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This presentation discusses risk management for ocean-based technologies by stepping through elements of the National Laboratory of the Rockies' 2024 Marine Energy Technology Development Risk Management Framework.
Nuclear power plants based on nuclear aircraft technology to power ocean-going air cushion vehicles
Ocean current energy technology has been proposed as a potential contributor to Florida's energy portfolio. There has been limited investigation of how this energy would be valued when integrated into the Florida electrical grid. This study assesses three future grid scenarios to evaluate the impact of adding zero-cost ocean current energy to each. The Resource Planning Model, a tool developed by the National Renewable Energy Laboratory, is used to identify the least-cost generation mix through 2050, with and without ocean current energy. The first scenario is a base case and assumes existing policies in which the addition of ocean current energy does not retire fossil-based technologies but variable generation technologies. In the second scenario, solar and storage technologies are lower cost, and the addition of ocean current generation enables those technologies along with wind to retire existing natural gas units earlier. In the third scenario, which requires a 95% reduction in carbon emissions from 2020 levels by 2050, ocean current energy can play a role in decarbonization along with other variable generation technologies. This analysis is intended to inform stakeholders on the opportunity, potential challenges, and overall value to the grid of ocean current technology from a reliability and availability focused perspective.
The search for life (extinct or extant) and potentially habitable bodies in our solar system and beyond is one of the 12 priority science questions outlined in the National Acadamies’ 2022 decadal survey [5]. Extraterrestrial destinations containing liquid water present an opportunity to search for life as we know it, and in recent years an increasing number of such locations have been discovered within our solar system. Several Jovian moons—Europa, Ganymede, and Callisto [10]—and the Saturnian moons Enceladus [8] and Titan [9] are known or suspected to harbor massive subsurface oceans. Of these "ocean worlds", Europa is the focus of at least one planned NASA orbiter mission, Europa Clipper [4], and an early lander mission concept, the Europa Lander [2, 3]. Whereas most robotic missions to the Moon and Mars (e.g. orbiters, rovers, landers) to date have had ground controllers on Earth tightly involved in mission operations, missions to more distant worlds will require a high degree of onboard autonomy due to long communication lags and blackouts, harsh environments (radiation, cold), and more limited battery and hardware life. The past decade has seen great advances in both AI technologies and computing scalability and performance that offer promising solutions for spacecraft autonomy and motivate the software system and research programs described in this paper. The Ocean Worlds Autonomy Testbed for Exploration, Research, and Simulation (OceanWATERS) [1], which has been in development at the NASA Ames Research Center since 2018, is a virtual environment for testing lander autonomy solutions. It is built on the Robot Operating System (ROS), runs on consumer-grade Linux workstations, and was released as open source in 2020. OceanWATERS provides a physical and visual simulation of a prototypical lander in a Europa-like environment (Figure 1). The lander was modeled after requirements and specifications made in JPL’s Europa Lander Study of 2016 [3]. Simulated lander systems include stereo cameras and spotlights mounted on an antenna mast that pans and tilts, a 6 degrees of freedom (DoF) robotic arm with a force-torque sensor and two interchangeable end effectors, and a battery pack power system. The environment consists of multiple terrain models including a highly detailed model sourced from the FROST dataset [11], simulation of surrounding planetary bodies based on an ephemeris model, and lighting from the sun with associated surface illumination, reflectance, and shadows. Operations supported by OceanWATERS include panoramic and directed imaging of the environment and lander workspace, Cartesian and joint-level arm commanding, grinding of the terrain surface (e.g. digging a trench), and scooping of ground material (Figure 2) which can be discarded or collected as science samples in a receptacle that can be emptied (science operations themselves are not simulated). These operations are realized as ROS Actions and are complimented by a wide selection of telemetry that is continually produced by each lander subsystem. The power system model is driven by the open-source Generic Software Architecture for Prognostics (GSAP) [11] that predicts the battery’s remaining useful life and other characteristics. As a testbed for high-level autonomy, OceanWATERS provides an execution framework based on PLEXIL [12], an open-source plan specification language and execution engine developed largely at Ames. NASA's initial development of OceanWATERS, as well the Ocean Worlds Lander Autonomy Testbed (OWLAT) [6], a complimentary physical testbed developed at JPL, was the first step in a plan for realizing candidate onboard autonomy solutions for such planetary landers. In 2020 NASA solicited applications for its Autonomous Robotics Research for Ocean Worlds (ARROW) program, and in 2021 the similar Concepts for Ocean worlds Life Detection Technology (COLDTech) program. Collectively six research teams, based in universities and companies across the United States, were awarded grants to develop and demonstrate autonomy solutions on OceanWATERS and OWLAT. These 1–2-year projects have now finished or are nearing completion, and a wide variety of autonomy challenges in ocean world surface missions were addressed. Prototyped and demonstrated solutions have included autonomous discovery, response and adaptation to system faults and unexpected environmental events, world model synthesis through perception, plan synthesis using learned models, methods to optimize sample target selection and prioritize science data transmission, extension of PLEXIL for stochastic decision-making, and an integration of a model of JPL’s mission-ready COLDArm [7]. Technologies used in these projects include many forms of machine learning, causal reasoning, automated planning, Markov decision processes, formal methods, and other advanced techniques. A more detailed summary of the ARROW and COLDTech projects is given herein. OceanWATERS has had significant enhancements since its open-source release in 2020. Many of its new features were driven or shaped by feedback from the ARROW and COLDTech teams and requirements of their projects. In support of enabling autonomous adaptation to spacecraft faults (a specific capability solicited by both programs), a fault injection and detection framework was developed that supports a wide and growing range of fault types such as locked joints, image loss, and battery failures. The power system model was completed and integrated into the simulator, starting as a single-cell battery model and later upgraded to a multi-cell model with associated faults such as cell disconnection. Arm/terrain interaction was improved by adding a force-torque sensor and associated faults, and an analytic dig force model based on the Balovnev bucket force equations. Environment fidelity was increased by modeling terrain deformation resulting from digging and scooping; visual improvements were made in textures, lighting, and shadows. To facilitate interoperation with OWLAT, a unified command and telemetry interface between the testbeds was developed at the ROS level, along with a PLEXIL interface. The number of lander operations was greatly expanded (e.g. with Cartesian-based arm and antenna movement), and a framework was designed for users to build their own lander actions. A GUI for PLEXIL plan selection was created (Figure 3), and an expansive set of plans were added, such as those that illustrate patterns for fault handling. This paper provides a self-contained high-level description of OceanWATERS, focusing on more detailed coverage of the aforementioned enhancements. It provides a high-level summary of the projects undertaken by participants in the ARROW and COLDTech programs and how these efforts have helped shape OceanWATERS. Finally, potential future work and directions for the testbed are listed, as likely informed by the recent planetary science decadal survey [5].
We propose a “magneto-inductive” technology, employing a sensitive receiver based on a Superconducting Quantum Interference Device (SQUID), to enable communications through conductive media, so as to pave the way for exploration of ocean worlds, especially a Europa scenario. Concepts for ice penetration systems to access the presumed liquid ocean on Europa are under development but it was previously considered impractical if not impossible to communicate through the briny ice with conventional propagating electromagnetic signals.
The Geostorm Warning Mission is a potential future National Ocean and Atmospheric Administration (NOAA) mission with the objective of obtaining solar storm warning data from a satellite positioned at an unnatural station slightly displaced from the Earth-Sun line at or nearer to the Sun than 0.98 AU inside the Earth's natural L1 point at 0.993 AU. The satellite would achieve this unnatural station by merging solar sail and small satellite technology.
A major new NASA initiative on environmental change and health has been established to promote the application of Earth science remote sensing data, information, observations, and technologies to issues of human health. NASA's Earth Sciences suite of Earth observing instruments are now providing improved observations science, data, and advanced technologies about the Earth's land, atmosphere, and oceans. These new space-based resources are being combined with other agency and university resources, data integration and fusion technologies, geographic information systems (GIS), and the spectrum of tools available from the public health community, making it possible to better understand how the environment and climate are linked to specific diseases, to improve outbreak prediction, and to minimize disease risk. This presentation is an overview of NASA's tools, capabilities, and research advances in this initiative.
Proposed space missions will require large scale, light weight, space based structural systems. Large space structure technology (LSST) systems will have to accommodate (among others): ocean data systems; electronic mail systems; large multibeam antenna systems; and, space based solar power systems. The structures are to be delivered into orbit by the space shuttle. Because of their inherent size, modelling techniques and scaling algorithms must be developed so that system performance can be predicted accurately prior to launch and assembly. When the size and weight-to-area ratio of proposed LSST systems dictate that the entire system be considered flexible, there are two basic modeling methods which can be used. The first is a continuum approach, a mathematical formulation for predicting the motion of a general orbiting flexible body, in which elastic deformations are considered small compared with characteristic body dimensions. This approach is based on an a priori knowledge of the frequencies and shape functions of all modes included within the system model. Alternatively, finite element techniques can be used to model the entire structure as a system of lumped masses connected by a series of (restoring) springs and possibly dampers. In addition, a computational algorithm was developed to evaluate the coefficients of the various coupling terms in the equations of motion as applied to the finite element model of the Hoop/Column.
Proposed space missions will require large scale, light weight, space based structural systems. Large space structure technology (LSST) systems will have to accommodate (among others): ocean data systems; electronic mail systems; large multibeam antenna systems; and, space based solar power systems. The structures are to be delivered into orbit by the Space Shuttle. Because of their inherent size, modelling techniques and scaling algorithms must be developed so that system performance can be predicted accurately prior to launch and assembly. When the size and weight-to-area ratio of proposed LSST systems dictate that the entire system be considered flexible, there are two basic modelling methods which can be used. The first is a continuum approach, a mathematical formulation for predicting the motion of a general orbiting flexible body, in which elastic deformations are considered small compared with characteristic body dimensions. This approach is based on an a priori knowledge of the frequencies and shape functions of all modes included within the system model. Alternatively, finite element techniques can be used to model the entire structure as a system of lumped masses connected by a series of (restoring) springs and possibly dampers. In addition, a computational algorithm was developed to evaluate the coefficients of the various coupling terms in the equations of motion as applied to the finite element model of the Hoop/Column.
An Integrated Science Data Analytics Platform is an environment that enables the confluence of resources for scientific investigation. It harmonizes data, tools and computational resources which subsequently enable the research community to focus on the investigation rather than spending time on security, data preparation, management, etc. OceanWorks is a NASA technology integration project to establish a cloud-based Integrated Ocean Science Data Analytics Platform at NASA’s Physical Oceanography Distributed Active Archive Center (PO.DAAC) for big ocean science. It focuses on advancement and maturity by bringing together several NASA open-source, big data projects for parallel analytics, anomaly detection, in-situ to satellite data matchup, quality-screened data subsetting, search relevancy, and data discovery. Our communities are relying on data distributed through data centers such as the PO.DAAC, COAPS, NCAR, and many others to conduct their research. In typical investigations, scientists would engage in: search for data, evaluate the relevance of that data, download it, and then apply algorithms to identify trends. Such workflow cannot scale if the research involves a massive amount of data or multi-variate measurements. NASA’s Surface Water and Ocean Topography (SWOT) mission is expected to produce massive amount of observational data during its 3-year nominal mission. Collections like SWOT challenges all existing Earth Science data archival, distribution and analysis paradigms. In this paper, we will discuss how OceanWorks enhances the analysis of physical ocean data where the computation is done on an elastic cloud platform next to the archive to deliver fast, web-accessible services for working with oceanographic measurements.
The Hurricane Imaging Radiometer (HIRAD) is an innovative radiometer which offers new and unique remotely sensed observations of both extreme oceanic wind events and strong precipitation. It is based on the airborne Stepped Frequency Microwave Radiometer (SFMR) [Uhlhorn and Black, 2004]. The HIRAD instrument advances beyond the current nadir viewing SFMR to an equivalent wide-swath SFMR imager using passive microwave synthetic thinned aperture radiometer (STAR) technology [Ruf et al., 1988]. This sensor operates over 4-7 GHz, where the required tropical cyclone remote sensing physics has been validated by both SFMR and WindSat radiometer [Bettenhausen et al., 2006; Brown et al., 2006]. HIRAD incorporates a new and unique array antenna design along with several technologies successfully demonstrated by the Lightweight Rain Radiometer instrument [Ruf et al., 2002; Ruf and Principe, 2003]. HIRAD will be a compact, lightweight, low-power instrument with no moving parts that will produce wide-swath imagery of ocean winds and rain in hurricane conditions. Accurate observations of surface ocean vector winds (OVW) with high spatial and temporal resolution are required for understanding and predicting tropical cyclones. The Hurricane Imaging Radiometer (HIRAD) is an innovative architecture which offers new and unique remotely sensed observations of both extreme oceanic wind events and strong precipitation. It is based on the airborne Stepped Frequency Microwave Radiometer (SFMR), which is a proven remote sensing technique for observing tropical cyclone (TC) ocean surface wind speeds and rain rates. The proposed HIRAD instrument advances beyond the current nadir viewing SFMR to an equivalent wide-swath SFMR imager using passive microwave synthetic thinned aperture radiometer (STAR) technology combined with a a unique array antenna design. The overarching design concept of HIRAD is to combine the multi-frequency C-band observing strategy of the SFMR with STAR technology to produce a wide-swath imager. Single frequency STAR technology The Hurricane Imaging Radiometer (HIRAD) is an innovative radiometer which offers new and unique remotely sensed observations of both extreme oceanic wind events and strong precipitation. It is based on the airborne Stepped Frequency Microwave Radiometer (SFMR) [Uhlhorn and Black, 2004]. The HIRAD instrument advances beyond the current nadir viewing SFMR to an equivalent wide-swath SFMR imager using passive microwave synthetic thinned aperture radiometer (STAR) technology [Ruf et al., 1988]. This sensor operates over 4-7 GHz, where the required tropical cyclone remote sensing physics has been validated by both SFMR and WindSat radiometer [Bettenhausen et al., 2006; Brown et al., 2006]. HIRAD incorporates a new and unique array antenna design along with several technologies successfully demonstrated by the Lightweight Rain Radiometer instrument [Ruf et al., 2002; Ruf and Principe, 2003]. HIRAD will be a compact, lightweight, low-power instrument with no moving parts that will produce wide-swath imagery of ocean winds and rain in hurricane conditions. Accurate observations of surface ocean vector winds (OVW) with high spatial and temporal resolution are required for understanding and predicting tropical cyclones. The Hurricane Imaging Radiometer (HIRAD) is an innovative architecture which offers new and unique remotely sensed observations of both extreme oceanic wind events and strong precipitation. It is based on the airborne Stepped Frequency Microwave Radiometer (SFMR), which is a proven remote sensing technique for observing tropical cyclone (TC) ocean surface wind speeds and rain rates. The proposed HIRAD instrument advances beyond the current nadir viewing SFMR to an equivalent wide-swath SFMR imager using passive microwave synthetic thinned aperture radiometer (STAR) technology combined with a a unique array antenna design. The overarching design concept of HIRAD is to combine the multi-frequency C-banbserving strategy of the SFMR with STAR technology to produce a wide-swath imager. Single frequency STAR technology
Like all potential marine energy deployment sites, characterizing the site, understanding the environmental interactions with floating tidal technology, and mapping a pathway towards regulatory acceptance will be needed to site and permit ocean current development within the Florida Current. The proposed work will be based on a modeling analysis, a desk-top review and analysis, focusing on the characteristics of the ocean current technology and environmental monitoring information on the marine animals and habitats that are specific to the appropriate latitude, particularly those that are endemic to the offshore Florida area. The analysis will also describe the state and federal authorizations required for deploying a floating tidal energy technology, with an emphasis on how they differ from those in Washington, Alaska, and Maine. Environmentally compliant sites within Florida Current will be selected based on environmental, logistical, and regulatory criteria. Recommendations on monitoring needs and adaptive management practices will be provided. The need to acquire social acceptance for the Orbital Marine Power technology will also be explored and general recommendations prepared to encourage the best acceptance in the communities of interest.
Accurate observations of surface ocean vector winds (OVW) with high spatial and temporal resolution are required for understanding and predicting tropical cyclones. As NASA's QuikSCAT and Navy's WindSat operate beyond their design life, many members of the weather and climate science communities recognize the importance of developing new observational technologies and strategies to meet the essential need for OVW information to improve hurricane intensity and location forecasts. The Hurricane Imaging Radiometer (HIRAD) is an innovative technology development which offers new and unique remotely sensed satellite observations of both extreme oceanic wind events and strong precipitation. It is based on the airborne Stepped Frequency Microwave Radiometer (SFMR), which is the only proven remote sensing technique for observing tropical cyclone (TC) ocean surface wind speeds and rain rates. The proposed HIRAD instrument advances beyond the current nadir viewing SFMR to an equivalent wide-swath SFMR imager using passive microwave synthetic thinned aperture radiometer (STAR) technology. This sensor will operate over 4-7 GHz (C-band frequencies) where the required TC remote sensing physics has been validated by both SFMR and WindSat radiometers. The instrument is described in more detail in a paper by Jones et al. presented to the Tropical Meteorology Special Symposium at this AMS Annual Meeting. Simulated HIRAD passes through a simulation of hurricane Frances are being developed to demonstrate HIRAD estimation of surface wind speed over a wide swath in the presence of heavy rain. These are currently being used in "quick" OSSEs (Observing System Simulation Experiments) with H'Wind analyses as the discriminating tool. The H'Wind analysis, a product of the Hurricane Research Division of NOAA's Atlantic , Oceanographic and Meteorological Laboratory, brings together wind measurements from a variety of observation platforms into an objective analysis of the distribution of wind speeds in a tropical cyclone. This product is designed to improve understanding of the extent and strength of the wind field, and to improve the assessment of hurricane intensity. See http://www.aoml.noaa._ov/hrd/data sub/wind.html. Observations have been simulated from both aircraft altitudes and space. The simulated flight patterns for the aircraft platform cases have been designed to duplicate the timing and flight patterns used in routine NOAA and USAF hurricane surveillance flights, and the spaceborne case simulates a TRMM orbit and altitude.
The urgent need for energy solutions in marine environments has accelerated the development of innovative technologies capable of leveraging natural resources for power generation. This study introduces a buoyancy-driven submersible system designed to harness ocean thermal gradients using thermoelectric generators (TEGs) and phase change materials (PCMs). The technology aims to provide autonomous power to offshore aquaculture farms, unmanned underwater vehicles (UUVs), offshore platform illumination, and ocean sensors, significantly reducing dependence on fossil fuels. Ocean thermal gradients, especially prevalent in mid-latitude regions, exhibit temperature differences between surface and deep waters ranging from 7 degrees Celsius to 30 degrees Celsius depending on seasonal variations. The proposed submersible technology utilizes TEGs to convert thermal energy from these gradients into electrical power, generating between 0.2 and 0.5 watts, while PCMs are employed to store and regulate this energy, ensuring a stable and continuous power supply. The buoyancy-driven mechanism of the submersible enhances its capability to navigate through varying depths, optimizing its exposure to different thermal gradients and maximizing energy harvesting. The performance of this submersible system is analyzed through detailed thermodynamic assessments and computational fluid dynamics (CFD) modeling focused on heat transfer. These analyzes consider real-world ocean temperature profiles and seek to refine the interaction between TEGs and PCMs to optimize energy extraction. The evaluation encompasses several key performance metrics, including power output and energy efficiency. Results confirm the potential of this innovative technology to provide a continuous and reliable power source for marine applications. By demonstrating the feasibility of using ocean thermal gradients for energy generation, this study contributes to the broader efforts of innovation in energy technologies for harsh, remote marine environments. The implementation of such promises is significant advancements in the autonomy of marine operations. The ongoing research will further investigate scalability ensuring that the system can be effectively adapted to various marine settings and operational demands.
Accurate observations of ocean surface vector winds (OSVW) with high spatial and temporal resolution are critically important to improve both our understanding and predictability of tropical cyclones. As the successful NASA QuikSCAT satellite continues to age beyond its planned life span, many members of the tropical cyclone research and operational community recognize the need to develop new observational technologies and strategies to meet the essential need for OSVW information. This concern has been expressed in both the "Earth Science and Applications from Space: National Imperatives for the Next Decade and Beyond" developed by the National Research Council Committee on Earth Science and Applications from Space and the "Interagency Strategic Research Plan for Tropical Cyclone The Way Ahead" developed by the Joint Action Group for Tropical Cyclone Research (JAG-TCR) sponsored by the Office of the Federal Coordinator for Meteorology. One innovative technology development which offers the potential for new, unique remotely sensed observations of tropical cyclone OSVW and precipitation is the Hurricane Imaging Radiometer (HIRAD). This new instrument is passive microwave synthetic thinned aperture radiometer under development at the NASA Marshall Space Flight Center that will operate at the C-Band frequencies of 4, 5, 6, and 7 GHz. These frequencies have been successfully demonstrated by the NOAA nadir-staring Stepped Frequency Microwave Radiometer (SFMR) as useful for monitoring tropical cyclone ocean surface wind speeds and rain rates from low altitude reconnaissance aircraft. The HIRAD design incorporates a unique antenna design as well as several technologies that have been successfully demonstrated by the University of Michigan Lightweight Rain Radiometer sponsored by NASA Earth Science Technology Office Instrument Incubator Program. HIRAD will be a compact, lightweight, low-power instrument with no moving parts that will produce imagery of ocean wind surface wind parameters and rain rate during the strong wind and heavy rain hurricane conditions that hamper the observational capabilities of higher frequency passive microwave radiometers or scatterometers. It will also produce imagery of sea surface temperature under cloudy and lightly precipitating skies eliminating the need for additional thermal infrared imagers. The strategic plan for HIRAD includes a roadmap for ocean surface wind speed and OSVW technology development using flight demonstrations on piloted aircraft, uninhabited aerial vehicle systems, and satellite platforms. The roadmap will include exit opportunities for technology transfer from research to operations based on satisfactory demonstrations. The first aircraft version of HIRAD will be singular polarization sensor designed to observe ocean surface wind speed and rainfall. The second aircraft version of HIRAD will be dual polarization sensor designed to observe OSVW as a prototype for a future satellite sensor.
The Harmony satellite mission was recently approved as the next European Space Agency (ESA) Earth Explorer 10. The mission science objectives cover several applications related to solid earth, the cryosphere, upper-ocean dynamics and air–sea interactions. The mission consists of a constellation of two satellites, flying with the Copernicus Sentinel 1 (C or D) spacecraft, each hosting a C-band receive-only radar and a thermal infrared (TIR) payload. From an ocean dynamics/air–sea interaction perspective, the mission will provide the unique opportunity to observe simultaneously the signature of submesoscale upper-ocean processes via synthetic aperture radar and TIR imagery. The TIR imager is based on microbolometer technology and its acquisitions will rely on four channels: three narrow-band channels yielding observations at a ≃1 km spatial sampling distance (SSD) and a panchromatic (PAN, 8–12 μm) channel characterized by a ≃300 m SSD. Our study investigates the potential of Harmony in retrieving spatial features related to sea surface temperature (SST) gradients from the high-resolution PAN channel, relying on top-of-atmosphere (TOA) observations. Compared to a standard SST gradient retrieval, our approach does not require atmospheric correction, thus avoiding uncertainties due to inter-channel co-registration and radiometric consistency, with the possibility of exploiting the higher resolution of the PAN channel. The investigations were carried out simulating the future Harmony TOA radiances (TARs), as well as relying on existing state-of-the-art level 1 satellite products. Our approach enables the correct description of SST features at the sea surface avoiding the generation of spurious features due to atmospheric correction and/or instrumental issues. In addition, analyses based on existing satellite products suggest that the clear-sky TOA observations, in a typical mid-latitude scene, allow the reconstruction of up to 85% of the gradient magnitudes found at the sea-surface level. The methodology is less efficient in tropical areas, suffering from smoothing effects due to the high concentrations of water vapor.
The Gulf offshore satellite applications project (GOSAP) was carried out in order to determine how best to use remote sensing technology to address offshore problems and operations faced by marine engineering organizations. The potentials of satellite-based offshore exploration, ocean engineering and environmental applications using combined satellite and airborne measurements are investigated. The applications include the detection of oil slicks.
The Gulf of Mexico airspace has two major operating regions: low altitude offshore (below 7,000 ft) and high altitude oceanic (above 18,000 ft). Both regions suffer significant inefficiencies due to the lack of continuous surveillance during Instrument Flight Rules operations. Provision of surveillance in the offshore region is hindered by its low-altitude nature, which makes coverage by conventional radars economically infeasible. Significant portions of the oceanic sectors are inaccessible to shore-based sensors, as they are beyond line-of-sight. Two emerging surveillance technologies were assessed that are relatively low cost and can be deployed on offshore platforms Wide Area Multilateration and Automatic Dependent Surveillance Broadcast. Performance criteria were formulated using existing FAA specifications. Three configurations were developed and deployed representative of systems serving full-size and reduced-sized domestic terminal areas and an en-route/oceanic region. These configurations were evaluated during nine flight test periods using fixed- and rotary-wing aircraft.