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NASA NTRS2007

Human Space Exploration: The Moon, Mars, and Beyond

America is returning to the Moon in preparation for the first human footprint on Mars, guided by the U.S. Vision for Space Exploration. This presentation will discuss NASA's mission, the reasons for returning to the Moon and going to Mars, and how NASA will accomplish that mission in ways that promote leadership in space and economic expansion on the new frontier. The primary goals of the Vision for Space Exploration are to finish the International Space Station, retire the Space Shuttle, and build the new spacecraft needed, to return people to the Moon and go to Mars. The Vision commits NASA and the nation to an agenda of exploration that also includes robotic exploration and technology development, while building on lessons learned over 50 years of hard-won experience. Why the Moon? Many questions about the Moon's potential resources and how its history is linked to that of Earth were spurred by the brief Apollo explorations of the 1960s and 1970s. This new venture will carry more explorers to more diverse landing sites with more capable tools and equipment for extended expeditions. The Moon also will serve as a training ground before embarking on the longer, more difficult trip to Mars. NASA plans to build a lunar outpost at one of the lunar poles, learn to live off the land, and reduce dePendence on Earth for longer missions. America needs to extend its ability to survive in hostile environments close to our home planet before astronauts will reach Mars, a planet very much like Earth. NASA has worked with scientists to define lunar exploration goals and is addressing the opportunities for a range of scientific study on Mars. In order to reach the Moon and Mars within a lifetime and within budget, NASA is building on common hardware, shared knowledge, and unique experience derived from the Apollo Saturn, Space Shuttle and contemporary commercial launch vehicle programs. The journeys to the Moon and Mars will require a variety of vehicles, including the Ares I Crew Launch Vehicle, which transports the Orion Crew Exploration Vehicle, and the Ares V Cargo Launch Vehicle, which transports the Lunar Surface Access Module. The architecture for the lunar missions will use one launch to ferry the crew into orbit, where it will rendezvous with the Lunar Module in the Earth Departure Stage, which will then propel the combination into lunar orbit. The imperative to explore space with the combination of astronauts and robots will be the impetus for inventions such as solar power and water and waste recycling. This next chapter in NASA's history promises to write the next chapter in American history, as well. It will require this nation to provide the talent to develop tools, machines, materials, processes, technologies, and capabilities that can benefit nearly all aspects of life on Earth. Roles and responsibilities are shared between a nationwide Government and industry team. The Exploration Launch Projects Office at the Marshall Space Flight Center manages the design, development, testing, and evaluation of both vehicles and serves as lead systems integrator. A little over a year after it was chartered, the Exploration Launch Projects team is testing engine components, refining vehicle designs, performing wind tunnel tests, and building hardware for the first flight test of Ares I-l, scheduled for spring 2009. The U.S. Vision for Space Exploration lays out a roadmap for a long-term venture of discovery. This endeavor will inspire and attract the best and brightest students to power this nation successfully to the Moon, Mars, and beyond. If one equates the value proposition for space with simple dollars and cents, the potential of the new space economy is tremendous, from orbital space delivery services for the International Space Station to mining and solar energy collection on the Moon and asteroids. The Vision for Space Exploration is fundamentally about bringing the resources of the solar system within the economic sphere of humaind. Given the immense size of our solar system, the amount of available material and energy within it present an enormous economic opportunity.

Sexton, Jeffrey D.↗

DOE OSTI2021

Department of Energy Water Power Technologies Office Cyber Response & Recovery Flipbook [Slides]

Protecting hydroelectric plants from incidents that adversely impact their cyber-physical systems presents unique challenges due to the plants’ widely dispersed geographic locations and varied configurations as well as the relative nascent nature of the cyberattacks targeting these facilities. To help hydroelectric plants better respond to and mitigate cybersecurity incidents, this Department of Energy Water Power Technologies Office Cyber Response & Recovery Flipbook is to be used at a hydroelectric plant to quickly respond to an anomalous event. In addition to this product, there are three other products meant to be distributed to a hydroelectric plant to assist in their cyber incident response and recovery. The first, a report on the processes of building this flip book based on a large set of existing guidance. The second, a handy guide of hydroelectric and cyber guidance in responding to the cyber and physical systems within a hydroelectric plant. And the third is a correlated alignment of the steps an hydroelectric plant operator would take for both a cyber incident as well as an emergency response process if the event rises to a cyber incident affecting the safe and reliable operations of a hydroelectric plant.

13 HYDRO ENERGY↗

DOE OSTI2025

A Safe Response to Renewable Energy Hazards

The International Association of Fire Fighters (IAFF) and Underwriters Laboratories, LLC (UL) in conjunction with UL Solutions initiated a joint project in 2022 under an agreement with the United States Department of Energy-Office of Energy Efficiency and Renewable Energy (DOE-EERE). This project focused on two separate and important initiatives related to energy efficiency in residential buildings. Initiative 1: Fire Performance on Energy Efficient Exterior Walls. Initiative 2: Firefighting Tactics in Residential Properties with Building Energy Storage Systems (BESS). The project’s first initiative addresses concerns surrounding new technologies with enhanced, energy-efficient exterior walls installed on residential properties. The concerns of fire rapidly traveling vertically up the exterior of these walls were examined. This addressed a growing concern from the first responder community that many times, the fires on the exterior of residential buildings have already evolved into an attic fire by the time of arrival – making it problematic to address the fire scenario. The test plan for Initiative 1 incorporated a modified version of an American Society for Testing and Materials (ASTM) test method, ASTM E2707, Standard Test Method for Determining Fire Penetration of Exterior Wall Assemblies Using a Direct Flame Impingement Exposure, as the foundation of the research. The test method involved a wall structure intended to represent retrofit construction to evaluate how fire would spread vertically or laterally. The second aspect of the UL-IAFF Project focuses on the fire service response to Residential Battery Energy Storage System (RBESS) incidents. These simulation tests were constructed in the large-scale fire test facility at UL Solutions’ Northbrook, IL campus. A baseline test was conducted that involved a test structure with no batteries—shelving units populated with standardized commodities, representing a typical garage with cellulosic and plastic contents. Three additional tests have been conducted to generate data with the contribution of energy storage system (ESS) batteries to compare fire and explosion hazards against the baseline test. Through this work, fire service tactical considerations can be explored. From the data, the team can determine 1) the visual indicators of a residential fire that has involved an RBESS (or, potentially, other large batteries) and 2) the impact of fire service-initiated ventilation of the structure on the fire conditions and explosion risks.

32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATI↗

NASA NTRS2010

Virtual VMASC: A 3D Game Environment

The advantages of creating interactive 3D simulations that allow viewing, exploring, and interacting with land improvements, such as buildings, in digital form are manifold and range from allowing individuals from anywhere in the world to explore those virtual land improvements online, to training military personnel in dealing with war-time environments, and to making those land improvements available in virtual worlds such as Second Life. While we haven't fully explored the true potential of such simulations, we have identified a requirement within our organization to use simulations like those to replace our front-desk personnel and allow visitors to query, naVigate, and communicate virtually with various entities within the building. We implemented the Virtual VMASC 3D simulation of the Virginia Modeling Analysis and Simulation Center (VMASC) office building to not only meet our front-desk requirement but also to evaluate the effort required in designing such a simulation and, thereby, leverage the experience we gained in future projects of this kind. This paper describes the goals we set for our implementation, the software approach taken, the modeling contribution made, and the technologies used such as XNA Game Studio, .NET framework, Autodesk software packages, and, finally, the applicability of our implementation on a variety of architectures including Xbox 360 and PC. This paper also summarizes the result of our evaluation and the lessons learned from our effort.

Manepalli, Suchitra↗

DOE OSTI2022

Basic Energy Sciences Network Requirements Review (Final Report)

The Energy Sciences Network (ESnet) is the high-performance network user facility for the US Department of Energy (DOE) Office of Science (SC) and delivers highly reliable data transport capabilities optimized for the requirements of data-intensive science. In essence, ESnet is the circulatory system that enables the DOE science mission by connecting all of its laboratories and facilities in the US and abroad. ESnet is funded and stewarded by the Advanced Scientific Computing Research (ASCR) program and managed and operated by the Scientific Networking Division at Lawrence Berkeley National Laboratory (LBNL). ESnet is widely regarded as a global leader in the research and education networking community. Between March and September 2022, ESnet and the Office of Basic Energy Sciences (BES) of the DOE SC organized an ESnet requirements review of BES-supported activities. Preparation for these events included identification of key stakeholders: program and facility management, research groups, and technology providers. Each stakeholder group was asked to prepare formal case study documents about its relationship to the BES program to build a complete understanding of the current, near-term, and long-term status, expectations, and processes that will support the science going forward. A series of pre-planning meetings better prepared case study authors for this task, along with guidance on how the review would proceed in a virtual fashion.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2025

Lessons Learned on Prize Design in the Perovskite Startup Prize

In 2018, the U.S. Department of Energy's Solar Energy Technologies Office and the National Renewable Energy Laboratory set out to develop a repeatable, predictable prize model with the American-Made Challenges. A new model launched by the Solar Energy Technologies Office in March 2021 was the American-Made Perovskite Startup Prize. This new prize aimed to accelerate the growth of the domestic perovskite industry and support the rapid development of solar cells and modules that use perovskite materials. By sharing the outputs of the prize, we hope that our lessons learned will help continue to build the clean tech entrepreneurship support ecosystem and influence how a successful prize design can be achieved.

14 SOLAR ENERGY↗

NASA NTRS2020

Ellicott City Disasters II: Enhancing a Statistical Flood Risk Model to Continue Improving Early Warning Systems and Public Safety in Ellicott City, Maryland

As flooding events in the United States grow in frequency and intensity, the use of technological advancements and applied science are increasingly necessary for effective flood monitoring and warning systems. The NASA DEVELOP Ellicott City Disasters II project investigated the use of machine learning for applications in flood risk detection to support the improvement of early warning systems. To strengthen the efforts of the Howard County Office of Emergency Management (OEM) in building a more robust flood monitoring system, the project improved the original statistical flood risk model, FLuME (Flood Learning Model Environment), programmed by the first DEVELOP term. The enhancements incorporated an additional six years of precipitation and soil moisture data from the North American Land Data Assimilation System (NLDAS), modeled using Aqua Advanced Microwave Scanning Radiometer for EOS and Tropical Rainfall Measuring Mission (TRMM) Microwave Imager. These Earth observations were supplemented by stream gauge data from the OEM and the US Geological Survey. The resultant flood risk model FLASH (Flood Learning Environment and Severity Assessment Hub) was trained to evaluate input variables and predict stage height in Ellicott City in real time. The addition of an advanced deep learning framework known as long short-term memory improved the model’s ability to capture relationships between variables. To assess the effectiveness of the new model, FLASH produced a model efficiency metric of 0.99, a significant improvement over the 0.85 value produced by the previous model. The project assisted the OEM in pursuing the integration of open data and NASA Earth observations into a threat matrix capable of informing near real-time decision making.

Disasters↗

NASA NTRS2020

Ellicott City Disasters II: Enhancing a Statistical Flood Risk Model to Continue Improving Early Warning Systems and Public Safety in Ellicott City, Maryland

As flooding events in the United States grow in frequency and intensity, the use of technological advancements and applied science are increasingly necessary for effective flood monitoring and warning systems. The NASA DEVELOP Ellicott City Disasters II project investigated the use of machine learning for applications in flood risk detection to support the improvement of early warning systems. To strengthen the efforts of the Howard County Office of Emergency Management (OEM) in building a more robust flood monitoring system, the project improved the original statistical flood risk model, FLuME (Flood Learning Model Environment), programmed by the first DEVELOP term The enhancements incorporated an additional six years of precipitation and soil moisture data from the North American Land Data Assimilation System (NLDAS), modeled using Aqua Advanced Microwave Scanning Radiometer for EOS and Tropical Rainfall Measuring Mission TRMM Microwave Imager. These Earth observations were supplemented by stream gauge data from the OEM and the US Geological Survey. The resultant flood risk model FLASH (Flood Learning Environment and Severity Assessment Hub) was trained to evaluate input variables and predict stage height in Ellicott City in real time. The addition of an advanced deep learning framework known as long short-term memory improved the model’s ability to capture relationships between variables. To assess the effectiveness of the new model, FLASH produced a model efficiency metric of 0.99, a significant improvement over the 0.85 value produced by the previous model. The project assisted the OEM in pursuing the integration of open data and NASA Earth observations into a threat matrix capable of informing near real-time decision making.

Disasters↗

NASA NTRS2006

A New Heavy-Lift Capability for Space Exploration: NASA's Ares V Cargo Launch Vehicle

The National Aeronautics and Space Administration (NASA) is developing new launch systems in preparation for the retirement of the Space Shuttle by 2010, as directed in the United States (U.S.) Vision for Space Exploration. The Ares I Crew Launch Vehicle (CLV) and the Ares V heavy-lift Cargo Launch Vehicle (CaLV) systems will build upon proven, reliable hardware derived from the Apollo Saturn (1961 to 1975) and Space Shuttle (1972 to 2010) programs to deliver safe, reliable, affordable space transportation solutions. This approach leverages existing aerospace talent and a unique infrastructure, as well as the vast amount of legacy knowledge gained from almost a half-century of hard-won experience in the space enterprise. Beginning early next decade, the Ares I will launch the new Crew Exploration Vehicle (CEV) to the International Space Station (ISS) or to low-Earth orbit for trips to the Moon and, ultimately, Mars. Late next decade, the Ares V's Earth Departure Stage will carry larger payloads such as the lunar lander into orbit, and the Crew Exploration Vehicle will dock with it for missions to the Moon, where astronauts will explore new territories and conduct science and technology experiments. Both the Ares I and Ares V systems are being designed to support longer future trips to Mars. The Exploration Launch Projects Office, located at NASA's Marshall Space Flight Center, is designing, developing, testing, and evaluating both launch vehicle systems in partnership with other NASA Centers, Government agencies, and industry contractors. This paper provides top-level information regarding the genesis and evolution of the baseline configuration for the Ares V heavy-lift system. It also touches on risk-based management strategies, such as building on powerful hardware and promoting common features between the Ares I and Ares V systems to reduce technical, schedule, and cost risks, as well as development and operations costs. Finally, it gives a summary of several notable accomplishments over the past year, since the Exploration Launch Projects effort officially kicked off in October 2005, and looks ahead at work planned for 2007 and beyond.

Sumrall, John P.↗

DOE OSTI2022

High Energy Physics Network Requirements Review: One-Year Update

The Energy Sciences Network (ESnet) is the high-performance network user facility for the US Department of Energy (DOE) Office of Science (SC) and delivers highly reliable data transport capabilities optimized for the requirements of data-intensive science. In essence, ESnet is the circulatory system that enables the DOE science mission by connecting all its laboratories and facilities in the US and abroad. ESnet is funded and stewarded by the Advanced Scientific Computing Research (ASCR) program and managed and operated by the Scientific Networking Division at Lawrence Berkeley National Laboratory (LBNL). ESnet is widely regarded as a global leader in the research and education (R&E) networking community. In April 2022, ESnet and the Office of High Energy Physics (HEP) of the DOE SC organized an ESnet requirements review of HEP-supported activities. Preparation for the review included identification of key stakeholders: program and facility management, research groups, and technology providers. Each stakeholder group was asked to prepare formal case study documents about the group’s relationship to the HEP program to build a complete understanding of the current, near-term, and long-term status, expectations, and processes that will support the science going forward. A series of pre-planning meetings better prepared case study authors for this task, along with guidance on how the review would proceed in a virtual fashion.

97 MATHEMATICS AND COMPUTING↗

DOE OSTI2023

Biological and Environmental Research Network Requirements Review (Final Report)

The Energy Sciences Network (ESnet) is the high-performance network user facility for the US Department of Energy (DOE) Office of Science (SC) and delivers highly reliable data transport capabilities optimized for the requirements of data-intensive science. In essence, ESnet is the circulatory system that enables the DOE science mission by connecting all its laboratories and facilities in the US and abroad. ESnet is funded and stewarded by the Advanced Scientific Computing Research (ASCR) program and managed and operated by the Scientific Networking Division at Lawrence Berkeley National Laboratory (LBNL). ESnet is widely regarded as a global leader in the research and education (R&E) networking community. Between August 2022 and April 2023, ESnet and the Office of Biological and Environmental Research (BER) of the DOE SC organized an ESnet requirements review of BER-supported activities. Preparation for these events included identification of key stakeholders: program and facility management, research groups, and technology providers. Each stakeholder group was asked to prepare formal case study documents about its relationship to the BER ESS program to build a complete understanding of the current, near-term, and long-term status, expectations, and processes that will support the science going forward. A series of pre-planning meetings better prepared case study authors for this task, along with guidance on how the review would proceed in a virtual fashion.

97 MATHEMATICS AND COMPUTING↗

NASA NTRS1996

STS-72 Post Flight Presentation

In this post flight presentation video for the STS-72 mission, the flight crew, Cmdr. Brian Duffy, Pilot Brent Jett, and Mission Specialists Daniel T. Barry, Winston E. Scott, Leroy Chiao, and Koichi Wakata (NASDA), discuss their mission using flight footage and slides. The pre-launch and launching activities are shown. Using the robot arm inside the space shuttle's cargo bay, the Japanese Space Flyer Unit (SFU) is retrieved and berthed and the Office of Aeronautics and Space Technology (OAST) Flyer satellite is deployed, retrieved, and reberthed. Chiao and Barry performed the first of the two 6 1/2 hour EVAs and Chiao and Scott performed the second. In both EVAs, the thermal properties of the new space suits were tested, along with new tools and equipment that will eventually be used to build the International Space Station. Space shuttle landing activities are also shown. Earth views include cloud shadows, Africa, Brazil, Australia, and Mt. Kilimanjaro.

Peterson, Glen↗

DOE OSTI2021

2020 High Energy Physics Network Requirements Review (Final Report)

The Energy Sciences Network (ESnet) is the high-performance network user facility for the US Department of Energy (DOE) Office of Science (SC) and delivers highly reliable data transport capabilities optimized for the requirements of data-intensive science. In essence, ESnet is the circulatory system that enables the DOE science mission by connecting all of its laboratories and facilities in the United States and abroad. ESnet is funded and stewarded by the Advanced Scientific Computing Research (ASCR) program and managed and operated by the Scientific Networking Division at Lawrence Berkeley National Laboratory (LBNL). ESnet is widely regarded as a global leader in the research and education networking community. Throughout 2020,ESnet and the Office of High Energy Physics (HEP) of the DOE SC organized an ESnet requirements review of HEP-supported activities. Preparation for this event included identification of key stakeholders: program and facility management, research groups, technology providers, and a number of external observers. These individuals were asked to prepare formal case study documents about their relationship to the HEP program to build a complete understanding of the current, near-term, and long-term status, expectations, and processes that will support the science going forward. A series of pre-planning meetings better prepared case study authors for this task, along with guidance on how the review would proceed in a virtual fashion. ESnet and ASCR use requirements reviews to discuss and analyze current and planned science use cases and anticipated data output of a particular program, user facility, or project to inform ESnet’s strategic planning, including network operations, capacity upgrades, and other service investments. A requirements review comprehensively surveys major science stakeholders’ plans and processes in order to investigate data management requirements over the next 5–10 years.

72 PHYSICS OF ELEMENTARY PARTICLES AND FIELDS↗

NASA NTRS2020

Broadening JPL’s Mission Formulation Paradigm with Human Centered Design

Within NASA’s highly competitive environment for funding, Human Centered Design (HCD) and cybernetics could provide advantages to proposers during the mission formulation phase. Opportunities are limited when it comes to funding new science missions. Proposers are challenged to make a compelling case about the scientific desirability, technical feasibility, and resource viability of their concepts. Organizations follow established processes for proposal development using teams that typically include scientists, engineers, and managers. These team members are highly experienced subject matter experts (SME) in their own disciplines, and can respond to requirements from the solicitation. However, they are typically not trained as designers and communicators. Their approach is rooted within NASA’s science and technology paradigm. How can we improve the proposal development process, refine workflow between team members, and deliver clear and appealing offerings to the stakeholders and evaluators? These questions have been addressed by today’s most innovative companies (e.g., Apple, Google, 3M, Dyson), where the design process is not limited simply to engineering and management, but involves an all-encompassing approach drawing from fields such as social sciences, design, and the arts. Like these commercial enterprises, NASA currently employs systems thinking and integrated design, but can benefit further by moving beyond its current practices, which are mostly driven by rigid engineering, technology, science, and project management considerations. At JPL’s Innovation Foundry and through the Solar System Mission Formulation Office, we broadened this paradigm by including HCD in the mission formulation workflow. Our goal was to create a proposal with improved clarity and appeal, thus helping our team to communicate its message and aid evaluators with their work. In this paper we provide examples and lessons learned from our recent proposal development effort using HCD. We discuss touch points where we infused non-linear designerly approaches and cybernetic circularity into the workflow. Implemented design topics include operational design for team building; process design throughout distinct phases of the proposal development and writing process; communication design for streamlined exchange of information within the team and to stakeholders; interaction design; graphic design; and creating boundary objects. While these approaches may feel new or foreign to SMEs and managers in the aerospace community, they produced significant benefits in this mission formulation effort. We will describe how such approaches can be used to broaden NASA’s technology-driven paradigm through design, thus creating an environment which fosters innovation, improved communication, and strategic advantage for proposers and their organizations.

Turner, Neal↗

DOE OSTI2021

ARIES Network Requirements Review

96 KNOWLEDGE MANAGEMENT AND PRESERVATION↗

DOE OSTI2024

ARIES: Advanced Research on Integrated Energy Systems

One of the primary challenges to achieving a clean energy future is closing the gap between ambitions and real-world deployment. To accelerate solutions for a clean energy future, the National Renewable Energy Laboratory (NREL), in partnership with the U.S. Department of Energy's Office of Energy Efficiency and Renewable Energy, developed a visionary research platform called Advanced Research on Integrated Energy Systems (ARIES). ARIES takes in the full picture - from community energy needs to technology developers and service providers - rather than evaluating clean energy and technologies in isolation. This innovative approach uncovers opportunities and risks in the spaces where energy technologies and sectors - such as transportation, industry, buildings, and the electric grid - meet.

ARIES↗

DOE OSTI2024

Application of a Prize Mechanism to Address Data Utilization Challenges at Utilities

The electric industry sector is facing an “explosion” of data from a variety of sources. Electric sector stakeholders need to define how to capitalize on large datasets, both those they create and those from other sources (like data on weather, buildings, electric vehicles, etc.), to improve reliability and resilience and meet the changing system dynamics from renewable integration. For the electricity sector to fully utilize these vast new datasets, it must undergo a transformation in how it manages data quality, storage, and processing. The U.S. Department of Energy (DOE) Office of Electricity (OE) is committed to accelerating research, development, and demonstration of new technologies and tools within the electricity sector to advance reliability, resilience, and affordable operation of the power system. Through the prize mechanism, OE identified two widespread data-related challenges for utilities—load modeling and data analysis automation—and offered an opportunity for utilities and teams of software engineers to identify additional challenges faced by utilities. After completing one round of the American-Made Digitizing Utilities Prize, OE, the National Renewable Energy Laboratory (NREL) as the prize administrator, and Pacific Northwest National Laboratory (PNNL) as the domain experts have compiled the results and lessons learned to feed into the second round of the prize.

29 ENERGY PLANNING, POLICY, AND ECONOMY↗

NASA NTRSDate not supplied

Artemis and Ethics Workshop Lessons Learned

As NASA lays out its Artemis activities, it expects to set precedents in spaceflight for decades to come. Artemis is a far more ambitious program than even Apollo, aimed at developing a sustained human presence on and around the lunar surface, in preparation for Mars exploration. As a result, considering ethical and social concerns in the discussion and design of Artemis is vital to ensuring the future worlds we create are ones where humanity collectively wants to live. By understanding how to reflect on these issues as NASA makes decisions related to Artemis, NASA can avoid unintended consequences stemming from cultural perceptions of human exploration of the solar system that may harm society. We recognize that a diverse range of groups need to be part of this conversation. There are many different views about the work that should happen in space. We recognize that NASA does not hold sole responsibility for determining the ethical path forward in space, as decisions made by commercial, international, and intergovernmental partners play a major role. Inclusive conversations help inform that work. Others have already argued that social scientists and engineers need to work together with inputs from stakeholders to design the future. To begin to answer this need, NASA’s Office of Technology, Policy, and Strategy (OTPS) hosted an Artemis and Ethics Workshop. This workshop was held in Washington, DC from April 12th-14th, 2023 and brought together invited experts in social science fields and NASA managers to discuss ethical, legal, and social aspects (ELSA) of Artemis and human exploration in general. The goal of the workshop was to discuss issues and build connections that NASA managers can consider across variety of ethical issues surrounding Artemis.

Katherine T McBrayer↗