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All sourcesNASA NTRSDOE OSTI
NASA NTRS1984

A search for Earth-crossing asteroids, supplement

The ground based electro-optical deep space surveillance program involves a network of computer controlled 40 inch 1m telescopes equipped with large format, low light level, television cameras of the intensified silicon diode array type which is to replace the Baker-Nunn photographic camera system for artificial satellite tracking. A prototype observatory was constructed where distant artificial satellites are discriminated from stars in real time on the basis of the satellites' proper motion. Hardware was modified and the technique was used to observe and search for minor planets. Asteroids are now routinely observed and searched. The complete observing cycle, including the 2"-3" measurement of position, requires about four minutes at present. The commonality of asteroids and artificial satellite observing, searching, data reduction, and orbital analysis is stressed. Improvements to the hardware and software as well as operational techniques are considered.

Taff, L. G.↗
NASA NTRS2011

Combined Weekly Coordinate Solutions from SLR and DORIS

In International Terrestrial Reference Frame (ITRF) 2005 and ITRF2008, the approach for the construction of solutions by the IERS has been for individual analysis centers of each technique to process geodetic tracking data, and for each technique to develop a solution (or contribution) that is integrated into the final ITRF solution by careful combination of the technique solutions. The connections between the geodetic networks are realized by the application of local ties. In an alternate approach, we may assure processing homogeneity by creating normal equations for different techniques with the same orbit determination software, using identically derived algorithms. Another derivative of this approach is to realize the ties between the techniques using satellites tracked with multiple techniques; in effect tieing the networks together using satellite dynamics. In this solution, we develop a time series and a set of cumulative solutions from Satellite Laser Ranging (SLR) & Doppler Orbitography and Radio-positioning Integrated by Satellite (DORIS) based on homogeneous processing with the NASA GEODYN precise orbit determination suite of programs, where we jointly combine weekly the SLR data to Lageos1, Lageos2, Starlette, and Stella with the DORIS data from SPOT2-SPOT5, as well as satellites that utilize both techniques (TOPEX/Poseidon, Envisat, Jason-2). We discuss the modeling that is applied including upgrades implemented since the submission of the GSC ITRF2008 contributions for IDS. Firstly, we compare the SLR-only solutions comprising four geodetic satellites with the standard approach of utilizing only Lageos1 & Lageos2. Secondly, we evaluate the impact on the DORIS coordinates of the joint analysis with the SLR data.

Lemoine, F.↗
NASA NTRS2012

Graphics Processing Unit Assisted Thermographic Compositing

Objective: To develop a software application utilizing general purpose graphics processing units (GPUs) for the analysis of large sets of thermographic data. Background: Over the past few years, an increasing effort among scientists and engineers to utilize the GPU in a more general purpose fashion is allowing for supercomputer level results at individual workstations. As data sets grow, the methods to work them grow at an equal, and often great, pace. Certain common computations can take advantage of the massively parallel and optimized hardware constructs of the GPU to allow for throughput that was previously reserved for compute clusters. These common computations have high degrees of data parallelism, that is, they are the same computation applied to a large set of data where the result does not depend on other data elements. Signal (image) processing is one area were GPUs are being used to greatly increase the performance of certain algorithms and analysis techniques. Technical Methodology/Approach: Apply massively parallel algorithms and data structures to the specific analysis requirements presented when working with thermographic data sets.

Ragasa, Scott↗
NASA NTRS2013

Graphics Processing Unit Assisted Thermographic Compositing

Objective: To develop a software application utilizing general purpose graphics processing units (GPUs) for the analysis of large sets of thermographic data. Background: Over the past few years, an increasing effort among scientists and engineers to utilize the GPU in a more general purpose fashion is allowing for supercomputer level results at individual workstations. As data sets grow, the methods to work them grow at an equal, and often greater, pace. Certain common computations can take advantage of the massively parallel and optimized hardware constructs of the GPU to allow for throughput that was previously reserved for compute clusters. These common computations have high degrees of data parallelism, that is, they are the same computation applied to a large set of data where the result does not depend on other data elements. Signal (image) processing is one area were GPUs are being used to greatly increase the performance of certain algorithms and analysis techniques.

Ragasa, Scott↗
DOE OSTI2013

Expert System for Building TRU Waste Payloads - 13554

The process for grouping TRU waste drums into payloads for shipment to the Waste Isolation Pilot Plant (WIPP) for disposal is a very complex process. Transportation and regulatory requirements must be met, along with striving for the goals of shipment efficiency: maximize the number of waste drums in a shipment and minimize the use of empty drums which take up precious underground storage space. The restrictions on payloads range from weight restrictions, to limitations on flammable gas in the headspace, to minimum TRU alpha activity concentration requirements. The Overpack and Payload Assistant Tool (OPAT) has been developed as a mixed-initiative intelligent system within the WIPP Waste Data System (WDS) to guide the construction of multiple acceptable payloads. OPAT saves the user time while at the same time maximizes the efficiency of shipments for the given drum population. The tool provides the user with the flexibility to tune critical factors that guide OPAT's operation based on real-time feedback concerning the results of the execution. This feedback complements the user's external knowledge of the drum population (such as location of drums, known challenges, internal shipment goals). This work demonstrates how software can be utilized to complement the unique domain knowledge of the users. The mixed-initiative approach combines the insight and intuition of the human expert with the proficiency of automated computational algorithms. The result is the ability to thoroughly and efficiently explore the search space of possible solutions and derive the best waste management decision. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2015

Neutron multiplicity ,easurements With 3 He alternative: Straw neutron detectors

Counting neutrons emitted by special nuclear material (SNM) and differentiating them from the background neutrons of various origins is the most effective passive means of detecting SNM. Unfortunately, neutron detection, counting, and partitioning in a maritime environment are complex due to the presence of high-multiplicity spallation neutrons (commonly known as “ship effect”) and to the complicated nature of the neutron scattering in that environment. In this study, a prototype neutron detector was built using 10 B as the converter in a special form factor called “straws” that would address the above problems by looking into the details of multiplicity distributions of neutrons originating from a fissioning source. This paper describes the straw neutron multiplicity counter (NMC) and assesses the performance with those of a commercially available fission meter. The prototype straw neutron detector provides a large-area, efficient, lightweight, more granular (than fission meter) neutron-responsive detection surface (to facilitate imaging) to enhance the ease of application of fission meters. Presented here are the results of preliminary investigations, modeling, and engineering considerations leading to the construction of this prototype. This design is capable of multiplicity and Feynman variance measurements. This prototype may lead to a near-term solution to the crisis that has arisen from the global scarcity of 3 He by offering a viable alternative to fission meters. This paper describes the work performed during a 2-year site-directed research and development (SDRD) project that incorporated straw detectors for neutron multiplicity counting. The NMC is a two-panel detector system. We used 10 B (in the form of enriched boron carbide: 10 B 4 C) for neutron detection instead of 3 He. In the first year, the project worked with a panel of straw neutron detectors, investigated its characteristics, and developed a data acquisition (DAQ) system to collect neutron multiplicity information from spontaneous fission sources using a single panel consisting of 60 straws equally distributed over three rows in high-density polyethylene moderator. In the following year, we developed the field-programmable gate array and associated DAQ software. Finally, this SDRD effort successfully produced a prototype NMC with ~33% detection efficiency compared to a commercial fission meter.

46 INSTRUMENTATION RELATED TO NUCLEAR SCIENCE AND ↗
NASA NTRS1995

An unstructured-grid software system for solving complex aerodynamic problems

A coordinated effort has been underway over the past four years to elevate unstructured-grid methodology to a mature level. The goal of this endeavor is to provide a validated capability to non-expert users for performing rapid aerodynamic analysis and design of complex configurations. The Euler component of the system is well developed, and is impacting a broad spectrum of engineering needs with capabilities such as rapid grid generation and inviscid flow analysis, inverse design, interactive boundary layers, and propulsion effects. Progress is also being made in the more tenuous Navier-Stokes component of the system. A robust grid generator is under development for constructing quality thin-layer tetrahedral grids, along with a companion Navier-Stokes flow solver. This paper presents an overview of this effort, along with a perspective on the present and future status of the methodology.

Frink, Neal T.↗
NASA NTRS1982

Real-time microcomputer simulation for space Shuttle/Centaur avionics

The design of a simulator system for emulating the characteristics of Shuttle/Centaur avionic support equipment for launching the Solar Polar Mission and the Galileo probe are discussed. The simulators are being constructed on a modular basis for the Centaur control avionics, the Centaur Airborne Support Equipment avionics, the tanking skid ground support equipment, development mechanisms, the tanking skid ground support equipment, deployment mechanisms, the tanking onboard fluid functions, the star scanner guidance update avionics, the Orbiter command interface avionics, and the Orbiter power system. Each simulator portrays the actual working conditions, including signal delay times and harnessing. Block diagrams are provided of the interfaces and a flow diagram is presented of the software.

Szatkowski, G. P.↗
DOE OSTI2020

Evolutionary multi-objective optimization and Pareto-frontal uncertainty quantification of interatomic forcefields for thermal conductivity simulations

Predictive Molecular Dynamics simulations of thermal transport require forcefields that can simultaneously reproduce several structural, thermodynamic and vibrational properties of materials like lattice constants, phonon density of states, and specific heat. This requires a multi-objective optimization approach for forcefield parameterization. Existing methodologies for forcefield parameterization use ad-hoc and empirical weighting schemes to convert this into a single-objective optimization problem. Here, we provide and describe software to perform multi-objective optimization of Stillinger–Weber forcefields (SWFF) for two-dimensional layered materials using the recently developed 3rd generation non-dominated sorting genetic algorithm (NSGA-III). NSGA-III converges to the set of optimal forcefields lying on the Pareto front in the multi-dimensional objective space. This set of forcefields is used for uncertainty quantification of computed thermal conductivity due to variability in the forcefield parameters. We demonstrate this new optimization scheme by constructing a SWFF for a representative two-dimensional material, 2H-MoSe 2 and quantifying the uncertainty in their computed thermal conductivity.

97 MATHEMATICS AND COMPUTING↗
DOE OSTI2026

Active learning emulators for nuclear two-body scattering in momentum space

In this work we extend the active learning emulators for two-body scattering in coordinate space with error estimation, recently developed by Maldonado et al. [Phys. Rev. C 112, 024002], to coupled-channel scattering in momentum space. Our full-order model (FOM) solver is based on the Lippmann-Schwinger integral equation for the scattering t-matrix as opposed to the radial Schrödinger equation. We use (Petrov-)Galerkin projections and high-fidelity calculations at a few snapshots across the parameter space of the interaction to construct efficient reduced-order models (ROMs), trained by a greedy algorithm for locally optimal snapshot selection. Both the FOM solver and the corresponding ROMs are implemented efficiently in Python using Google's JAX library. We present results for emulating scattering phase shifts in coupled and uncoupled channels and cross sections, and assess the accuracy of the developed ROMs and their computational speedup factors. We also develop emulator error estimation for both the t-matrix and the total cross section. The software framework for reproducing and extending our results is publicly available. Together with our recent advances in developing active-learning emulators for three-body scattering, these emulator frameworks set the stage for full Bayesian calibrations of chiral nuclear interactions and optical models against scattering data with quantified emulator errors.

73 NUCLEAR PHYSICS AND RADIATION PHYSICS↗
NASA NTRS1994

A feasibility study for long-path multiple detection using a neural network

Least-squares inverse filters have found widespread use in the deconvolution of seismograms and the removal of multiples. The use of least-squares prediction filters with prediction distances greater than unity leads to the method of predictive deconvolution which can be used for the removal of long path multiples. The predictive technique allows one to control the length of the desired output wavelet by control of the predictive distance, and hence to specify the desired degree of resolution. Events which are periodic within given repetition ranges can be attenuated selectively. The method is thus effective in the suppression of rather complex reverberation patterns. A back propagation(BP) neural network is constructed to perform the detection of first arrivals of the multiples and therefore aid in the more accurate determination of the predictive distance of the multiples. The neural detector is applied to synthetic reflection coefficients and synthetic seismic traces. The processing results show that the neural detector is accurate and should lead to an automated fast method for determining predictive distances across vast amounts of data such as seismic field records. The neural network system used in this study was the NASA Software Technology Branch's NETS system.

Feuerbacher, G. A.↗
DOE OSTI2020

GIS-Based Modeling of Contaminated Soil Volumes at Multiple Sites in the Formerly Utilized Sites Remedial Action Program - 20149

The remediation of hazardous, toxic, and radioactive waste (HTRW) sites produces cost-related risks associated with the estimation of contaminated soil or debris volumes. Historical risk-management techniques include cost contingencies to cover volume uncertainties that affect project budgeting and decision-making. The Buffalo District teamed with project partners to lessen volume uncertainty and reduce project risks at multiple HTRW sites managed under the Formerly Utilized Sites Remedial Action Program (FUSRAP). Historical remedial investigations under FUSRAP commonly identified the presence of radiological material in site media, the associated human health risk, and then areas of remediation. To manage remedial execution and reduce risk, pre-design or remediation-phase sampling essentially 'chased' contamination, which was not conducive to efficient predictive budgeting derived from Feasibility Study (FS) cost analyses. The Buffalo District first optimized their approach to better understand volume uncertainty by utilizing the Argonne National Laboratory's Bayesian Approaches for Adaptive Spatial Sampling (BAASS) software [1]. BAASS processed soft data (e.g., gamma walk-over data) and spatial sampling data to estimate the lateral extent of contaminated soil irrespective of depth (i.e., gross contamination extent) and define areas of contaminant uncertainty. The software performed a binary transformation of contaminant concentrations at all sampling points based upon remedial action goals or a sum of ratios approach (i.e., clean, impacted, or range of impacts in soil). The model produced two-dimensional (horizontal) contaminant probability contours and statistical uncertainty in the sampling coverage and resulting contaminant extents. This method was translated vertically by partitioning the sampling data into depth brackets that produced a stacked representation of contaminant extents and uncertainty in the subsurface (i.e., similar to construction lifts). The results commonly led to a better understanding of project uncertainty and the need for sampling strategies that produce high-confidence soil volumes, which control costs. The BAASS-based delineations were eventually replaced by Empirical Bayesian Kriging (EBK) methods available in ArcGIS Spatial or 3D Analysts [2]. The EBK method calculates contaminant probability zones derived from user-controlled semivariograms of the spatial datasets. The resulting probability zones (e.g., 50% or 80% of contaminant probability) represent the two-dimensional surface delineation of the overall horizontal remedial area, similarly to BAASS. However, unlike BAASS, the vertical sampling data within these probability zones became vertical control points to contour a subterranean surface that connects subsurface points to the land-surface delineations of contamination. The resulting representation of horizontal and vertical impacts within an enclosed envelop (volume) of soil included uncertainty distributions that are used to plan uncertainty-reduction sampling. These data-driven and math-based models of three-dimensional sampling results produced well-bounded remedial volumes for project planning and better uncertainty predictions during project budgeting. The EBK method was applied to several FUSRAP sites managed by the Buffalo District and compared to less rigorously modeled sites previously remediated by the District. The comparison of modeled to actual remediated volumes provide a basis for validating the volume-estimation method. This comparison is important to ensure modeled volumes match physical boundaries of site remediation. FUSRAP sites with denser investigative sampling and lesser volume uncertainty proved useful in remedial planning and contracting. The Buffalo District noted that historical sites with sparser sampling arrays had greater disparity between estimated volumes and final remedial volumes. The benefit achieved over the cost of detailed soil sampling appears positive for FUSRAP projects, especially where impacts vary widely and appear unbounded by investigation-phase sampling. The subsequent Empirical Bayesian Kriging of contamination coupled with vertical contouring for soil estimations reduces uncertainty in soil volumes or indicates where sampling is required to reduce uncertainty, which together optimize remedial planning and budgeting. (authors)

12 MANAGEMENT OF RADIOACTIVE AND NON-RADIOACTIVE W↗
DOE OSTI2022

Model predictive control of heating, ventilation, and air conditioning (HVAC) systems: A state-of-the-art review

Due to the fast advancement of communication and information technology, intelligent buildings have garnered great interest. These buildings can forecast weather, ambient temperature, and sun irradiation and can modify heating, ventilation, and air conditioning (HVAC) operations appropriately, based on current and previous data. This change is intended to reduce HVAC system energy usage while maintaining an appropriate degree of thermal comfort and indoor air quality. Since its inception, model predictive control (MPC) has been one of the prospective solutions for HVAC management systems to reduce both costs and energy usage. Additionally, MPC is becoming increasingly practical as the processing capacity of building automation systems increases and a large quantity of monitored building data becomes available. MPC also provides the potential to improve the energy efficiency of HVAC systems via its capacity to consider limitations, to predict disruptions, and to factor in multiple competing goals such as interior thermal comfort and building energy consumption. Although substantial research has been conducted on MPC in building HVAC systems, there is a shortage of critical reviews and a lack of a comprehensive framework that formulates and defines the applications. Here, this article provides a comprehensive state-of-the-art overview of MPC in HVAC systems. Detailed discussions of modeling approaches and optimization algorithms are included. Numerous design aspects such as prediction horizon, occupancy behavior, building type, and cost function, that impact MPC performance are discussed in detail. The technical characteristics, advantages, and disadvantages of various types of modeling software are discussed. The primary objective of this work is to highlight critical design characteristics for the MPC control scheme and to give improved suggestions for future research. Moreover, numerous prospective scenarios have been suggested that might provide future research direction.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗
DOE OSTI2017

Analysis of heating load diversity in German residential districts and implications for the application in district heating systems

In recent years, the application of district heating systems for the heat supply of residential districts has been increasing in Germany. Central supply systems can be very efficient due to diverse energy demand profiles which may lead to reduced installed equipment capacity. Load diversity in buildings has been investigated in former studies, especially for the electricity demand. However, little is known about the influence of single building characteristics (such as building envelope or hot water demand) on the overall heating peak load of a residential district. For measuring the diversity, the peak load ratio (PLR) index is used to represent the percentage reduction of peak load of a district system from a simple sum of individual peak loads of buildings. A total of 144 residential building load profiles have been created with the dynamic building simulation software IDA ICE for a theoretical analysis in which the PLR reaches 15%. Within this study, certain district features are identified which lead to higher diversity. Furthermore, these results are used in a district heating simulation model which confronts the possible advantage of reduced installed capacity with the practical disadvantage of heat distribution losses. Likewise, the influence of load density and the districts building structure can be analyzed. This study shows that especially in districts with high load density, which consist of newly constructed buildings with low supply temperature and high influence of the hot water demand, the advantages of load diversity can be exploited.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗
DOE OSTI2016

SU-F-P-37: Implementation of An End-To-End QA Test of the Radiation Therapy Imaging, Planning and Delivery Process to Identify and Correct Possible Sources of Deviation

Purpose: To implement an end-to-end QA test of the radiation therapy imaging, planning and delivery process, aimed to assess the dosimetric agreement accuracy between planned and delivered treatment, in order to identify and correct possible sources of deviation. To establish an internal standard for machine commissioning acceptance. Methods: A test involving all steps of the radiation therapy: imaging, planning and delivery process was designed. The test includes analysis of point dose and planar dose distributions agreement between TPS calculated and measured dose. An ad hoc 16 cm diameter PMMA phantom was constructed with one central and four peripheral bores that can accommodate calibrated electron density inserts. Using Varian Eclipse 10.0 and Elekta XiO 4.50 planning systems, IMRT, RapidArc and 3DCRT with hard and dynamic wedges plans were planned on the phantom and tested. An Exradin A1SL chamber is used with a Keithley 35617EBS electrometer for point dose measurements in the phantom. 2D dose distributions were acquired using MapCheck and Varian aS1000 EPID.Gamma analysis was performed for evaluation of 2D dose distribution agreement using MapCheck software and Varian Portal Dosimetry Application.Varian high energy Clinacs Trilogy, 2100C/CD, 2000CR and low energy 6X/EX where tested.TPS-CT# vs. electron density table were checked for CT-scanners used. Results: Calculated point doses were accurate to 0.127% SD: 0.93%, 0.507% SD: 0.82%, 0.246% SD: 1.39% and 0.012% SD: 0.01% for LoX-3DCRT, HiX-3DCRT, IMRT and RapidArc plans respectively. Planar doses pass gamma 3% 3mm in all cases and 2% 2mm for VMAT plans. Conclusion: Implementation of a simple and reliable quality assurance tool was accomplished. The end-to-end proved efficient, showing excellent agreement between planned and delivered dose evidencing strong consistency of the whole process from imaging through planning to delivery. This test can be used as a first step in beam model acceptance for clinical use.

60 APPLIED LIFE SCIENCES↗
DOE OSTI2020

Sample problems for Section III, Division 5 design by inelastic analysis of Grade 91 components

This report works through two sample design analyses of representative Grade 91 components using the ASME Boiler & Pressure Vessel Code Section III, Division 5, Appendix HBB-T rules for the strain and deformation and creep-fatigue design criteria using a design by inelastic analysis approach. The component geometries and loadings were selected to span a wide variety of potential applications. The sample components are an endplate geometry, which is fairly representative of typical pressure vessel construction, and a core block, representing a critical component in a heat pipe microreactor, which has a complicated geometry and complex thermal stress history. These sample problems serve several functions. First, they are complete worked examples of how to apply the current design by inelastic analysis rules. Second, they serve as test cases to evaluate the current rules and provide feedback on how they could be optimized to deal with complicated component geometries or to be better automated in modern finite element analysis software. Finally, the analysis here uses an inelastic constitutive model for Grade 91 developed by Argonne National Laboratory and proposed for inclusion in the ASME Boiler & Pressure Vessel Code Section III, Division 5 rules as a reference constitutive model. Using this constitutive model in the sample problem analyses tests the model in the context of the ASME Code rules. The final conclusions of this report are that the material model and the current Code rules are satisfactory, but that the Code rules could be optimized to simplify automation and reduce over conservatism. Future work should address the specific optimization topics discussed in this report.

22 GENERAL STUDIES OF NUCLEAR REACTORS↗
DOE OSTI2016

Portrait and Classification of Individual Haze Particulates

Haze (known as “Mai” in Chinese) threatens the health of billions of people across the globe. To begin solving this problem without severely slowing down the economy, one has to mechanistically and geographically pinpoint the sources of these pollutants, the key of which is to thoroughly characterize and fingerprint the particulates. Here we present a broad survey and classification of thousands of individual airborne particu-lates by using the Scanning Electron Microscope (SEM) to measure their diverse mor-phologies and chemistries, which could eventually be organized into a “haze finger-print database”. For instance, one collection in Xi’an City, China during March-April 2014 yielded 494 airborne particulates that settled on silicon wafers placed outside the window of a 3rd floor office. These 494 particulates were manually imaged with high resolution (down to 2 nm), elementally mapped using Energy-dispersive X-ray Spec-troscopy (EDS), and were identified and categorized into presumed source classes such as construction activities (Ca, Al, Si-O), coal burning (sulfates), biologic (pollen, bac-teria), automotive, mining, steel making, and etc. About 20% of the particulates have mysterious origins, as it is still unclear how they were formed, and a fraction of them contained clearly hazardous elements such as lead and chromium. For future work, we propose using unmanned aerial vehicles with a special “rolling film” substrate that can autonomously collect airborne particulates, a customized SEM auto-imaging system, and machine learning software to establish an online open-access database. The end goal would be to monitor and analyze the particulate pollutants that are pumped into our atmosphere every day, and precisely track down their sources so we can better model and police the quality of the air around us.

54 ENVIRONMENTAL SCIENCES↗
NASA NTRS2008

Orchestrator Telemetry Processing Pipeline

Orchestrator is a software application infrastructure for telemetry monitoring, logging, processing, and distribution. The architecture has been applied to support operations of a variety of planetary rovers. Built in Java with the Eclipse Rich Client Platform, Orchestrator can run on most commonly used operating systems. The pipeline supports configurable parallel processing that can significantly reduce the time needed to process a large volume of data products. Processors in the pipeline implement a simple Java interface and declare their required input from upstream processors. Orchestrator is programmatically constructed by specifying a list of Java processor classes that are initiated at runtime to form the pipeline. Input dependencies are checked at runtime. Fault tolerance can be configured to attempt continuation of processing in the event of an error or failed input dependency if possible, or to abort further processing when an error is detected. This innovation also provides support for Java Message Service broadcasts of telemetry objects to clients and provides a file system and relational database logging of telemetry. Orchestrator supports remote monitoring and control of the pipeline using browser-based JMX controls and provides several integration paths for pre-compiled legacy data processors. At the time of this reporting, the Orchestrator architecture has been used by four NASA customers to build telemetry pipelines to support field operations. Example applications include high-volume stereo image capture and processing, simultaneous data monitoring and logging from multiple vehicles. Example telemetry processors used in field test operations support include vehicle position, attitude, articulation, GPS location, power, and stereo images.

Powell, Mark↗