NASA has aimed toward supporting crew autonomy by enabling astronauts to schedule their own timelines with minimal oversight from Mission Control. While self-scheduling has been shown to be feasible, it is yet to be studied as an integral part of autonomous crew operations. The current paper reviews the operationalization of self-scheduling and a number of related objectives during Campaign 6 of HERA, a Human Exploration Research Analog. Research objectives include studying the effects of phasic autonomy over the course of a 45-day mission, evaluating differences in scheduling performance produced by software interface aids, and deploying a novel measure of crew attitudes toward self-scheduling and plan execution.

crew autonomy↗

Promoting Crew Autonomy in a Human Spaceflight Earth Analog Mission through Self-Scheduling

Deep space exploration missions face the challenge of communication transmission latencies between ground stations and astronaut crews due to increasing distance between the Earth and spacecraft in transit. To address this, research at NASA has aimed toward supporting crew autonomy by enabling astronauts to schedule their own timelines with minimal oversight from Mission Control. While self-scheduling has been shown to be feasible, it is yet to be studied as an integral part of autonomous crew operations. The current paper reviews the operationalization of self-scheduling and a number of related objectives during Campaign 6 of HERA, a Human Exploration Research Analog. Research objectives include studying the effects of phasic autonomy over the course of a 45-day mission, evaluating differences in scheduling performance produced by software interface aids, and deploying a novel measure of crew attitudes toward self-scheduling and plan execution.

crew autonomy↗

Surface Shortwave Radiative Fluxes Derived from the U.S. Air Force Cloud Depiction Forecast System World-Wide Merged Cloud Analysis

We present a global-scale evaluation of surface shortwave (SW↓) radiative fluxes as derived with cloud amount information from the U.S. Air Force (USAF) Cloud Depiction Forecast System (CDFS) II World-Wide Merged Cloud Analysis (WWMCA) and implemented in the framework of the NASA Land Information System (LIS). Evaluation of this product is done against ground observations, a satellite-based product from the Moderate Resolution Imaging Spectroradiometer (MODIS), and several reanalysis outputs. While the LIS/USAF product tends to overestimate the SW↓ fluxes when compared to ground observations and satellite estimates, its performance is comparable or better than the following reanalysis products: ERA5, CFSR, and MERRA-2. Results are presented using all available observations over the globe and independently for several regional domains of interest. When evaluated against ground observations over the globe, the bias in the LIS/USAF product at daily time scale was about 9.34 W m −2 and the RMS was 29.20 W m −2 while over the United States the bias was about 10.65 W m −2 and the RMS was 35.31 W m −2 . The sample sizes used were not uniform over the different regions, and the quality of both ground truth and the outputs of the other products may vary regionally. It is important to note that the LIS/USAF is a near-real-time (NRT) product of interest for potential users and as such fills a need that is not met by most products. Due to latency issues, the level of observational inputs in the NRT product is less than in the reanalysis data.

Cloud radiative effects↗

Dermatitis During Spaceflight Associated With HSV-1 Reactivation- A Case Study

Human alpha herpesviruses herpes simplex virus (HSV-1 or -2) and varicella zoster virus (VZV) establish latency in various cranial nerve ganglia, and often reactivate in response to stress-associated immune system dysregulation. Reactivation of Epstein Barr Virus (EBV), VZV, HSV-1 and Cytomegalovirus (CMV) is typically asymptomatic during spaceflight, though live/infectious virus has been recovered and the shedding rate increases with mission duration. The risk of clinical disease, therefore, may increase for astronauts assigned to extended missions (>180 days). Here, we report for the first time, a case of HSV-1 skin rash (dermatitis) occurring during a long duration spaceflight. The astronaut reported persistent dermatitis during flight, which was treated onboard with oral antihistamines and topical/oral steroids. No HSV-1 DNA was detected in 6-month pre-mission saliva samples, but on flight day 82, a saliva and rash swab both yielded 4.8 copies/ng DNA and 5.3×104 copies/ng DNA, respectively. Post-mission saliva samples continued to have high infectious HSV-1 load (1.67×107 copies/ng DNA). HSV-1 from both rash and saliva samples had 99.4% genotype homology. Additional physiological monitoring, including stress biomarkers (cortisol, dehydroepiandrosterone (DHEA), and salivary amylase), immune markers (adaptive regulatory and inflammatory plasma cytokines) and biochemical profile markers including vitamin/mineral status and bone metabolism are also presented for this case. These data highlight an atypical presentation of HSV-1 during spaceflight and underscore the importance of viral screening during clinical evaluations of in-flight dermatitis, to determine viral etiology and guide treatment.

Herpes, Viral Reactivation, Spaceflight, Dermatiti↗

Introducing and Evaluating the Climate Hazards Center IMERG with Stations (CHIMES) Timely Station-Enhanced Integrated Multisatellite Retrievals for Global Precipitation Measurement

As human exposure to hydroclimatic extremes increase and the number of in situ precipitation observations declines, precipitation estimates, such as those provided by the Integrated Multisatellite Retrievals for Global Precipitation Measurement (GPM) (IMERG) mission, provide a critical source of information. Here, we present a new gauge-enhanced dataset [the Climate Hazards Center IMERG with Stations (CHIMES)] designed to support global crop and hydrologic modeling and monitoring. CHIMES enhances the IMERG Late Run product using an updated Climate Hazards Center (CHC) high-resolution climatology (CHPclim) and low-latency rain gauge observations. CHPclim differs from other products because it incorporates long-term averages of satellite precipitation, which increases CHPclim ’s fidelity in data-sparse areas with complex terrain. This fidelity translates into performance increases in unbiased IMERGlate data, which we refer to as CHIME. This is augmented with gauge observations to produce CHIMES. The CHC’s curated rain gauge archive contains valuable contributions from many countries. There are two versions of CHIMES: preliminary and final. The final product has more copious and better-curated station data. Every pentad and month, bias-adjusted IMERGlate fields are combined with gauge observations to create pentadal and monthly CHIMESprelim and CHIMESfinal. Comparisons with pentadal, high-quality gridded station data show that IMERG late performs well (r = 0.75), but has some systematic biases which can be reduced. Monthly cross-validation results indicate that unbiasing increases the variance explained from 50% to 63% and decreases the mean absolute error from 48 to 39 mm month −1. Gauge enhancement then increases the variance explained to 75%, reducing the mean absolute error to 27 mm month −1.

Chris C funk↗

NASA's Moon to Mars Autonomous Habitat Status

NASA is developing a strategy for sending humans to the Mars vicinity, known broadly as the Moon to Mars (M2M) Campaign. A critical part of this campaign is the development of in-space and surface habitation systems capable of substantially extending human presence beyond Low Earth Orbit (LEO). Mars missions feature an in-space transit habitat capable of supporting crews of four on ~850-1200-day missions, including transit to and from Mars and time in Mars orbit. Surface and transit habitats are complex elements which must keep crewmembers healthy and productive in deep-space environments with limited resources, long rescue times in contingency situations, and communication delays; all within constrained mass, volume, and power budgets. These habitats provide crew both living and workspace as well as most of the resources needed to support crew life. For deep space habitats, automation needs to be employed due to latency and for significant amounts of time when the habitats are uncrewed. Automation of systems is possible in space applications, but there are limitations. Outside of the Earth’s (or any) magnetosphere, radiation environments are harsh to both the physical hardware and the software components. Radiation (charged particles and ionizing electromagnetic waves) degrades and damages the hardware and causes single event upsets (SEUs) in software. If the hardware is damaged, data can be lost, or control actions not made. For software, SEUs cause algorithms to result in different solutions, or incorrect commands to be sent out. This means that algorithms and hardware used for deep space systems are different than what is used on Earth. Radiation-tolerant hardware is generations behind the current state-of-the-art hardware. Recent NASA missions, such as James Webb Space Telescope, continue to rely on older technologies such as the RAD750 processor, and the most advanced processors are still single core and less than 1.5 GHz. There have been attempts to use higher performance processors, but these often take multiple mitigation steps to handle the radiation environments, which limits the processing power and/or throughput. Current techniques for radiation mitigation have been redundancies, voting, physical separation of hardware, encasing materials, under-clocking hardware, and more. Some radiation mitigation techniques do provide benefits such as having a redundant system to improve the probability that a system will be available when needed. Autonomous software systems will have fewer interactions with humans on deep space missions and therefore need to be able to handle more off-nominal conditions. Microgravity also complicates the autonomous aspects of the mission because autonomous systems are usually built from known deterministic states, but microgravity causes physical objects to shift and move changing the location an autonomous system placed the object. Not only does the software need to be reliable and deterministic, losing resources due to a software error is not only costly but detrimental to reputation. The combination of having lower performance hardware and having to be able to verify and deterministically run software and an ever-changing environment makes deep space autonomous systems more complicated. Multiple gaps have been identified including verification of autonomous software algorithms (including artificial intelligence and machine learning), higher performance processors (graphics and general purpose), high speed networks (onboard and transmissions), memory, power distribution, data security, and variations from these. These gaps need to be closed for more advanced systems to be deployed and reduce the size, weight, and power impacts on the habitats.

Scott B. Tashakkor↗

Supporting Space Weather with the Geospace Dynamics Constellation

The Geospace Dynamics Constellation (GDC) mission, planned to launch at the end of the decade, is a six-satellite constellation that will fly through the ionosphere and thermosphere at around 400 km. While GDC is a science mission, its comprehensive instrumentation will not only contribute to our understanding of space weather phenomena in the ionosphere-thermosphere system, but will also provide valuable, space weather-relevant data. Data from GDC will be made available at low latency via real-time space weather data stream. We are working with operational partners to identify space weather data products and coordinate reception of the space weather beacon data. Alongside preparations for real-time GDC data streams, we are working to identify current model capabilities and needs, to ensure that space weather models that can make use of GDC measurements are moving along the Research-toOperations pipeline. Before GDC launch, Observing System Simulation Experiments (OSSEs) carried out with synthetic GDC data can be used to demonstrate the capabilities of models and to predict the impact of GDC data. Following launch, Observing System Experiments (OSEs) will demonstrate the impact of GDC space weather data. In preparation for GDC, the ITM space weather community should establish baseline metrics for space weather parameters of scientific and operational interest. These metrics, tracked over time before and after the launch of GDC, will allow us to track advancements in forecasting, nowcasting, and hindcasting of the ITM system and to trace the impact of scientific progress from space weather research into operations. By demonstrating the impact of real-time GDC data, specific data needs can be identified and prioritized for long term investment on future observing systems.

Katherine Garcia-Sage↗

An Operational Product for Peatland Applications: The Version 7 of the SMAP Level-4 Soil Moisture Data Assimilation Product

The NASA Soil Moisture Active Passive (SMAP) mission Level-4 Soil Moisture (L4_SM) product provides global, 9-km resolution, 3-hourly surface (0-5 cm) and root-zone (0-100 cm) soil moisture estimates from April 2015 to present with a mean latency of 2.5 days from the time of observation. The L4_SM estimates are derived from the assimilation of SMAP L-band (1.4 GHz) brightness temperature (Tb) observations into the NASA Catchment Land Surface Model (CLSM). The recently released Version 7 of the L4_SM product comprises a key advancement that is of interest for peatland applications. CLSM now includes the recently developed PEATCLSM hydrology module for peatlands and uses an updated global peatland distribution. In this presentation, we first give an overview of the operational product for the peatland community. We further show how the incorporation of PEATCLSM considerably improves the dynamics of water table depth, surface soil moisture and evapotranspiration in L4_SM Version 7 over Version 6 when evaluated against in situ measurements in peatlands. These improvements are also manifested in smaller Tb observation-minus-forecast residuals. Eventually, we provide three research examples in which the data assimilation product is used to gain insights into: peatland hydrological processes, the peat moisture dependency of the carbon cycle, and wildfire occurrence in peatlands.

Michel Bechtold↗

Open Data Integration (ODIN): A Concurrent, Distributed Message-Based Architecture and Framework for Disaster Response

The Runtime for Airspace Concept Evaluation (RACE) is an open-source software architecture and framework to build configurable, highly concurrent and distributed message-based systems that offer scalable, low-latency performance on commodity hardware. RACE was used in commercial aviation applications to rapidly build systems that span several machines (including synchronized displays), interface existing hardware simulators and other live data feeds, and incorporate sophisticated visualization components such as NASA WorldWind. These RACE applications validated elements of the FAA’s System Wide Information Management (SWIM) Program, handling up to 1000 messages/sec from diverse sources (SFDPS, TFM-DATA, TAIS, ASDE-X, ITWS and local ADS) for 4,500 simultaneous flights tracked in the next-generation air transportation system’s digital backbone. We have since generalized RACE to support Open Data Integration (ODIN) applications outside aviation. Systems built with RACE/ODIN can be deployed in the field, on commodity hardware, and operate with limited or intermittent connectivity to the outside world. Our primary use case is a web-server with local/persistent data storage that runs within and only serves the stakeholder network (e.g. an incident command post). We are tailoring the RACE/ODIN system to support wildland fire management for the upcoming NASA Wildland Fire Safety Demonstration Series. RACE-ODIN is under consideration for application in the Scalable Traffic Management for Emergency Response Operations project, or STEReO, which aims to create a system that can be deployed during emergencies, to coordinate multiple elements of disaster response. Such data sources predominantly come from existing services on the internet (e.g. weather and satellite data, imported from so called "edge servers") but can also include dynamic (real-time) data from computer simulations and within the stakeholder network (such as aircraft and personnel tracking information). We will present the architecture and ODIN system demonstration incorporating local data from instrumented power-line towers, interpolated weather data and geospatial data from space-based platforms.

Guillaume P Brat↗

Large-Scale Space Network Simulator for Performance-Optimized DTNs

High-rate Delay Tolerant Networking (HDTN) is a performance-optimized Delay Tolerant Networking (DTN) implementation that can provide multigigabit per second data rates in disruptive and high-latency space networks. Routing, especially in large-scale space networks, remains challenging due to network topologies that evolve over time. This paper presents a simulation tool that enables HDTN implementation testing at accelerated speeds, which is key for routing in large-scale space networks.

High data-rate Delay Tolerant Networking↗

Improved Peatland Hydrology and L-Band Microwave Radiative Transfer Modeling in Version 7 of the SMAP Level-4 Soil Moisture Data Assimilation Product

The NASA Soil Moisture Active Passive (SMAP) mission Level-4 Soil Moisture (L4_SM) product provides global, 9-km resolution, 3-hourly surface (0-5 cm) and root-zone (0-100 cm) soil moisture from April 2015 to present with a mean latency of 2.5 days from the time of observation. The L4_SM estimates are derived from the assimilation of SMAP L-band (1.4 GHz) brightness temperature (Tb) observations into the NASA Catchment land surface model. The recently released Version 7 of L4_SM comprises two key advances. First, the Catchment model now includes the recently developed PEATCLSM hydrology module for peatlands and uses an updated global map of peatlands. Second, revised parameters are used in the L-band radiative transfer model that converts the simulated soil moisture and temperature estimates into Tb predictions for use in the radiance-based L4_SM analysis. Specifically, the L-band scattering albedo, soil roughness, and vegetation opacity climatology are obtained from the SMAP Level-2 dual-channel soil moisture retrieval product. In this presentation, we examine the improvements gained with the model and parameter changes. In peatlands, the dynamics of water table depth, surface soil moisture and evapotranspiration are considerably improved in L4_SM Version 7 over Version 6 when evaluated against in situ measurements. These improvements are also manifested in smaller Tb observation-minus-forecast residuals.

SMAP↗

Crew Autonomy through Self-Scheduling: Guidelines for Crew Scheduling Performance Envelope and Mitigation Strategies

Future long duration exploration missions (LDEMs) bring new challenges to astronaut crews in deep space, one of which is increased communication latencies with ground stations. As a result, crews will have to behave more autonomously by self-scheduling their own operational timelines in an efficient and effective manner. To support crew autonomy, our team has spent the last few years developing Playbook, a mission planning and scheduling tool. Our research focuses on investigating scheduling performance using Playbook to inform the deployment of novel aids that streamline the timeline creation process and proposing relevant standards and guidelines for autonomous crews in LDEMs. Summarizing yearly progress of research analysis and experiment in HERA.

user experience↗

Effects of Communication Delay on Human Spaceflight Missions

Missions onboard the International Space Station rely on the real-time availability of a large ground team of system experts to command the vehicle, solve safety-critical problems, and guide the crew during complex operations. Also, in Low Earth Orbit (LEO), supplies can be sent and crews evacuated quite quickly if needed. Future missions Beyond Low Earth Orbit (BLEO) will not have this 24/7, real-time safety net as communication latency increases, resupply difficulty increases, and evacuation opportunities diminish. There are few, if any, terrestrial analogs for human spaceflight missions BLEO that reflect the conditions—including extreme environments, long mission durations, and small crew sizes – that make these missions so high risk. Studies on specific conditions, such as communication delays and asynchronous interactions, have been performed in NASA Earth-based analog missions and have found that communication delays can disrupt ground-crew interactions and adversely impact team performance. However, there are gaps and limitations in studies conducted to date, notably on human spacecraft system failure response and recovery, the impacts of shorter lunar-relevant communication delays on complex operations, and the effectiveness of countermeasures. The work presented here breaks down real anomalies that occurred on ISS and Apollo missions and creates example scenarios fort Lunar Surface and Mars missions to explore the impact of communication delays of varying length on onboard operations and mission outcomes. Our analyses indicate that short communication delays (e.g., seconds to a minute) adversely impact the ability for ground to provide real-time oversight and guidance and to catch quickly emerging problems in time. Longer communication delays (e.g., up to 40 minutes on Mars missions) call for a shift of responsibility for tactical operations from ground to crew; crew must make time-critical decisions independently and respond to time-critical vehicle anomalies to prevent consequences.

human-systems integration↗

Conjunction Assessment and Deconfliction Paradigm for Co-Located Satellite Constellations With on-Spacecraft “Autonomous” Flight Dynamics Control

Satellite constellations that employ on-spacecraft flight dynamics and conjunction assessment (CA) approaches face particular challenges. First, they must arrange to obtain and upload to the constellation satellite close approach information, such as Conjunction Data Messages, so that their on-board systems will have the data they need to make informed CA decisions. Second, given current latencies in obtaining CA screening information, such systems often cannot obtain dedicated screenings of their proposed maneuvers before they are executed. Third, they usually cannot engage in real time with owner/operators (O/Os) with whom they may come into conjunction, relying instead on pre-arranged courses of action that may or may not fit a given situation well. Despite these difficulties, it is nonetheless possible, as operators such as SpaceX have demonstrated, to operate safely using on-board CA calculations, in the presence of a largely collaborative operating environment. The situation breaks down, however, when two constellations that operate with such a paradigm are placed in the same orbital region and will experience conjunctions with each other. Each may have a vague idea of where the other’s satellites are, or perhaps even a somewhat precise idea if they exchange O/O ephemerides, but neither will know the other’s more immediate maneuver intentions, especially for situations in which they are in a high-risk conjunction with each other and a mitigation maneuver is required. As there is no formalized way for these automated systems to ascertain each other’s intentions for this type of conjunction, it is quite possible that each spacecraft may choose a maneuver that results in the two objects’ colliding. An opportunity to develop a solution to this problem was presented by the NASA “Starling” project, a small experimental constellation developed to demonstrate autonomous satellite control and constellation reconfiguration and for which a launch was obtained that, serendipitously, will place this constellation close to the SpaceX Starlink constellation. Because the NASA constellation is experimental, an extended mission part of the mission has been negotiated to implement and test mechanisms for resolving the problem of co-located constellations with on-board flight dynamics control. For the last eighteen months, a consortium among NASA Ames (the Starling satellite providers), NASA CARA (the Agency organization responsible for conjunction assessment), Space X, and the Department of Commerce (in observer status) has met regularly to assemble a concept of operations for a robust solution to this problem and has developed a prototype ground node that will serve as a needed CA screening and information dispensary. The approach and methods, as well as the active employment of the developed ground node, will be tested both in simulation before actual use and then in actual spacecraft operations, which are anticipated to begin in January 2024. This paper will describe the co-located autonomously-controlled constellation problem and the developed solution in detail, outlining what ground node (i.e., government) infrastructure and features are required, what particular capabilities are needed by the constellations themselves in order to make use of this deconfliction paradigm, and the migration path forward to allow such a capability set to be incorporated by the Department of Commerce’s space traffic coordination system.

Conjunction Assessment↗