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NASA NTRS1995

Introduction to Penelope

A formal program verification is a (mathematical) proof that a program executed according to its intended model meets some specification. This proves that the algorithm defined by the program is correct in the precise technical sense of being consistent with a particular specification. A program correct in this sense is free from a large and important class of errors, even though its behavior may still produce unintended results--either because the implementation of the programming language itself does not match the model of execution, or because the specification does not correctly express the user's intentions. Penelope is a prototype system for interactively developing and verifying programs that are written in a rich subset of sequential Ada. Penelope can be used to develop a program and its correctness proof incrementally, and in concert with one another. Incrementality is used in a number of ways to help make verification more tractable and more productive. For example, if an already-verified program is modified, one can attempt to prove the modified version by replaying and modifying the original verification. Penelope's specification language, Larch/Ada, belongs to the family of Larch interface languages. Larch/Ada scales up properly, in the sense that it is demonstrably sound to decompose a system hierarchically and reason locally about the implementation of each piece. Penelope has been applied in various demonstration projects--for specification (guidance control, distributed operating systems), verification (of off-the-shelf code), and formal development (by non-expert as well as expert users). Some features of Penelope have been embodied in Ada Wise, a lint-like non-interactive tool that warns of the potential for certain dynamic semantic errors in Ada programs.

Guaspari, David↗
NASA NTRS1995

Finding the forest in the trees: The challenge of combining diverse environmental data

It has become increasingly important to conduct interdisciplinary environmental research assessments, both nationally and internationally. For this reason, the Committee for a Pilot Study on Database Interfaces was charged to review and advise on data interfacing activities. The committee used six case studies (1) to identify and understand the most important problems associated with collecting, integrating, and analyzing environmental data from local to global spatial scales and over a very wide range of temporal scales; and (2) to elaborate the common barriers to interfacing data of disparate sources and types. Consistent with the committee's charge, the primary focus was the interfacing of geophysical and ecological data. The case studies used by the committee were: The Impact Assessment Project for Drought Early Warning in the Sahel, The National Acid Precipitation Assessment Program, The H.J. Andrew Experimental Forest Long-Term Ecological Research Site, The Carbon Dioxide Information Analysis Center, The First International Satellite Land Surface Climatology Project (ISLSCP) Field Experiment, and The California Cooperative Oceanic Fisheries Investigation. The committee derived a number of lessons from the case studies, and these lessons are summarized at the end of each case study and analyzed in the last chapter. Some are generic in nature; others are more specific to a discipline or project. The conclusions and recommendations are based on the committee's analysis of the case studies and additional research. They are organized according to four major areas of barriers or challenges to the effective interfacing of diverse environmental data. In the final section the committee offers a set of broadly applicable principles (Ten Keys to Success) that can be used by scientists and data managers in planning and conducting interfacing activities.

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NASA NTRS1995

Flight demonstration of integrated airport surface automation concepts

A flight demonstration was conducted to address airport surface movement area capacity issues by providing pilots with enhanced situational awareness information. The demonstration showed an integration of several technologies to government and industry representatives. These technologies consisted of an electronic moving map display in the cockpit, a Differential Global Positioning System (DGPS) receiver, a high speed VHF data link, an ASDE-3 radar, and the Airport Movement Area Safety System (AMASS). Aircraft identification was presented to an air traffic controller on AMASS. The onboard electronic map included the display of taxi routes, hold instructions, and clearances, which were sent to the aircraft via data link by the controller. The map also displayed the positions of other traffic and warning information, which were sent to the aircraft automatically from the ASDE-3/AMASS system. This paper describes the flight demonstration in detail, along with preliminary results.

Jones, Denise R.↗
NASA NTRS1995

Prototype development and test results of a continuous ambient air monitoring system for hydrazine at the 10 ppb level

A Hydrazine Vapor Area Monitor (HVAM) system is currently being field tested as a detector for the presence of hydrazine in ambient air. The MDA/Polymetron Hydrazine Analyzer has been incorporated within the HVAM system as the core detector. This analyzer is a three-electrode liquid analyzer typically used in boiler feed water applications. The HVAM system incorporates a dual-phase sample collection/transport method which simultaneously pulls ambient air samples containing hydrazine and a very dilute sulfuric acid solution (0.0001 M) down a length of 1/4 inch outside diameter (OD) tubing from a remote site to the analyzer. The hydrazine-laden dilute acid stream is separated from the air and the pH is adjusted by addition of a dilute caustic solution to a pH greater than 10.2 prior to analysis. Both the dilute acid and caustic used by the HVAM are continuously generated during system operation on an "as needed" basis by mixing a metered amount of concentrated acid/base with dilution water. All of the waste water generated by the analyzer is purified for reuse by Barnstead ion-exchange cartridges so that the entire system minimizes the generation of waste materials. The pumping of all liquid streams and mixing of the caustic solution and dilution water with the incoming sample are done by a single pump motor fitted with the appropriate mix of peristaltic pump heads. The signal to noise (S/N) ratio of the analyzer has been enhanced by adding a stirrer in the MDA liquid cell to provide mixing normally generated by the high liquid flow rate designed by the manufacturer. An onboard microprocessor continuously monitors liquid levels, sample vacuum, and liquid leak sensors, as well as handles communications and other system functions (such as shut down should system malfunctions or errors occur). The overall system response of the HVAM can be automatically checked at regular intervals by measuring the analyzer response to a metered amount of calibration standard injected into the dilute acid stream. The HVAM system provides two measurement ranges (threshold limit value (TLV): 10 to 1000 parts per billion (ppb)/LEAK: 100 ppb to 10 parts per million (ppm)). The LEAK range is created by dilution of the sulfuric acid/hydrazine liquid sample with pure water. This dual range capability permits the analyzer to quantify ambient air samples whose hydrazine concentrations range from 10 ppb to as high as 10 ppm. The laboratory and field prototypes have demonstrated total system response times on the order of 10 to 12 minutes for samples ranging from 10 to 900 ppb in the lLV mode and is greater than 2 minutes for samples ranging from 100 to 1300 ppb in the LEAK mode. Service intervals of over 3 months have been demonstrated for continuous 24 hour/day, 7 day/week usage. The HVAM is made up of a purged cabinet that contains power supplies, RS422 signal transmission capabilities, a UPS, an on-site warning system, and a Line Replaceable Unit (LRU). The LRU includes all of the liquid flow system, the analyzer, the control/data system microprocessor and assorted flow and liquid-level sensors. The LRU is mounted on a track slide system so it can be serviced inplace or totally removed and quickly exchanged with another calibrated unit, thus minimizing analyzer downtime. Once an LRU is removed from an analyzer enclosure, it can be brought to a laboratory facility for complete calibration and periodic maintenance.

Meneghelli, Barry↗
NASA NTRS1996

Feasibility Study of a Rotorcraft Health and Usage Monitoring System (HUMS): Results of Operator's Evaluation

The objective was to evaluate the feasibility of a state-of-the-art health and usage monitoring system (HUMS) to provide monitoring of critical mechanical systems on the helicopter, including motors, drive train, engines, and life-limited components. The implementation of HUMS and cost integration with current maintenance procedures was assessed from the operator's viewpoint in order to achieve expected benefits from these systems, such as enhanced safety, reduced maintenance cost, and increased availability. An operational HUMS that was installed and operated under an independent flight trial program was used as a basis for this study. The HUMS equipment and software were commercially available. Based on the results of the feasibility study, the HUMS used in the flight trial program generally demonstrated a high level of reliability in monitoring the rotor system, engines, drive train, and life-limited components. The system acted as a sentinel to warn of impending failures. A worn tail rotor pitch bearing was detected by HUMS, which had the capability for self testing to diagnose system and sensor faults. Examples of potential payback to the operator with HUMS were identified, including reduced insurance cost through enhanced safety, lower operating costs derived from maintenance credits, increased aircraft availability, and improved operating efficiency. The interfacing of HUMS with current operational procedures was assessed to require only minimal revisions to the operator's maintenance manuals. Finally the success in realizing the potential benefits from HUMS technology was found to depend on the operator, helicopter manufacturer, regulator (FAA), and HUMS supplier working together.

Romero, Raylund↗
NASA NTRS1995

Lightning forecasting studies using LDAR, LLP, field mill, surface mesonet, and Doppler radar data

The ultimate goal of this research is to develop rules, algorithms, display software, and training materials that can be used by the operational forecasters who issue weather advisories for daily ground operations and launches by NASA and the United States Air Force to improve real-time forecasts of lightning. Doppler radar, Lightning Detection and Ranging (LDAR), Lightning Location and Protection (LLP), field mill (Launch Pad Lightning Warning System -- LPLWS), wind tower (surface mesonet) and additional data sets have been utilized in 10 case studies of thunderstorms in the vicinity of KSC during the summers of 1994 and 1995. These case studies reveal many intriguing aspects of cloud-to-ground, cloud-to-cloud, in-cloud, and cloud-to-air lightning discharges in relation to radar thunderstorm structure and evolution. They also enable the formulation of some preliminary working rules of potential use in the forecasting of initial and final ground strike threat. In addition, LDAR and LLP data sets from 1993 have been used to quantify the lightning threat relative to the center and edges of LDAR discharge patterns. Software has been written to overlay and display the various data sets as color imagery. However, human intervention is required to configure the data sets for proper intercomparison. Future efforts will involve additional software development to automate the data set intercomparisons, to display multiple overlay combinations in a windows format, and to allow for animation of the imagery. The software package will then be used as a tool to examine more fully the current cases and to explore additional cases in a timely manner. This will enable the formulation of more general and reliable forecasting guidelines and rules.

Forbes, Gregory S.↗
NASA NTRS1995

The Solar Mass Ejection Imager

We are designing a Solar Mass Ejection Imager (SMEI) capable of observing the Thomson-scattered signal from transient density features in the heliosphere from a spacecraft situated near AU. The imager is designed to trace these features, which include coronal mass ejections. corotating structures and shock waves, to elongations greater than 90 deg from the Sun. The instrument may be regarded as a progeny of the heliospheric imaging capability shown possible by the zodiacal-light photometers of the HELIOS spacecraft. The instrument we are designing would make more effective use of in-situ solar wind data from spacecraft in the vicinity of the imager by extending these observations to the surrounding environment. The observations from the instrument should allow deconvolution of these structures from the perspective views obtained as they pass the spacecraft. An imager at Earth could allow up to three days warning of the arrival of a mass ejection from the Sun .

Jackson, B. V.↗
NASA NTRS1996

Predicting Arrival Of Protons Emitted In Solar Flares

Visual Utility for Localization of Corona Accelerated Nuclei (VULCAN) computer program provides both advance warnings and insight for post-event analyses of effects of solar flares. Using measurements of peak fluxes, times of detection, flare location, solar wind velocities, and x-ray emissions from Sun, as electronically sent by NOAA (National Oceanographic and Atmospheric Administration), VULCAN predicts resulting intensities of proton fluxes at various user-chosen points (spacecraft or planets) of solar system. Also predicts times of onset of fluxes of protons and peak values of fluxes.

Spagnuolo, John N., Jr.↗
NASA NTRS1996

Detecting Faults In Helicopter Gearboxes By The MVIM Method

Multivalued influence-matrix (MVIM) method potential utility as theoretical basis of proposed automated monitoring systems detecting faults in helicopter gearboxes. Applied to recognize patterns in vibration measurements. Fault-recognition system required to operate continuously while helicopter airborne, analyzing measurements of vibrations for signs of trouble to provide real-time warning of any dangerous or potentially dangerous fault like cracked case or fractured gear tooth. System also required not to give false alarms to prevent unnecessary emergency landings.

Chin, Hsinyung↗
NASA NTRS1996

The feasibility study and evaluation of applying expert system techniques to the mission operations for the AXAF-I spacecraft

Advanced X-ray Astrophysics Facility - Imaging (AXAF-I) is a spacecraft for X-ray emitting sources observation and has been tentatively scheduled for a space shuttle launch in late 1998 at the Kennedy Space Center. Its main objectives are 'to determine the nature of astronomical objects ranging from normal stars to quasars, to understand the nature of the physical processes which take place in and between astronomical objects, and to add to our understanding of the history and evolution of the universe.' The AXAF-I will have an expected five year life time for the science mission phase. During the science mission phase, the monitoring and management operation of the flight and ground systems is personnel intensive, requiring system experts on duty around the clock. The purpose of the expert system presented in this report is intended to reduce the level of expertise, training, and personnel requirement for the mission operation. The telemetry data from the spacecraft can be divided into two categories: the science observation data and the engineering status data. The science data contains the outputs from the X-ray sensing devices and will be forwarded to the AXAF-I Science Center for interpretation; while the engineering status data will be monitored by the Operation Control Center (OCC) for the operation diagnosis of the spacecraft. The expert system is designed to assist the operation controllers at the OCC to perform the daily mission operations. Since there are hundreds of engineering telemetry data points and the interpretation of the telemetry depends on many factors, e.g., sun or eclipse, the monitoring of the AXAF-I is not a trivial task. In this phase of expert system development, the focus has been limited to the engineering data interpretation, i.e., warnings will be provided to the operation controllers to signal any anomaly. The system is hosted in a Silicon Graphics Indigo-2 workstation running the IRIX operating system. The expert system tool used is the G2 system from Gensym (Gensy).

Chang, Kai H.↗
NASA NTRS1994

Enhancing pilot situational awareness of the airport surface movement area

Two studies are being conducted to address airport surface movement area safety and capacity issues by providing enhanced situational awareness information to pilots. One study focuses on obtaining pilot opinion of the Runway Status Light System (RSLS). This system has been designed to reduce the likelihood of runway incursions by informing pilots when a runway is occupied. The second study is a flight demonstration of an rate integrated system consisting of an electronic moving map in the cockpit and display of the aircraft identification to the controller. Taxi route and hold warning information will be sent to the aircraft data link for display on the electronic moving map. This paper describes the plans for the two studies.

Jones, D. R.↗
NASA NTRS1995

Emergency vehicle alert system (EVAS)

The Emergency Vehicle Alert System (EVAS) program is sponsored by the NASA/MSFC Technology Utilization (TU) office. The program was conceived to support the needs of hearing impaired drivers. The objective of the program is to develop a low-cost, small device which can be located in a personal vehicle and warn the driver, via a visual means, of the approach of an emergency vehicle. Many different technologies might be developed for this purpose and each has its own advantages and drawbacks. The requirements for an acoustic detection system, appear to be pretty stringent and may not allow the development of a reliable, low-cost device in the near future. The problems include variations in the sirens between various types of emergency vehicles, distortions due to wind and surrounding objects, competing background noise, sophisticated signal processing requirements, and omni-directional coverage requirements. Another approach is to use a Radio Frequency (RF) signal between the Emergency Vehicle (EV) and the Personal Vehicle (PV). This approach requires a transmitter on each EV and a receiver in each PV, however it is virtually assured that a system can be developed which works. With this approach, the real technology issue is how to make a system work as inexpensively as possible. This report gives a brief summary of the EVAS program from its inception and concentrates on describing the activities that occurred during Phase 4. References 1-3 describe activities under Phases 1-3. In the fourth phase of the program, the major effort to be expended was in development of the microcontroller system for the PV, refinement of some system elements and packaging for demonstration purposes. An EVAS system was developed and demonstrated which used standard spread spectrum modems with minor modifications.

Reed, Bill↗
NASA NTRS1997

Flood Management Enhancement Using Remotely Sensed Data

SENTAR, Inc., entered into a cooperative agreement with NASA Goddard Space Flight Center (GSFC) in December 1994. The intent of the NASA Cooperative Agreement was to stimulate broad public use, via the Internet, of the very large remote sensing databases maintained by NASA and other agencies, thus stimulating U.S. economic growth, improving the quality of life, and contributing to the implementation of a National Information Infrastructure. SENTAR headed a team of collaborating organizations in meeting the goals of this project. SENTAR's teammates were the NASA Marshall Space Flight Center (MSFC) Global Hydrology and Climate Center (GHCC), the U.S. Army Space and Strategic Defense Command (USASSDC), and the Alabama Emergency Management Agency (EMA). For this cooperative agreement, SENTAR and its teammates accessed remotely sensed data in the Distributed Active Archive Centers, and other available sources, for use in enhancing the present capabilities for flood disaster management by the Alabama EMA. The project developed a prototype software system for addressing prediction, warning, and damage assessment for floods, though it currently focuses on assessment. The objectives of the prototype system were to demonstrate the added value of remote sensing data for emergency management operations during floods and the ability of the Internet to provide the primary communications medium for the system. To help achieve these objectives, SENTAR developed an integrated interface for the emergency operations staff to simplify acquiring and manipulating source data and data products for use in generating new data products. The prototype system establishes a systems infrastructure designed to expand to include future flood-related data and models or to include other disasters with their associated remote sensing data requirements and distributed data sources. This report covers the specific work performed during the seventh, and final, milestone period of the project, which began on 1 October 1996 and ended on 31 January 1997. In addition, it provides a summary of the entire project.

Romanowski, Gregory J.↗
NASA NTRS1995

Intermediate Levels of Autonomy within the SSM/PMAD Breadboard

The Space Station Module Power Management and Distribution (SSM/PMAD) bread-board is a test bed for the development of advanced power system control and automation. Software control in the SSM/PMAD breadboard is through co-operating systems, called Autonomous Agents. Agents can be a mixture of algorithmic software and expert systems. The early SSM/PMAD system was envisioned as being completely autonomous. It soon became apparent, though, that there would always be a need for human intervention, at least as long as a human interacts with the system in any way. In a system designed only for autonomous operation, manual intervention meant taking full control of the whole system, and loosing whatever expertise was in the system. Several methods for allowing humans to interact at an appropriate level of control were developed. This paper examines some of these intermediate modes of autonomy. The least humanly intrusive mode is simple monitoring. The ability to modify future behavior by altering a schedule involves high-level interaction. Modification of operating activities comes next. The coarsest mode of control is individual, unplanned operation of individual Power System components. Each of these levels is integrated into the SSM/PMAD breadboard, with support for the user (such as warnings of the consequences of control decisions) at every level.

Dugal-Whitehead, Norma R.↗
NASA NTRS1997

Dynamics Questions Associated with the AERCam Sprint Free-Flyer

The International Space Station will require the development of small robotic vehicles for such tasks as external inspection, monitoring of extravehicular activities (EVA's) and station build-up, and providing additional lighting at EVA worksites. The Autonomous EVA Robotic Camera (AERCam) family of free-flyers is currently being developed at NASA Johnson Space Center to perform these functions; the first member of the family is the AERCam Sprint vehicle. Many interesting dynamical questions are associated with the Sprint free-flyer. For instance, the reaction of a vehicle which is nearly spherically symmetric (such as Sprint) to a stuck-on thruster is significantly more complicated than that obtained for an idealized, perfectly spherical, spacecraft model. In particular, the real spacecraft will experience a form of forced nutation, with convergence towards either its major or minor principal axis, depending on both the applied torque and the mass properties of the vehicle. Furthermore, the body-fixed jet force vector may have a significant component along this principal axis, so giving rise to a considerable net linear acceleration of the spacecraft. The large velocity that can result is very important, as it may lead to collision with the nearby Orbiter, and is completely overlooked in the idealized analysis. This report will firstly briefly describe the stuck-on thruster dynamics of the real vehicle, and outline how the small products of inertia of the spacecraft determine the time constants of the motion. Secondly, the dynamical effects of a failed-off jet on the Sprint free-flyer will be described in more detail, and compared with the stuck-on thruster case. This will help to show whether the two malfunctions should be dealt with differently in flight. Finally, the stuck-on thruster detection software (known as the uncommanded motion algorithm) that is proposed to be flown on the Sprint vehicle will be analyzed, and all possible perturbation sources that may tend to give rise to false stuck-on thruster alarms quantified. It will be shown that false alarms can be triggered by discrete events such as a failed-off thruster, a glancing collision with Orbiter structure, or thruster saturation. They can also be triggered by a combination of errors introduced by constantly present sources such as thrust level errors, thruster misalignment, inertial cross-coupling, angular rate sensor noise, and structural vibrations induced by thruster firings. Based on this fact, the original plan to have the spacecraft enter safe mode whenever the uncommanded motion algorithm is triggered does not appear to be advisable. A better approach seems to be to provide the Sprint pilot with a warning whenever uncommanded motion is detected, and then allow the crew to determine whether safing the vehicle is appropriate.

Williams, Trevor↗
NASA NTRS1996

Ra: The Sun for Science and Humanity

To guide the development of the Ra Strategic Framework, we defined scientific and applications objectives. For our primary areas of scientific interest, we choose the corona, the solar wind, the Sun's effect on the Earth, and solar theory and model development. For secondary areas of scientific interest, we selected sunspots, the solar constant, the Sun's gravitational field, helioseismology and the galactic cosmic rays. We stress the importance of stereoscopic imaging, observations at high spatial, spectral, and temporal resolutions, as well as of long duration measurements. Further exploration of the Sun's polar regions is also important, as shown already by the Ulysses mission. From an applications perspective, we adopted three broad objectives that would derive complementary inputs for the Strategic Framework. These were to identify and investigate: possible application spin-offs from science missions, possible solar-terrestrial missions dedicated to a particular application, and possible future applications that require technology development. The Sun can be viewed as both a source of resources and of threats. Our principal applications focus was that of threat mitigation, by examining ways to improve solar threat monitoring and early warning systems. We compared these objectives to the mission objectives of past, current, and planned international solar missions. Past missions (1962-1980) seem to have been focused on improvement of scientific knowledge, using multiple instrument spacecraft. A ten year gap followed this period, during which the results from previous missions were analyzed and solar study programmes were prepared in international organizations. Current missions (1990-1996) focus on particular topics such as the corona, solar flares, and coronal mass ejections. In planned missions, Sun/Earth interactions and environmental effects of solar activity are becoming more important. The corona is the centre of interest of almost all planned missions. It seems that no international long-term strategy has yet been adopted. For these plans the number of necessary future missions can be reduced and the onboard instrumentation can be optimized by performing a comparative analysis. The study of the corona must be done from different observing locations, orbits closer to the Sun, and by different means. The Cluster mission replacement is in progress; however, if the replacement is not implemented, the ISTP programme will fade after 1998. Furthermore, the physics of the Sun's interior should be emphasized more in the Mid- and Far-Term programmes. Finally, more emphasis should be placed on monitoring space weather and forecasting Sun/Earth interactions.

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NASA NTRS1997

Remote Sensing of Surficial Process Responses to Extreme Meteorological Events

Changes in the frequency and magnitude of extreme meteorological events are associated with changing environmental means. Such events are important in human affairs, and can also be investigated by orbital remote sensing. During the course of this project, we applied ERS-1, ERS-2, Radarsat, and an airborne sensor (AIRSAR-TOPSAR) to measure flood extents, flood water surface profiles, and flood depths. We established a World Wide Web site (the Dartmouth Flood Observatory) for publishing remote sensing-based maps of contemporary floods worldwide; this is also an online "active archive" that presently constitutes the only global compilation of extreme flood events. We prepared an article for EOS concerning SAR imaging of the Mississippi Valley flood; an article for the International Journal of Remote Sensing on measurement of a river flood wave using ERS-2, began work on an article (since completed and published) on the Flood Observatory for a Geoscience Information Society Proceedings volume, and presented lectures at several Geol. Soc. of America Natl. Meetings, an Assoc. of Amer. Geographers Natl. Meeting, and a Binghamton Geomorphology Symposium (all on SAR remote sensing of the Mississippi Valley flood). We expanded in-house modeling capabilities by installing the latest version of the Army Corps of Engineers RMA two-dimensional hydraulics software and BYU Engineering Graphics Lab's Surface Water Modeling System (finite elements based pre- and post-processors for RMA work) and also added watershed modeling software. We are presently comparing the results of the 2-d flow models with SAR image data. The grant also supported several important upgrades of pc-based remote sensing infrastructure at Dartmouth. During work on this grant, we collaborated with several workers at the U.S. Army Corps of Engineers, Remote Sensing/GIS laboratory (for flood inundation mapping and modeling; particularly of the Illinois River using the AIRSAR/TOPSAR/ERS-2 combined data), with Dr. Karen Prestegaard at the University of Maryland (geomorphological responses to the extreme 1993 flood along the Raccoon drainage in central Iowa), and with Mr Tim Scrom of the Albany National Weather Service River Forecast Center (initial planning for the use of Radarsat and ERS-2 for flood warning). The work thus initiated with this proposal is continuing.

Brakenridge, G. Robert↗
NASA NTRS1997

Operational Aspects of Space Radiation

In this session, Session FA4, the discussion focuses on the following topics: Solar Particle Events and the International Space Station; Radiation Environment on Mir and ISS Orbits During the Solar Cycle; New approach to Radiation Risk Assessment; An Industrial Method to Predict Major Solar Flares for a Better Protection of Human Beings in Space; Description of the Space Radiation Control System for the Russian Segment of ISS; Orbit Selection and Its Impact on Radiation Warning Architecture for a Human Mission to Mars; and Space Nuclear Power - Technology, Policy and Risk Considerations in Human Missions to Mars.

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