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Flight Crew Survey Responses from the Interval Management (IM) Avionics Phase 2 Flight Test

The Interval Management (IM) Avionics Phase 2 flight test used three aircraft over a nineteen day period to operationally evaluate a prototype IM avionics. Quantitative data were collected on aircraft state data and IM spacing algorithm performance, and qualitative data were collected through end-of-scenario and end-of-day flight crew surveys. The majority of the IM operations met the performance goals established for spacing accuracy at the Achieve-by Point and the Planned Termination Point, however there were operations that did not meet goals for a variety of reasons. While the positive spacing accuracy results demonstrate the prototype IM avionics can contribute to the overall air traffic goal, critical issues were also identified that need to be addressed to enhance IM performance. The first category was those issues that impacted the conduct and results of the flight test, but are not part of the IM concept or procedures. These included the design of arrival and approach procedures was not ideal to support speed as the primary control mechanism, the ground-side of the Air Traffic Management Technology Demonstration (ATD-1) integrated concept of operations was not part of the flight test, and the high workload to manually enter the information required to conduct an IM operation. The second category was issues associated with the IM spacing algorithm or flight crew procedures. These issues include the high frequency of IM speed changes and reversals (accelerations), a mismatch between the deceleration rate used by the spacing algorithm and the actual aircraft performance, and some spacing error calculations were sensitive to normal operational variations in aircraft airspeed or altitude which triggered additional IM speed changes. Once the issues in these two categories are addressed, the future IM avionics should have considerable promise supporting the goals of improving system throughput and aircraft efficiency.

Baxley, Brian T.

Results from an Interval Management (IM) Flight Test and Its Potential Benefit to Air Traffic Management Operations

NASA's first Air Traffic Management Technology Demonstration (ATD-1) subproject successfully completed a 19-day flight test of an Interval Management (IM) avionics prototype. The prototype was built based on IM standards, integrated into two test aircraft, and then flown in real-world conditions to determine if the goals of improving aircraft efficiency and airport throughput during high-density arrival operations could be met. The ATD-1 concept of operation integrates advanced arrival scheduling, controller decision support tools, and the IM avionics to enable multiple time-based arrival streams into a high-density terminal airspace. IM contributes by calculating airspeeds that enable an aircraft to achieve a spacing interval behind the preceding aircraft. The IM avionics uses its data (route of flight, position, etc.) and Automatic Dependent Surveillance-Broadcast (ADS-B) state data from the Target aircraft to calculate this airspeed. The flight test demonstrated that the IM avionics prototype met the spacing accuracy design goal for three of the four IM operation types tested. The primary issue requiring attention for future IM work is the high rate of IM speed commands and speed reversals. In total, during this flight test, the IM avionics prototype showed significant promise in contributing to the goals of improving aircraft efficiency and airport throughput.

Baxley, Brian

Miniature GC-Minicell Ion Mobility Spectrometer (IMS) for In Situ Measurements in Astrobiology Planetary Missions

Astrobiology flight experiments require highly sensitive instrumentation for in situ analysis of volatile chemical species and minerals present in the atmospheres and surfaces of planets, moons, and asteroids. The complex mixtures encountered place a heavy burden on the analytical instrumentation to detect and identify all species present. The use of land rovers and balloon aero-rovers place additional emphasis on miniaturization of the analytical instrumentation. In addition, smaller instruments, using tiny amounts of consumables, allow the use of more instrumentation and/or ionger mission life for stationary landers/laboratories. The miniCometary Ice and Dust Experiment (miniCIDEX), which combined Gas Chromatography (GC) with helium Ion Mobility Spectrometry (IMS), was capable of providing the wide range of analytical information required for Astrobiology missions. The IMS used here was based on the PCP model 111 IMS. A similar system, the Titan Ice and Dust Experiment (TIDE), was proposed as part of the Titan Orbiter Aerorover Mission (TOAM). Newer GC systems employing Micro Electro- Mechanical System (MEMS) based technology have greatly reduced both the size and resource requirements for space GCs. These smaller GCs, as well as the continuing miniaturization of Astrobiology analytical instruments in general, has highlighted the need for smaller, dry helium IMS systems. We describe here the development of a miniature, MEMS GC-IMS system (MEMS GC developed by Thorleaf Research Inc.), employing the MiniCell Ion Mobility Spectrometer (IMS), from Ion Applications Inc., developed through NASA's Astrobiology Science and Technology Instrument Development (ASTID) Program and NASA s Small Business Innovative Research (SBIR) Program.

Kojiro, Daniel R.

Plasma IMS Composition Measurements for Europa, Ganymede, and the Jovian System

NASA and ESA are now planning a reduced version of the joint Europa Jupiter System Mission (EJSM), potentially including a radically descoped Jupiter Europa Orbiter (JEO) but still with magnetometer and plasma instruments. Similar field and plasma instrumentation would also reside on ESA's Jupiter Ganymede Orbiter (JGO), which conceivably could carry out multiple flybys of Europa before entering orbit at Ganymede. We are developing the 3D Ion Mass Spectrometer (IMS) designed to measure both major and minor ion species within the high radiation environment of Jupiter's magnetosphere and the icy Galilean moons. The IMS covers the energy range from 10 eV to 30 keY, wide field-of-view (FOV) capability and 10-60 sec time resolution for major ions. This instrument has two main goals: 1) measure the plasma interaction between Europa and Jupiter's magnetosphere and 2) infer the global surface composition to trace elemental and significant isotopic levels; these goals are also applicable for in-situ measurements at Ganymede and Callisto, and remotely everywhere via the iogenic plasma for 10. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second goal gives information about transfer of material between the Galilean moons, e.g. mainly from 10 to the other moons, and further allows detection of oceanic materials emergent to the moon surfaces from subsurface layers putatively including salt water oceans. Outgassed exospheric materials are probed by the IMS by measuring pickup ions accelerated up to spacecraft altitudes of approximately 100-200 km in electric fields extending through the local magnetospheric environment and moon exosphere to the surface. Our 3D hybrid kinetic model of the moon-magnetosphere interaction is used to construct a global model of electric and magnetic fields for tracing of pickup ion trajectories back to the sources at approximate surface resolution of 100 km. We show that Europa's exospheric ionosphere is dominated by pickup ions with energies of 100-1000 eV. We also expect field aligned polar ion outflows driven by ionospheric electrons via the polarization electric field at Europa; the IMS will observe such outflows and thus sample the ionosphere below spacecraft orbit altitude approximately 100 km. Based on previous Ganymede studies, we also comment on IMS applications to a Ganymede orbiter. The IMS and the Europa interaction model are respectively being developed with support from NASA's Astrobiology Instrument Development (ASTID) and Outer Planets Research (OPR) programs.

Sittler, E. C., Jr.

Plasma IMS Composition Measurements for Europa, Ganymede, and the Jovian Systems

NASA and ESA are now planning a reduced version of the joint Europa Jupiter System Mission (EJSM), potentially including a radically descoped Jupiter Europa Orbiter (JEO) but still with magnetometer and plasma instruments. Similar field and plasma instrumentation would also reside on ESA's Jupiter Ganymede Orbiter (JGO), which conceivably could carry out multiple flybys of Europa before entering orbit at Ganymede. We are developing the 3D Ion Mass Spectrometer (IMS) designed to measure both major and minor ion species within the high radiation environment of Jupiter s magnetosphere and the icy Galilean moons. The IMS covers the energy range from 10 eV to 30 keV, wide field-ofview (FOV) capability and 10-60 sec time resolution for major ions. This instrument has two main goals: 1) measure the plasma interaction between Europa and Jupiter s magnetosphere and 2) infer the global surface composition to trace elemental and significant isotopic levels; these goals are also applicable for in-situ measurements at Ganymede and Callisto, and remotely everywhere via the iogenic plasma for Io. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second goal gives information about transfer of material between the Galilean moons, e.g. mainly from Io to the other moons, and further allows detection of oceanic materials emergent to the moon surfaces from subsurface layers putatively including salt water oceans. Outgassed exospheric materials are probed by the IMS by measuring pickup ions accelerated up to spacecraft altitudes of approximately 100-200 km in electric fields extending through the local magnetospheric environment and moon exosphere to the surface. Our 3D hybrid kinetic model of the moon-magnetosphere interaction is used to construct a global model of electric and magnetic fields for tracing of pickup ion trajectories back to the sources at approximate surface resolution of 100 km. We show that Europa's exospheric ionosphere is dominated by pickup ions with energies of 100-1000 eV. We also expect field aligned polar ion outflows driven by ionospheric electrons via the polarization electric field at Europa; the IMS will observe such outflows and thus sample the ionosphere below spacecraft orbit altitude approximately 100 km. Based on previous Ganymede studies, we also comment on IMS applications to a Ganymede orbiter. The IMS and the Europa interaction model are respectively being developed with support from NASA's Astrobiology Instrument Development (ASTID) and Outer Planets Research (OPR) programs.

Sittler, E.

IMS R and D program at Canada customs

Over the last few years, Revenue Canada, in collaboration with Barringer Instruments Limited, has been involved in the development of a field-usable ion mobility spectrometer (IMS) for the detection of drugs of abuse. This work has culminated in the manufacturing and commercialization by Barringer of the Ionscan 350 instruments, now in use by various law enforcement agencies worldwide. Although IMS exhibits a very strong and distinctive response toward some nitrogen containing drugs, e.g., cocaine, like all separation techniques it has inherent limitations, namely moderate resolution and low chemical signal to noise ratio which may affect the reliability of IMS-based drug detectors. A program is in place at the Laboratory and Scientific Services Directorate (LSSD) to investigate the applicability of various digital signal processing (DSP) techniques to IMS output signals. The application of neural network techniques to overlapping IMS peaks is presented.

Pilon, Pierre

Data collection in IMS: It's not as easy as it looks

Data collection in Ion Mobility Spectrometry (IMS) is not as easy an endeavor as it appears. Despite the advent of high speed personal computers and fast analog-to-digital converters (ADC's), care must be taken to ensure that reliable data are obtained in a timely fashion. This is especially true in hyphenated techniques, e.g. GC-IMS, where the amount of data increases dramatically when gas chromatography-ion mobility spectrometry (GC-IMS) data is being collected. Using the Graseby GC-IMS, with a gate repetition rate of 33 Hz, it is theoretically possible to collect 33 spectra per second. This collection rate is not realistically obtained due to a number of factors. Among these factors are inaccuracy of the timing signal from the IMS, the necessity to store the data, disk input/output limitations, disk operating system limitations, and program overhead. Taking these factors into account, we have achieved a data collection rate of 20 spectra per second. This paper will describe these problems, demonstrate the practical effects these problems present, and present methods for minimizing these effects.

Davis, Dennis M.

The structure and dynamics of the magnetosphere: Progress in the IMS

Knowledge of the magnetosphere before the International Magnetospheric Study (IMS) is reviewed, and advances due to IMS are outlined. Post IMS studies are summarized. The GEOS spacecraft continuously monitored the state of the interior of the magnetosphere. The ISEE-1 and 2 satellites measured the velocities of magnetospheric boundaries. The ISEE-3 monitored solar wind input to the magnetosphere. The spacecraft provided data on magnetopause thickness, reconnection, electric field configuration, and plasma currents. Post IMS projects examined the ionosphere, auroras, and the deep geomagnetic tail.

Russell, C. T.

Dual-Phase Malicious User Detection Scheme for IM-OFDMA Systems Using IQ Imbalance

Physical-layer security techniques have contributed to the achievement of various security objectives in an efficient and lightweight manner. Thus, these techniques have been widely considered for limited-resource networks such as Internet of Things networks. Among the different security objectives, malicious user detection by exploiting physical-layer parameters has demonstrated efficient performance. In this work, malicious user detection in the recently proposed index modulation-based orthogonal frequency division multiple access (IM-OFDMA) is addressed. The proposed malicious user detection scheme exploits the hardware impairments, especially the in-phase and quadrature imbalance parameters, for both legitimate and malicious users to design a dual-phase efficient detection scheme. The proposed scheme accounts for the special characteristics of IM-OFDMA transmission that are different from other multiple-access techniques. The performance of the proposed scheme was evaluated considering detection probability and false alarm probability performance metrics. Moreover, closed-form expressions of these metrics were derived for both phases and were validated by Monte Carlo simulation results under different configurations of IM-OFDMA systems.

Alaca, Ozgur [ORNL] (ORCID:0000000153713758)

Information management system study results. Volume 1: IMS study results

The information management system (IMS) special emphasis task was performed as an adjunct to the modular space station study, with the objective of providing extended depth of analysis and design in selected key areas of the information management system. Specific objectives included: (1) in-depth studies of IMS requirements and design approaches; (2) design and fabricate breadboard hardware for demonstration and verification of design concepts; (3) provide a technological base to identify potential design problems and influence long range planning (4) develop hardware and techniques to permit long duration, low cost, manned space operations; (5) support SR&T areas where techniques or equipment are considered inadequate; and (6) permit an overall understanding of the IMS as an integrated component of the space station.

Source record

Current status of IMS plasma wave research

The present investigation is concerned with a review of the status of magnetospheric plasma wave science as a result of the International Magnetospheric Study (IMS). The presence of an international effort has supported the development and completion of the numerous magnetospheric science spacecraft launched during the IMS, including GEOS, ISEE, and EXOS B. Ground-based VLF observations are considered along with coordinated ground-based and satellite observations. During the IMS, plasma wave research using satellite data has covered a wide range of subjects. Attention is given to magnetospheric electrostatic emissions, magnetospheric electromagnetic plasma waves, continuum radiation, auroral kilometric radiation, auroral zone plasma waves, plasma waves in the magnetosheath and near the mangetopause, and plasma waves at the bow shock.

Anderson, R. R.

Direct analysis of organic priority pollutants by IMS

Many routine methods for monitoring of trace amounts of atmospheric organic pollutants consist of several steps. Typical steps are: (1) collection of the air sample; (2) trapping of organics from the sample; (3) extraction of the trapped organics; and (4) identification of the organics in the extract by GC (gas chromatography), HPLC (High Performance Liquid Chromatography), or MS (Mass Spectrometry). These methods are often cumbersome and time consuming. A simple and fast method for monitoring atmospheric organics using an IMS (Ion Mobility Spectrometer) is proposed. This method has a short sampling time and does not require extraction of the organics since the sample is placed directly in the IMS. The purpose of this study was to determine the responses in the IMS to organic 'priority pollutants'. Priority pollutants including representative polycyclic aromatic hydrocarbons (PAHs), phthalates, phenols, chlorinated pesticides, and polychlorinated biphenyls (PCB's) were analyzed in both the positive and negative detection mode at ambient atmospheric pressure. Detection mode and amount detected are presented.

Giam, C. S.

Analytical/Operational Requirements for the In Situ Chemical Analysis of Cometary and Planetary Environments Using GC-IMS

Exobiology flight experiments require highly sensitive instrumentation for the in situ analysis of the volatile chemical species that occur in the atmospheres and surfaces of various bodies within the solar system. The complex mixtures encountered place a heavy burden on the analytical instrumentation to detect and identify all species present. The minimal resources available onboard for such missions mandate that the instruments provide maximum analytical capabilities with minimal requirements of volume, weight and consumables. The miniCIDEX instrument was developed for the chemical analysis of a cemetery environment. It combined a Gas Chromatograph (GC) with a helium based Ion Mobility Spectrometer (IMS) to fulfill the analytical requirements of a cemetery exobiology mission: universal response; ppb sensitivity; low mass, volume and consumable MiniCIDEX is now a candidate for the chemical analysis instrument of a Titan Aero-rover Mission. The complexity of the analyses will be similar to the comet application with a heavier emphasis on organic molecules. Because the Titan Aero-Rover will be a balloon powered rover, much more attention is placed on the total mass of the instrument package. The GC will likely be a Micro-Electro-Mechanical-System (MEMS) design, smaller than the initial miniCIDEX GC by a factor of ten (with a similar reduction in consumable use). Similar miniaturization of the helium-based IMS will be necessary while maintaining the analytical capabilities. The two mission applications, the analytical requirements, and the evolution of the IMS design to accommodate these requirements will be presented.

Kojiro, Daniel R.

Plasma IMS Composition Measurements for Europa and the Other Galilean Moons

NASA and ESA are planning the joint Europa Jupiter System Mission (EJSM) to the Jupiter system with specific emphasis to Europa and Ganymede, respectively. The Japanese Space Agency is also planning an orbiter mission to explore Jupiter's magnetosphere and the Galilean satellites. For NASA's Jupiter Europa Orbiter (JEO) we are developing the 3D Ion Mass Spectrometer (IMS) with two main goals which can also be applied to the other Galilean moons, 1) measure the plasma interaction between Europa and Jupiter's magnetosphere and 2) infer the 4 pi surface composition to trace elemental and significant isotopic levels. The first goal supports the magnetometer (MAG) measurements, primarily directed at detection of Europa's sub-surface ocean, while the second gives information about transfer of material between the Galilean moons, and between the moon surfaces and subsurface layers putatively including oceans. The measurement of the interactions for all the Galilean moons can be used to trace the in situ ion measurements of pickup ions back to either Europa's or Ganymede's surface from the respectively orbiting spacecraft. The IMS instrument, being developed under NASA's Astrobiology Instrument Development Program, would maximally achieve plasma measurement requirements for JEO and EJSM while moving forward our knowledge of Jupiter system composition and source processes to far higher levels than previously envisaged. The composition of the global surfaces of Europa and Ganymede can be inferred from the measurement of ejected neutrals and pick-up ions using at minimum an in situ payload including MAG and IMS also fully capable of meeting Level 1 mission requirements for ocean detection and survey. Elemental and isotopic analysis of potentially extruded oceanic materials at the moon surfaces would further support the ocean objectives. These measurements should be made from a polar orbiting spacecraft about Europa or Ganymede at height 100 km. The ejecta produced by sputtering of the surfaces of Europa and Ganymede has been shown to be representative of the surface composition. Level 2 science on surface geology and composition can then be further enhanced by addition of the following: 3D Ion Neutral Mass Spectrometer (INNS), 3D plasma electron spectrometer (ELS), and hot plasma energetic particle instrument. The measurement approach is to alternate between times measuring pickup ions and times measuring plasma and magnetic field parameters along the spacecraft trajectory. By measuring the pickup ion energy, arrival direction and mass-per-charge, the ion can be traced back along the ejection trajectory to the approximate area of origin if the 3-D electric field and magnetic field are known. In situ observations of plasma flow velocities and vector magnetic fields can be used to determine the local convective electric field (E = -VXB) along the spacecraft trajectory. By combining this information with models of the magnetospheric interaction with Europa, one can generate 3D maps of the electric and magnetic field and compute the trajectories of the pickup ions back to the surface or exospheric points of origin. In the case of Ganymede there is the additional complexity of its own internal dipole magnetic field, while Io's volcanic activity introduces the complexity of a highly structured denser atmosphere. Callisto with its less globally extended exosphere will have a simpler interaction than for Europa (i.e., more like our moon). We will discuss these differences in light of the above proposed technique. Finally, the INNS observations and neutral exosphere models are needed to estimate production rates of pickup ions. The hot plasma measurements are needed to correct for sputtering rates which can be time dependent and electron plasma observations for electron impact ionization rates. Instrument characteristics, field-of-view requirements, modes of operation and effects of radiation on instrument functionality will be discussed.

Sittler, Edward

Direct Imaging of Extra-Solar Planets in Star Forming Regions: Lessons Learned from a False Positive Around IM Lup

Context. Most exoplanet imagers consist of ground-based adaptive optics coronagraphic cameras which are currently limited in contrast, sensitivity and astrometric precision, but advantageously observe in the near-infrared window (1 5 m). Because of these practical limitations, our current observational aim at detecting and characterizing planets puts heavy constraints on target selection, observing strategies, data reduction, and follow-up. Most surveys so far have thus targeted young systems (1 100 Myr) to catch the putative remnant thermal radiation of giant planets, which peaks in the near-infrared. They also favor systems in the solar neighborhood (d less than 80 pc), which eases angular resolution requirements but also ensures a good knowledge of the distance and proper motion, which are critical to secure the planet status, and enable subsequent characterization. Aims. Because of their youth, it is very tempting to target the nearby star forming regions, which are typically twice as far as the bulk of objects usually combed for planets by direct imaging. Probing these interesting reservoirs sets additional constraints that we review in this paper by presenting the planet search that we initiated in 2008 around the disk-bearing T Tauri star IM Lup, which is part of the Lupus star forming region (140-190 pc). Methods. We show and discuss why age determination, the choice of evolutionary model for both the central star and the planet, precise knowledge of the host star proper motion, relative or absolute (between different instruments) astrometric accuracy (including plate scale calibration), and patience are the key ingredients for exoplanet searches around more distant young stars. Results. Unfortunately, most of the time, precision and perseverance are not paying off: we discovered a candidate companion around IM Lup in 2008, which we report here to be an unbound background object. We nevertheless review in details the lessons learned from our endeavor, and additionally present the best detection limits ever calculated for IM Lup. We also accessorily report on the successful use of innovative data reduction techniques, such as the damped-LOCI and iterative roll subtraction.

D Mawet

The Development of Cockpit Display and Alerting Concepts for Interval Management (IM) in a Near-Term Environment

The National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) Interval Management (IM) research team has conducted a wide spectrum of work in the recent past, ranging from development and testing of the concept, procedures, and algorithm. This document focuses on the research and evaluation of the IM pilot interfaces, cockpit displays, indications, and alerting concepts for conducting IM spacing operations. The research team incorporated knowledge of human factors research, industry standards for cockpit design, and cockpit design philosophies to develop innovative displays for conducting these spacing operations. The research team also conducted a series of human-in-the-loop (HITL) experiments with commercial pilots and air traffic controllers, in as realistic a high-density arrival operation environment as could be simulated, to evaluate the spacing guidance display features and interface requirements needed to conduct spacing operations.

Baxley, Brian T.

Advanced Interval Management (IM) Concepts of Operations

This document provides a high-level description of several advanced IM operations that NASA is considering for future research and development. It covers two versions of IM-CSPO and IM with Wake Mitigation. These are preliminary descriptions to support an initial benefits analysis

Barmore, Bryan E.

Air Traffic Management Technology Demostration Phase 1 (ATD) Interval Management for Near-Term Operations Validation of Acceptability (IM-NOVA) Experiment

The Interval Management for Near-term Operations Validation of Acceptability (IM-NOVA) experiment was conducted at the National Aeronautics and Space Administration (NASA) Langley Research Center (LaRC) in support of the NASA Airspace Systems Program's Air Traffic Management Technology Demonstration-1 (ATD-1). ATD-1 is intended to showcase an integrated set of technologies that provide an efficient arrival solution for managing aircraft using Next Generation Air Transportation System (NextGen) surveillance, navigation, procedures, and automation for both airborne and ground-based systems. The goal of the IMNOVA experiment was to assess if procedures outlined by the ATD-1 Concept of Operations were acceptable to and feasible for use by flight crews in a voice communications environment when used with a minimum set of Flight Deck-based Interval Management (FIM) equipment and a prototype crew interface. To investigate an integrated arrival solution using ground-based air traffic control tools and aircraft Automatic Dependent Surveillance-Broadcast (ADS-B) tools, the LaRC FIM system and the Traffic Management Advisor with Terminal Metering and Controller Managed Spacing tools developed at the NASA Ames Research Center (ARC) were integrated into LaRC's Air Traffic Operations Laboratory (ATOL). Data were collected from 10 crews of current 757/767 pilots asked to fly a high-fidelity, fixed-based simulator during scenarios conducted within an airspace environment modeled on the Dallas-Fort Worth (DFW) Terminal Radar Approach Control area. The aircraft simulator was equipped with the Airborne Spacing for Terminal Area Routes (ASTAR) algorithm and a FIM crew interface consisting of electronic flight bags and ADS-B guidance displays. Researchers used "pseudo-pilot" stations to control 24 simulated aircraft that provided multiple air traffic flows into the DFW International Airport, and recently retired DFW air traffic controllers served as confederate Center, Feeder, Final, and Tower controllers. Analyses of qualitative data revealed that the procedures used by flight crews to receive and execute interval management (IM) clearances in a voice communications environment were logical, easy to follow, did not contain any missing or extraneous steps, and required the use of an acceptable workload level. The majority of the pilot participants found the IM concept, in addition to the proposed FIM crew procedures, to be acceptable and indicated that the ATD-1 procedures could be successfully executed in a nearterm NextGen environment. Analyses of quantitative data revealed that the proposed procedures were feasible for use by flight crews in a voice communications environment. The delivery accuracy at the achieve-by point was within +/-5 sec, and the delivery precision was less than 5 sec. Furthermore, FIM speed commands occurred at a rate of less than one per minute, and pilots found the frequency of the speed commands to be acceptable at all times throughout the experiment scenarios.

Kibler, Jennifer L.