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At least 181 records · Page 10

Integrating Human Factors into Crew Exploration Vehicle Design

With NASA's new Vision for Exploration to send humans beyond Earth orbit, it is critical to consider the human as a system that demands early and continuous user involvement, and an iterative prototype/test/redesign process. Addressing human-system interface issues early on can be very cost effective even cost reducing when performed early in the design and development cycle. To achieve this goal within Crew Exploration Vehicle (CEV) Project Office, human engineering (HE) team is formed. Key tasks are to apply HE requirements and guidelines to hardware/software, and provide HE design, analysis and evaluation of crew interfaces. Initial activities included many practice-orientated evaluations using low-fidelity CEV mock-ups. What follows is a description of such evaluations that focused on a HE requirement regarding Net Habitable Volume (NHV). NHV is defined as the total remaining pressurized volume available to on-orbit crew after accounting for the loss of volume due to deployed hardware and structural inefficiencies which decrease functional volume. The goal of the NHV evaluations was to develop requirements providing sufficient CEV NHV for crewmembers to live and perform tasks in support of mission goals. Efforts included development of a standard NHV calculation method using computer models and physical mockups, and crew/ stakeholder evaluations. Nine stakeholders and ten crewmembers participated in the unsuited evaluations. Six crewmembers also participated in a suited evaluation. The mock-up was outfitted with volumetric representation of sub-systems such as seats, and stowage bags. Thirteen scenarios were developed to represent mission/crew tasks and considered to be primary volume drivers (e.g., suit donning) for the CEV. Unsuited evaluations included a structured walkthrough of these tasks. Suited evaluations included timed donning of the existing launch and entry suit to simulate a contingency scenario followed by doffing/ stowing of the suits. All mockup evaluations were videotaped. Structured questionnaires were used to document user interface issues and volume impacts of layout configuration. Computer model and physical measures of the NHV agreed within 1 percent. This included measurement of the gross habitable volume, subtraction of intrusive volumes, and other non-habitable spaces. Calculation method developed was validated as a standard means of measuring NHV, and was recommended as a verification method for the NHV requirements. Evaluations confirmed that there was adequate volume for unsuited scenarios and suit donning/ doffing activity. Seats, suit design stowage and waste hygiene system noted to be critical volume drivers. The low-fidelity mock-up evaluations along with human modeling analysis generated discussions that will lead to high-level systems requirements and human-centered design decisions. This approach allowed HE requirements and operational concepts to evolve in parallel with engineering system concepts and design requirements. As the CEV design matures, these evaluations will continue and help with design decisions, and assessment, verification and validation of HE requirements.

Whitmore, Mihriban↗

Designing for Our Future in Space

Over the past several years, the disciplines of architecture and human factors have been increasingly recognized as specialties that have focused upon "human-centered design" in the development of spacecraft and surface habitats. These specialties have been instrumental in the conceptual design of overall spacecraft configurations and layouts, as well as habitability outfitting hardware, such as the galley, hygiene facility, sleep quarters, or the layout of displays and controls. From the human-centered perspective, this approach to design assists in the mitigation of risk when designing for an extreme environment such as space. It takes into account the human s physical and cognitive capabilities and limitations, the human s performance in the context of human space flight, the human s interaction with machines that are both physically and cognitively complex, the activities required of the human to accomplish the goals of missions, and the use of design practices that promote products to enable human activity. It is this latter aspect - the use of design practices that promote products to enable human activity - that is the focus of the approach used by the Rhode Island School of Design (RISD) in collaboration with the Habitability and Human Factors Branch (HHFB) at the NASA Johnson Space Center (JSC). During the past few years, there has been a growing recognition of the value added by utilizing industrial designers to further the conceptual development of space hardware, that when used in conjunction with architecture and human factors, provides a robust solution to the design challenge. The "Design for Extreme Environments" Studio at RISD has taken suggested design topics from the NASA JSC HHFB and asked the students to investigate solutions to these challenges. The topics have demanded that the student pay particular attention to a variety of aspects of the space environment and understand how the human responds to each. The student must then adapt the design to these responses. The studio environment has been one way to introduce these challenges, but providing for an "in-residence" opportunity at JSC has given the students a broader vision and set of experiences. The accompanying presentation highlights the studio as well as in-residence work that has been accomplished.

Connolly, Janis↗

Measurement and Characterization of Helicopter Noise in Steady-State and Maneuvering Flight

A special acoustic flight test program was performed on the Bell 206B helicopter outfitted with an in-flight microphone boom/array attached to the helicopter while simultaneous acoustic measurements were made using a linear ground array of microphones arranged to be perpendicular to the flight path. Air and ground noise measurements were made in steady-state longitudinal and steady turning flight, and during selected dynamic maneuvers. Special instrumentation, including direct measurement of the helicopter s longitudinal tip-path-plane (TPP) angle, Differential Global Positioning System (DGPS) and Inertial Navigation Unit (INU) measurements, and a pursuit guidance display were used to measure important noise controlling parameters and to make the task of flying precise operating conditions and flight track easier for the pilot. Special care was also made to test only in very low winds. The resulting acoustic data is of relatively high quality and shows the value of carefully monitoring and controlling the helicopter s performance state. This paper has shown experimentally, that microphones close to the helicopter can be used to estimate the specific noise sources that radiate to the far field, if the microphones are positioned correctly relative to the noise source. Directivity patterns for steady, turning flight were also developed, for the first time, and connected to the turning performance of the helicopter. Some of the acoustic benefits of combining normally separated flight segments (i.e. an accelerated segment and a descending segment) were also demonstrated.

Schmitz, Fredric H.↗

A Martian Telecommunications Network: UHF Relay Support of the Mars Exploration Rovers by the Mars Global Surveyor, Mars Odyssey, and Mars Express Orbiters

NASA and ESA have established an international network of Mars orbiters, outfitted with relay communications payloads, to support robotic exploration of the red planet. Starting in January, 2004, this network has provided the Mars Exploration Rovers with telecommunications relay services, significantly increasing rover engineering and science data return while enhancing mission robustness and operability. Augmenting the data return capabilities of their X-band direct-to-Earth links, the rovers are equipped with UHF transceivers allowing data to be relayed at high rate to the Mars Global Surveyor (MGS), Mars Odyssey, and Mars Express orbiters. As of 21 July, 2004, over 50 Gbits of MER data have been obtained, with nearly 95% of that data returned via the MGS and Odyssey UHF relay paths, allowing a large increase in science return from the Martian surface relative to the X-band direct-to-Earth link. The MGS spacecraft also supported high-rate UHF communications of MER engineering telemetry during the critical period of entry, descent, and landing (EDL), augmenting the very low-rate EDL data collected on the X-band direct-to-Earth link. Through adoption of the new CCSDS Proximity-1 Link Protocol, NASA and ESA have achieved interoperability among these Mars assets, as validated by a successful relay demonstration between Spirit and Mars Express, enabling future interagency cross-support and establishing a truly international relay network at Mars.

telecommunications↗

The Pressurized Logistics Module: Providing Consumables and Resupply Logistics to the Lunar Surface for a Long-duration Manned Mission

In response to President Bush s 2004 Vision for Space Exploration initiative, NASA established an agency-wide Lunar Architecture Team (LAT) to develop the high-level requirements, assumptions, ground-rules and objectives for a manned mission to the moon. During Phase II of the evaluation, the Habitation Focus Element Group was directed to conceptually develop and design a Pressurized Logistics Module (PLM). The PLM task was delivered with one major requirement: to derive a system with minimal mass and cost, and a maximum, functional, internal volumetric area in order to provide the maximum amount of consumables, supportability and logistic re-supply for a crew of four to the Lunar surface with an overall integrated maximum weight of 5200kg. The PLM was derived from the Habitation Group s "mini-Hab" option. This concept required that the PLM have an aluminum-clad graphite epoxy external truss, utilized for increased mobility and stability, which would encompass a 2.7 meter diameter pressurized aluminum-lithium cylinder. Several trade studies and analyses were performed to determine the final length and orientation of the module, the number of systems required to maintain the PLM, and the number of hatches/mating mechanisms which would successfully and efficiently meet the requirements. Of the five specific configurations assessed, the PLM was determined to have a 3 meter by 3 meter by 5 meter external truss with a 2.7 meter diameter and 5 meter long horizontal, pressurized cylinder with one hatch/mating mechanism on one end cone. Two major assumptions aided in the formulation of the technical baseline: 1) the PLM should be sustainable for up to 18 months on the Lunar Lander without connection to its final destination, the Lunar Outpost, and 2) it must be self-sufficient to withstand a maximum eight hour transit from the Lander to the Outpost. Per these assumptions, eight major systems constitute the PLM: structures, passive mating, protection, power, thermal, avionics, life support and outfitting. Including a conservative 20% growth, the overall estimated tare weight for the PLM was determined to be 2181kg. The tare weight of the design allowed the available internal volume of the cylinder with a 0.20 meter high floor to transport the maximum of either 176 single Crew Transfer Bags (CTBs) or 3019kg.

Carpenter, Amanda↗

James Webb Space Telescope Project (JWST) Overview

This presentation provides an overview of the James Webb Space Telescope (JWST) Project. The JWST is an infrared telescope designed to collect data in the cosmic dark zone. Specifically, the mission of the JWST is to study the origin and evolution of galaxies, stars and planetary systems. It is a deployable telescope with a 6.5 m diameter, segmented, adjustable primary mirror. outfitted with cryogenic temperature telescope and instruments for infrared performance. The JWST is several times more sensitive than previous telescope and other photographic and electronic detection methods. It hosts a near infrared camera, near infrared spectrometer, mid-infrared instrument and a fine guidance sensor. The JWST mission objection and architecture, integrated science payload, instrument overview, and operational orbit are described.

Dutta, Mitra↗

Environmental Control and Life Support Integration Strategy for 6-Crew Operations

The International Space Station (ISS) crew compliment will be increasing in size from 3 to 6 crew members in the summer of 2009. In order to support this increase in crew on ISS, the United States on-orbit Segment (USOS) has been outfitted with a suite of regenerative Environmental Control and Life Support (ECLS) hardware including an Oxygen Generation System(OGS), Waste and Hygiene Compartment (WHC), and a Water Recovery System (WRS). The WRS includes the Urine Processor Assembly (UPA) and the Water Processor Assembly (WPA). A critical step in advancing to a 6Crew support capability on ISS is a full checkedout and verification of the Regenerative ECLS hardware. With a successful checkout, the ISS will achieve full redundancy in its onorbit life support system between the USOS and Russian Segment (RS). The additional redundancy created by the Regenerative ECLS hardware creates the opportunity for independent support capabilities between segments, and for the first time since the start of ISS, the necessity to revise Life Support strategy agreements. Independent operating strategies coupled with the loss of the Space Shuttle supply and return capabilities in 2010 offers additional challenges. These challenges create the need for a higher level of onorbit consumables reserve to ensure crewmember life support during a system failure. This paper will discuss the evolution of the ISS Life Support hardware strategy in support of 6Crew on ISS, as well as the continued work which will be necessary to ensure the support of crew and ISS Program objectives through the life of station.

FROM↗

Surface Habitat Systems

The Surface Habitat Systems (SHS) Focused Investment Group (FIG) is part of the National Aeronautics and Space Administration (NASA) Johnson Space Center (JSC) effort to provide a focused direction and funding to the various projects that are working on human surface habitat designs and technologies for the planetary exploration missions. The overall SHS-FIG effort focuses on directing and guiding those projects that: 1) develop and demonstrate new surface habitat system concepts, innovations, and technologies to support human exploration missions, 2) improve environmental systems that interact with human habitats, 3) handle and emplace human surface habitats, and 4) focus on supporting humans living and working in habitats on planetary surfaces. The activity areas of the SHS FIG described herein are focused on the surface habitat project near-term objectives as described in this document. The SHS-FIG effort focuses on mitigating surface habitat risks (as identified by the Lunar Surface Systems Project Office (LSSPO) Surface Habitat Element Team; and concentrates on developing surface habitat technologies as identified in the FY08 gap analysis. The surface habitat gap assessment will be updated annually as the surface architecture and surface habitat definition continues to mature. These technologies are mapped to the SHS-FIG Strategic Development Roadmap. The Roadmap will bring to light the areas where additional innovative efforts are needed to support the development of habitat concepts and designs and the development of new technologies to support of the LSSPO Habitation Element development plan. Three specific areas of development that address Lunar Architecture Team (LAT)-2 and Constellation Architecture Team (CxAT) Lunar habitat design issues or risks will be focused on by the SHS-FIG. The SHS-FIG will establish four areas of development that will help the projects prepare in their planning for surface habitat systems development. Those development areas are the 1) surface habitat concept definition, 2) inflatable surface habitat development, and 3) autonomous habitat operations, and 4) cross-cutting / systems engineering. In subsequent years, the SHS-FIG will solicit a call for innovations and technologies that will support the development of these four development areas. The other development areas will be assessed yearly and identified on the SHS-FIG s Strategic Development Roadmap. Initial investment projects that are funded by the Constellation Program Office (CxPO), LSSPO, or the Exploration Technology Development Projects (ETDP) will also be included on the Roadmap. For example, in one or two years from now, the autonomous habitat operations and testbed would collaborations with the Integrated Systems Health Management (ISHM) and Automation for Operations ETDP projects, which will give the surface habitat projects an integrated habitat autonomy testbed to test software and systems. The SHS-FIG scope is to provide focused direction for multiple innovations, technologies and subsystems that are needed to support humans at a remote planetary surface habitat during the concept development, design definition, and integration phases of that project. Subsystems include: habitability, lightweight structures, power management, communications, autonomy, deployment, outfitting, life support, wireless connectivity, lighting, thermal and more.

Kennedy, Kriss J.↗

Developing Soil Models for Dynamic Impact Simulations

This paper describes fundamental soils characterization work performed at NASA Langley Research Center in support of the Subsonic Rotary Wing (SRW) Aeronautics Program and the Orion Landing System (LS) Advanced Development Program (ADP). LS-DYNA(Registered TradeMark)1 soil impact model development and test-analysis correlation results are presented for: (1) a 38-ft/s vertical drop test of a composite fuselage section, outfitted with four blocks of deployable energy absorbers (DEA), onto sand, and (2) a series of impact tests of a 1/2-scale geometric boilerplate Orion capsule onto soil. In addition, the paper will discuss LS-DYNA contact analysis at the soil/structure interface, methods used to estimate frictional forces, and the sensitivity of the model to density, moisture, and compaction.

Fasanella, Edwin L.↗

International Space Station Research and Facilities for Life Sciences

Assembly of the International Space Station is nearing completion in fall of 2010. Although assembly has been the primary objective of its first 11 years of operation, early science returns from the ISS have been growing at a steady pace. Laboratory facilities outfitting has increased dramatically 2008-2009 with the European Space Agency s Columbus and Japanese Aerospace Exploration Agency s Kibo scientific laboratories joining NASA s Destiny laboratory in orbit. In May 2009, the ISS Program met a major milestone with an increase in crew size from 3 to 6 crewmembers, thus greatly increasing the time available to perform on-orbit research. NASA will launch its remaining research facilities to occupy all 3 laboratories in fall 2009 and winter 2010. To date, early utilization of the US Operating Segment of the ISS has fielded nearly 200 experiments for hundreds of ground-based investigators supporting international and US partner research. With a specific focus on life sciences research, this paper will summarize the science accomplishments from early research aboard the ISS- both applied human research for exploration, and research on the effects of microgravity on life. We will also look ahead to the full capabilities for life sciences research when assembly of ISS is complete in 2010.

Robinson, Julie A.↗

Environmental Control and Life Support Integration Strategy for 6-Crew Operations Stephanie Duchesne

The International Space Station (ISS) crew compliment has increased in size from 3 to 6 crew members . In order to support this increase in crew on ISS, the United States on-orbit Segment (USOS) has been outfitted with a suite of regenerative Environmental Control and Life Support (ECLS) hardware including an Oxygen Generation System(OGS), Waste and Hygiene Compartment (WHC), and a Water Recovery System (WRS). The WRS includes the Urine Processor Assembly (UPA) and the Water Processor Assembly (WPA). With this additional life support hardware, the ISS has achieved full redundancy in its on-orbit life support system between the USOS and Russian Segment (RS). The additional redundancy created by the Regenerative ECLS hardware creates the opportunity for independent support capabilities between segments, and for the first time since the start of ISS, the necessity to revise Life Support strategy agreements. Independent operating strategies coupled with the loss of the Space Shuttle supply and return capabilities in 2010 offer new and unique challenges. This paper will discuss the evolution of the ISS Life Support hardware strategy in support of 6-Crew on ISS, as well as the continued work that is necessary to ensure the support of crew and ISS Program objectives through the life of station.

Duchesne, Stephanie M.↗

Geolab 2010: Desert Rats Field Demonstration

In 2010, Desert Research and Technology Studies (Desert RATS), NASA's annual field exercise designed to test spacesuit and rover technologies, will include a first generation lunar habitat facility, the Habitat Demonstration Unit (HDU). The habitat will participate in joint operations in northern Arizona with the Lunar Electric Rover (LER) and will be used as a multi-use laboratory and working space. A Geology Laboratory or GeoLab is included in the HDU design. Historically, science participation in Desert RATS exercises has supported the technology demonstrations with geological traverse activities that are consistent with preliminary concepts for lunar surface science Extravehicular Activities (EVAs). Next year s HDU demonstration is a starting point to guide the development of requirements for the Lunar Surface Systems Program and test initial operational concepts for an early lunar excursion habitat that would follow geological traverses along with the LER. For the GeoLab, these objectives are specifically applied to support future geological surface science activities. The goal of our GeoLab is to enhance geological science returns with the infrastructure that supports preliminary examination, early analytical characterization of key samples, and high-grading lunar samples for return to Earth [1, 2] . Figure 1: Inside view schematic of the GeoLab a 1/8 section of the HDU, including a glovebox for handling and examining geological samples. Other outfitting facilities are not depicted in this figure. GeoLab Description: The centerpiece of the GeoLab is a glovebox, allowing for samples to be brought into the habitat in a protected environment for preliminary examination (see Fig. 1). The glovebox will be attached to the habitat bulkhead and contain three sample pass-through antechambers that would allow direct transfer of samples from outside the HDU to inside the glovebox. We will evaluate the need for redundant chambers, and other uses for the glovebox antechambers, such as a staging area for additional tools or samples. The sides of the glovebox are designed with instrument ports and additional smaller ports for cable pass-through, imagery feeds and environmental monitoring. This first glovebox version will be equipped with basic tools for manipulating, viewing, and early analysis of samples. The GeoLab was also designed for testing additional analytical instruments in a field setting.

Evans, Cindy A.↗

Environmental Control and Life Support Integration Strategy for 6-Crew Operations

The International Space Station (ISS) crew complement has increased in size from 3 to 6 crew members. In order to support this increase in crew on ISS, the United States on-orbit Segment (USOS) has been outfitted with a suite of regenerative Environmental Control and Life Support (ECLS) hardware including an Oxygen Generation System (OGS), Waste and Hygiene Compartment (WHC), and a Water Recovery System (WRS). The WRS includes the Urine Processor Assembly (UPA) and the Water Processor Assembly (WPA). With this additional life support hardware, the ISS has achieved full redundancy in its on-orbit life support system between the t OS and Russian Segment (RS). The additional redundancy created by the Regenerative ECLS hardware creates the opportunity for independent support capabilities between segments, and for the first time since the start of ISS, the necessity to revise Life Support strategy agreements. Independent operating strategies coupled with the loss of the Space Shuttle supply and return capabilities in 2010 offer new and unique challenges. This paper will discuss the evolution of the ISS Life Support hardware strategy in support of 6-Crew on ISS, as well as the continued work that is necessary to ensure the support of crew and ISS Program objectives through the life of station

Duchesne, Stephanie M.↗

Enhanced Microbial Detection Capabilities by a Rapid Portable Instrument

We present data describing a progression of continuing technology development - from expanding the detection capabilities of the current PTS unit to re-outfitting the instrument with a protein microarray increasing the number of detectable compounds. To illustrate the adaptability of the cartridge format, on-orbit operations data from the ISS demonstrate the detection of the fungal cell wall compound beta-glucan using applicable LOCAD-PTS cartridges. LOCAD-PTS is a handheld device consisting of a spectrophotometer, an onboard pumping mechanism, and data storage capabilities. A suite of interchangeable cartridges lined with four distinct capillaries allow a hydrated sample to mix with necessary reagents in the channels before being pumped to the optical well for spectrophotometric analysis. The reagents housed in one type of cartridge trigger a reaction based on the Limulus Amebocyte Lysate (LAL) assay, which results in the release of paranitroaniline dye. The dye is measured using a 395 nm filter. The LAL assay detects the Gram-negative bacterial cell wall molecule, endotoxin or lipopolysaccharide (LPS). The more dye released, the greater the concentration of endotoxin in the sample. Sampling, quantitative analysis, and data retrieval require less than 20 minutes. This is significantly faster than standard culture-based methods, which require at least a 24 hour incubation period.Using modified cartridges, we demonstrate the detection of Gram negative bacteria with protein microarray technology. Additionally, we provide data from multiple field tests where both standard and advanced PTS technologies were used. These tests investigate the transfer of target microbial molecules from one surface to another. Collectively, these data demonstrate that the new cartridges expand the number of compounds detected by LOCAD-PTS, while maintaining the rapid, in situ analysis characteristic of the instrument. The unit provides relevant data for verifying sterile sample collection protocols, which are critical for conducting accurate scientific experiments during future missions to the Moon and Mars.

Morris, Heather↗

The Establishment of a New Friction Stir Welding Process Development Facility at NASA/MSFC

Full-scale weld process development is being performed at MSFC to develop the tools, fixtures, and facilities necessary for Ares I production. Full scale development in-house at MSFC fosters technical acuity within the NASA engineering community, and allows engineers to identify and correct tooling and equipment shortcomings before they become problems on the production floor. Finally, while the new weld process development facility is currently being outfitted in support of Ares I development, it has been established to support all future Constellation Program needs. In particular, both the RWT and VWT were sized with the larger Ares V hardware in mind.

Carter, Robert W.↗

A3 Subscale Diffuser Test Article Design

This paper gives a detailed description of the design of the A3 Subscale Diffuser Test (SDT) Article Design. The subscale diffuser is a geometrically accurate scale model of the A3 altitude rocket facility. It was designed and built to support the SDT risk mitigation project located at the E3 facility at Stennis Space Center, MS (SSC) supporting the design and construction of the A3 facility at SSC. The subscale test article is outfitted with a large array of instrumentation to support the design verification of the A3 facility. The mechanical design of the subscale diffuser and test instrumentation are described here

Saunders, G. P.↗

How Mockups, a Key Engineering Tool, Help to Promote Science, Technology, Engineering, and Mathematics Education

The United States ranking among the world in science, technology, engineering, and mathematics (STEM) education is decreasing. To counteract this problem NASA has made it part of its mission to promote STEM education among the nation s youth. Mockups can serve as a great tool when promoting STEM education in America. The Orion Cockpit Working Group has created a new program called Students Shaping America s Next Space Craft (SSANS) to outfit the Medium Fidelity Orion Mockup. SSANS will challenge the students to come up with unique designs to represent the flight design hardware. There are two main types of project packages created by SSANS, those for high school students and those for university students. The high school projects will challenge wood shop, metal shop and pre-engineering classes. The university projects are created mainly for senior design projects and will require the students to perform finite element analysis. These projects will also challenge the undergraduate students in material selection and safety requirements. The SSANS program will help NASA in its mission to promote STEM education, and will help to shape our nations youth into the next generation of STEM leaders.

McDonald, Harry E.↗

Research Progress and Accomplishments on ISS

The first research payloads reached the International Space Station (ISS) more than two years ago, with research operating continuously since March 2001. Seven research racks are currently on-orbit, with three more arriving soon to expand science capabilities. Through the first five expeditions, 60 unique NASA-managed investigations from 11 nations have been supported, many continuing into later missions. More than 90,000 experiment hours have been completed, and more than 1,000 hours of crew time have been dedicated to research, numbers that grow daily. The multidisciplinary program includes research in life sciences, physical sciences, biotechnology, Earth sciences, technology demonstrations as well as commercial endeavors and educational activities. The Payload Operations and Integration Center monitors the onboard activities around the clock, working with numerous Principal Investigators and Payload Developers at their remote sites. Future years will see expansion of the station with research modules provided by the European Space Agency and Japan, which will be outfitted with additional research racks. The first research payloads arrived at ISS more than two years ago, and continuous science has been ongoing for more than one and a half years. During this time, the research capabilities have been tremendously increased, even as assembly of the overall platform continues. Despite significant challenges along the way, ISS continues to successfully support a large number of investigations in a variety of research disciplines. The results of some of the early investigations are reaching the publication stage. The near future looms with new challenges, but experience to date and dedicated efforts give reason to be optimistic that the challenges will be overcome and that new and greater successes will be added to past ones.

Roe, Lesa B.↗