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NASA NTRS2020

Demonstrating Assurance of Model-Based Fault Diagnosis Systems on an Operational Mission

Developers of robotic scientific and commercial spacecraft are trending towards use of onboard autonomous capabilities for responding quickly to dynamic environments and rapidly changing situations. These capabilities need to know the state of the spacecraft’s health. Model-based fault diagnosis (MBFD) is an approach to estimating health by continuously verifying accurate behavior and diagnosing off-nominal behavior. Proper functioning of MBFD depends on 1) the quality of the diagnostic system model that is analyzed and compared to commands and onboard measurements to estimate a system’s health state, and 2) the correct functionality of the diagnosis engine interrogating the model and comparing its analyses to observed system behavior. Our goal is to develop Verification and Validation (V&V) techniques for MBFD to provide future missions sufficient confidence in its functionality and performance to deploy it on the systems they develop. Our work has been focused on infusing the techniques we developed earlier to an operational mission. First, we are constructing diagnostic models of a spacecraft attitude control system and updating our diagnostic engine so they can be demonstrated aboard the Arcsecond Space Telescope Enabling Research in Astrophysics (ASTERIA) mission, an operational spacecraft for which experiments in autonomy are being planned and executed, using the V&V techniques we have previously developed to assure they are both correct and complete. Since it is nearing the end of its life, ASTERIA provides a unique opportunity to demonstrate MBFD since the monitored components are expected to fail. Our demonstration will give system developers additional confidence to make timely, informed MBFD deployment decisions. Second, we will be completing performance assessments of the diagnostic engine/diagnostic model ensemble both on the flight system and ground-based testbeds to gain confidence in MBFD’s ability to run successfully in a spacecraft’s resource-constrained environment without adversely affecting other on-board activities. Finally, we are capturing our experience in preparing this demonstration in a set of checklists and guidance documents. Current practice includes high-level institutional guidance documents and standards, but at a high level of abstraction that does not necessarily address specific MBFD concerns. The purpose of the new checklists is to provide future mission developers clear, unambiguous, procedure-oriented guidance on assuring MBFD. This paper describes our work in these areas. For the first area, we describe the diagnostic models and updated diagnostic engine that will be used for the on-board demonstration. We describe how the V&V techniques we developed earlier are used to assure model and engine correctness and completeness. For the second area, we identify the performance measurement and assessment techniques used to characterize the diagnostic engine and diagnostic models, and discuss the effect of measured performance on overall mission operation. Finally, we present the checklist and guidance documents and describe how they meet the goals of providing system developers with clear, unambiguous, procedure-oriented guidance on MBFD assurance. We show how the techniques we have developed map into those artifacts.

Nikora, Allen↗
NASA NTRS2022

Tropospheric Ozone Retrieval By A Combination of TROPOMI/S5P Measurements With BASCOE Assimilated Data

We present a new tropospheric ozone dataset based on TROPOspheric Monitoring Instrument (TROPOMI)/Sentinel-5 Precursor (S5P) total ozone measurements combined with stratospheric ozone data from the Belgian Assimilation System for Chemical ObsErvations (BASCOE) constrained by assimilating ozone observations from the Microwave Limb Sounder (MLS). The BASCOE stratospheric data are interpolated to the S5P observations and subtracted from the TROPOMI total ozone data. The difference is equal to the tropospheric ozone residual column from the surface up to the tropopause. The tropospheric ozone columns are retrieved at the full spatial resolution of the TROPOMI sensor (5.5×3.5 km 2 ) with daily global coverage. Compared to the Ozone Mapping and Profiler Suite Modern-Era Retrospective analysis for Research and Applications 2 (OMPS-MERRA-2) data, a global mean positive bias of 3.3 DU is found for the analysed period April 2018 to June 2020. A small negative bias of about −0.91 DU is observed in the tropics relative to the operational TROPOMI tropical tropospheric data based on the convective cloud differential (CCD) algorithm throughout the same period. The new tropospheric ozone data (S5P-BASCOE) are compared to a set of globally distributed ozonesonde data integrated up to the tropopause level. We found 2254 comparisons with cloud-free TROPOMI observations within 25 km of the stations. In the global mean, S5P-BASCOE deviates by 2.6 DU from the integrated ozonesondes. Depending on the latitude the S5P-BASCOE deviate from the sondes and between −4.8 and 7.9 DU, indicating a good agreement. However, some exceptional larger positive deviations up to 12 DU are found, especially in the northern polar regions (north of 70∘). The monthly mean tropospheric column and time series for selected areas showed the expected spatial and temporal pattern, such as the wave one structure in the tropics or the seasonal cycle, including a summer maximum, in the mid-latitudes.

Satellite Retrieval↗
NASA NTRSDate not supplied

Ongoing Work: A Prototype Dataset for Low-flying Autonomous Medical UAS Operations

This paper presents ongoing work to create a dataset for low-flying autonomous medical UAS operations, focused on human stance recognition. This is an exploration of the viability of airborne classification for the Drone as a First Responder (DFR) concept in which a UAS arrives at the scene of an incident before emergency response personnel can get there and provides some level of situational awareness for the personnel arriving to the scene. Future incarnations could also see the UAS administer some level of care to injured parties at the scene. The data set, focused on detecting human stance, being developed here is the result of 30 test flights at NASA Langley Research Center in early 2024. In addition to flights where the participant (an anthropomorphic testing device or human) is alone in the viewing area holding a particular stance, two emergency scenes have been fabricated and collected through video - ``bike crash'' and ``difficult camping''. These test flights include four human participants. The contribution of this work upon completion will be a publicly available data set for the development of classification engines focused on human stance, and in the future, even triage.

Uncrewed Aerial Systems↗
NASA NTRS1985

Relative Accuracy Assessment of LANDSAT-4 MSS and TM Data for Level 1 Land Cover Inventory

Digital data for the Washington, DC scene simultaneously acquired by the LANDSAT-4 Multispectral Scanner (MSS) and the LANDSAT-4 thematic mapper (TM) was compared. Classification success for the TM and MSS data sets was determined by a per pixel comparison with digitized ground verification data (GVD). These GVD were comprised of Level 7 land cover (developed, agriculture, forest, water, wetlands, and barren) for four USGS 7.5 minute topographic quadrangle maps. The relative improvement in classification success for TM was between 11% and 14%, or about a factor of 1.3, for these data. This represents a meaningful improvement in accuracy for Level 7 land cover categorization for TM relative to MSS, particularly when errors of omission and commission were considered.

Middleton, E. M.↗
NASA NTRS1975

Real-time video compression algorithm for Hadamard transform processing

A real-time digital video processor using Hadamard transform techniques to reduce video bandwidth is described. The processor can be programmed with different parameters to investigate various algorithms for bandwidth compression. The processor is also adaptive in that it can select different parameter sets to trade off spatial resolution for temporal resolution in the regions of the picture that are moving. Algorithms used in programming the system are described along with results achieved at various levels of compression. The algorithms relate to spatial compression, temporal compression, and the adaptive selection of parameter sets.

Knauer, S. C.↗
NASA NTRS1982

Methane and nonmethane hydrocarbon concentrations in the North and South Atlantic marine boundary layer

Methane and nonmethane hydrocarbon (NMHC) data were collected in the Atlantic marine boundary layer from 40 N to 32 S latitude during October and November 1980. Average volume mixing ratios for CH4 of 1.69 + or - 0.02 ppmv were obtained north of the intertropical convergence zone (ITCZ) and 1.60 + or - 0.02 ppmv south of the ITCZ. The hemispheric CH4 gradient was very sharp, decreasing rapidly between 14 N and 10 N latitude. Gaseous NMHC concentrations (based on response as CH4) were measured simultaneously and found to lie consistently within the standard error for the individual measurements + or - 0.02 ppmv) after correction for water vapor interference. The correction for water vapor response was large, frequently as much as 80% of the raw NMHC signal. Application of the student's t distribution test to the NMHC data set established that the mean northern and southern hemispheric NMHC mixing ratios measured, 0.016 and 0.010 ppmv, respectively, were statistically different at the 95% confidence level. These results indicate volatile NMHC mixing ratios average less than 0.02 ppmv over the Atlantic and represent the first set of semicontinuous NMHC measurements spanning the North and South Atlantic marine boundary layer.

Cofer, W. R., III↗
NASA NTRS1991

Using fuzzy logic to integrate neural networks and knowledge-based systems

Outlined here is a novel hybrid architecture that uses fuzzy logic to integrate neural networks and knowledge-based systems. The author's approach offers important synergistic benefits to neural nets, approximate reasoning, and symbolic processing. Fuzzy inference rules extend symbolic systems with approximate reasoning capabilities, which are used for integrating and interpreting the outputs of neural networks. The symbolic system captures meta-level information about neural networks and defines its interaction with neural networks through a set of control tasks. Fuzzy action rules provide a robust mechanism for recognizing the situations in which neural networks require certain control actions. The neural nets, on the other hand, offer flexible classification and adaptive learning capabilities, which are crucial for dynamic and noisy environments. By combining neural nets and symbolic systems at their system levels through the use of fuzzy logic, the author's approach alleviates current difficulties in reconciling differences between low-level data processing mechanisms of neural nets and artificial intelligence systems.

Yen, John↗
NASA NTRS2016

Impact of MODIS SWIR Band Calibration Improvements on Level-3 Atmospheric Products

The spectral reflectance measured by the MODIS reflective solar bands (RSB) is used for retrieving many atmospheric science products. The accuracy of these products depends on the accuracy of the calibration of the RSB. To this end, the RSB of the MODIS instruments are primarily calibrated on-orbit using regular solar diffuser (SD) observations. For lambda < 0.94 microns the SDs on-orbit bi-directional reflectance factor (BRF) change is tracked using solar diffuser stability monitor (SDSM) observations. For lambda > 0.94 microns, the MODIS Characterization Support Team (MCST) developed, in MODIS Collection 6 (C6), a time-dependent correction using observations from pseudo-invariant earth-scene targets. This correction has been implemented in C6 for the Terra MODIS 1.24 micron band over the entire mission, and for the 1.375 micron band in the forward processing. As the instruments continue to operate beyond their design lifetime of six years, a similar correction is planned for other short-wave infrared (SWIR) bands as well. MODIS SWIR bands are used in deriving atmosphere products, including aerosol optical thickness, atmospheric total column water vapor, cloud fraction and cloud optical depth. The SD degradation correction in Terra bands 5 and 26 impact the spectral radiance and therefore the retrieval of these atmosphere products. Here, we describe the corrections to Bands 5 (1.24 microns) and 26 (1.375 microns), and produce three sets (B5, B26 correction on/on, on/off, and off/off) of Terra-MODIS Level 1B (calibrated radiance product) data. By comparing products derived from these corrected and uncorrected Terra MODIS Level 1B (L1B) calibrations, dozens of L3 atmosphere products are surveyed for changes caused by the corrections, and representative results are presented. Aerosol and water vapor products show only small local changes, while some cloud products can change locally by > 10%, which is a large change.

Calibration↗
NASA NTRS2009

CCSDS Spacecraft Monitor and Control Mission Operations Interoperability Prototype

We are entering a new era in space exploration. Reduced operating budgets require innovative solutions to leverage existing systems to implement the capabilities of future missions. Custom solutions to fulfill mission objectives are no longer viable. Can NASA adopt international standards to reduce costs and increase interoperability with other space agencies? Can legacy systems be leveraged in a service oriented architecture (SOA) to further reduce operations costs? The Operations Technology Facility (OTF) at the Johnson Space Center (JSC) is collaborating with Deutsches Zentrum fur Luft- und Raumfahrt (DLR) to answer these very questions. The Mission Operations and Information Management Services Area (MOIMS) Spacecraft Monitor and Control (SM&C) Working Group within the Consultative Committee for Space Data Systems (CCSDS) is developing the Mission Operations standards to address this problem space. The set of proposed standards presents a service oriented architecture to increase the level of interoperability among space agencies. The OTF and DLR are developing independent implementations of the standards as part of an interoperability prototype. This prototype will address three key components: validation of the SM&C Mission Operations protocol, exploration of the Object Management Group (OMG) Data Distribution Service (DDS), and the incorporation of legacy systems in a SOA. The OTF will implement the service providers described in the SM&C Mission Operation standards to create a portal for interaction with a spacecraft simulator. DLR will implement the service consumers to perform the monitor and control of the spacecraft. The specifications insulate the applications from the underlying transport layer. We will gain experience with a DDS transport layer as we delegate responsibility to the middleware and explore transport bridges to connect disparate middleware products. A SOA facilitates the reuse of software components. The prototype will leverage the capabilities of existing legacy systems. Various custom applications and middleware solutions will be combined into one system providing the illusion of a set of homogenous services. This paper will document our journey as we implement the interoperability prototype. The team consists of software engineers with experience on the current command, telemetry and messaging systems that support the International Space Station (ISS) and Space Shuttle programs. Emphasis will be on the objectives, results and potential cost saving benefits.

Lucord, Steve↗
NASA NTRS1986

Description of data on the Nimbus 7 LIMS map archive tape: Ozone and nitric acid

The Nimbus 7 Limb Infrared Monitor of the Stratosphere (LIMS) data set has been processed into a Fourier coefficient representation with a Kalman filter algorithm applied to profile data at individual latitudes and pressure levels. The algorithm produces synoptic data at noon Greenwich Mean Time (GMT) from the asynoptic orbital profiles. This form of the data set is easy to use and is appropriate for time series analysis and further data manipulation and display. Ozone and nitric acid results are grouped together in this report because the LIMS vertical field of views (FOV's) and analysis characteristics for these species are similar. A comparison of the orbital input data with mixing ratios derived from Kalman filter coefficients indicates errors in mixing ratio of generally less than 5 percent, with 15 percent being a maximum error. The high quality of the mapped data was indicated by coherence of both the phases and the amplitudes of waves with latitude and pressure. Examples of the mapped fields are presented, and details are given concerning the importance of diurnal variations, the removal of polar stratospheric cloud signatures, and the interpretation of bias effects in the data near the tops of profiles.

Remsberg, E. E.↗
NASA NTRS2011

Terrestrial Waters and Sea Level Variations on Interannual Time Scale

On decadal to multi-decadal time scales, thermal expansion of sea waters and land ice loss are the main contributors to sea level variations. However, modification of the terrestrial water cycle due to climate variability and direct anthropogenic forcing may also affect sea level. For the past decades, variations in land water storage and corresponding effects on sea level cannot be directly estimated from observations because these are almost non-existent at global continental scale. However, global hydrological models developed for atmospheric and climatic studies can be used for estimating total water storage. For the recent years (since mid-2002), terrestrial water storage change can be directly estimated from observations of the GRACE space gravimetry mission. In this study, we analyse the interannual variability of total land water storage, and investigate its contribution to mean sea level variability at interannual time scale. We consider three different periods that, each, depend on data availability: (1) GRACE era (2003-2009), (2) 1993-2003 and (3) 1955-1995. For the GRACE era (period 1), change in land water storage is estimated using different GRACE products over the 33 largest river basins worldwide. For periods 2 and 3, we use outputs from the ISBA-TRIP (Interactions between Soil, Biosphere, and Atmosphere-Total Runoff Integrating Pathways) global hydrological model. For each time span, we compare change in land water storage (expressed in sea level equivalent) to observed mean sea level, either from satellite altimetry (periods 1 and 2) or tide gauge records (period 3). For each data set and each time span, a trend has been removed as we focus on the interannual variability. We show that whatever the period considered, interannual variability of the mean sea level is essentially explained by interannual fluctuations in land water storage, with the largest contributions arising from tropical river basins.

Llovel, W.↗
NASA NTRS1983

Is there any chlorine monoxide in the stratosphere?

A ground-based search for stratospheric 35-ClO was carried out using an infrared heterodyne spectrometer in the solar absorption mode. Lines due to stratospheric HNO3 and tropospheric OCS were detected at about 0.2% absorptance levels, but the expected 0.1% lines of ClO in this same region were not seen. We find that stratospheric ClO is at least a factor of seven less abundant than is indicated by in situ measurements, and we set an upper limit of 2.3x10 to the 13th molecules/sq cm at the 95% confidence level for the integrated vertical column density of ClO. Our results imply that the release of chlorofluorocarbons may be significantly less important for the destruction of stratospheric ozone (O3) than is currently thought.

Mumma, M. J.↗
NASA NTRS2009

Altair Lander Life Support: Requirement Analysis Cycles 1 and 2

Life support systems are a critical part of human exploration beyond low earth orbit. NASA s Altair Lunar Lander has unique missions to perform and will need a unique life support system to complete them. Initial work demonstrated a feasible minimally-functional Lander design. This work was completed in Design Analysis Cycles (DAC) 1, 2, and 3 were reported in a previous paper. On October 21, 2008, the Altair project completed the Mission Concept Review (MCR), moving the project into Phase A. In Phase A activities, the project is preparing for the System Requirements Review (SRR). Altair has conducted two Requirements Analysis Cycles (RACs) to begin this work. During this time, the life support team must examine the Altair mission concepts, Constellation Program level requirements, and interfaces with other vehicles and spacesuits to derive the right set of requirements for the new vehicle. The minimum functionality design meets some of these requirements already and can be easily adapted to meet others. But Altair must identify which will be more costly in mass, power, or other resources to meet. These especially costly requirements must be analyzed carefully to be sure they are truly necessary, and are the best way of explaining and meeting the true need. If they are necessary and clear, they become important mass threats to track at the vehicle level. If they are not clear or do not seem necessary to all stakeholders, Altair must work to redefine them or push back on the requirements writers. Additionally, the life support team is evaluating new technologies to see if they are more effective than the existing baseline design at performing necessary functions in Altair s life support system.

Anderson, Molly↗
NASA NTRS2010

Altair Lander Life Support: Requirements Analysis Cycles 1 and 2

Life support systems are a critical part of human exploration beyond low earth orbit. NASA's Altair Lunar Lander has unique missions to perform and will need a unique life support system to complete them. Initial work demonstrated a feasible minimally -functional Lander design. This work was completed in Design Analysis Cycles (DAC) 1, 2, and 3 were reported in a previous paper'. On October 21, 2008, the Altair project completed the Mission Concept Review (MCR), moving the project into Phase A. In Phase A activities, the project is preparing for the System Requirements Review (SRR). Altair has conducted two Requirements Analysis Cycles (RACs) to begin this work. During this time, the life support team must examine the Altair mission concepts, Constellation Program level requirements, and interfaces with other vehicles and spacesuits to derive the right set of requirements for the new vehicle. The minimum functionality design meets some of these requirements already and can be easily adapted to meet others. But Altair must identify which will be more costly in mass, power, or other resources to meet. These especially costly requirements must be analyzed carefully to be sure they are truly necessary, and are the best way of explaining and meeting the true need. If they are necessary and clear, they become important mass threats to track at the vehicle level. If they are not clear or do not seem necessary to all stakeholders, Altair must work to redefine them or push back on the requirements writers. Additionally, the life support team is evaluating new technologies to see if they are more effective than the existing baseline design at performing necessary functions in Altair's life support system.

Anderson, Molly↗
NASA NTRS1992

Setting Spacecraft Maximum Allowable Concentrations for 1 hour or 24 hour contingency exposures to airborne chemicals

Since the early years of the manned space program, NASA has developed and used exposure limits called Spacecraft Maximum Allowable Concentrations (SMACs) to help protect astronauts from airborne toxicants. Most of these SMACS are based on an exposure duration of 7 days, since this is the duration of a 'typical' mission. A set of 'contingency SMACs' is also being developed for scenarios involving brief (1-hour or 24- hour) exposures to relatively high levels of airborne toxicants from event-related 'contingency' releases of contaminants. The emergency nature of contingency exposures dictates the use of different criteria for setting exposure limits. The NASA JSC Toxicology Group recently began a program to document the rationales used to set new SMACs and plans to review the older, 7-day SMACs. In cooperation with the National Research Council's Committee on Toxicology, a standard procedure has been developed for researching, setting, and documenting SMAC values.

Garcia, Hector D.↗
NASA NTRS2007

Space Radiation Cancer Risks

Space radiation presents major challenges to astronauts on the International Space Station and for future missions to the Earth s moon or Mars. Methods used to project risks on Earth need to be modified because of the large uncertainties in projecting cancer risks from space radiation, and thus impact safety factors. We describe NASA s unique approach to radiation safety that applies uncertainty based criteria within the occupational health program for astronauts: The two terrestrial criteria of a point estimate of maximum acceptable level of risk and application of the principle of As Low As Reasonably Achievable (ALARA) are supplemented by a third requirement that protects against risk projection uncertainties using the upper 95% confidence level (CL) in the radiation cancer projection model. NASA s acceptable level of risk for ISS and their new lunar program have been set at the point-estimate of a 3-percent risk of exposure induced death (REID). Tissue-averaged organ dose-equivalents are combined with age at exposure and gender-dependent risk coefficients to project the cumulative occupational radiation risks incurred by astronauts. The 95% CL criteria in practice is a stronger criterion than ALARA, but not an absolute cut-off as is applied to a point projection of a 3% REID. We describe the most recent astronaut dose limits, and present a historical review of astronaut organ doses estimates from the Mercury through the current ISS program, and future projections for lunar and Mars missions. NASA s 95% CL criteria is linked to a vibrant ground based radiobiology program investigating the radiobiology of high-energy protons and heavy ions. The near-term goal of research is new knowledge leading to the reduction of uncertainties in projection models. Risk projections involve a product of many biological and physical factors, each of which has a differential range of uncertainty due to lack of data and knowledge. The current model for projecting space radiation cancer risk relies on the three assumptions of linearity, additivity, and scaling along with the use of population averages. We describe uncertainty estimates for this model, and new experimental data that sheds light on the accuracy of the underlying assumptions. These methods make it possible to express risk management objectives in terms of quantitative metrics, i.e., the number of days in space without exceeding a given risk level within well defined confidence limits. The resulting methodology is applied to several human space exploration mission scenarios including lunar station, deep space outpost, and a Mars mission. Factors that dominate risk projection uncertainties and application of this approach to assess candidate mitigation approaches are described.

Cucinotta, Francis A.↗
NASA NTRS2009

Carbon Dioxide - Our Common "Enemy"

Health effects of brief and prolonged exposure to carbon dioxide continue to be a concern for those of us who manage this pollutant in closed volumes, such as in spacecraft and submarines. In both examples, considerable resources are required to scrub the atmosphere to levels that are considered totally safe for maintenance of crew health and performance. Defining safe levels is not a simple task because of many confounding factors, including: lack of a robust database on human exposures, suspected significant variations in individual susceptibility, variations in the endpoints used to assess potentially adverse effects, the added effects of stress, and the fluid shifts associated with micro-gravity (astronauts only). In 2007 the National Research Council proposed revised Continuous Exposure Guidelines (CEGLs) and Emergency Exposure Guidelines (EEGLs) to the U.S. Navy. Similarly, in 2008 the NASA Toxicology Group, in cooperation with another subcommittee of the National Research Council, revised Spacecraft Maximum Allowable Concentrations (SMACs). In addition, a 1000-day exposure limit was set for long-duration spaceflights to celestial bodies. Herein we examine the rationale for the levels proposed to the U.S. Navy and compare this rationale with the one used by NASA to set its limits. We include a critical review of previous studies on the effects of exposure to carbon dioxide and attempt to dissect out the challenges associated with setting fully-defensible limits. We also describe recent experiences with management of carbon dioxide aboard the International Space Station with 13 persons aboard. This includes the tandem operations of the Russian Vozduk and the U.S. Carbon Dioxide Removal System. A third removal system is present while the station is docked to the Shuttle spacecraft, so our experience includes the lithium hydroxide system aboard Shuttle for the removal of carbon dioxide. We discuss strategies for highly-efficient, regenerable removal of carbon dioxide that could meet the 1000-day SMAC of 0.5%, which would apply to long-duration voyages to Mars.

James, John T.↗
NASA NTRS2020

Environmental Verification of NASA’s Europa Clipper Mission

NASA’s Jet Propulsion Laboratory (JPL) and its partner are planning a mission to explore an icy moon of Jupiter, Europa. The objective of the planned Europa Clipper mission is to gain insight into the key ingredients for this potentially habitable world. This mission will conduct investigations using a suite of remote sensing and in-situ fields and particles instruments, and a two-channel ice-penetrating radar. Among its science objectives are to produce high-resolution images of Europa's surface, determine its composition, look for signs of recent or ongoing activity, measure the thickness of the ice shell, search for subsurface lakes, and determine the depth and salinity of Europa's ocean. Europa Clipper is expected to encounter very challenging environments. These environments include radiation, dynamics, thermal, and electromagnetics, which have been translated into a set of environmental requirements that are levied onto the Europa Clipper flight system design. This paper describes how the environmental requirements are specified and verified for each flight component and at which level of integration. A couple of examples will be provided to illustrate the process by which a comprehensive set of verification activities is specified and performed for individual subsystems and instruments to ensure mission success.

Man, Kin Fung↗