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At least 55 records · Page 3

Three-dimensional culture of a mixed mullerian tumor of the ovary: expression of in vivo characteristics

The Rotating-Wall Vessel (RWV) is a novel in vitro cell culture system used to successfully culture a cell line derived from a heterologous mixed mullerian tumor cell of the ovary. Although the original tumor was comprised of both epithelial and mesodermal components, long-term culture in conventional flasks established a cell line from this tumor with homogeneous epitheliallike growth characteristics (1). Cells from Passage 36 were seeded into a Rotating-Wall Vessel containing Cytodex-3 microcarrier beads. Scanning electron micrographs of tumor cells cultured for 32 d in the RWV showed the presence of heterogeneous cell populations organized into three-dimensional tissuelike architecture. Immunocytochemical analysis confirmed the cellular heterogeneity, as demonstrated by expression of both epithelial and mesenchymal antigens. Reverse transcription polymerase chain reaction amplification demonstrated the presence of mRNA for cellular oncogenes HER-2/neu, H-ras, K-ras, and tumor suppressor p53. Thus, there are two advantages to propagation of tissue in the RWV culture system:(a) tissue diversification representing populations present in the original tumor, and (b) the three-dimensional freedom to organize tissues morphologically akin to those observed in vivo. These data indicate that the RWV culture system is suitable for generating large quantities of ovarian tumor cells in vitro that are amenable to immunocytochemical, oncogenic, morphologic characteristics demonstrated in vivo.

Mixed Tumor, Mullerian/ultrastructure↗

Modeled Microgravity Disrupts Collagen I/Integrin Signaling During Osteoblastic Differentiation of Human Mesenchymal Stem Cells

Spaceflight leads to reduced bone mineral density in weight bearing bones that is primarily attributed to a reduction in bone formation. We have previously demonstrated severely reduced osteoblastogenesis of human mesenchymal stem cells (hMSC) following seven days culture in modeled microgravity. One potential mechanism for reduced osteoblastic differentiation is disruption of type I collagen-integrin interactions and reduced integrin signaling. Integrins are heterodimeric transmembrane receptors that bind extracellular matrix proteins and produce signals essential for proper cellular function, survival, and differentiation. Therefore, we investigated the effects of modeled microgravity on integrin expression and function in hMSC. We demonstrate that seven days of culture in modeled microgravity leads to reduced expression of the extracellular matrix protein, type I collagen (Col I). Conversely, modeled microgravity consistently increases Col I-specific alpha2 and beta1 integrin protein expression. Despite this increase in integrin sub-unit expression, autophosphorylation of adhesion-dependent kinases, focal adhesion kinase (FAK) and proline-rich tyrosine kinase 2 (PYK2), is significantly reduced. Activation of Akt is unaffected by the reduction in FAK activation. However, reduced downstream signaling via the Ras-MAPK pathway is evidenced by a reduction in Ras and ERK activation. Taken together, our findings indicate that modeled microgravity decreases integrin/MAPK signaling, which likely contributes to the observed reduction in osteoblastogenesis.

Meyers, Valerie E.↗

Microgravity and Signaling Molecules in Rat Osteoblasts: Downstream of Receptor Tyrosine Kinase, G-Protein-Coupled Receptor, and Small GTP-Binding Proteins

Rat osteoblasts were cultured for 4 and 5 days aboard Space Shuttle and solubilized on board. The mRNA levels of the post-receptor signaling molecules were analyzed by quantitative RT-PCR. The G-protein alpha subunit G(alpha)q mRNA levels were elevated 3-fold by microgravity. G(alpha)q stimulates PLC(beta), and then PKC. PKC(delta) and PKC(theta) mRNA levels were increased 2- to 5-fold by microgravity The mRNA levels of SOS and Ras GRF were increased 4 to 5-fold by microgravity, while Ras GAP was not altered. Spaceflight-induced bone loss might be attributed to microgravity modulation of the signaling pathway in osteoblasts.

Kumel, Yasuhiro↗

Results of NASA/NOAA HES Trade Studies

This slide presentation reviews the trade studies that were done for the Hyperspectral Environmental Suite (HES). The goal of the trade studies was to minimize instrument cost and risk while producing scientifically useful products. Three vendors were selected to perform the trade study, and were to conduct 11 studies, with the first study a complete wish list of things that scientists would like from GEO orbit to the 11th study which was for a Reduced Accommodation Sounder (RAS) which would still result in useful scientific products, within constrains compatible with flight on GEOS-R. The RAS's from each vendor and one other HES sounders designs are reviewed.

Susskind, Joel↗

Progress Toward Affordable High Fidelity Combustion Simulations Using Filtered Density Functions for Hypersonic Flows in Complex Geometries

Significant progress has been made in the development of subgrid scale (SGS) closures based on a filtered density function (FDF) for large eddy simulations (LES) of turbulent reacting flows. The FDF is the counterpart of the probability density function (PDF) method, which has proven effective in Reynolds averaged simulations (RAS). However, while systematic progress is being made advancing the FDF models for relatively simple flows and lab-scale flames, the application of these methods in complex geometries and high speed, wall-bounded flows with shocks remains a challenge. The key difficulties are the significant computational cost associated with solving the FDF transport equation and numerically stiff finite rate chemistry. For LES/FDF methods to make a more significant impact in practical applications a pragmatic approach must be taken that significantly reduces the computational cost while maintaining high modeling fidelity. An example of one such ongoing effort is at the NASA Langley Research Center, where the first generation FDF models, namely the scalar filtered mass density function (SFMDF) are being implemented into VULCAN, a production-quality RAS and LES solver widely used for design of high speed propulsion flowpaths. This effort leverages internal and external collaborations to reduce the overall computational cost of high fidelity simulations in VULCAN by: implementing high order methods that allow reduction in the total number of computational cells without loss in accuracy; implementing first generation of high fidelity scalar PDF/FDF models applicable to high-speed compressible flows; coupling RAS/PDF and LES/FDF into a hybrid framework to efficiently and accurately model the effects of combustion in the vicinity of the walls; developing efficient Lagrangian particle tracking algorithms to support robust solutions of the FDF equations for high speed flows; and utilizing finite rate chemistry parametrization, such as flamelet models, to reduce the number of transported reactive species and remove numerical stiffness. This paper briefly introduces the SFMDF model (highlighting key benefits and challenges), and discusses particle tracking for flows with shocks, the hybrid coupled RAS/PDF and LES/FDF model, flamelet generated manifolds (FGM) model, and the Irregularly Portioned Lagrangian Monte Carlo Finite Difference (IPLMCFD) methodology for scalable simulation of high-speed reacting compressible flows.

Drozda, Tomasz G.↗

Impacts of the Convective Transport Algorithm on Atmospheric Composition and Ozone-Climate Feedbacks in GEOS-CCM

Convective transport is one of the dominant factors in determining the composition of the troposphere. It is the main mechanism for lofting constituents from near-surface source regions to the middle and upper troposphere, where they can subsequently be advected over large distances. Gases reaching the upper troposphere can also be injected through the tropopause and play a subsequent role in the lower stratospheric ozone balance. Convection codes in climate models remain a great source of uncertainty for both the energy balance of the general circulation and the transport of constituents. This study uses the Goddard Earth Observing System Chemistry-Climate Model (GEOS CCM) to perform a controlled experiment that isolates the impact of convective transport of constituents from the direct changes on the atmospheric energy balance. Two multi-year simulations are conducted. In the first, the thermodynamic variable, moisture, and all trace gases are transported using the multi-plume Relaxed-Arakawa-Schubert (RAS) convective parameterization. In the second simulation, RAS impacts the thermodynamic energy and moisture in this standard manner, but all other constituents are transported differently. The accumulated convective mass fluxes (including entrainment and detrainment) computed at each time step of the GCM are used with a diffusive (bulk) algorithm for the vertical transport, which above all is less efficient at transporting constituents from the lower to the upper troposphere. Initial results show the expected differences in vertical structure of trace gases such as carbon monoxide, but also show differences in lower stratospheric ozone, in a region where it can potentially impact the climate state of the model. This work will investigate in more detail the impact of convective transport changes by comparing the two simulations over many years (1996-2010), focusing on comparisons with observed constituent distributions and similarities and differences of patterns of inter-annual variability caused by the convective transport algorithm. In particular, the impact on lower stratospheric composition will be isolated and the subsequent feedbacks of ozone on the climate forcing and tropopause structure will be assessed.

Pawson, S.↗

Varying Levels of Automation on UAS Operator Responses to Traffic Resolution Advisories in Civil Airspace

Continuing demand for the use of Unmanned Aircraft Systems (UAS) has put increasing pressure on operations in civil airspace. The need to fly UAS in the National Airspace System (NAS) in order to perform missions vital to national security and defense, emergency management, and science is increasing at a rapid pace. In order to ensure safe operations in the NAS, operators of unmanned aircraft, like those of manned aircraft, may be required to maintain separation assurance and avoid loss of separation with other aircraft while performing their mission tasks. This experiment investigated the effects of varying levels of automation on UAS operator performance and workload while responding to conflict resolution instructions provided by the Tactical Collision Avoidance System II (TCAS II) during a UAS mission in high-density airspace. The purpose of this study was not to investigate the safety of using TCAS II on UAS, but rather to examine the effect of automation on the ability of operators to respond to traffic collision alerts. Six licensed pilots were recruited to act as UAS operators for this study. Operators were instructed to follow a specified mission flight path, while maintaining radio contact with Air Traffic Control and responding to TCAS II resolution advisories. Operators flew four, 45 minute, experimental missions with four different levels of automation: Manual, Knobs, Management by Exception, and Fully Automated. All missions included TCAS II Resolution Advisories (RAs) that required operator attention and rerouting. Operator compliance and reaction time to RAs was measured, and post-run NASA-TLX ratings were collected to measure workload. Results showed significantly higher compliance rates, faster responses to TCAS II alerts, as well as less preemptive operator actions when higher levels of automation are implemented. Physical and Temporal ratings of workload were significantly higher in the Manual condition than in the Management by Exception and Fully Automated conditions.

Kenny, Caitlin↗

A Priori Analysis of Flamelet-Based Modeling for a Dual-Mode Scramjet Combustor

An a priori investigation of the applicability of flamelet-based combustion models to dual-mode scramjet combustion was performed utilizing Reynolds-averaged simulations (RAS). For this purpose, the HIFiRE Direct Connect Rig (HDCR) flowpath, fueled with a JP-7 fuel surrogate and operating in dual- and scram-mode was considered. The chemistry of the JP-7 fuel surrogate was modeled using a 22 species, 18-step chemical reaction mechanism. Simulation results were compared to experimentally-obtained, time-averaged, wall pressure measurements to validate the RAS solutions. The analysis of the dual-mode operation of this flowpath showed regions of predominately non-premixed, high-Damkohler number, combustion. Regions of premixed combustion were also present but associated with only a small fraction of the total heat-release in the flow. This is in contrast to the scram-mode operation, where a comparable amount of heat is released from non-premixed and premixed combustion modes. Representative flamelet boundary conditions were estimated by analyzing probability density functions for temperature and pressure for pure fuel and oxidizer conditions. The results of the present study reveal the potential for a flamelet model to accurately model the combustion processes in the HDCR and likely other high-speed flowpaths of engineering interest.

Quinlan, Jesse R.↗

Pre-Test CFD for the Design and Execution of the Enhanced Injection and Mixing Project at NASA Langley Research Center

With the increasing costs of physics experiments and simultaneous increase in availability and maturity of computational tools it is not surprising that computational fluid dynamics (CFD) is playing an increasingly important role, not only in post-test investigations, but also in the early stages of experimental planning. This paper describes a CFD-based effort executed in close collaboration between computational fluid dynamicists and experimentalists to develop a virtual experiment during the early planning stages of the Enhanced Injection and Mixing project at NASA Langley Research Center. This projects aims to investigate supersonic combustion ramjet (scramjet) fuel injection and mixing physics, improve the understanding of underlying physical processes, and develop enhancement strategies and functional relationships relevant to flight Mach numbers greater than 8. The purpose of the virtual experiment was to provide flow field data to aid in the design of the experimental apparatus and the in-stream rake probes, to verify the nonintrusive measurements based on NO-PLIF, and to perform pre-test analysis of quantities obtainable from the experiment and CFD. The approach also allowed for the joint team to develop common data processing and analysis tools, and to test research ideas. The virtual experiment consisted of a series of Reynolds-averaged simulations (RAS). These simulations included the facility nozzle, the experimental apparatus with a baseline strut injector, and the test cabin. Pure helium and helium-air mixtures were used to determine the efficacy of different inert gases to model hydrogen injection. The results of the simulations were analyzed by computing mixing efficiency, total pressure recovery, and stream thrust potential. As the experimental effort progresses, the simulation results will be compared with the experimental data to calibrate the modeling constants present in the CFD and validate simulation fidelity. CFD will also be used to investigate different injector concepts, improve understanding of the flow structure and flow physics, and develop functional relationships. Both RAS and large eddy simulations (LES) are planned for post-test analysis of the experimental data.

Drozda, Tomasz G.↗

A Solar Aspect System for the HEROES Mission

A new Solar Aspect System (SAS) has been developed to provide the ability to observe the Sun on an existing balloon payload HERO (short for High Energy Replicated Optics). Developed under the HEROES program (High Energy Replicated Optics to Explore the Sun), the SAS aspect system provides solar pointing knowledge in pitch, yaw, and roll. The required precision of these measurements must be better than the HEROES X-ray resolution of approximately 20 arcsec Full Width at Half Maximum (FWHM) so as to not degrade the image resolution. The SAS consists of two separate systems: the Pitch-Yaw Aspect System (PYAS) and the Roll Aspect System (RAS). The PYAS functions by projecting an image of the Sun onto a screen with precision fiducials. A CCD camera takes an image of these fiducials, and an automated algorithm determines the location of the Sun as well as the location of the fiducials. The spacing between fiducials is unique and allows each to be identified so that the location of the Sun on the screen can be precisely determined. The RAS functions by imaging the Earth's horizon in opposite directions using a silvered prism imaged by a CCD camera. The design and first results of the performance of these systems during the HEROES flight which occurred in September 2013 are presented here.

HEROES↗

Defining the Collision Avoidance Region for DAA Systems

Unmanned aircraft systems (UAS) will be required to equip with a detect-­‐and-­‐avoid (DAA) system in order to satisfy the federal aviation regulations to maintain well clear of other aircraft, some of which may be equipped with a Traffic Collision Avoidance System (TCAS) to mitigate the possibility of mid-­‐air collisions. As such, the minimum operational performance standards (MOPS) for UAS DAA systems are being designed with TCAS interoperability in mind by a group of industry, government, and academic institutions named RTCA Special Committee-228 (SC-228). This document will discuss the development of the spatial-­‐temporal volume known as the collision avoidance region in which the DAA system is not allowed to provide vertical guidance to maintain or regain DAA well clear that could conflict with resolution advisories (RAs) issued by the intruder aircraft's TCAS system. Three collision avoidance region definition candidates were developed based on the existing TCAS RA and DAA alerting definitions. They were evaluated against each other in terms of their interoperability with TCAS RAs and DAA alerts in an unmitigated factorial encounter analysis of 1.3 million simulated pairs.

collision avoidance region↗

Ensuring Interoperability between UAS Detect-and-Avoid and Manned Aircraft Collision Avoidance

The UAS community in the United States has identified the need for a collision avoidance region in which UAS Detect-and-Avoid (DAA) vertical guidance is restricted to preclude interoperability issues with manned aircraft collision avoidance system vertical resolution advisories (RAs). This paper documents the process by which the collision avoidance region was defined. Three candidate definitions were evaluated on 1.3 million simulated pairwise encounters between UAS and manned aircraft covering a wide range of horizontal and vertical closure rates, angles, and miss distances. They were evaluated with regard to UAS DAA interoperability with manned aircraft collision avoidance systems in terms of: 1) the primary objective of restricting DAA vertical guidance before RAs when the aircraft are close, and 2) the secondary objective of avoiding unnecessary restrictions of DAA vertical guidance at a DAA alert when the aircraft are further apart. The collision avoidance region definition that fully achieves the primary objective and best achieves the secondary objective was recommended to and accepted by the UAS community in the United States. By this definition, UAS and manned aircraft are in the collision avoidance region--during which DAA vertical guidance is restricted--when the time to closest point of approach is less than 50 seconds and either the time to co-altitude is less than 50 seconds or the current vertical separation is less than 800 feet.

collision avoidance↗

Comparisons Between NO PLIF Imaging and CFD Simulations of Mixing Flowfields for High-Speed Fuel Injectors

The current work compares experimentally and computationally obtained nitric oxide (NO) planar laser induced fluorescence (PLIF) images of the mixing flowfields for three types of high-speed fuel injectors: a strut, a ramp, and a rectangular flushwall. These injection devices, which exhibited promising mixing performance at lower flight Mach numbers, are currently being studied as a part of the Enhanced Injection and Mixing Project (EIMP) at the NASA Langley Research Center. The EIMP aims to investigate scramjet fuel injection and mixing physics, and improve the understanding of underlying physical processes relevant to flight Mach numbers greater than eight. In the experiments, conducted in the NASA Langley Arc-Heated Scramjet Test Facility (AHSTF), the injectors are placed downstream of a Mach 6 facility nozzle, which simulates the high Mach number air flow at the entrance of a scramjet combustor. Helium is used as an inert substitute for hydrogen fuel. Both schlieren and PLIF techniques are applied to obtain mixing flowfield flow visualizations. The experimental PLIF is obtained by using a UV laser sheet to interrogate a plane of the flow by exciting fluorescence from the NO molecules, which are present in the AHSTF air. Consequently, the absence of signal in the resulting PLIF images is an indication of pure helium (fuel). The computational PLIF is obtained by applying a fluorescence model for NO to the results of the Reynolds-averaged simulations (RAS) of the mixing flow field carried out using the VULCAN-CFD solver. This approach is required because the PLIF signal is a nonlinear function of not only NO concentration, but also pressure, temperature, and the flow velocity. This complexity allows additional flow features to be identified and compared with those obtained from the computational fluid dynamics (CFD) simulations, however, such comparisons are only semiquantitative. Three-dimensional image reconstruction, similar to that used in magnetic resonance imaging, is also used to obtain images in the streamwise and spanwise planes from select cross-stream PLIF plane data. Synthetic schlieren is also computed from the RAS data. Good agreement between the experimental and computational results provides increased confidence in the CFD simulations for investigations of injector performance.

Drozda, Tomasz G.↗

Ensuring Interoperability Between Unmanned Aircraft Detect-and-Avoid and Manned Aircraft Collision Avoidance

The Unmanned Aircraft Systems (UAS) community in the United States has identified the need for a collision avoidance region in which UAS Detect-and-Avoid (DAA) vertical guidance is restricted to preclude interoperability issues with manned aircraft collision avoidance system vertical resolution advisories (RAs). This paper documents the process by which the collision avoidance region was defined. Three candidate definitions were evaluated on 1.3 million simulated pairwise encounters between UAS and manned aircraft covering a wide range of horizontal and vertical closure rates, angles, and miss distances. Each definition was evaluated with regard to UAS DAA interoperability with manned aircraft collision avoidance in terms of how well it achieved: 1) the primary objective of restricting DAA vertical guidance prior to RAs when the aircraft are close, and 2) the secondary objective of avoiding unnecessary restrictions of DAA vertical guidance at DAA alerts when the aircraft are further apart. The collision avoidance region definition that fully achieves the primary objective and best achieves the secondary objective was recommended to and accepted by the UAS community in the United States. By this definition, UAS and manned aircraft are in the collision avoidance region where DAA vertical guidance is restricted when the time to closest point of approach (CPA) is less than 50 seconds and either the time to co-altitude is less than 50 seconds or the current vertical separation is less than 800 feet.

unmanned aircraft systems; collision avoidance; in↗

An Interoperability Concept for Detect and Avoid and Collision Avoidance Systems: Results from a Human-In-The-Loop Simulation

The integration of Unmanned Aircraft Systems (UAS) into the National Airspace System (NAS) poses a variety of technical challenges to UAS developers and aviation regulators. In response to growing demand for access to civil airspace in the United States, the Federal Aviation Administration (FAA) has produced a roadmap identifying key areas requiring further research and development. One such technical challenge is the development of a "detect and avoid" system (DAA) capable of providing a means of compliance with the "see and avoid" requirement in manned aviation. The purpose of the DAA system is to support the pilot, situated at a ground control station (GCS), in maintaining "DAA well clear" of nearby aircraft through the use of GCS displays and alerts. In addition to its primary function of aiding the pilot in maintaining DAA well clear, the DAA system must also safely interoperate with existing NAS systems and operations, such as the airspace management procedures of air traffic controllers (ATC) and Collision Avoidance (CA) systems currently in use by manned aircraft, namely the Traffic Alert and Collision Avoidance System (TCAS II). It is anticipated that many UAS architectures will integrate both a DAA system and a TCAS II. It is therefore necessary to explicitly study the integration of DAA and TCAS II alerting structures and maneuver guidance formats to ensure that pilots understand the appropriate type and urgency of their response to the various alerts. This paper presents a concept of interoperability for the two systems. The concept was developed with the goal of avoiding any negative impact on the performance level of TCAS II while retaining a DAA system that still effectively enables pilots to maintain DAA well clear. The interoperability concept described in the paper focuses primarily on facilitating the transition from a late-stage DAA encounter (where a loss of DAA well clear is imminent) to a TCAS II Corrective Resolution Advisory (RA), which requires pilot compliance within five seconds of its issuance. The interoperability concept was presented to 10 participants (6 active UAS pilots and 4 active commercial pilots) in a medium-fidelity, human-in-the-loop simulation designed to stress different aspects of the DAA and TCAS II systems. Pilots' ability to maintain separation, their rate of compliance and response times using the interoperability concept are reported. Results indicated that pilots exhibited comprehension of, and appropriate prioritization within, the DAA-TCAS II combined alert structure. Pilots demonstrated a high rate of compliance with TCAS II RAs and were also seen to respond to corrective RAs within the five second requirement established for manned aircraft. The DAA system presented under test was also shown to be effective in supporting pilots' ability to maintain DAA well clear in the overwhelming majority of cases in which pilots had sufficient time to respond.

Rorie, R. Conrad↗

TCAS Alerts from Simulated Urban Air Mobility Flights Along FAA Helicopter Routes in Dallas-Fort Worth

This is a presentation of the current state of a TCAS study being conducted by the ATM-X project. This study examines the rate at which an urban air mobility vehicle flying along existing helicopter routes near DFW will trigger alerts on the TCAS II systems equipped on commercial airliners flying in the D10 TRACON of DFW airspace. The presentation will cover initial results, as well as next steps on the path towards producing a full paper. These initial results show that some aircraft could fly along published helicopter routes, while obeying published restrictions, and fly into and out of DFW airport without triggering any TCAS RAs, so long as the airport is operating in South Flow and the UAM vehicles approach and depart; the airport in the same direction as commercial traffic. Attempting to take off opposite the direction of commercial traffic produces a large number of TCAS RAs. Future work will examine North Flow, check sensitivity to aircraft performance, and examine alternative routes.

helicopter routes↗

Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project: ACAS Xu Engineering Analysis Results

This presentation provides an overview of the results from a two-part engineering analysis conducted as part of the Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project. Part one of this analysis examined how to present resolution advisories (RAs) issued by Airborne Collision Avoidance System (ACAS) Xu, which can be in the vertical dimension, the horizontal dimension, or both (i.e., "blended"). The study varied the appearance of the alerting and the verbiage used in the aural alerts. Results revealed high acceptability ratings for the appearance of the RA guidance. Part two of the analysis assessed pilot acceptability of varying levels of automation in the collision avoidance (CA) task. Pilots experienced conditions in which ACAS Xu RAs were executed either manually or automatically (i.e., auto-Collision Avoidance). In some conditions the return to a previously filed course was also executed automatically (auto-Return to Course). Results indicated that improvements are needed to how the state of the automation is presented. Implications of these findings are also discussed.

Detect and Avoid↗

Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project: ACAS-Xu Run 5 Human-In-The-Loop Sim SC-147 Results Outbrief

This presentation provides an overview of a recently completed human-in-the-loop simulation, conducted as part of the Unmanned Aircraft Systems (UAS) Integration in the National Airspace System (NAS) Project. This study examined how to present resolution advisories (RAs) issued by Airborne Collision Avoidance System (ACAS) Xu, which can be in the vertical dimension, the horizontal dimension, or both (i.e., "blended"). The study varied the location of the ACAS Xu traffic information - it was either presented within an 'integrated' display or a 'standalone' display, where the traffic information was separated from the vehicle control interfaces and navigational information. Results revealed generally positive feedback on the visual and aural presentation of RAs, with special considerations and performance implications noted throughout.

Monk, Kevin J.↗