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At least 883 records · Page 49

A Biomechanical Approach to Assessing Hip Fracture Risk

Bone loss in microgravity is well documented, but it is difficult to quantify how declines in bone mineral density (BMD) contribute to an astronaut's overall risk of fracture upon return. This study uses a biomechanical approach to assessing hip fracture risk, or Factor of Risk (Phi), which is defined as the ratio of applied load to bone strength. All long-duration NASA astronauts from Expeditions 1-18 were included in this study (n=25), while crewmembers who flew twice (n=2) were treated as separate subjects. Bone strength was estimated based on an empirical relationship between areal BMD at the hip, as measured by DXA, and failure load, as determined by mechanical testing of cadaver femora. Fall load during a sideways fall was calculated from a previously developed biomechanical model, which takes into account body weight, height, gender, and soft tissue thickness overlying the lateral aspect of the hip that serves to attenuate the impact force. While no statistical analyses have been performed yet, preliminary results show that males in this population have a higher FOR than females, with a post- flight Phi of 0.87 and 0.36, respectively. FOR increases 5.1% from preflight to postflight, while only one subject crossed the fracture "threshold" of Phi = 1, for a total of 2 subjects with a postflight Phi > 1. These results suggest that men may be at greater risk for hip fracture due largely in part to their relatively thin soft tissue padding as compared to women, since soft tissue thickness has the highest correlation (R(exp 2)= .53) with FOR of all subject-specific parameters. Future work will investigate changes in FOR during recovery to see if baseline risk levels are restored upon return to 1-g activity. While dual x-ray absorptiometry (DXA) is the most commonly used clinical measure of bone health, it fails to provide compartment-specific information that is useful in assessing changes to bone quality as a result of microgravity exposure. Peripheral quantitative computed tomography (pQCT) accomplishes this by imaging transverse "slices" of the long bones. This project was a re-analysis of a 90 day bed rest study to determine if changes to cortical and trabecular compartments could be detected in the distal tibia with statistical significance using a new pQCT image analysis method. Nearly all changes in bone mineral density (BMD) and cross sectional area (CSA) measures were seen with statistical significance, with the exception of a change in cortical BMD. Total bone CSA increased by 1.1 % (p =0.01), cortical CSA decreased by - 5.6% (p<0.001) and trabecular CSA increased by 1.76% (p=0.007); the combination of which suggests bone resorption occurred at the endocortical surface in response to mechanical unloading by bed rest. Furthermore, total BMD and trabecular BMD decreased (-3.8%, p=0.001 and -2.8%, p =0.007, respectively), while decreases in cortical BMD failed to reach significance (-1.2%, p=0.07). Given that compartment-specific changes are seen with significance and are likely to influence bone strength, it is recommended that pQCT remain a standard measure used in bed rest because it provides a unique measure by which to better evaluate the efficacy of countermeasures to microgravity-induced bone loss.

Ellman, Rachel↗

Subleading power rapidity divergences and power corrections for q T

A number of important observables exhibit logarithms in their perturbative description that are induced by emissions at widely separated rapidities. These include transverse-momentum (q T ) logarithms, logarithms involving heavy-quark or electroweak gauge boson masses, and small-x logarithms. In this paper, we initiate the study of rapidity logarithms, and the associated rapidity divergences, at subleading order in the power expansion. This is accomplished using the soft collinear effective theory (SCET). We discuss the structure of subleading-power rapidity divergences and how to consistently regulate them. We introduce a new pure rapidity regulator and a corresponding MS¯-like scheme, which handles rapidity divergences while maintaining the homogeneity of the power expansion. We find that power-law rapidity divergences appear at subleading power, which give rise to derivatives of parton distribution functions. As a concrete example, we consider the q T spectrum for color-singlet production, for which we compute the complete $q$ $^{2}_{T}$/Q 2 suppressed power corrections at O(α s ), including both logarithmic and nonlogarithmic terms. Our results also represent an important first step towards carrying out a resummation of subleading-power rapidity logarithms.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Formation of the Radiation Conditions by the Nuclear Reactor of a Power Facility with Direct Energy Conversion

Computational and design studies of the arrangement of an autonomous power unit with a nuclear reaction in a sparsely populated location characterized by weak soil are presented. A variant of a possible arrangement of the reactor taking account of the requirements of the facility is shown. The radioactive emission around the reactor and the distribution of heat emission in the soil, for picking and determining the number of cooling elements, are calculated. A technical solution that provides for the installation of a nuclear reactor in soft ground is proposed.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗

The Diverse Nature of Ion Speciation at the Nanoscale Hydrophobic/Water Interface

Herein we investigate ion pairing at weakly charged hydrophobic/water interfaces. In particular, the speciation of the thiocyanate (SCN-) ion in the vicinity of the nano aqueous (NaSCN solution) - hydrophobic (dodecane) interface in the presence of tetraalkylammonium groups attached to dodecyl chains (DTA+). This combined simulation and experimental approach finds that the SCN- interfacial ion pairs already form at concentrations as low as 5 mM and exist in three distinct, detectable structural motifs controlled by the SCN- concentration in the aqueous phase. The first is the association with the DTA+, followed by hydrophobic adsorption to the interface with the sulfur end of the SCN-, followed by an oppositely aligned SCN- absorption with a solvated nitrogen end of the SCN-. These different structures are formed due to subtle shifts in interactions and their elucidation requires multiple surface sensitive measurements in conjunction with the description of the interface using a representation of the interactions with quantum density functional theory (DFT). Together, this study reveals that we can both simultaneously control and detect subtle changes in the speciation of ions in the vicinity of soft interfaces. This work is supported by the Julia Jacobi Foundation and the European Research Council (grant number 616305). Christopher J. Mundy is supported by the US Department of Energy (DOE), Office of Science, Office of Basic Energy Sciences (BES) Division of Chemical Sciences, Geosciences, and Biosciences. Marcel D. Baer is supported within the Materials Synthesis and Simulation Across Scales (MS3) Initiative through the Laboratory Research and Development Program at Pacific Northwest National Laboratory (PNNL). The calculations utilized resources of the National Energy Research Scientific Computing Center, a DOE Office of Science User Facility supported by the Office of Science of the US DOE under Contract No. DE-AC02-05CH11231. PNNL is a multiprogram national laboratory operated by Battelle for the US DOE.

Zdrali, Evangelia↗

Deformation behavior of an amorphous zeolitic imidazolate framework – from a supersoft material to a complex organometallic alloy

Zeolitic imidazolate frameworks (ZIFs)—a subset of metal–organic frameworks (MOFs)—have recently attracted immense attention. Many crystalline ZIFs (c-ZIFs) have highly porous zeolite structures that are ideal for molecular encapsulation. Recently emerging non-crystalline or amorphous ZIFs (a-ZIFs) with a similar short-range order are of interest because they can be converted from c-ZIFs for large-scale production. Here, we present a computational study of the deformation behavior of a unique a-ZIF model by simulating step-wise compression and expansion with strains between –0.389 and +0.376. An insulator-to-metal transition is observed at 51 GPa leading to a multicomponent light amorphous alloy of only 3.68 g (cm) –3 . A high-density amorphous-to-amorphous phase transition is observed due to the sudden formation of N–N bond pairs. Here, the systematic expansion of the a-ZIF retains the framework softness until it fractures at high strain. Based on the expansion data, we propose an empirical formula for super-soft materials, which is in line with available experimental data.

36 MATERIALS SCIENCE↗

Fragmentation inside an identified jet

Using Soft-Collinear Effective Theory (SCET) we derive factorization formulae for semi-inclusive processes where a light hadron h fragments from a jet whose invariant mass is measured. Our analysis yields a novel 'fragmenting jet function' G{sub i}{sup h}(s,z) that depends on the jet invariant mass {radical}(s), and on the fraction z of the large light-cone momentum components of the hadron and the parent parton i. We show that G{sub i}{sup h}(s,z) can be computed in terms of perturbatively calculable coefficients, J{sub ij}(s,z/x), integrated against standard non-perturbative fragmentation functions, D{sub j}{sup h}(x). Our analysis yields a simple replacement rule that allows any factorization theorem depending on a jet function J{sub i} to be converted to a semi-inclusive process with a fragmenting hadron h.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

Second order classical perturbation theory for atom surface scattering: Analysis of asymmetry in the angular distribution

A second order classical perturbation theory is developed and applied to elastic atom corrugated surface scattering. The resulting theory accounts for experimentally observed asymmetry in the final angular distributions. These include qualitative features, such as reduction of the asymmetry in the intensity of the rainbow peaks with increased incidence energy as well as the asymmetry in the location of the rainbow peaks with respect to the specular scattering angle. The theory is especially applicable to “soft” corrugated potentials. Expressions for the angular distribution are derived for the exponential repulsive and Morse potential models. The theory is implemented numerically to a simplified model of the scattering of an Ar atom from a LiF(100) surface.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

SU-G-JeP4-14: Assessment of Inter- and Intra-Fractional Motion for Extremity Soft Tissue Sarcoma Patients by Using In-House Real-Time Optical Image-Based Monitoring System

Purpose: This study aimed to assess inter- and intra-fractional motion for extremity Soft Tissue Sarcoma (STS) patients, by using in-house real-time optical image-based monitoring system (ROIMS) with infra-red (IR) external markers. Methods: Inter- and intra-fractional motions for five extremity (1 upper, 4 lower) STS patients received postoperative 3D conformal radiotherapy (3D-CRT) were measured by registering the image acquired by ROIMS with the planning CT image (REG-ROIMS). To compare with the X-ray image-based monitoring, pre- and post-treatment cone beam computed tomography (CBCT) scans were performed once per week and registered with planning CT image as well (REG-CBCT). If the CBCT scan is not feasible due to the large couch shift, AP and LR on-board imager (OBI) images were acquired. The comparison was done by calculating mutual information (MI) of those registered images. Results: The standard deviation (SD) of the inter-fractional motion was 2.6 mm LR, 2.8 mm SI, and 2.0 mm AP, and the SD of the intra-fractional motion was 1.4 mm, 2.1 mm, and 1.3 mm in each axis, respectively. The SD of rotational inter-fractional motion was 0.6° pitch, 0.9° yaw, and 0.8° roll and the SD of rotational intra-fractional motion was 0.4° pitch, 0.9° yaw, and 0.7° roll. The derived averaged MI values were 0.83, 0.92 for REG-CBCT without rotation and REG-ROIMS with rotation, respectively. Conclusion: The in-house real-time optical image-based monitoring system was implemented clinically and confirmed the feasibility to assess inter- and intra-fractional motion for extremity STS patients while the daily basis and real-time CBCT scan is not feasible in clinic.

60 APPLIED LIFE SCIENCES↗

Failure detection and isolation analysis of a redundant strapdown inertial measurement unit

The objective of this study was to define and develop techniques for failure detection and isolation (FDI) algorithms for a dual fail/operational redundant strapdown inertial navigation system are defined and developed. The FDI techniques chosen include provisions for hard and soft failure detection in the context of flight control and navigation. Analyses were done to determine error detection and switching levels for the inertial navigation system, which is intended for a conventional takeoff or landing (CTOL) operating environment. In addition, investigations of false alarms and missed alarms were included for the FDI techniques developed, along with the analyses of filters to be used in conjunction with FDI processing. Two specific FDI algorithms were compared: the generalized likelihood test and the edge vector test. A deterministic digital computer simulation was used to compare and evaluate the algorithms and FDI systems.

Motyka, P.↗

Structural and Acoustic Numerical Modeling of a Curved Composite Honeycomb Panel

The finite and boundary element modeling of the curved section of a composite honeycomb aircraft fuselage sidewall was validated for both structural response and acoustic radiation. The curved panel was modeled in the pre-processor MSC/PATRAN. Geometry models of the curved panel were constructed based on the physical dimensions of the test article. Material properties were obtained from the panel manufacturer. Finite element models were developed to predict the modal parameters for free and supported panel boundary conditions up to a frequency of 600 Hz. Free boundary conditions were simulated by providing soft foam support under the four comers of the panel or by suspending the panel from elastic bands. Supported boundary conditions were obtained by clamping the panel between plastic tubing seated in grooves along the perimeter of a stiff and heavy frame. The frame was installed in the transmission loss window of the Structural Acoustic Loads and Transmission (SALT) facility at NASA Langley Research Center. The structural response of the curved panel due to point force excitation was predicted using MSC/NASTRAN and the radiated sound was computed with COMET/Acoustics. The predictions were compared with the results from experimental modal surveys and forced response tests on the fuselage panel. The finite element models were refined and updated to provide optimum comparison with the measured modal data. Excellent agreement was obtained between the numerical and experimental modal data for the free as well as for the supported boundary conditions. Frequency response functions (FRF) were computed relating the input force excitation at one panel location to the surface acceleration response at five panel locations. Frequency response functions were measured at the same locations on the test specimen and were compared with the calculated FRF values. Good agreement was obtained for the real and imaginary parts of the transfer functions when modal participation was allowed up to 3000 Hz. The validated finite element model was used to predict the surface velocities due to the point force excitation. Good agreement was obtained between the spatial characteristics of the predicted and measured surface velocities. The measured velocity data were input into the acoustic boundary element code to compute the sound radiated by the panel. The predicted sound pressure levels in the far-field of the panel agreed well with the sound pressure levels measured at the same location.

Grosveld, Ferdinand W.↗

Spectral studies of soft x-ray radiation of laser-produced plasma of various target materials in a wide spectral range

Here, the work is devoted to experimental study of soft X-ray radiation spectra of laser produced plasma in a wide spectral range 5–100 Å at the “Kamerton” facility (GPI) with pulse duration 70 ps, pulse energy 1–5 J, wavelength 0.53 microns at which the laser intensity (power flux density) of 7×10 14 – 3.5×10 15 W/cm 2 was achieved. A spectrograph was used, which had transmission diffraction gratings with a ratio of the elementary gap to the period of the structure of 0.25 and 0.41. Detection was performed on both UV-4 X-ray photo film and Fuji TR fluorescent imaging plate. Solid samples from Al, Si, Ti, Cu, Ta and W were used as targets. The ionization states of the plasma corresponding to various electron temperatures were calculated, which made it possible to estimate the electron temperature by comparison these calculation results with the experimentally obtained spectra. The estimated electron temperature, which depends on the laser pulse energy and the target material, varied within the range of 100–450 eV. To verify the correctness of the temperature estimations obtained by such comparison a numerical simulation of plasma radiation was carried out by the use of PrismSPECT computer program. It was found that the results of this simulation are in a good agreement with estimations on the base of experimentally obtained spectra. The analysis of these spectra showed that tantalum, tungsten or titanium targets are the best candidates among the tested ones for the use of laser produced plasma as a radiation source in the "water window" spectral range (23–44 Å) for applications in biology and medicine.

70 PLASMA PHYSICS AND FUSION TECHNOLOGY↗

Dual energy CT for attenuation correction with PET/CT

Purpose: The authors evaluate the energy dependent noise and bias properties of monoenergetic images synthesized from dual-energy CT (DECT) acquisitions. These monoenergetic images can be used to estimate attenuation coefficients at energies suitable for positron emission tomography (PET) and single-photon emission computed tomography (SPECT) imaging. This is becoming more relevant with the increased use of quantitative imaging by PET/CT and SPECT/CT scanners. There are, however, potential variations in the noise and bias of synthesized monoenergetic images as a function of energy. Methods: The authors used analytic approximations and simulations to estimate the noise and bias of synthesized monoenergetic images of water-filled cylinders with different shapes and the NURBS-based cardiac-torso (NCAT) phantom from 40 to 520 keV, the range of SPECT and PET energies. The dual-kVp spectra were based on the GE Lightspeed VCT scanner at 80 and 140 kVp with added filtration of 0.5 mm Cu. The authors evaluated strategies of noise suppression with sinogram smoothing and dose minimization with reduction of tube currents at the two kVp settings. The authors compared the impact of DECT-based attenuation correction with single-kVp CT-based attenuation correction on PET quantitation for the NCAT phantom for soft tissue and high-Z materials of bone and iodine contrast enhancement. Results: Both analytic calculations and simulations displayed the expected minimum noise value for a synthesized monoenergetic image at an energy between the mean energies of the two spectra. In addition the authors found that the normalized coefficient of variation in the synthesized attenuation map increased with energy but reached a plateau near 160 keV, and then remained constant with increasing energy up to 511 keV and beyond. The bias was minimal, as the linear attenuation coefficients of the synthesized monoenergetic images were within 2.4% of the known true values across the entire energy range. Compared with no sinogram smoothing, sinogram smoothing can dramatically reduce noise in the DECT-derived attenuation map. Through appropriate selection of tube currents for high and low kVp scans, DECT can deliver roughly the same amount of radiation dose as that of a single kVp CT scan, but could be used for PET attenuation correction with reduced bias in contrast agent regions by a factor of ∼2.6 and slightly reduced RMSE for the total image. Conclusions: When DECT is used for attenuation correction at higher energies, there is a noise amplification that is dependent on the energy of the synthesized monoenergetic image of linear attenuation coefficients. Sinogram smoothing reduces the noise amplification in DECT-derived attenuation maps without increasing bias. With an appropriate selection of CT techniques, a DECT scan with the same radiation dose as a single CT scan can result in a PET image with improved quantitative accuracy.

62 RADIOLOGY AND NUCLEAR MEDICINE↗

Proton dose calculation on scatter-corrected CBCT image: Feasibility study for adaptive proton therapy

Purpose: To demonstrate the feasibility of proton dose calculation on scatter-corrected cone-beam computed tomographic (CBCT) images for the purpose of adaptive proton therapy. Methods: CBCT projection images were acquired from anthropomorphic phantoms and a prostate patient using an on-board imaging system of an Elekta infinity linear accelerator. Two previously introduced techniques were used to correct the scattered x-rays in the raw projection images: uniform scatter correction (CBCT{sub us}) and a priori CT-based scatter correction (CBCT{sub ap}). CBCT images were reconstructed using a standard FDK algorithm and GPU-based reconstruction toolkit. Soft tissue ROI-based HU shifting was used to improve HU accuracy of the uncorrected CBCT images and CBCT{sub us}, while no HU change was applied to the CBCT{sub ap}. The degree of equivalence of the corrected CBCT images with respect to the reference CT image (CT{sub ref}) was evaluated by using angular profiles of water equivalent path length (WEPL) and passively scattered proton treatment plans. The CBCT{sub ap} was further evaluated in more realistic scenarios such as rectal filling and weight loss to assess the effect of mismatched prior information on the corrected images. Results: The uncorrected CBCT and CBCT{sub us} images demonstrated substantial WEPL discrepancies (7.3 ± 5.3 mm and 11.1 ± 6.6 mm, respectively) with respect to the CT{sub ref}, while the CBCT{sub ap} images showed substantially reduced WEPL errors (2.4 ± 2.0 mm). Similarly, the CBCT{sub ap}-based treatment plans demonstrated a high pass rate (96.0% ± 2.5% in 2 mm/2% criteria) in a 3D gamma analysis. Conclusions: A priori CT-based scatter correction technique was shown to be promising for adaptive proton therapy, as it achieved equivalent proton dose distributions and water equivalent path lengths compared to those of a reference CT in a selection of anthropomorphic phantoms.

60 APPLIED LIFE SCIENCES↗

The Multi-Mission Earth Entry Vehicle for Sample Return Missions – Past, Present, and Future

The Multi-Mission Earth Entry Vehicle (MMEEV) is an enabling technology developed at NASA’s Langley Research Center (LaRC) over the last two decades for returning samples to Earth across a wide array of space science missions. Currently, the MMEEV is being considered for NASA’s Mars Sample Return (MSR) mission. The original vehicle concept, the Earth Entry Vehicle (EEV), was innovated at LaRC in 1998 as a robust solution to return Mars soil samples to Earth under stringent backward contamination requirements. These backward contamination requirements drove the EEV to have higher reliability than any capsule previously designed for a return-to-Earth sample return mission. The EEV achieved this high reliability by employing a passive (no active systems) vehicle architecture optimized for fault tolerance in a compact, low-mass configuration that is extensible to virtually any sample return mission. The original EEV concept utilized a carbon-carbon primary structure with high-density carbon phenolic thermal protection system. The capsule had a 60-degree sphere-cone forebody and a backshell geometry uniquely tailored to produce aerodynamics that would passively re-orient the vehicle if it entered the atmosphere with an off-nominal attitude. Contrary to every other sample return capsule conceived at the time, the EEV was designed to land without a parachute. The vehicle incorporated an integral energy-absorbing crushable structure that protected the Mars sample for landings on surfaces ranging from soft soil to solid concrete. This paper describes 20 years of technological advancements LaRC has incorporated into the EEV architecture to evolve it from the original, MSR-enabling vehicle, to a true multi-mission capability relevant to any sample return mission. The vehicle’s unique Integrated Composite Stiffener Structure (ICoSS) has been optimized for specific strength - supporting high-G atmospheric entries with steep entry angles that produce precise landing footprints on the ground. The vehicle geometry has been refined through wind tunnel testing and computational fluid dynamics simulations to improve the vehicle’s aerodynamic stability and robustness to off-nominal conditions from hypersonic to subsonic flight. The resulting configuration of the current MMEEV architecture is described, with details provided on its sample carrying capacity and atmospheric entry trajectory capabilities. The upgraded vehicle performance is mapped into current space science objectives, showing how the MMEEV supports future sample return missions and continues to be an enabling technology for NASA’s vision to return samples from Mars.

J M Corliss↗

Simplicity from recoil: the three-loop soft function and factorization for the energy-energy correlation

We derive an operator based factorization theorem for the energy-energy correlation (EEC) observable in the back-to-back region, allowing the cross section to be written as a convolution of hard, jet and soft functions. We prove the equivalence of the soft functions for the EEC and color singlet transverse-momentum resummation to all-loop order, and give their analytic result to three-loops. Large logarithms appearing in the perturbative expansion of the EEC can be resummed to all orders using renormalization group evolution. We give analytic results for all required anomalous dimensions to three-loop order, providing the first example of a transverse-momentum (recoil) sensitive e + e - event shape whose anomalous dimensions are known at this order. The EEC can now be computed to next-to-next-to-next-to-leading logarithm matched to next-to-next-to-leading order, making it a prime candidate for precision QCD studies and extractions of the strong coupling constant. Lastly, we anticipate that our factorization theorem will also be crucial for understanding non-perturbative power corrections for the EEC, and their relationship to those appearing in other observables.

71 CLASSICAL AND QUANTUM MECHANICS, GENERAL PHYSIC↗

Linear Boltzmann transport for jet propagation in the quark-gluon plasma: Inelastic processes and jet modification

A linear Boltzmann transport (LBT) Monte Carlo model has been developed to describe jet propagation and interaction with the quark-gluon plasma (QGP) in relativistic heavy-ion collisions. A complete set of elastic-scattering processes and medium-induced gluon emissions based on the higher-twist formalism are incorporated for both jet shower and medium recoil partons. It has been employed to describe experimental data on large transverse momentum hadron and jet spectra, correlation and jet substructures in high-energy heavy-ion collisions. Here, we document in detail the structure of the model and validation of the Monte Carlo implementations of the physics processes in LBT, in particular, the inelastic process of medium-induced gluon radiation. We carry out a comprehensive examination of the jet-medium interaction as implemented in LBT through energy loss and momentum broadening of a single hard parton, the energy and transverse momentum transfer from leading partons to medium-induced gluons and jet-induced medium excitation, and medium modification of reconstructed jets in a static and uniform medium. With realistic and event-by-event hydrodynamic medium in heavy-ion collisions, we compute and compare with experimental data on the jet cone-size dependence of the single inclusive jet suppression at both the BNL Relativistic Heavy-Ion Collider (RHIC) and the CERN Large Hadron Collider (LHC), the dijet asymmetry at the LHC and γ-jet correlation at RHIC. Effects of medium-induced gluon emissions and jet-induced medium excitation on jet observables are systematically examined. Rescatterings of the radiated gluons and recoil partons with the QGP are found essential to account for the enhancement of soft particle yield toward the edge of the jet cone.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗

Continual coordination through shared activities

Interacting agents that interleave planning and execution must reach consensus on their commitments to each other. In domains where agents have varying degrees of interaction and different constraints on communication and computation, agents will require different coordination protocols in order to efficiently reach consensus in real time. We briefly describe a largely unexplored class of realtime, distributed planning problems (inspired by interacting spacecraft missions), new challenges they pose, and a general approach to solving the problems. These problems involve self-interested agents that have infrequent communication but collaborate on joint activities. We describe a Shared Activity Coordination (SHAC) framework that provides a decentralized algorithm for negotiating the scheduling of shared activities over the lifetimes of separate missions, a soft, real-time approach to reaching consensus during execution with limited communication, and a foundation for customizing protocols for negotiating planner interactions. We apply SHAC to a realistic simulation of interacting Mars missions and illustrate the simplicity of protocol development.

planning↗