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At least 289 records · Page 16

Sensor-Based Collision Avoidance: Theory and Experiments

A new on-line control strategy for sensor-based collision avoidance of manipulators and supporting experimental results are presented in this article. This control strategy is based on nullification of virtual forces applied to the end-effector by a hypothetical spring-plus-damper attached to the object's surface. In the proposed approach, the real-time arm control software continuously monitors the object distance measured by the arm-mounted proximity sensors. When this distance is less than a preset threshold, the collision avoidance control action is initiated to inhibit motion toward the object and thus prevent collision. This is accomplished by employing an outer feedback loop to perturb the end-effector nominal motion trajectory in real-time based on the sensory data. The perturbation is generated by a proportional-plus-integral (PI) collision avoidance controller acting on the difference between the sensed distance and the preset threshold. This approach is computationally very fast, requires minimal modification to the existing manipulator positioning system, and provides the manipulator with an on-line collision avoidance capability to react autonomously and intelligently. A dexterous RRC robotic arm is instrumented with infrared proximity sensors and is operated under the proposed collision avoidance strategy. Experimental results are presented to demonstrate end-effector collision avoidance both with an approaching object and while reaching inside a constricted opening.

Seraji, Homayoun↗

Further Discussion: Parametric Study of Wind Generated Supermicron Particle Effects in Large Fires

In their reply (Porch et al., 1987) to our comments (Turco et al., 1987) on their smoke-scavenging-by-dust paper, Porch et al. attempt to justify a number of parameter assumptions in their original article, again revealing the extreme nature of those assumptions, particularly in the situation where all are taken simultaneously. In critiquing Porch et al.'s calculations, have not applied "opinion", but rather physical reality and common sense expressed through basic experimental results and logical physical bounds. A few examples of the unrealistic conditions required by the Porch et al. scavenging scheme, as described in their paper and comments, should suffice here. ) Porch et al. have fabricated a "fetch" region for dust particles in large fire plumes that logically must extend over an area up to 50 times greater than the fire area itself. Alternatively, they have invoked significant "necking down' of the fire plume, so that its cross-sectional area is at most a few percent of the fire area. Such severe constriction is seen only in very small fires with strong, organized vorticity, and then only over a limited plume rise region. No "fetch" has ever been noted in any large-scale fires we have observed, or for which accounts are available. Indeed, as we deduced in our original comments, complete dust scavenging even within the fire zone would probably occur less than 10% of the time for large urban fires.

Toon, O. B.↗

Rodent Studies of Cardiovascular Deconditioning

Changes in blood pressure can occur for two reasons: 1) A decrease in cardiac output resulting from the altered contractility of the heart or through changes in venous filling pressure via the Frank Starling mechanism or; 2) A change in systemic vascular resistance. The observed changes in cardiac output and blood pressure after long term space flight cannot be entirely explained through changes in contractility or heart rate alone. Therefore, alterations in filling pressure mediated through changes in systemic venous capacitance and arterial resistance function may be important determinants of cardiac output and blood pressure after long term space flight. Our laboratory and previous studies have shown the importance of veno-constriction mediated by the carotid sinus baroreceptor reflex system on overall circulatory homeostasis and in the regulation of cardiac output. Our proposed experiments test the overall hypothesis that alterations in venous capacitance function and arterial resistance by the carotid sinus baroreceptor reflex system are an important determinant of the cardiac output and blood pressure response seen in astronauts after returning to earth from long term exposure to microgravity. This hypothesis is important to our overall understanding of circulatory adjustments made during long term space flight. It also provides a framework for investigating counter measures to reduce the incidence of orthostatic hypotension caused by an attenuation of cardiac output. We continue to use hind limb unweighted (HLU) rat model to simulate the patho physiological effects as they relate to cardiovascular deconditioning in microgravity. We have used this model to address the hypothesis that microgravity induced cardiovascular deconditioning results in impaired vascular responses and that these impaired vascular responses result from abnormal alpha-1 AR signaling. The impaired vascular reactivity results in attenuated blood pressure and cardiac output responses to an orthostatic challenge. We have used in vitro vascular reactivity assays to explore abnormalities in vascular responses in vessels from HLU animals and, cardiac output (CO), blood pressure (BP) and heart rate (HR) measurements to characterize changes in hemodynamics following HLU.

Shoukas, Artin A.↗

Measurement Requirements for Improved Modeling of Arcjet Facility Flows

Current efforts to develop new reusable launch vehicles and to pursue low-cost robotic planetary missions have led to a renewed interest in understanding arc-jet flows. Part of this renewed interest is concerned with improving the understanding of arc-jet test results and the potential use of available computational-fluid- dynamic (CFD) codes to aid in this effort. These CFD codes have been extensively developed and tested for application to nonequilibrium, hypersonic flow modeling. It is envisioned, perhaps naively, that the application of these CFD codes to the simulation of arc-jet flows would serve two purposes: first. the codes would help to characterize the nonequilibrium nature of the arc-jet flows; and second. arc-jet experiments could potentially be used to validate the flow models. These two objectives are, to some extent, mutually exclusive. However, the purpose of the present discussion is to address what role CFD codes can play in the current arc-jet flow characterization effort, and whether or not the simulation of arc-jet facility tests can be used to eva1uate some of the modeling that is used to formu1ate these codes. This presentation is organized into several sections. In the introductory section, the development of large-scale, constricted-arc test facilities within NASA is reviewed, and the current state of flow diagnostics using conventional instrumentation is summarized. The motivation for using CFD to simulate arc-jet flows is addressed in the next section, and the basic requirements for CFD models that would be used for these simulations are briefly discussed. This section is followed by a more detailed description of experimental measurements that are needed to initiate credible simulations and to evaluate their fidelity in the different flow regions of an arc-jet facility. Observations from a recent combined computational and experiment.al investigation of shock-layer flows in a large-scale arc-jet facility are then used to illustrate the current state of development of diagnostic instrumentation, CFD simulations, and general knowledge in the field of arc-jet characterization. Finally, the main points are summarized and recommendations for future efforts are given.

Fletcher, Douglas G.↗

Nonintrusive Diagnostic Strategies for Arcjet Stream Characterization

In the previous lecture, the issues related to arcjet flow modeling were introduced, and the limitations of conventional instrumentation in addressing these issues were discussed. The general level of understanding of the arcjet flows was seen to preclude the use of arcjets as aerothermodynamic test facilities beyond the current role in aerothermal material testing, despite their long test duration capability. In this section, the focus will be on new developments in spectroscopic instrumentation and techniques that can be brought to bear on the fundamental problem of arcjet stream characterization. Although a wide selection of arcjet facilities were introduced in the previous section, the discussion of nonintrusive diagnostic instrumentation will be restricted to the large-scale, segmented, constricted-arc heater facilities that are most widely used in thermal protection material testing for aerospace applications. After a brief review of the important features of arcjet flows, the topic of nonintrusive, optical diagnostics is introduced with a discussion of some of the basic aspects of radiative transitions. The lecture is then organized into two sections covering emission measurements and laser-induced fluorescence measurements. Emission measurements are presented next for different regions of arcjet flows, while the fluorescence measurements are presented for the free stream region only. Summaries are given for each of the two main sections, and observations on arcjet characterization by optical diagnostics in general are given at the end.

Fletcher, Douglas G.↗

Mechanism of Headward Fluid Shift During Exposure To Microgravity

A prominent feature of early cardiovascular adaptation to the microgravity of space flight is a shift of blood and tissue fluid from the lower body to the upper body. Symptoms of this fluid shift include facial edema, nasal congestion, and headache. Normally on Earth, the human body is exposed to hydrostatic (gravitational) blood pressure gradients during upright posture. In this posture, mean arterial pressures at head, heart, and foot levels are approximately 70, 100, and 200 mm Hg, respectively. Theoretically, all hydrostatic pressures within arteries and veins are lost during exposure to microgravity so that mean arterial pressure in all regions of the body is uniform and approximately equal to that at heart level (100 mm Hg). Acute studies of 60 head-down tilt (simulated microgravity on Earth) indicate that facial edema is caused by: 1) elevation of capillary blood pressure from 28 to 34 mm Hg, 2) reduction of blood colloid osmotic pressure 22 to 18 mm Hg, and 3) 50% increase of blood perfusion in tissues of the head. Furthermore, as compared to microvasculature in the feet, microvessels of the head have a low capacity to constrict and diminish local perfusion. Elevation of blood and tissue fluid pressures/flow in the head may also explain the higher headward bone density associated with long-term head-down tilt. These mechanistic studies of head-down tilt, along with a better understanding of the relative stresses involved with upright posture and lower body negative pressure, have facilitated development of physiologic countermeasures to maintain astronaut health during microgravity. Presently no exercise hardware is available to provide a blood pressure gradient from head to feet in space. However, recent studies in our laboratory suggest that treadmill exercise within lower body negative pressure provides equivalent or greater physiologic stress as compared to similar upright exercise on Earth.

Hargens, Alan R.↗

Hearing Aid Assembly

Progress in hearing aids has come a long way. Yet despite such progress hearing aids are not the perfect answer to many hearing problems. Some adult ears cannot accommodate tightly fitting hearing aids. Mouth movements such as chewing, talking, and athletic or other active endeavors also lead to loosely fitting ear molds. It is well accepted that loosely fitting hearing aids are the cause of feedback noise. Since feedback noise is the most common complaint of hearing aid wearers it has been the subject of various patents. Herein a hearing aid assembly is provided eliminating feedback noise. The assembly includes the combination of a hearing aid with a headset developed to constrict feedback noise.

Grugel, Richard N.↗

Altitude-Wind-Tunnel Investigation of Performance of Several Propellers on YP-47M Airplane at High Blade Loading: Curtiss 838-1C2-18R1 Four-Blade Propeller - 2

An investigation was conducted in the Cleveland altitude wind tunnel to determine the performance of a Curtiss propeller with four 838-lC2-lSRl blades on a YP-47M airplane at high blade loadings and engine powers. The study was made for a range of power coefficients between 0.30 and 1.00 at free-stream Mach numbers of 0.40 and 0.50. The results of the force measurements indicate primarily the trend of propeller efficiency for changes in power coefficient or advance-diameter ratio, inasmuch as corrections for the effects of tunnel-wall constriction on the installation have not been applied. Slip-stream pressure surveys across the propeller disk are presented to illustrate blade thrust load distribution for several operating conditions. At a free-stream Mach number of 0.40, nearly constant peak efficiencies were obtained at power coefficients from 0.30 to 0.70. A change in power coefficient from 0.70 to 0.90 reduced the peak efficiency about 5 percent. Blade stall at the tip sections became evident for a power coefficient of 0.91 when the advance-diameter ratio was reduced to 1.87. At a free-stream Mach number of 0.50, the highest propeller efficiencies were obtained for power coefficients from 0.80 to 1.00 at advance-diameter ratios above 2.90. At advance-diameter ratios below 2.90, the highest efficiencies were obtained for power coefficients of 0.60 and 0.70. The envelope of the efficiency curves decreased about 12 percent between advance-diameter ratios of 2.60 and 4.20. Local compressibility effects became evident for a power coefficient of 0.40 when the advance-diameter ratio was decreased to 1.75.

Wallner, Lewis E.↗

Altitude-Wind-Tunnel Investigation of Performance of Several Propellers on YP-47M Airplane at High Blade Loadings: Hamilton Standard 6507A-2 Four- and Three-Blade Propellers - 6

An altitude-wind-tunnel investigation has been made to determine the performance of Hamilton Standard 6507A-2 four-blade and three-blade propellers on a YP-47M airplane at high blade loadings and high engine powers. Characteristics of the four-blase propeller were obtained for a range of power coefficients from 0.10 to 1.00 at free-stream Mach numbers of 0.20, 0.30, 0.40. Characteristics of the three-blade propeller were obtained for a range of power coefficients from 0.30 to 1.00 at a free-stream Mach number of 0.40. Results of the force measurements indicate primarily the trend of propeller efficiency for changes in power coefficient or advance-diameter ratio because no corrections for the effects of tunnel-wall constriction on the installation were applied. Slipstream surveys are presented to illustrate blade thrust load distribution for certain operating conditions. Within the range of advance-diameter ratios investigated at each free-stream Mach number, the efficiency of the four-blade propeller decreased as the power coefficient was increased from 0.10 to 1.00. For the three-blade propeller, nearly constant maximum efficiencies were obtained for power coefficients from 0.32 to 0.63 at advance-diameter ratios between 1.90 and 3.00. In general, for conditions below the stall and critical tip Mach number, the maximum thrust load shifted from the inboard sections toward the tip sections as the power coefficient was increased or as the advance-diameter ratio was decreased. For conditions beyond the stall or critical tip Mach number, losses in thrust occurred on the outboard blade sections owing to flow break-down; the thrust load increased slightly on the inboard sections.

Saari, Martin J.↗

The Solar Chromosphere/Corona Interface: FUV-EUV Observations and Modeling of Unresolved Coronal Funnels - I

A coronal funnel model, developed by Rabin (199l), was tested against a calibrated spectroheliogram recorded in 171 - 175 Angstrom bandpass. This image was recorded on board a sounding rocket experiment flown on 1994 November 3, called the Multi-Spectral Solar Telescope Array, II (MSSTA II), MSSTA, a joint project of Stanford University, the NASA Marshall Space Flight Center and the Lawrence Livermore National Laboratory, is an observing platform composed of a set of normal-incidence, multilayer-coated optics designed to obtain narrow bandpass, high resolution images (1 - 3 arc sec) at selected FUV, EUV and soft X-ray wavelengths (44 Angstroms - 1550 Angstroms). Using full-disk images centered at 1550 Angstroms (C IV) and 173 Angstroms (FE IX/X), the funnel model, which is based on coronal back-heating, was tested against the data incorporating observed constraints on global coverage and measured flux. Found, was a class of funnel models that could account for the quiescent, globally diffuse and unresolved emission seen in the 171 - 175 Angstrom bandpass, where the funnels are assumed to be rooted in the C IV supergranular network. These models, when incorporated with the Chianti spectral code, suggest that this emission is mostly of upper transition region origin and primarily composed of FE IX plasma. The funnels are found to have constrictions, Gamma approx. 6 - 20, which is in good agreement with the observations. Further, the fitted models simultaneously satisfy global areal constraints seen in both images; namely, that a global network of funnels must cover approx. 70 - 95 % of the total solar surface area seen in the 171 - 175 Angstrom image, and = 45 % of the disk area seen in the 1550 Angstrom bandpass. These findings support the configuration of the EUV magnetic network as suggested by Reeves et af. (1974) and put forth in more detail by Gabriel (1976). Furthermore, the models are in good agreement with differential emission measure estimates made of the transition region by Raymond & Doyle (1981) for temperatures, 250,000 K = T = 650,000 K, based on full-disk observations made on board by SkyLab.

Martinez-Galarce, D. S.↗

Performance Theory of Diagonal Conducting Wall MHD Accelerators

The theoretical performance of diagonal conducting wall crossed field accelerators is examined on the basis of an infinite segmentation assumption using a cross-plane averaged generalized Ohm's law for a partially ionized gas, including ion slip. The desired accelerator performance relationships are derived from the cross-plane averaged Ohm's law by imposing appropriate configuration and loading constraints. A current dependent effective voltage drop model is also incorporated to account for cold-wall boundary layer effects including gasdynamic variations, discharge constriction, and electrode falls. Definition of dimensionless electric fields and current densities lead to the construction of graphical performance diagrams, which further illuminate the rudimentary behavior of crossed field accelerator operation.

Litchford, R. J.↗

The Human Sympathetic Nervous System Response to Spaceflight

The sympathetic nervous system is an important part of the autonomic (or automatic) nervous system. When an individual stands up, the sympathetic nervous system speeds the heart and constricts blood vessels to prevent a drop in blood pressure. A significant number of astronauts experience a drop in blood pressure when standing for prolonged periods after they return from spaceflight. Difficulty maintaining blood pressure with standing is also a daily problem for many patients. Indirect evidence available before the Neurolab mission suggested the problem in astronauts while in space might be due partially to reduced sympathetic nervous system activity. The purpose of this experiment was to identify whether sympathetic activity was reduced during spaceflight. Sympathetic nervous system activity can be determined in part by measuring heart rate, nerve activity going to blood vessels, and the release of the hormone norepinephrine into the blood. Norepinephrine is a neurotransmitter discharged from active sympathetic nerve terminals, so its rate of release can serve as a marker of sympathetic nervous system action. In addition to standard cardiovascular measurements (heart rate, blood pressure), we determined sympathetic nerve activity as well as norepinephrine release and clearance on four crewmembers on the Neurolab mission. Contrary to our expectation, the results demonstrated that the astronauts had mildly elevated resting sympathetic nervous system activity in space. Sympathetic nervous system responses to stresses that simulated the cardiovascular effects of standing (lower body negative pressure) were brisk both during and after spaceflight. We concluded that, in the astronauts tested, the activity and response of the sympathetic nervous system to cardiovascular stresses appeared intact and mildly elevated both during and after spaceflight. These changes returned to normal within a few days.

Ertl, Andrew C.↗

The Solar Chromosphere/Corona Interface. I. Far-Ultraviolet to Extreme-Ultraviolet Observations and Modeling of Unresolved Coronal Funnels

A coronal funnel model, developed by D. Rabin, was tested against a calibrated spectroheliogram recorded in the 170-1 75 A bandpass. This image was recorded on board a sounding-rocket experiment flown on 1994 November 3, called the Multi-Spectral Solar Telescope Array II (MSSTA II). MSSTA, a joint project of Stanford University, the NASA Marshall Space Flight Center, and the Lawrence Livermore National Laboratory' is an observing platform composed of a set of normal-incidence, multilayer-coated optics designed to obtain narrow-bandpass, high-resolution images (1 sec.- 3 sec.) at selected far-ultraviolet (FUV), extreme-ultraviolet (EUV), and soft X-ray wavelengths (44-1550 A). Using full disk images centered at 1550 A (C IV) and 173 A (Fe IX/X), the funnel model, which is based on coronal back-heating, was tested against the data incorporating observed constraints on global coverage and measured flux. Found was a class of funnel models that could account for the quiescent, globally diffuse and unresolved emission seen in the 171-175 A bandpass, where the funnels are assumed to be rooted in the C IV supergranular network. These models, when incorporated with the CHIANTI spectral code, suggest that this emission is mostly of upper transition region origin and primarily composed of Fe IX plasma. The funnels are found to have constrictions, Gamma approx. 6-20, which is in good agreement with the observations. Further, the fitted models simultaneously satisfy global areal constraints seen in both images; namely,that a global network of funnels must cover approx. 700 - 95% of the total solar surface area seen in the 171-175 A image, and a 5% of the disk area seen in the 1550 A bandpass. These findings support the configuration of the EUV magnetic network as suggested by Reeves et al. and put forth in more detail by Gabriel. Furthermore, the models are in good agreement with differential emission measure estimates made of the transition region by J. C. Raymond & J. G. Doyle for temperatures 250,000 K less than or = T less than or = 650,000 K, based on full-disk observations made on board Skylab.

Martinez-Galarce, Dennis S.↗

Long-term (6-wk) hindlimb suspension inhibits spermatogenesis in adult male rats

The International Space Station will allow extended habitation in space and long-term exposure to microgravity (microG). A concern is the impact of long-term microG exposure on the ability of species to reproduce. The model often used to simulate microG is rat hindlimb suspension (HLS), where the hindlimbs are elevated above the cage floor with a tail harness. Experiments described here are the first to examine the effect of long-term HLS on testicular function in adult male rats. Free-roaming (controls), animals with only the tail harnessed but hindlimbs in contact with the cage floor (TO), and HLS animals were tested for 6 wk. Cryptorchidism was prevented in TO and HLS animals by partial constriction of the inguinal canal with sutures. All parameters were compared at the end of the 6-wk experiment. Testicular weights and spermatogenesis were significantly reduced by HLS, such that no spermatogenic cells beyond round spermatids were present and epididymides were devoid of mature sperm. In many tubules, loss of all germ cells, except a few spermatogonia, resulting in histopathology similar to the Sertoli cell, was observed. Spermatogenesis appeared unaffected in control and TO animals. Sertoli and Leydig cell appearance, testosterone, luteinizing hormone, and follicle-stimulating hormone levels, and epididymal and seminal vesicle weight were unchanged by HLS. Cortisone was not elevated by HLS; thus stress may not be a factor. These results demonstrate that spermatogenesis is severely inhibited by long-term HLS, whereas testicular androgen production is not. These results have significant implications regarding serious effects of long-term exposure to microG on the reproductive capability of scrotal mammals, including humans.

NASA Discipline Cell Biology↗

Plasmodesmal-mediated cell-to-cell transport in wheat roots is modulated by anaerobic stress

Cell-to-cell transport of small molecules and ions occurs in plants through plasmodesmata. Plant roots are frequently subjected to localized anaerobic stress, with a resultant decrease in ATP. In order to determine the effect of this stress on plasmodesmal transport, fluorescent dyes of increasing molecular weight (0.46 to 1OkDa) were injected into epidermal and cortical cells of 3-day-old wheat roots, and their movement into neighboring cells was determined by fluorescence microscopy. Anaerobiosis was generated by N2 gas or simulated by the presence of sodium azide, both of which reduced the ATP levels in the tissue by over 80%. In the absence of such stress, the upper limit for movement, or size exclusion limit (SEL), of cortical plasmodesmata was <1 kDa. The ATP analogue TNP-ADP (mw 681) moved across the plasmodesmata of unstressed roots, indicating that plasmodesmata may be conduits for nucleotide (ATP and ADP) exchange between cells. Upon imposition of stress, the SEL rose to between 5 and 10 kDa. This response of plasmodesmata to a decrease in the level of ATP suggests that they are constricted by an ATP-dependent process so as to maintain a restricted SEL. When roots are subjected to anaerobic stress, an increase in SEL may permit enhanced delivery of sugars to the affected cells of the root where anaerobic respiration could regenerate the needed ATP.

NASA Discipline Plant Biology↗

Microtubules as key cytoskeletal elements in cellular transport and shape changes: their expected responses to space environments

Application of reference standard reagents to alternatively depolymerize or stabilize microtubules in a cell that undergoes very regular cytoskeleton-dependent shape changes provides a model system in which some expected components of the environments of spacecraft and space can be tested on Earth for their effects on the cytoskeleton. The fertilized eggs of Ilyanassa obsoleta undergo polar lobe formation by repeated, dramatic, constriction and relaxation of a microfilamentous band localized in the cortical cytoplasm and activated by microtubules.

NASA Discipline Number 93-10↗

The effects of hindlimb unweighting on the capacitance of rat small mesenteric veins

Microgravity is associated with an impaired cardiac output response to orthostatic stress. Mesenteric veins are critical in modulating cardiac filling through venoconstriction. The purpose of this study was to determine the effects of simulated microgravity on the capacitance of rat mesenteric small veins. We constructed pressure-diameter relationships from vessels of 21-day hindlimb-unweighted (HLU) rats and control rats by changing the internal pressure and measuring the external diameter. Pressure-diameter relationships were obtained both before and after stimulation with norepinephrine (NE). The pressure-diameter curves of HLU vessels were shifted to larger diameters than control vessels. NE (10(-4) M) constricted veins from control animals such that the pressure-diameter relationship was significantly shifted downward (i.e., to smaller diameters at equal pressure). NE had no effect on vessels from HLU animals. These results indicate that, after HLU, unstressed vascular volume may be increased and can no longer decrease in response to sympathetic stimulation. This may partially underlie the mechanism leading to the exaggerated fall in cardiac output and stroke volume seen in astronauts during an orthostatic stress after exposure to microgravity.

Non-NASA Center↗

Structural and functional remodeling of skeletal muscle microvasculature is induced by simulated microgravity

Hindlimb unloading of rats results in a diminished ability of skeletal muscle arterioles to constrict in vitro and elevate vascular resistance in vivo. The purpose of the present study was to determine whether alterations in the mechanical environment (i.e., reduced fluid pressure and blood flow) of the vasculature in hindlimb skeletal muscles from 2-wk hindlimb-unloaded (HU) rats induces a structural remodeling of arterial microvessels that may account for these observations. Transverse cross sections were used to determine media cross-sectional area (CSA), wall thickness, outer perimeter, number of media nuclei, and vessel luminal diameter of feed arteries and first-order (1A) arterioles from soleus and the superficial portion of gastrocnemius muscles. Endothelium-dependent dilation (ACh) was also determined. Media CSA of resistance arteries was diminished by hindlimb unloading as a result of decreased media thickness (gastrocnemius muscle) or reduced vessel diameter (soleus muscle). ACh-induced dilation was diminished by 2 wk of hindlimb unloading in soleus 1A arterioles, but not in gastrocnemius 1A arterioles. These results indicate that structural remodeling and functional adaptations of the arterial microvasculature occur in skeletal muscles of the HU rat; the data suggest that these alterations may be induced by reductions in transmural pressure (gastrocnemius muscle) and wall shear stress (soleus muscle).

Non-NASA Center↗