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At least 1,387 records · Page 77
All sourcesNASA NTRSDOE OSTI
NASA NTRS1993

Optimization of actuator arrays for aircraft interior noise control

A numerical procedure for grouping actuators in order to reduce the number of degrees of freedom in an active noise control system is evaluated using experimental data. Piezoceramic actuators for reducing aircraft interior noise are arranged into groups using a nonlinear optimization routine and clustering algorithm. An actuator group is created when two or more actuators are driven with the same control input. This procedure is suitable for active control applications where actuators are already mounted on a structure. The feasibility of this technique is demonstrated using measured data from the aft cabin of a Douglas DC-9 fuselage. The measured data include transfer functions between 34 piezoceramic actuators and 29 interior microphones and microphone responses due to the primary noise produced by external speakers. Control inputs for the grouped actuators were calculated so that a cost function, defined as a quadratic pressure term and a penalty term, was a minimum. The measured transfer functions and microphone responses are checked by comparing calculated noise reductions with measured noise reductions for four frequencies. The grouping procedure is then used to determine actuator groups that improve overall interior noise reductions by 5.3 to 15 dB, compared to the baseline experimental configuration.

Cabell, R. H.↗
NASA NTRS1992

Comparison of 30x11.5 - 14.5 bias-ply and radial-belted tire characteristics

An investigation at NASA Langley Research Center was conducted to determine the static and dynamic mechanical characteristics of 30x11.5-14.5, Type VIII, bias-ply and radial-belted aircraft tires. The tire characteristics were determined by application of vertical and fore-and-aft loads. The results of the study are presented to show static load deflection curves, hysteresis losses, and stiffness and damping characteristics of each tire type tested. The advantages and disadvantages of each type of tire are also given.

Davis, Pamela A.↗
NASA NTRS1992

Computational fluid dynamics study of the variable-pitch split-blade fan concept

A computational fluid dynamics study was conducted to evaluate the feasibility of the variable-pitch split-blade supersonic fan concept. This fan configuration was conceived as a means to enable a supersonic fan to switch from the supersonic through-flow type of operation at high speeds to a conventional fan with subsonic inflow and outflow at low speeds. During this off-design, low-speed mode of operation, the fan would operate with a substantial static pressure rise across the blade row like a conventional transonic fan; the front (variable-pitch) blade would be aligned with the incoming flow, and the aft blade would remain fixed in the position set by the supersonic design conditions. Because of these geometrical features, this low speed configuration would inherently have a large amount of turning and, thereby, would have the potential for a large total pressure increase in a single stage. Such a high-turning blade configuration is prone to flow separation; it was hoped that the channeling of the flow between the blades would act like a slotted wing and help alleviate this problem. A total of 20 blade configurations representing various supersonic and transonic configurations were evaluated using a Navier Stokes CFD program called ADAPTNS because of its adaptive grid features. The flow fields generated by this computational procedure were processed by another data reduction program which calculated average flow properties and simulated fan performance. These results were employed to make quantitative comparisons and evaluations of blade performance. The supersonic split-blade configurations generated performance comparable to a single-blade supersonic, through-flow fan configuration. Simulated rotor total pressure ratios of the order of 2.5 or better were achieved for Mach 2.0 inflow conditions. The corresponding fan efficiencies were approximately 75 percent or better. The transonic split-blade configurations having large amounts of turning were able to generate large amounts of total turning and achieve simulated total pressure ratios of 3.0 or better with subsonic inflow conditions. These configurations had large losses and low fan efficiencies in the 70's percent. They had large separated regions and low velocity wakes. Additional turning and diffusion of this flow in a subsequent stator row would probably be very inefficient. The high total pressure ratios indicated by the rotor performance would be substantially reduced by the stators, and the stage efficiency would be substantially lower. Such performance leaves this dual-mode fan concept less attractive than originally postulated.

Kepler, C. E.↗
NASA NTRS1994

Test Plan. GCPS Task 4, subtask 4.2 thrust structure development

The Single Stage To Orbit (SSTO) vehicle is designed to lift off from a vertical position, go into orbit, return to earth for a horizontal landing, and be reusable for the next mission. (NASA baseline only) In order to meet its performance goals, the SSTO relies on light weight structure and the use of 8 tri-propellant engines. These engines are mounted to the thrust structure. This test plan addresses selection of the material for this structure, and the integrity of the design through testing of elements and a full-scale subcomponent. This test plan supports the development of the design for an advanced composite thrust structure for a Single Stage to Orbit manned, heavy launch vehicle. The thrust structure is designed to transmit very high thrust loads from the engines to the rest of the vehicle (see Figure 1 ). The thrust structure will also be used for primary attachment of the twin vertical tails and possibly act as the aft attach point for the wing. The combination of high loading, high vibration, long service life and high acoustic environments will need to be evaluated by tests. To minimize design risk, a building block approach will be used. We will first screen materials to determine which materials show the most promise for this application. Factors in this screening will be the suitability of these materials for chosen design concepts, particularly concerning specific strength, environmental compatibility and applicability to fabrication processes. Next we will characterize two material systems that will be used in the design; the characterization will allow us to generate preliminary design data that will be used for the analysis. Element testing will be performed to evaluate critical structural locations under load. Final testing on the full scale test article will be performed to verify the design and to demonstrate predictability of the analysis. Additionally, risks associated with fabricating full scale thrust structures will be reduced through testing activities. One of the major concerns that stems from full scale fabrication is the realities of size and the associated complexities of handling, manufacturing, and assembly. The need exists to fabricate, assemble and test_representative joint specimens to achieve_confidence in the design and manufacturing technologies being proposed.

Greenberg, H. S.↗
NASA NTRS1993

Viper cabin-fuselage structural design concept with engine installation and wing structural design

This report describes the process and considerations in designing the cabin, nose, drive shaft, and wing assemblies for the 'Viper' concept aircraft. Interfaces of these assemblies, as well as interfaces with the sections of the aircraft aft of the cabin, are also discussed. The results of the design process are included. The goal of this project is to provide a structural design which complies with FAR 23 requirements regarding occupant safety, emergency landing loads, and maneuvering loads. The design must also address the interfaces of the various systems in the cabin, nose, and wing, including the drive shaft, venting, vacuum, electrical, fuel, and control systems. Interfaces between the cabin assembly and the wing carrythrough and empennage assemblies were required, as well. In the design of the wing assemblies, consistency with the existing cabin design was required. The major areas considered in this report are materials and construction, loading, maintenance, environmental considerations, wing assembly fatigue, and weight. The first three areas are developed separately for the nose, cabin, drive shaft, and wing assemblies, while the last three are discussed for the entire design. For each assembly, loading calculations were performed to determine the proper sizing of major load carrying components. Table 1.0 lists the resulting margins of safety for these key components, along with the types of the loads involved, and the page number upon which they are discussed.

Marchesseault, B.↗
NASA NTRS1994

The FC-1D: The profitable alternative Flying Circus Commercial Aviation Group

The FC-1D was designed as an advanced solution for a low cost commercial transport meeting or exceeding all of the 1993/1994 AIAA/Lockheed request for proposal requirements. The driving philosophy behind the design of the FC-1D was the reduction of airline direct operating costs. Every effort was made during the design process to have the customer in mind. The Flying Circus Commercial Aviation Group targeted reductions in drag, fuel consumption, manufacturing costs, and maintenance costs. Flying Circus emphasized cost reduction throughout the entire design program. Drag reduction was achieved by implementation of the aft nacelle wing configuration to reduce cruise drag and increase cruise speeds. To reduce induced drag, rather than increasing the wing span of the FC-1D, spiroids were included in the efficient wing design. Profile and friction drag are reduced by using riblets in place of paint around the fuselage and empennage of the FC-1D. Choosing a single aisle configuration enabled the Flying Circus to optimize the fuselage diameter. Thus, reducing fuselage drag while gaining high structural efficiency. To further reduce fuel consumption a weight reduction program was conducted through the use of composite materials. An additional quality of the FC-1D is its design for low cost manufacturing and assembly. As a result of this design attribute, the FC-1D will have fewer parts which reduces weight as well as maintenance and assembly costs. The FC-1D is affordable and effective, the apex of commercial transport design.

Meza, Victor J.↗
NASA NTRS1993

Cabin-fuselage-wing structural design concept with engine installation

The purpose of this project is to provide a fuselage structural assembly and wing structural design that will be able to withstand the given operational parameters and loads provided by Federal Aviation Regulation Part 23 (FAR 23) and the Statement of Work (SOW). The goal is to provide a durable lightweight structure that will transfer the applied loads through the most efficient load path. Areas of producibility and maintainability of the structure will also be addressed. All of the structural members will also meet or exceed the desired loading criteria, along with providing adequate stiffness, reliability, and fatigue life as stated in the SOW. Considerations need to be made for control system routing and cabin heating/ventilation. The goal of the wing structure and carry through structure is also to provide a simple, lightweight structure that will transfer the aerodynamic forces produced by the wing, tailboom, and landing gear. These forces will be channeled through various internal structures sized for the pre-determined loading criteria. Other considerations were to include space for flaps, ailerons, fuel tanks, and electrical and control system routing. The difficulties encountered in the fuselage design include expanding the fuselage cabin to accept a third occupant in a staggered configuration and providing ample volume for their safety. By adding a third person the CG of aircraft will move forward so the engine needs to be moved aft to compensate for the difference in the moment. This required the provisions of a ring frame structure for the new position of the engine mount. The difficulties encountered in the wing structural design include resizing the wing for the increased capacity and weight, and compensating for a large torsion produced by the tail boom by placing a great number of stiffeners inside the boom, which will result in the relocation of the fuel tank. Finally, an adequate carry through structure for the wing and fuselage interface will be designed to effectively transmit loads through the fuselage.

Ariotti, Scott↗
NASA NTRS1991

Human factors requirements for telerobotic command and control: The European Space Agency experimental programme

Space Telerobotics research, performed under contract to the European Space Agency (ESA), concerning the execution of human factors experiments, and ultimately leading to the development of a telerobotics test bed, has been carried out since 1985 by a British Consortium consisting of British Aerospace, the United Kingdom Atomic Energy Authority and, more recently, the UK National Advanced Robotics Research Centre. The principal aim of the first study of the series was to derive preliminary requirements for a teleoperation servicing system, with reference to two mission model scenarios. The first scenario introduced the problem of communications time delays, and their likely effect on the ground-based operator in control of a manipulator system on board an unmanned servicing vehicle in Low Earth Orbit. In the second scenario, the operator was located on the NASA Orbiter aft flight deck, supervising the control of a prototype manipulator in the 'servicing' of an experimental payload in the cargo bay area. Human factors analyses centered on defining the requirements for the teleoperator workstation, such as identifying basic ergonomic requirements for workstation and panel layouts, defining teleoperation strategies, developing alphanumeric and graphic screen formats for the supervision or direct control of the manipulator, and the potential applications of expert system technology. The second study for ESA involved an experimental appraisal of some of the important issues highlighted in the first study, for which relevant human factors data did not exist. Of central importance during the second study was the issue of communications time delays and their effect on the manual control of a teleoperated manipulator from a ground-based command and control station.

Stone, Robert J.↗
NASA NTRS1994

Clean assembly and integration techniques for the Hubble Space Telescope High Fidelity Mechanical Simulator

A mechanical simulator of the Hubble Space Telescope (HST) Aft Shroud was built to perform verification testing of the Servicing Mission Scientific Instruments (SI's) and to provide a facility for astronaut training. All assembly, integration, and test activities occurred under the guidance of a contamination control plan, and all work was reviewed by a contamination engineer prior to implementation. An integrated approach was followed in which materials selection, manufacturing, assembly, subsystem integration, and end product use were considered and controlled to ensure that the use of the High Fidelity Mechanical Simulator (HFMS) as a verification tool would not contaminate mission critical hardware. Surfaces were cleaned throughout manufacturing, assembly, and integration, and reverification was performed following major activities. Direct surface sampling was the preferred method of verification, but access and material constraints led to the use of indirect methods as well. Although surface geometries and coatings often made contamination verification difficult, final contamination sampling and monitoring demonstrated the ability to maintain a class M5.5 environment with surface levels less than 400B inside the HFMS.

Hughes, David W.↗
NASA NTRS1994

Thermal balance testing of MSAT 2 spacecraft

The present work reports on the recently completed infrared thermal balance/thermal vacuum testing of a MSAT satellite, the first satellite to provide mobile communications service for all of continental North America. MSAT is a two spacecraft program, using a three-axis stabilized Hughes HS-601 series Bus as the vehicle for the Canadian designed Payload. The thermal tests which were performed at the Canadian Space Agency's David Florida Laboratory in Ottawa, Canada, lasted approximately 35 days. The infrared (IR) heating rig was designed to provide radiant heat inputs into seven spacecraft zones during Thermal Vacuum (TV) testing. The TV test was divided into multiple phases. It began with a thermal balance cold phase, followed by a thermal cold cycle and a hot balance phase, complemented by a thermal hot cycle to finish with a thermal cycle with continuous monitoring of the Bus and Payload. The spacecraft's external heat fluxes were provided by IR lamp sources. To ensure flux uniformity, highly reflective baffles and IR East and West faces; the Earth facing (Nadir); and the inside of the thrust cylinder. The aft-end panel heat fluxes were provided by a heated LN2 shroud. The radiation flux intensity on the spacecraft zones from the various rig elements was measured using Monitored Background Radiometers (MBR's) and compared with direct calculations and with pretest predictions. The temperature measurement system was based on Uniform Temperature References (UTR's) located inside the chamber such that all feedthroughs were copper-copper. This system was devised to achieve a temperature measurement accuracy of plus/minus 0.5 C for over 850 thermocouples used in the test. A PC-(QNX-based) based real-time data acquisition system was utilized to provide continuous monitoring of all channels based on a 30-second time scan. In addition, the data acquisition system was able to retrieve telemetry stream from the Satellite Test Equipments (STE) station for real-time data manipulation. Preliminary results showed the test to be successful from both the thermal balance side and the electrical testing side.

Samson, Serge↗
NASA NTRS1994

The Aluminum Falcon: a Low Cost Modern Commercial Transport

The American Institute of Aeronautics and Astronautics (AIAA) released a Request For Proposal (RFP) in the form of an undergraduate design competition for a 153 passenger jet transport with a range of 3,000 nautical miles. The primary requirement for this aircraft was low cost, both in acquisition and operation, with a technology availability date of the year 2000. This report presents the Non-Solo Design Group's response to the RFP, the Aluminum Falcon (AF-1). Non-Solo's approach to development was to take the best elements of seven individual preliminary designs, then combine and refine them. The resulting aircraft meets or exceeds all requirements of both the RFP and the Federal Aviation Administration (FAA). Highlights include a revolutionary wing planform, known as an M-wing, which offers many advantages over a conventional aft swept wing. For example, the M-wing lessens the travel in the aircraft center of gravity caused by fuel being stored in the wing. It also reduces the amount of torque imposed on the center wing box because more of the lifting load acts near the fuselage joint, rather than behind it. In essence, the M-wing offers the best of both worlds: using a forward swept wing root places the aerodynamic center of the wing further forward and allows the landing gear to be placed without the use of a yahudi. At the same time, with the outboard section swept backward the tip retains an amount of aeroelastic dampening that is lost on a completely forward swept wing. The result is a wing which has many advantages of a straight, unswept wings without the severe compressibility effects at high Mach numbers. Other highlights include judicious use of composites, giving recognition to the importance of weight and its effect on aircraft cost and performance, and an advanced passenger entertainment system which can be used as a source of revenue for the airlines. This aircraft meets the low-cost doctrine with an acquisition cost of $29 million and a direct operating cost of 3.5 cents per seat mile. The AF-1 incorporates new ideas with existing technology to result in an aircraft that will retain market viability well into the next century.

Bryant, Mark↗
NASA NTRS1994

Wind-tunnel blockage and actuation systems test of a two-dimensional scramjet inlet unstart model at Mach 6

The present study examines the wind-tunnel blockage and actuation systems effectiveness in starting and forcibly unstarting a two-dimensional scramjet inlet in the NASA Langley 20-Inch Mach 6 Tunnel. The intent of the overall test program is to study (both experimentally and computationally) the dynamics of the inlet unstart; however, prior to the design and fabrication of an expensive, instrumented wind-tunnel model, it was deemed necessary first to examine potential wind-tunnel blockage issues related to model sizing and to examine the adequacy of the actuation systems in accomplishing the start and unstart. The model is equipped with both a moveable cowl and aft plug. Windows in the inlet sidewalls allow limited optical access to the internal shock structure; schlieren video was used to identify inlet start and unstart. A chronology of each actuation sequence is provided in tabular form along with still frames from the schlieren video. A pitot probe monitored the freestream conditions throughout the start/unstart process to determine if there was a blockage effect due to the model start or unstart. Because the purpose of this report is to make the phase I (blockage and actuation systems) data rapidly available to the community, the data is presented largely without analysis of the internal shock interactions or the unstart process. This series of tests indicated that the model was appropriately sized for this facility and identified operability limits required first to allow the inlet to start and second to force the unstart.

Holland, Scott D.↗
NASA NTRS1993

Ignition propagation and heat effects of propellant chips embedded in castable inhibitor using a laser flux test bomb

A castable inhibitor is applied to the aft face of the Space Shuttle Redesigned Solid Rocket Motor (RSRM) forward segment propellant grain to control propellant surface burn area. During fabrication, the propellant surface is trimmed prior to the inhibitor application. This produces a potential for small propellant chips to remain undetected on the propellant surface and contaminate the inhibitor during application. The concern was that undetected propellant chips in the inhibitor might provide a fuse path for premature propellant ignition underneath the inhibitor. To evaluate the fuse path potential, testing was performed on inhibitor samples with embedded propellant. The internal motor environment was simulated with a calibrated CO2 laser beam directed onto a sample which was placed in a 4100 kPa (600 psi) nitrogen pressurized bomb (laser bomb). The testing showed definitive results pertaining to fuse path formation. Embedded propellant chips did not autoignite until the receding heat affected inhibitor surface reached, or passed, the propellant chip. Samples with embedded propellant chips in alignment did not propagate ignition from one chip to another with separation distances as small as 0.010 cm(0.004 inc) and some as little as 0.0051 cm (0.002 in). Propellant chips with volumes approximately less than 0.025 cu cm (0.0015 cu in) (which did not propagate ignition) did not increase the inhibitor material decomposition depth more than the resulting void cavity of the burned out propellant chip. In addition, the depth of this void cavity did not increase until it was overtaken by the surrounding material decomposition depth. This was due, in part, to the retention of the protective inhibitor char layer. Samples with embedded propellant strings, whose thicknesses were below 0.023 cm (0.009 in), did not propagate ignition. Propellant string thicknesses above 0.038 cm (0.015 in) did propagate ignition. Test sample char and heat affected layer measurements and observations compared well with those from the Space Shuttle Solid Rocket Motor (SRM) Technical Evaluation Motor no. 9(TEM-9).

Bolton, Douglas E., Jr.↗
NASA NTRS1993

Ducted fan acoustic radiation including the effects of nonuniform mean flow and acoustic treatment

Forward and aft acoustic propagation and radiation from a ducted fan is modeled using a finite element discretization of the acoustic field equations. The fan noise source is introduced as equivalent body forces representing distributed blade loading. The flow in and around the nacelle is assumed to be nonuniform, reflecting the effects of forward flight and flow into the inlet. Refraction due to the fan exit jet shear layer is not represented. Acoustic treatment on the inlet and exhaust duct surfaces provides a mechanism for attenuation. In a region enclosing the fan a pressure formulation is used with the assumption of locally uniform flow. Away from the fan a velocity potential formulation is used and the flow is assumed nonuniform but irrotational. A procedure is developed for matching the two regions by making use of local duct modal amplitudes as transition state variables and determining the amplitudes by enforcing natural boundary conditions at the interface between adjacent regions in which pressure and velocity potential are used. Simple models of rotor alone and rotor/exit guide vane generated noise are used to demonstrate the calculation of the radiated acoustic field and to show the effect of acoustic treatment. The model has been used to assess the success of four techniques for acoustic lining optimization in reducing far field noise.

Eversman, Walter↗
NASA NTRS1994

Single-engine tail interference model

The data presented in this contribution were obtained in the NASA Langley 16-Foot Transonic Tunnel. Multiple test entries were completed and the results have been completely reported in five NASA reports. The objective of the initial investigation was to determine the effect of empennage (tail) interference on the drag characteristics of an axisymmetric model with a single engine fighter aft-end with convergent divergent nozzles. Two nozzle power settings, dry and maximum afterburning, were investigated. Several empennage arrangements and afterbody modifications were investigated during the initial investigation. Subsequent investigations were used to determine the effects of other model variables including tail incidence, tail span, and nozzle shape. For the final investigation, extensive surface pressure instrumentation was added to the model in order to develop and understanding of the flow interactions associated with afterbody/empennage integration and also to provide data for code validation. Extensive computational analysis has been conducted on the staggered empennage configuration at a Mach number of 0.6 utilizing a three-dimensional Navier Stokes code. Most of the investigations were conducted at Mach numbers from 0.60 to 1.20 and at ratios of jet total pressure to free stream static pressure (nozzle pressure ratio) from 0.1 (jet off) to 8.0. Some angle of attack variation was obtained at jet off conditions.

Bobby L. Berrier↗
NASA NTRS1994

Twin engine afterbody model

This test was originally conducted to determine the effects of several empennage and afterbody parameters on the aft-end aerodynamic characteristics of a twin-engine fighter-type configuration. Model variables were as follows: horizontal tail axial location and incidence, vertical tail axial location and configuration (twin-vs single-tail arrangements), tail booms, and nozzle power setting. Jet propulsion was simulated by exhausting high-pressure, cold-flow air from the nozzles. Following a successful test conducted on a single engine nacelle model to validate a CFD code, this model was chosen to be instrumented with pressure taps on the afterbody and nozzles and used as a follow-on test, providing a more complex geometry for the CFD code validation. A more limited test matrix was run to collect the pressure data, employing only the twin-tail configuration and varying only the horizontal and vertical tail locations. Mach number was varied from 0.6 to 1.2. Nozzle pressure ratio was varied from jet-off to 8. Angle-of-attack varied from 0 to 8 deg.

Wing, David J.↗
NASA NTRS1994

Summary Report of Mission Acceleration Measurements for STS-62, Launched 4 March 1994

The second mission of the United States Microgravity Payload on-board the STS-62 mission was supported with three accelerometer instruments: the Orbital Acceleration Research Experiment (OARE) and two units of the Space Acceleration Measurements System (SAMS). The March 4, 1994 launch was the fourth successful mission for OARE and the ninth successful mission for SAMS. The OARE instrument utilizes a sensor for very low frequency measurements below one Hertz. The accelerations in this frequency range are typically referred to as quasisteady accelerations. One of the SAMS units had two remote triaxial sensor heads mounted on the forward MPESS structure between two furnance experiments, MEPHISTO and AADSF. These triaxial heads had low-pass filter cut-off frequencies at 10 and 25 Hz. The other SAMS unit utilized three remote triaxial sensor heads. Two of the sensor heads were mounted on the aft MPESS structure between the two experiments IDGE and ZENO. These triaxial heads had low-pass filter cut-off frequencies at 10 and 25 Hz. The third sensor head was mounted on the thermostat housing inside the IDGE experiment container. This triaxial head had a low-pass filter cut-off frequency at 5 Hz. This report is prepared to furnish interested experiment investigators with a guide to evaluating the acceleration environment during STS-62 and as a means of identifying areas which require further study. To achieve this purpose, various pieces of information are included, such as an overview of the STS-62 mission, a description of the accelerometer system flown on STS-62, some specific analysis of the accelerometer data in relation to the various mission activities, and an overview of the low-gravity environment during the entire mission. An evaluation form is included at the end of the report to solicit users' comments about the usefulness of this series of reports.

Rogers, Melissa J. B.↗
NASA NTRS1994

Real-time thickness measurement of MCC ablator material

One of the most favorable characteristics of the Space Shuttle Program is the reusability of two of its primary components: the orbiter itself and the Solid Rocket Boosters (SRB). The SRB's provide the primary source of propulsion for the Space Shuttle during take-off after which they are recovered for refurbishment and reuse. During refurbishment, the SRB's are stripped of all remaining ablative (heat resistant) coating. A new layer is applied to the appropriate sections (nose cone, frustum, forward skirt, and aft skirt). It is the process of applying the ablative coating which provided the impetus for this project. The thickness of this protective layer is considered to be of primary importance to the level of thermal protection provided. The objectives of this effort are to investigate possible techniques for measuring the thickness of MCC, and if possible to test the specific capabilities of those considered good candidates for implementation. The system would be able to take measurements in real-time as close to the spray gun as possible. This will allow the information to be used in the control of the process without an inordinate time delay between a measurement and its appropriate response. The thickness of the deposited material is to be measured with less than 0.100 in if uncertainty. This is the defined tolerance window for the ablator thickness. Finally, it must operate within the confines of the chamber which encloses the turntable, robot, and spray system, and therefore is required to be insensitive to, or at least maintainable in, that environment.

Greenway, R. Bryan, Jr.↗