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NASA NTRS2003

A Comparison of Model Calculation and Measurement of Absorbed Dose for Proton Irradiation

With the increase in the amount of time spent EVA that is necessary to complete the construction and subsequent maintenance of ISS, it will become increasingly important for ground support personnel to accurately characterize the radiation exposures incurred by EVA crewmembers. Since exposure measurements cannot be taken within the organs of interest, it is necessary to estimate these exposures by calculation. To validate the methods and tools used to develop these estimates, it is necessary to model experiments performed in a controlled environment. This work is such an effort. A human phantom was outfitted with detector equipment and then placed in American EMU and Orlan-M EVA space suits. The suited phantom was irradiated at the LLUPTF with proton beams of known energies. Absorbed dose measurements were made by the spaceflight operational dosimetrist from JSC at multiple sites in the skin, eye, brain, stomach, and small intestine locations in the phantom. These exposures are then modeled using the BRYNTRN radiation transport code developed at the NASA Langley Research Center, and the CAM (computerized anatomical male) human geometry model of Billings and Yucker. Comparisons of absorbed dose calculations with measurements show excellent agreement. This suggests that there is reason to be confident in the ability of both the transport code and the human body model to estimate proton exposure in ground-based laboratory experiments.

Zapp, N.↗

NASA NTRS2002

Innovation, Technology and Decision Making: A Perspective for Strategic Action in Firms

Innovation, technology, and the making of decisions are tightly intertwined in what can generally be called, strategic decision making. Although true for all firms, it is especially true in innovative, high technology firms that operate in a turbulent, fast moving environment where strategic decisions must be made accurately and quickly to survive. This paper looks at some factors reported in the literature that affect how and why the strategic decision process is so important, especially in companies in fast-moving, competitive environments. The work of several prominent authors who looked critically at past theory and research, and the current state of knowledge and practice, provides a perspective of how firms make strategic decisions.

Mulenburg, Gerald M.↗

NASA NTRS1996

Thermochemical Degradation Mechanisms for Reinforced Carbon/Carbon Panels on the Space Shuttle

The wing leading edge and nose cone of the space shuttle are fabricated from a reinforced carbon/carbon material (RCC). This material attains its durability from a diffusion coating of silicon carbide (SiC) and a glass sealant (ref. 1). During reentry, this material is subjected to an oxidizing high-temperature environment. Joint work between the Ohio State University and the NASA Lewis Research Center led to a survey of potential degradation mechanisms of the reinforced carbon/carbon (RCC) material at high temperatures

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NASA NTRS2004

Safety Aboard the International Space Station

As with any task that NASA takes on, safety is of utmost importaqce. There are pages of safety codes and procedures that must be followed before any idea can be brought to life. Unfortunately, the International Space Station s (ISS) safety regulations and procedures are based on lg standards rather than on Og. To aide in making this space age home away from home a less hazardous environment, I worked on several projects revolving around the dangers of flammable items in microgravity. The first task I was assigned was to track flames. This involves turning eight millimeter video recordings, of tests run in the five second drop tower, into avi format on the computer. The footage is then compressed and altered so that the flame can be seen more clearly. Using another program called Spotlight, line profiles were used to collect data describing the luminescence of the flame at different points. These raw data are saved as text files and run trough a macro so that a Matlab program can analyze it. By fitting the data to a curve and determining the areas of brightest luminescence, the behavior of the flame can be recorded numerically. After entering the data into a database, researchers can come back later and easily get information on flames resulting from different gas and liquid mixtures in microgravity. I also worked on phase two of the FATE project, which deals with safety aboard the ISS. This phase involves igniting projected droplets and determining how they react with secondary materials. Such simulations represent, on a small scale, the spread of onboard fires due to the effervescence of burning primary materials. I set up existing hardware to operate these experiments and ran tests with it, photographing the results. I also made CAD drawings of the apparatus and the area available on the (SF)2 rig for it to fit into. The experiment will later be performed on the KC-135, and the results gathered will be used to reanalyze current safety standards for the ISS, including the distance of required separation for flammable materials. Additional information is included in the original extended abstract.

Mintz, Shauna M.↗

NASA NTRS2005

Human Factors in Space Flight

After forty years of experience with human space flight (Table 1), the current emphasis is on the design of space vehicles, habitats, and missions to ensure mission success. What lessons have we learned that will affect the design of spacecraft for future space exploration, leading up to exploring Mars? This chapter addresses this issue in four sections: Anthropometry and Biomechanics; Environmental Factors; Habitability and Architecture; and Crew Personal Sustenance. This introductory section introduces factors unique to space flight. A unique consideration for design of a habitable volume in a space vehicle is the lack of gravity during a space flight, referred to as microgravity. This affects all aspects of life, and drives special features in the habitat, equipment, tools, and procedures. The difference in gravity during a space mission requires designing for posture and motion differences. In Earth s gravity, or even with partial gravity, orientation is not a variable because the direction in which gravity acts defines up and down. In a microgravity environment the working position is arbitrary; there is no gravity cue. Orientation is defined primarily through visual cues. The orientation within a particular crew station or work area is referred to as local vertical, and should be consistent within a module to increase crew productivity. Equipment was intentionally arranged in various orientations in one module on Skylab to assess the efficiency in use of space versus the effects of inconsistent layout. The effects of that arrangement were confusion on entering the module, time spent in re-orientation, and conflicts in crew space requirements when multiple crew members were in the module. Design of a space vehicle is constrained by the three major mission drivers: mass, volume and power. Each of these factors drives the cost of a mission. Mass and volume determine the size of the launch vehicle directly; they can limit consumables such as air, water, and propellant; and they impact crew size and the types of activities the crew performs. Power is a limiting factor for a space vehicle. All environmental features (e.g., atmosphere, temperature, lighting) require power to maintain them. Power can be generated from batteries, from fuel cells, or from solar panels. Each of these sources requires lifting mass and volume from Earth, driving mission cost. All engineering decisions directly impact the design for habitation design and usage. For instance, if fuel cells are used they produce water, which is used for drinking and food preparation. If a different power source is used water has to be carried and stored on the vehicle which then directly impacts the food system choice as well as the launch weight of the vehicle.

Woolford, Barbara J.↗

NASA NTRS2005

Cold Flow Plume Entrainment Test Final Report NTF Test Number 2456

As part of the Space Shuttle Return to Flight (RTF) program, Marshall Space Flight Center (MSFC) performed computational fluid dynamics (CFD) analysis to define the velocity flowfields around the Shuttle stack at liftoff. These CFD predicted velocity flowfields were used in debris transport analysis (DTA). High speed flows such as plumes induce or 'entrain' mass from the surrounding environment. Previous work had shown that CFD analysis over-predicts plume induced flows. Therefore, the DTA would tend to 1) predict more debris impacts, and 2) the debris velocity (and kinetic energy) of those impacts would be too high. At a November, 2004 peer-review it was recommended that the Liftoff DTA team quantify the uncertainty in the DTA caused by the CFD's over prediction of plume induced flow. To do so, the Liftoff DTA team needed benchmark quality data for plume induced flow to quantify the CFD accuracy and its effect on the DTA. MSFC's Nozzle Test Facility (NTF) conducted the "Nozzle Induced Flows test, P#2456" to obtain experimental data for plume induced flows for nozzle flow exhausting into q quiescent freestream. Planning for the test began in December, 2004 and the experimental data was obtained in February and March of 2005. The funding for this test was provided by MSFC's Space Shuttle Propulsion Systems Integration and Engineering office.

Ruf, Joseph H.↗

NASA NTRS2009

Satellite-Respondent Buoys Identify Ocean Debris

NASA operates a series of Earth-observing satellites, which help scientists learn more about our home planet. Through partnerships with universities and other government agencies, like the National Oceanic and Atmospheric Administration (NOAA), the Space Agency helps scientists around the world capture precise movements of the Earth s crust to learn more about the underground processes related to earthquakes and volcanic eruptions, create accurate assessments of wind resources for future energy use, and preserve endangered species by generating much-needed data about their environments. This work, done primarily from space with satellites using a variety of complex instruments to take readings of the surface below, generates leagues of valuable data that aid scientists on the ground - or in some cases on the water. As much of the Earth is covered in water liquid, frozen, saltwater, or fresh much of NASA s remote sensing work focuses on the oceans and their health. This valuable, mammoth (yet fragile) resource provides insight into the overall health of our planet, as water, in addition to being abundant, is a key ingredient to all known life on Earth. As part of its ocean-observing work, NASA partnered with NOAA and private industry to develop remote sensing technologies for protecting the seas of the North Pacific from a nefarious and pervasive problem: derelict fishing gear.

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NASA NTRS2010

Combined Heat Transfer in High-Porosity High-Temperature Fibrous Insulations: Theory and Experimental Validation

Combined radiation and conduction heat transfer through various high-temperature, high-porosity, unbonded (loose) fibrous insulations was modeled based on first principles. The diffusion approximation was used for modeling the radiation component of heat transfer in the optically thick insulations. The relevant parameters needed for the heat transfer model were derived from experimental data. Semi-empirical formulations were used to model the solid conduction contribution of heat transfer in fibrous insulations with the relevant parameters inferred from thermal conductivity measurements at cryogenic temperatures in a vacuum. The specific extinction coefficient for radiation heat transfer was obtained from high-temperature steady-state thermal measurements with large temperature gradients maintained across the sample thickness in a vacuum. Standard gas conduction modeling was used in the heat transfer formulation. This heat transfer modeling methodology was applied to silica, two types of alumina, and a zirconia-based fibrous insulation, and to a variation of opacified fibrous insulation (OFI). OFI is a class of insulations manufactured by embedding efficient ceramic opacifiers in various unbonded fibrous insulations to significantly attenuate the radiation component of heat transfer. The heat transfer modeling methodology was validated by comparison with more rigorous analytical solutions and with standard thermal conductivity measurements. The validated heat transfer model is applicable to various densities of these high-porosity insulations as long as the fiber properties are the same (index of refraction, size distribution, orientation, and length). Furthermore, the heat transfer data for these insulations can be obtained at any static pressure in any working gas environment without the need to perform tests in various gases at various pressures.

Daryabeigi, Kamran↗

NASA NTRS2012

Radiation and Thermal Cycling Effects on EPC1001 Gallium Nitride Power Transistors

Electronics designed for use in NASA space missions are required to work efficiently and reliably under harsh environment conditions. These include radiation, extreme temperatures, and thermal cycling, to name a few. Information pertaining to performance of electronic parts and systems under hostile environments is very scarce, especially for new devices. Such data is very critical so that proper design is implemented in order to ensure mission success and to mitigate risks associated with exposure of on-board systems to the operational environment. In this work, newly-developed enhancement-mode field effect transistors (FET) based on gallium nitride (GaN) technology were exposed to various particles of ionizing radiation and to long-term thermal cycling over a wide temperature range. Data obtained on control (un-irradiated) and irradiated samples of these power transistors are presented and the results are discussed.

Patterson, Richard L.↗

NASA NTRS2014

Robonaut 2 - IVA Experiments On-Board ISS and Development Towards EVA Capability

Robonaut 2 (R2) has completed its fixed base activities on-board the ISS and is scheduled to receive its climbing legs in early 2014. In its continuing line of firsts, the R2 torso finished up its on-orbit activities on its stanchion with the manipulation of space blanket materials and performed multiple tasks under teleoperation control by IVA astronauts. The successful completion of these two IVA experiments is a key step in Robonaut's progression towards an EVA capability. Integration with the legs and climbing inside the ISS will provide another important part of the experience that R2 will need prior to performing tasks on the outside of ISS. In support of these on-orbit activities, R2 has been traversing across handrails in simulated zero-g environments and working with EVA tools and equipment on the ground to determine manipulation strategies for an EVA Robonaut. R2 made significant advances in robotic manipulation of deformable materials in space while working with its softgoods task panel. This panel features quarter turn latches that secure a space blanket to the task panel structure. The space blanket covers two cloth cubes that are attached with Velcro to the structure. R2 was able to open and close the latches, pull back the blanket, and remove the cube underneath. R2 simulated cleaning up an EVA worksite as well, by replacing the cube and reattaching the blanket. In order to interact with the softgoods panel, R2 has both autonomously and with a human in the loop identified and localized these deformable objects. Using stereo color cameras, R2 identified characteristic elements on the softgoods panel then extracted the location and orientation of the object in its field of view using stereo disparity and kinematic transforms. R2 used both vision processing and supervisory control to successfully accomplish this important task. Teleoperation is a key capability for Robonaut's effectiveness as an EVA system. To build proficiency, crewmembers have attempted increasingly difficult tasks using R2 inside the Station. After donning motion capture equipment and a virtual reality visor, Expedition 34/35 flight engineer Tom Marshburn began operations with simple hand movements. Having gained confidence, Marshburn guided R2's arms in a leader-follower exercise with crewmate Chris Cassidy. He was also able to use the hand to grab a tumbling roll of tape, a task only demonstrable in microgravity. Later efforts saw Cassidy handle softgoods through shared control with ground operators, mimicking an activity previously achieved using only autonomy. Robotic climbing through the ISS on handrails requires both precision motion and compliant grasps in order to both position grippers on handrails/seat track and prevent large internal forces. R2 climbs using actively controlled compliance and torque limiting to meet both the precision and softness requirements. During a step, the attached leg is controlled to be strong and stiff in order to maintain precision trajectory tracking. The swing leg is controlled to be stiff but weak to minimize unintentional impact forces while maintaining precision. During a simulated dual limb grasp (as shown in Figure 1), the R2 controller maintains one limb rigid and one limb soft to prevent large internal forces from building up. R2's grippers also use a form of force control to limit grip force while not fully closed on either a handrail or seat track thus limiting unintentional forces on cables/objects that may be present in R2's translational path. The on-board torso R2 safety system relies on a single end-effector velocity limit to prevent potential impact forces from exceeding Station maximum load requirements. R2's mobile configuration required modifications to the velocity limiting safety function due to its large, dynamic inertia. R2's legs maneuver the robot's mass creating configuration dependent, joint-relative inertias. A single all-encompassing velocity limit to cover worst case inertia is prohibitively low. The upgraded R2 control and safety systems solve this problem using momentum limiting, momentum control, and kinetic energy minimization. Momentum and kinetic energy take the robot mass into account relieving low velocity restrictions on low inertia end-effectors while ensuring that the overall mass of R2 is limited from hazardous velocities. The momentum of R2's five safety nodes (each of the four end-effectors and the body) is monitored and compared to a single momentum limit. If any of the five nodes exceeds the safety limit, the motor power is removed and the robot comes to a stop. Momentum control/limiting also provides a simple, reliable method to integrate hand held tools into the safety system by providing the tool mass to the control system thus automatically reducing the allowable velocity of the end-effector with the tool. Work on the ground continues to build the skill set for an EVA Robonaut. Recent experiments (Figure 2) demonstrate how a teleoperator can use R2 to manipulate a tether hook, an important safety precaution on spacewalks. Another task displayed Robonaut's ability to pull back a protective jacket over a hose and search for damage, as well as inspect a quick-disconnect fitting for debris. Demonstrations such as these are indicative of EVA work done on ISS, specifically seen during a series of spacewalks over 2012 and 2013 where astronauts searched for an ammonia leak in one of the external cooling loops. Through experiments both on ISS and on the ground, R2 is evolving and providing the information needed to plan out the upgrades that will make an EVA Robonaut an effective tool. With the addition of legs, R2 will start climbing inside the space station and supply invaluable information on how the climbing strategies and task stabilization techniques must be refined. Ground R2 systems will continue to work with additional EVA tools and equipment in preparation for onboard IVA testing and future EVA applications.

Diftler, Myron↗

NASA NTRS2014

Assimilation of Dual-Polarimetric Radar Observations with WRF GSI

Dual-polarimetric (dual-pol) radar typically transmits both horizontally and vertically polarized radio wave pulses. From the two different reflected power returns, more accurate estimate of liquid and solid cloud and precipitation can be provided. The upgrade of the traditional NWS WSR-88D radar to include dual-pol capabilities will soon be completed for the entire NEXRAD network. Therefore, the use of dual-pol radar network will have a broad impact in both research and operational communities. The assimilation of dual-pol radar data is especially challenging as few guidelines have been provided by previous research. It is our goal to examine how to best use dual-pol radar data to improve forecast of severe storm and forecast initialization. In recent years, the Development Testbed Center (DTC) has released the community Gridpoint Statistical Interpolation (GSI) DA system for the Weather Research and Forecasting (WRF) model. The community GSI system runs in independently environment, yet works functionally equivalent to operational centers. With collaboration with the NASA Short-term Prediction Research and Transition (SPoRT) Center, this study explores regional assimilation of the dual-pol radar variables from the WSR-88D radars for real case storms. Our presentation will highlight our recent effort on incorporating the horizontal reflectivity (ZH), differential reflectivity (ZDR), specific differential phase (KDP), and radial velocity (VR) data for initializing convective storms, with a significant focus being on an improved representation of hydrometeor fields. In addition, discussion will be provided on the development of enhanced assimilation procedures in the GSI system with respect to dual-pol variables. Beyond the dual-pol variable assimilation procedure developing within a GSI framework, highresolution (≤1 km) WRF model simulations and storm scale data assimilation experiments will be examined, emphasizing both model initialization and short-term forecast of precipitation fields and processes. Further details of the methodology of data assimilation, the impact of different dual-pol variables, the influence on precipitation forecast will be presented at the conference.

Li, Xuanli↗

NASA NTRS2014

Assimilation of Dual-Polarimetric Radar Observations with WRF GSI

Li, Xuanli↗

NASA NTRS2015

When the Sky Falls: Performing Initial Assessments of Bright Atmospheric Events

The 2013 Chelyabinsk super bolide was the first "significant" impact event to occur in the age of social media and 24 hour news. Scientists, used to taking many days or weeks to analyze fireball events, were hard pressed to meet the immediate demands (within hours) for answers from the media, general public, and government officials. Fulfilling these requests forced many researchers to exploit information available from various Internet sources - videos were downloaded from sites like Youtube, geolocated via Google Street View, and quickly analyzed with improvised software; Twitter and Facebook were scoured for eyewitness accounts of the fireball and reports of meteorites. These data, combined with infrasound analyses, enabled a fairly accurate description of the Chelyabinsk event to be formed within a few hours; in particular, any relationship to 2012 DA14 (which passed near Earth later that same day) was eliminated. Results of these analyses were quickly disseminated to members of the NEO community for press conferences and media interviews. Despite a few minor glitches, the rapid initial assessment of Chelyabinsk was a triumph, permitting the timely conveyance of accurate information to the public and the incorporation of social media into fireball analyses. Beginning in 2008, the NASA Meteoroid Environments Office, working in cooperation with Western's Meteor Physics Group, developed processes and software that permit quick characterization - mass, trajectory, and orbital properties - of fireball events. These tools include automated monitoring of Twitter to establish the time of events (the first tweet is usually no more than a few seconds after the fireball), mining of Youtube and all sky camera web archives to locate videos suitable for analyses, use of Google Earth and Street View to geolocate the video locations, and software to determine the fireball trajectory and object orbital parameters, including generation of animations suitable for popular media and presentations. This presentation will give a short description of the characterization procedure and show applications of the tools, which have become vital to answering the question of "What was that bright light in the sky?" in the post-Chelyabinsk, 24/7 news world.

Cooke, William J.↗

NASA NTRS2017

Robonaut 2 and You: Specifying and Executing Complex Operations

Crew time is a precious resource due to the expense of trained human operators in space. Efficient caretaker robots could lessen the manual labor load required by frequent vehicular and life support maintenance tasks, freeing astronaut time for scientific mission objectives. Humanoid robots can fluidly exist alongside human counterparts due to their form, but they are complex and high-dimensional platforms. This paper describes a system that human operators can use to maneuver Robonaut 2 (R2), a dexterous humanoid robot developed by NASA to research co-robotic applications. The system includes a specification of constraints used to describe operations, and the supporting planning framework that solves constrained problems on R2 at interactive speeds. The paper is developed in reference to an illustrative, typical example of an operation R2 performs to highlight the challenges inherent to the problems R2 must face. Finally, the interface and planner is validated through a case-study using the guiding example on the physical robot in a simulated microgravity environment. This work reveals the complexity of employing humanoid caretaker robots and suggest solutions that are broadly applicable.

Baker, William↗

NASA NTRS2017

Assessment of Suited Reach Envelope in an Underwater Environment

Predicting the performance of a crewmember in an extravehicular activity (EVA) space suit presents unique challenges. The kinematic patterns of suited motions are difficult to reproduce in gravity. Additionally, 3-D suited kinematics have been practically and technically difficult to quantify in an underwater environment, in which crewmembers are commonly trained and assessed for performance. The goal of this study is to develop a hardware and software system to predictively evaluate the kinematic mobility of suited crewmembers, by measuring the 3-D reach envelope of the suit in an underwater environment. This work is ultimately aimed at developing quantitative metrics to compare the mobility of the existing Extravehicular Mobility Unit (EMU) to newly developed space suit, such as the Z-2. The EMU has been extensively used at NASA since 1981 for EVA outside the Space Shuttle and International Space Station. The Z-2 suit is NASA's newest prototype space suit. The suit is comprised of new upper torso and lower torso architectures, which were designed to improve test subject mobility.

Kim, Han↗

NASA NTRS2017

Initial Study of an Effective Fast-Time Simulation Platform for Unmanned Aircraft System Traffic Management

Small Unmanned Aerial Vehicles (sUAVs), typically 55 lbs and below, are envisioned to play a major role in surveilling critical assets, collecting important information, and delivering goods. Large scale small UAV operations are expected to happen in low altitude airspace in the near future. Many static and dynamic constraints exist in low altitude airspace because of manned aircraft or helicopter activities, various wind conditions, restricted airspace, terrain and man-made buildings, and conflict-avoidance among sUAVs. High sensitivity and high maneuverability are unique characteristics of sUAVs that bring challenges to effective system evaluations and mandate such a simulation platform different from existing simulations that were built for manned air traffic system and large unmanned fixed aircraft. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative focuses on enabling safe and efficient sUAV operations in the future. In order to help define requirements and policies for a safe and efficient UTM system to accommodate a large amount of sUAV operations, it is necessary to develop a fast-time simulation platform that can effectively evaluate requirements, policies, and concepts in a close-to-reality environment. This work analyzed the impacts of some key factors including aforementioned sUAV's characteristics and demonstrated the importance of these factors in a successful UTM fast-time simulation platform.

UTM↗

NASA NTRS2017

Collaborative Data Publication Utilizing the Open Data Repository's (ODR) Data Publisher

Introduction: For small communities in diverse fields such as astrobiology, publishing and sharing data can be a difficult challenge. While large, homogenous fields often have repositories and existing data standards, small groups of independent researchers have few options for publishing standards and data that can be utilized within their community. In conjunction with teams at NASA Ames and the University of Arizona, the Open Data Repository's (ODR) Data Publisher has been conducting ongoing pilots to assess the needs of diverse research groups and to develop software to allow them to publish and share their data collaboratively. Objectives: The ODR's Data Publisher aims to provide an easy-to-use and implement software tool that will allow researchers to create and publish database templates and related data. The end product will facilitate both human-readable interfaces (web-based with embedded images, files, and charts) and machine-readable interfaces utilizing semantic standards. Characteristics: The Data Publisher software runs on the standard LAMP (Linux, Apache, MySQL, PHP) stack to provide the widest server base available. The software is based on Symfony (www.symfony.com) which provides a robust framework for creating extensible, object-oriented software in PHP. The software interface consists of a template designer where individual or master database templates can be created. A master database template can be shared by many researchers to provide a common metadata standard that will set a compatibility standard for all derivative databases. Individual researchers can then extend their instance of the template with custom fields, file storage, or visualizations that may be unique to their studies. This allows groups to create compatible databases for data discovery and sharing purposes while still providing the flexibility needed to meet the needs of scientists in rapidly evolving areas of research. Research: As part of this effort, a number of ongoing pilot and test projects are currently in progress. The Astrobiology Habitable Environments Database Working Group is developing a shared database standard using the ODR's Data Publisher and has a number of example databases where astrobiology data are shared. Soon these databases will be integrated via the template-based standard. Work with this group helps determine what data researchers in these diverse fields need to share and archive. Additionally, this pilot helps determine what standards are viable for sharing these types of data from internally developed standards to existing open standards such as the Dublin Core (http://dublincore.org) and Darwin Core (http://rs.twdg.org) metadata standards. Further studies are ongoing with the University of Arizona Department of Geosciences where a number of mineralogy databases are being constructed within the ODR Data Publisher system. Conclusions: Through the ongoing pilots and discussions with individual researchers and small research teams, a definition of the tools desired by these groups is coming into focus. As the software development moves forward, the goal is to meet the publication and collaboration needs of these scientists in an unobtrusive and functional way.

easy to use and implement software tool↗

NASA NTRS2017

Initial Study of An Effective Fast-Time Simulation Platform for Unmanned Aircraft System Traffic Management

UTM↗