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NASA NTRSDate not supplied

Adjusting a Full Body Model to Mitigate Inverse Kinematics Artifacts in Opensim

BACKGROUND: In support of Vibration Isolation and Stabilization (VIS) system development for Human Health Countermeasures (HHC) exercise systems in space, such as the European Enhanced Exploration Exercise Device (E4D) [1], dynamic quantities required to model the response of a proposed VIS while considering the effect of VIS motion on the forces between the human and VIS platform were obtained using motion capture data [2]. On occasion, large-amplitude oscillatory spikes were found in the subject’s linear and angular momentum derivatives, affecting analyses that depend on forces and moments derived from motion capture. The purpose of this investigation was to identify causes of these artifacts and techniques for their resolution. METHODS AND RESULTS: To obtain the required human dynamic quantities to drive the VIS simulation, motion capture data was collected containing recorded trajectories of passive retroreflective markers on body landmarks of an exercising subject. Since the full body Rajagopal model [3] was originally used to enhance gait analysis, upper body joints did not require large Ranges of Motion (ROM). We thus modified the Rajagopal model [4, 5] to allow it to be used for upper body intensive exercises like those common to the E4D. OpenSim Inverse Kinematics (IK) [6] was performed using these scaled subject models to generate the joint angles throughout the exercise while minimizing marker error. At times, the arms were observed to ‘snap’ from one configuration to another, causing spike artifacts. Following IK, a custom OpenSim plugin [7] was used to determine the required dynamic quantities including the rates of change of the linear and angular momenta of the human. Since motion capture is recorded at a larger time step than required by the VIS simulation, the human center of mass location was fit with splines and a second derivative taken to obtain the momentum derivative, allowing the VIS simulation to maintain conservation of momentum when appropriate. In a few cases during this stage, artifacts much larger than the expected noise of the second derivatives were introduced. Investigation of cases containing artifacts revealed several modifications that could be made to the OpenSim model to improve IK results. Since OpenSim models use Euler angles and rotation sequences, ‘gimbal lock’ would be encountered in the arms when raised 90 degrees to the side (e.g., T-pose, some hang clean exercise, etc.). This was resolved by reorienting the horizontal axes at the shoulder joint by 45 degrees, placing ‘gimbal lock’ outside common arm ROM, with the arm ROMs adjusted following this change. Elbow and wrist ROMs could also be adjusted to allow realistic motion while at the same time limiting the likelihood of unrealistic orientations. On occasion, the arms flipped backwards when raised above the head. This was prevented by using medial elbow markers in scaling and IK. When medial markers were not available, the acromial joint location in the unscaled model was shifted before model scaling to better align the arm with available markers. Lastly, artifacts which became apparent after taking the second derivatives of spline-fit data were found to occur in cases when the pelvis rotation limit prevented the full range of motion of an exercise. These issues were resolved by unclamping the pelvis rotation limit. Through this investigation, an understanding of conditions leading to IK artifacts was acquired allowing the automation of artifact detection. These artifact detection and mitigation techniques can be applied toward modeling of upper body motions in aerospace and other fields for improved IK results.

C A Bell↗
NASA NTRS1994

Automated protein crystal growth facility

A customer for the protein crystal growth facility fills the specially designed chamber with the correct solutions, fills the syringes with their quenching solutions, and submits the data needed for the proper growth of their crystal. To make sure that the chambers and syringes are filled correctly, a NASA representative may assist the customer. The data needed is the approximate growth time, the growth temperature, and the desired crystal size, but this data can be changed anytime from the ground, if needed. The chambers are gathered and placed into numbered slots in special drawers. Then, data is entered into a computer for each of the chambers. Technicians map out when each chamber's growth should be activated so that all of the chambers have enough time to grow. All of this data is up-linked to the space station when the previous growth session is over. Anti-vibrational containers need to be constructed for the high forces encountered during the lift off and the landing of the space shuttle, and though our team has not designed these containers, we do not feel that there is any reason why a suitable one could not be made. When the shuttle reaches the space station, an astronaut removes a drawer of quenched chambers from the growth facility and inserts a drawer of new chambers. All twelve of the drawers can be replaced in this fashion. The optical disks can also be removed this way. The old drawers are stored for the trip back to earth. Once inside the growth facility, a chamber is removed by the robot and placed in one of 144 active sites at a time previously picked by a technician. Growth begins when the chamber is inserted into an active site. Then, the sensing system starts to determine the size of the protein crystal. All during the crystal's growth, the customer can view the crystal and read all of the crystal's data, such as growth rate and crystal size. When the sensing system determines that the crystal has reached the predetermined size, the robot is told to pick up a syringe filled with the correct quenchant solution and inject it into the chamber to stop the crystal growth. The chamber is then removed from the active site and placed into its original storage slot. Another chamber is then placed into the active site and the process is repeated in all of the active sites until all of the chambers have complted their growth. After ninety days (the scheduled time between shuttle visits), the crystal growth is completed, and the old drawers are replaced with new ones. Once the customer extracts the crystals, the chambers are retrieved for future customers.

Donald, Stacey↗
NASA NTRS1976

Thermal performance of a customized multilayer insulation (MLI)

The thermal performance of a LH2 tank on a shroudless vehicle was investigated. The 1.52 m (60 in) tank was insulated with 2 MLI blankets consisting of 18 double aluminized Mylar radiation shields and 19 silk net spacers. The temperature of outer space was simulated by using a cryoshroud which was maintained at near liquid hydrogen temperature. The heating effects of a payload were simulated by utilizing a thermal payload simulator (TPS) viewing the tank. The test program consisted of three major test categories: (1) null testing, (2) thermal performance testing of the tank installed MLI system, and (3) thermal testing of a customized MLI configuration. TPS surface temperatures during the null test were maintained at near hydrogen temperature and during test categories 2 and 3 at 289 K (520R). The heat flow rate through the tank installed MLI at a tank/TPS spacing of 0.457 m was 1.204 watts with no MLI on the TPS and 0.059 watts through the customized MLI with three blankets on the TPS. Reducing the tank/TPS spacing from 0.457 m to 0.152 m the heat flow through the customized MLI increased by 10 percent.

Leonhard, K. E.↗
NASA NTRS2002

Sensitivity of Lunar Resource Economic Model to Lunar Ice Concentration

Lunar Prospector mission data indicates sufficient concentration of hydrogen (presumed to be in the form of water ice) to form the basis for lunar in-situ mining activities to provide a source of propellant for near-Earth and solar system transport missions. A model being developed by JPL, Colorado School of Mines, and CSP, Inc. generates the necessary conditions under which a commercial enterprise could earn a sufficient rate of return to develop and operate a LEO propellant service for government and commercial customers. A combination of Lunar-derived propellants, L-1 staging, and orbital fuel depots could make commercial LEO/GEO development, inter-planetary missions and the human exploration and development of space more energy, cost, and mass efficient.

Blair, Brad↗
NASA NTRS2005

Development and Testing of Control Laws for the Active Aeroelastic Wing Program

The Active Aeroelastic Wing research program was a joint program between the U.S. Air Force Research Laboratory and NASA established to investigate the characteristics of an aeroelastic wing and the technique of using wing twist for roll control. The flight test program employed the use of an F/A-18 aircraft modified by reducing the wing torsional stiffness and adding a custom research flight control system. The research flight control system was optimized to maximize roll rate using only wing surfaces to twist the wing while simultaneously maintaining design load limits, stability margins, and handling qualities. NASA Dryden Flight Research Center developed control laws using the software design tool called CONDUIT, which employs a multi-objective function optimization to tune selected control system design parameters. Modifications were made to the Active Aeroelastic Wing implementation in this new software design tool to incorporate the NASA Dryden Flight Research Center nonlinear F/A-18 simulation for time history analysis. This paper describes the design process, including how the control law requirements were incorporated into constraints for the optimization of this specific software design tool. Predicted performance is also compared to results from flight.

Dibley, Ryan P.↗
NASA NTRS2011

Advanced Electrocardiography Can Identify Occult Cardiomyopathy in Doberman Pinschers

Recently, multiple advanced resting electrocardiographic (A-ECG) techniques have improved the diagnostic value of short-duration ECG in detection of dilated cardiomyopathy (DCM) in humans. This study investigated whether 12-lead A-ECG recordings could accurately identify the occult phase of DCM in dogs. Short-duration (3-5 min) high-fidelity 12-lead ECG recordings were obtained from 31 privately-owned, clinically healthy Doberman Pinschers (5.4 +/- 1.7 years, 11/20 males/females). Dogs were divided into 2 groups: 1) 19 healthy dogs with normal echocardiographic M-mode measurements: left ventricular internal diameter in diastole (LVIDd . 47mm) and in systole (LVIDs . 38mm) and normal 24-hour ECG recordings (<50 ventricular premature complexes, VPCs); and 2) 12 dogs with occult DCM: 11/12 dogs had increased M-mode measurements (LVIDd . 49mm and/or LVIDs . 40mm) and 5/11 dogs had also >100 VPCs/24h; 1/12 dogs had only abnormal 24-hour ECG recordings (>100 VPCs/24h). ECG recordings were evaluated via custom software programs to calculate multiple parameters of high-frequency (HF) QRS ECG, heart rate variability, QT variability, waveform complexity and 3-D ECG. Student's t-tests determined 19 ECG parameters that were significantly different (P < 0.05) between groups. Principal component factor analysis identified a 5-factor model with 81.4% explained variance. QRS dipolar and non-dipolar voltages, Cornell voltage criteria and QRS waveform residuum were increased significantly (P < 0.05), whereas mean HF QRS amplitude was decreased significantly (P < 0.05) in dogs with occult DCM. For the 5 selected parameters the prediction of occult DCM was performed using a binary logistic regression model with Chi-square tested significance (P < 0.01). ROC analyses showed that the five selected ECG parameters could identify occult ECG with sensitivity 89% and specificity 83%. Results suggest that 12-lead A-ECG might improve diagnostic value of short-duration ECG in earlier detection of canine DCM as five selected ECG parameters can with reasonable accuracy identify occult DCM in Doberman Pinschers. Future extensive clinical studies need to clarify if 12-lead A-ECG could be useful as an additional screening test for canine DCM.

Spiljak, M.↗
NASA NTRS2003

The Airline Quality Rating 2003

The Airline Quality Rating (AQR) was developed and first announced in early 1991 as an objective method of comparing airline quality on combined multiple performance criteria. This current report, the Airline Quality Rating 2003, reflects monthly Airline Quality Rating scores for 2002. AQR scores for the calendar year 2002 are based on 15 elements that focus on airline performance areas important to air travel consumers. The Airline Quality Rating 2003 is a summary of month-by-month quality ratings for the 10 largest U.S. airlines operating during 2002. Using the Airline Quality Rating system of weighted averages and monthly performance data in the areas of ontime arrivals, involuntary denied boardings, mishandled baggage, and a combination of 12 customer complaint categories, airlines comparative performance for the calendar year of 2002 is reported. This research monograph contains a brief summary of the AQR methodology, detailed data and charts that track comparative quality for domestic airline operations for the 12-month period of 2002, and industry average results. Also, comparative Airline Quality Rating data for 2001 are included for each airline to provide historical perspective regarding performance quality in the industry.

Bowen, Brent D.↗
NASA NTRS1993

Data management in NOAA

The NOAA archives contain 150 terabytes of data in digital form, most of which are the high volume GOES satellite image data. There are 630 data bases containing 2,350 environmental variables. There are 375 million film records and 90 million paper records in addition to the digital data base. The current data accession rate is 10 percent per year and the number of users are increasing at a 10 percent annual rate. NOAA publishes 5,000 publications and distributes over one million copies to almost 41,000 paying customers. Each year, over six million records are key entered from manuscript documents and about 13,000 computer tapes and 40,000 satellite hardcopy images are entered into the archive. Early digital data were stored on punched cards and open reel computer tapes. In the late seventies, an advanced helical scan technology (AMPEX TBM) was implemented. Now, punched cards have disappeared, the TBM system was abandoned, most data stored on open reel tapes have been migrated to 3480 cartridges, many specialized data sets were distributed on CD ROM's, special archives are being copied to 12 inch optical WORM disks, 5 1/4 inch magneto-optical disks were employed for workstation applications, and 8 mm EXABYTE tapes are planned for major data collection programs. The rapid expansion of new data sets, some of which constitute large volumes of data, coupled with the need for vastly improved access mechanisms, portability, and improved longevity are factors which will influence NOAA's future systems approaches for data management.

Callicott, William M.↗
NASA NTRS1992

An x ray archive on your desk: The Einstein CD-ROM's

Data from the Einstein Observatory imaging proportional counter (IPC) and high resolution imager (HRI) were released on several CD-ROM sets. The sets released so far include pointed IPC and HRI observations in both simple image and detailed photon event list format, as well as the IPC slew survey. With the data on these CD-ROMS's the user can perform spatial analysis (e.g., surface brightness distributions), spectral analysis (with the IPC event lists), and timing analysis (with the IPC and HRI event lists). The next CD-ROM set will contain IPC unscreened data, allowing the user to perform custom screening to recover, for instance, data during times of lost aspect data or high particle background rates.

Prestwich, A.↗
NASA NTRS2011

The Prototype HyspIRI Thermal Infrared Radiometer (PHyTIR): A High Speed, Multispectral, Thermal Instrument Development in Support of HyspIRI-TIR

The Prototype HyspIRI Thermal Infrared Radiometer (PHyTIR) is being developed as part of the risk reduction activities associated with the Hyperspectral Infrared Imager (HyspIRI). The HyspIRI mission was recommended by the National Research Council Decadal Survey and includes a visible shortwave infrared (SWIR) pushboom spectrometer and a multispectral whiskbroom thermal infrared (TIR) imager. Data from the HyspIRI mission will be used to address key science questions related to the Solid Earth and Carbon Cycle and Ecosystems focus areas of the NASA Science Mission Directorate. The HyspIRI TIR system will have 60m ground resolution, better than 200mK noise equivalent delta temperature (NEDT), 0.5C absolute temperature resolution with a 5-day repeat from LEO orbit. PHyTIR addresses the technology readiness level (TRL) of certain key subsystems of the TIR imager, primarily the detector assembly and scanning mechanism. PHyTIR will use Mercury Cadmium Telluride (MCT) technology at the focal plane and operate in time delay integration mode. A custom read out integrated circuit (ROIC) will provide the high speed readout hence allowing the high data rates needed for the 5 day repeat. PHyTIR will also demonstrate a newly developed interferometeric metrology system. This system will provide an absolute measurement of the scanning mirror to an order of magnitude better than conventional optical encoders. This will minimize the reliance on ground control points hence minimizing post-processing (e.g. geo-rectification computations).

National Research Council Decadal Survey↗
NASA NTRSDate not supplied

Pointing, Acquisition, and Tracking for the TBIRD Cubesat Mission: System Design and Pre-Flight Results

The Terabyte InfraRed Delivery (TBIRD) program will establish a communication link from a nanosatellite in low-Earth orbit to a ground station at burst rates up to 200 Gbps. The TBIRD payload is currently in the process of integrating with the 6-U CubeSat host bus and pre-flight testing has been completed. An overview of the pointing, acquisition, and tracking system for TBIRD is provided as well as a summary of results from pre-flight testing. TBIRD relies on the spacecraft bus to implement fine pointing corrections supplied by its quad sensor at a rate of 10 Hz. The measured accuracy of pointing feedback is about 10μrad RMS per axis. A custom optical assembly was designed for transmitter/receiver alignment stability which was measured to be within 25μrad two-axis through environmental testing. With TBIRD feedback in the loop, single axis pointing accuracy of the downlink is predicted to be about 30μrad RMS.

space communications↗
NASA NTRSDate not supplied

Development of Ni-based Multilayer Coatings for Extended Broadband X-ray Imaging

Next-generation astronomical hard x-ray telescopes require new multilayer coating designs to extend the current imaging capabilities into the 100’s of keV. W/Si and Pt/C demonstrate excellent reflectivity response and effective area up to approximately 70 and 80 keV but are severely limited beyond this due to Kα absorption lines. Lower-density metals provide a promising alternative to Pt and W for broader energy bands as their K-edges occur at significantly lower energies. Ni/C is such a low-density pairing that through modeling can achieve the desired energy responses. However, Ni is a notoriously difficult metal to sputter, often resulting is relatively low deposition rates and rough coating surfaces. The goal of this work is to characterize Ni/C multilayers using a custom deposition chamber at GSFC and determine the feasibility of these designs for future hard x-ray missions such as HEX-P.

Danielle N. Gurgew↗
NASA NTRS2001

A Space Based Internet Protocol System for Sub-Orbital Tracking and Control

Personnel from the Goddard Space Flight Center Wallops Flight Facility (GSFC/WFF) in Virginia are responsible for the overall management of the NASA Sounding Rocket Program. Payloads are generally in support of NASA's Space Science Enterprise's missions and return a variety of scientific data as well as providing a reasonably economical means of conducting engineering tests for instruments and devices used on satellites and other spacecraft. The fifteen types of sounding rockets used by NASA can carry payloads of various weights to altitudes from 50 km to more than 1,300 km. Launch activities are conducted not only from established missile ranges, but also from remote locations worldwide requiring mobile tracking and command equipment to be transported and set up at considerable expense. The advent of low earth orbit (LEO) commercial communications satellites provides an opportunity to dramatically reduce tracking and control costs of launch vehicles and Unpiloted Aerial Vehicles (UAVs) by reducing or eliminating this ground infrastructure. Additionally, since data transmission is by packetized Internet Protocol (IP), data can be received and commands initiated from practically any location. A low cost Commercial Off The Shelf (COTS) system is currently under development for sounding rockets which also has application to UAVs and scientific balloons. Due to relatively low data rate (9600 baud) currently available, the system will first be used to provide GPS data for tracking and vehicle recovery. Range safety requirements for launch vehicles usually stipulate at least two independent tracking sources. Most sounding rockets flown by NASA now carry GPS receivers that output position data via the payload telemetry system to the ground station. The Flight Modem can be configured as a completely separate link thereby eliminating requirement for tracking radar. The system architecture which integrates antennas, GPS receiver, commercial satellite packet data modem, and a single board computer with custom software is described along with the technical challenges and the plan for their resolution. These include antenna development, high Doppler rates, reliability, environmental ruggedness, hand over between satellites and data security. An aggressive test plan is included which in addition to environmental testing measures bit error rate, latency and antenna patterns. Actual flight tests are planned for the near future on aircraft, long duration balloons and sounding rockets and these results as well as the current status of the project are reported.

Bull, Barton↗
NASA NTRS2001

A Space Based Internet Protocol System for Launch Vehicle Tracking and Control

Personnel from the Goddard Space Flight Center Wallops Flight Facility (GSFC/WFF) in Virginia are responsible for the overall management of the NASA Sounding Rocket and Scientific Balloon Programs. Payloads are generally in support of NASA's Space Science Enterprise's missions and return a variety of scientific data as well as providing a reasonably economical means of conducting engineering tests for instruments and devices used on satellites and other spacecraft. Sounding rockets used by NASA can carry payloads of various weights to altitudes from 50 km to more than 1,300 km. Scientific balloons can carry a payload weighing as much as 3,630 Kg to an altitude of 42 km. Launch activities for both are conducted not only from established ranges, but also from remote locations worldwide requiring mobile tracking and command equipment to be transported and set up at considerable expense. The advent of low earth orbit (LEO) commercial communications satellites provides an opportunity to dramatically reduce tracking and control costs of these launch vehicles and Unpiloted Aerial Vehicles (UAVs) by reducing or eliminating this ground infrastructure. Additionally, since data transmission is by packetized Internet Protocol (IP), data can be received and commands initiated from practically any location. A low cost Commercial Off The Shelf (COTS) system is currently under development for sounding rockets that also has application to UAVs and scientific balloons. Due to relatively low data rate (9600 baud) currently available, the system will first be used to provide GPS data for tracking and vehicle recovery. Range safety requirements for launch vehicles usually stipulate at least two independent tracking sources. Most sounding rockets flown by NASA now carry GP~ receivers that output position data via the payload telemetry system to the ground station. The Flight Modem can be configured as a completely separate link thereby eliminating the requirement for tracking radar. The system architecture that integrates antennas, GPS receiver, commercial satellite packet data modem, and a single board computer with custom software is described along with the technical challenges and the plan for their resolution. These include antenna development, high Doppler rates, reliability, environmental ruggedness, hand over between satellites, and data security. An aggressive test plan is included which, in addition to environmental testing, measures bit error rate, latency and antenna patterns. Actual launches on a sounding rocket and various aircraft flights have taken place. Flight tests are planned for the near future on aircraft, long duration balloons and sounding rockets. These results, as well as the current status of the project, are reported.

Bull, Barton↗
NASA NTRS2004

The Airline Quality Rating 2004

The Airline Quality Rating (AQR) was developed and first announced in early 1991 as an objective method of comparing airline quality on combined multiple performance criteria. This current report, the Airline Quality Rating 2004, reflects monthly Airline Quality Rating scores for 2003. AQR scores for the calendar year 2003 are based on 15 elements in four major areas that focus on airline performance aspects important to air travel consumers. The Airline Quality Rating 2004 is a summary of month-by-month quality ratings for U.S. airlines that have at least 1 % of domestic passenger volume during 2003. Using the Airline Quality Rating system of weighted averages and monthly performance data in the areas of on-time arrivals, involuntary denied boardings, mishandled baggage, and a combination of 12 customer complaint categories, airlines comparative performance for the calendar year of 2003 is reported. This research monograph contains a brief summary of the AQR methodology, detailed data and charts that track comparative quality for domestic airline operations for the 12-month period of 2003, and industry results. Also, comparative Airline Quality Rating data for 2002 are included, where available, to provide historical perspective regarding performance quality in the industry.

Fink, Mary M.↗
NASA NTRS2004

The Airline Quality Rating 2004

The Airline Quality Rating (AQR) was developed and first announced in early 1991 as an objective method of comparing airline quality on combined multiple performance criteria. This current report, the Airline Quality Rating 2004, reflects monthly Airline Quality Rating scores for 2003. AQR scores far the calendar year 2003 are based on 15 elemnts in four major areas that focus on airline performance aspects important to air travel consumers. The Airline Quality Rating 2004 is a summary of month-by-month quality ratings for U.S. airlines that have at least 1% of domestic passenger volume during 2003. Using the Airline Quality Rating system of weighted averages and monthly performance data in the areas of on-time arrivals, involuntary denied boardings, mishandled baggage, and a combination of 12 customer complaint categories, airlines comparative performance for the calendar year of 2003 is reported. This research monograph contains a brief summary of the AQR methodology, detailed data and charts that track comparative quality for domestic airline operations for the 12-month period of 2003, and industry results. Also, comparative Airline Quality Rating data for 2002 are included, where available, to provide historical perspective

Bowen, Brent D.↗
NASA NTRS2002

The Airline Quality Rating 2002

The Airline Quality Rating (AQR) was developed and first announced in early 1991 as an objective method of comparing airline quality on combined multiple performance criteria. This current report, Airline Quality Rating 2002, reflects monthly Airline Quality Rating scores for 2001. AQR scores for the calendar year 2001 are based on 15 elements that focus on airline performance areas important to air travel consumers. The Airline Quality Rating 2002 is a summary of month-by-month quality ratings for the 11 largest U.S. airlines operating during 2001. Using the Airline Quality Rating system of weighted averages and monthly performance data in the areas of on-time arrivals, involuntary denied boardings, mishandled baggage, and a combination of 12 customer complaint categories, airlines comparative performance for the calendar year of 2001 is reported. This research monograph contains a brief summary of the AQR methodology, detailed data and charts that track comparative quality for domestic airline operations for the 12-month period of 2001, and industry average results. Also, comparative Airline Quality Rating data for 2000 are included for each airline to provide historical perspective regarding performance quality in the industry.

Bowen, Brent D.↗
NASA NTRS1984

Modular approach for satellite communication ground terminals

The trend in satellite communications is toward completely digital, time division multiple access (TDMA) systems with uplink and downlink data rates dictated by the type of service offered. Trunking terminals will operate in the 550 MBPS (megabit per second) region uplink and downlink, whereas customer premise service (CPS) terminals will operate in the 25 to 10 MBPS region uplink and in the 200 MBPS region downlink. Additional criteria for the ground terminals will be to maintain clock sychronization with the system and burst time integrity to within a matter of nanoseconds, to process required order-fire information, to provide adaptive data scrambing, and to compensate for variations in the user input output data rates, and for changes in range in the satellite communications links resulting from satellite perturbations in orbit. To achieve the required adaptability of a ground terminal to the above mentioned variables, programmable building blocks can be developed that will meet all of these requirements. To maintain system synchronization, i.e., all bursted data arriving at the satellite within assigned TDMA windows, ground terminal transmit data rates and burst timing must be maintained within tight tolerances. With a programmable synchronizer as the heart of the terminal timing generation, variable data rates and burst timing tolerances are achievable. In essence, the unit inputs microprocessor generated timing words and outputs discrete timing pulses.

Gould, G. R.↗