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Search indexed NASA NTRS and DOE OSTI research on propulsion, heat transfer, battery materials and energy systems. Follow report and document links to the original sources.

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At least 199 records · Page 11
All sourcesNASA NTRSDOE OSTI
NASA NTRS1991

Coordination of human upper arm and forearm motion in rapid extensions

In many movements of the upper limb such as reaching, positioning, and displacing the objects, the hand moves smoothly along a uni-directional planar trajectory with a bell-shaped speed profile. Because of variability of the load, gravitational and velocity interaction forces between its segments, the dynamics of the arm during the motion is very complex. Motion of the upper arm and the forearm are coordinated to produce smooth movements despite such complex dynamics. This coordination constitutes an important organizational feature of arm movement. The present paper describes some experimental results related to the above and interprets their role in producing smooth motion of the hand. Trajectories of the right upper limb in vertical plane and the simultaneous muscles' EMG activities were recorded for extensions of various amplitudes under four loads. The forearm trajectories are smooth with bell-shaped speed profiles. The upper arm trajectories may have bimodal speed profiles and three segments, resembling an inverted 'Z.' Segmentation is sharper for the points near the shoulder joint, and is accentuated by load. As one moves from the central points near the shoulder joint to the peripheral points near the hand, the three segments merge and result in smooth curves with single-peaked speed profiles. The three segments have a coherent time course and can be identified rather accurately and non-ambiguously. The observed trajectories and the EMG patterns reveal an effective coordination strategy which utilizes the structure and the dynamics of the moving arm to produce smooth movement.

Nahvi, Mahmood↗
NASA NTRS2000

Managing Complexity - Developing the Node Control Software For The International Space Station

On December 4th, 1998 at 3:36 AM STS-88 (the space shuttle Endeavor) was launched with the "Node 1 Unity Module" in its payload bay. After working on the Space Station program for a very long time, that launch was one of the most beautiful sights I had ever seen! As the Shuttle proceeded to rendezvous with the Russian American module know as Zarya, I returned to Houston quickly to start monitoring the activation of the software I had spent the last 3 years working on. The FGB module (also known as "Zarya"), was grappled by the shuttle robotic arm, and connected to the Unity module. Crewmembers then hooked up the power and data connections between Zarya and Unity. On December 7th, 1998 at 9:49 PM CST the Node Control Software was activated. On December 15th, 1998, the Node-l/Zarya "cornerstone" of the International Space Station was left on-orbit. The Node Control Software (NCS) is the first software flown by NASA for the International Space Station (ISS). The ISS Program is considered the most complex international engineering effort ever undertaken. At last count some 18 countries are active partners in this global venture. NCS has performed all of its intended functions on orbit, over 200 miles above us. I'll be describing how we built the NCS software.

Wood, Donald B.↗
NASA NTRS2006

Cloud Radiative Forcing at the ARM Climate Research Facility: Technique, Validation, and Comparison to Satellite-derived Diagnostic Quantities - Part 1

It has been hypothesized that continuous ground-based remote sensing measurements from active and passive remote sensors combined with regular soundings of the atmospheric thermodynamic structure can be combined to describe the effects of clouds on the clear sky radiation fluxes. We critically test that hypothesis in this paper and a companion paper (Part II). Using data collected at the Southern Great Plains (SGP) Atmospheric Radiation Measurement (ARM) site sponsored by the U.S. Department of Energy, we explore an analysis methodology that results in the characterization of the physical state of the atmospheric profile at time resolutions of five minutes and vertical resolutions of 90 m. The description includes thermodynamics and water vapor profile information derived by merging radiosonde soundings with ground-based data, and continues through specification of the cloud layer occurrence and microphysical and radiative properties derived from retrieval algorithms and parameterizations. The description of the atmospheric physical state includes a calculation of the infrared and clear and cloudy sky solar flux profiles. Validation of the methodology is provided by comparing the calculated fluxes with top of atmosphere (TOA) and surface flux measurements and by comparing the total column optical depths to independently derived estimates. We find over a 1-year period of comparison in overcast uniform skies, that the calculations are strongly correlated to measurements with biases in the flux quantities at the surface and TOA of less than 10% and median fractional errors ranging from 20% to as low as 2%. In the optical depth comparison for uniform overcast skies during the year 2000 where the optical depth varies over 3 orders of magnitude we find a mean positive bias of 46% with a median bias of less than 10% and a 0.89 correlation coefficient. The slope of the linear regression line for the optical depth comparison is 0.86 with a normal deviation of 20% about this line. In addition to a case study where we examine the cloud radiative effects at the TOA, surface and atmosphere by a middle latitude synoptic-scale cyclone, we examine the cloud top pressure and optical depth retrievals of ISCCP and LBTM over a period of 1 year. Using overcast period from the year 2000, we find that the satellite algorithms tend to bias cloud tops into the middle troposphere and underestimate optical depth in high optical depth events (greater than 100) by as much as a factor of 2.

Mace, Gerald G.↗
NASA NTRS2002

STS-112 Crew Interviews: Ashby

STS-112 Mission Commander Jeffrey Ashby is seen during this preflight interview, answering questions about his inspiration in becoming an astronaut and his career path and provides an overview of the mission. Ashby outlines his role in the mission in general, and specifically during the docking and extravehicular activities (EVAs). He describes the payload (S1 truss) and the importance that the S1 truss will have in the development of the International Space Station (ISS). Ashby discusses the delivery and installation of the S1 truss scheduled to be done in the planned EVAs in some detail. He touches on the use and operation of the Canadarm 2 robotic arm in this process and outlines what supplies will be exchanged with the resident crew of the ISS during transfer activities. He ends with his thoughts on the value of the ISS in fostering international cooperation.

Source record↗
NASA NTRS1981

Automated syringe sampler

A number of sampling services are disposed in a rack which slides into a housing. In response to a signal from an antenna, the circutry elements are activated which provide power individually, collectively, or selectively to a servomechanism thereby moving an actuator arm and the attached jawed bracket supporting an evaculated tube towards a stationary needle. One open end of the needle extends through the side wall of a conduit to the interior and the other open end is maintained within the protective sleeve, supported by a bifurcated bracket. A septum in punctured by the end of the needle within the sleeve and a sample of the fluid medium in the conduit flows through the needle and is transferred to a tube. The signal to the servo is then reversed and the actuator arm moves the tube back to its original position permitting the septum to expand and seal the hole made by the needle. The jawed bracket is attached by pivot to the actuator to facilitate tube replacement.

Purgold, G. C.↗
NASA NTRS2000

NGC 1614: A Laboratory for Starburst Evolution

The modest extinction and reasonably face-on viewing geometry make the luminous infrared galaxy NGC 1614 an ideal laboratory for study of a powerful starburst. HST/NICMOS observations show: (1) deep CO stellar absorption, tracing a starburst nucleus about 45 pc in diameter; (2) surrounded by an approx. 600 pc diameter ring of supergiant H II regions revealed in Pa-alpha line emission; (3) lying within a molecular ring indicated by its extinction shadow in H - K; and (4) all at the center of a disturbed spiral galaxy. The luminosities of the giant H II regions in the ring axe extremely high, an order of magnitude brighter than 30 Doradus; very luminous H II regions, comparable with 30 Dor, are also found in the spiral arms of the galaxy. Luminous stellar clusters surround the nucleus and lie in the spiral arms, similar to clusters observed in other infrared luminous and ultraluminous galaxies. The star forming activity may have been initiated by a merger between a disk galaxy and a companion satellite, whose nucleus appears in projection about 300 pc to the NE of the nucleus of the primary galaxy. The relation of deep stellar CO bands to surrounding ionized gas ring to molecular gas indicates that the luminous starburst started in the nucleus and is propagating outward into the surrounding molecular ring. This hypothesis is supported by evolutionary starburst modeling that shows that the properties of NGC 1614 can be fitted with two short-lived bursts of star formation separated by 5 Myr (and by inference by a variety of models with a similar duration of star formation). The total dynamical mass of the starburst region of 1.3 x 10(exp 9) solar masses is mostly accounted for by the old pre-starburst stellar population. Although our starburst models use a modified Salpeter initial mass function (turning over near one solar mass), the tight mass budget suggests that the IMF may contain relatively more 10 - 30 solar masses stars and fewer low mass stars than the Salpeter function. The dynamical mass is nearly four times smaller than the mass of molecular gas estimated from the standard ratio of (C-12)O (1 - 0) to H2. A number of arguments place the mass of gas in the starburst region at approx. 25% of the dynamical mass, nominally about 1/15 and with an upper limit of 1/10 of the amount estimated from (C-12)O and the standard ratio.

Alonso-Herrero, A.↗
NASA NTRS2002

STS-109 Crew Training

Footage shows the crew of STS-109 (Commander Scott Altman, Pilot Duane Carey, Payload Commander John Grunsfeld, and Mission Specialists Nancy Currie, James Newman, Richard Linnehan, and Michael Massimino) during various parts of their training. Scenes show the crew's photo session, Post Landing Egress practice, training in Dome Simulator, Extravehicular Activity Training in the Neutral Buoyancy Laboratory (NBL), and using the Virtual Reality Laboratory Robotic Arm. The crew is also seen tasting food as they choose their menus for on-orbit meals.

Source record↗
NASA NTRS2002

STS-111 Mission Highlights Resource Tape: Flight Days 8 - 10 - Part 3 of 4

An overview of the STS-111 Endeavour mission is given through footage of each flight day. Scenes from flight days 8 through 10 show activities such as extravehicular activity (EVA) preparation, EVA activity to replace the wrist roll joint on the International Space Station's (ISS) robotic arm, logistics transfer operation, space suit check-out and loading of the Leonardo Multi-Purpose Logistics Module onto the Endeavour's cargo bay. Individual shots of Africa, Italy, Hispaniola, Mexico and the Strait of Gilbraltar are shown. For mission footage from flight days 1 to 7 and 11-14, see also, 'STS-111 Mission Highlights Resource Tape, Part 1', 'STS-111 Mission Highlights Resource Tape, Part 2' and 'STS-111 Mission Highlights Resource Tape, Part 4'.

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NASA NTRS2002

Spatial learning and memory is preserved in rats after early development in a microgravity environment

This study evaluated the cognitive mapping abilities of rats that spent part of their early development in a microgravity environment. Litters of male and female Sprague-Dawley rat pups were launched into space aboard the National Aeronautics and Space Administration space shuttle Columbia on postnatal day 8 or 14 and remained in space for 16 days. These animals were designated as FLT groups. Two age-matched control groups remained on Earth: those in standard vivarium housing (VIV) and those in housing identical to that aboard the shuttle (AGC). On return to Earth, animals were tested in three different tasks that measure spatial learning ability, the Morris water maze (MWM), and a modified version of the radial arm maze (RAM). Animals were also tested in an open field apparatus to measure general activity and exploratory activity. Performance and search strategies were evaluated in each of these tasks using an automated tracking system. Despite the dramatic differences in early experience, there were remarkably few differences between the FLT groups and their Earth-bound controls in these tasks. FLT animals learned the MWM and RAM as quickly as did controls. Evaluation of search patterns suggested subtle differences in patterns of exploration and in the strategies used to solve the tasks during the first few days of testing, but these differences normalized rapidly. Together, these data suggest that development in an environment without gravity has minimal long-term impact on spatial learning and memory abilities. Any differences due to development in microgravity are quickly reversed after return to earth normal gravity.

NASA Discipline Neuroscience↗
NASA NTRS2009

"Zero-Mass" Noninvasive Pressure Transducers

Extremely lightweight, compact, noninvasive, rugged, relatively inexpensive strain-gauge transducers have been developed for use in measuring pressures of fluids in tubes. These gauges were originally intended for measuring pressures of spacecraft-propulsion fluids, but they are also attractive for use in numerous terrestrial applications especially those involving fluids that are extremely chemically reactive, fluids that must be isolated for hygienic purposes, fluids that must be allowed to flow without obstruction, and fluid-containing tubes exposed to severe environments. A basic pressure transducer of this type comprises one or more pair(s) of thin-film strain gauges integral with a tube that contains the fluid of interest. Following established strain-gauge practice, the gauges in each pair are connected into opposite arms of a Wheatstone bridge (see figure). Typically, each pressure transducer includes one pair (the active pair) of strain gauges for measuring the hoop stress proportional to the pressure of the fluid in the tube and another pair (the dummy pair) of strain gauges that are nominally unstrained: The dummy gauges are mounted on a substrate that is made of the same material as that of the tube. The substrate is welded to the tube at only one spot so that stresses and strains are not coupled from the tube into the substrate. The dummy strain gauges measure neutral strains (basically, strains associated with thermal expansion), so that the neutral-strain contribution can be subtracted out of the final gauge reading.

Hartley, Frank T.↗
NASA NTRS2009

CEOS Contributions to Informing Energy Management and Policy Decision Making Using Space-Based Earth Observations

Earth observations are playing an increasingly significant role in informing decision making in the energy sector. In renewable energy applications, space-based observations now routinely augment sparse ground-based observations used as input for renewable energy resource assessment applications. As one of the nine Group on Earth Observations (GEO) societal benefit areas, the enhancement of management and policy decision making in the energy sector is receiving attention in activities conducted by the Committee on Earth Observation Satellites (CEOS). CEOS has become the "space arm" for the implementation of the Global Earth Observation System of Systems (GEOSS) vision. It is directly supporting the space-based, near-term tasks articulated in the GEO three-year work plan. This paper describes a coordinated program of demonstration projects conducted by CEOS member agencies and partners to utilize Earth observations to enhance energy management end-user decision support systems. I discuss the importance of engagement with stakeholders and understanding their decision support needs in successfully increasing the uptake of Earth observation products for societal benefit. Several case studies are presented, demonstrating the importance of providing data sets in formats and units familiar and immediately usable by decision makers. These projects show the utility of Earth observations to enhance renewable energy resource assessment in the developing world, forecast space-weather impacts on the power grid, and improve energy efficiency in the built environment.

Eckman, Richard S.↗
NASA NTRS1998

Muscle metaboreceptor modulation of cutaneous active vasodilation

PURPOSE: Isometric handgrip exercise in hyperthermia has been shown to reduce cutaneous vascular conductance (CVC) by inhibiting the cutaneous active vasodilator system. METHODS: To identify whether this response was initiated by muscle metaboreceptors, in seven subjects two 3-min bouts of isometric handgrip exercise in hyperthermia were performed, followed by 2 min of postexercise ischemia (PEI). An index of forearm skin blood flow (laser-Doppler flowmetry) was measured on the contralateral arm at an unblocked site and at a site at which adrenergic vasoconstrictor function was blocked via bretylium iontophoresis to reveal active cutaneous vasodilator function unambiguously. Sweat rate was measured via capacitance hygrometry, CVC was indexed from the ratio of skin blood flow to mean arterial pressure and was expressed as a percentage of maximal CVC at that site. In normothermia, neither isometric exercise nor PEI affected CVC (P > 0.05). RESULTS: The first bout of isometric handgrip exercise in hyperthermia reduced CVC at control sites and this reduction persisted through PEI (pre-exercise: 59.8 +/- 5.4, exercise: 49.8 +/- 4.9, PEI: 49.7 +/- 5.3% of maximum; both P < 0.05), whereas there were no significant changes in CVC at the bretylium treated sites. The succeeding bout of isometric exercise in hyperthermia significantly reduced CVC at both untreated (pre-exercise: 59.0 +/- 4.8, exercise: 47.3 +/- 4.0, PEI: 50.1 +/- 4.1% of maximum; both P < 0.05) and bretylium treated sites (pre-exercise: 61.4 +/- 7.3, exercise: 50.6 +/- 5.1, PEI: 53.9 +/- 6.0% of maximum, both P < 0.05). At both sites, CVC during PEI was lower than during the pre-exercise period (P < 0.05). Sweat rate rose significantly during both bouts of isometric exercise and remained elevated during PEI. CONCLUSIONS: These data suggest that the reduction in CVC during isometric exercise in hyperthermia, including the inhibition of the active vasodilator system, is primarily mediated by muscle metaboreceptors, whereas central command or muscle mechanoreceptors have less influence.

Non-NASA Center↗
NASA NTRS2013

Curiosity's Mars Hand Lens Imager (MAHLI): Inital Observations and Activities

MAHLI (Mars Hand Lens Imager) is a 2-megapixel focusable macro lens color camera on the turret on Curiosity's robotic arm. The investigation centers on stratigraphy, grain-scale texture, structure, mineralogy, and morphology of geologic materials at Curiosity's Gale robotic field site. MAHLI acquires focused images at working distances of 2.1 cm to infinity; for reference, at 2.1 cm the scale is 14 microns/pixel; at 6.9 cm it is 31 microns/pixel, like the Spirit and Opportunity Microscopic Imager (MI) cameras.

Mars Science Laboratory (MSL)↗
NASA NTRS2012

Integrated Simulation Design Challenges to Support TPS Repair Operations

During the Orbiter Repair Maneuver (ORM) operations planned for Return to Flight (RTF), the Shuttle Remote Manipulator System (SRMS) must grapple the International Space Station (ISS), undock the Orbiter, maneuver it through a long duration trajectory, and orient it to an EVA crewman poised at the end of the Space Station Remote Manipulator System (SSRMS) to facilitate the repair of the Thermal Protection System (TPS). Once repair has been completed and confirmed, then the SRMS proceeds back through the trajectory to dock the Orbiter to the Orbiter Docking System. In order to support analysis of the complex dynamic interactions of the integrated system formed by the Orbiter, ISS, SRMS, and SSMS during the ORM, simulation tools used for previous ‘nominal’ mission support required substantial enhancements. These upgrades were necessary to provide analysts with the capabilities needed to study integrated system performance. Prevalent throughout this ORM operation is a dynamically varying topology. In other words, the ORM starts with the SRMS grappled to the mated Shuttle/ISS stack (closed loop topology), moves to an open loop chain topology consisting of the Shuttle, SRMS, and ISS, and then, at the repair configuration, extends the chain topology to one consisting of the Shuttle, SMS, ISS, and SSRMS/EVA crewman. The resulting long dynamic chain of vehicles and manipulators may exhibit significant motion between the Shuttle worksite and the EVA crewman due to the system flexibility throughout the topology (particularly within the SRMS/SSRMS joints and links). Since the attachment points of both manipulators span the flexible structure of the ISS, simulation analysis may also need to take that into consideration. Moreover, due to the lengthy time duration associated with the maneuver and repair, orbital effects become a factor and require the ISS vehicle control system to maintain active attitude control. Several facets of the ORM operation make the associated analytical efforts different from previous mission support, including: (1) the magnitude of the SRMS handled payload (Le., Orbiter class), (2) the orbital effects induced on the integrated system consisting of the large Shuttle and ISS masses connected by a light flexible SRMS, (3) long duration environmental consequences due to the lengthy operational times associated with the maneuver and repair of the TPS, (4) active attitude control (as opposed to free drift) interacting with the SRMS and SSRMS manipulators (also due to the length of the maneuver and repair), (5) relative dynamics between the EVA crewman and thc worksite influenced by the extended flexible topology. In order to meet these analysis challenges, an ORM simulation architecture was developed leveraging upon numerous pre-existing simulation elements to analyze the various subsystems individually. For example, core manipulator subsystem simulations for both the SRMS and SSRMS were originally combined to provide the dual-arm dynamics topology simulation (in the absence of orbital dynamics and vehicle control). This capability was later merged with the simulation used to analyze SRMS loading with a heavy payload in the orbital environment with an active payload control system (in this case, the ISS Attitude Control System (ACS)), configured for the ORM. The resulting worksite dynamics simulation, based off of the modified ORM simulation, provided the extended topological chain of vehicles and manipulators, while taking into account the orbital effects of both the Shuttle and ISS (as well as its ACS). Verification and validation (V&V) of these integrated simulations became a challenge in itself. A systematic approach needed to be developed such that integration simulation results could be tested against previous constituent simulations upon which these simulations were built. General V&V categories included: (1) core orbital state propagation, (2), stand-alone SRMS, (3) stand-alone SSRMS, (4) stand-alone ISS ACS, (5) integrated Shuttle, SRMS, ISS (with active ACS) in the orbital environment, and (5) dual-arm SRMS/SSRMS dynamics topology. Integrated simulation V&V run suites were created and correlated to verification runs from subsystem simulations, in order to establish the validity of the results. This paper discusses the simulation design challenges encountered while developing simulation capabilities to mirror the ORM operations. The paper also describes the incremental build approach that was utilized, starting with the subsystem simulation elements and integration into increasing more complex simulations until the resulting ORM worksite dynamics simulation had been assembled. Furthermore, the paper presents an overall integrated simulation V&V methodology based upon a subsystem level testing, integrated comparisons, and phased checkout.

Thermal Protection System↗
NASA NTRS2013

Orion MPCV GN and C End-to-End Phasing Tests

End-to-end integration tests are critical risk reduction efforts for any complex vehicle. Phasing tests are an end-to-end integrated test that validates system directional phasing (polarity) from sensor measurement through software algorithms to end effector response. Phasing tests are typically performed on a fully integrated and assembled flight vehicle where sensors are stimulated by moving the vehicle and the effectors are observed for proper polarity. Orion Multi-Purpose Crew Vehicle (MPCV) Pad Abort 1 (PA-1) Phasing Test was conducted from inertial measurement to Launch Abort System (LAS). Orion Exploration Flight Test 1 (EFT-1) has two end-to-end phasing tests planned. The first test from inertial measurement to Crew Module (CM) reaction control system thrusters uses navigation and flight control system software algorithms to process commands. The second test from inertial measurement to CM S-Band Phased Array Antenna (PAA) uses navigation and communication system software algorithms to process commands. Future Orion flights include Ascent Abort Flight Test 2 (AA-2) and Exploration Mission 1 (EM-1). These flights will include additional or updated sensors, software algorithms and effectors. This paper will explore the implementation of end-to-end phasing tests on a flight vehicle which has many constraints, trade-offs and compromises. Orion PA-1 Phasing Test was conducted at White Sands Missile Range (WSMR) from March 4-6, 2010. This test decreased the risk of mission failure by demonstrating proper flight control system polarity. Demonstration was achieved by stimulating the primary navigation sensor, processing sensor data to commands and viewing propulsion response. PA-1 primary navigation sensor was a Space Integrated Inertial Navigation System (INS) and Global Positioning System (GPS) (SIGI) which has onboard processing, INS (3 accelerometers and 3 rate gyros) and no GPS receiver. SIGI data was processed by GN&C software into thrust magnitude and direction commands. The processing changes through three phases of powered flight: pitchover, downrange and reorientation. The primary inputs to GN&C are attitude position, attitude rates, angle of attack (AOA) and angle of sideslip (AOS). Pitch and yaw attitude and attitude rate responses were verified by using a flight spare SIGI mounted to a 2-axis rate table. AOA and AOS responses were verified by using a data recorded from SIGI movements on a robotic arm located at NASA Johnson Space Center. The data was consolidated and used in an open-loop data input to the SIGI. Propulsion was the Launch Abort System (LAS) Attitude Control Motor (ACM) which consisted of a solid motor with 8 nozzles. Each nozzle has active thrust control by varying throat area with a pintle. LAS ACM pintles are observable through optically transparent nozzle covers. SIGI movements on robot arm, SIGI rate table movements and LAS ACM pintle responses were video recorded as test artifacts for analysis and evaluation. The PA-1 Phasing Test design was determined based on test performance requirements, operational restrictions and EGSE capabilities. This development progressed during different stages. For convenience these development stages are initial, working group, tiger team, Engineering Review Team (ERT) and final.

Neumann, Brian C.↗
NASA NTRS1972

Effect of vertical active vibration isolation on tracking performance and on ride qualities

An investigation to determine the effect on pilot performance and comfort of an active vibration isolation system for a commercial transport pilot seat is reported. The test setup consisted of: a hydraulic shaker which produced random vertical vibration inputs; the active vibration isolation system; the pilot seat; the pilot control wheel and column; the side-arm controller; and a two-axis compensatory tracking task. The effects of various degrees of pilot isolation on short-term (two-minute) tracking performance and comfort were determined.

Dimasi, F. P.↗
NASA NTRS1973

The safety and reliability of the S and A mechanism designed for the NASA/LSPE program

Under contract to the Manned Spacecraft Center, NASA/Houston, NOL developed a number of explosive charges for use in studying the surface of the moon during Apollo 17 activities. The charges were part of the Lunar Seismic Profiling Experiment (LSPE). When the Safety and Arming Device used in the previous ALSEP experiments was found unsuitable for use with the new explosive packages, NOL also designed the Safety and Arming Mechanism, and the safety and reliability tests conducted are described. The results of the test program indicate that the detonation transfer probability between the armed explosive components exceeds 0.9999, and is less than 0.0001 when the explosive components are in the safe position.

Montesi, L. J.↗
NASA NTRS1995

STS-69 Flight Day 1 Video File

The first day of the STS-69 flight is highlighted in this video. Shown are the prelaunch and launch activities and the in-orbit SPARTAN-201 satellite pre-deployment checkout of the robot arm in the shuttle's bay. The flight crew consisted of Cmdr. Dave Walker, Pilot Ken Cockrell, and Mission Specialists Jim Voss, Jim Newman, and Mike Gernhardt. Earth views of cloud cover are included.

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