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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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NASA NTRS2004

Office of Biological and Physical Research: Overview Transitioning to the Vision for Space Exploration

Viewgraphs on NASA's transition to its vision for space exploration is presented. The topics include: 1) Strategic Directives Guiding the Human Support Technology Program; 2) Progressive Capabilities; 3) A Journey to Inspire, Innovate, and Discover; 4) Risk Mitigation Status Technology Readiness Level (TRL) and Countermeasures Readiness Level (CRL); 5) Biological And Physical Research Enterprise Aligning With The Vision For U.S. Space Exploration; 6) Critical Path Roadmap Reference Missions; 7) Rating Risks; 8) Current Critical Path Roadmap (Draft) Rating Risks: Human Health; 9) Current Critical Path Roadmap (Draft) Rating Risks: System Performance/Efficiency; 10) Biological And Physical Research Enterprise Efforts to Align With Vision For U.S. Space Exploration; 11) Aligning with the Vision: Exploration Research Areas of Emphasis; 12) Code U Efforts To Align With The Vision For U.S. Space Exploration; 13) Types of Critical Path Roadmap Risks; and 14) ISS Human Support Systems Research, Development, and Demonstration. A summary discussing the vision for U.S. space exploration is also provided.

Crouch, Roger↗
NASA NTRS2004

Lab on a Chip Application Development for Exploration

At Marshall Space Flight Center a new capability has been established to aid the advancement of microfluidics for space flight monitoring systems. Lab-On-a-Chip Application Development (LOCAD) team has created a program for advancing Technology Readiness Levels (TRL) of 1 & 2 to TRL 6 and 7, quickly and economically for Lab-On-a-Chip (LOC) applications. Scientists and engineers can utilize LOCAD's process to efficiently learn about microfluidics and determine if microfluidics is applicable to their needs. Once the applicability has been determined, LOCAD can then perform tests to develop the new fluidic protocols which are different from macro-scale chemical reaction protocols. With this information new micro-devices can be created such as the development of a microfluidic system to aid in the search for life, past and present, on Mars. Particular indicators in the Martian soil can contain the direct evidence of life. But to extract the information from the soil and present it to the proper detectors requires multiple fluidic/chemical operations. This is where LOCAD is providing its unique abilities.

Monaco, Lisa↗
NASA NTRS2004

Advanced Diagnostic System on Earth Observing One

In this infusion experiment, the Livingstone 2 (L2) model-based diagnosis engine, developed by the Computational Sciences division at NASA Ames Research Center, has been uploaded to the Earth Observing One (EO-1) satellite. L2 is integrated with the Autonomous Sciencecraft Experiment (ASE) which provides an on-board planning capability and a software bridge to the spacecraft's 1773 data bus. Using a model of the spacecraft subsystems, L2 predicts nominal state transitions initiated by control commands, monitors the spacecraft sensors, and, in the case of failure, isolates the fault based on the discrepant observations. Fault detection and isolation is done by determining a set of component modes, including most likely failures, which satisfy the current observations. All mode transitions and diagnoses are telemetered to the ground for analysis. The initial L2 model is scoped to EO-1's imaging instruments and solid state recorder. Diagnostic scenarios for EO-1's nominal imaging timeline are demonstrated by injecting simulated faults on-board the spacecraft. The solid state recorder stores the science images and also hosts: the experiment software. The main objective of the experiment is to mature the L2 technology to Technology Readiness Level (TRL) 7. Experiment results are presented, as well as a discussion of the challenging technical issues encountered. Future extensions may explore coordination with the planner, and model-based ground operations.

Hayden, Sandra C.↗
NASA NTRS2004

Brayton Power Conversion System Study to Advance Technology Readiness for Nuclear Electric Propulsion

Recently, there has been significant interest within the aerospace community to develop space based nuclear power conversion technologies especially for exploring the outer planets of our solar system where the solar energy density is very low. To investigate these technologies NASA awarded several contracts under Project Prometheus, the Nuclear Systems Program. The studies described in this paper were performed under one of those contracts, which was to investigate the use of a nuclear power conversion system based on the closed Brayton cycle (CBC).The investigation performed included BPCS (Brayton Power Conversion System) trade studies to minimize system weight and radiator area and advance the state of the art of BPCS technology. The primary requirements for studies were a power level of 100 kWe (to the PPU), a low overall power system mass and a lifetime of 15 years (10 years full power). For the radiation environment, the system was to be capable of operation in the generic space environment and withstand the extreme environments surrounding Jupiter. The studies defined a BPCS design traceable to NEP (Nuclear Electric Propulsion) requirements and suitable for future missions with a sound technology plan for technology readiness level (TRL) advancement identified. The studies assumed a turbine inlet temperature approx. 100 C above the current the state of the art capabilities with materials issues and related development tasks identified. Analyses and evaluations of six different HRS (heat rejection system) designs and three primary power management and distribution (PMAD) configurations will be discussed in the paper.

Patrick E. Frye↗
NASA NTRS2005

20 Meter Solar Sail Analysis and Correlation

This paper describes finite element analyses and correlation studies to predict deformations and vibration modes/frequencies of a 20-meter solar sail system developed by ATK Space Systems. Under the programmatic leadership of NASA Marshall Space Flight Center's In-Space Propulsion activity, the 20-meter solar sail program objectives were to verify the design, to assess structural responses of the sail system, to implement lessons learned from a previous 10-meter quadrant system analysis and test program, and to mature solar sail technology to a technology readiness level (TRL) of 5. For this 20 meter sail system, static and ground vibration tests were conducted in NASA Glenn Research Center's 100 meter diameter vacuum chamber at Plum Brook station. Prior to testing, a preliminary analysis was performed to evaluate test conditions and to determine sensor and actuator locations. After testing was completed, an analysis of each test configuration was performed. Post-test model refinements included updated properties to account for the mass of sensors, wiring, and other components used for testing. This paper describes the development of finite element models (FEM) for sail membranes and masts in each of four quadrants at both the component and system levels, as well as an optimization procedure for the static test/analyses correlation.

Taleghani, B. K.↗
NASA NTRS2006

Small Hot Jet Acoustic Rig Validation

The Small Hot Jet Acoustic Rig (SHJAR), located in the Aeroacoustic Propulsion Laboratory (AAPL) at the NASA Glenn Research Center in Cleveland, Ohio, was commissioned in 2001 to test jet noise reduction concepts at low technology readiness levels (TRL 1-3) and develop advanced measurement techniques. The first series of tests on the SHJAR were designed to prove its capabilities and establish the quality of the jet noise data produced. Towards this goal, a methodology was employed dividing all noise sources into three categories: background noise, jet noise, and rig noise. Background noise was directly measured. Jet noise and rig noise were separated by using the distance and velocity scaling properties of jet noise. Effectively, any noise source that did not follow these rules of jet noise was labeled as rig noise. This method led to the identification of a high frequency noise source related to the Reynolds number. Experiments using boundary layer treatment and hot wire probes documented this noise source and its removal, allowing clean testing of low Reynolds number jets. Other tests performed characterized the amplitude and frequency of the valve noise, confirmed the location of the acoustic far field, and documented the background noise levels under several conditions. Finally, a full set of baseline data was acquired. This paper contains the methodology and test results used to verify the quality of the SHJAR rig.

Brown, Cliff↗
NASA NTRS2005

Reconfiguration of Analog Electronics for Extreme Environments: Problem or Solution?

This paper argues in favor of adaptive reconfiguration as a technique to expand the operational envelope of analog electronics for extreme environments (EE). In addition to hardening-by-process and hardening-by-design, "hardening-by-reconfiguration", when applicable, could be used to mitigate drifts, degradation, or damage on electronic devices (chips) in EE, by using re-configurable devices and an adaptive self-reconfiguration of their circuit topology. Conventional circuit design exploits device characteristics within a certain temperature/radiation range; when that is exceeded, the circuit function degrades. On a reconfigurable device, although component parameters change in EE, as long as devices still operate, albeit degraded, a new circuit design, suitable for new parameter values, may be mapped into the reconfigurable structure to recover the initial circuit function. Partly degraded resources are still used, while completely damaged resources are bypassed. Designs suitable for various environmental conditions can be determined prior to operation or can be determined in-situ, by adaptive reconfiguration algorithms running on built-in digital controllers. Laboratory demonstrations of this technique were performed by JPL in several independent experiments in which bulk CMOS reconfigurable devices were exposed to, and degraded by, low temperatures (approx. 196 C), high temperatures (approx.300 C) or radiation (300kRad TID), and then recovered by adaptive reconfiguration using evolutionary search algorithms. Taking this technology from Technology Readiness Level (TRL) 3 to TRL 5 is the target of a current NASA project.

Field Programmable Transistor Array (FPTA)↗
NASA NTRS2006

NASA Stennis Space Center Integrated System Health Management Test Bed and Development Capabilities

Integrated System Health Management (ISHM) is a capability that focuses on determining the condition (health) of every element in a complex System (detect anomalies, diagnose causes, prognosis of future anomalies), and provide data, information, and knowledge (DIaK)-not just data-to control systems for safe and effective operation. This capability is currently done by large teams of people, primarily from ground, but needs to be embedded on-board systems to a higher degree to enable NASA's new Exploration Mission (long term travel and stay in space), while increasing safety and decreasing life cycle costs of spacecraft (vehicles; platforms; bases or outposts; and ground test, launch, and processing operations). The topics related to this capability include: 1) ISHM Related News Articles; 2) ISHM Vision For Exploration; 3) Layers Representing How ISHM is Currently Performed; 4) ISHM Testbeds & Prototypes at NASA SSC; 5) ISHM Functional Capability Level (FCL); 6) ISHM Functional Capability Level (FCL) and Technology Readiness Level (TRL); 7) Core Elements: Capabilities Needed; 8) Core Elements; 9) Open Systems Architecture for Condition-Based Maintenance (OSA-CBM); 10) Core Elements: Architecture, taxonomy, and ontology (ATO) for DIaK management; 11) Core Elements: ATO for DIaK Management; 12) ISHM Architecture Physical Implementation; 13) Core Elements: Standards; 14) Systematic Implementation; 15) Sketch of Work Phasing; 16) Interrelationship Between Traditional Avionics Systems, Time Critical ISHM and Advanced ISHM; 17) Testbeds and On-Board ISHM; 18) Testbed Requirements: RETS AND ISS; 19) Sustainable Development and Validation Process; 20) Development of on-board ISHM; 21) Taxonomy/Ontology of Object Oriented Implementation; 22) ISHM Capability on the E1 Test Stand Hydraulic System; 23) Define Relationships to Embed Intelligence; 24) Intelligent Elements Physical and Virtual; 25) ISHM Testbeds and Prototypes at SSC Current Implementations; 26) Trailer-Mounted RETS; 27) Modeling and Simulation; 28) Summary ISHM Testbed Environments; 29) Data Mining - ARC; 30) Transitioning ISHM to Support NASA Missions; 31) Feature Detection Routines; 32) Sample Features Detected in SSC Test Stand Data; and 33) Health Assessment Database (DIaK Repository).

Figueroa, Fernando↗
NASA NTRS2007

Expanding Hardware-in-the-Loop Formation Navigation and Control with Radio Frequency Crosslink Ranging

The Formation Flying Testbed (FFTB) at the National Aeronautics and Space Administration (NASA) Goddard Space Flight Center (GSFC) provides a hardware-in-the-loop test environment for formation navigation and control. The facility continues to evolve as a modular, hybrid, dynamic simulation facility for end-to-end guidance, navigation, and control (GN&C) design and analysis of formation flying spacecraft. The core capabilities of the FFTB, as a platform for testing critical hardware and software algorithms in-the-loop, are reviewed with a focus on recent improvements. With the most recent improvement, in support of Technology Readiness Level (TRL) 6 testing of the Inter-spacecraft Ranging and Alarm System (IRAS) for the Magnetospheric Multiscale (MMS) mission, the FFTB has significantly expanded its ability to perform realistic simulations that require Radio Frequency (RF) ranging sensors for relative navigation with the Path Emulator for RF Signals (PERFS). The PERFS, currently under development at NASA GSFC, modulates RF signals exchanged between spacecraft. The RF signals are modified to accurately reflect the dynamic environment through which they travel, including the effects of medium, moving platforms, and radiated power.

Mitchell, Jason W.↗
NASA NTRS2007

An Exploration Perspective of Beamed Energy Propulsion

The Vision for Exploration is currently focused on flying the Space Shuttle safely to complete our Space Station obligations, retiring the Shuttle in 2010, then returning humans to the Moon and learning how to proceed to Mars and beyond. The NASA budget still includes funds for science and aeronautics but the primary focus is on human exploration. Fiscal constraints have led to pursuing exploration vehicles that use heritage hardware, particularly existing boosters and engines, with the minimum modifications necessary to satisfy mission requirements. So, pursuit of immature technologies is not currently affordable by NASA. Beamed energy is one example of an immature technology, from a human exploration perspective, that may eventually provide significant benefits for human exploration of space, but likely not in the near future. Looking to the more distant future, this paper will examine some of the criteria that must be achieved by beamed energy propulsion to eventually contribute to human exploration of the solar system. The analysis focuses on some of the implications of increasing the payload fraction of a launch vehicle, with a quick look at trans-lunar injection. As one would expect, there is potential for benefit, and there are concerns. The analysis concludes with an assessment of the Technology Readiness Level (TRL) for some beamed energy propulsion components, indicating that TRL 2 is close to being completed.

Cole, John W.↗
NASA NTRS2008

An Instrument to Enable Identification of Anthropogenic CO2 Emissions Using Concurrent CO Measurements

We have developed an instrument concept that will enable the measurement of CO from the top of the atmosphere to the Earth's surface with very high sensitivity and at the high spatial and temporal resolutions required by the NRC Decadal Survey mission Active Sensing of Carbon Dioxide (CO2) over Nights, Days and Seasons (ASCENDS). We are developing an innovative CO sensor that will enable the ASCENDS mission to differentiate between anthropogenic and natural sources and sinks of global carbon. The NRC Decadal Survey places particular emphasis on retrieving CO information for the planetary boundary layer. Measurement made using both the 2.3 micron and 4.7 micron channels are needed to achieve the sensitivity required in the lower atmosphere where the degree of CO - CO2 correlation is indicative of anthropogenic sources of CO2. Measurements made using only the 4.7 micron channel cannot provide sufficient sensitivity to CO in the very lowest layers of the atmosphere. The fundamental method we use is Gas Filter Correlation Radiometry (GFCR), a highly successful technique used in other airborne and space-based missions for detecting trace species in the Earth's atmosphere. Our version of GFCR overcomes many of the limitations encountered by prior and existing instruments, allowing us to measure weak signals from small targets very quickly and with extremely high specificity by employing a new dual beam radiometer concept using a focal plane array. Our design will provide a means to make the desired CO measurements for the ASCENDS mission. A simple change in gas filter cell contents would allow the same hardware to measure CH4 with high precision under the nominal ASCENDS mission spatial and temporal constraints. All critical components in the sensor design are mature, many subsystems tested, and the system has been extensively modeled, bringing it to a present Technology Readiness Level (TRL) of 3 (though some individual components are at TRLs 6-9). We are presently developing critical components for the new spectrometer and advancing our understanding of the measurement requirements for both CO and CH4. This new GFCR technique/sensor will enable measurements of trace gases with high sensitivity while maintaining the inherent robustness and simplicity of the more traditional radiometer hardware. Initial estimates of cost/risk of a spacebased 2-channel GFCR indicate that our design is extremely cost effective and will fit within existing ASCENDS mission budget constraints as determined by the NRC Decadal Survey and a NASA-sponsored mission study.

Cook, William B.↗
NASA NTRS2008

The NASA Evolutionary Xenon Thruster (NEXT): NASA's Next Step for U.S. Deep Space Propulsion

NASA s Evolutionary Xenon Thruster (NEXT) project is developing next generation ion propulsion technologies to enhance the performance and lower the costs of future NASA space science missions. This is being accomplished by producing Engineering Model (EM) and Prototype Model (PM) components, validating these via qualification-level and integrated system testing, and preparing the transition of NEXT technologies to flight system development. The project is currently completing one of the final milestones of the effort, that is operation of an integrated NEXT Ion Propulsion System (IPS) in a simulated space environment. This test will advance the NEXT system to a NASA Technology Readiness Level (TRL) of 6 (i.e., operation of a prototypical system in a representative environment), and will confirm its readiness for flight. Besides its promise for upcoming NASA science missions, NEXT may have excellent potential for future commercial and international spacecraft applications.

Schmidt, George R.↗
NASA NTRS2008

Lunar Dust Characterization Activity at GRC

The fidelity of lunar simulants as compared to actual regolith is evaluated using Figures of Merit (FOM) which are based on four criteria: Particle Size, Particle Shape, Composition, and Density of the bulk material. In practice, equipment testing will require other information about both the physical properties (mainly of the dust fraction) and composition as a function of particle size. At Glenn Research Center (GRC) we are involved in evaluating a number of simulant properties of consequence to testing of lunar equipment in a relevant environment, in order to meet Technology Readiness Level (TRL) 6 criteria. Bulk regolith has been characterized for many decades, but surprisingly little work has been done on the dust fraction (particles less than 20 micrometers in diameter). GRC is currently addressing the information shortfall by characterizing the following physical properties: Particle Size Distribution, Adhesion, Abrasivity, Surface Energy, Magnetic Susceptibility, Tribocharging and Surface Chemistry/Reactivity. Since some of these properties are also dependent on the size of the particles we have undertaken the construction of a six stage axial cyclone particle separator to fractionate dust into discrete particle size distributions for subsequent evaluation of these properties. An introduction to this work and progress to date will be presented.

Street, Kenneth W.↗
NASA NTRS2009

On DESTINY Science Instrument Electrical and Electronics Subsystem Framework

Future space missions are going to require large focal planes with many sensing arrays and hundreds of millions of pixels all read out at high data rates'' . This will place unique demands on the electrical and electronics (EE) subsystem design and it will be critically important to have high technology readiness level (TRL) EE concepts ready to support such missions. One such omission is the Joint Dark Energy Mission (JDEM) charged with making precise measurements of the expansion rate of the universe to reveal vital clues about the nature of dark energy - a hypothetical form of energy that permeates all of space and tends to increase the rate of the expansion. One of three JDEM concept studies - the Dark Energy Space Telescope (DESTINY) was conducted in 2008 at the NASA's Goddard Space Flight Center (GSFC) in Greenbelt, Maryland. This paper presents the EE subsystem framework, which evolved from the DESTINY science instrument study. It describes the main challenges and implementation concepts related to the design of an EE subsystem featuring multiple focal planes populated with dozens of large arrays and millions of pixels. The focal planes are passively cooled to cryogenic temperatures (below 140 K). The sensor mosaic is controlled by a large number of Readout Integrated Circuits and Application Specific Integrated Circuits - the ROICs/ASICs in near proximity to their sensor focal planes. The ASICs, in turn, are serviced by a set of "warm" EE subsystem boxes performing Field Programmable Gate Array (FPGA) based digital signal processing (DSP) computations of complex algorithms, such as sampling-up-the-ramp algorithm (SUTR), over large volumes of fast data streams. The SUTR boxes are supported by the Instrument Control/Command and Data Handling box (ICDH Primary and Backup boxes) for lossless data compression, command and low volume telemetry handling, power conversion and for communications with the spacecraft. The paper outlines how the JDEM DESTINY concept instrument EE subsystem can be built now, a design; which is generally U.S. Government work not protected by U.S. copyright IEEEAC paper # 1429. Version 4. Updated October 19, 2009 applicable to a wide variety of missions using large focal planes with lar ge mosaics of sensors.

Kizhner, Semion↗
NASA NTRS2007

Mapped Landmark Algorithm for Precision Landing

A report discusses a computer vision algorithm for position estimation to enable precision landing during planetary descent. The Descent Image Motion Estimation System for the Mars Exploration Rovers has been used as a starting point for creating code for precision, terrain-relative navigation during planetary landing. The algorithm is designed to be general because it handles images taken at different scales and resolutions relative to the map, and can produce mapped landmark matches for any planetary terrain of sufficient texture. These matches provide a measurement of horizontal position relative to a known landing site specified on the surface map. Multiple mapped landmarks generated per image allow for automatic detection and elimination of bad matches. Attitude and position can be generated from each image; this image-based attitude measurement can be used by the onboard navigation filter to improve the attitude estimate, which will improve the position estimates. The algorithm uses normalized correlation of grayscale images, producing precise, sub-pixel images. The algorithm has been broken into two sub-algorithms: (1) FFT Map Matching (see figure), which matches a single large template by correlation in the frequency domain, and (2) Mapped Landmark Refinement, which matches many small templates by correlation in the spatial domain. Each relies on feature selection, the homography transform, and 3D image correlation. The algorithm is implemented in C++ and is rated at Technology Readiness Level (TRL) 4.

Johnson, Andrew↗
NASA NTRS2009

Conclusions and Recommendations

This chapter provides a brief wrap-up of the task group report and focuses on the overall conclusions and recommendations for future work for the CAWAPI and VFE-2 facets beyond the task group. The overall conclusion is that the Technology Readiness Level (TRL) of CFD solvers has been improved in predicting the flow-physics of vortex-dominated flows during the work of the task group, by having flight and wind-tunnel data available for comparison. Moreover, like all good scientific studies, this task group has identified flight conditions on the F-16XL airplane or wind-tunnel test conditions for a specific leading-edge radius on the 65 delta-wing model where the TRL still needs to be increased.

Lamar, John E.↗
NASA NTRS2010

Using the Integrated Vehicle Health Management Research Test and Integration Plan Wiki to Identify Synergistic Test Opportunities

The National Aeronautics and Space Administration (NASA) and the aviation industry have recognized a need for developing a method to identify and combine resources to carry out research and testing more efficiently. The Integrated Vehicle Health Management (IVHM) Research Test and Integration Plan (RTIP) Wiki is a tool that is used to visualize, plan, and accomplish collaborative research and testing. Synergistic test opportunities are developed using the RTIP Wiki, and include potential common resource testing that combines assets and personnel from NASA, industry, academia, and other government agencies. A research scenario is linked to the appropriate IVHM milestones and resources detailed in the wiki, reviewed by the research team members, and integrated into a collaborative test strategy. The scenario is then implemented by creating a test plan when appropriate and the research is performed. The benefits of performing collaborative research and testing are achieving higher Technology Readiness Level (TRL) test opportunities with little or no additional cost, improved quality of research, and increased communication among researchers. In addition to a description of the method of creating these joint research scenarios, examples of the successful development and implementation of cooperative research using the IVHM RTIP Wiki are given.

Koelfgen, Syri J.↗
NASA NTRS2009

GPS Navigation for the Magnetospheric Multi-Scale Mission

In 2014. NASA is scheduled to launch the Magnetospheric Multiscale Mission (MMS), a four-satellite formation designed to monitor fluctuations in the Earth's magnetosphere. This mission has two planned phases with different orbits (1? x 12Re and 1.2 x 25Re) to allow for varying science regions of interest. To minimize ground resources and to mitigate the probability of collisions between formation members, an on-board orbit determination system consisting of a Global Positioning System (GPS) receiver and crosslink transceiver was desired. Candidate sensors would be required to acquire GPS signals both below and above the constellation while spinning at three revolutions-per-minute (RPM) and exchanging state and science information among the constellation. The Intersatellite Ranging and Alarm System (IRAS), developed by Goddard Space Flight Center (GSFC) was selected to meet this challenge. IRAS leverages the eight years of development GSFC has invested in the Navigator GPS receiver and its spacecraft communication expertise, culminating in a sensor capable of absolute and relative navigation as well as intersatellite communication. The Navigator is a state-of-the-art receiver designed to acquire and track weak GPS signals down to -147dBm. This innovation allows the receiver to track both the main lobe and the much weaker side lobe signals. The Navigator's four antenna inputs and 24 tracking channels, together with customized hardware and software, allow it to seamlessly maintain visibility while rotating. Additionally, an extended Kalman filter provides autonomous, near real-time, absolute state and time estimates. The Navigator made its maiden voyage on the Space Shuttle during the Hubble Servicing Mission, and is scheduled to fly on MMS as well as the Global Precipitation Measurement Mission (GPM). Additionally, Navigator's acquisition engine will be featured in the receiver being developed for the Orion vehicle. The crosslink transceiver is a 1/4 Watt transmitter utilizing a TDMA schedule to distribute a science quality message to all constellation members every ten seconds. Additionally the system generates one-way range measurements between formation members which is used as input to the Kalman filter. In preparation for the MMS Preliminary Design Review (PDR), the Navigator was required to pass a series of Technology Readiness Level (TRL) tests to earn the necessary TRL-6 classification. The TRL-6 level is achieved by demonstrating a prototype unit in a relevant end-to-end environment. The IRAS unit was able to meet all requirements during the testing phase, and has thus been TRL-6 qualified

Bamford, William↗