Results for “ARM history” — Page 2

NASA NTRS1992

Interchangeable end effector tools utilized on the PFMA

An instrumented task board, used for measuring forces applied by the Protoflight Manipulator Arm (PFMA) to the task board, was fabricated and delivered to Marshall Space Flight Center. SRS Technologies phased out the existing IBM compatible data acquisition system, used with a instrumented task board, and integrated the force measuring electronic hardware in with the Macintosh II data acquisition system. The purpose of this change was to acquire all data with the same time tag, allowing easier and more accurate data reduction in addition to real-time graphics. A three-dimensional optical position sensing system for determining the location of the PFMA's end effect or in reference to the center of the instrumented task board was also designed and delivered under. An improved task board was fabricated which included an improved instrumented beam design. The modified design of the task board improved the force/torque measurement system by increasing the sensitivity, reliability, load range and ease of maintenance. A calibration panel for the optical position system was also designed and fabricated. The calibration method developed for the position sensors enhanced the performance of the sensors as well as simplified the installation and calibration procedures required. The modifications made under this effort expanded the capabilities of the task board system. The system developed determines the arm's position relative to the task board and measures the signals to the joints resulting from the operator's control signals in addition to the task board forces. The software and hardware required to calculate and record the position of the PFMA during the performance of tasks with the instrumented task board were defined, designed and delivered to MSFC. PFMA joint input signals can be measured from a breakout box to evaluate the sensitivity or response of the arm operation to control commands. The data processing system provides the capability for post processing of time-history graphics and plots of the PFMA positions, the operator's actions, and the PFMA servo reactions in addition to realtime force and position sensor data presentation.

Cody, Joe↗

NASA NTRS2003

Evaluation of Two Unique Side Stick Controllers in a Fixed-Base Flight Simulator

A handling qualities analysis has been performed on two unique side stick controllers in a fixed-base F-18 flight simulator. Each stick, which uses a larger range of motion than is common for similar controllers, has a moving elbow cup that accommodates movement of the entire arm for control. The sticks are compared to the standard center stick in several typical fighter aircraft tasks. Several trends are visible in the time histories, pilot ratings, and pilot comments. The aggressive pilots preferred the center stick, because the side sticks are underdamped, causing overshoots and oscillations when large motions are executed. The less aggressive pilots preferred the side sticks, because of the smooth motion and low breakout forces. The aggressive pilots collectively gave the worst ratings, probably because of increased sensitivity of the simulator (compared to the actual F-18 aircraft), which can cause pilot-induced oscillations when aggressive inputs are made. Overall, the elbow cup is not a positive feature, because using the entire arm for control inhibits precision. Pilots had difficulty measuring their performance, particularly during the offset landing task, and tended to overestimate.

Mayer, Jann↗

NASA NTRS2014

STAR Formation Histories Across the Interacting Galaxy NGC 6872, the Largest-Known Spiral

NGC6872, hereafter the Condor, is a large spiral galaxy that is interacting with its closest companion, the S0 galaxy IC 4970. The extent of the Condor provides an opportunity for detailed investigation of the impact of the interaction on the current star formation rate and its history across the galaxy, on the age and spatial distribution of its stellar population, and on the mechanism that drives the star formation activity. To address these issues we analyzed the far-ultraviolet (FUV) to near-infrared (near-IR) spectral energy distribution of seventeen 10 kpc diameter regions across the galaxy, and derived their star formation history, current star formation rate, and stellar population and mass. We find that most of the star formation takes place in the extended arms, with very little star formation in the central 5 kpc of the galaxy, in contrast to what was predicted from previous numerical simulations. There is a trend of increasing star formation activity with distance from the nucleus of the galaxy, and no evidence for a recent increase in the current star formation rate due to the interaction. The nucleus itself shows no significant current star formation activity. The extent of the Condor also provides an opportunity to test the applicability of a single standard prescription for conversion of the FUV + IR (22 micrometer) intensities to a star formation rate for all regions. We find that the conversion factor differs from region to region, arising from regional differences in the stellar populations.

Histories↗

NASA NTRSDate not supplied

An Overview of SHERLOC Raman and Fluorescence Spectroscopy Results Obtained During Perseverance’s Green Zone Campaign at Jezero Crater, Mars

The Perseverance rover landed in Jezero crater, Mars, in February 2021. The field site was chosen because orbiter data provided evidence that the crater hosted an ancient (>2.7 Ga) fluvio-lacustrine environment. The Octavia E. Butler landing site is located ~1.9 km east of the erosional remnant of the Jezero river delta. Scanning Habitable Environments with Raman and Luminescence for Organics and Chemicals (SHERLOC) is an arm-mounted instrument that combines fluorescence and Raman spectroscopy with microscopic imaging to analyze geological materials in order to better understand the history of the environments recorded in the rocks within Jezero crater and to search for potential biosignatures. SHERLOC has two microscopic cameras, the Autofocus and Context Imager (ACI) and the Wide-Angle Topographic Sensor for Operations and eNgineering, (WATSON). These subsystems obtain high spatial resolution (10.1–100 µm/pixel) images to identify grain-scale structure and texture. SHERLOC spectroscopy enables high-sensitivity detection, characterization, and spatially-resolved correlation of trace organic materials. SHERLOC’s 248.6 nm deep UV laser generates a 100 µm-diameter spot. Photons generated by Raman scattering and fluorescence emission are collected and the spectra are downlinked to Earth for analysis. Knowledge of where the laser is pointed allows for mineral and compositional maps to be generated and overlain in ACI and WATSON images. Early spectroscopy observations focused on natural rock surfaces at targets named Nataani (sol 83), Bi_la_sana (sol 98) and Foux (sol 141). These surfaces included patches of aeolian dust that had settled upon the rocks. Perseverance’s abrasion tool is expected to become available in August 2021; it will grind to depths of 14 mm to remove dust and penetrate coatings and weathering rinds. This presentation will summarize major results from analysis of the rocks examined by SHERLOC during Perseverance’s first science and sample coring campaign (Green Zone Campaign).

Luther W Beegle↗

DOE OSTI2025

Variability of Eastern North Atlantic Summertime Marine Boundary Layer Clouds and Aerosols Across Different Synoptic Regimes Identified With Multiple Conditions

Abstract This study estimates the meteorological covariations of aerosol and marine boundary layer (MBL) cloud properties in the eastern North Atlantic (ENA) region, characterized by diverse synoptic conditions. Using a deep‐learning‐based clustering model with mid‐level and surface daily meteorological data, we identify seven distinct synoptic regimes during the summer from 2016 to 2021. Our analysis, incorporating reanalysis data and satellite retrievals, shows that surface aerosols and MBL clouds exhibit clear regime‐dependent characteristics, whereas lower tropospheric aerosols do not. This discrepancy likely arises from synoptic regimes determined by daily large‐scale conditions, which may overlook air mass histories that predominantly dictate lower tropospheric aerosol conditions. Focusing on three regimes dominated by northerly winds, we analyze the Atmospheric Radiation Measurement Program (ARM) ENA observations on Graciosa Island in the Azores. In the subtropical anticyclone regime, fewer cumulus clouds and more single‐layer stratocumulus clouds with light drizzle are observed, along with the highest cloud droplet number concentration (Nd), surface cloud condensation nuclei (CCN) and surface aerosol levels. The post‐trough regime features more broken or multi‐layer stratocumulus clouds with slightly higher surface rain rate, and lower Nd and surface CCN levels. The weak trough regime is characterized by the deepest MBL clouds, primarily cumulus and broken stratocumulus clouds, with the strongest surface rain rate and the lowest Nd, surface CCN and surface aerosol levels, indicating strong wet scavenging. These findings highlight the importance of considering the covariation of cloud and aerosol properties driven by large‐scale regimes when assessing aerosol indirect effects using observations.

54 ENVIRONMENTAL SCIENCES↗

DOE OSTI2020

A Whirlwind History of Cryptography

This presentation provides an overview of cryptography starting with the Spartan Scytale used extensively during the Peloponnesian wars up through present day. Cryptography and cryptanalysis developed side by side in arms race. Algorithm development stagnated pending cracking. Once a method of crypto was cracked, development took off. Cryptography and cryptanalysis drove developments in math, linguistics, information theory, and quantum theory, and pushed development of the first computers.

97 MATHEMATICS AND COMPUTING↗

NASA NTRSDate not supplied

The first 300 sols of the SHERLOC investigation on the Mars 2020 rover

The Mars2020 mission is NASA’s latest flagship mission to Mars. The spacecraft launched in July 2020, and landed in Jezero crater on February 18, 2021 at the Octavia Butler Landing site. The rocks and sediments of Jezero crater have been argued to have preserved records of past, potentially habitable environments. The mission is characterizing the field site by analyzing chemistry, looking for organics and searching for potential biosignatures. The Scanning Habitable Environments with Ra-man and Luminescence for Organics and Chemicals (SHERLOC) is a robotic arm mounted instrument. SHERLOC combines imaging with UV resonance Raman and native deep UV fluorescence spectroscopy to identify potential biosignatures and understand the aqueous history of the Jezero Region. WATSON (Wide Angle Topographic Sensor for Operations and eNgineering), a refight of the Mars Hand Lens Imager (MAHLI) on the Curiosity rover is capable of color imaging over a wide range of resolutions (from infinity to 13.1 micron/pixel) and is used for both science and engineering. A second imager, the Autofocusing Con-textual Imager (ACI), produces gray scale images at 10.1 micron/pixel resolution at a 48 mm range.

A. E. Murphy↗

NASA NTRS2014

Microstructure and Macrosegregation Study of Directionally Solidified Al-7Si Samples Processed Terrestrially and Aboard the International Space Station

This talk reports research that has been carried out under the aegis of NASA as part of a collaboration between ESA and NASA for solidification experiments on the International Space Station (ISS). The focus has been on the effect of convection on the microstructural evolution and macrosegregation in hypoeutectic Al‐Si alloys during directional solidification (DS). The DS‐experiments have been carried out under 1‐g at Cleveland State University (CSU) and under low‐g on the International Space Station (ISS). The thermal processing‐history of the experiments is well defined for both the terrestrially‐processed samples and the ISS‐processed samples. We have observed that the primary dendrite arm spacings of two samples grown in the low‐g environment of the ISS show good agreement with a dendrite‐growth model based on diffusion controlled growth. The gravity‐driven convection (i.e., thermosolutal convection) in terrestrially grown samples has the effect of decreasing the primary dendrite arm spacings and causes macrosgregation. In order to process DS‐samples aboard the ISS, dendritic‐seed crystals have to partially remelted in a stationary thermal gradient before the DS is carried out. Microstructural changes and macrosegregation effects during this period are described.

Angart, Samuel↗

DOE OSTI2021

Brazil in the Global Nuclear Order, 1945-2018

This book is a comprehensive history of Brazil's nuclear activities and diplomacy. The author provides an in-depth explanation of the country's decision to give up the nuclear arms option and to accept nonproliferation norms after decades of opposition.

98 NUCLEAR DISARMAMENT, SAFEGUARDS, AND PHYSICAL P↗

NASA NTRS1993

Secondary and tertiary dendrite arm spacing relationships in directionally solidified Al-Si alloys

Secondary, lambda sub 2, and tertiary, lambda sub 3, dendrite arm spacings have been measured from Al-Si alloys which were directionally solidified as functions of growth velocity, V, temperature gradient, G, and composition, Co. Both lambda sub 2 and lambda sub 3 decreased as the imposed growth velocity and silicon concentrations were increased, and for each function a systematic variance in the rate was seen. Complications with measuring secondary arm spacings are shown and it was found that the tertiary arm data agree much better with coarsening theory, the implication being that lambda sub 3, when measurable, is a more representative and reliable measure of the solidification history than lambda sub 2.

Grugel, R. N.↗

NASA NTRSDate not supplied

Dual Glovebox Thermal Vacuum Chamber: Testing Capabilities for Spacesuit Arms and Gloves

The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station (ISS), the Crew and Thermal Systems Division (CTSD) at NASA Johnson Space Center (JSC) was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms and gloves in a simulated space environment versus testing with a full suit. The Dual Glovebox (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 5x10-4 Torr (0.066 Pa) with roughing and cryogenic pumps, and a wide range of temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater cables. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through two temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.

spacesuit arms↗

NASA NTRS2011

SRMS History, Evolution and Lessons Learned

Early in the development of the Space Shuttle, it became clear that NASA needed a method of deploying and retrieving payloads from the payload bay. The Shuttle Remote Manipulator System (SRMS) was developed to fill this need. The 50 foot long robotic arm is an anthropomorphic design consisting of three electromechanical joints, six degrees of freedom, and two boom segments. Its composite boom construction provided a light weight solution needed for space operations. Additionally, a method of capturing payloads with the arm was required and a unique End Effector was developed using an electromechanical snare mechanism. The SRMS is operated using a Displays and Controls Panel and hand controllers located within the aft crew compartment of the shuttle. Although the SRMS was originally conceived to deploy and retrieve payloads, its generic capabilities allowed it to perform many other functions not originally conceived of. Over the years it has been used for deploying and retrieving constrained and free flying payloads, maneuvering and supporting EVA astronauts, satellite repair, International Space Station construction, and as a viewing aid for on-orbit International Space Station operations. After the Columbia accident, a robotically compatible Orbiter Boom Sensor System (OBSS) was developed and used in conjunction with the SRMS to scan the Thermal Protection System (TPS) of the shuttle. These scans ensure there is not a breach of the TPS prior to shuttle re-entry. Ground operations and pre mission simulation, analysis and planning played a major role in the success of the SRMS program. A Systems Engineering Simulator (SES) was developed to provide a utility complimentary to open loop engineering simulations. This system provided a closed-loop real-time pilot-driven simulation giving visual feedback, display and control panel interaction, and integration with other vehicle systems, such as GN&C. It has been useful for many more applications than traditional training. Evolution of the simulations, guided by the Math Model Working Group, showed the utility of input from multiple modeling groups with a structured forum for discussion.There were many unique development challenges in the areas of hardware, software, certification, modeling and simulation. Over the years, upgrades and enhancements were implemented to increase the capability, performance and safety of the SRMS. The history and evolution of the SRMS program provided many lessons learned that can be used for future space robotic systems.

Jorgensen, Glenn↗

NASA NTRS2008

Phoenix - the First Mars Scout Mission

As the first of the new Mars Scouts missions, the Phoenix project was selected by NASA in August of 2003. Four years later, almost to the day, Phoenix was launched from Cape Canaveral Air Station and successfully injected into an interplanetary trajectory on its way to Mars. This paper will highlight some of the key changes since the 2006 IEEE paper of the same name, as well as activities, challenges and problems encountered on the way to the launch pad. Phoenix Follows the water responding directly to the recently published data from Dr. William Boynton, PI (and Phoenix co-I) of the Mars Odyssey Gamma Ray Spectrometer (GRS). GRS data indicate extremely large quantities of water ice (up to 50% by mass) within the upper 50 cm of the northern polar regolith. Phoenix will land within the north polar region at 68.2 N, 233.4 W identified by GRS to harbor near surface water ice and provide in-situ confirmation of this extraordinary find. Our mission will investigate water in all its phases, and will investigate the history of water as evidenced in the soil characteristics that will be carefully examined by the powerful suite of onboard instrumentation. Access to the critical subsurface region expected to contain this information is made possible by a third generation robotic arm capable of excavating the expected Martian regolith to a depth of 1m. Phoenix has four primary science objectives: 1) Determine the polar climate and weather, interaction with the surface, and composition of the lower atmosphere around 70 N for at least 90 sols focusing on water, ice, dust, noble gases, and CO2. Determine the atmospheric characteristics during descent through the atmosphere. 2) Characterize the geomorphology and active processes shaping the northern plains and the physical properties of the near surface regolith focusing on the role of water. 3) Determine the aqueous mineralogy and chemistry as well as the adsorbed gases and organic content of the regolith. Verify the Odyssey discovery of near-surface ice. 4) Characterize the history of water, ice, and the polar 1 1-4244-1488-1/08/$25.00 2008 IEEE 2 IEEEAC paper#1579, Version 1, Updated 2008:01:09 climate. Determine the past and present biological potential of the surface and subsurface environments.

Mars exploration↗

NASA NTRS2014

Comparison of Directionally Solidified Samples Solidified Terrestrially and Aboard the International Space Station

This article reports research that has been carried out under the aegis of NASA as part of a collaboration between ESA and NASA for solidification experiments on the International Space Station (ISS). The focus has been on the effect of convection on the microstructural evolution and macrosegregation in hypoeutectic Al-Si alloys during directional solidification (DS). Terrestrial DS-experiments have been carried out at Cleveland State University (CSU) and under microgravity on the International Space Station (ISS). The thermal processing-history of the experiments is well defined for both the terrestrially processed samples and the ISS-processed samples. As of this writing, two dendritic metrics was measured: primary dendrite arm spacings and primary dendrite trunk diameters. We have observed that these dendrite-metrics of two samples grown in the microgravity environment show good agreements with models based on diffusion controlled growth and diffusion controlled ripening, respectively. The gravity-driven convection (i.e., thermosolutal convection) in terrestrially grown samples has the effect of decreasing the primary dendrite arm spacings and causes macrosegregation. Dendrite trunk diameters also show differences between the earth- and space-grown samples. In order to process DS-samples aboard the ISS, the dendritic seed crystals were partially remelted in a stationary thermal gradient before the DS was carried out. Microstructural changes and macrosegregation effects during this period are described and have modeled.

Angart, S.↗

DOE OSTI2025

Over three decades, and counting, of near-surface turbulent flux measurements from the Atmospheric Radiation Measurement (ARM) user facility

Processes mediating the coupling of terrestrial, aquatic, biospheric, and atmospheric systems influence weather, climate, and ecosystem dynamics via transfer of energy, momentum, water, and carbon (or other species). These exchange processes are quantified by measurements of near-surface turbulent fluxes. Understanding processes at these interfaces provides insight toward understanding and predicting current and future states within the Earth system. The Atmospheric Radiation Measurement (ARM) user facility has been conducting measurements of near-surface turbulent fluxes since the early 1990s at long-term fixed locations and shorter-term mobile deployments across the Earth. ARM has utilized two established methods for conducting these measurements: energy balance Bowen ratio (EBBR) and eddy covariance (EC). Primary measurements from the former include sensible and latent heat flux, while the latter also measures fluxes of momentum and carbon (primarily carbon dioxide, with methane fluxes measured at two locations to date). The EBBR systems have been deployed at 22 locations, and, to date, the EC systems have been deployed at over 50 sites, with plans for additional novel site locations in the future. Herein, the history, evolution, and key aspects of these instrument systems are documented, along with information on data quality assurance and post-processing, as well as best use practices. Additionally, three data validation experiments were recently conducted, and their key findings are summarized. Finally, ancillary datasets acquired by ARM, which can contextualize and aid interpretation of the near-surface turbulent flux measurements, are discussed. The datasets described herein include the eddy correlation flux measurement system: 30ECOR (https://doi.org/10.5439/1879993, Sullivan et al., 1997), 30QCECOR (https://doi.org/10.5439/1097546, Gaustad, 2003), ECORSF (https://doi.org/10.5439/1494128, Sullivan et al., 2019a), and associated AmeriFlux and Methane Value-Added Product, AMCMETHANE (https://doi.org/10.5439/1508268, Billesbach, 2011); the energy balance Bowen ratio system: 30EBBR (https://doi.org/10.5439/1023895, Sullivan et al., 1993) and 30BAEBBR (https://doi.org/10.5439/1027268, Gaustad and Xie, 1993); and the carbon dioxide flux measurement system: CO2FLX (https://doi.org/10.5439/1287574, https://doi.org/10.5439/1287575, https://doi.org/10.5439/1287576, Koontz et al., 2015a, b, c; https://doi.org/10.5439/1989774, https://doi.org/10.5439/1989776, https://doi.org/10.5439/1992202, Biraud and Chan, 2002a, b, c). These data can be found by searching the above data stream names at https://adc.arm.gov/discovery/#/results/ (last access: 8 September 2025).

Sullivan, Ryan C. [Argonne National Laboratory (AN↗

NASA NTRS2015

Primary Dendrite Arm Spacings in Al-7Si Alloy Directionally Solidified on the International Space Station

Samples from directionally solidified Al- 7 wt. % Si have been analyzed for primary dendrite arm spacing (lambda) and radial macrosegregation. The alloy was directionally solidified (DS) aboard the ISS to determine the effect of mitigating convection on lambda and macrosegregation. Samples from terrestrial DS-experiments thermal histories are discussed for comparison. In some experiments, lambda was measured in microstructures that developed during the transition from one speed to another. To represent DS in the presence of no convection, the Hunt-Lu model was used to represent diffusion controlled growth under steady-state conditions. By sectioning cross-sections throughout the entire length of a solidified sample, lambda was measured and calculated using the model. During steady-state, there was reasonable agreement between the measured and calculated lambda's in the space-grown samples. In terrestrial samples, the differences between measured and calculated lambda's indicated that the dendritic growth was influenced by convection.

Angart, Samuel↗

NASA NTRS2024

Dual Glovebox Thermal Vacuum Chamber: Testing Capabilities for Spacesuit Arms and Gloves

The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station (ISS), the Crew and Thermal Systems Division (CTSD) at NASA Johnson Space Center (JSC) was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms and gloves in a simulated space environment versus testing with a full suit. The Dual Glovebox (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 5x10-4 Torr (0.066 Pa) with roughing and cryogenic pumps, and a wide range of temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater cables. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through two temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.

Extravehicular Activity (EVA)↗

NASA NTRSDate not supplied

Dual Glovebox Thermal Vacuum Chamber: Testing Capabilities for Spacesuit Arms and Gloves

The development of Extravehicular Activity (EVA) suits and hand mobility EVA tasks are complex, high risk, and difficult to test in a simulated space environment. During the early assembly of the International Space Station (ISS), the Crew and Thermal Systems Division (CTSD) at NASA Johnson Space Center (JSC) was tasked to design a chamber that could use two Extravehicular Mobility Unit (EMU) arms and gloves in a simulated space environment versus testing with a full suit. The Dual Glovebox (DGB) Chamber was built and served to help develop EVA tools and operations to assist with Return to Flight for the Space Shuttle after the Columbia accident. With the recent development of the Exploration Extravehicular Mobility Unit (xEMU) and new commercial suits through the Extravehicular Activities Services (xEVAS) contract, the DGB can support the need to do suit component testing at thermal extremes and EVA operations without the cost of full suit testing. The DGB can simulate realistic delta pressures, vacuum down to 5x10-4 Torr (0.066 Pa) with roughing and cryogenic pumps, and a wide range of temperatures achieved via a combination of Liquid Nitrogen (LN2), conditioned Gaseous Nitrogen (GN2), Infrared (IR) lamps, and heater cables. Recent developmental work has verified operational status of the chamber and expanded the capabilities of the DGB to include thermal contact testing of suit gloves through two temperature-controlled grab bars. This paper will discuss the history and capabilities of the DGB, and the chamber’s future role in the development of new spacesuit systems.

Extravehicular Activity (EVA)↗